The first campaign with the bench actuator wired failed
motion.button-hold-resume on the tool, not the machine: the second press
was asked while the first 200 ms pulse was still on, the fixture answered
409, the runner handed the step to an operator who was not in the room,
and the post pass could not jog a controller left in Hold.
- fixture.py: a press waits for the last pulse to end (the fixture's
pulse_ms) plus a 300 ms release, so the controller sees the edge; a
409 for a pulse in progress is waited out against button_pulsing and
retried once.
- runner.py: in an unattended run a fixture refusal ends the test at
once as ERROR naming the refusal; the operator fallback stays for
attended runs.
- baseline.py: a controller in Hold or Door gets a soft reset before the
return jog, position kept.
- tests: the fake fixture refuses a press while one is in progress and
reports button_pulsing; FakeGrbl records ^X and can land a reset in a
chosen state; five new tests.
- docs: ACCEPTANCE.md fixture rules, fixture/README.md tool's side.
No catalog consequence: tool-side change, no covers map moves.
Bench: campaign c-20260824174545-0bdc 25/25 with every action by the
fixture; the hold reset proven by a dry drill.
An ESP32-S3 DevKitC-1 on the bench network drives three relays at the
machine's connectors so the acceptance tool can open the lid loop, pull
the interlock loop and press the button with nobody in the room. Two
contacts are normally closed in loops the safety chain already reads,
the third is normally open across the button input and only ever
pulsed (20 to 500 ms, the end armed before the line rises); every line
is low at boot and after any reset, the task watchdog panics and
reboots, and the button channel needs a jumper. HTTP on port 80 under
a key in X-Fixture-Key; the hostname announced over DHCP and mDNS.
ESP-IDF v5.5 native, the mDNS component pinned in dependencies.lock;
fixture.env (git-ignored) is the one input: the wifi, the key, the
hostname. fixture.sh builds with idf.py or in the espressif/idf
container, flashes with esptool from pip. The decisions that need no
hardware live in policy.c with a gcc host test; CI runs it and builds
the firmware in the pinned container.
ScottW514