cloud.mode-switch took the optional connect-time firmware probe file as
the evidence of a live session and failed on a bench where that check is
off; the evidence is now gfcloud's own authenticate/ws-connect lines in
the unified log after the switch, the probe recorded when present. Cloud
mode's connect clears the kernel position counters at the head's start
and its hunt homes the head to the corner: the test tells the runner the
counters were re-zeroed (Context.counters_rezeroed) and jogs the head
back by the counter-measured displacement, and hands the lid lamp back
at the level it found. cloud.gfhome-homing documents that it leaves the
machine homed at the corner.
Baseline: a displaced head is jogged back along its own path by the
kernel-measured X/Y delta through the GRBL controller (bounded 100 mm,
waits out a controller respawn backoff); Z is never touched.
A baseline pass brackets every test and bench tool: before the run the
machine is verified against the fresh-boot idle state and anything off it
is restored; after the run - pass, fail, or abort - it is restored again.
Fixed items are the resting values the boot establishes (module defaults,
forgectrl's start-up writes, the GRBL controller's init writes) and
forgectrl's idle picture (controller running with motion verified, no
diagnostic, camera and cooling engines idle); preserved items (lid lamp
level, position counters, settings map, controller mode) are captured
before and handed back after. Deviations are leftovers: in the run pane,
in the result's evidence, and on the page - attributed to the previous run
when found before, to the run itself when found after.
forgetest takes a fresh-boot reference once per boot (within ten minutes
of boot, after the supervisor settles) as the session's resting lid-lamp
level and the check on the fixed values; the values were confirmed
against a fresh boot of the dev image on the bench (step_freq rests at
28160, the controller's default tick, not the probe's 10000).
Takeover runs capture the controller-owned kernel attributes on entry and
write them back before forgectrl restarts: the bench found the kernel
tests leaving motor_lock=15 behind, which masked the supervisor's
liveness probe - no motion by construction, a false driver-wedge verdict,
the rail-off ladder, and finally motion-fault. The takeover wrapper also
waits for the supervisor to settle on both sides (moved into baseline).
Catalog consequence: none beyond the runner; the tests' own drills are
unchanged.
forgectrl's supervisor probes motion liveness on every start - a small
head move verified by the accelerometer, with a rail-off ladder of up to
about 70 s on a dead verdict. The takeover wrapper returned as soon as
forgectrl start succeeded, so a test that followed found the machine
busy (bench: cooling.flow-verify refused with 409 machine is not idle
13 s after kernel.fire-abu), and back-to-back takeover tests stopped
forgectrl mid-probe. The wrapper now waits for /mode to settle - motion
verified, motion-fault (logged as a warning), or standby - before it
stops forgectrl and again after it starts it, giving up after 10 s when
forgectrl does not answer at all (the host, or a daemon that is down).
No catalog consequence: the takeover tests' own drills are unchanged.
A stdlib-only daemon on the dev image (HTTP :8090) that runs the acceptance
catalog against the machine from a self-contained page, keeps the append-only
result log under /data/forgetest, and exports the release artifact the gate
reads. Tests declare kind (auto / operator / live), hardware (api / takeover),
coverage globs, prerequisites, and core membership; a test's domain
fingerprint is the hash of the manifest files its globs select plus the
platform and its own implementation, so a PASS stays valid exactly while
nothing it covers changed. Campaign rules: a FAIL ends the campaign, the core
(image health, kernel latch and drills, one live emission witness) is never
inherited, invalidate-all forces a full campaign, no SKIP. Live tests need the
operator acknowledgment and the physical arm press through the controller;
takeover tests stop forgectrl for the duration with a crash-recoverable
marker; the tool never touches the laser latch.
Catalog v1: 24 tests ported from the proven bench drills with their recorded
pass criteria (image, kernel K1-K3 and fire A/B/U, forgectrl API and logs,
motion incl. dead-man, cooling, live laser, camera, update, cloud). The bench
tab lists every scripts/bench tool and runs the board-side ones as
subprocesses (takeover tools wrapped). 44 host unit tests, including the gate
verification fixtures. Installed only by forgefirm-image-dev, with the bench
scripts under /usr/share/forgetest/bench.
ScottW514