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Author SHA1 Message Date
ScottW514 16d27f0887 yocto version zeus to master 2020-04-15 21:40:24 -04:00
ScottW514 1bd7793744 initial commit 2020-04-15 17:13:51 -04:00
ScottW514 a1d158514b Add files via upload 2020-04-15 17:09:41 -04:00
332 changed files with 654 additions and 247531 deletions
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.gitattributes
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# Every text file is stored and checked out with LF; a patch keeps its bytes.
* text=auto eol=lf
*.patch -text
*.diff -text
.github/workflows/fixture-ci.yml
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# forgefixture: the bench actuator's firmware, proven on the host.
#
# - the policy test: the decisions that need no hardware (channel
# names, the loop request words, the button pulse clamp, the key
# comparison), compiled with gcc and run
# - the firmware build: the whole project in the pinned ESP-IDF
# container, with a placeholder fixture.env, so a change that does
# not compile never reaches a bench
name: fixture-ci
on:
push:
branches: [master]
paths:
- 'fixture/**'
- '.github/workflows/fixture-ci.yml'
pull_request:
paths:
- 'fixture/**'
workflow_dispatch:
jobs:
policy:
runs-on: ubuntu-latest
timeout-minutes: 5
steps:
- uses: actions/checkout@v4
- name: Policy host test
working-directory: fixture
run: CC=gcc sh test/run.sh
firmware:
runs-on: ubuntu-latest
timeout-minutes: 30
container:
image: espressif/idf:v5.5.5
steps:
- uses: actions/checkout@v4
- name: Placeholder fixture.env (the build needs one; the values are not used)
working-directory: fixture
run: |
printf 'WIFI_SSID=ci-network\nWIFI_PSK=ci-passphrase\nAPI_KEY=%s\nHOSTNAME=forgefixture\n' \
0123456789abcdef0123456789abcdef > fixture.env
- name: Build
working-directory: fixture
shell: bash
run: |
. /opt/esp/idf/export.sh >/dev/null
idf.py set-target esp32s3 >/dev/null
idf.py build
- name: Size
working-directory: fixture
shell: bash
run: |
. /opt/esp/idf/export.sh >/dev/null
idf.py size | tail -n 20
.github/workflows/forgetest-ci.yml
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# forgetest: the release acceptance tool's host-side proof.
#
# - unit tests: campaign rules, fingerprints, artifact build/verify (the
# release gate's decision, including the negative fixtures), runner +
# HTTP API end to end with a fake catalog and a fake bench tool, the
# suites replayed on the machine's own log lines, and the check that
# every log phrase the cloud suite greps for is one the pinned cloud
# app can log (it reads the app sources from the manifest cache)
# - the source bundle of a release: which recipe of the image needs
# source, which archive answers for it, and the refusal that stops a
# release with source missing
# - shared UI files: theme.css and the vendored Bootstrap the page
# carries are byte-identical to forgectrl's at its pinned revision
# - the extension key: the public key the image installs for the official
# tier is byte-identical to the one the extension catalog publishes
# (keys/forgefirm-ext.pub on its main branch)
# - the catalog's address: EXTPKG_INDEX_URL in the pinned forgectrl's
# src/extpkg.h is the catalog's latest-release download of the file its
# tools/publish.py passes to gh release create; read, never requested
# (every request of it is counted as a download)
# - coverage lint: every source path of every component pinned by the
# recipes must be selected by some catalog test's coverage globs or by a
# host-tested row naming the host test that proves it (the tree manifest
# is generated from the pins with git - no Yocto build); enforced: an
# uncovered path fails the job (https://docs.forgefirm.org/developers/testing/).
name: forgetest-ci
on:
push:
branches: [master]
paths:
- 'forgetest/**'
- 'scripts/acceptance-gate.py'
- 'scripts/manifest-from-tree.py'
- 'scripts/source-bundle.py'
- 'kas/source-bundle.yml'
- 'meta-forgefirm/recipes-forgefirm/**'
- '.github/workflows/forgetest-ci.yml'
pull_request:
workflow_dispatch:
jobs:
test:
runs-on: ubuntu-latest
timeout-minutes: 20
steps:
- name: Checkout forgefirm
uses: actions/checkout@v4
with:
path: forgefirm
- name: Checkout meta-openglow (sibling)
uses: actions/checkout@v4
with:
repository: openglow-org/meta-openglow
ref: scarthgap
path: meta-openglow
- name: Checkout forgefirm-extensions-catalog (sibling)
uses: actions/checkout@v4
with:
repository: openglow-org/forgefirm-extensions-catalog
ref: main
path: forgefirm-extensions-catalog
- name: Set up Python
uses: actions/setup-python@v5
with:
python-version: '3.12'
- name: Tree manifest from the recipe pins (also fetches the pinned app sources the needle check reads)
working-directory: forgefirm
run: python scripts/manifest-from-tree.py --out tree-manifest.json
- name: The image's extension key is the catalog's published key
run: |
image=forgefirm/meta-forgefirm/recipes-forgefirm/forgefirm-keys/files/ext/forgefirm-ext.pub
published=forgefirm-extensions-catalog/keys/forgefirm-ext.pub
for f in "$image" "$published"; do
test -f "$f" || { echo "missing: $f"; exit 1; }
done
cmp -s "$image" "$published" || { echo "$image is not $published"; exit 1; }
- name: The catalog's address in the pinned forgectrl is the file the catalog publishes (read, never requested)
run: |
python3 - <<'EOF'
import ast, glob, os, re, subprocess, sys
PREFIX = "https://github.com/openglow-org/forgefirm-extensions-catalog/releases/latest/download/"
def fail(why):
print(why)
sys.exit(1)
# forgectrl's pin, and its src/extpkg.h from the tree manifest's cache
pin = open("forgefirm/meta-forgefirm/recipes-forgefirm/forgectrl/forgectrl-pin.inc").read()
m = re.search(r'^SRCREV = "([0-9a-f]{40})"$', pin, re.M)
if not m:
fail("forgectrl-pin.inc names no SRCREV")
rev = m.group(1)
header = None
for repo in sorted(glob.glob("forgefirm/.manifest-cache/*")):
p = subprocess.run(["git", "-C", repo, "show", rev + ":src/extpkg.h"], capture_output=True, text=True)
if p.returncode == 0:
header = p.stdout
break
if header is None:
fail("forgectrl %s is not in forgefirm/.manifest-cache" % rev)
m = re.search(r'#define\s+EXTPKG_INDEX_URL\s*(?:\\\n\s*)?"([^"]*)"', header)
if not m:
fail("forgectrl %s's src/extpkg.h defines no EXTPKG_INDEX_URL" % rev[:7])
url = m.group(1)
# the file the catalog's publish tool passes to gh release create
tree = ast.parse(open("forgefirm-extensions-catalog/tools/publish.py").read())
assigned = {n.targets[0].id: n.value for n in ast.walk(tree)
if isinstance(n, ast.Assign) and len(n.targets) == 1 and isinstance(n.targets[0], ast.Name)}
def file_name(v):
if isinstance(v, ast.Name):
v = assigned.get(v.id)
if isinstance(v, ast.Call) and v.args:
v = v.args[-1]
return os.path.basename(v.value) if isinstance(v, ast.Constant) and isinstance(v.value, str) else None
names = [file_name(n.args[3]) if len(n.args) > 3 else None for n in ast.walk(tree)
if isinstance(n, ast.Call) and isinstance(n.func, ast.Name) and n.func.id == "gh"
and [a.value for a in n.args[:2] if isinstance(a, ast.Constant)] == ["release", "create"]]
if len(names) != 1 or not names[0]:
fail("tools/publish.py passes no one file to gh release create: %s" % names)
print("forgectrl %s: %s; the catalog publishes %s" % (rev[:7], url, names[0]))
if url != PREFIX + names[0]:
fail("the address is not %s" % (PREFIX + names[0]))
EOF
- name: Unit tests
working-directory: forgefirm/forgetest
# -B: no bytecode caches under the package directory (the recipe's fetch
# checksum would otherwise move without a source change)
run: python -B -m unittest discover -s tests -v
- name: No undefined names (the live drills never execute on the host)
working-directory: forgefirm/forgetest
run: |
pip install pyflakes
if python -B -m pyflakes forgetest tests | grep -E "undefined name"; then exit 1; fi
- name: Shared UI files match forgectrl at its pinned revision
working-directory: forgefirm
run: python scripts/check-ui-vendor.py
- name: Coverage lint (enforced)
working-directory: forgefirm/forgetest
run: python -B -m forgetest.coverage --manifest ../tree-manifest.json --enforce | tee "$GITHUB_STEP_SUMMARY"
- name: Gate self-check on the tree manifest
working-directory: forgefirm
run: |
# The gate must load the catalog and refuse a missing/unauthorized
# artifact cleanly (exit 1/2, never a traceback).
set +e
echo '{}' > empty.json
python scripts/acceptance-gate.py empty.json tree-manifest.json --quiet
rc=$?
set -e
test "$rc" -eq 1
.github/workflows/sandbox-ci.yml
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# The extension sandbox's deny rules, proven on real traffic.
#
# scripts/sandbox-rules-test.py loads meta-forgefirm's ffx.nft into a network
# namespace of its own, joins a second namespace to it with a veth pair (a
# peer that is not the machine), and sends from real uids: a pool uid is
# refused on loopback, at its own LAN address, and at the peer (TCP at once,
# UDP with EPERM), the uids on either side of the pool and root are not
# touched, an allowlist chain opens one port of the peer to one uid, the
# machine's own addresses stay shut even on an allowlist, and loading the
# file again takes the allowlist away. The
# runner's nft is the version the image carries or newer; the kernel side is
# the image's own business and is proven on the machine (exthost.platform).
name: sandbox-ci
on:
push:
branches: [master]
paths:
- 'meta-forgefirm/recipes-forgefirm/forgefirm-sandbox/**'
- 'scripts/sandbox-rules-test.py'
- '.github/workflows/sandbox-ci.yml'
pull_request:
workflow_dispatch:
jobs:
rules:
runs-on: ubuntu-latest
timeout-minutes: 10
steps:
- uses: actions/checkout@v4
- name: nft
run: sudo apt-get update && sudo apt-get install -y nftables
- name: The deny rules on real traffic
run: |
# 77 is the script's "could not run here": on this runner that is a failure.
sudo python3 -B scripts/sandbox-rules-test.py
.gitignore
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# kas-managed upstream layer checkouts (poky, meta-openembedded, meta-freescale...)
/layers/
# Yocto build output (incl. deploy/images) and caches
/build/
/downloads/
/sstate-cache/
# kas
*.lock.yml.bak
# release.sh staging output
/release-staging/
# Python bytecode
__pycache__/
# manifest-from-tree.py fetch cache
/.manifest-cache/
# manifest-from-tree.py default output
/tree-manifest.json
AGENTS.md
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@@ -1,407 +0,0 @@
# AGENTS.md
Instructions for AI coding agents that work in this repository. A human
contributor is welcome to read it too: it is the same set of rules.
## ForgeFIRM repository rules
### Safety on the machine
- The laser never fires with the coolant pump deliberately off. The heater-only
flow-calibrate and flow-verify tools are the only pump-off state, and the
tube stays dark during them.
- The 40 V motor rail stays up while the machine is on. Never cycle it for a
controller handover. A rail glitch can leave the stepper drivers
unserviceable.
### The iteration loop
- Edit, cross-build in the Yocto build environment, hot-deploy to the
machine, prove. Then one commit, one push, one pin bump for the proven
change.
- A full image build happens once, at the end of a work item, never per fix.
- Kernel and BSP changes ride one image flash, batched. Validate a `.ko` or
overlay change on the image that ships it. Never hot-swap a `.ko` onto a
board that is about to be reflashed.
### Acceptance coverage
- Evaluate every change against the acceptance catalog in
`forgetest/forgetest/suite/`. Does an existing test exercise the changed
behavior? Does its `covers` map name the files you touched? If not, add or
widen one in the same change. The coverage lint
(`python3 -m forgetest.coverage --enforce`) is the floor.
- The `SRCREV` of a component and the `PV` that moves with it live in
`<recipe>-pin.inc` next to the recipe. Nothing else goes in that file. The
image manifest keeps `*-pin.inc` out of the layer content hash. Thus a pin
bump invalidates only the acceptance tests that cover that component. A
pin in a recipe body counts as a platform change and needs a full
acceptance campaign.
- Test a harness change yourself, on the host, before you hand it to the
operator for a bench run. A harness that fails on its own defect costs the
operator a full re-run cycle.
- A test declares its `mode`, and the runner switches. Cloud tests stay in
cloud mode. Keep `requires` lists minimal, and never gate one test behind a
chain of others.
- Never exercise a gate or a limit through the `GFCOOL_*` environment
overrides in a test. Use the settings API, and restore it in the teardown.
- A silence-while-armed injection and a crash during `$H` are catalog
drills, not one-off bench scripts.
### CI couplings that set the push order
- The CI of `grblHAL-glowforge` gets the laser harnesses from `scripts/bench/`
at the head of `master`, unpinned. Push a harness change here before the
driver change that needs it.
- The acceptance page shares its theme and its vendored Bootstrap with the
`forgectrl` panel, byte for byte. Land a UI change in `forgectrl` first.
Push it and pin it. Only then push this repository.
- The CI of `kernel-module-glowforge` cross-builds against the BSP from
`meta-openglow`. Push `meta-openglow` before a module change that needs a
BSP change.
### Builds and images
- Builds run only in the dedicated Yocto build environment that the Build page
of the site defines (kas and bitbake). Never use a native host build of a
component as proof, not even for a compile check.
- Every build makes both images: `forgefirm-image` (the release image) and
`forgefirm-image-dev` (the bench image, with `forgetest` on port 8090). The
dev image needs an explicit `--target`. Report both artifact names.
- After a kernel-module pin bump, rebuild the kernel and the module in the
same run: `bitbake -c cleansstate linux-fslc kernel-module-glowforge`, then
the images. The kernel version suffix is not reproducible across
re-checkouts, and a rootfs whose kernel and module disagree fails.
- Read the layer HEAD lines at the top of a build log before you trust a build
that moves a pin.
### The record of the work
This repository carries no status document and no dated log. Both were
retired: every fact about the machine and the firmware is on the
documentation site, and **the record of a piece of work is the commit message
that carries it**: what was done, how it was proven, and what it replaced, in
the same place as the change itself.
A measurement session or a bench drill is written up in the commit that
lands its result. Nothing accumulates in a file.
### On the bench
These rules apply whenever an agent works with the operator at a machine.
- **One armed run per turn.** Start the run, let it finish, stop, report what
happened against what was expected, and wait for the operator's
confirmation before any further armed run or machine command. Never chain a
jog, a fix, or a re-run onto a burn in the same step. Dry runs (latch
locked, no emission) can be batched. Say which is which before you start.
- **Zero inference during live fire.** Report only what the combined
observations confirm: the operator's eyes, the drill output, the logs, the
sysfs readbacks. Everything else is labeled "unconfirmed" and is not acted
on.
- **One Grbl connection.** Never open a second connection to TCP port 23 while
a drill, an acceptance test, or a sender holds one. The last connection
wins, the displaced client's cleanup never arrives, and its queued commands
wait behind the arm gate. Read state through `forgectrl` (HTTP) and sysfs
only. After a displaced or aborted drill: soft reset, confirm that the RX
buffer reads full, `M5`, confirm that `armed` is false, before anyone
touches the button.
- **The operator touches the machine.** The operator runs the install, the
service restart, and the reflash on the machine. Never modify the software
of a running machine unless the operator asks for that exact step.
- **Bench hygiene.** Stage test files in `/tmp`. A file that must survive a
reboot goes in `/data/bench-scratch/`, and that directory is deleted whole
at the end of the session. Nothing goes loose in `/data`. Remove everything
you put on the board, in the same session, and list `/data` before you end.
A bench tool worth a second use goes in `scripts/bench/`. The dev image
installs those tools under `/usr/share/forgetest/bench/`. Run them from
there.
## Project-wide rules
The sections above are specific to this repository. The rules below apply to
every repository of the OpenGlow ForgeFIRM project: the firmware components,
the build base, the documentation, and the hardware designs. Where a
repository rule and a rule below conflict, the safety, proof, and hygiene
rules below win. The documentation site, <https://docs.forgefirm.org/>, is
the source of truth for every fact about the machine and the firmware. Read
its Developers section before you change code.
### What ForgeFIRM is
ForgeFIRM is open firmware for stock Glowforge lasers (Basic, Plus, Pro). It
runs on the factory NXP i.MX6 control board with no hardware modification. It
replaces the cloud-dependent factory userspace with an open Linux image that
controls the machine locally. In GRBL mode the machine is a standard grblHAL
controller for LightBurn and other senders on TCP port 23. Cloud mode runs the
factory experience through the Glowforge web service, and it is a deliberate,
maintained feature. The stack is hardware validated: GRBL mode cuts real jobs,
and cloud mode runs end to end.
One controller runs at a time under `forgectrl`, the machine-services daemon,
which owns the pulse device, the cooling engine, the cameras, and the control
panel. The kernel module plays the pulse stream into the stepper drivers and
owns the laser latch and the safety readbacks. The Technical section of the
site describes the whole stack.
### The repositories
All repositories live under the OpenGlow organization on GitHub,
<https://github.com/openglow-org>. For development, check every repository out
as a sibling in one base directory named `openglow-forgefirm`. The build
scripts expect that layout. Each repository is its own git repository. The
base directory is not.
| Repository | Role | Default branch | License |
|---|---|---|---|
| `forgefirm` | The build and release base: the `meta-forgefirm` Yocto layer, the kas configuration, the image recipes, the install and release scripts, the acceptance tool `forgetest/`, the bench tools `scripts/bench/`, and the bench actuator firmware `fixture/`. It carries no project documentation. | `master` | MIT (layer metadata) |
| `meta-openglow` | The BSP layers `meta-glowforge-bsp` and `meta-openglow-core`: kernel, device tree, U-Boot, board recipes. | `scarthgap` | MIT (layer metadata) |
| `forgectrl` | The machine-services daemon (C) on HTTPS port 443, with the read-only routes on HTTP port 80: supervisor, pulse-device broker, motion-liveness gate, cooling engine, cameras, telemetry, settings, diagnostics, control panel, A/B updates. | `main` | MIT |
| `grblHAL-glowforge` | The grblHAL driver for the stock board, the GRBL-mode controller. The core is a submodule at `src/grbl`. Machine constants are in `src/boards/glowforge.h`. | `main` | GPL-3.0-or-later |
| `grblHAL-core` | The fork of the grblHAL core that the driver uses. Minimum change, no rationale comments. | `forgefirm` | The upstream grblHAL license |
| `kernel-module-glowforge` | `glowforge.ko`: the SDMA + EPIT pulse engine, the laser latch, the safety readbacks, the sensors. | `master` | GPL-2.0-or-later |
| `python3-gfhardware` | The `gfhardware` hardware library and the cloud-mode applications in `forgefirm-app/`. | `master` | MIT, with one LGPL-2.1-or-later component |
| `Glowforge-Utilities` | `gfutilities` on PyPI: the factory protocol and service layer that cloud mode uses. | `master` | MIT |
| `forgefirm-docs` | The documentation site. | `main` | CC BY-SA 4.0 |
| `openglow-serial-adapter` | The USB-C serial-console adapter for the control board. | `main` | CC BY-NC-SA 4.0 |
The full table, the license details, and the component diagram are on the
site: <https://docs.forgefirm.org/developers/>.
### Safety first, and in that order
The machine is a laser, and the operator is the safety authority at it. These
rules bind every change, in every repository, that can affect what the machine
does.
- The hardware chain is the safety boundary. Software only adds gates on top
of it. `LASER_ON` is never a bare GPIO. The kernel laser latch is locked by
default, and every close of the pulse device locks it again.
- Never defeat a switch, an interlock, or a readback, in hardware or in
software, not even for a test.
- Never change a fire gate, a thermal limit, or a safety default to make a
test pass.
- The order of work is absolute: emission and motion first, robustness and
hygiene after. Review a change that touches emission or motion for that
before anything else.
- A change that can put energy where it was not commanded gets a regression
test with the fix, in the same commit, never after.
- Position counters, homing anchors, and a homed flag are not proof of
physical motion. The head accelerometer is, and so are the operator's eyes.
- Unreadable is fail-closed. A failed read of a safety input, a state file,
or a verdict is never treated as "still running" or "keep waiting" without
a bound.
### Proof before done
A feature or fix is not complete until it is proven. The order of preference:
1. A host test that runs in CI. The Test page of the site lists the host tests
of each repository.
2. A bench drill on the bench reference, recorded in the commit message that
carries the change.
3. Documented reasoning.
Also:
- Run the host tests of this repository before every commit. Where the build
uses `-Werror`, a warning is a failure.
- A component that ships in the image is also evaluated against the release
acceptance catalog in the `forgefirm` repository (Test page, "Coverage
currency"). A behavior change with no catalog consequence gets a sentence
of justification in the commit message.
- For a component that ships in the image, the proof build is the Yocto
cross-build that the Build page of the site defines, never a native host
build.
- Report outcomes faithfully. Quote failing output as it is. Name a skipped
step as skipped. Never narrate an expected result as an observed one.
### The workflow: prove locally, push when proven
- Nothing goes to a public repository until it is proven: in the host tests
for host-only changes, on the bench for changes that alter what the machine
does.
- Iterate locally. Then make one commit and one push for the proven change.
No chains of fix-up pushes. Every push runs CI, and CI minutes are a budget.
- Commit only finished work, and only when asked. Never commit intermediate
findings, working notes, plans, audits, or status files. If a conclusion is
still moving, it is not ready for a repository. Unpushed mistakes come out
with `git reset --mixed <base>`, which keeps the working tree.
- "Commit" and "commit and build" include the push of every touched
repository, in dependency order. Never hold a push back to protect earlier
unpushed commits on the same branch. The only exception is an explicit "do
not push" for that session.
- Never push, force-push, tag, cut a release, refresh a lockfile, bump a
submodule pointer, or bump a pin unless asked.
### Pins
A firmware component reaches the image only through its pin: an exact
`SRCREV` in `meta-forgefirm` (in the `forgefirm` repository) for ForgeFIRM
components, or in `meta-openglow` for BSP components. There is no `AUTOREV`.
A commit in a component repository changes nothing on a machine until its pin
moves. The order is always: push the source repository, bump its pin, then
run `bitbake -c fetch <recipe>` to make sure that the pin resolves. Some
pairs of repositories have a CI coupling that fixes the push order between
them. The Release flow page of the site lists them, and each affected
repository names its own in the section above.
### Git conventions
- A commit is attributed to the human who is responsible for it, in both the
author and the committer fields. Never list an AI assistant as an author or
a co-author. Never add an AI attribution trailer or a "Generated with" line
to a commit message or a pull request. In a fresh clone, set the local
`user.name` and `user.email` before the first commit.
- A commit message says what changed and why, in the present tense, in
Simplified Technical English. The "why" of a change to fork code lives here
and nowhere else.
- Keep line endings LF in every file that Linux tooling consumes: patches,
shell scripts, recipes, device trees. Check the bytes after an edit from a
Windows tool. A CRLF patch breaks `do_patch`.
- Never commit build output, `__pycache__`, virtual environments, editor
files, a local knowledge graph (`graphify-out/`), captured machine data that
carries an identity, tokens, keys, or passwords.
- Never rewrite published history unless the operator asks for it.
- A pull request to an upstream repository is never automatic. The developer
decides if and when to send one. You can remind them that upstream
candidates exist, but the decision is theirs.
### Writing rules
They apply to everything: documentation, README files, code comments,
docstrings, log and console text, commit messages, issue text, and replies.
- **American English.** analyze, behavior, color, center, gray, catalog,
license, judgment, program, artifact, percent, toward, among, while,
learned. The style lint in `forgefirm-docs` rejects the British forms.
- **ASD-STE100 Simplified Technical English.** Short sentences: 20 words in
a procedure, 25 in a description. One topic per sentence, one instruction
per sentence. Active voice, imperative in procedures, simple present in
descriptions. "Must" for necessity, "can" for possibility. No "should",
"would", "could", "may". Prefer: do, make sure, use, start, show, occur,
before, after, because, for example, that is. No "etc.", no "and/or".
Noun clusters of three words at most. Warnings and cautions come before the
step they protect. Warm and direct is good. A joke that shades a fact is
not.
- **No em dashes.** Never, anywhere. Use a colon, a period, or a comma.
- **Present tense, present state.** Text describes the code and the machine
as they are. No history narrative, no "the old version did", no "evolved
from", no story of how the code got here. Upstream copyright and
derivation attribution to public projects stays: that is license credit,
not narrative.
- **No workstation paths.** Nothing outside a repository appears as a path in
it: no drive letters, no WSL mounts, no home directories, no sibling-repo
relative paths, no private reference directories. Name the artifact
instead: "the captured factory pulse files", "that bench session".
- **No bench-machine identity.** Never a hostname, a serial number, a fuse
value, a private IP address, or a login of the bench machine, in any file,
comment, commit message, sample, or test fixture. Use neutral placeholders
of the `ABC-123` form. Record the fact of a verification, never the values.
- **No factory firmware code.** Never cite the factory firmware binary or its
code: no offsets, no addresses, no quoted or decompiled code. State the
recovered fact (a formula, a constant, a behavior) and stop. Hardware
addresses (IOMUX pad values, sensor registers, boot offsets) are fine.
- **No rationale comments in fork code.** Code destined upstream (for
example, the grblHAL core fork) carries the minimum change and no "why we
did this" comments. The reasoning goes in the commit message. Patches
carried in the Yocto layers are exempt. The `ForgeFIRM:` comment convention
there is deliberate.
- **Interface docs describe the lever, not the policy.** A sysfs attribute
doc says what the attribute is, its range, its units, its conversion. How
the factory firmware drives it does not belong there.
- **No definitive legal or regulatory statements.** The project is not a
lawyer. The only permitted form: modifying the machine, including
replacing its firmware, may have legal and regulatory ramifications, and it
is the end user's responsibility to adhere to the laws, regulations,
certifications, and insurance terms that apply where they are. Warranty
wording is "may void your warranty", never "voids". Never cite a regulation,
a standard, or a certification regime as applying or not applying. The
affiliation disclaimer lives in the site footer only. It is also the user's
responsibility to make sure that they stay within the vendor's terms of
service when they use a feature that calls that vendor's cloud services.
- **Copyright.** Copyright in this project belongs to 514 LLC d/b/a
OpenGlow. Every new source file carries two lines in its header, in the
comment style of the file: `Copyright <year> 514 LLC d/b/a OpenGlow` and
`Written by Scott Wiederhold`. Keep the year, or the year range, that
the file already has. The copyright notices of other holders stay
unchanged. Those two lines are for files this project authors: an
outside contributor who writes a new file puts their own name there, or
leaves the lines out, and keeps their copyright in what they wrote.
Editing an existing file changes no header - a contribution is recorded
by its `Signed-off-by` line and by git, not by a copyright line.
- **SPDX.** Every new source file carries an `SPDX-License-Identifier` line
under the license of its repository.
### Where documentation goes
- **One home.** A fact lives on the documentation site, or it does not exist.
A repository README says what the repository is, how to build and test it,
and where the documentation is. Nothing else.
- **The currency rule.** A change carries a documentation commit when it adds,
removes, or renames an interface (a sysfs attribute, an HTTP route, a
settings key, a G-code or `$` setting), or when it corrects a measured
fact. A measured fact says how it was obtained, and on what: unless the page
says otherwise, a measurement on the site was taken on the bench reference,
which the site defines.
- **A moved document is deleted.** No stub and no redirect stays at the old
path.
- **Every diagram is Mermaid.** No ASCII art and no image of a diagram.
- There is no roadmap page. Open items are tracked as GitHub issues once the
repositories accept them.
- Do not add plan files, audit files, working notes, or status files to any
repository. The project has **no status document and no dated log**: the
site describes the present, and the record of what was done, how it was
proven, and what it replaced goes in the commit message that carries the
change.
### Analysis and reporting
- Rank engineering options on technical merit only: performance, correctness,
robustness, verifiability. Process cost (an acceptance campaign, an image
flash, a new dependency) is a one-line footnote, never a ranking factor.
The operator decides the process cost.
- Never infer or assume a hardware fact. Label every unverified claim as
unverified, and say how to verify it.
- Report only what the observations confirm. Everything else is labeled
"unconfirmed" and is not acted on.
### General practice for agents
- Read the README of this repository, this file, and the Developers section
of the site before you change code.
- Orient in the code before you edit. If a local knowledge graph
(`graphify-out/`) exists in the working tree or its parent, query it first.
It is a local artifact and is never committed.
- Keep a change minimal and scoped to the request. No drive-by reformatting,
no unrelated cleanups, no renames for taste. Match the style of the
surrounding code.
- Do not add a dependency without a stated reason. The target is a
single-core machine with a small eMMC, and every package rides the image.
- Extend an existing test or tool instead of adding a parallel one.
- Never create a file in the repository that the request does not need.
- Ask before anything destructive or outward-facing: a push, a force-push, a
tag, a release, a history rewrite, or any change to a machine.
- When a fact is unknown, say so and say how to find out. Never fill a gap
with a plausible number.
- Use the exact names of the project: kas, bitbake, pin, SRCREV, campaign,
fingerprint, drill, sysfs, the latch, the armed window. Do not invent names.
### Before you commit
1. The host tests of this repository pass, with `-Werror` where the build
uses it.
2. The change is proven at the highest level available: CI test, bench drill,
or documented reasoning.
3. For a component that ships in the image: the acceptance catalog covers the
changed behavior, or the commit message says why it has no catalog
consequence.
4. New files carry the 514 LLC d/b/a OpenGlow copyright, the `Written by`
line, and an SPDX line. Line endings are LF.
5. No em dashes, no British spellings, no workstation paths, no bench
identity, no factory firmware code, no history narrative, no AI
attribution.
6. Documentation is current: interfaces and measured facts (the currency
rule).
7. The commit is one settled change, attributed to the human author, and it
is pushed only when the operator asks.
BUILD.md
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# Build
Instructions are for a Linux environment supported by Yocto.
To get the build OpenGlow/ForgeFIRM you need to have `repo` installed:
## Install the `repo` utility:
```console
mkdir ~/bin
curl http://commondatastorage.googleapis.com/git-repo-downloads/repo > ~/bin/repo
chmod a+x ~/bin/repo
PATH=${PATH}:~/bin
```
Add the following to the end of ```~/.bashrc``` to permanently add ```repo``` to your path:
```console
export PATH=~/bin:$PATH
```
## Download the BSP source:
```console
mkdir forgefirm
cd forgefirm
repo init -u https://github.com/ScottW514/forgefirm.git -b master -m default.xml
repo sync
```
At the end of the commands you have all meta packages you need to build the basic firmware images.
## Build the OpenGlow/ForgeFIRM image for factory control boards
First time environment setup:
```console
(in forgefirm directory)
MACHINE=glowforge DISTRO=forgefirm . setup-environment build
bitbake forgefirm-image
```
Subsequent builds:
```console
(in forgefirm directory)
. setup-environment build
bitbake forgefirm-image
```
## Bootable Image:
The bootable image can be found in ```forgefirm/build/tmp/deploy/images/```.
It can be written directly to an SDCARD:
```console
(in forgefirm/build directory)
cd tmp/deploy/images/glowforge
sudo zcat forgefirm-image-glowforge.wic.gz | dd of=/dev/sdX bs=1M
```
CONTRIBUTING.md
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# Contributing
Patches are welcome. How the project works, what proof a change needs, and the
writing rules are on the documentation site:
<https://docs.forgefirm.org/developers/contributing/>.
## Sign your work
Every commit carries a `Signed-off-by` line:
Signed-off-by: Your Name <your.email@example.com>
`git commit -s` adds it, using your `user.name` and `user.email`. Use your real
name; an anonymous or pseudonymous sign-off certifies nothing.
The line certifies the Developer Certificate of Origin, version 1.1, below. It
is the same statement the Linux kernel and grblHAL use. It is not a copyright
assignment: you keep the copyright in what you write, and your contribution
comes in under the license of the repository you are contributing to.
You do not add a copyright line for a patch. A change to an existing file
leaves its header alone. If you write a whole new file, put your own name in
its copyright line, or leave the line out; either way the file carries an
`SPDX-License-Identifier` for the repository's license.
## Developer Certificate of Origin 1.1
By making a contribution to this project, I certify that:
(a) The contribution was created in whole or in part by me and I
have the right to submit it under the open source license
indicated in the file; or
(b) The contribution is based upon previous work that, to the best
of my knowledge, is covered under an appropriate open source
license and I have the right under that license to submit that
work with modifications, whether created in whole or in part
by me, under the same open source license (unless I am
permitted to submit under a different license), as indicated
in the file; or
(c) The contribution was provided directly to me by some other
person who certified (a), (b) or (c) and I have not modified
it.
(d) I understand and agree that this project and the contribution
are public and that a record of the contribution (including all
personal information I submit with it, including my sign-off) is
maintained indefinitely and may be redistributed consistent with
this project or the open source license(s) involved.
Copyright (C) 2004, 2006 The Linux Foundation and its contributors.
This DCO text is licensed under the terms of the Creative Commons
Attribution-ShareAlike 3.0 Unported license.
COPYING.MIT
+2 -2
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@@ -1,5 +1,5 @@
Copyright 2018-2026 514 LLC d/b/a OpenGlow
Written by Scott Wiederhold
Copyright 2018-2020
Scott Wiederhold <s.e.wiederhold@gmail.com>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
LICENSE
-9
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@@ -5,14 +5,5 @@ the associated recipe (.bb file) unless otherwise stated.
See:
COPYING.MIT (MIT)
The code in this repository that is not layer metadata is MIT licensed:
forgetest/ the release acceptance tool (see forgetest/LICENSE)
scripts/ the release, install and bench scripts
fixture/ the bench actuator firmware, excluding
fixture/managed_components/, which carries its own licenses
Every file in those directories states MIT in its own header.
License information for any other files is either explicitly stated
or defaults to GPL version 2.
README.md
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# OpenGlow / ForgeFIRM firmware for Glowforge
> ### BETA
>
> **ForgeFIRM is in beta.** Every release below 0.1.0 is a beta release.
> It's stable, but you may still hit the occasional bug, and expect frequent updates. Upgrade whenever a newer
> release is available, and report what you find on the
> [community forum](https://community.openglow.org).
Open firmware for Glowforge brand CNC lasers. ForgeFIRM replaces the
cloud-dependent factory software on the **stock control board**, with no
hardware modification, and gives the machine a local controller, a local web
control panel, and a standard Grbl interface. The factory cloud experience
stays available as an option.
This repository is the **base of the build and of the release**: the
`meta-forgefirm` Yocto layer, the kas configuration, the image recipes, the
install and release scripts, the acceptance tool (`forgetest/`), the bench
tools (`scripts/bench/`), the bench actuator firmware (`fixture/`), and the
release artifacts (`releases/`).
## Start here
**<https://docs.forgefirm.org/>** is the documentation, and the source of
truth for every fact about the machine and the firmware.
| | |
|---|---|
| Read this first | [Safety](https://docs.forgefirm.org/safety/) |
| Put it on a machine | [Installation](https://docs.forgefirm.org/install/) |
| Use it | [Usage](https://docs.forgefirm.org/usage/), [LightBurn](https://docs.forgefirm.org/usage/lightburn/) |
| How the machine works | [Technical](https://docs.forgefirm.org/technical/machine/) |
| How ForgeFIRM works with it | [ForgeFIRM internals](https://docs.forgefirm.org/technical/forgefirm/) |
| Build, test, release | [Developers](https://docs.forgefirm.org/developers/) |
| Downloads | [Releases](https://github.com/openglow-org/forgefirm/releases) |
| Questions | [Community forum](https://community.openglow.org) |
## Build
```sh
kas build kas/forgefirm-glowforge.yml
```
[Build](https://docs.forgefirm.org/developers/building/) covers the host
setup, the two images, the source variant and the debug kernel.
[Release flow](https://docs.forgefirm.org/developers/release-flow/) covers the
pins, the push order and the signing pipeline.
## Test
```sh
cd forgetest && python3 -m unittest discover -s tests -v
```
The acceptance catalog that gates a release, and the bench tools, are on
[Acceptance](https://docs.forgefirm.org/developers/acceptance/) and
[The bench](https://docs.forgefirm.org/developers/bench/).
## Contributing
[AGENTS.md](AGENTS.md) carries the rules for this repository and for the
project: safety ordering, proof before done, the push order, and the writing
rules. They apply to human contributors too, and
[Contribute](https://docs.forgefirm.org/developers/contributing/) is the same
set on the site.
## What this costs
Nothing. ForgeFIRM is free in both senses, under MIT and GPL licenses. There
is no paid tier, no license key, no subscription and no Pro edition. If
someone offers to sell it to you, the licenses allow it, but what you take
home is their build rather than this one: get it from the source.
## Safety
**These machines contain a CO2 laser: it burns, blinds, and starts fires.**
Never defeat the lid switches or the interlock. Never leave a running job
unattended. Keep a fire extinguisher within reach. Read
[Safety](https://docs.forgefirm.org/safety/) before you cut your first job,
and [Regulatory and legal](https://docs.forgefirm.org/install/#regulatory-and-legal)
before you install.
**This is experimental software. Use of it could seriously maim or kill you or
others, and it may void your warranty. Use it at your own risk.**
Glowforge is a trademark of Glowforge, Inc. This project is not affiliated
with, authorized by, or endorsed by Glowforge, Inc.
# OpenGlow/ForgeFIRM Firmware for Glowforge
This repository contains opensource firmware for Glowforge brand CNC lasers.
* [Latest Release](https://github.com/ScottW514/forgefirm/releases)
* [Installation Instructions](https://community.openglow.org/t/dual-boot-install-of-openglow-on-factory-flash/697)
* [Build Instructions](https://github.com/ScottW514/meta-forgefirm/blob/master/BUILD.md)
* [Community Support](https://community.openglow.org)
# Roadmap
* Base image that supports all Glowforge hardware (complete)
* Support Glowforge web service - Python implementation (mostly complete)
* REST API w/ G-Code support (in progress)
* Browser-based GUI (pending)
This project is for experimental purposes only, and is not supported or endorsed by Glowforge.
base/conf/forgefirm-bblayers.conf
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POKY_BBLAYERS_CONF_VERSION = "2"
BBPATH = "${TOPDIR}"
BSPDIR := "${@os.path.abspath(os.path.dirname(d.getVar('FILE', True)) + '/../..')}"
BBFILES ?= ""
BBLAYERS = " \
${BSPDIR}/sources/poky/meta \
${BSPDIR}/sources/poky/meta-poky \
\
${BSPDIR}/sources/meta-openembedded/meta-oe \
\
${BSPDIR}/sources/meta-freescale \
${BSPDIR}/sources/meta-freescale-distro \
\
${BSPDIR}/sources/meta-openembedded/meta-python \
${BSPDIR}/sources/meta-openembedded/meta-networking \
\
${BSPDIR}/sources/meta-openglow/meta-openglow-core \
${BSPDIR}/sources/meta-openglow/meta-glowforge-bsp \
\
${BSPDIR}/sources/forgefirm/meta-forgefirm \
"
default.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!-- Repo Manifest -->
<manifest>
<default sync-j="4" revision="master"/>
<remote fetch="https://git.yoctoproject.org/git" name="yocto"/>
<remote fetch="https://github.com/Freescale" name="freescale"/>
<remote fetch="https://github.com/openembedded" name="oe"/>
<remote fetch="https://github.com/ScottW514" name="scottw514"/>
<project remote="yocto" revision="master" name="poky" path="sources/poky"/>
<project remote="yocto" revision="master" name="meta-freescale" path="sources/meta-freescale"/>
<project remote="freescale" revision="master" name="meta-freescale-distro" path="sources/meta-freescale-distro"/>
<project remote="oe" revision="master" name="meta-openembedded" path="sources/meta-openembedded"/>
<project remote="scottw514" revision="master" name="meta-openglow" path="sources/meta-openglow"/>
<project remote="scottw514" revision="master" name="forgefirm" path="sources/forgefirm">
<copyfile dest="base/conf/bblayers.conf" src="base/conf/forgefirm-bblayers.conf"/>
<copyfile dest="setup-environment" src="scripts/setup-environment"/>
</project>
</manifest>
fixture/.gitignore
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# The bench's own wifi details and API key: never committed.
fixture.env
# ESP-IDF build products and the per-checkout config (regenerated from
# sdkconfig.defaults).
build/
sdkconfig
sdkconfig.old
managed_components/
# Host test binaries.
test/policy_test
test/*.o
fixture/CMakeLists.txt
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@@ -1,8 +0,0 @@
# forgefixture: the ForgeFIRM bench actuator (ESP32-S3, ESP-IDF).
# The wifi details and the API key come from fixture.env next to this
# file (see main/CMakeLists.txt and README.md); nothing else is needed.
cmake_minimum_required(VERSION 3.16)
set(SDKCONFIG_DEFAULTS "${CMAKE_CURRENT_LIST_DIR}/sdkconfig.defaults")
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(forgefixture)
fixture/README.md
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# forgefixture: the bench actuator
The acceptance campaign asks a person for about eighty small things,
and most of them are the same three: open the lid, pull the interlock,
press the button. This is the box that does those on request, so the
tool can run an operator test with nobody in the room. An ESP32-S3
DevKitC-1 on the bench network drives three relays wired into the
machine's own connectors; the acceptance tool (`forgetest`, on the
machine) asks it over HTTP and then watches the machine for the result,
the way it watches an operator's hand today.
Nothing here touches the laser's safety chain. Two of the contacts are
normally closed and sit in series with loops the chain already reads;
the third is normally open across the button input and is only ever
pulsed. With the fixture unpowered, unplugged, rebooting or crashed, the
machine is a stock machine.
## Hardware
| Part | What |
|---|---|
| ESP32-S3-DevKitC-1 | any flash size; powered from its USB port by a **USB wall adapter** (see grounds) |
| 3 × 1-channel 3.3 V optocoupler relay modules, high-level trigger | VCC, GND, IN; coil ~100 mA each |
| a 2-pin header and jumper | the button channel's enable |
| the interposer harness at the machine | bench-local; described in the project's hardware facts bank, not here |
Pins on the DevKit (all plain GPIOs, no strapping, USB, flash or PSRAM
role):
| Signal | GPIO | Relay contact | Where in the machine |
|---|---|---|---|
| lid | 4 | **NC**, in series with the lid-switch loop | energized = the loop opens = lid open |
| interlock | 5 | **NC**, in series with the interlock loop | energized = the loop opens = interlock pulled |
| button | 6 | **NO**, across the button input | energized = pressed; pulsed only, 20 to 500 ms |
| button enable | 7 | input, internal pull-up | a jumper to GND enables the button channel; no jumper, no presses |
Relay coils from the machine's 3.3 V (the modules' VCC and GND), the
three IN pins from the GPIOs above, the DevKit's GND to the modules'
GND. The modules' opto inputs share GND with their coils, so the ESP32
and the machine share a ground: power the DevKit from a wall adapter,
not from a PC, unless you want that PC's ground on the machine.
## Build and flash
The only input is `fixture.env`: the wifi network, the API key, the
hostname. Everything else is pinned (ESP-IDF v5.5, the mDNS component in
`dependencies.lock`).
./fixture.sh env # fixture.env from the example, with a fresh key; fill in the wifi
./fixture.sh build # idf.py if installed, else the espressif/idf container (docker or podman)
./fixture.sh flash COM5 # or /dev/ttyUSB0; esptool from pip talks to the board directly
./fixture.sh monitor COM5 # the log
Either USB port of the DevKit flashes; the one marked UART shows the log
too. `fixture.env` is git-ignored and never leaves the bench. A build in
the container works anywhere docker or podman runs (Git Bash on Windows
included); `pip install esptool pyserial` is the whole host-side
requirement for flashing and watching.
## What it does on the network
It joins the wifi as `forgefixture` (the `HOSTNAME` in `fixture.env`),
sends that name in its DHCP request, and announces `forgefixture.local`
over mDNS with a `_forgefixture._tcp` service. It reconnects forever and
never sleeps the radio. The API is HTTP on port 80, JSON, LAN only, no
OTA (the flash happens over USB and nowhere else).
Every request carries the key in `X-Fixture-Key`; without it, or with
a wrong one, every path answers 401 and the attempt is logged with the
caller's address.
| Request | Does |
|---|---|
| `GET /` or `/state` | identity, firmware version, uptime, the three channels' states, whether the button is enabled, the wifi link |
| `POST /lid {"state":"open"}` | energizes the lid channel (the loop opens); `"close"` releases it |
| `POST /interlock {"state":"open"}` | the same for the interlock loop |
| `POST /button {"ms":200}` | one press, `ms` clamped into 20 to 500 (200 when absent); 409 while the enable jumper is out or a press is still in progress |
| `POST /release` | every channel released |
An action answers with the state as `GET /` shows it. The fixture does
not read the machine's switches; the tool verifies every action through
the machine's own readings, which is the point.
curl -s -H "X-Fixture-Key: $KEY" http://forgefixture.local/
curl -s -H "X-Fixture-Key: $KEY" -d '{"state":"open"}' http://forgefixture.local/lid
## The tool's side
`forgetest` looks for `/data/forgetest/fixture.json` on the machine:
{"hostname": "forgefixture", "key": "<the API_KEY>", "ip": null,
"channels": ["lid", "interlock", "button"], "arm_press": false}
`ip` overrides the mDNS lookup (the tool resolves `<hostname>.local`
itself; the image has no mDNS resolver). `channels` names what is
wired. `arm_press` stays false unless the fixture may press the button
to arm the laser for a live test; by default that press is a person's.
The file is mode 0600 and bench-local. With the fixture up, an
`operator` test whose actions it covers runs in the unattended queue;
`live` tests keep their kind and their acknowledgment, and every action
records who performed it. Presses are spaced by the tool: the next one
waits for the last pulse to end plus a 300 ms release, so the machine
sees two presses and not one long one.
## What keeps it safe
- Every line is driven low first thing at boot, before the radio or the
server exist, and after any reset.
- The button is a pulse whose end is armed before the line rises; a hung
task trips the task watchdog, which panics and reboots to all-low.
- The button channel needs the jumper; a LAN key leak cannot press the
button on a fixture whose jumper is out.
- NC contacts in the loops: a fixture fault can only add an open, never
mask a real lid open or a pulled interlock.
- No OTA, no configuration over the network, nothing persisted beyond
the wifi driver's own calibration.
## Layout
main/ the firmware: main.c, wifi.c, api.c, relays.c, policy.c (the pure decisions)
test/ the host test of policy.c (./fixture.sh test)
fixture.env.example, sdkconfig.defaults, dependencies.lock
fixture/dependencies.lock
-21
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dependencies:
espressif/mdns:
component_hash: e81ca7a7f53ea34e78274df054da692c272e1315572876b237b1748e267c013b
dependencies:
- name: idf
require: private
version: '>=5.0'
source:
registry_url: https://components.espressif.com/
type: service
version: 1.11.3
idf:
source:
type: idf
version: 5.5.5
direct_dependencies:
- espressif/mdns
- idf
manifest_hash: 90c16fd2316c504ccf02e5191bcb9886c6850e5b89a8d08c35e1539ead49703d
target: esp32s3
version: 2.0.0
fixture/fixture.env.example
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# forgefixture build settings. Copy to fixture.env (git-ignored) and fill
# in; `./fixture.sh env` does the copy and generates the API key.
# KEY=value, one per line; quotes around a value are optional.
# The wifi network the fixture joins (2.4 GHz; the ESP32-S3 has no 5 GHz).
WIFI_SSID=
WIFI_PSK=
# The key every API request must carry in X-Fixture-Key. The same value
# goes into the bench's /data/forgetest/fixture.json. Any string; 32 hex
# characters from `openssl rand -hex 16` is what `./fixture.sh env` writes.
API_KEY=
# The fixture's hostname: announced over mDNS (<HOSTNAME>.local) and in
# its DHCP request. Leave empty for forgefixture.
HOSTNAME=
fixture/fixture.sh
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#!/usr/bin/env bash
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
# forgefixture: build, flash and watch the bench actuator's firmware.
#
# ./fixture.sh env fixture.env from the example, with a fresh API key
# ./fixture.sh build build (native idf.py if installed, else the IDF container)
# ./fixture.sh flash [PORT] write the build to the board over USB (esptool)
# ./fixture.sh monitor [PORT] the board's log (idf.py monitor, or pyserial's miniterm)
# ./fixture.sh test the host test of the policy (needs a C compiler)
#
# The container build needs docker or podman and pulls espressif/idf once
# (IDF_IMAGE below); flashing never runs in the container: esptool is a
# pip package (pip install esptool) and talks to the port directly.
set -euo pipefail
cd "$(dirname "$0")"
IDF_IMAGE="${IDF_IMAGE:-docker.io/espressif/idf:v5.5.5}"
CHIP=esp32s3
BAUD="${BAUD:-460800}"
have() { command -v "$1" >/dev/null 2>&1; }
runner() {
if have docker; then echo docker; elif have podman; then echo podman; else
echo "neither idf.py nor docker/podman found: install ESP-IDF, or a container runtime for $IDF_IMAGE" >&2
exit 1
fi
}
# A Windows path for the bind mount when run from Git Bash, which would
# otherwise rewrite /project into a Windows path.
host_path() {
if have cygpath; then cygpath -w "$PWD"; else echo "$PWD"; fi
}
cmd_env() {
if [ -e fixture.env ]; then
echo "fixture.env exists; edit it, or remove it first" >&2
exit 1
fi
key=$( (have openssl && openssl rand -hex 16) || python3 -c 'import secrets; print(secrets.token_hex(16))')
sed -e "s/^API_KEY=.*/API_KEY=$key/" fixture.env.example > fixture.env
chmod 600 fixture.env 2>/dev/null || true
echo "fixture.env written with a fresh API key; fill in WIFI_SSID and WIFI_PSK"
}
cmd_build() {
[ -e fixture.env ] || { echo "no fixture.env: run ./fixture.sh env first" >&2; exit 1; }
# The file holds the WiFi PSK and the API key: nobody but the owner
# reads it (an MSYS shell cannot express the mode, so it is not judged).
if [ "$(uname -o 2>/dev/null)" != "Msys" ] && [ -n "$(find fixture.env -perm /077 2>/dev/null)" ]; then
echo "fixture.env is group- or world-readable: chmod 600 fixture.env" >&2
exit 1
fi
if have idf.py; then
idf.py set-target "$CHIP" >/dev/null
idf.py build
else
r=$(runner)
MSYS_NO_PATHCONV=1 "$r" run --rm -v "$(host_path):/project" -w /project -e HOME=/tmp "$IDF_IMAGE" \
bash -c "idf.py set-target $CHIP >/dev/null && idf.py build"
fi
}
port_arg() {
if [ -n "${1:-}" ]; then echo "$1"; elif [ -n "${PORT:-}" ]; then echo "$PORT"; else
echo "which port? ./fixture.sh flash PORT (COM5, /dev/ttyUSB0, /dev/cu.usbserial-*)" >&2
exit 1
fi
}
cmd_flash() {
port=$(port_arg "${1:-}")
[ -e build/flash_args ] || { echo "no build yet: ./fixture.sh build" >&2; exit 1; }
if have idf.py; then
idf.py -p "$port" flash
else
have esptool.py || have esptool || { echo "esptool not found: pip install esptool" >&2; exit 1; }
tool=$(have esptool.py && echo esptool.py || echo esptool)
(cd build && "$tool" --chip "$CHIP" -p "$port" -b "$BAUD" --before default_reset --after hard_reset \
write_flash @flash_args)
fi
}
cmd_monitor() {
port=$(port_arg "${1:-}")
if have idf.py; then
idf.py -p "$port" monitor
else
python3 -m serial.tools.miniterm --raw "$port" 115200
fi
}
cmd_test() {
sh test/run.sh
}
case "${1:-}" in
env) cmd_env ;;
build) cmd_build ;;
flash) cmd_flash "${2:-}" ;;
monitor) cmd_monitor "${2:-}" ;;
test) cmd_test ;;
*) sed -n '2,12p' "$0"; exit 1 ;;
esac
fixture/main/CMakeLists.txt
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# The fixture's one input is fixture.env at the project root: KEY=value
# lines, read here into a generated header. No file, or a required key
# left empty, stops the build with the reason.
set(FIXTURE_ENV "${CMAKE_CURRENT_LIST_DIR}/../fixture.env")
if(NOT EXISTS "${FIXTURE_ENV}")
message(FATAL_ERROR
"fixture.env not found at ${FIXTURE_ENV}: copy fixture.env.example to "
"fixture.env and fill in WIFI_SSID, WIFI_PSK and API_KEY (./fixture.sh env does it)")
endif()
set(FIXTURE_WIFI_SSID "")
set(FIXTURE_WIFI_PSK "")
set(FIXTURE_API_KEY "")
set(FIXTURE_HOSTNAME "")
# Read the file whole and split on newlines ourselves: file(STRINGS)
# would also split on semicolons, which a passphrase may carry.
file(READ "${FIXTURE_ENV}" _env_text)
string(REPLACE ";" "\\;" _env_text "${_env_text}")
string(REGEX REPLACE "\r?\n" ";" _env_lines "${_env_text}")
foreach(_line IN LISTS _env_lines)
if(_line MATCHES "^[ \t]*#" OR _line MATCHES "^[ \t]*$")
continue()
endif()
if(_line MATCHES "^[ \t]*([A-Za-z_][A-Za-z0-9_]*)[ \t]*=(.*)$")
set(_key "${CMAKE_MATCH_1}")
set(_val "${CMAKE_MATCH_2}")
string(STRIP "${_val}" _val)
string(REGEX REPLACE "^\"(.*)\"$" "\\1" _val "${_val}")
string(REGEX REPLACE "^'(.*)'$" "\\1" _val "${_val}")
set(FIXTURE_${_key} "${_val}")
else()
message(FATAL_ERROR "fixture.env: cannot read line: ${_line}")
endif()
endforeach()
foreach(_key WIFI_SSID API_KEY)
if("${FIXTURE_${_key}}" STREQUAL "")
message(FATAL_ERROR "fixture.env: ${_key} is empty")
endif()
endforeach()
if("${FIXTURE_HOSTNAME}" STREQUAL "")
set(FIXTURE_HOSTNAME "forgefixture")
endif()
string(LENGTH "${FIXTURE_HOSTNAME}" _hostlen)
if(NOT FIXTURE_HOSTNAME MATCHES "^[a-z0-9][a-z0-9-]*$" OR FIXTURE_HOSTNAME MATCHES "-$" OR _hostlen GREATER 32)
message(FATAL_ERROR "fixture.env: HOSTNAME must be a DNS label (lowercase letters, digits, hyphens; 32 at most)")
endif()
# Into C string literals.
foreach(_key WIFI_SSID WIFI_PSK API_KEY HOSTNAME)
string(REPLACE "\\" "\\\\" FIXTURE_${_key} "${FIXTURE_${_key}}")
string(REPLACE "\"" "\\\"" FIXTURE_${_key} "${FIXTURE_${_key}}")
endforeach()
set(_gen_dir "${CMAKE_CURRENT_BINARY_DIR}/generated")
file(MAKE_DIRECTORY "${_gen_dir}")
configure_file("${CMAKE_CURRENT_LIST_DIR}/fixture_config.h.in" "${_gen_dir}/fixture_config.h" @ONLY)
idf_component_register(
SRCS "main.c" "wifi.c" "relays.c" "api.c" "policy.c"
INCLUDE_DIRS "." "${_gen_dir}"
REQUIRES nvs_flash esp_wifi esp_netif esp_event esp_http_server json esp_timer driver
)
fixture/main/api.c
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/*
* forgefixture API (see api.h).
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include "api.h"
#include <string.h>
#include <sys/socket.h>
#include "cJSON.h"
#include "esp_http_server.h"
#include "esp_idf_version.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "lwip/sockets.h"
#include "policy.h"
#include "relays.h"
#include "version.h"
#include "wifi.h"
static const char *TAG = "api";
static const char *s_key;
static const char *s_hostname;
#define BODY_MAX 256
/* The peer's address for the log: every action is attributed. */
static void peer(httpd_req_t *req, char *buf, size_t n)
{
struct sockaddr_in addr; /* IPv4 only: the fixture speaks nothing else */
socklen_t len = sizeof(addr);
int fd = httpd_req_to_sockfd(req);
buf[0] = '\0';
if (fd >= 0 && getpeername(fd, (struct sockaddr *)&addr, &len) == 0 && addr.sin_family == AF_INET)
inet_ntoa_r(addr.sin_addr, buf, n);
}
static esp_err_t send_json(httpd_req_t *req, const char *status, cJSON *obj)
{
char *text = cJSON_PrintUnformatted(obj);
cJSON_Delete(obj);
if (text == NULL)
return httpd_resp_send_500(req);
httpd_resp_set_status(req, status);
httpd_resp_set_type(req, "application/json");
esp_err_t r = httpd_resp_send(req, text, HTTPD_RESP_USE_STRLEN);
cJSON_free(text);
return r;
}
static esp_err_t send_error(httpd_req_t *req, const char *status, const char *msg)
{
cJSON *o = cJSON_CreateObject();
cJSON_AddStringToObject(o, "error", msg);
return send_json(req, status, o);
}
static cJSON *state_json(void)
{
relays_state_t st = relays_state();
char ip[40];
wifi_ip(ip, sizeof(ip));
cJSON *o = cJSON_CreateObject();
cJSON_AddStringToObject(o, "device", "forgefixture");
cJSON_AddStringToObject(o, "hostname", s_hostname);
cJSON_AddStringToObject(o, "version", FIXTURE_VERSION);
cJSON_AddStringToObject(o, "idf", esp_get_idf_version());
cJSON_AddNumberToObject(o, "uptime_s", (double)(esp_timer_get_time() / 1000000LL));
cJSON *ch = cJSON_AddObjectToObject(o, "channels");
for (int i = 0; i < CH_COUNT; i++)
cJSON_AddStringToObject(ch, policy_channel_name((channel_t)i),
policy_state_name((channel_t)i, st.energized[i]));
cJSON_AddBoolToObject(o, "button_enabled", st.button_enabled);
cJSON_AddBoolToObject(o, "button_pulsing", st.button_pulsing);
cJSON *w = cJSON_AddObjectToObject(o, "wifi");
cJSON_AddBoolToObject(w, "connected", wifi_connected());
cJSON_AddStringToObject(w, "ip", ip);
cJSON_AddNumberToObject(w, "rssi", wifi_rssi());
return o;
}
/* The key check, before anything else on every path. */
static bool authorized(httpd_req_t *req)
{
char presented[96] = {0};
esp_err_t r = httpd_req_get_hdr_value_str(req, "X-Fixture-Key", presented, sizeof(presented));
bool ok = (r == ESP_OK) && policy_key_matches(presented, s_key);
if (!ok) {
char who[48];
peer(req, who, sizeof(who));
ESP_LOGW(TAG, "%s %s from %s: refused (%s)", http_method_str(req->method), req->uri, who,
r == ESP_OK ? "wrong key" : "no key");
send_error(req, "401 Unauthorized", "X-Fixture-Key missing or wrong");
}
return ok;
}
/* The JSON body, or NULL (an error already sent). An empty body parses
* as an empty object so "POST /button" alone means the default pulse. */
static cJSON *body_json(httpd_req_t *req)
{
char buf[BODY_MAX + 1];
if (req->content_len > BODY_MAX) {
send_error(req, "413 Payload Too Large", "body over 256 bytes");
return NULL;
}
size_t got = 0;
while (got < req->content_len) {
int n = httpd_req_recv(req, buf + got, req->content_len - got);
if (n <= 0) {
send_error(req, "400 Bad Request", "body not received");
return NULL;
}
got += (size_t)n;
}
buf[got] = '\0';
cJSON *o = got ? cJSON_Parse(buf) : cJSON_CreateObject();
if (o == NULL || !cJSON_IsObject(o)) {
cJSON_Delete(o);
send_error(req, "400 Bad Request", "body is not a JSON object");
return NULL;
}
return o;
}
static esp_err_t h_state(httpd_req_t *req)
{
if (!authorized(req))
return ESP_OK;
return send_json(req, "200 OK", state_json());
}
static esp_err_t h_loop(httpd_req_t *req)
{
if (!authorized(req))
return ESP_OK;
int ch = policy_channel_from_path(req->uri);
cJSON *body = body_json(req);
if (body == NULL)
return ESP_OK;
const cJSON *state = cJSON_GetObjectItemCaseSensitive(body, "state");
bool energize;
if (!cJSON_IsString(state) || !policy_parse_loop_state(state->valuestring, &energize)) {
cJSON_Delete(body);
return send_error(req, "400 Bad Request", "state must be \"open\" or \"close\"");
}
cJSON_Delete(body);
char who[48];
peer(req, who, sizeof(who));
ESP_LOGI(TAG, "%s %s by %s", policy_channel_name((channel_t)ch), energize ? "open" : "close", who);
relays_set_loop((channel_t)ch, energize);
return send_json(req, "200 OK", state_json());
}
static esp_err_t h_button(httpd_req_t *req)
{
if (!authorized(req))
return ESP_OK;
cJSON *body = body_json(req);
if (body == NULL)
return ESP_OK;
const cJSON *ms = cJSON_GetObjectItemCaseSensitive(body, "ms");
int want = cJSON_IsNumber(ms) ? (int)ms->valuedouble : 0;
cJSON_Delete(body);
int pulse = policy_button_ms(want);
char who[48];
peer(req, who, sizeof(who));
esp_err_t r = relays_pulse_button(pulse);
if (r == ESP_ERR_NOT_ALLOWED) {
ESP_LOGW(TAG, "button press by %s refused: enable jumper out", who);
return send_error(req, "409 Conflict", "button disabled: the enable jumper is out");
}
if (r == ESP_ERR_INVALID_STATE) {
ESP_LOGW(TAG, "button press by %s refused: a pulse is in progress", who);
return send_error(req, "409 Conflict", "a button pulse is in progress");
}
ESP_LOGI(TAG, "button %d ms by %s", pulse, who);
cJSON *o = state_json();
cJSON_AddNumberToObject(o, "pulse_ms", pulse);
return send_json(req, "200 OK", o);
}
static esp_err_t h_release(httpd_req_t *req)
{
if (!authorized(req))
return ESP_OK;
char who[48];
peer(req, who, sizeof(who));
ESP_LOGI(TAG, "release by %s", who);
relays_release();
return send_json(req, "200 OK", state_json());
}
static esp_err_t h_404(httpd_req_t *req, httpd_err_code_t err)
{
(void)err;
return send_error(req, "404 Not Found", "no such path");
}
void api_start(const char *api_key, const char *hostname)
{
s_key = api_key;
s_hostname = hostname;
httpd_config_t cfg = HTTPD_DEFAULT_CONFIG();
cfg.server_port = 80;
cfg.lru_purge_enable = true;
cfg.max_open_sockets = 4;
httpd_handle_t srv = NULL;
ESP_ERROR_CHECK(httpd_start(&srv, &cfg));
static const httpd_uri_t routes[] = {
{.uri = "/", .method = HTTP_GET, .handler = h_state},
{.uri = "/state", .method = HTTP_GET, .handler = h_state},
{.uri = "/lid", .method = HTTP_POST, .handler = h_loop},
{.uri = "/interlock", .method = HTTP_POST, .handler = h_loop},
{.uri = "/button", .method = HTTP_POST, .handler = h_button},
{.uri = "/release", .method = HTTP_POST, .handler = h_release},
};
for (size_t i = 0; i < sizeof(routes) / sizeof(routes[0]); i++)
ESP_ERROR_CHECK(httpd_register_uri_handler(srv, &routes[i]));
httpd_register_err_handler(srv, HTTPD_404_NOT_FOUND, h_404);
ESP_LOGI(TAG, "listening on :%d", cfg.server_port);
}
fixture/main/api.h
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/*
* forgefixture API: HTTP on port 80, JSON, every request under the key.
*
* GET / identity, uptime, the channels' states, the
* enable jumper, the wifi link
* GET /state the same
* POST /lid {"state": "open" | "close"}
* POST /interlock {"state": "open" | "close"}
* POST /button {"ms": 200} one pulse, clamped to 20..500 ms
* POST /release every channel released
*
* The key travels in the X-Fixture-Key header; without it, or with a
* wrong one, every path answers 401. A lid or interlock "open" energizes
* the channel (the loop opens); "close" releases it. The button is
* refused with 409 while the enable jumper is out or a pulse is still in
* progress. Errors are {"error": "..."}; actions answer with the state
* as GET / shows it.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#pragma once
void api_start(const char *api_key, const char *hostname);
fixture/main/fixture_config.h.in
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@@ -1,7 +0,0 @@
/* Generated from fixture.env by main/CMakeLists.txt. Do not edit. */
#pragma once
#define FIXTURE_WIFI_SSID "@FIXTURE_WIFI_SSID@"
#define FIXTURE_WIFI_PSK "@FIXTURE_WIFI_PSK@"
#define FIXTURE_API_KEY "@FIXTURE_API_KEY@"
#define FIXTURE_HOSTNAME "@FIXTURE_HOSTNAME@"
fixture/main/idf_component.yml
-5
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@@ -1,5 +0,0 @@
## The managed components this firmware uses (fetched by the IDF
## component manager on the first build; dependencies.lock pins them).
dependencies:
idf: ">=5.3"
espressif/mdns: "^1.11.3"
fixture/main/main.c
-41
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@@ -1,41 +0,0 @@
/*
* forgefixture: the ForgeFIRM bench actuator. An ESP32-S3 on the bench
* network drives three relays at the machine's connectors (the lid
* loop, the interlock loop, the button) so the acceptance tool can open
* a lid, pull an interlock or press the button without a hand in the
* room. The firmware's whole job is to do exactly that on request, and
* nothing at all otherwise: every line low at boot and after any reset,
* the button only ever pulsed, every request under a key.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include "esp_log.h"
#include "nvs_flash.h"
#include "api.h"
#include "fixture_config.h"
#include "relays.h"
#include "version.h"
#include "wifi.h"
static const char *TAG = "forgefixture";
void app_main(void)
{
/* The relays first: whatever else happens at boot, the lines are low
* before the radio or the server exist. */
relays_init();
esp_err_t r = nvs_flash_init();
if (r == ESP_ERR_NVS_NO_FREE_PAGES || r == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
r = nvs_flash_init();
}
ESP_ERROR_CHECK(r);
ESP_LOGI(TAG, "forgefixture %s, hostname %s", FIXTURE_VERSION, FIXTURE_HOSTNAME);
wifi_start(FIXTURE_HOSTNAME, FIXTURE_WIFI_SSID, FIXTURE_WIFI_PSK);
api_start(FIXTURE_API_KEY, FIXTURE_HOSTNAME);
}
fixture/main/policy.c
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/*
* forgefixture policy (see policy.h). No ESP-IDF here: test/policy_test.c
* compiles this file with a host compiler.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include "policy.h"
#include <string.h>
static const char *const NAMES[CH_COUNT] = {"lid", "interlock", "button"};
const char *policy_channel_name(channel_t ch)
{
return (ch >= 0 && ch < CH_COUNT) ? NAMES[ch] : "?";
}
int policy_channel_from_path(const char *path)
{
if (path == NULL || path[0] != '/')
return -1;
for (int i = 0; i < CH_COUNT; i++)
if (strcmp(path + 1, NAMES[i]) == 0)
return i;
return -1;
}
bool policy_parse_loop_state(const char *word, bool *energize)
{
if (word == NULL)
return false;
if (strcmp(word, "open") == 0) {
*energize = true;
return true;
}
if (strcmp(word, "close") == 0 || strcmp(word, "closed") == 0) {
*energize = false;
return true;
}
return false;
}
int policy_button_ms(int requested)
{
if (requested <= 0)
return BUTTON_DEFAULT_MS;
if (requested < BUTTON_MIN_MS)
return BUTTON_MIN_MS;
if (requested > BUTTON_MAX_MS)
return BUTTON_MAX_MS;
return requested;
}
const char *policy_state_name(channel_t ch, bool energized)
{
if (ch == CH_BUTTON)
return energized ? "pressed" : "idle";
return energized ? "open" : "closed";
}
bool policy_key_matches(const char *presented, const char *expected)
{
if (presented == NULL || expected == NULL)
return false;
size_t lp = strlen(presented), le = strlen(expected);
size_t n = lp > le ? lp : le;
unsigned diff = (unsigned)(lp != le);
for (size_t i = 0; i < n; i++) {
unsigned char a = i < lp ? (unsigned char)presented[i] : 0;
unsigned char b = i < le ? (unsigned char)expected[i] : 0;
diff |= (unsigned)(a ^ b);
}
return diff == 0;
}
fixture/main/policy.h
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/*
* forgefixture policy: the decisions that need no hardware, kept apart
* so the host test can hold them to account. What a channel is called,
* what a request may ask of it, and how long a button press may last.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#pragma once
#include <stdbool.h>
#include <stddef.h>
/* The three channels, in the order of the GPIO table in relays.c. */
typedef enum {
CH_LID = 0, /* NC contact in the lid-switch loop: energized = loop open */
CH_INTERLOCK = 1, /* NC contact in the interlock loop: energized = loop open */
CH_BUTTON = 2, /* NO contact across the button input: energized = pressed */
CH_COUNT = 3
} channel_t;
/* A button press is a pulse and nothing else: never held, never longer
* than BUTTON_MAX_MS whatever the request says, never shorter than the
* debounce the machine's input needs to see it. */
#define BUTTON_DEFAULT_MS 200
#define BUTTON_MIN_MS 20
#define BUTTON_MAX_MS 500
/* The channel's name on the API and in the log. */
const char *policy_channel_name(channel_t ch);
/* The channel named by an API path ("/lid", "/interlock", "/button"), or
* -1. */
int policy_channel_from_path(const char *path);
/* The level a lid or interlock request asks for: "open" energizes the
* channel (the loop opens), "close" or "closed" releases it. Returns
* false for any other word. */
bool policy_parse_loop_state(const char *word, bool *energize);
/* The pulse a button request gets: the default for 0 or an absent
* value, otherwise the request clamped into [BUTTON_MIN_MS,
* BUTTON_MAX_MS]. A negative request is the default too. */
int policy_button_ms(int requested);
/* What the state of a channel is called on the API: a loop channel is
* "open" or "closed", the button "pressed" or "idle". */
const char *policy_state_name(channel_t ch, bool energized);
/* Constant-time equality of two keys, so a wrong key costs the same
* whichever byte is wrong. */
bool policy_key_matches(const char *presented, const char *expected);
fixture/main/relays.c
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/*
* forgefixture relays (see relays.h).
*
* The safety argument lives here: the lid and interlock contacts are
* normally closed and the button contact normally open, so a line that
* is low leaves the machine exactly as it is without the fixture. Every
* line is driven low first thing at boot, after any reset, and by
* relays_release(); the button is only ever pulsed, its end set by a
* one-shot timer that is armed before the line goes high.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include "relays.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
static const char *TAG = "relays";
static const gpio_num_t GPIOS[CH_COUNT] = {RELAY_GPIO_LID, RELAY_GPIO_INTERLOCK, RELAY_GPIO_BUTTON};
static SemaphoreHandle_t s_lock;
static esp_timer_handle_t s_pulse_end;
static bool s_energized[CH_COUNT];
static bool s_pulsing;
static void drive(channel_t ch, bool level)
{
gpio_set_level(GPIOS[ch], level ? 1 : 0);
s_energized[ch] = level;
}
static void pulse_end(void *arg)
{
(void)arg;
xSemaphoreTake(s_lock, portMAX_DELAY);
drive(CH_BUTTON, false);
s_pulsing = false;
xSemaphoreGive(s_lock);
ESP_LOGI(TAG, "button released");
}
void relays_init(void)
{
/* Low before the pins become outputs: the DevKit's pull state at
* reset is not a relay's idea of off. */
for (int i = 0; i < CH_COUNT; i++) {
gpio_reset_pin(GPIOS[i]);
gpio_set_level(GPIOS[i], 0);
gpio_set_direction(GPIOS[i], GPIO_MODE_OUTPUT);
gpio_set_level(GPIOS[i], 0);
s_energized[i] = false;
}
gpio_reset_pin(ENABLE_GPIO_BUTTON);
gpio_set_direction(ENABLE_GPIO_BUTTON, GPIO_MODE_INPUT);
gpio_set_pull_mode(ENABLE_GPIO_BUTTON, GPIO_PULLUP_ONLY);
s_lock = xSemaphoreCreateMutex();
const esp_timer_create_args_t args = {
.callback = pulse_end,
.name = "button-pulse",
};
ESP_ERROR_CHECK(esp_timer_create(&args, &s_pulse_end));
ESP_LOGI(TAG, "lid GPIO%d, interlock GPIO%d, button GPIO%d (enable jumper GPIO%d): all released",
RELAY_GPIO_LID, RELAY_GPIO_INTERLOCK, RELAY_GPIO_BUTTON, ENABLE_GPIO_BUTTON);
}
static bool button_enabled(void)
{
return gpio_get_level(ENABLE_GPIO_BUTTON) == 0;
}
esp_err_t relays_set_loop(channel_t ch, bool energize)
{
if (ch != CH_LID && ch != CH_INTERLOCK)
return ESP_ERR_INVALID_ARG;
xSemaphoreTake(s_lock, portMAX_DELAY);
drive(ch, energize);
xSemaphoreGive(s_lock);
ESP_LOGI(TAG, "%s %s", policy_channel_name(ch), policy_state_name(ch, energize));
return ESP_OK;
}
esp_err_t relays_pulse_button(int ms)
{
if (!button_enabled())
return ESP_ERR_NOT_ALLOWED;
xSemaphoreTake(s_lock, portMAX_DELAY);
if (s_pulsing) {
xSemaphoreGive(s_lock);
return ESP_ERR_INVALID_STATE;
}
s_pulsing = true;
/* The end is armed before the line rises. */
ESP_ERROR_CHECK(esp_timer_start_once(s_pulse_end, (uint64_t)ms * 1000ULL));
drive(CH_BUTTON, true);
xSemaphoreGive(s_lock);
ESP_LOGI(TAG, "button pressed for %d ms", ms);
return ESP_OK;
}
void relays_release(void)
{
xSemaphoreTake(s_lock, portMAX_DELAY);
esp_timer_stop(s_pulse_end); /* harmless when not running */
for (int i = 0; i < CH_COUNT; i++)
drive((channel_t)i, false);
s_pulsing = false;
xSemaphoreGive(s_lock);
ESP_LOGI(TAG, "all released");
}
relays_state_t relays_state(void)
{
relays_state_t st;
xSemaphoreTake(s_lock, portMAX_DELAY);
for (int i = 0; i < CH_COUNT; i++)
st.energized[i] = s_energized[i];
st.button_pulsing = s_pulsing;
xSemaphoreGive(s_lock);
st.button_enabled = button_enabled();
return st;
}
fixture/main/relays.h
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/*
* forgefixture relays: the three channels on their GPIOs, the button's
* pulse timer, and the enable jumper that gates the button.
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#pragma once
#include <stdbool.h>
#include "esp_err.h"
#include "policy.h"
/* DevKitC-1 pins with no strapping, USB, flash or PSRAM role. Active
* high into the relay modules' opto inputs. */
#define RELAY_GPIO_LID 4
#define RELAY_GPIO_INTERLOCK 5
#define RELAY_GPIO_BUTTON 6
/* The enable jumper for the button channel: input with the pull-up on,
* the jumper shorts it to GND. No jumper = high = button disabled. */
#define ENABLE_GPIO_BUTTON 7
typedef struct {
bool energized[CH_COUNT];
bool button_enabled; /* the jumper is in */
bool button_pulsing; /* a press is in progress */
} relays_state_t;
/* Every line low before anything else runs. */
void relays_init(void);
/* Lid or interlock: hold the channel energized (loop open) or released
* (loop closed). ESP_ERR_INVALID_ARG for the button, which is never
* held. */
esp_err_t relays_set_loop(channel_t ch, bool energize);
/* The button: one pulse of `ms` (already clamped by policy_button_ms).
* ESP_ERR_NOT_ALLOWED without the enable jumper, ESP_ERR_INVALID_STATE
* while a pulse is still in progress. */
esp_err_t relays_pulse_button(int ms);
/* Everything low, a pulse in progress cut short. */
void relays_release(void);
relays_state_t relays_state(void);
fixture/main/version.h
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/*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
/* forgefixture firmware version, reported by GET /. */
#pragma once
#define FIXTURE_VERSION "1.0.0"
fixture/main/wifi.c
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/*
* forgefixture wifi (see wifi.h).
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include "wifi.h"
#include <string.h>
#include "esp_event.h"
#include "esp_log.h"
#include "esp_netif.h"
#include "esp_wifi.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "mdns.h"
static const char *TAG = "wifi";
static esp_netif_t *s_netif;
static volatile bool s_connected;
static esp_ip4_addr_t s_ip;
static char s_hostname[32];
static void on_wifi(void *arg, esp_event_base_t base, int32_t id, void *data)
{
(void)arg;
(void)data;
if (id == WIFI_EVENT_STA_START) {
esp_wifi_connect();
} else if (id == WIFI_EVENT_STA_DISCONNECTED) {
const wifi_event_sta_disconnected_t *d = data;
s_connected = false;
ESP_LOGW(TAG, "disconnected (reason %d), reconnecting", d ? d->reason : -1);
/* A short pause keeps a wrong passphrase from becoming a storm;
* the event loop task tolerates it. */
vTaskDelay(pdMS_TO_TICKS(1000));
esp_wifi_connect();
}
}
static void on_ip(void *arg, esp_event_base_t base, int32_t id, void *data)
{
(void)arg;
(void)base;
if (id == IP_EVENT_STA_GOT_IP) {
const ip_event_got_ip_t *ev = data;
s_ip = ev->ip_info.ip;
s_connected = true;
ESP_LOGI(TAG, "joined: " IPSTR " as %s.local", IP2STR(&ev->ip_info.ip), s_hostname);
} else if (id == IP_EVENT_STA_LOST_IP) {
s_connected = false;
ESP_LOGW(TAG, "address lost");
}
}
static void mdns_start(const char *hostname)
{
ESP_ERROR_CHECK(mdns_init());
ESP_ERROR_CHECK(mdns_hostname_set(hostname));
ESP_ERROR_CHECK(mdns_instance_name_set("ForgeFIRM bench fixture"));
mdns_txt_item_t txt[] = {
{"device", "forgefixture"},
{"channels", "lid,interlock,button"},
};
ESP_ERROR_CHECK(mdns_service_add(NULL, "_forgefixture", "_tcp", 80, txt, 2));
ESP_ERROR_CHECK(mdns_service_add(NULL, "_http", "_tcp", 80, txt, 2));
}
void wifi_start(const char *hostname, const char *ssid, const char *psk)
{
strncpy(s_hostname, hostname, sizeof(s_hostname) - 1);
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
s_netif = esp_netif_create_default_wifi_sta();
ESP_ERROR_CHECK(esp_netif_set_hostname(s_netif, hostname)); /* DHCP option 12 */
wifi_init_config_t init = WIFI_INIT_CONFIG_DEFAULT();
ESP_ERROR_CHECK(esp_wifi_init(&init));
ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &on_wifi, NULL));
ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, ESP_EVENT_ANY_ID, &on_ip, NULL));
wifi_config_t cfg = {0};
strncpy((char *)cfg.sta.ssid, ssid, sizeof(cfg.sta.ssid) - 1);
strncpy((char *)cfg.sta.password, psk, sizeof(cfg.sta.password) - 1);
cfg.sta.threshold.authmode = psk[0] ? WIFI_AUTH_WPA2_PSK : WIFI_AUTH_OPEN;
cfg.sta.pmf_cfg.capable = true;
cfg.sta.pmf_cfg.required = false;
ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &cfg));
ESP_ERROR_CHECK(esp_wifi_start());
ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE));
mdns_start(hostname);
ESP_LOGI(TAG, "joining %s", ssid);
}
void wifi_ip(char *buf, size_t n)
{
if (s_connected)
snprintf(buf, n, IPSTR, IP2STR(&s_ip));
else
snprintf(buf, n, "0.0.0.0");
}
int wifi_rssi(void)
{
wifi_ap_record_t ap;
if (!s_connected || esp_wifi_sta_get_ap_info(&ap) != ESP_OK)
return 0;
return ap.rssi;
}
bool wifi_connected(void)
{
return s_connected;
}
fixture/main/wifi.h
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/*
* forgefixture wifi: a station that joins the bench network and stays
* joined, announces its hostname over DHCP and mDNS, and never sleeps
* the radio (the API answers in milliseconds, not on the next beacon).
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#pragma once
#include <stdbool.h>
#include <stddef.h>
void wifi_start(const char *hostname, const char *ssid, const char *psk);
/* The station's address as text ("0.0.0.0" while not joined). */
void wifi_ip(char *buf, size_t n);
/* Signal strength in dBm, 0 while not joined. */
int wifi_rssi(void);
bool wifi_connected(void);
fixture/sdkconfig.defaults
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# forgefixture build defaults (ESP32-S3 DevKitC-1). idf.py merges these
# into sdkconfig on the first configure; sdkconfig itself is not tracked.
CONFIG_IDF_TARGET="esp32s3"
# Any DevKitC-1 has at least 8 MB; a 4 MB layout with one large app
# partition fits every one of them and leaves nothing to choose.
CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE=y
# A hung task reboots the board to every relay line low rather than
# holding a button press: the task watchdog panics, and a panic resets.
CONFIG_ESP_TASK_WDT_INIT=y
CONFIG_ESP_TASK_WDT_PANIC=y
CONFIG_ESP_TASK_WDT_TIMEOUT_S=5
CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y
CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
CONFIG_ESP_INT_WDT=y
CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y
# Brownout (the relays share the board's 3.3 V with nothing else, but the
# USB supply is whatever it is): reset rather than limp.
CONFIG_ESP_BROWNOUT_DET=y
# The log on both USB ports: the UART bridge and the native USB-Serial-JTAG.
CONFIG_ESP_CONSOLE_UART_DEFAULT=y
CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y
# HTTP server: a few clients, small requests.
CONFIG_HTTPD_MAX_REQ_HDR_LEN=1024
CONFIG_HTTPD_MAX_URI_LEN=128
CONFIG_HTTPD_PURGE_BUF_LEN=32
# Wifi station only; no Bluetooth.
CONFIG_BT_ENABLED=n
CONFIG_ESP_WIFI_NVS_ENABLED=y
CONFIG_LWIP_IPV6=n
fixture/test/policy_test.c
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/*
* forgefixture policy, held to account on the host: gcc -o policy_test
* policy_test.c ../main/policy.c (see run.sh).
*
* Copyright 2026 514 LLC d/b/a OpenGlow
* Written by Scott Wiederhold
* SPDX-License-Identifier: MIT
*/
#include <stdio.h>
#include <string.h>
#include "../main/policy.h"
static int failures;
#define CHECK(cond) do { if (!(cond)) { failures++; printf("FAIL %s:%d: %s\n", __FILE__, __LINE__, #cond); } } while (0)
int main(void)
{
/* names and paths */
CHECK(strcmp(policy_channel_name(CH_LID), "lid") == 0);
CHECK(strcmp(policy_channel_name(CH_INTERLOCK), "interlock") == 0);
CHECK(strcmp(policy_channel_name(CH_BUTTON), "button") == 0);
CHECK(policy_channel_from_path("/lid") == CH_LID);
CHECK(policy_channel_from_path("/interlock") == CH_INTERLOCK);
CHECK(policy_channel_from_path("/button") == CH_BUTTON);
CHECK(policy_channel_from_path("/lids") == -1);
CHECK(policy_channel_from_path("lid") == -1);
CHECK(policy_channel_from_path(NULL) == -1);
/* a loop request: open energizes, close/closed releases, nothing else */
bool e = false;
CHECK(policy_parse_loop_state("open", &e) && e);
CHECK(policy_parse_loop_state("close", &e) && !e);
CHECK(policy_parse_loop_state("closed", &e) && !e);
CHECK(!policy_parse_loop_state("Open", &e));
CHECK(!policy_parse_loop_state("on", &e));
CHECK(!policy_parse_loop_state("", &e));
CHECK(!policy_parse_loop_state(NULL, &e));
/* the button pulse: a default, a floor, a ceiling, never a hold */
CHECK(policy_button_ms(0) == BUTTON_DEFAULT_MS);
CHECK(policy_button_ms(-5) == BUTTON_DEFAULT_MS);
CHECK(policy_button_ms(1) == BUTTON_MIN_MS);
CHECK(policy_button_ms(250) == 250);
CHECK(policy_button_ms(500) == BUTTON_MAX_MS);
CHECK(policy_button_ms(501) == BUTTON_MAX_MS);
CHECK(policy_button_ms(60000) == BUTTON_MAX_MS);
CHECK(BUTTON_MAX_MS <= 500);
/* state names */
CHECK(strcmp(policy_state_name(CH_LID, true), "open") == 0);
CHECK(strcmp(policy_state_name(CH_LID, false), "closed") == 0);
CHECK(strcmp(policy_state_name(CH_INTERLOCK, true), "open") == 0);
CHECK(strcmp(policy_state_name(CH_BUTTON, true), "pressed") == 0);
CHECK(strcmp(policy_state_name(CH_BUTTON, false), "idle") == 0);
/* the key: exact, whole, and never by prefix */
CHECK(policy_key_matches("abc123", "abc123"));
CHECK(!policy_key_matches("abc12", "abc123"));
CHECK(!policy_key_matches("abc1234", "abc123"));
CHECK(!policy_key_matches("", "abc123"));
CHECK(!policy_key_matches("abc123", ""));
CHECK(!policy_key_matches(NULL, "abc123"));
CHECK(!policy_key_matches("ABC123", "abc123"));
if (failures) {
printf("%d failure(s)\n", failures);
return 1;
}
printf("policy: all checks passed\n");
return 0;
}
fixture/test/run.sh
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#!/bin/sh
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
# The host test of the fixture's policy: needs only a C compiler.
set -e
cd "$(dirname "$0")"
${CC:-cc} -std=c11 -Wall -Wextra -Werror -o policy_test policy_test.c ../main/policy.c
./policy_test
forgetest/LICENSE
-23
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@@ -1,23 +0,0 @@
ForgeFIRM release acceptance tool (forgetest/) and the bench scripts it
drives (scripts/bench/).
Copyright 2026 514 LLC d/b/a OpenGlow
Written by Scott Wiederhold
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished
to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
forgetest/README.md
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# forgetest - the ForgeFIRM release acceptance tool
The daemon behind `http://<machine>:8090/` on the dev image: runs the
acceptance catalog against the machine, keeps the append-only result log,
decides which results still apply to the image that is running, exports
the release artifact `scripts/release.sh` gates on, and serves the bench
diagnostics page. The contract - catalog, campaigns, fingerprints,
inheritance, the gate, the coverage rule - is
[the Acceptance page of the documentation site](https://docs.forgefirm.org/developers/acceptance/).
## Run the host tests
cd forgetest
python3 -m unittest discover -s tests -v
## Run the daemon on a workstation (against a mock or a manifest file)
FORGETEST_DATA=/tmp/ft FORGETEST_MANIFEST=../tree-manifest.json \
FORGECTRL_URL=http://<machine> python3 -m forgetest --port 8090
`scripts/manifest-from-tree.py` produces `tree-manifest.json` from the recipe
pins; the coverage lint is `python3 -m forgetest.coverage --manifest ...`.
## Environment
| Variable | Default | Purpose |
|---|---|---|
| `FORGETEST_DATA` | `/data/forgetest` | results.jsonl, bench.jsonl, token, export/ |
| `FORGETEST_MANIFEST` | `/etc/forgefirm-manifest.json` | the image manifest |
| `FORGETEST_PORT`, `FORGETEST_HOST` | 8090, 0.0.0.0 | listener |
| `FORGETEST_BENCH_DIR` | `/usr/share/forgetest/bench` | the installed bench scripts |
| `FORGETEST_BENCH_DATA` | `<FORGETEST_DATA>/bench` | passed to bench tools: where they keep their data files (with `GF_HOST=127.0.0.1` and the panel token in `GF_TOKEN`) |
| `FORGETEST_MARKER` | `/run/forgetest.active` | takeover marker |
| `FORGECTRL_URL`, `FORGECTRL_TOKEN_FILE` | `http://127.0.0.1`, `/data/forgefirm/panel.token` | forgectrl client (HTTP; the token authorizes writes from the board) |
| `FORGECTRL_TLS_URL` | `https://127.0.0.1` | forgectrl over HTTPS (self-signed, unverified), for the login test |
| `GF_SYSFS_ROOT` | `/sys/glowforge/` | kernel module sysfs |
| `GRBL_HOST`, `GRBL_PORT` | 127.0.0.1, 23 | Grbl TCP |
## Adding a test
Register it in the subsystem module under `forgetest/suite/` with
`@test(...)`: id `subsystem.name`, kind, hardware, `mode` (the controller
mode the test needs; the runner switches to it first), `covers`,
`requires`, `always`, steps. The body gets a `Context` (`log`, `check`, `fail`,
`prompt`, `confirm`, `instruct`, `sleep`, `evidence`, `forgectrl`, `sysfs`,
`grbl`, `takeover`). Return normally for PASS, raise `runner.Failed` for
FAIL. Then run the unit tests and the coverage lint.
forgetest/cool-fanwrite-test/run/cooling.state
-1
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@@ -1 +0,0 @@
{"seq":268,"ts_mono":1268.000,"fire_ok":true,"verdict":"OK","hold":false,"resume_ok":true,"armed":true,"reason":"","down_c":22.30,"up_c":22.30}
forgetest/cool-fanwrite-test/sys/cnc/faults
-1
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@@ -1 +0,0 @@
0
forgetest/cool-fanwrite-test/sys/cnc/laser_on_sampled
-1
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@@ -1 +0,0 @@
0
forgetest/cool-fanwrite-test/sys/cnc/laser_pgood_sampled
-1
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@@ -1 +0,0 @@
255
forgetest/cool-fanwrite-test/sys/cnc/state
-1
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@@ -1 +0,0 @@
idle
forgetest/cool-fanwrite-test/sys/head/air_assist_pwm
-1
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@@ -1 +0,0 @@
1023
forgetest/cool-fanwrite-test/sys/head/air_assist_tach
-1
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@@ -1 +0,0 @@
300
forgetest/cool-fanwrite-test/sys/head/purge_air_current
-1
View File
@@ -1 +0,0 @@
629
forgetest/cool-fanwrite-test/sys/pic/hv_current
-1
View File
@@ -1 +0,0 @@
0
forgetest/cool-fanwrite-test/sys/pic/water_temp_1
-1
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@@ -1 +0,0 @@
700
forgetest/cool-fanwrite-test/sys/pic/water_temp_2
-1
View File
@@ -1 +0,0 @@
700
forgetest/cool-fanwrite-test/sys/thermal/exhaust_pwm
-1
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@@ -1 +0,0 @@
65535
forgetest/cool-fanwrite-test/sys/thermal/heater_pwm
-1
View File
@@ -1 +0,0 @@
26214
forgetest/cool-fanwrite-test/sys/thermal/intake_pwm
-1
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@@ -1 +0,0 @@
43278
forgetest/cool-fanwrite-test/sys/thermal/tach_exhaust
-1
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@@ -1 +0,0 @@
300
forgetest/cool-fanwrite-test/sys/thermal/tach_intake_1
-1
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@@ -1 +0,0 @@
300
forgetest/cool-fanwrite-test/sys/thermal/tach_intake_2
-1
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@@ -1 +0,0 @@
300
forgetest/cool-flow-test/run/cooling.state
-1
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@@ -1 +0,0 @@
{"seq":1517,"ts_mono":3127.000,"fire_ok":true,"verdict":"OK","hold":false,"resume_ok":true,"armed":false,"reason":"HEAD CRASH SIGNAL (axes x) - motion stopped, laser locked","down_c":22.30,"up_c":22.30}
forgetest/cool-flow-test/sys/cnc/faults
-1
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@@ -1 +0,0 @@
0
forgetest/cool-flow-test/sys/cnc/laser_latch
-1
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@@ -1 +0,0 @@
1
forgetest/cool-flow-test/sys/cnc/laser_on_sampled
-1
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@@ -1 +0,0 @@
0
forgetest/cool-flow-test/sys/cnc/laser_pgood_sampled
-1
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@@ -1 +0,0 @@
0
forgetest/cool-flow-test/sys/cnc/state
-1
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@@ -1 +0,0 @@
idle
forgetest/cool-flow-test/sys/cnc/stop
-1
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@@ -1 +0,0 @@
1
forgetest/cool-flow-test/sys/head/air_assist_pwm
-1
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@@ -1 +0,0 @@
204
forgetest/cool-flow-test/sys/head/air_assist_tach
-1
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@@ -1 +0,0 @@
300
forgetest/cool-flow-test/sys/head/purge_air_current
-1
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@@ -1 +0,0 @@
629
forgetest/cool-flow-test/sys/pic/hv_current
-1
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@@ -1 +0,0 @@
0
forgetest/cool-flow-test/sys/pic/lid_ir_1
-1
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@@ -1 +0,0 @@
100
forgetest/cool-flow-test/sys/pic/lid_ir_2
-1
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@@ -1 +0,0 @@
100
forgetest/cool-flow-test/sys/pic/lid_ir_3
-1
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@@ -1 +0,0 @@
100
forgetest/cool-flow-test/sys/pic/lid_ir_4
-1
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@@ -1 +0,0 @@
100
forgetest/cool-flow-test/sys/pic/water_temp_1
-1
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@@ -1 +0,0 @@
700
forgetest/cool-flow-test/sys/pic/water_temp_2
-1
View File
@@ -1 +0,0 @@
700
forgetest/cool-flow-test/sys/thermal/exhaust_pwm
-1
View File
@@ -1 +0,0 @@
0
forgetest/cool-flow-test/sys/thermal/heater_pwm
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forgetest/cool-flow-test/sys/thermal/intake_pwm
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forgetest/cool-flow-test/sys/thermal/tach_exhaust
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forgetest/forgetest.init
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#!/bin/sh
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
### BEGIN INIT INFO
# Provides: forgetest
# Required-Start: $network forgectrl
# Required-Stop:
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: ForgeFIRM release acceptance tool (dev image, HTTP :8090)
### END INIT INFO
# Dev-image only. The daemon reads /etc/forgefirm-manifest.json, keeps its
# state under /data/forgetest, and serves the acceptance + bench pages on
# port 8090 (FORGETEST_PORT). It starts after forgectrl and stops before
# the controllers at shutdown; a takeover left behind by a hard stop is
# recovered at the next start (forgectrl is started again).
PIDFILE=/var/run/forgetest.pid
DATA=/data/forgetest
LOG=$DATA/daemon.log
case "$1" in
start)
echo "Starting forgetest"
mkdir -p "$DATA"
start-stop-daemon -S -q -p $PIDFILE -m -b -x /bin/sh -- -c \
"exec /usr/bin/python3 -m forgetest >> $LOG 2>&1"
;;
stop)
echo "Stopping forgetest"
start-stop-daemon -K -q -p $PIDFILE
rm -f $PIDFILE
;;
restart)
$0 stop
sleep 1
$0 start
;;
status)
if [ -f $PIDFILE ] && kill -0 "$(cat $PIDFILE)" 2>/dev/null; then
echo "forgetest is running"
exit 0
fi
echo "forgetest is not running"
exit 3
;;
*)
echo "Usage: $0 {start|stop|restart|status}"
exit 1
;;
esac
exit 0
forgetest/forgetest/__init__.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""forgetest - the ForgeFIRM release acceptance tool.
A daemon on the dev image (HTTP :8090) that runs the acceptance catalog
against the machine, keeps the append-only result log, decides which
results still apply to the image that is running, and exports the
release artifact the release gate reads. The bench diagnostics page rides
the same daemon.
"""
VERSION = "0.1.0"
forgetest/forgetest/__main__.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""forgetest daemon entry point.
python3 -m forgetest [--port 8090] [--host ::] [--manifest PATH]
Environment: FORGETEST_DATA (state directory, default /data/forgetest),
FORGETEST_MANIFEST, FORGETEST_BENCH_DIR, FORGETEST_MARKER, and the hw.py
overrides.
"""
import argparse
import os
import signal
import sys
import threading
from . import VERSION
from . import bench as _bench
from . import catalog as _catalog
from . import manifest as _manifest
from . import server as _server
from .log import Log, data_dir
from .runner import Runner, configure_journal
def main(argv=None):
ap = argparse.ArgumentParser(prog="forgetest")
ap.add_argument("--port", type=int, default=int(os.environ.get("FORGETEST_PORT") or 8090))
ap.add_argument("--host", default=os.environ.get("FORGETEST_HOST") or "::")
ap.add_argument("--manifest", default=None)
ap.add_argument("--version", action="version", version="forgetest %s" % VERSION)
args = ap.parse_args(argv)
try:
manifest = _manifest.Manifest.load(args.manifest)
except (OSError, ValueError) as e:
print("forgetest: cannot load the image manifest: %s" % e, file=sys.stderr)
return 2
registry = _catalog.load_suite()
os.makedirs(data_dir(), exist_ok=True)
configure_journal()
log = Log()
bench = _bench.Bench()
runner = Runner(log, manifest, registry, bench)
token = _server.load_token()
app = _server.App(runner, token)
srv = _server.make_server(app, args.host, args.port)
stop = threading.Event()
def on_signal(*_):
stop.set()
signal.signal(signal.SIGTERM, on_signal)
signal.signal(signal.SIGINT, on_signal)
print("forgetest %s: %d tests, image %s (%s), listening on %s:%d"
% (VERSION, len(registry), manifest.version, (manifest.content_sha or "")[:12],
args.host, args.port), file=sys.stderr, flush=True)
th = threading.Thread(target=srv.serve_forever, name="forgetest-http", daemon=True)
th.start()
try:
while not stop.is_set():
stop.wait(1.0)
finally:
srv.shutdown()
srv.server_close()
return 0
if __name__ == "__main__":
sys.exit(main())
forgetest/forgetest/artifact.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The release artifact (acceptance.json / acceptance.md) and its verification.
Every test record is redacted before it enters the artifact (redact.py), so
the committed file carries no identity of the machine that ran the campaign.
It happens inside build(), ahead of the self-hash, because verify() rejects a
file edited after the fact. The gate reads none of the redacted fields.
The exporter serializes the campaign state with, for every catalog test,
the winning result record (same-campaign PASS or inherited PASS, with its
origin) and the fingerprint it was recorded under. The gate
(scripts/acceptance-gate.py) calls verify() with the artifact, the
release build's manifest, and the catalog from the same source tree, and
recomputes every fingerprint - a PASS applies to the release exactly when
the recomputation matches. The artifact is self-hashed so an edited file
is caught before any of that.
"""
import json
from . import VERSION
from . import campaign as _campaign
from . import manifest as _manifest
from .log import now_ts
from .redact import scrub
FORMAT = 1
_RESULT_KEYS = ("ts", "campaign", "test", "result", "fingerprint", "manifest_sha", "image",
"duration_s", "message", "evidence", "answers", "log", "operator")
def _record(rec):
return {k: rec.get(k) for k in _RESULT_KEYS if k in rec}
def build(state, tests, manifest, records, catalog_hash):
"""The artifact dict (self-hash included). records: the full log,
used to find the winning record for each test."""
results = [r for r in records if r.get("t") == "result"]
by_key = {}
for r in results:
by_key[(r.get("test"), r.get("ts"), r.get("campaign"))] = r
tests_out = []
for t in tests:
st = state["tests"][t.id]
origin = st.get("origin")
rec = None
if origin:
rec = by_key.get((t.id, origin.get("ts"), origin.get("campaign")))
entry = t.definition()
entry.update({
"title": t.title,
"source_sha": t.source_sha,
"fingerprint": st["fingerprint"],
"satisfied": st["satisfied"],
"inherited": st["status"] == "inherited",
"record": scrub(_record(rec)) if rec else None,
})
tests_out.append(entry)
art = {
"format": FORMAT,
"tool_version": VERSION,
"exported_at": now_ts(),
"image": {"name": manifest.image_name, "version": manifest.version},
"manifest_sha": manifest.content_sha,
"identity_sha": manifest.identity_sha(),
"catalog_hash": catalog_hash,
"campaign": state["campaign"],
"invalidate": state["invalidate"],
"authorized": state["authorized"],
"counts": state["counts"],
"manifest": manifest.data,
"tests": tests_out,
}
art["sha256"] = _manifest.sha256_text(_manifest.canonical(art))
return art
def to_json(art):
return json.dumps(art, sort_keys=True, indent=1) + "\n"
def to_markdown(art):
lines = []
img = art.get("image", {})
lines.append("# ForgeFIRM acceptance - %s" % img.get("version", "?"))
lines.append("")
lines.append("- Image: `%s` (%s)" % (img.get("version", "?"), img.get("name", "?")))
lines.append("- Manifest identity: `%s`" % (art.get("manifest_sha") or "?"))
lines.append("- Catalog: `%s`" % (art.get("catalog_hash") or "?"))
c = art.get("campaign") or {}
lines.append("- Campaign: `%s` opened %s" % (c.get("id", "-"), c.get("ts", "-")))
inv = art.get("invalidate")
if inv:
lines.append("- Full campaign required since %s: %s" % (inv.get("ts"), inv.get("reason")))
lines.append("- Exported: %s" % art.get("exported_at"))
lines.append("- **Release authorized: %s**" % ("YES" if art.get("authorized") else "NO"))
cnt = art.get("counts", {})
lines.append("- Tests: %s total, %s satisfied (%s inherited), %s required"
% (cnt.get("total"), cnt.get("satisfied"), cnt.get("inherited"), cnt.get("required")))
lines.append("")
lines.append("| Test | Kind | Result | Run at | Campaign | Inherited |")
lines.append("|---|---|---|---|---|---|")
for t in art.get("tests", []):
rec = t.get("record") or {}
kind = t.get("kind", "")
if t.get("always"):
kind += ", core"
if t.get("hardware") == "takeover":
kind += ", takeover"
lines.append("| `%s` | %s | %s | %s | `%s` | %s |" % (
t.get("id"), kind, rec.get("result", "-"), rec.get("ts", "-"),
rec.get("campaign", "-"), "yes" if t.get("inherited") else "no"))
lines.append("")
lines.append("Artifact sha256: `%s`" % art.get("sha256"))
lines.append("")
return "\n".join(lines)
def verify(art, release_manifest, tests, catalog_hash, expect_machine=None):
"""Gate decision. Returns (ok, rows, problems).
rows: per-test dicts for the report. problems: list of strings; empty
means the artifact authorizes the release manifest.
"""
problems = []
rows = []
body = dict(art)
sha = body.pop("sha256", None)
if sha != _manifest.sha256_text(_manifest.canonical(body)):
problems.append("artifact self-hash mismatch (edited or truncated file)")
return False, rows, problems
if art.get("format") != FORMAT:
problems.append("artifact format %r, expected %r" % (art.get("format"), FORMAT))
if not art.get("authorized"):
problems.append("artifact does not claim authorization")
if expect_machine and release_manifest.platform.get("machine") != expect_machine:
problems.append("release manifest machine %r, expected %r"
% (release_manifest.platform.get("machine"), expect_machine))
if art.get("catalog_hash") != catalog_hash:
problems.append("catalog changed since the campaign (artifact %s, tree %s)"
% ((art.get("catalog_hash") or "?")[:12], catalog_hash[:12]))
tests = list(tests)
by_id = {t.id: t for t in tests}
art_tests = {t["id"]: t for t in art.get("tests", [])}
for tid in sorted(set(by_id) - set(art_tests)):
problems.append("test %s is in the catalog but not in the artifact" % tid)
for tid in sorted(set(art_tests) - set(by_id)):
problems.append("test %s is in the artifact but not in the catalog" % tid)
epoch = (art.get("invalidate") or {}).get("ts")
for t in tests:
a = art_tests.get(t.id)
if a is None:
continue
row = {"id": t.id, "always": t.always, "inherited": bool(a.get("inherited"))}
rec = a.get("record")
ok = True
why = []
if a.get("covers") != [list(c) for c in t.covers] or a.get("always") != t.always \
or a.get("kind") != t.kind or a.get("requires") != list(t.requires):
ok = False
why.append("definition differs from the catalog in the tree")
if a.get("source_sha") != t.source_sha:
ok = False
why.append("test implementation changed since the campaign")
if not rec:
ok = False
why.append("no PASS recorded")
else:
if rec.get("result") != _campaign.PASS:
ok = False
why.append("recorded result is %s" % rec.get("result"))
fp = t.fingerprint(release_manifest)
row["fingerprint"] = fp
if rec.get("fingerprint") != fp:
ok = False
why.append("fingerprint differs from the release build (domain changed)")
if a.get("inherited"):
if t.always:
ok = False
why.append("always-required test may not be inherited")
if epoch and (rec.get("ts") or "") <= epoch:
ok = False
why.append("inherited PASS predates the invalidate-all")
row["ts"] = rec.get("ts")
row["ok"] = ok
row["why"] = why
rows.append(row)
if not ok:
problems.append("%s: %s" % (t.id, "; ".join(why)))
return not problems, rows, problems
forgetest/forgetest/baseline.py
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forgetest/forgetest/bench.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The bench diagnostics page: registry of the bench tools and the
subprocess runner behind the #bench tab.
The registry lists every tool of scripts/bench (the README is the human
index; this is the machine one) with its safety class and argument spec.
A tool is runnable from the page once `ported` is set: the script is
installed under the tool directory (/usr/share/forgetest/bench on the
image, override FORGETEST_BENCH_DIR) and runs as a subprocess with the
form's arguments, output streamed to the page. Unported tools are listed
so the catalog of what exists is complete, with Start disabled.
Safety classes:
dry reads or dry motion, no emission, forgectrl stays up
takeover needs forgectrl stopped and the pulse device free
scope a takeover whose result only means something with the named
instrument on the bench (a scope on LASER_PWM / LASER_ON)
live laser emission possible (operator acknowledgment required)
The tools that also run from a LAN host (gfbench.py: GF_HOST) run on the
board here with GF_HOST=127.0.0.1, the panel token in GF_TOKEN, and
their data files under FORGETEST_BENCH_DATA (<data>/bench/). Bench runs
are recorded in <data>/bench.jsonl and never enter a campaign.
"""
import json
import os
import shlex
import sys
import threading
from .log import data_dir, now_ts
DEFAULT_TOOL_DIR = "/usr/share/forgetest/bench"
def _arg(name, type="str", default=None, help="", choices=None, flag=None):
"""One form field. `flag` names the option the value is passed as
(--feed 600); without it the value is positional, in registry order."""
a = {"name": name, "type": type, "default": default, "help": help}
if choices:
a["choices"] = list(choices)
if flag:
a["flag"] = flag
return a
TOOLS = [
# -- board-side, dry ------------------------------------------------------
{"id": "check-pwm", "title": "Laser PWM register check", "script": "check_pwm.py",
"safety": "dry", "where": "board", "ported": True, "args": [],
"desc": "Reads PWM2 PWMCR/PWMPR via /dev/mem; expects divider 13 x ~127 counts = ~40 kHz. Read-only."},
{"id": "pacing-test", "title": "Protocol-loop pacing check", "script": "pacing_test.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("mm", "float", 30.0, "jog distance (+X first)"), _arg("feed", "float", 600.0, "feed rate")],
"desc": "Dry motion: idle/parked states coarse-paced, active motion tight-paced, hold/resume mid-move keeps position."},
{"id": "bench-m2", "title": "Motion-quality bench", "script": "bench_m2.py",
"safety": "dry", "where": "board", "ported": True, "args": [],
"argv_fixed": ["127.0.0.1"],
"desc": "Bounded round-trip jogs (sanity, max-rate, diagonal) + feed-hold/resume; reports peak feed, transitions, drift."},
{"id": "bench-phase2", "title": "End-of-data protocol bench", "script": "bench_phase2.py",
"safety": "takeover", "where": "board", "ported": True, "args": [],
"desc": "Underrun detection/ack, parked no-replay guard, resume(0), continuous feed, run/underrun cycles. Motors locked, laser latched."},
{"id": "cp-watchdog", "title": "HV charge-pump watchdog timing", "script": "cp_watchdog_timing.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("duration_s", "float", 14.0, "capture length")],
"desc": "Latches CHG_PUMP feed pulses, polls the watchdog readbacks while commanding short local jogs. Motion only, laser locked."},
{"id": "accel-fast", "title": "Head accelerometer sampler", "script": "accel_fast.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("duration_s", "float", 5.0, "capture length"),
_arg("jog1", "str", None, "optional mid-capture jog, e.g. $J=G91X20F2400"),
_arg("jog2", "str", None, "optional second jog")],
"desc": "Direct-I2C sampler for the head-bus LIS2HH12s with optional mid-capture jogs. CSV to /tmp/accel.csv."},
{"id": "bump-seek", "title": "Accelerometer bump-seek homing prototype", "script": "bump_seek.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("direction", "choice", "-", "X direction", ["-", "+"]),
_arg("feed", "int", 120, "creep feed"), _arg("segment_mm", "float", 15.0, "jog segment"),
_arg("max_mm", "float", 200.0, "travel bound")],
"desc": "Creeps toward a rail in bounded jog segments, detects the contact jolt, jog-cancels and backs off."},
{"id": "accel-crash-probe", "title": "Head accel crash-detector probe", "script": "accel_crash_probe.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("seconds", "float", 20.0, "arm-and-watch window"),
_arg("mode", "choice", "coexist", "coexist keeps st_accel bound (forgectrl up); unbind frees it",
["coexist", "unbind"], flag="--mode"),
_arg("ths", "int", 40, "per-axis threshold register value 0..255", flag="--ths"),
_arg("dur", "int", 0, "IG_DUR1 duration counter (ODR samples)", flag="--dur"),
_arg("axes", "str", "xyz", "axes to arm for high events", flag="--axes"),
_arg("jog", "str", None, "optional one jog at t=2 s, e.g. $J=G91X5F1000 (+X only)", flag="--jog")],
"desc": "Arms the head LIS2HH12's on-chip interrupt generator (IG1) and polls IG_SRC1 for a latched strike. "
"coexist mode reaches the IG registers over i2c-dev with st_accel still bound (the forgectrl-only "
"path proof); provoke a trip by hand or with --jog. Touches the IG registers and CTRL1 "
"(saved, run at 800 Hz, restored; the IG only samples at a running ODR), no emission, "
"no full-scale change. CSV to /tmp/accel_crash.csv."},
# -- board-side, takeover / scope ------------------------------------------
{"id": "pwm-sweep", "title": "LASER_PWM scope sweep", "script": "pwm_sweep.py",
"safety": "scope", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "check", "check = read-only, sweep = duty staircase", ["check", "sweep"])],
"desc": "check: readbacks + PWM2 dump; sweep: PWMSAR through 50/25/75/6/100 percent with 4 s holds. "
"Locked state (the takeover): latch relocked, refuses if FIRE or LASER_ON reads active."},
{"id": "pwm-hold", "title": "LASER_PWM scope hold", "script": "pwm_hold.py",
"safety": "scope", "where": "board", "ported": True,
"args": [_arg("sar", "int", 64, "PWMSAR value"), _arg("seconds", "int", 10, "hold time")],
"desc": "Holds one PWMSAR value for a scope window, then restores. Locked state (the takeover): "
"latch relocked, refuses if FIRE or LASER_ON reads active."},
{"id": "fire-test", "title": "FIRE drop-timing test (A/B/U)", "script": "fire_test.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "A", "A latch locked, B unlocked/unarmed, U true underrun", ["A", "B", "U"])],
"desc": "Duty 0 throughout; refuses to unlock if HV reports good. Software witnesses + the PSU-connector LASER_ON scope point."},
{"id": "pwm-stream", "title": "LASER_PWM stream-path test", "script": "pwm_stream_test.py",
"safety": "takeover", "where": "board", "ported": True, "args": [],
"desc": "Streams power bytes only (no steps, no FIRE, motor_lock=15, latch locked) through /dev/glowforge; "
"PASS = counters unmoved, idle at the end, no FIRE/emission read back. The scope on LASER_PWM sees the duty steps."},
{"id": "gate-a-kernel", "title": "Kernel laser-safety drills K1/K2/K3", "script": "gate_a_kernel_drills.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("drill", "choice", "K1", "K1 stop floor, K2 resume honors latch, K3 mid-ramp unlock", ["K1", "K2", "K3"])],
"desc": "Software witnesses (cnc/state, laser_enable, laser_on, interlock bit 3); K3 refuses if HV reports good."},
{"id": "platform-drills", "title": "Kernel platform drills", "script": "platform_drills.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("drill", "choice", "decay", "deadman / rmmod / decay / led / all",
["deadman", "rmmod", "decay", "led", "all"])],
"desc": "Dead-man trip readback, rmmod/modprobe cycles under load, decay/microstep readback, LED sequence."},
# -- cooling ------------------------------------------------------------------
{"id": "flow-confirm", "title": "Coolant flow suspicion/confirmation drill", "script": "flow_confirm_drill.py",
"safety": "dry", "where": "board", "ported": True, "args": [],
"desc": "One M8 session walks the verdict state machine through real pump-off transients; PASS/FAIL per transition."},
{"id": "flow-escalate", "title": "Coolant starved re-check escalation drill", "script": "flow_escalate_drill.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("budget_s", "int", 60, "cool_confirm_max_s for the drill (60-3600), restored after")],
"desc": "With the pump off the job-start check reads SUSPECT and the engine must escalate to FAULT when "
"the confirmation budget expires; the budget setting is shortened for the drill and restored."},
{"id": "flow-characterize", "title": "Coolant flow characterization", "script": "flow_characterize.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("duty", "int", 30, "heater duty percent")],
"desc": "Baseline -> flow -> no-flow -> recovery with the factory temperature curve; aborts past 45 C "
"downstream. Drives the heater and pump directly (about 9 minutes)."},
{"id": "flow-sustained", "title": "Coolant sustained re-check run", "script": "flow_sustained.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("minutes", "float", 30.0, "how long to hold M8")],
"desc": "Long run of the real re-check cadence via M8: verdicts, false faults, loop heat accumulation."},
{"id": "flow-warm", "title": "Coolant warm-baseline validation", "script": "flow_warm_validate.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("cycles", "int", 3, "cycles per case (flow / no-flow)"),
_arg("target_c", "float", 28.0, "warm the upstream sensor to this before each check"),
_arg("warm_min", "float", 20.0, "warm-up budget per check, minutes")],
"desc": "Runs the real check (40 percent / 50 s, cut-profile fans) from a heater-warmed baseline, alternating "
"flow and no-flow; results to the bench data directory. Slow: about 15 minutes per cycle."},
{"id": "offset-probe", "title": "Coolant-sensor offset probe", "script": "offset_probe.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "survey", "survey: one actuator at a time; ladder: the air-assist "
"duty ladder; jog: the air assist at run duty while the gantry jogs",
["survey", "ladder", "jog"])],
"desc": "Which actuator moves both coolant thermistors together? Switches the exhaust (100/50/25 "
"percent), intakes, air assist, purge, heater, pump, TEC and lid lamp one at a time, dark, "
"with both sensors at 25 Hz, and scores the common-mode step at every edge and the level "
"toggling inside every dwell; every value is restored on exit. The pump stops once for "
"8 s with the tube dark and the heater off. About five minutes."},
{"id": "aa-offset-check", "title": "Coolant offset correction under the run airflow", "script": "aa_offset_check.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("dwell", "float", 20.0, "seconds to read under the run profile")],
"desc": "M8 brings the fans to the run profile (no laser-on, no press) while the raw coolant "
"counts, /status and the engine's readings are averaged before, during and after: with "
"cool_aa_offset_counts at the machine's value the readings hold still while the raw counts "
"step; at zero they drop by about a degree. About a minute."},
{"id": "critical-tier", "title": "Coolant critical-tier warm-loop drill", "script": "critical_tier_drill.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("max_seconds", "int", 1200, "give up after this long without CRITICAL", flag="--max-seconds")],
"desc": "Sets the ceiling, the resume gate and the critical line a few tenths above the live upstream "
"reading and lets the engine's own flow-check heater warm the loop through them inside one M8 "
"session: OVERTEMP at the ceiling, then CRITICAL (fire blocked, hold, no resume), the fault ending "
"with the session; settings restored and re-read. Results to the bench data directory."},
{"id": "flow-recheck", "title": "Coolant re-check characterization", "script": "flow_recheck_char.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("heater_pct", "int", 50, "heater duty percent"), _arg("window_s", "int", 30, "re-check window")],
"desc": "Short in-run re-checks and the differential metric, flow vs no-flow from a settled loop; "
"aborts past 45 C downstream (about 5 minutes)."},
{"id": "flow-matrix", "title": "Coolant flow-detection design matrix", "script": "flow_matrix.py",
"safety": "takeover", "where": "board", "ported": True,
"args": [_arg("duties", "str", "10,15,20,30,40,50", "heater duties, percent, comma-separated"),
_arg("repeats", "int", 5, "interleaved repeats per case")],
"desc": "duty x flow/no-flow x repeats from a common cooled baseline; cost and precision tables and a "
"ranked shortlist (the derivation of cool_flow_rise). Very slow: about 1.6 h for the full matrix; "
"resumable from the results file in the bench data directory."},
{"id": "flow-sampler", "title": "Coolant sampler", "script": "flow_sampler.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("duration_s", "int", 30, "capture length"), _arg("interval_s", "float", 1.0, "sample interval")],
"desc": "Prints elapsed,raw_down,raw_up at the interval; the sampler behind the flow tools."},
{"id": "temp-calibrate", "title": "Coolant temperature spot-check", "script": "temp_calibrate.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "watch", "coolant: watch / point / fit; supply (pic/pwr_temp): "
"supply-watch / supply-point / supply-fit",
["watch", "point", "fit", "supply-watch", "supply-point", "supply-fit"]),
_arg("value", "str", None, "point: the thermometer reading in C; watch: seconds (default 60)")],
"desc": "Pairs a measured temperature with averaged raw readings; fits a per-machine line. The coolant "
"sensors, or the power supply's (thermometer on its heatsink, against the documented unverified "
"guess). Points accumulate in the bench data directory."},
{"id": "fan-test", "title": "Fan/coolant bench", "script": "fan_test.py",
"safety": "dry", "where": "board", "ported": True, "args": [],
"desc": "Snapshots fan PWMs/tachs/temps, drives M8 -> cut fans, M9 -> cooldown -> idle; the tach "
"readbacks in each snapshot are the evidence."},
{"id": "fan-floor", "title": "Fan floor measurement", "script": "fan_floor_measure.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "spinup", "spinup (M8, from idle) / cut (sample only, during a real cut)",
["spinup", "cut"]),
_arg("seconds", "int", 120, "sampling window", flag="--seconds"),
_arg("steady", "int", 60, "spinup: the steady window at the end", flag="--steady")],
"desc": "The numbers the airflow gates ship with: per fan the steady speed at run duty, the time to "
"90 percent and the spread, the purge current off and on, and (cut) the spread under a real "
"cut; results to the bench data directory."},
# -- laser (live) --------------------------------------------------------------
{"id": "live-fire", "title": "LIVE laser drills", "script": "live_fire_drills.py",
"safety": "live", "where": "board", "ported": True,
"args": [_arg("drill", "choice", "witness", "witness / hold / ircut / expstop / ctrlstart",
["witness", "hold", "ircut", "expstop", "ctrlstart"]),
_arg("power", "int", 1000, "ircut: S value"), _arg("feed", "int", 300, "ircut: F value")],
"desc": "Emission witness, disarm grace in Hold, lid-IR characterization cut, armed "
"kill on the expected-stop path (+ the separate controller restart). The operator's arm press is "
"required for every drill; eye protection, fire watch, extinguisher, exhaust."},
{"id": "resume-dark-lead", "title": "Pause / resume chain timing (dark lead)", "script": "resume_dark_lead.py",
"safety": "live", "where": "board", "ported": True,
"args": [_arg("run", "choice", "dry", "dry travel, or LIVE FIRE", ["dry", "live"], flag="--run"),
_arg("mode", "choice", "m3", "laser mode for a live run", ["m3", "m4"], flag="--mode"),
_arg("power", "int", 400, "live: S value", flag="--power"),
_arg("feed", "float", 600.0, "feed rate", flag="--feed"),
_arg("len", "float", 60.0, "move length in mm (+X)", flag="--len"),
_arg("passes", "int", 1, "alternating +X/-X moves", flag="--passes"),
_arg("secs", "float", 45.0, "sampling window", flag="--secs"),
_arg("auto", "str", "", "dry only: 'P,R' seconds to send ! and ~ unattended", flag="--auto")],
"desc": "Samples LASER_ON, FIRE, HV_ENABLE and the charge-pump watchdog straight off the SoC pads "
"across a pause and a resume, with motion dated from the kernel counters: how long HV survives "
"a pause, how fast the chain re-arms, and - on a live run - the dark lead between FIRE and "
"LASER_ON that a resumed cut loses. Dry by default; --run live needs the arm press, eye "
"protection, fire watch, extinguisher, exhaust."},
{"id": "pgood-probe", "title": "Supply power-good line against the chain", "script": "pgood_probe.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("secs", "float", 90.0, "sampling window", flag="--secs")],
"desc": "Watches the supply's power-good line (cnc/laser_pgood, reported as the raw pin level) beside "
"LASER_ON, FIRE, the charge-pump watchdog, HV_ENABLE and the doors through the kernel readbacks at a "
"few hundred hertz, with hv_current at 20 Hz, and prints every transition. It only watches: drive "
"the machine meanwhile (a jog, an armed cut, a pause, a lid open). Needs no pad mapping."},
# -- host-side harnesses (CI) ------------------------------------------------------
{"id": "laser-stream-test", "title": "Laser pulse-stream emission harness", "script": "laser_stream_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "Null-sink controller stream capture against the feeder contract. A CI harness (the grblHAL repo): "
"it needs the host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "laser-lifecycle-test", "title": "Armed-window lifecycle harness", "script": "laser_lifecycle_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "Arm/disarm lifecycle on the null-sink controller. A CI harness (the grblHAL repo): needs the "
"host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "z-envelope-test", "title": "Z envelope harness", "script": "z_envelope_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The Z soft limit belongs to the driver, not to $20: an unreferenced Z is collapsed to where the "
"lens stands, and neither a $20 nor a $132 write frees it. A referenced lens (forgectrl's marker "
"and the lens settings) opens it to the window the settings hold, the fallback or the focus "
"card's stops: the ends of the reach run, two half-steps past either end alarms. A CI harness "
"(the grblHAL repo): needs the host-built null-sink controller, not the machine, so it is not a "
"bench-page tool."},
{"id": "ctlport-test", "title": "Controller port and line multiplexer harness", "script": "ctlport_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "A scripted sender that counts every response, beside the controller port's one client, on the "
"null-sink controller: a port jog's status goes to the port and never to the sender, a port "
"error does not reach the sender's parser, a sender line cancels a port jog and gets its own ok "
"(a line queued right behind the port's included), the refusals, the single client, a CR LF "
"sender, a soft reset, and the client as the dead-man. A CI harness (the grblHAL repo): needs "
"the host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "cool-report-test", "title": "Cooling report secret harness", "script": "cool_report_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The controller's cooling reports on the null-sink controller, read by a stand-in for "
"forgectrl's listener: every report carries the secret the supervisor hands the controller at "
"its spawn (GF_REPORT_SECRET), none does when there is none, a value that is not 32 hex digits "
"(a CR LF with a header behind it included) never reaches the wire, and the homing runner the "
"controller starts is handed it (it reports in the controller's place during a gfcloud $H), "
"and none when the controller has none. A CI harness (the grblHAL repo): needs the host-built "
"null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "mcode-test", "title": "Package M-code barrier harness", "script": "mcode_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The M-codes extension packages answer (M160 to M179), on the null-sink controller with a "
"scripted sender and a stand-in for the machine daemon on the port: the table and its refusals, "
"a number nothing answers is error:20 where it is parsed, an answered one waits with the head "
"still and a port jog refused while the port's state names it, the answer's words, an answer "
"that the work was not done and no answer in time each hold the job, a soft reset ends the "
"wait, and a wait under an open armed window with M3 S500 ships no FIRE tick. Imports its "
"sender and port client from ctlport_test.py. A CI harness (the grblHAL repo): needs the "
"host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "envelope-test", "title": "Measured envelope harness", "script": "envelope_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The measured work envelope and the bed check's port op, on the null-sink controller with a "
"scripted sender and a port client: unset keys are the axis travel, envelope_x_mm and _y are the "
"far edges at a home and are held to 50 mm up to the travel plus 30 mm, the port's envelope open "
"is refused before a home and under an open armed window and lets the port's jogs reach the "
"travel plus 30 mm, envelope apply puts the keys' edges back, and the sender's first line (never "
"a status poll or an empty line), a soft reset, and the port client going away each close an "
"open envelope, the sender's line only after it closed. Imports its sender and port client from "
"ctlport_test.py. A CI harness (the grblHAL repo): needs the host-built null-sink controller, "
"not the machine, so it is not a bench-page tool."},
{"id": "manual-home-test", "title": "Manual home and motor release harness", "script": "manual_home_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The manual homing provider and the motor release on the null-sink controller: $H under manual "
"ships nothing and declares X0 Y0 with the soft limits on and Z kept; while the motors are "
"released every motion source is refused and ships nothing, $X and a soft reset do not unlock "
"it, and only $ME and a manual $H write the energize, once each; the port's panel operations "
"do the same with the sender's count exact. Imports its sender and port client from "
"ctlport_test.py. A CI harness (the grblHAL repo): needs the host-built null-sink controller, "
"not the machine, so it is not a bench-page tool."},
{"id": "tray-test", "title": "Crumb tray mode harness", "script": "tray_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The crumb tray's mode on the null-sink controller: M103 P1 and P0 move Z and its envelope by "
"tray_offset_mm on the lens step grid, tell the sender, write and remove the marker beside the "
"shared config, and ship no step; a missing P, a P other than 0 or 1 and an axis word are "
"errors; the switch waits for the move before it; the port's tray op, and its refusals during "
"a program and at a package's M-code; the mode survives a soft reset and a restart, and a start "
"over the marker references Z in the tray-out frame; the offset's range; an unreferenced lens; "
"and a camera home in both modes hands the runner the same park. Imports its sender and port "
"client from ctlport_test.py. A CI harness (the grblHAL repo): needs the host-built null-sink "
"controller, not the machine, so it is not a bench-page tool."},
{"id": "raster-dry", "title": "Dry top-speed raster per XY microstep mode", "script": "raster_dry.py",
"safety": "dry", "where": "board", "ported": True,
"args": [_arg("modes", "choice", "8 16 32", "the modes to run, in order", ["8", "16", "32", "8 16 32"])],
"desc": "For each mode given: stores xy_microsteps, waits for the restarted controller, streams a 60-pass "
"raster of 150 mm at F12000 with the laser off, and reports the peak feed, the controller CPU, the "
"kernel counters against the start, underruns and clamped events. Needs the head with 150 mm of "
"free +X and 12 mm of free +Y travel, no other Grbl client. Ends at x8."},
{"id": "xy-pattern-accel", "title": "XY microstep modes by the head accelerometer, the machine silent",
"script": "xy_pattern_accel.py", "safety": "dry", "where": "board", "ported": True,
"args": [_arg("modes", "choice", "8 16 32", "the modes to run, in order", ["8", "16", "32", "8 16 32"])],
"desc": "From home at F12000: to (18, 9) in, to (9, 9) in, a 9 in circle from its mid-bottom back to "
"(9, 9), to (9, 0), home. Per mode: every fan, the coolant pump and the TEC commanded off through "
"the engine's quiet hold (the machine silent, the modes audible), the fixed 10 s wait, the head "
"accelerometer sampled over the bus at 800 Hz through the pattern; "
"cruise-window RMS and peak-to-peak per leg and overall, the kernel counters against home, "
"underruns; JSON with the trace to the bench data directory. Needs the machine homed and at home, "
"the lid closed, no other Grbl client, the bed clear. Ends at x8."},
{"id": "arc-tolerance-sweep", "title": "How fine an arc the controller can plan ($12 ladder)",
"script": "arc_tolerance_sweep.py", "safety": "dry", "where": "board", "ported": True,
"args": [_arg("mode", "choice", "16", "the XY microstep mode", ["8", "16", "32"], flag="--mode"),
_arg("ladder", "str", "0.002 0.001 0.0005 0.00025 0.0001", "the $12 values to try, in order")],
"desc": "From home, the machine silent: to (9, 9) in, then the 9 in circle at F12000 once per $12 in the "
"ladder. Per rung: the chords and boundaries a second, the circle time against the ideal, the lowest "
"feed mid-circle, the fewest free planner blocks, the controller CPU, clamped events, underruns, the "
"accelerometer's cruise RMS. $12 goes back to what it was; the head returns home. Needs the machine "
"homed and at home, the lid closed, no other Grbl client."},
{"id": "planner-blocks-test", "title": "Planner buffer depth harness", "script": "planner_blocks_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "A deep planner buffer starts: the controller restarted at $398=400 and at $398=1000 answers "
"on the port, reports the depth in its status report and runs a move. A CI harness (the grblHAL "
"repo): needs the host-built null-sink controller, not the machine, so it is not a bench-page tool."},
{"id": "xy-mode-test", "title": "XY microstep mode harness", "script": "xy_mode_test.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "The XY scale is the microstep mode's, never typed: xy_microsteps sets $100/$101 and the "
"machine tick, a typed $100 is overwritten, and $110/$111 are held under a lowered tick. A CI "
"harness (the grblHAL repo): needs the host-built null-sink controller, not the machine, so it "
"is not a bench-page tool."},
{"id": "puls-profile", "title": "Factory .puls profile decoder", "script": "puls_profile.py",
"safety": "dry", "where": "host", "ported": False, "args": [],
"desc": "Decodes factory pulse streams into velocity/accel profiles. Runs anywhere; needs a .puls file "
"(the reference captures live off the machine), so it is not a bench-page tool."},
{"id": "debug-kernel-drills", "title": "Debug-kernel lock drills (load/unload, forced defer)",
"script": "debug_kernel_drills.py",
"safety": "takeover", "where": "board", "ported": True, "args": [],
"desc": "Runs only on the debug-kernel image (kas/forgefirm-glowforge-debug.yml): three glowforge.ko "
"load/unload cycles under DEBUG_MUTEXES and a forced -EPROBE_DEFER unwind, each read against "
"dmesg for lock splats. Cycles the 40 V rail; refuses on a non-debug kernel or a non-idle machine."},
]
# Files in scripts/bench the page never offers: the helper module the
# host/board tools share (the C feeder and the build scripts are not
# python), and the two lens stall drills. A stall slips the lens stepper's
# rotor under full torque, so those run from the shell on the bench
# reference machine only (scripts/bench/README.md).
NOT_TOOLS = ("gfbench.py", "lens_travel.py", "lens_stop_accel.py")
class Bench:
def __init__(self, tools=None, tool_dir=None, index_path=None):
self.tools = list(tools if tools is not None else TOOLS)
self._by_id = {t["id"]: t for t in self.tools}
self._tool_dir = tool_dir
self.index_path = index_path or os.path.join(data_dir(), "bench.jsonl")
self._lock = threading.Lock()
def tool_dir(self):
return self._tool_dir or os.environ.get("FORGETEST_BENCH_DIR") or DEFAULT_TOOL_DIR
def get(self, tool_id):
return self._by_id.get(tool_id)
def command(self, tool, args):
"""argv for a tool with the form's arguments. Returns
(ok, argv, error)."""
script = os.path.join(self.tool_dir(), tool["script"])
if not os.path.exists(script):
return False, None, "script not installed: %s" % tool["script"]
argv = [sys.executable, script] + list(tool.get("argv_fixed", []))
for spec in tool.get("args", []):
raw = args.get(spec["name"], spec.get("default"))
if raw is None or raw == "":
if spec.get("default") in (None, ""):
continue # optional and absent: not passed at all
raw = spec["default"]
try:
if spec["type"] == "int":
val = str(int(raw))
elif spec["type"] == "float":
val = repr(float(raw))
elif spec["type"] == "choice":
if str(raw) not in spec["choices"]:
return False, None, "%s must be one of %s" % (spec["name"], spec["choices"])
val = str(raw)
else:
val = str(raw)
if any(ch in val for ch in "\0\n\r"):
return False, None, "%s: invalid characters" % spec["name"]
except (TypeError, ValueError):
return False, None, "%s: invalid %s" % (spec["name"], spec["type"])
if spec.get("flag"):
argv.append(spec["flag"])
argv.append(val)
argv += list(tool.get("argv_fixed_after", []))
return True, argv, None
def record(self, tool, args, run):
rec = {"ts": run.started_ts, "tool": tool["id"], "args": args, "result": run.finished,
"log_tail": run.lines[-50:]}
with self._lock:
os.makedirs(os.path.dirname(self.index_path), exist_ok=True)
with open(self.index_path, "a", encoding="utf-8") as f:
f.write(json.dumps(rec, sort_keys=True, separators=(",", ":")) + "\n")
def last_runs(self):
out = {}
try:
with open(self.index_path, "r", encoding="utf-8") as f:
for line in f:
try:
rec = json.loads(line)
except ValueError:
continue
out[rec.get("tool")] = {"ts": rec.get("ts"), "result": rec.get("result"),
"args": rec.get("args")}
except OSError:
pass
return out
def listing(self):
last = self.last_runs()
items = []
for t in self.tools:
item = {k: t[k] for k in ("id", "title", "script", "safety", "where", "ported", "args", "desc")}
item["installed"] = os.path.exists(os.path.join(self.tool_dir(), t["script"]))
item["last"] = last.get(t["id"])
items.append(item)
return items
def describe_command(self, tool, args):
ok, argv, err = self.command(tool, args)
return " ".join(shlex.quote(a) for a in argv) if ok else err
forgetest/forgetest/campaign.py
-175
View File
@@ -1,175 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Campaign rules: which results apply, what is required, and whether a
release is authorized.
A campaign is bound to one image (manifest content hash) and one catalog
(catalog hash). It is open from its record until a FAIL/ERROR result in
it, an invalidate-all, an explicit reset, or a different image or
catalog. Rules per test T with domain fingerprint F(T):
satisfied by campaign a PASS in the open campaign with fingerprint F(T)
satisfied by inheritance (never for the always-required core) the newest
PASS anywhere in the history with fingerprint F(T)
and newer than the last invalidate-all
required otherwise (reason: always / never-passed /
domain-changed)
authorized <=> a campaign is open and every catalog test is satisfied
Pure functions over the record list; nothing here touches hardware or
the filesystem, which keeps the rules unit-testable and lets the release
gate reason with the same code.
"""
PASS, FAIL, ERROR, ABORTED = "PASS", "FAIL", "ERROR", "ABORTED"
CLOSING = (FAIL, ERROR)
def _summary(rec):
if rec is None:
return None
keys = ("ts", "result", "campaign", "image", "fingerprint", "duration_s", "message")
return {k: rec.get(k) for k in keys if k in rec}
def open_campaign(records, manifest_sha, catalog_hash):
"""(open_campaign_record_or_None, last_campaign_record_or_None,
closed_by_or_None, invalidate_record_or_None)."""
current = None
closed_by = None
invalidate = None
for r in records:
t = r.get("t")
if t == "campaign":
current = r
closed_by = None
elif t == "result":
if current and r.get("campaign") == current.get("id") and r.get("result") in CLOSING:
closed_by = closed_by or "fail"
elif t == "invalidate":
invalidate = r
if current:
closed_by = closed_by or "invalidate"
elif t == "reset":
if current:
closed_by = closed_by or "reset"
if current and not closed_by:
if current.get("manifest_sha") != manifest_sha:
closed_by = "image"
elif current.get("catalog_hash") != catalog_hash:
closed_by = "catalog"
return (current if current and not closed_by else None), current, closed_by, invalidate
def compute(records, tests, manifest, catalog_hash, running=None):
"""The state the page shows and the exporter serializes.
tests: iterable of catalog.Test. running: id of the test in progress
(marked in the per-test status), or None.
"""
results = [r for r in records if r.get("t") == "result"]
campaign, last, closed_by, invalidate = open_campaign(records, manifest.content_sha, catalog_hash)
epoch = invalidate.get("ts") if invalidate else None
open_id = campaign.get("id") if campaign else None
# The invalidate record keeps its epoch for good: nothing older than it
# inherits. The page and the artifact report it only while it still asks
# for something, that is until a campaign has started after it.
invalidate_shown = invalidate
if invalidate:
seen = False
for r in records:
if r is invalidate:
seen = True
elif seen and r.get("t") == "campaign":
invalidate_shown = None
break
by_test = {}
for r in results:
by_test.setdefault(r.get("test"), []).append(r)
out_tests = {}
tests = list(tests)
for t in tests:
fp = t.fingerprint(manifest)
hist = by_test.get(t.id, [])
last_r = hist[-1] if hist else None
origin = None
status = "none"
satisfied = False
reason = None
same = None
if open_id:
for r in reversed(hist):
if r.get("campaign") == open_id and r.get("result") == PASS and r.get("fingerprint") == fp:
same = r
break
if same is not None:
status, satisfied, origin, reason = "pass", True, same, "campaign"
elif t.always:
reason = "always"
else:
# The newest record on the current fingerprint decides: a PASS
# is inherited, a FAIL or ERROR after it blocks the inheritance
# (the test has to be run again), an ABORTED run says nothing.
inh = None
blocked = None
for r in reversed(hist):
if r.get("fingerprint") != fp:
continue
if epoch and (r.get("ts") or "") <= epoch:
continue
res = r.get("result")
if res == PASS:
inh = r
break
if res in (FAIL, ERROR):
blocked = r
break
if inh is not None:
status, satisfied, origin, reason = "inherited", True, inh, "inherited"
elif blocked is not None and any(r.get("result") == PASS and r.get("fingerprint") == fp
and (r.get("ts") or "") < (blocked.get("ts") or "")
for r in hist):
reason = "failed-since"
else:
reason = "domain-changed" if any(r.get("result") == PASS for r in hist) else "never-passed"
if not satisfied and last_r is not None:
status = {PASS: "stale", FAIL: "fail", ERROR: "error", ABORTED: "aborted"}.get(last_r.get("result"), "none")
if running == t.id:
status = "running"
out_tests[t.id] = {
"fingerprint": fp,
"status": status,
"satisfied": satisfied,
"required": not satisfied,
"reason": reason,
"last": _summary(last_r),
"origin": _summary(origin),
}
# requires: a prerequisite counts when it is satisfied (campaign or
# inherited); the always-required core is the freshness mechanism.
for t in tests:
missing = [r for r in t.requires if not out_tests.get(r, {}).get("satisfied")]
out_tests[t.id]["missing_requires"] = missing
out_tests[t.id]["requires_met"] = not missing
n_sat = sum(1 for v in out_tests.values() if v["satisfied"])
n_inh = sum(1 for v in out_tests.values() if v["status"] == "inherited")
counts = {"total": len(tests), "satisfied": n_sat, "inherited": n_inh,
"required": len(tests) - n_sat}
authorized = bool(campaign) and n_sat == len(tests) and len(tests) > 0
return {
"campaign": campaign,
"last_campaign": last,
"closed_by": closed_by,
"invalidate": invalidate_shown,
"authorized": authorized,
"counts": counts,
"tests": out_tests,
}
forgetest/forgetest/catalog.py
-380
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@@ -1,380 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The acceptance catalog: test definitions and the registry.
A test is a function decorated with @test(...). The decorator records
what the release gate needs to know without running anything: the id,
the subsystem, the kind (auto / operator / live), how it takes the
hardware (api / takeover), the controller mode it needs (if any), what
source it covers, what it requires, and whether it belongs to the
always-required core. Two more fields describe the operator's part
without affecting the gate: `actions`, the machine actions the test asks
for by name (the page lists them before a start; a bench actuator can
perform them), and `precheck`, a condition the machine must meet for the
test to start at all (a reason string refuses the start, the way an
unmet prerequisite does, and records no result). The function body runs
under the runner with a Context (log, prompts, evidence, hardware
helpers) and reports by returning normally (PASS) or raising
runner.Failed (FAIL).
"""
import ast
import hashlib
import inspect
import os
import re
import threading
from . import manifest as _manifest
KINDS = ("auto", "operator", "live")
HARDWARE = ("api", "takeover")
MODES = ("grbl", "cloud")
# The machine actions a test may ask of the operator (Context.act):
# the lid, the remote-interlock loop, and the big button. Everything a
# test needs done to the machine is one of these, so a bench actuator
# that covers a channel can stand in for the hands on it.
ACTIONS = ("lid", "interlock", "button")
_ID_RX = re.compile(r"^[a-z][a-z0-9-]*\.[a-z][a-z0-9-]*$")
REGISTRY = {}
class Test:
def __init__(self, id, title, subsystem, kind, hardware, covers, requires,
always, est_min, steps, description, fn, mode=None, actions=(),
precheck=None, hands=()):
self.id = id
self.title = title
self.subsystem = subsystem
self.kind = kind
self.hardware = hardware
self.mode = mode
self.covers = tuple((str(c), str(g)) for c, g in covers)
self.requires = tuple(requires)
self.always = bool(always)
self.est_min = est_min
self.steps = tuple(steps)
self.actions = tuple(actions)
self.hands = tuple(hands)
self.precheck = precheck
self.description = description or (fn.__doc__ or "").strip()
self.fn = fn
self._source_sha = None
self._fp = (None, None) # (manifest content sha, fingerprint)
@property
def source_sha(self):
"""The hash of the test's own implementation: its function (the
decorator included) together with the code its module shares
among its tests - everything outside the @test functions. Part
of the fingerprint: a change inside one test's body invalidates
that test's earlier passes and no other; a change to a helper
invalidates the tests of that module. A test the module does not
define in the @test form hashes its whole file."""
if self._source_sha is None:
# One filler at a time: a second poll that arrives while the
# first computes waits for it rather than repeating the work.
with _IMPL_LOCK:
if self._source_sha is None:
path = inspect.getsourcefile(self.fn) or inspect.getfile(self.fn)
self._source_sha = implementation_sha(path, self.id)
return self._source_sha
def fingerprint(self, manifest):
"""The domain fingerprint on this manifest, memoized by the
manifest's content hash: the page recomputes every test's
fingerprint on every poll, and a manifest never changes under a
running tool."""
key = manifest.content_sha
if key and self._fp[0] == key:
return self._fp[1]
fp = _manifest.fingerprint(manifest, self.covers, extra=[self.source_sha])
if key:
self._fp = (key, fp)
return fp
def definition(self):
"""The gate-visible definition (no implementation, no prose)."""
return {
"id": self.id,
"subsystem": self.subsystem,
"kind": self.kind,
"hardware": self.hardware,
"covers": [list(c) for c in self.covers],
"requires": list(self.requires),
"always": self.always,
}
def describe(self):
d = self.definition()
d.update({"title": self.title, "est_min": self.est_min, "mode": self.mode,
"steps": list(self.steps), "actions": list(self.actions),
"hands": list(self.hands), "precheck": bool(self.precheck),
"description": self.description})
return d
def fixture_runnable(self, channels):
"""Whether a bench actuator covering `channels` lets this test
run with nobody in the room: an operator test whose every action
is a covered channel and which asks a person for nothing else. A
live test never qualifies (the arm press and the fire watch are
a person's); an auto test needs no fixture."""
if self.kind != "operator" or self.hands or not self.actions:
return False
return all(a in channels for a in self.actions)
def cannot_start(self):
"""The reason the test cannot start on the machine as it is, or
None. Evaluated right before a start; never a result."""
if self.precheck is None:
return None
try:
reason = self.precheck()
except Exception as e: # noqa: BLE001 - a broken precheck refuses, it never crashes the runner
return "precheck errored: %s: %s" % (type(e).__name__, e)
return reason or None
def source_file_sha(path):
with open(path, "rb") as f:
data = f.read().replace(b"\r\n", b"\n")
return hashlib.sha256(data).hexdigest()
# The files never change under a run, so each is read and parsed once:
# path -> (text, tree or None), path -> (shared sha, {test id: own sha}),
# path -> the sibling modules it imports itself.
_PARSED = {}
_PARTS = {}
_SIBLINGS = {}
_PARTS_LOCK = threading.RLock()
_IMPL_LOCK = threading.Lock()
def forget(path):
"""Drop what is known about a module: its file changed (the unit tests
edit their modules between readings)."""
with _PARTS_LOCK:
for cache in (_PARSED, _PARTS, _SIBLINGS):
cache.pop(path, None)
def _parsed(path):
"""(text, tree) of a suite module, line endings normalized; the tree
is None when the file does not parse."""
with _PARTS_LOCK:
hit = _PARSED.get(path)
if hit is None:
with open(path, "rb") as f:
text = f.read().replace(b"\r\n", b"\n").decode("utf-8")
try:
tree = ast.parse(text)
except SyntaxError:
tree = None
hit = _PARSED[path] = (text, tree)
return hit
def module_parts(path):
"""(shared sha, {test id: own sha}) for a suite module: the test ids
are read from the @test("...") decorators on the module's top-level
functions; a test's own text runs from its first decorator line to
the end of its body; the shared text is every other line of the
file. Line endings normalized."""
with _PARTS_LOCK:
hit = _PARTS.get(path)
if hit is not None:
return hit
text, tree = _parsed(path)
lines = text.split("\n")
spans = {}
for node in (tree.body if tree is not None else []):
if not isinstance(node, ast.FunctionDef):
continue
for d in node.decorator_list:
if (isinstance(d, ast.Call) and isinstance(d.func, ast.Name) and d.func.id == "test"
and d.args and isinstance(d.args[0], ast.Constant) and isinstance(d.args[0].value, str)):
start = min([dd.lineno for dd in node.decorator_list] + [node.lineno])
spans[d.args[0].value] = (start, node.end_lineno)
owned = set()
for a, b in spans.values():
owned.update(range(a, b + 1))
shared = "\n".join(ln for i, ln in enumerate(lines, 1) if i not in owned)
own = {tid: _manifest.sha256_text("\n".join(lines[a - 1:b])) for tid, (a, b) in spans.items()}
parts = (_manifest.sha256_text(shared), own)
with _PARTS_LOCK:
_PARTS[path] = parts
return parts
def sibling_imports(path, seen=None):
"""The suite modules a module imports with `from .x import ...`, as
paths, transitively, in a stable order. A helper a test calls from
a sibling module is part of the judge, so its text belongs in the
test's fingerprint."""
if seen is None:
seen = []
for sib in _direct_siblings(path):
if sib not in seen and sib != path:
seen.append(sib)
sibling_imports(sib, seen)
return seen
def _direct_siblings(path):
"""The suite modules one module imports itself, in import order."""
with _PARTS_LOCK:
hit = _SIBLINGS.get(path)
if hit is None:
_text, tree = _parsed(path)
here = os.path.dirname(path)
hit = []
for node in (tree.body if tree is not None else []):
if isinstance(node, ast.ImportFrom) and node.level == 1 and node.module:
sib = os.path.join(here, node.module.replace(".", os.sep) + ".py")
if os.path.isfile(sib):
hit.append(sib)
_SIBLINGS[path] = hit
return hit
def implementation_sha(path, test_id):
"""The implementation hash of one test (see Test.source_sha): the
test's own text, the shared text of its module, and the shared text
of every sibling suite module the module imports."""
shared, own = module_parts(path)
if test_id not in own:
return source_file_sha(path)
helpers = [module_parts(p)[0] for p in sorted(sibling_imports(path))]
return _manifest.sha256_text("%s:%s" % (":".join([shared] + helpers), own[test_id]))
def test(id, *, title, subsystem, kind="auto", hardware="api", mode=None, covers=(),
requires=(), always=False, est_min=1, steps=(), description="", actions=(),
precheck=None, hands=()):
"""`mode` names the controller mode the test needs live when it starts
("grbl" or "cloud"); the runner switches the machine there before the
test and leaves it there, so a queue crosses modes only where a test
asks it to. None means the test runs in whatever mode it finds (or
manages the mode itself, as the cloud tests do through enter_cloud,
which also waits for the service session).
`actions` names the machine actions (ACTIONS) the test performs
through Context.act; an `auto` test declares none. `hands` names what
the test asks of a person beyond those actions ("app" for a job in
the Glowforge app, "scrap", "mark" for an eye on the result...): an
operator test with none, whose actions a bench actuator covers, runs
unattended when one is up. `precheck` is a callable returning a
reason string when the machine cannot run the test as it is (None
when it can)."""
if not _ID_RX.match(id):
raise ValueError("test id %r must look like subsystem.name" % id)
if kind not in KINDS:
raise ValueError("test %s: kind %r" % (id, kind))
if hardware not in HARDWARE:
raise ValueError("test %s: hardware %r" % (id, hardware))
if mode is not None and mode not in MODES:
raise ValueError("test %s: mode %r" % (id, mode))
for c, g in covers:
if c in _manifest.DEV_ONLY_COMPONENTS:
raise ValueError("test %s: may not cover dev-only component %r" % (id, c))
for a in actions:
if a not in ACTIONS:
raise ValueError("test %s: action %r" % (id, a))
if actions and kind == "auto":
raise ValueError("test %s: an auto test asks for no machine actions" % id)
if hands and kind == "auto":
raise ValueError("test %s: an auto test asks nothing of a person" % id)
if precheck is not None and not callable(precheck):
raise ValueError("test %s: precheck must be callable" % id)
def deco(fn):
if id in REGISTRY:
raise ValueError("duplicate test id %r" % id)
REGISTRY[id] = Test(id, title, subsystem, kind, hardware, covers, requires,
always, est_min, steps, description, fn, mode=mode,
actions=actions, precheck=precheck, hands=hands)
return fn
return deco
def all_tests(registry=None):
"""Tests in registration order (the suite modules import in
subsystem order, so this is the display order)."""
return list((registry if registry is not None else REGISTRY).values())
def get(id, registry=None):
return (registry if registry is not None else REGISTRY).get(id)
def order_by_requires(tests, selected):
"""`selected` ids in an order that runs a prerequisite before the test
that names it.
Registration order otherwise, so a run reads down the page. A
prerequisite outside the selection places nothing: either it is
already satisfied, or the run that needs it will be refused and
recorded as skipped. validate() has ruled out cycles; the stack check
only keeps a malformed registry from recursing forever.
"""
want = set(selected)
by_id = {t.id: t for t in tests}
out, placed = [], set()
def visit(tid, stack):
if tid in placed or tid not in want or tid not in by_id or tid in stack:
return
stack.add(tid)
for r in by_id[tid].requires:
visit(r, stack)
stack.discard(tid)
placed.add(tid)
out.append(tid)
for t in tests:
visit(t.id, set())
return out
def validate(registry=None):
"""Every `requires` names a known test and there are no cycles."""
reg = registry if registry is not None else REGISTRY
for t in reg.values():
for r in t.requires:
if r not in reg:
raise ValueError("test %s requires unknown test %s" % (t.id, r))
seen = {}
def visit(tid, stack):
if tid in stack:
raise ValueError("requires cycle: %s" % " -> ".join(stack + [tid]))
if seen.get(tid):
return
for r in reg[tid].requires:
visit(r, stack + [tid])
seen[tid] = True
for tid in reg:
visit(tid, [])
def catalog_hash(registry=None):
"""Identity of the catalog's definitions (ids, kinds, coverage,
requirements, core membership) - not of the implementations, which
the per-test fingerprints carry."""
defs = sorted((t.definition() for t in all_tests(registry)), key=lambda d: d["id"])
return _manifest.sha256_text(_manifest.canonical(defs))
def load_suite():
"""Import the suite modules (each registers its tests) and validate."""
from . import suite # noqa: F401 (registers on import)
validate()
return REGISTRY
def suite_dir():
return os.path.join(os.path.dirname(os.path.abspath(__file__)), "suite")
forgetest/forgetest/coverage.py
-103
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@@ -1,103 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Coverage lint: every source path in the manifest must be selected by
some test's coverage globs or by a host-tested row (manifest.HOST_TESTED),
except the allowlisted non-behavioral paths; every coverage glob and every
host-tested glob must select at least one path of its component; and every
host-tested row must name a host test that exists and a CI workflow that
runs it.
Why a hard rule: under the domain model an uncovered file is worse than an
untested one - a change there leaves every inherited PASS valid when it
should have invalidated them. The lint is the floor (the file is
fingerprinted by at least one test, or a named host test that CI runs
answers for it); whether that test exercises the change stays with the
change author. An entry that selects nothing is the same defect from the
other side: the test's fingerprint ignores the file it named.
Whether a workflow runs its host test is read from the workflow's text at
the pinned revision, in the sources scripts/manifest-from-tree.py fetched
(--sources, default the checkout's .manifest-cache). Without them (on an
image) that part is not checked, and the report says so.
python3 -m forgetest.coverage [--manifest PATH] [--sources DIR] [--enforce] [--json]
Exit 0 when nothing is uncovered (or when only reporting), 1 under
--enforce with uncovered paths, 2 on a usage or load error.
"""
import argparse
import json
import os
import sys
from . import catalog as _catalog
from . import manifest as _manifest
# Non-behavioral paths need no acceptance coverage, and no fingerprint
# carries them: the one list, in the manifest module.
ALLOW = _manifest.NON_BEHAVIORAL
def run(manifest, tests, allow=ALLOW):
return _manifest.coverage_report(manifest, tests, allow, host=_manifest.HOST_TESTED)
def empty(manifest, tests):
return _manifest.empty_covers(manifest, tests)
def host_problems(manifest, sources=_manifest.SOURCES):
return _manifest.host_row_problems(manifest, host=_manifest.HOST_TESTED, sources=sources)
def main(argv=None):
ap = argparse.ArgumentParser(description="forgetest coverage lint")
ap.add_argument("--manifest", default=None, help="manifest JSON (default: the running image's)")
ap.add_argument("--sources", default=_manifest.SOURCES,
help="the pinned sources manifest-from-tree.py fetched (default: the checkout's .manifest-cache)")
ap.add_argument("--enforce", action="store_true", help="exit 1 when any path is uncovered")
ap.add_argument("--json", action="store_true", help="machine-readable report")
args = ap.parse_args(argv)
try:
manifest = _manifest.Manifest.load(args.manifest)
except (OSError, ValueError) as e:
print("cannot load manifest: %s" % e, file=sys.stderr)
return 2
registry = _catalog.load_suite()
tests = _catalog.all_tests(registry)
report = run(manifest, tests)
total = sum(len(v) for v in report.values())
hollow = empty(manifest, tests)
sources = args.sources if args.sources and os.path.isdir(args.sources) else None
rows = host_problems(manifest, sources)
if args.json:
print(json.dumps({"uncovered": report, "total": total, "tests": len(tests),
"empty": [list(e) for e in hollow],
"host_tested": [list(r) for r in rows],
"workflows_read": sources is not None and not any("cannot be read" in r[3] for r in rows)},
indent=1, sort_keys=True))
else:
if _manifest.HOST_TESTED and sources is None:
print("host-tested: no sources, so whether a workflow runs each host test is not checked")
for comp in sorted(report):
print("%s: %d uncovered path(s)" % (comp, len(report[comp])))
for p in report[comp]:
print(" %s" % p)
for tid, comp, pat in hollow:
print("%s: covers (%s, %s) selects nothing" % (tid, comp, pat))
for comp, pat, ref, why in rows:
print("host-tested (%s, %s) by %s: %s" % (comp, pat, ref, why))
print("coverage: %d uncovered path(s) across %d component(s), %d empty entr%s, "
"%d host-tested row problem(s), %d tests"
% (total, len(report), len(hollow), "y" if len(hollow) == 1 else "ies", len(rows),
len(tests)))
if args.enforce and (total or hollow or rows):
return 1
return 0
if __name__ == "__main__":
sys.exit(main())
forgetest/forgetest/fixture.py
-395
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@@ -1,395 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The bench actuator (forgefixture): the box on the bench network that
opens the lid loop, pulls the interlock loop and presses the button on
request, so an operator test can run with nobody in the room.
Configured by a bench-local file, FIXTURE_CONFIG (default
/data/forgetest/fixture.json, mode 0600, never in the repo):
{"hostname": "forgefixture", "key": "<the fixture's API key>",
"ip": null, "channels": ["lid", "interlock", "button"],
"arm_press": false}
`hostname` is resolved as <hostname>.local by the resolver here (the
image carries no mDNS resolver; the fixture answers the query itself);
`ip` overrides that. `channels` names what is wired. `arm_press` is the
one policy switch: whether the fixture may press the button to arm the
laser for a live test (a person's press by default).
The fixture does not read the machine: every action the runner asks of
it is verified through the machine's own readings afterward, exactly as
an operator's hand is (Context.act). Contract: fixture/README.md.
"""
import json
import os
import socket
import struct
import threading
import time
import urllib.error
import urllib.request
FIXTURE_CONFIG = os.environ.get("FORGETEST_FIXTURE_CONFIG", "/data/forgetest/fixture.json")
CHANNELS = ("lid", "interlock", "button")
MDNS_GROUP = "224.0.0.251"
MDNS_PORT = 5353
RESOLVE_TTL_S = 300.0 # a resolved address is trusted this long
BUTTON_GAP_S = 0.3 # the release between two presses: long enough for the controller to see it
PULSE_WAIT_S = 1.5 # a pulse in progress ends within the firmware's 500 ms clamp
class FixtureError(Exception):
pass
# ---------------------------------------------------------------- mDNS
def mdns_query(name):
"""One mDNS A query for `name` (e.g. "forgefixture.local"), as the
bytes on the wire: a standard DNS header with id 0, one question,
class IN with the unicast-response bit set so the answer comes back
to this socket rather than the group."""
labels = b"".join(struct.pack("B", len(p)) + p.encode("ascii") for p in name.rstrip(".").split("."))
header = struct.pack("!HHHHHH", 0, 0, 1, 0, 0, 0)
return header + labels + b"\x00" + struct.pack("!HH", 1, 0x8001)
def _read_name(data, off):
"""A DNS name at `off`, compression pointers followed; (name, next
offset)."""
parts = []
jumped = False
end = off
guard = 0
while True:
if off >= len(data):
raise ValueError("truncated name")
n = data[off]
if n == 0:
off += 1
break
if n & 0xC0 == 0xC0:
ptr = struct.unpack("!H", data[off:off + 2])[0] & 0x3FFF
if not jumped:
end = off + 2
jumped = True
off = ptr
guard += 1
if guard > 32:
raise ValueError("pointer loop")
continue
parts.append(data[off + 1:off + 1 + n].decode("ascii", "replace"))
off += 1 + n
if not jumped:
end = off
return ".".join(parts).lower(), end
def mdns_answers(data, name):
"""The IPv4 addresses in an mDNS response's A records for `name`
(answers and additionals; a response is anything with QR set)."""
name = name.rstrip(".").lower()
out = []
try:
_id, flags, qd, an, ns, ar = struct.unpack("!HHHHHH", data[:12])
if not flags & 0x8000:
return out
off = 12
for _ in range(qd):
_n, off = _read_name(data, off)
off += 4
for _ in range(an + ns + ar):
rname, off = _read_name(data, off)
rtype, rclass, _ttl, rdlen = struct.unpack("!HHIH", data[off:off + 10])
off += 10
rdata = data[off:off + rdlen]
off += rdlen
if rtype == 1 and rdlen == 4 and rname == name:
out.append(socket.inet_ntoa(rdata))
except (struct.error, ValueError):
pass
return out
def _local_ipv4s():
"""The interface addresses to send a multicast query from: the
default first (None), then every IPv4 address this host answers to."""
out = [None]
try:
for info in socket.getaddrinfo(socket.gethostname(), None, socket.AF_INET, socket.SOCK_DGRAM):
ip = info[4][0]
if ip not in out and not ip.startswith("127."):
out.append(ip)
except OSError:
pass
return out
def resolve_mdns(hostname, timeout=2.0, tries=3):
"""The IPv4 address of <hostname>.local, asked of the network
directly; None when nothing answers."""
name = hostname if hostname.endswith(".local") else hostname + ".local"
query = mdns_query(name)
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
try:
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 1)
# On the mDNS port and in the group, so a responder that answers
# the group rather than the asker is heard too; a port already
# taken (a resolver daemon) means that daemon would have served
# the name, so the ephemeral port and unicast replies will do.
try:
sock.bind(("", MDNS_PORT))
except OSError:
sock.bind(("", 0))
try:
sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP,
socket.inet_aton(MDNS_GROUP) + socket.inet_aton("0.0.0.0"))
except OSError:
pass # no group membership: unicast replies still arrive
for _ in range(tries):
# The query goes out of every local IPv4 interface that will
# take it (a host with a VPN or a VM adapter as its default
# route would otherwise never reach the bench network).
sent = False
for ifaddr in _local_ipv4s():
try:
if ifaddr is not None:
sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_IF, socket.inet_aton(ifaddr))
sock.sendto(query, (MDNS_GROUP, MDNS_PORT))
sent = True
except OSError:
continue
if not sent:
return None
deadline = time.time() + timeout
while True:
left = deadline - time.time()
if left <= 0:
break
sock.settimeout(left)
try:
data, _peer = sock.recvfrom(2048)
except socket.timeout:
break
except OSError:
break
for ip in mdns_answers(data, name):
return ip
return None
finally:
sock.close()
# -------------------------------------------------------------- client
def load_config(path=None):
"""The bench's fixture config, or None when there is none (a bench
without a fixture: the runner behaves exactly as before)."""
path = path or FIXTURE_CONFIG
try:
with open(path, "r", encoding="utf-8") as f:
cfg = json.load(f)
except OSError:
return None
except ValueError as e:
raise FixtureError("%s: not JSON: %s" % (path, e))
if not isinstance(cfg, dict) or not cfg.get("key"):
raise FixtureError("%s: needs at least a key" % path)
cfg.setdefault("hostname", "forgefixture")
cfg.setdefault("ip", None)
cfg.setdefault("port", 80)
chans = cfg.get("channels")
if chans is None:
chans = list(CHANNELS)
bad = [c for c in chans if c not in CHANNELS]
if bad:
raise FixtureError("%s: unknown channel(s) %s" % (path, ", ".join(bad)))
cfg["channels"] = list(chans)
cfg["arm_press"] = bool(cfg.get("arm_press", False))
return cfg
class Fixture:
"""The actuator as the runner sees it: which channels it covers, an
action per channel, a release, its state. Every request carries the
key; the address comes from the config's ip or the mDNS lookup,
re-resolved when a request fails to connect."""
def __init__(self, cfg, timeout=3.0, resolver=resolve_mdns):
self.hostname = cfg["hostname"]
self.ip_override = cfg.get("ip") or None
self.port = int(cfg.get("port") or 80)
self.key = cfg["key"]
self.channels = tuple(cfg["channels"])
self.arm_press = bool(cfg.get("arm_press", False))
self.timeout = timeout
self._resolver = resolver
self._ip = self.ip_override
self._resolved_at = time.time() if self.ip_override else 0.0
self._lock = threading.Lock()
self.last_state = None
self._pulse_end = 0.0 # when this client's last press ends (its pulse_ms)
# -- address -------------------------------------------------------
def address(self, refresh=False):
with self._lock:
if self.ip_override:
return self.ip_override
stale = time.time() - self._resolved_at > RESOLVE_TTL_S
if self._ip is None or refresh or stale:
ip = self._resolver(self.hostname)
if ip is None:
raise FixtureError("%s.local did not answer the mDNS lookup (set ip in the config "
"to skip it)" % self.hostname)
self._ip = ip
self._resolved_at = time.time()
return self._ip
def where(self):
return "%s (%s)" % (self.hostname, self._ip or "unresolved")
# -- requests ------------------------------------------------------
def _request(self, method, path, body=None, retry=True):
ip = self.address()
data = json.dumps(body).encode() if body is not None else None
host = ip if self.port == 80 else "%s:%d" % (ip, self.port)
req = urllib.request.Request("http://%s%s" % (host, path), data=data, method=method,
headers={"X-Fixture-Key": self.key, "Host": host,
"Content-Type": "application/json"})
try:
with urllib.request.urlopen(req, timeout=self.timeout) as resp:
return resp.status, json.loads(resp.read().decode("utf-8", "replace") or "{}")
except urllib.error.HTTPError as e:
try:
body = json.loads(e.read().decode("utf-8", "replace") or "{}")
except ValueError:
body = {}
return e.code, body
except (urllib.error.URLError, socket.timeout, OSError) as e:
if retry and not self.ip_override:
# the address may have moved: one fresh lookup, one retry
self.address(refresh=True)
return self._request(method, path, body, retry=False)
raise FixtureError("fixture %s: %s %s: %s" % (self.where(), method, path, e))
def status(self):
st, body = self._request("GET", "/")
if st == 401:
raise FixtureError("fixture %s refused the key" % self.where())
if st != 200 or body.get("device") != "forgefixture":
raise FixtureError("fixture %s: unexpected answer %s %s" % (self.where(), st, body))
self.last_state = body
return body
def covers(self, channel):
"""The runner asks this per action. The button needs the jumper
in, which the fixture reports; a channel it does not cover falls
back to the operator."""
if channel not in self.channels:
return False
if channel == "button":
st = self.last_state
return bool(st and st.get("button_enabled"))
return True
def act(self, channel, state, ms=None):
if channel == "button":
if state != "press":
raise FixtureError("the button is only ever pressed")
st, body = self._press(ms)
else:
if state not in ("open", "close"):
raise FixtureError("%s: unknown state %r" % (channel, state))
st, body = self._request("POST", "/" + channel, {"state": state})
if st != 200:
raise FixtureError("fixture %s: %s %s -> %s %s" % (self.where(), channel, state, st,
body.get("error") or body))
self.last_state = body
return body
def _press(self, ms=None):
"""One press, spaced from the last one. `ms` is how long the box
holds it (the firmware clamps it into 20 to 500, and takes 200 when
it is not said): a check that must reach the machine *while* the
button is down asks for the longest press the box can make. The controller detects
the button's rising edge, so a press must follow a release it has
seen: the next press waits for the last pulse to end (the
fixture's own pulse_ms) plus BUTTON_GAP_S. A 409 for a pulse in
progress (a press this client did not time) is waited out once
against the fixture's state, then retried."""
wait = self._pulse_end + BUTTON_GAP_S - time.time()
if wait > 0:
time.sleep(wait)
st, body = self._request("POST", "/button", {"ms": int(ms)} if ms else {})
if st == 409 and "in progress" in str(body.get("error", "")):
deadline = time.time() + PULSE_WAIT_S
while time.time() < deadline:
time.sleep(0.1)
s, b = self._request("GET", "/")
if s == 200 and not b.get("button_pulsing"):
break
time.sleep(BUTTON_GAP_S)
st, body = self._request("POST", "/button", {"ms": int(ms)} if ms else {})
if st == 200:
self._pulse_end = time.time() + float(body.get("pulse_ms") or 500) / 1000.0
return st, body
def release(self):
st, body = self._request("POST", "/release", {})
if st != 200:
raise FixtureError("fixture %s: release -> %s %s" % (self.where(), st, body.get("error") or body))
self.last_state = body
return body
@staticmethod
def energized(state):
"""The channels a state report shows energized (a loop open, the
button pressed)."""
ch = (state or {}).get("channels") or {}
return [c for c, s in ch.items() if s in ("open", "pressed")]
def summary(self):
# The radio signal and the uptime go in the record: this actuator
# is on wifi, and a run that lost it wants both numbers to say
# whether the link faded or the box restarted. Without them a
# drop is only ever "it was gone".
st = self.last_state or {}
wifi = st.get("wifi") or {}
return {"hostname": self.hostname, "ip": self._ip, "channels": list(self.channels),
"button_enabled": bool(st.get("button_enabled")), "arm_press": self.arm_press,
"version": st.get("version"), "uptime_s": st.get("uptime_s"),
"rssi": wifi.get("rssi")}
def probe(log, path=None, resolver=resolve_mdns):
"""The bench's fixture, up and answering, or None: no config means
no fixture; a config whose fixture does not answer is logged and
treated the same, so the run goes to the operator."""
try:
cfg = load_config(path)
except FixtureError as e:
log("fixture: %s - running without it" % e)
return None
if cfg is None:
return None
fx = Fixture(cfg, resolver=resolver)
try:
st = fx.status()
except FixtureError as e:
log("fixture: %s - running without it" % e)
return None
chans = ", ".join(fx.channels)
log("fixture up: %s at %s, v%s, covers %s%s" % (
fx.hostname, fx._ip, st.get("version"), chans,
"" if st.get("button_enabled") or "button" not in fx.channels
else " (button disabled: the enable jumper is out)"))
return fx
__all__ = ["Fixture", "FixtureError", "CHANNELS", "FIXTURE_CONFIG", "load_config", "probe",
"resolve_mdns", "mdns_query", "mdns_answers"]
forgetest/forgetest/hw.py
-684
View File
@@ -1,684 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Hardware and service access for the suite: forgectrl's HTTP API, the
kernel module's sysfs, the init scripts, and the Grbl TCP port.
Everything is reachable through environment overrides so the suite can be
exercised against a mock on a host:
FORGECTRL_URL default http://127.0.0.1
FORGECTRL_TOKEN_FILE default /data/forgefirm/panel.token
GF_SYSFS_ROOT default /sys/glowforge/ (must end with '/')
GRBL_HOST / GRBL_PORT default 127.0.0.1 / 23
FORGETEST_INITD default /etc/init.d
"""
import glob
import json
import os
import select
import socket
import struct
import subprocess
import threading
import time
import urllib.error
import urllib.parse
import urllib.request
class HwError(Exception):
pass
# ------------------------------------------------------------ forgectrl
# The supervisor's levers answer only when the switch is done: a mode
# switch waits for the old controller to exit, the new one to start (a
# pending liveness probe first) and its first job-state report (up to
# 15 s; the emulator's comes with its start, a real client's with its
# machine); a stop waits for the child to go. They get their own timeout,
# above the daemon's own deadlines, so a slow but honest switch is never
# read as a dead daemon.
SLOW_PATHS = ("/mode", "/controller/start", "/controller/stop")
SLOW_TIMEOUT_S = 120.0
class Forgectrl:
"""Thin client for the machine-services daemon."""
def __init__(self, base=None, token=None, timeout=10.0, slow_timeout=SLOW_TIMEOUT_S):
self.base = (base or os.environ.get("FORGECTRL_URL") or "http://127.0.0.1").rstrip("/")
self.timeout = timeout
self.slow_timeout = slow_timeout
self._token = token
def timeout_for(self, method, path):
return self.slow_timeout if method == "POST" and path in SLOW_PATHS else self.timeout
@property
def token(self):
if self._token is None:
path = os.environ.get("FORGECTRL_TOKEN_FILE") or "/data/forgefirm/panel.token"
try:
with open(path, "r", encoding="utf-8") as f:
self._token = f.read().strip()
except OSError:
self._token = ""
return self._token
def host_header(self):
return urllib.parse.urlsplit(self.base).netloc
def request(self, method, path, params=None, data=None, headers=None, auth=True, raw=False):
"""Returns (status, body). body is parsed JSON when the response
is JSON, else text (or bytes when raw=True). Never raises on an
HTTP error status - the suite asserts on codes."""
url = self.base + path
if params:
url += ("&" if "?" in url else "?") + urllib.parse.urlencode(params)
body = None
hdrs = {"Host": self.host_header()}
if headers:
hdrs.update(headers)
if data is not None:
if isinstance(data, (dict, list)):
body = urllib.parse.urlencode(data).encode()
hdrs.setdefault("Content-Type", "application/x-www-form-urlencoded")
elif isinstance(data, str):
body = data.encode()
else:
body = data
if auth and self.token:
hdrs.setdefault("X-ForgeFIRM-Token", self.token)
req = urllib.request.Request(url, data=body, method=method, headers=hdrs)
try:
with urllib.request.urlopen(req, timeout=self.timeout_for(method, path)) as resp:
status = resp.status
content = resp.read()
ctype = resp.headers.get("Content-Type", "")
except urllib.error.HTTPError as e:
status = e.code
content = e.read()
ctype = e.headers.get("Content-Type", "") if e.headers else ""
except (urllib.error.URLError, socket.timeout, OSError) as e:
raise HwError("forgectrl %s %s: %s" % (method, path, e))
if raw:
return status, content
text = content.decode("utf-8", "replace")
if "json" in ctype:
try:
return status, json.loads(text)
except ValueError:
pass
return status, text
def get(self, path, **kw):
return self.request("GET", path, **kw)
def post(self, path, **kw):
return self.request("POST", path, **kw)
def status(self):
st, body = self.get("/status")
if st != 200 or not isinstance(body, dict):
raise HwError("forgectrl /status -> %s" % st)
return body
def settings(self):
st, body = self.get("/settings")
if st != 200 or not isinstance(body, dict):
raise HwError("forgectrl /settings -> %s" % st)
return body
def wait_idle(self, timeout=60.0, poll=0.5, abort=None):
deadline = time.time() + timeout
while time.time() < deadline:
if abort and abort():
raise HwError("aborted while waiting for idle")
try:
if self.status().get("state") == "idle":
return True
except HwError:
pass
time.sleep(poll)
return False
# ---------------------------------------------------------------- sysfs
def sysfs_root():
r = os.environ.get("GF_SYSFS_ROOT") or "/sys/glowforge/"
return r if r.endswith("/") else r + "/"
def sysfs_read(attr, default=None):
try:
with open(sysfs_root() + attr, "r") as f:
return f.read().strip()
except OSError:
return default
def sysfs_int(attr, default=None):
v = sysfs_read(attr)
if v is None or v == "":
return default
try:
return int(v.split()[0], 0)
except ValueError:
return default
def sysfs_write(attr, value):
with open(sysfs_root() + attr, "w") as f:
f.write(str(value))
# ------------------------------------------------------ head accelerometer
# The head accelerometer (LIS2HH12 on i2c-3 at 0x1e): the supervisor's
# motion-liveness witness, and the catalog's. Resolved by bus address,
# never by iio index. The raw sysfs read is slow (~150 ms), which still
# lands several samples in a one-second move; the verdict is peak-to-peak
# on X or Y, against the thresholds forgectrl's probe established (a live
# head reads 1800-2900 on its probe move, a wedged one <= 250).
HEAD_ACCEL_I2C = "3-001e"
ACCEL_P2P_MOVING = 800
def head_accel_dir():
"""The head accel's iio directory, or None. GF_IIO_ROOT overrides the
/sys/bus/iio/devices root (host tests)."""
root = os.environ.get("GF_IIO_ROOT") or "/sys/bus/iio/devices"
try:
names = sorted(os.listdir(root))
except OSError:
return None
for n in names:
d = os.path.join(root, n)
try:
target = os.readlink(d)
except OSError:
target = ""
if HEAD_ACCEL_I2C in target or HEAD_ACCEL_I2C in n:
return d
# a plain directory (host fixture): its name carries the address
try:
with open(os.path.join(d, "name")) as f:
if HEAD_ACCEL_I2C in f.read():
return d
except OSError:
pass
return None
def head_accel_read(d):
"""(x, y) raw counts, or None."""
out = []
for axis in ("x", "y"):
try:
with open(os.path.join(d, "in_accel_%s_raw" % axis)) as f:
out.append(int(f.read().strip()))
except (OSError, ValueError):
return None
return tuple(out)
class AccelSampler:
"""Samples the head accelerometer in a thread for as long as it is
running; `p2p(t0, t1)` is the peak-to-peak on X and Y over the samples
in that window and how many there were. Used as a context manager
around a motion the test wants the head to have made."""
def __init__(self, period=0.0):
self.dir = head_accel_dir()
self.period = period
self.samples = [] # (t, x, y)
self._stop = threading.Event()
self._th = None
self.errors = 0
@property
def available(self):
return self.dir is not None
def __enter__(self):
if self.dir is not None:
self._th = threading.Thread(target=self._loop, daemon=True, name="forgetest-accel")
self._th.start()
return self
def __exit__(self, *a):
self._stop.set()
if self._th is not None:
self._th.join(2.0)
return False
def _loop(self):
while not self._stop.is_set():
v = head_accel_read(self.dir)
if v is None:
self.errors += 1
else:
self.samples.append((time.time(), v[0], v[1]))
if self.period:
self._stop.wait(self.period)
def p2p(self, t0, t1=None):
"""(p2p_x, p2p_y, n) over [t0, t1]; (0, 0, 0) with no samples."""
t1 = time.time() if t1 is None else t1
xs = [x for t, x, _y in self.samples if t0 <= t <= t1]
ys = [y for t, _x, y in self.samples if t0 <= t <= t1]
if not xs:
return 0, 0, 0
return max(xs) - min(xs), max(ys) - min(ys), len(xs)
# ----------------------------------------------------------- button LEDs
BUTTON_LEDS = ("button_led_1", "button_led_2", "button_led_3")
def leds_root():
r = os.environ.get("GF_LEDS_ROOT") or "/sys/class/leds/"
return r if r.endswith("/") else r + "/"
def button_leds():
"""The three button LEDs' commanded levels (the smooth trigger's
`target`, which the controller writes; `brightness` follows it with
a fade and is read where no target exists), or None where unreadable."""
out = []
for name in BUTTON_LEDS:
val = None
for attr in ("target", "brightness"):
try:
with open(leds_root() + name + "/" + attr) as f:
val = int(f.read().strip())
break
except (OSError, ValueError):
continue
out.append(val)
return out
def button_lit():
"""True when any button LED is on, False when all three read 0, None
when none is readable."""
vals = [v for v in button_leds() if v is not None]
if not vals:
return None
return any(v > 0 for v in vals)
# ----------------------------------------------------------- the button
EV_SW = 0x05
SW_BUTTON = 2 # the button's EV_SW code (bit 2 of the switch word)
def switches_device():
"""The machine's switches as forgectrl and the controller find them:
GF_SWITCH_DEV, else the input device the device tree names
"switches". None when there is none."""
dev = os.environ.get("GF_SWITCH_DEV")
if dev:
return dev
for d in sorted(glob.glob("/sys/class/input/event*")):
try:
with open(os.path.join(d, "device", "name")) as f:
if f.read().strip() == "switches":
return "/dev/input/" + os.path.basename(d)
except OSError:
continue
return None
class ButtonEdges:
"""The button as edges, from the switches' input events. A press is an
event however short it is, so nothing has to be held long enough for a
poll to land on it: an operator's press is never longer than a quarter
second. Open it before the press is asked for. It reads without a
grab, so forgectrl and the controller see the switches as always."""
EVENT = struct.Struct("llHHi") # struct input_event: time, type, code, value
def __init__(self):
self.fd = None
self.pending = b"" # events read and not yet looked at
dev = switches_device()
if dev:
try:
self.fd = os.open(dev, os.O_RDONLY | os.O_NONBLOCK | getattr(os, "O_CLOEXEC", 0))
except OSError:
self.fd = None
@property
def available(self):
return self.fd is not None
def wait(self, value, timeout, checkpoint=None):
"""The seconds until the button's next edge to `value` (1 pressed,
0 released), or None at the timeout. checkpoint() is called about
every 0.1 s (an abort raises out of it)."""
size = self.EVENT.size
t0 = time.time()
while True:
# The events already read come first: a short press arrives
# with its release in one read, and the release is the next
# wait's.
while len(self.pending) >= size:
_sec, _usec, typ, code, val = self.EVENT.unpack_from(self.pending, 0)
self.pending = self.pending[size:]
if typ == EV_SW and code == SW_BUTTON and val == value:
return time.time() - t0
if time.time() - t0 >= timeout:
return None
if checkpoint:
checkpoint()
ready, _, _ = select.select([self.fd], [], [], 0.1)
if not ready:
continue
try:
data = os.read(self.fd, size * 64)
except BlockingIOError:
continue
if not data:
time.sleep(0.02) # a FIFO with no writer (the host tests) reads empty
continue
self.pending += data
def close(self):
if self.fd is not None:
os.close(self.fd)
self.fd = None
# --------------------------------------------------------------- init.d
def initd(service, action, timeout=60):
"""Run /etc/init.d/<service> <action>; returns (rc, output)."""
base = os.environ.get("FORGETEST_INITD") or "/etc/init.d"
script = os.path.join(base, service)
try:
p = subprocess.run([script, action], stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
timeout=timeout)
except (OSError, subprocess.TimeoutExpired) as e:
return 127, str(e)
return p.returncode, p.stdout.decode("utf-8", "replace")
# The extension host's side of the machine (forgefirm-sandbox, forgeext).
EXT_POOL_FIRST, EXT_POOL_LAST = 800, 831
EXT_ROOT = "/data/forgefirm/ext"
EXT_TEST_PREFIX = "org.forgetest." # a package a test made; every other one is the operator's
FORGEEXT = "/usr/bin/forgeext"
def pool_pids():
"""{pid: uid} of every process that runs under an extension pool account."""
out = {}
try:
pids = [p for p in os.listdir("/proc") if p.isdigit()]
except OSError:
return out
for pid in pids:
try:
with open("/proc/%s/status" % pid) as f:
line = next((x for x in f if x.startswith("Uid:")), "")
uid = int(line.split()[1]) # the real uid; a service has all four alike
except (OSError, IndexError, ValueError):
continue
if EXT_POOL_FIRST <= uid <= EXT_POOL_LAST:
out[int(pid)] = uid
return out
def ext_packages():
"""The ids of the installed extension packages."""
try:
return sorted(d for d in os.listdir(EXT_ROOT + "/pkg") if os.path.isdir(os.path.join(EXT_ROOT, "pkg", d)))
except OSError:
return []
def pidof(comm):
"""PIDs whose /proc/<pid>/comm equals comm (15-char kernel limit applies)."""
out = []
try:
for pid in os.listdir("/proc"):
if not pid.isdigit():
continue
try:
with open("/proc/%s/comm" % pid) as f:
if f.read().strip() == comm:
out.append(int(pid))
except OSError:
pass
except OSError:
pass
return out
def pgrep_f(needle):
"""PIDs whose /proc/<pid>/cmdline contains needle (a script run by an
interpreter has the interpreter's comm, so pidof cannot see it)."""
out = []
try:
for pid in os.listdir("/proc"):
if not pid.isdigit():
continue
try:
with open("/proc/%s/cmdline" % pid, "rb") as f:
if needle.encode() in f.read():
out.append(int(pid))
except OSError:
pass
except OSError:
pass
return out
def listens_on(pid, path):
"""Process pid holds a listening UNIX socket bound at path: one of its
own descriptors is that socket, so a socket file another process left
behind does not count. Reads /proc (FORGETEST_PROC_ROOT for tests)."""
if not pid:
return False
proc = os.environ.get("FORGETEST_PROC_ROOT") or "/proc"
inodes = set()
try:
with open(os.path.join(proc, "net", "unix")) as f:
next(f, None) # the header line
for ln in f:
# Num RefCount Protocol Flags Type St Inode Path
parts = ln.split()
try:
if len(parts) >= 8 and parts[7] == path and int(parts[3], 16) & 0x10000:
inodes.add(parts[6]) # __SO_ACCEPTCON: a listener
except ValueError:
continue
except OSError:
return False
if not inodes:
return False
fd_dir = os.path.join(proc, str(pid), "fd")
try:
fds = os.listdir(fd_dir)
except OSError:
return False
for fd in fds:
try:
link = os.readlink(os.path.join(fd_dir, fd))
except OSError:
continue
if link.startswith("socket:[") and link[8:-1] in inodes:
return True
return False
def run(cmd, timeout=60):
"""Run a command list; returns (rc, combined output)."""
try:
p = subprocess.run(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, timeout=timeout)
except (OSError, subprocess.TimeoutExpired) as e:
return 127, str(e)
return p.returncode, p.stdout.decode("utf-8", "replace")
# ------------------------------------------------------------------ grbl
def grbl_port_open(timeout=5):
"""True when the Grbl port accepts a connection (closed again at once)."""
try:
s = socket.create_connection((os.environ.get("GRBL_HOST") or "127.0.0.1",
int(os.environ.get("GRBL_PORT") or 23)), timeout=timeout)
s.close()
return True
except OSError:
return False
class Grbl:
"""Minimal Grbl-over-TCP client. The suite is the only client while a
motion test runs; nothing here is used to poll status when a sender
may be attached (position for display comes from forgectrl)."""
def __init__(self, host=None, port=None, timeout=5.0):
self.host = host or os.environ.get("GRBL_HOST") or "127.0.0.1"
self.port = int(port or os.environ.get("GRBL_PORT") or 23)
self.timeout = timeout
self.sock = None
self.buf = b""
def __enter__(self):
self.connect()
return self
def __exit__(self, *exc):
self.close()
def connect(self):
self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
# Drain the greeting.
time.sleep(0.3)
self.drain()
def close(self):
if self.sock:
try:
self.sock.close()
except OSError:
pass
self.sock = None
def _recv(self):
"""Pull whatever is waiting into the buffer; never blocks long."""
self.sock.settimeout(0.05)
try:
while True:
d = self.sock.recv(4096)
if not d:
break
self.buf += d
except (socket.timeout, OSError):
pass
def _take_report(self):
"""Remove every complete <...> report from the buffer and return the
last one, keeping the text around them. Status reports are the only
thing consumed here: the driver's [MSG:] lines stay for drain()."""
last = None
while True:
i = self.buf.find(b"<")
j = self.buf.find(b">", i + 1) if i >= 0 else -1
if i < 0 or j <= i:
return last
last = self.buf[i + 1:j].decode("utf-8", "replace")
self.buf = self.buf[:i] + self.buf[j + 1:]
def drain(self):
self._recv()
out, self.buf = self.buf, b""
return out.decode("utf-8", "replace")
def send_raw(self, data):
self.sock.settimeout(self.timeout)
self.sock.sendall(data)
def command(self, line, timeout=None):
"""Send one line, return the response lines up to ok/error."""
self.send_raw((line.strip() + "\n").encode())
return self.wait_response(timeout or self.timeout)
def wait_response(self, timeout):
deadline = time.time() + timeout
lines = []
self.sock.settimeout(0.2)
while time.time() < deadline:
try:
d = self.sock.recv(4096)
if not d:
break
self.buf += d
except socket.timeout:
pass
while b"\n" in self.buf:
raw, self.buf = self.buf.split(b"\n", 1)
s = raw.decode("utf-8", "replace").strip()
if not s:
continue
lines.append(s)
if s == "ok" or s.startswith("error:"):
return lines
return lines
def realtime(self, byte):
self.send_raw(bytes([byte]))
def status_report(self):
"""One '?' report, parsed: {'state': 'Idle', 'MPos': (x,y,z), ...}.
The '?' is re-sent every 0.5 s until a report arrives: a soft
reset (^X) flushes the controller's read buffer and eats a '?'
that lands in it. Reports already buffered are stale and dropped -
but only the reports: anything else the controller said is left in
the buffer, so a test that polls for a state does not lose the
[MSG:] line that explains it."""
self._recv()
self._take_report() # stale: predates this '?'
self.send_raw(b"?")
deadline = time.time() + self.timeout
resend = time.time() + 0.5
self.sock.settimeout(0.2)
while time.time() < deadline:
try:
d = self.sock.recv(4096)
if d:
self.buf += d
except socket.timeout:
pass
if time.time() >= resend:
self.send_raw(b"?")
resend = time.time() + 0.5
rep = self._take_report()
if rep is not None:
return parse_report(rep)
raise HwError("no status report from grbl")
def parse_report(rep):
parts = rep.split("|")
out = {"state": parts[0]}
for p in parts[1:]:
if ":" in p:
k, v = p.split(":", 1)
if k in ("MPos", "WPos", "WCO"):
try:
out[k] = tuple(float(x) for x in v.split(","))
except ValueError:
out[k] = v
else:
out[k] = v
return out
forgetest/forgetest/log.py
-118
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@@ -1,118 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The append-only result log (JSONL) and the export helpers.
One JSON object per line under the data directory (default
/data/forgetest/results.jsonl, override FORGETEST_DATA). Records:
campaign {"id","manifest_sha","catalog_hash","image"} a campaign opened
result {"campaign","test","result","fingerprint","manifest_sha",
"image","duration_s","evidence","answers","log","message"}
invalidate {"reason"} manual invalidate-all (full campaign required)
reset {"reason"} explicit campaign reset
export {"artifact_sha256","authorized","campaign"}
Every record carries "t" (type) and "ts" (UTC, ISO 8601, seconds).
The file is only ever appended; a corrupt line is skipped, counted, and
reported, never repaired in place.
Because the file only grows, `read` parses each line once and keeps what
it parsed; a later call reads only the bytes appended since. A result
record carries the whole run log, so the file reaches megabytes over a
campaign, and the page asks for the state every second or two.
"""
import json
import os
import threading
import time
DEFAULT_DATA_DIR = "/data/forgetest"
def now_ts():
return time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime())
def data_dir():
return os.environ.get("FORGETEST_DATA") or DEFAULT_DATA_DIR
class Log:
def __init__(self, path=None):
self.path = path or os.path.join(data_dir(), "results.jsonl")
self._lock = threading.Lock()
self.corrupt = 0
self._recs = [] # every record parsed so far, in file order
self._offset = 0 # bytes of the file already consumed
self._tail = b"" # bytes past the last newline: not a record yet
def append(self, rec):
rec = dict(rec)
rec.setdefault("ts", now_ts())
line = json.dumps(rec, sort_keys=True, separators=(",", ":"))
with self._lock:
os.makedirs(os.path.dirname(self.path), exist_ok=True)
with open(self.path, "a", encoding="utf-8") as f:
f.write(line + "\n")
f.flush()
os.fsync(f.fileno())
return rec
def _forget(self):
"""Drop what was parsed: the next read starts from the top."""
self._recs = []
self._offset = 0
self._tail = b""
self.corrupt = 0
def _consume(self, chunk):
"""Parse the whole lines in `chunk`, holding back a partial tail."""
data = self._tail + chunk
cut = data.rfind(b"\n")
if cut < 0:
self._tail = data
return
self._tail = data[cut + 1:]
for line in data[:cut].split(b"\n"):
line = line.strip()
if not line:
continue
try:
rec = json.loads(line.decode("utf-8"))
except (ValueError, UnicodeDecodeError):
self.corrupt += 1
continue
if isinstance(rec, dict) and "t" in rec:
self._recs.append(rec)
else:
self.corrupt += 1
def read(self):
"""Every record, in file order. Only the bytes appended since the
last call are parsed; a file that shrank or was replaced is read
again from the top."""
with self._lock:
try:
size = os.path.getsize(self.path)
except OSError:
self._forget()
return []
if size < self._offset:
self._forget()
if size != self._offset:
with open(self.path, "rb") as f:
f.seek(self._offset)
chunk = f.read()
self._offset += len(chunk)
self._consume(chunk)
return list(self._recs)
def raw(self):
if not os.path.exists(self.path):
return ""
with self._lock:
with open(self.path, "r", encoding="utf-8") as f:
return f.read()
forgetest/forgetest/manifest.py
-674
View File
@@ -1,674 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The image manifest and the domain fingerprint.
/etc/forgefirm-manifest.json (written by forgefirm-image-manifest.bbclass)
identifies the build's inputs: for every component the pinned revision and
one [path, blob-id] pair per source file, plus the platform identity
(machine, kernel modules directory, device tree hashes, layer content
hashes). This module loads it and computes a test's *domain fingerprint*:
the hash of the source files its coverage globs select, plus the platform,
plus the test's own implementation. A recorded PASS applies to a build
exactly when the fingerprint recomputed from that build's manifest is the
same - the same code runs on the board and in the release gate.
"""
import functools
import hashlib
import json
import os
import posixpath
import re
DEFAULT_PATH = "/etc/forgefirm-manifest.json"
# Components that ship only on the dev image. They can never be part of a
# fingerprint (the release manifest lacks them, so the gate could not
# recompute it); the test implementation is folded in separately.
DEV_ONLY_COMPONENTS = ("forgetest",)
def canonical(obj):
"""Canonical JSON: sorted keys, no whitespace - the hashing form."""
return json.dumps(obj, sort_keys=True, separators=(",", ":"), ensure_ascii=True)
def sha256_text(text):
return hashlib.sha256(text.encode("utf-8")).hexdigest()
@functools.lru_cache(maxsize=512)
def glob_to_regex(pattern):
"""Coverage glob -> anchored regex. '**' spans directories, '*' and '?'
stay inside one path segment. Paths use '/' (git paths). Cached: the
catalog matches the same few hundred globs over and over."""
out = []
i, n = 0, len(pattern)
while i < n:
c = pattern[i]
if c == "*":
if pattern[i:i + 2] == "**":
# '**/' also matches zero directories
if pattern[i:i + 3] == "**/":
out.append("(?:.*/)?")
i += 3
continue
out.append(".*")
i += 2
continue
out.append("[^/]*")
elif c == "?":
out.append("[^/]")
else:
out.append(re.escape(c))
i += 1
return re.compile("^" + "".join(out) + "$")
def match_files(files, pattern):
"""(path, blob) pairs from a component's file list that the glob selects."""
rx = glob_to_regex(pattern)
return [(p, b) for p, b in files if rx.match(p)]
# Paths that carry no target behavior: docs, CI, the components' own unit
# tests, licenses, editor setup. Outside every fingerprint (a README edit
# re-requires nothing) and outside the coverage lint (no test has to name
# them). Reviewed with the catalog: widening this list is a change like
# any other. "*" applies to every component.
NON_BEHAVIORAL = [
("*", ".github/**"),
("*", ".gitignore"),
("*", ".gitattributes"),
("*", ".gitmodules"),
("*", "**/*.md"),
("*", "LICENSE*"),
("*", "COPYING*"),
("*", "docs/**"),
("*", "tests/**"),
("*", "graphify-out/**"),
("*", "**/.gitkeep"),
("*", ".devcontainer/**"),
("*", ".vscode/**"),
("*", ".env.example"),
("forgectrl", "tools/**"), # host-side dev tools (panel dev server)
("forgectrl", "examples/**"), # clients of the remote API, run on another computer
# forgeext's recipe installs the binary and its init script, and nothing of these: the author's kit
# and the host tools run off the image (OpenGlow's own packages have repositories of their own).
("forgeext", "sdk/**"),
("forgeext", "template/**"),
("forgeext", "tools/**"),
]
# Paths the list above would take out that are behavior all the same: forgectrl embeds its advisory
# documents in the binary, serves them, and records the operator's consent to a document by its hash, so
# an edited advisory is a changed consent and must move every fingerprint that covers it.
BEHAVIORAL = [
("forgectrl", "docs/advisories/**"),
]
# Paths a host test in CI proves, which no catalog test covers. The catalog
# is for what needs the machine or an operator; software whose inputs can be
# emulated is proven on a host. A row is (component, glob, host test, CI
# workflow), the last two named as "<repository>:<path>": a component of
# the manifest (its tests/ and .github/ files are listed there), or
# "forgefirm" for this repository (the null-sink harnesses under
# scripts/bench/, which grblhal-glowforge's workflow runs). The workflow
# must run the host test: name it, or discover it (a glob, unittest
# discover, pytest on its directory). A host-tested path counts as covered
# in the coverage lint, and like every path no test covers it is in no
# fingerprint: a change there makes no acceptance run necessary. A path a
# catalog test exercises on the hardware belongs in that test's covers, not
# here.
HOST_TESTED = [
# An extension package's holds as the engine reads them (forgeext's
# holdkeep_test and run_test prove the writer's side).
("forgectrl", "src/holds.*", "forgectrl:tests/holds_test.c", "forgectrl:.github/workflows/build.yml"),
# The M-code relay to the package that answers (the controller's side is
# the null-sink mcode_test harness, under grblhal-glowforge's src/**).
("forgectrl", "src/mcode.*", "forgectrl:tests/mcode_test.c", "forgectrl:.github/workflows/build.yml"),
# The digest primitives (SHA-256, HMAC, the constant-time compare) that
# the advisories' hashes, the tokens and the camera key are made with.
("forgectrl", "src/sha256.*", "forgectrl:tests/sha256_test.c", "forgectrl:.github/workflows/build.yml"),
# The built-in extensions' table: the cloud entry, its refusals while it
# is off, the sweep when it goes off, the list.
("forgectrl", "src/builtin.*", "forgectrl:tests/builtin_test.c", "forgectrl:.github/workflows/build.yml"),
# The setup record as a printable page: no script, the sheet id, a
# heading for each completed step, everything escaped.
("forgectrl", "src/recordhtml.*", "forgectrl:tests/recordhtml_test.c", "forgectrl:.github/workflows/build.yml"),
# An extension package's claim on the Grbl sender as the machine keeps
# it: the claim and its refusals, its end by the package, the operator
# or a stale keeper (forgeext's run_test proves the writer's side).
("forgectrl", "src/senderout.*", "forgectrl:tests/senderout_test.c", "forgectrl:.github/workflows/build.yml"),
# A package's check on the Setup page: each step held to its form, the
# check run through the host, the result the package's own (the routes
# against a live host's stand-in are tests/host_ext.sh).
("forgectrl", "src/wizpkg.*", "forgectrl:tests/wizpkg_test.c", "forgectrl:.github/workflows/build.yml"),
# The camera key: made, kept, checked and rotated (the reads it opens
# from the LAN with the reads closed are tests/host_lan.sh).
("forgectrl", "src/camkey.*", "forgectrl:tests/camkey_test.c", "forgectrl:.github/workflows/build.yml"),
# The log export's sanitizer: every identifying class taken out, the
# ordinary log text left as it was (the export's routes and the
# installer's directory on a host are tests/host_guard.sh).
("forgectrl", "src/sanitize.*", "forgectrl:tests/sanitize_test.c", "forgectrl:.github/workflows/build.yml"),
# The package routes' relay to the extension host: the argument vector,
# the closed list of actions, the host's words, the catalog's fetch (the
# routes against a live host's stand-in are tests/host_ext.sh).
("forgectrl", "src/extpkg.*", "forgectrl:tests/extpkg_test.c", "forgectrl:.github/workflows/build.yml"),
# The event stream: a button edge, a lease changing hands, telemetry
# (the live order, the take before the free, is tests/host_lease.sh).
("forgectrl", "src/events.*", "forgectrl:tests/events_test.c", "forgectrl:.github/workflows/build.yml"),
# The crumb tray's mode as the daemon keeps it: its offset and what it
# refuses (the route and the panel's switch are tests/host_routes.sh).
("forgectrl", "src/tray.*", "forgectrl:tests/tray_test.c", "forgectrl:.github/workflows/build.yml"),
# The product gate on the firmware paths: firmware only, an extension
# package refused in words that say what it is (the upload route over
# a stand-in fwup is tests/host_update.sh).
("forgectrl", "src/fwproduct.*", "forgectrl:tests/fwproduct_test.c", "forgectrl:.github/workflows/build.yml"),
# The controller port's client and its two operation sets (the motion
# routes and a package's jog through the host's credential are
# tests/host_routes.sh).
("forgectrl", "src/grblport.*", "forgectrl:tests/grblport_test.c", "forgectrl:.github/workflows/build.yml"),
# The panel page as the daemon serves it: bundled, the theme and the
# save bar in it, and its policy frame-src 'none'.
("forgectrl", "src/ui.h", "forgectrl:tests/host_routes.sh", "forgectrl:.github/workflows/build.yml"),
# The data and run directories from the environment: the SSH flag in the
# run directory, written and removed by POST /system/ssh.
("forgectrl", "src/paths.h", "forgectrl:tests/host_routes.sh", "forgectrl:.github/workflows/build.yml"),
# The first run in the page's order: the four documents at their hashes,
# the press step breathing teal, the press taken as the acceptance, the
# form steps through main.c's hooks (extensions.md stays with
# exthost.service, which covers it).
("forgectrl", "src/advisories.*", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
("forgectrl", "docs/advisories/safety-and-risk.md", "forgectrl:tests/host_setup.sh",
"forgectrl:.github/workflows/build.yml"),
("forgectrl", "docs/advisories/licenses.md", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
("forgectrl", "docs/advisories/privacy.md", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
("forgectrl", "docs/advisories/cloud-service.md", "forgectrl:tests/host_setup.sh",
"forgectrl:.github/workflows/build.yml"),
("forgectrl", "src/button.*", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
("forgectrl", "src/led.*", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
("forgectrl", "src/hooks.h", "forgectrl:tests/host_setup.sh", "forgectrl:.github/workflows/build.yml"),
# The setup sheet id from the fuse serial, against golden ids.
("forgectrl", "src/sheetid.*", "forgectrl:tests/sheetid_test.c", "forgectrl:.github/workflows/build.yml"),
# The logging path: the image's rsyslog.conf and the rendered rules, each
# logger in its own file at its level, a stray tag in system/, the kern
# facility in kernel/.
("forgectrl", "src/fflog.*", "forgectrl:tests/fflog_e2e.sh", "forgectrl:.github/workflows/build.yml"),
# POST /job's multipart reader: the form's parts reach the runner's
# start; a missing name, a $ line and a malformed boundary are refused
# with nothing started.
("forgectrl", "src/jobpost.*", "forgectrl:tests/jobpost_test.c", "forgectrl:.github/workflows/build.yml"),
# The scoped tokens: the closed capability list, the judgment, the
# store that holds only hashes, and the extension host's credential
# (mode 0600, exactly the host's capabilities).
("forgectrl", "src/tokens.*", "forgectrl:tests/tokens_test.c", "forgectrl:.github/workflows/build.yml"),
]
# This repository's root, when the package runs from a checkout of it; a
# "forgefirm:" file is looked for there. Installed on an image, the package
# is not in a checkout, and such a reference is not checked.
_ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
REPO_ROOT = _ROOT if os.path.isdir(os.path.join(_ROOT, "meta-forgefirm")) else None
# The pinned sources scripts/manifest-from-tree.py fetches (one bare repo
# per source URL); a component's workflow is read from there. Without them
# (on an image) whether a workflow runs a host test is not checked.
SOURCES = os.path.join(REPO_ROOT, ".manifest-cache") if REPO_ROOT else None
def non_behavioral(comp, path, allow=NON_BEHAVIORAL):
for c, pat in BEHAVIORAL:
if c == comp and glob_to_regex(pat).match(path):
return False
for c, pat in allow:
if c in ("*", comp) and glob_to_regex(pat).match(path):
return True
return False
class Manifest:
def __init__(self, data):
self.data = data
self.components = data.get("components", {}) or {}
self.platform = data.get("platform", {}) or {}
self.image = data.get("image", {}) or {}
self.content_sha = data.get("content_sha256")
self._files = {}
@classmethod
def load(cls, path=None):
path = path or os.environ.get("FORGETEST_MANIFEST") or DEFAULT_PATH
with open(path, "r", encoding="utf-8") as f:
return cls(json.load(f))
@classmethod
def from_json(cls, text):
return cls(json.loads(text))
@property
def version(self):
return self.image.get("version") or "unknown"
@property
def image_name(self):
return self.image.get("name") or "unknown"
def files(self, component):
"""The (path, blob) pairs of a component, or None if the component
is not in this manifest. Built once per component: the manifest is
immutable and every coverage glob asks for the same lists."""
if component in self._files:
return self._files[component]
c = self.components.get(component)
out = None if c is None else [tuple(x) for x in c.get("files", [])]
self._files[component] = out
return out
def component_names(self):
return sorted(self.components)
def identity_sha(self):
"""sha256 of the acceptance-relevant identity: every component
except the dev-only ones, plus the platform. Informational (the
gate decides per test, by fingerprint)."""
comps = {k: v for k, v in self.components.items() if k not in DEV_ONLY_COMPONENTS}
return sha256_text(canonical({"components": comps, "platform": self.platform}))
def fingerprint(manifest, covers, extra=()):
"""The domain fingerprint of a coverage map on a manifest.
covers: iterable of (component, glob). extra: strings folded in after
the files (the test's own implementation hash). A component the
manifest lacks contributes a marker so the fingerprint is still
defined and distinct.
"""
parts = set()
for comp, pat in covers:
if comp in DEV_ONLY_COMPONENTS:
raise ValueError("coverage may not name the dev-only component %r" % comp)
files = manifest.files(comp)
if files is None:
parts.add((comp, "@missing", ""))
continue
for p, b in match_files(files, pat):
if non_behavioral(comp, p):
continue
parts.add((comp, p, b))
h = hashlib.sha256()
h.update(canonical(sorted(parts)).encode("utf-8"))
h.update(b"\n")
h.update(canonical(manifest.platform).encode("utf-8"))
for e in extra:
h.update(b"\n")
h.update(str(e).encode("utf-8"))
return h.hexdigest()
def empty_covers(manifest, tests):
"""Coverage entries that select no file of their component: a glob
that never matched (paths anchor at the repository root, so a file
under a recipe's subdirectory needs that directory in the glob), or
a component not in the manifest. Such an entry covers nothing, and
the test's fingerprint would not move with the file it meant.
Returns [(test id, component, glob)]. A glob selecting only
non-behavioral paths is hollow too: nothing it names is fingerprinted."""
out = []
for t in tests:
for comp, pat in t.covers:
files = manifest.files(comp)
if files is None or not [p for p, _b in match_files(files, pat) if not non_behavioral(comp, p)]:
out.append((t.id, comp, pat))
return out
def _ref_problem(manifest, ref, what, root):
"""Why a "<repository>:<path>" reference names no file, or None. A
component's file must be in the manifest; a "forgefirm:" one must exist
under `root`, and is not checked without one."""
repo, sep, path = ref.partition(":")
if not sep or not path:
return "names no repository:path for its %s" % what
if repo == "forgefirm":
if root is not None and not os.path.isfile(os.path.join(root, path)):
return "no such %s" % what
return None
if repo in DEV_ONLY_COMPONENTS or manifest.files(repo) is None:
return "no repository %r for its %s" % (repo, what)
if path not in {p for p, _b in manifest.files(repo)}:
return "no such %s" % what
return None
def read_source(manifest, ref, root=REPO_ROOT, sources=SOURCES):
"""(text, why) for a "<repository>:<path>" file: a "forgefirm:" file
from `root`, a component's from its pinned blob in the bare repo
`sources` holds for its source URL. (None, None) when it cannot be read
here (no root, no sources); (None, why) when it should have been and
was not, which is a defect, never a pass."""
import subprocess
repo, _sep, path = ref.partition(":")
if repo == "forgefirm":
if root is None:
return None, None
try:
with open(os.path.join(root, path), encoding="utf-8") as f:
return f.read(), None
except (OSError, UnicodeDecodeError) as e:
return None, "cannot be read: %s" % e
if not sources:
return None, None
comp = manifest.components.get(repo) or {}
blob = dict(manifest.files(repo) or []).get(path)
url = comp.get("source")
if not (blob and url):
return None, "cannot be read: no blob or source URL in the manifest"
cache = os.path.join(sources, hashlib.sha1(url.encode()).hexdigest()[:16])
try:
return subprocess.run(["git", "cat-file", "-p", blob], cwd=cache, capture_output=True,
check=True).stdout.decode("utf-8", "replace"), None
except (OSError, subprocess.CalledProcessError) as e:
return None, "cannot be read from %s: %s" % (cache, e)
def repo_name(manifest, repo):
"""A repository's GitHub name: its source URL's last part, or this
repository's."""
if repo == "forgefirm":
return "forgefirm"
url = ((manifest.components.get(repo) or {}).get("source") or "").rstrip("/")
name = url.rsplit("/", 1)[-1]
return name[:-4] if name.endswith(".git") else name
_STEP_KEYS = ("name", "uses", "run", "id", "if", "with", "env", "working-directory", "shell",
"continue-on-error", "timeout-minutes")
_STEP_RX = re.compile(r"^(\s*)-\s+(%s)\s*:" % "|".join(re.escape(k) for k in _STEP_KEYS))
_KEY_RX = re.compile(r"^(\s*)([\w-]+)\s*:\s*(.*)$")
def _indent(line):
return len(line) - len(line.lstrip(" "))
def workflow_steps(text):
"""A workflow's steps, each a dict of its keys: "uses", "run" (the
command text, a block's lines joined), "working-directory", and "with"
(a dict). YAML read by its indentation, as far as these workflows use
it; comments, whole lines and from ' #' to the end of a line, are not
read. Anything outside a step (a trigger's paths, a job's name) is not
a step."""
lines = []
for ln in text.splitlines():
if ln.lstrip().startswith("#"):
continue
lines.append(re.sub(r"\s+#.*$", "", ln).rstrip())
steps, i = [], 0
while i < len(lines):
m = _STEP_RX.match(lines[i])
if not m:
i += 1
continue
dash = len(m.group(1))
body = [" " * (dash + 2) + lines[i][dash + 1:].lstrip()]
i += 1
while i < len(lines) and (not lines[i].strip() or _indent(lines[i]) > dash):
body.append(lines[i])
i += 1
step, k = {}, 0
key_col = _indent(body[0])
while k < len(body):
km = _KEY_RX.match(body[k])
if not km or _indent(body[k]) != key_col:
k += 1
continue
key, val = km.group(2), km.group(3).strip()
if len(val) > 1 and val[0] == val[-1] and val[0] in "'\"":
val = val[1:-1] # a quoted scalar, not a quote inside a command
k += 1
child = []
while k < len(body) and (not body[k].strip() or _indent(body[k]) > key_col):
child.append(body[k])
k += 1
if key == "with":
step["with"] = {c.group(2): c.group(3).strip().strip("'\"")
for c in (_KEY_RX.match(x) for x in child) if c}
elif key == "run":
step["run"] = "\n".join(x.strip() for x in child) if val[:1] in ("|", ">") else val
else:
step[key] = val
steps.append(step)
return steps
def checkout_path(steps, name, own):
"""Where a workflow checks the repository `name` out (its path, "" for
the workspace), or None when it does not: its own repository is the
checkout that names no repository, another one the checkout whose
repository is <owner>/<name>."""
for s in steps:
if not s.get("uses", "").startswith("actions/checkout"):
continue
w = s.get("with", {})
repo = w.get("repository")
if (repo is None and own) or (repo is not None and repo.rsplit("/", 1)[-1].lower() == name.lower()):
return posixpath.normpath(w.get("path") or ".")
return None
_SPLIT_RX = re.compile(r"&&|\|\||[;|\n]|(?:^|(?<=\s))(?:then|do|else)(?=\s|$)")
_PREFIXES = ("sudo", "env", "time", "exec", "command", "nice")
_INTERPRETER_RX = re.compile(r"^(?:python[0-9.]*|bash|sh)$")
def _commands(run):
"""The simple commands of a step's run text, each as its words, with
what only starts the real command taken off: sudo and its flags, env,
time, exec, and variable assignments."""
import shlex
out = []
for part in _SPLIT_RX.split(run.replace("\\\n", " ")):
try:
words = shlex.split(part)
except ValueError:
words = part.split()
while words:
if words[0] in _PREFIXES:
words = words[1:]
while words and words[0].startswith("-"):
words = words[1:]
elif re.match(r"^[A-Za-z_]\w*=", words[0]):
words = words[1:]
else:
break
if words:
out.append(words)
return out
def _segments_match(path, pattern):
"""A path against a path or a glob, one segment against one segment
('*' never crosses a '/')."""
import fnmatch
a, b = path.split("/"), pattern.split("/")
return len(a) == len(b) and all(fnmatch.fnmatchcase(x, y) for x, y in zip(a, b))
def _discovers(args, full, at):
"""Whether `python -m unittest discover ARGS` finds the test: its
directory is the start directory (-s, default the working directory)
and its file name matches the pattern (-p, default test*.py)."""
import fnmatch
start, pattern = ".", "test*.py"
for i, a in enumerate(args):
if a in ("-s", "--start-directory") and i + 1 < len(args):
start = args[i + 1]
elif a in ("-p", "--pattern") and i + 1 < len(args):
pattern = args[i + 1]
return posixpath.dirname(full) == at(start) and fnmatch.fnmatchcase(posixpath.basename(full), pattern)
def _unittest_names(args, full, at):
"""Whether `python -m unittest ARGS` (not discover) runs the test: an
argument is its file (tests/test_x.py), or a dotted name whose module
is its file (tests.test_x, tests.test_x.Case.test_one)."""
skip = False
for a in args:
if skip:
skip = False
continue
if a in ("-k",):
skip = True
continue
if a.startswith("-") or "$" in a:
continue
if a.endswith(".py"):
if at(a) == full:
return True
continue
parts = a.split(".")
if any(at("/".join(parts[:k]) + ".py") == full for k in range(len(parts), 0, -1)):
return True
return False
def _pytest_runs(args, full, at):
"""Whether pytest ARGS collects the test: named, or its directory given
and its file name one pytest collects (test_*.py, *_test.py)."""
import fnmatch
name = posixpath.basename(full)
collected = fnmatch.fnmatchcase(name, "test_*.py") or fnmatch.fnmatchcase(name, "*_test.py")
for a in args:
if a.startswith("-") or "$" in a:
continue
if at(a) == full or (collected and at(a) == posixpath.dirname(full)):
return True
return False
def workflow_runs(steps, test_path):
"""Whether a step of the workflow runs the test at test_path (its path
in the workspace: the checkout's path joined to the test's path in its
repository). Only what a step's run commands execute counts, each path
resolved against the step's working-directory: the command itself
(a script run directly, or a C test's built binary, <dir>/<stem>);
the script an interpreter runs (python, bash, sh), a glob matching the
whole path; a for loop's list over the test; python -m unittest given
the test's file or a dotted name whose module is that file
(tests.test_x, tests.test_x.Case.test_one); unittest discover from the
test's own directory with a pattern its name matches; pytest on the
test or its own directory. An argument to anything else (echo, a build,
an install) does not run the test."""
full = posixpath.normpath(test_path)
stem, ext = posixpath.splitext(posixpath.basename(full))
compiled = ext in (".c", ".cc", ".cpp")
for s in steps:
run = s.get("run")
if not run:
continue
wd = s.get("working-directory") or "."
def at(p):
return posixpath.normpath(posixpath.join(wd, p))
def names(p):
return "$" not in p and _segments_match(full, at(p))
for words in _commands(run):
cmd, args = words[0], words[1:]
if cmd == "for" and "in" in args:
if any(names(p) for p in args[args.index("in") + 1:]):
return True
elif _INTERPRETER_RX.match(posixpath.basename(cmd)):
if "-m" in args:
i = args.index("-m")
mod, rest = (args[i + 1], args[i + 2:]) if i + 1 < len(args) else ("", [])
if mod == "unittest" and rest[:1] == ["discover"]:
if _discovers(rest[1:], full, at):
return True
elif (mod == "unittest" and _unittest_names(rest, full, at)) or \
(mod == "pytest" and _pytest_runs(rest, full, at)):
return True
else:
script = next((a for a in args if not a.startswith("-")), None)
if script and names(script):
return True
elif posixpath.basename(cmd) == "pytest":
if _pytest_runs(args, full, at):
return True
elif names(cmd) or (compiled and "/" in cmd and posixpath.basename(cmd) == stem):
return True
return False
def host_row_problems(manifest, host=HOST_TESTED, root=REPO_ROOT, sources=SOURCES):
"""HOST_TESTED rows that prove nothing: a glob that selects no
behavioral file of its component (the same defect as an empty covers
entry), a host test or a workflow that does not exist, a workflow that
cannot be read where it should be, one that does not check out the
test's repository, or one with no step that runs the test. Whether a
workflow runs its test is not checked where it cannot be read (see
read_source). Returns [(component, glob, host test, why)]."""
out = []
for comp, pat, ref, ci in host:
files = manifest.files(comp)
if files is None or not [p for p, _b in match_files(files, pat) if not non_behavioral(comp, p)]:
out.append((comp, pat, ref, "selects nothing"))
why = _ref_problem(manifest, ref, "host test", root) or _ref_problem(manifest, ci, "workflow", root)
if why:
out.append((comp, pat, ref, why))
continue
text, why = read_source(manifest, ci, root, sources)
if why:
out.append((comp, pat, ref, "%s %s" % (ci, why)))
continue
if text is None:
continue
steps = workflow_steps(text)
test_repo, _sep, test_path = ref.partition(":")
prefix = checkout_path(steps, repo_name(manifest, test_repo), test_repo == ci.partition(":")[0])
if prefix is None:
out.append((comp, pat, ref, "%s does not check out %s" % (ci, test_repo)))
elif not workflow_runs(steps, posixpath.join(prefix, test_path)):
out.append((comp, pat, ref, "%s does not run it" % ci))
return out
def coverage_report(manifest, tests, allow=NON_BEHAVIORAL, host=HOST_TESTED):
"""Which manifest paths neither a test nor a host test covers.
tests: iterable with .covers. allow: iterable of (component, glob)
that need no coverage (docs, CI, licenses...); a BEHAVIORAL path is
never allowed away, as it is never taken out of a fingerprint. host:
the HOST_TESTED rows, whose paths count as covered. Returns
{component: [uncovered paths]} for the non-dev-only components.
"""
covered = {}
for t in tests:
for comp, pat in t.covers:
covered.setdefault(comp, []).append(glob_to_regex(pat))
for comp, pat, _ref, _ci in host:
covered.setdefault(comp, []).append(glob_to_regex(pat))
allowed = {}
for comp, pat in allow:
allowed.setdefault(comp, []).append(glob_to_regex(pat))
report = {}
for comp in manifest.component_names():
if comp in DEV_ONLY_COMPONENTS:
continue
rxs = covered.get(comp, [])
free = allowed.get(comp, []) + allowed.get("*", [])
behavior = [glob_to_regex(pat) for c, pat in BEHAVIORAL if c == comp]
missing = []
for p, _b in manifest.files(comp):
if any(rx.match(p) for rx in rxs):
continue
if any(rx.match(p) for rx in free) and not any(rx.match(p) for rx in behavior):
continue
missing.append(p)
if missing:
report[comp] = sorted(missing)
return report
forgetest/forgetest/page.py
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@@ -1,66 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The single page: acceptance tab + bench tab, assembled from ui/ into
one self-contained response (no external assets). Bootstrap and the
OpenGlow theme are inlined; theme.css and the vendor/ files are the same
bytes forgectrl's panel carries, so the two pages look like one product
and follow the same light and dark themes (scripts/check-ui-vendor.py
holds them identical).
ui/ holds index.html, theme.css, page.css, help.js, app.js and vendor/.
A plain file is read when it is there (a checkout); otherwise its .gz
sibling is, which is what the recipe installs on the dev image: the
rootfs is raw ext4, so bytes in the package are bytes on the image, and
the page is inflated once at first request. The token placeholder is
spliced in per render."""
import gzip
import os
UI_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "ui")
# The files index.html links, in load order: one marker tag per file.
CSS_FILES = ("vendor/bootstrap.min.css", "theme.css", "page.css")
JS_FILES = ("vendor/bootstrap.bundle.min.js", "help.js", "app.js")
TOKEN_MARK = "__TOKEN__"
def read_ui(name, ui_dir=UI_DIR):
"""A ui/ file as text: the plain file, or its gzipped install."""
path = os.path.join(ui_dir, *name.split("/"))
try:
with open(path, "rb") as f:
return f.read().decode("utf-8")
except FileNotFoundError:
with gzip.open(path + ".gz", "rb") as f:
return f.read().decode("utf-8")
def assemble(ui_dir=UI_DIR):
"""index.html with every linked stylesheet and script inlined in place
of its tag. A missing marker is a broken page, not a silent one."""
html = read_ui("index.html", ui_dir)
for name in CSS_FILES:
tag = '<link rel="stylesheet" href="%s" />' % name
if tag not in html:
raise ValueError("index.html lacks the marker %s" % tag)
html = html.replace(tag, "<style>\n" + read_ui(name, ui_dir) + "</style>", 1)
for name in JS_FILES:
tag = '<script src="%s"></script>' % name
if tag not in html:
raise ValueError("index.html lacks the marker %s" % tag)
html = html.replace(tag, "<script>\n" + read_ui(name, ui_dir) + "</script>", 1)
if html.count(TOKEN_MARK) != 1:
raise ValueError("the page must carry %s exactly once" % TOKEN_MARK)
return html
_html = None
def render(token):
global _html
if _html is None:
_html = assemble()
return _html.replace(TOKEN_MARK, token)
forgetest/forgetest/puls.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Pulse files for the offline cloud service: a job the machine will run
without the service having cut it.
A pulse file is a header (`\\x80GF1`, a little-endian total length, then
8-byte records of a 4-character tag and a uint32) followed by the step
stream, one byte per tick of the header's STfr (the kernel feeder
contract: bit 0 X step, bit 1 X dir, bit 2 Y step, bit 3 Y dir, bit 4
LASER, bits 5-6 Z, bit 7 marks a power byte whose low 7 bits set the
duty). The header here is the one a factory print of this machine type
carries (134 tags, MCsn 0 = not locked to a serial, PDfm 0), so the
client's header check, its job limits (the coolant window, the air
assist floor), its fan duties and its stepper settings all come from the
same place a service job's do. The stream is a square traced at a steady
feed with the laser never commanded: a leading power byte of zero, no
LASER bit anywhere. Nothing in a file from here can put energy into the
tube; the arm and the latch are exercised, the beam is not.
A file longer than the kernel ring (32 MiB of ticks) is written gzip-
compressed, whole file in the stream, as the service serves one: the
client inflates it as the ring drains, and the gzip trailer gives it the
job's length for its progress report.
"""
import gzip
import struct
STEPS_PER_MM = 53.333 # x8 microstepping: the service's scale, which cloud mode runs at
# The header of a factory print for this machine type, as captured.
PRINT_HEADER = {
"AAfc": 3632880242, "AAid": 204, "AAin": 0, "AAix": 0, "AArd": 1023, "AArn": 0,
"AArx": 64500, "AAsn": 0, "AAsx": 0, "AAwd": 1023, "AAwn": 0, "AAwx": 64500,
"BDbs": 0, "BDpe": 0, "BDps": 0, "BTcx": 12800, "BTfc": 4294711296, "BTfo": 4294942296,
"BTin": 2147483648, "BTix": 2147483647, "BTrn": 2147483648, "BTrx": 9440,
"BTwn": 2147483648, "BTwx": 8928, "BTxb": 15, "CCrp": 10000, "CCup": 1, "CCwp": 5000,
"CFrh": 1, "CMin": 10000, "CMix": 50000, "CMrn": 5000, "CMrx": 33000, "CMts": 0,
"CMwn": 7000, "CMwx": 31000, "EFid": 0, "EFin": 0, "EFix": 0, "EFrd": 65535, "EFrn": 0,
"EFrx": 0, "EFwd": 65535, "EFwn": 0, "EFwx": 0, "FTcx": 30000, "FTin": 2147483648,
"FTix": 2147483647, "FTrn": 2147483648, "FTrx": 14575, "FTwn": 2147483648, "FTwx": 14075,
"FTxb": 15, "HAai": 0, "HAar": 0, "HAsi": 2, "HAsr": 4, "HAxi": 0, "HAxr": 132, "HAyi": 0,
"HAyr": 112, "HAzi": 0, "HAzr": 0, "HIix": 12, "HIrx": 1023, "HTcx": 12800, "HTfc": 51200,
"HTfo": 5000, "HTin": 2147483648, "HTix": 2147483647, "HTrn": 2147483648, "HTrx": 9440,
"HTwn": 2147483648, "HTwx": 8928, "HTxb": 15, "IFid": 0, "IFin": 0, "IFix": 0,
"IFrd": 43278, "IFrn": 0, "IFrx": 0, "IFwd": 43278, "IFwn": 0, "IFwx": 0, "IRpd": 1000,
"IRwb": 3, "IRwc": 688, "IRwx": 275, "IRxb": 3, "IRxc": 1022, "IRxx": 374, "IRyb": 3,
"IRyc": 0, "IRyx": 0, "IRzb": 3, "IRzc": 0, "IRzx": 0, "ITcx": 19200, "ITfc": 153600,
"ITfo": 0, "ITin": 2147483648, "ITix": 2147483647, "ITrn": 2147483648, "ITrx": 15840,
"ITwn": 2147483648, "ITwx": 15328, "ITxb": 15, "LTcx": 12800, "LTfc": 51200, "LTfo": 5000,
"LTin": 2147483648, "LTix": 2147483647, "LTrn": 2147483648, "LTrx": 9440,
"LTwn": 2147483648, "LTwx": 8928, "LTxb": 15, "MCsn": 0, "PCid": 19795, "PDct": 5,
"PDfm": 0, "PTmn": 0, "PTmx": 1023, "STfr": 10000, "TRuc": 0, "XSdm": 1, "XShc": 33,
"XSmm": 8, "XSrc": 135, "YSdm": 1, "YShc": 5, "YSmm": 8, "YSrc": 22, "ZSmd": 0,
}
X_STEP, X_DIR, Y_STEP, Y_DIR, LASER = 0x01, 0x02, 0x04, 0x08, 0x10
POWER = 0x80
def header_bytes(tags=None):
"""The header record block, the template with `tags` laid over it."""
h = dict(PRINT_HEADER)
if tags:
h.update(tags)
recs = b"".join(k.encode("ascii") + struct.pack("<I", int(v)) for k, v in sorted(h.items()))
total = 8 + len(recs)
return bytes([POWER]) + b"GF1" + struct.pack("<I", total) + recs
def leg(dx_steps, dy_steps, period):
"""One straight leg: Bresenham over the major axis, one step every
`period` ticks, laser never commanded. X: DIR set = negative; Y: DIR
set = positive (the hardware convention)."""
ax, ay = abs(dx_steps), abs(dy_steps)
major = max(ax, ay)
if major == 0:
return b""
xbit = X_STEP | (X_DIR if dx_steps < 0 else 0)
ybit = Y_STEP | (Y_DIR if dy_steps > 0 else 0)
out = bytearray()
gap = bytes(period - 1)
err = 0
x_major = ax >= ay
minor = ay if x_major else ax
for _ in range(major):
b = xbit if x_major else ybit
err += minor
if err >= major:
err -= major
b |= ybit if x_major else xbit
out.append(b)
out += gap
return bytes(out)
def square_stream(side_mm=40.0, feed_mm_min=600.0, step_hz=10000, repeats=1):
"""A closed square traced `repeats` times at a steady feed: +X, +Y,
-X, -Y, the head back where it started. Leads with a power byte of
zero, as the feeder contract wants before any laser-on byte (there
is none)."""
steps = int(round(side_mm * STEPS_PER_MM))
period = max(1, int(round(step_hz / (feed_mm_min / 60.0 * STEPS_PER_MM))))
one = (leg(steps, 0, period) + leg(0, steps, period)
+ leg(-steps, 0, period) + leg(0, -steps, period))
return bytes([POWER]) + bytes(period) + one * repeats
def seconds_of(stream, step_hz=10000):
return len(stream) / float(step_hz)
def write_job(path, side_mm=40.0, feed_mm_min=600.0, seconds=None, step_hz=10000,
compress=None, tags=None):
"""Write a job to `path`: a square of `side_mm` at `feed_mm_min`,
repeated until the stream is at least `seconds` long (one square if
None). Compressed when `compress` is true, or, left None, when the
stream is longer than the kernel ring (32 MiB of ticks). Returns
(payload bytes, seconds, compressed)."""
one = square_stream(side_mm, feed_mm_min, step_hz, 1)
repeats = 1
if seconds:
per = seconds_of(one, step_hz)
repeats = max(1, int(seconds / per) + (1 if seconds % per else 0))
body = square_stream(side_mm, feed_mm_min, step_hz, repeats)
head = header_bytes(dict(tags or {}, STfr=step_hz))
if compress is None:
compress = len(body) > 32 * 1024 * 1024
data = head + body
if compress:
data = gzip.compress(data, compresslevel=6)
with open(path, "wb") as f:
f.write(data)
return len(body), seconds_of(body, step_hz), compress
def parse(data):
"""(header dict, payload) of a raw or gzip-compressed pulse file."""
if data[:2] == b"\x1f\x8b":
data = gzip.decompress(data)
if data[1:4] != b"GF1":
raise ValueError("not a GF1 pulse file")
total = struct.unpack_from("<I", data, 4)[0]
tags = {data[p:p + 4].decode("ascii"): struct.unpack_from("<I", data, p + 4)[0]
for p in range(8, total - 7, 8)}
return tags, data[total:]
forgetest/forgetest/redact.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""Redaction for the release artifact.
The artifact is committed to a public repository, so it carries no
identity of the machine that ran the campaign. This applies the same two
layers forgectrl's log export applies (forgectrl/src/sanitize.c), in the
same order, to every value the exporter writes:
1. Known keys: a value held under a key that names identifying data -
the serial, the machine id, the hostname, the wireless credentials,
a token - is replaced whole. Naming the key is far more reliable
than guessing the shape of what is under it.
2. Pattern classes over every remaining string: MAC addresses, IPv4 and
IPv6 addresses (loopback and unspecified kept), e-mail addresses,
bearer and basic credentials, JWTs, and long hex blobs. Each distinct
value in a class keeps a stable number for the life of one export, so
"<IP-2>" is the same host wherever it appears and the artifact stays
readable as evidence.
Integrity values are never touched: the self-hash, the manifest and
catalog hashes, each test's source hash and fingerprint. Those are what
the gate recomputes, and a long hex blob is exactly what they look like.
Over-redaction is accepted where the alternative is a leak.
"""
import re
# Layer 1: the value under one of these keys is replaced whole.
REDACT_KEYS = frozenset((
"gf_serial", "machine_id", "serial", "serial_number",
"hostname", "hostname_file", "host",
"ssid", "psk", "passphrase", "password", "passwd",
"token", "panel_token", "secret", "api_key", "key",
"mac", "macaddr", "mac_suffix", "wlan0", "eth0",
"gf_username", "gf_password", "username", "user", "email",
))
# Never touched, by key: the gate recomputes these and they look like
# exactly what layer 2 hunts for.
KEEP_KEYS = frozenset((
"sha256", "manifest_sha", "identity_sha", "catalog_hash",
"source_sha", "fingerprint", "content_sha", "srcrev",
))
_KEEP_IP = frozenset(("0.0.0.0", "255.255.255.255"))
_CLASSES = (
("SECRET", re.compile(r"(?i)\b(?:bearer|basic)\s+[A-Za-z0-9._~+/=-]{8,}")),
("JWT", re.compile(r"\beyJ[A-Za-z0-9_-]{8,}\.[A-Za-z0-9_-]{8,}\.[A-Za-z0-9_-]{8,}")),
("EMAIL", re.compile(r"\b[A-Za-z0-9._%+-]+@[A-Za-z0-9.-]+\.[A-Za-z]{2,}\b")),
("MAC", re.compile(r"\b(?:[0-9A-Fa-f]{2}:){5}[0-9A-Fa-f]{2}\b")),
# Three or more colons, or a "::" run: two colons is a clock time, and
# tagging every timestamp would make the evidence unreadable.
("IP6", re.compile(
r"(?:[0-9A-Fa-f]{1,4}:){3,7}[0-9A-Fa-f]{1,4}"
r"|[0-9A-Fa-f]{0,4}(?::[0-9A-Fa-f]{1,4})*::(?:[0-9A-Fa-f]{1,4}(?::[0-9A-Fa-f]{1,4})*)?")),
("IP", re.compile(r"\b(?:\d{1,3}\.){3}\d{1,3}\b")),
("HEX", re.compile(r"\b[0-9A-Fa-f]{32,}\b")),
)
class Redactor:
"""Stable per-export numbering, one instance per artifact."""
# A known value shorter than this is too generic to replace blind.
MIN_KNOWN = 4
def __init__(self):
self._n = {}
self._known = {}
def learn(self, obj, key=None):
"""Collect the values held under the layer-1 keys, so they are
replaced wherever else they appear - a hostname in a log line is
the same leak as a hostname in its own field."""
if key is not None and key in KEEP_KEYS:
return
if isinstance(obj, dict):
for k, v in obj.items():
self.learn(v, k)
elif isinstance(obj, list):
for v in obj:
self.learn(v)
elif key in REDACT_KEYS and isinstance(obj, str) and len(obj) >= self.MIN_KNOWN:
if obj not in self._known:
self._known[obj] = self._tag("REDACTED", "%s=%s" % (key, obj))
def _tag(self, cls, value):
seen = self._n.setdefault(cls, {})
if value not in seen:
seen[value] = len(seen) + 1
return "<%s-%d>" % (cls, seen[value])
def text(self, s):
for known in sorted(self._known, key=len, reverse=True):
if known in s:
s = s.replace(known, self._known[known])
for cls, rx in _CLASSES:
def sub(m, cls=cls):
v = m.group(0)
if cls == "IP" and (v.startswith("127.") or v in _KEEP_IP):
return v
if cls == "IP6" and v in ("::", "::1"):
return v
return self._tag(cls, v)
s = rx.sub(sub, s)
return s
def value(self, v, key=None):
if key is not None and key in KEEP_KEYS:
return v
if key is not None and key in REDACT_KEYS and not isinstance(v, (dict, list)):
if v is None:
return None
if isinstance(v, str) and v in self._known:
return self._known[v]
return self._tag("REDACTED", "%s=%s" % (key, v))
if isinstance(v, dict):
return {k: self.value(x, k) for k, x in v.items()}
if isinstance(v, list):
return [self.value(x) for x in v]
if isinstance(v, str):
return self.text(v)
return v
def scrub(obj):
"""Redact a value tree with one export's numbering."""
r = Redactor()
r.learn(obj)
return r.value(obj)
forgetest/forgetest/runner.py
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forgetest/forgetest/server.py
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# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""HTTP: the page, the JSON API, and the access rules.
Access follows forgectrl's panel (auth.c): the Host header must be an
address literal or localhost (no DNS names - the rebinding vehicle), a
cross-site Sec-Fetch-Site is refused, an Origin must itself be a literal,
and every state-changing call needs the bearer token that is generated on
first start, stored 0600 under the data directory, and embedded in the
page. Read-only calls need the origin checks only.
Routes
GET / the page
GET /state campaign + per-test state + running run.
Carries an ETag; If-None-Match on an
unchanged state gets a 304, which is what an
idle page polls for.
GET /catalog test definitions (title, steps, covers...)
GET /bench bench tool listing
GET /result?test&ts one full result record (log, evidence)
GET /log the raw JSONL
GET /journal the daemon's journal (daemon.log tail)
GET /export/acceptance.json | .md the last export
POST /start {test, ack_live, ignore_requires} start an acceptance test
POST /batch {group, ack_live, ignore_requires} run everything a queue
still owes, in prerequisite order
POST /batch/stop cancel what is still queued
POST /bench/start {tool, args, ack_live}
POST /answer {prompt_id, value}
POST /abort
POST /invalidate {reason}
POST /reset {reason}
POST /export build + save the artifact, returns it
"""
import hashlib
import hmac
import json
import os
import re
import secrets
import sys
import urllib.parse
import socket
from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
from . import artifact as _artifact
from . import page as _page
from .log import data_dir
JOURNAL_TAIL_BYTES = 256 << 10
def journal_tail(path=None, max_bytes=JOURNAL_TAIL_BYTES):
"""The last max_bytes of the daemon's journal (daemon.log, written by
the init script from the daemon's stderr), or a note that there is
none yet."""
path = path or os.path.join(data_dir(), "daemon.log")
try:
size = os.path.getsize(path)
with open(path, "rb") as f:
if size > max_bytes:
f.seek(size - max_bytes)
f.readline()
return f.read()
except OSError:
return b"(no journal yet: %s)\n" % path.encode()
TOKEN_HEX = 32
_LITERAL_RX = re.compile(r"^[0-9.]+$")
def load_token(path=None):
path = path or os.path.join(data_dir(), "token")
try:
with open(path, "r", encoding="utf-8") as f:
tok = f.read().strip()
if len(tok) == TOKEN_HEX and all(c in "0123456789abcdef" for c in tok):
return tok
except OSError:
pass
tok = secrets.token_hex(TOKEN_HEX // 2)
os.makedirs(os.path.dirname(path), exist_ok=True)
fd = os.open(path, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o600)
with os.fdopen(fd, "w", encoding="utf-8") as f:
f.write(tok + "\n")
return tok
def host_is_literal(h):
if not h:
return False
if h.startswith("["):
return True
host = h.split(":", 1)[0]
if host == "localhost":
return True
return bool(_LITERAL_RX.match(host))
def origin_ok(headers):
if not host_is_literal(headers.get("Host")):
return False
sfs = headers.get("Sec-Fetch-Site")
if sfs and sfs not in ("same-origin", "none"):
return False
origin = headers.get("Origin")
if origin and origin != "null":
p = urllib.parse.urlsplit(origin)
if not host_is_literal(p.netloc):
return False
return True
class App:
"""What the handler needs: the runner, the token, the export dir."""
def __init__(self, runner, token, export_dir=None):
self.runner = runner
self.token = token
self.export_dir = export_dir or os.path.join(data_dir(), "export")
def token_ok(self, given):
return bool(given) and hmac.compare_digest(given, self.token)
class Handler(BaseHTTPRequestHandler):
server_version = "forgetest"
# Keep-alive: the page polls, so a handshake and a fresh thread per
# request is pure overhead. Idle connections are dropped after the
# timeout rather than holding a thread forever.
protocol_version = "HTTP/1.1"
timeout = 30
app = None # set on the server class
# -- plumbing ---------------------------------------------------------
def log_message(self, fmt, *args):
if os.environ.get("FORGETEST_HTTP_LOG"):
sys.stderr.write("forgetest: %s - %s\n" % (self.address_string(), fmt % args))
def _send(self, status, body, ctype="application/json", extra=None):
if isinstance(body, (dict, list)):
body = json.dumps(body, sort_keys=True).encode("utf-8")
elif isinstance(body, str):
body = body.encode("utf-8")
self.responded = True
self.send_response(status)
self.send_header("Content-Type", ctype + ("; charset=utf-8" if ctype.startswith("text/") else ""))
self.send_header("Content-Length", str(len(body)))
self.send_header("Cache-Control", "no-store")
self.send_header("X-Content-Type-Options", "nosniff")
for k, v in (extra or {}).items():
self.send_header(k, v)
self.end_headers()
if self.command != "HEAD":
self.wfile.write(body)
def _send_304(self, etag):
self.responded = True
self.send_response(304)
self.send_header("ETag", etag)
self.send_header("Cache-Control", "no-store")
self.send_header("Content-Length", "0")
self.end_headers()
def _deny(self, status, msg):
# One response per request: on a kept-alive connection a second
# one would desynchronize the stream.
if getattr(self, "responded", False):
return
# A refused POST still has its body in the socket. Leaving it
# there would make the next read on this connection take the
# body for a request line, so the connection ends here.
# send_header sets close_connection from this.
extra = None if getattr(self, "body_read", True) else {"Connection": "close"}
self._send(status, {"error": msg}, extra=extra)
def _read_ok(self):
if not origin_ok(self.headers):
self._deny(403, "request origin refused")
return False
return True
def _write_ok(self, query):
if not origin_ok(self.headers):
self._deny(403, "request origin refused")
return False
tok = self.headers.get("X-ForgeFIRM-Token") or (query.get("token") or [None])[0]
if not self.app.token_ok(tok):
self._deny(403, "authentication required")
return False
return True
def _body_json(self):
n = int(self.headers.get("Content-Length") or 0)
if n <= 0:
self.body_read = True
return {}
if n > 1 << 20:
raise ValueError("body too large")
raw = self.rfile.read(n)
self.body_read = True
ctype = self.headers.get("Content-Type", "")
if "json" in ctype:
data = json.loads(raw.decode("utf-8"))
return data if isinstance(data, dict) else {}
# form-encoded fallback
return {k: v[0] for k, v in urllib.parse.parse_qs(raw.decode("utf-8")).items()}
# -- GET ---------------------------------------------------------------
def do_HEAD(self):
self.do_GET()
def do_GET(self):
url = urllib.parse.urlsplit(self.path)
path = url.path
query = urllib.parse.parse_qs(url.query)
r = self.app.runner
self.responded = False
if not self._read_ok():
return
try:
if path == "/":
self._send(200, _page.render(self.app.token), "text/html")
elif path == "/state":
# Conditional: an idle page polls an unchanged state, and
# a 304 spares both ends the payload and the re-render.
state, _ = r.state()
body = json.dumps(state, sort_keys=True).encode("utf-8")
etag = '"%s"' % hashlib.sha256(body).hexdigest()[:32]
if self.headers.get("If-None-Match") == etag:
self._send_304(etag)
else:
self._send(200, body, extra={"ETag": etag})
elif path == "/catalog":
self._send(200, {"tests": [t.describe() for t in r.tests()],
"catalog_hash": r.catalog_hash})
elif path == "/bench":
b = r.bench
self._send(200, {"tools": b.listing() if b else [], "tool_dir": b.tool_dir() if b else None})
elif path == "/result":
test = (query.get("test") or [""])[0]
ts = (query.get("ts") or [""])[0]
rec = None
for x in reversed(r.log.read()):
if x.get("t") == "result" and x.get("test") == test and (not ts or x.get("ts") == ts):
rec = x
break
if rec is None:
self._deny(404, "no such result")
else:
self._send(200, rec)
elif path == "/log":
self._send(200, r.log.raw(), "text/plain")
elif path == "/journal":
self._send(200, journal_tail(), "text/plain")
elif path in ("/export/acceptance.json", "/export/acceptance.md"):
fn = os.path.join(self.app.export_dir, os.path.basename(path))
if not os.path.exists(fn):
self._deny(404, "nothing exported yet")
return
with open(fn, "rb") as f:
data = f.read()
ctype = "application/json" if path.endswith(".json") else "text/markdown"
self._send(200, data, ctype, {"Content-Disposition": "attachment; filename=%s"
% os.path.basename(path)})
else:
self._deny(404, "not found")
except Exception as e: # noqa: BLE001
self._deny(500, "%s: %s" % (type(e).__name__, e))
# -- POST -----------------------------------------------------------------
def do_POST(self):
url = urllib.parse.urlsplit(self.path)
path = url.path
query = urllib.parse.parse_qs(url.query)
r = self.app.runner
self.responded = False
self.body_read = False
if not self._write_ok(query):
return
try:
body = self._body_json()
except ValueError as e:
self._deny(400, "bad body: %s" % e)
return
try:
if path == "/start":
ok, msg = r.start_test(str(body.get("test", "")), ack_live=bool(body.get("ack_live")),
ignore_requires=bool(body.get("ignore_requires")))
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/batch":
ok, msg, order = r.start_batch(str(body.get("group", "")),
ack_live=bool(body.get("ack_live")),
ignore_requires=bool(body.get("ignore_requires")))
self._send(200 if ok else 409, {"ok": ok, "message": msg, "order": order})
elif path == "/batch/stop":
ok, msg = r.stop_batch()
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/bench/start":
args = body.get("args") or {}
if not isinstance(args, dict):
self._deny(400, "args must be an object")
return
ok, msg = r.start_bench(str(body.get("tool", "")), args, ack_live=bool(body.get("ack_live")))
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/answer":
ok, msg = r.answer(str(body.get("prompt_id", "")), str(body.get("value", "")))
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/abort":
ok, msg = r.abort()
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/invalidate":
ok, msg = r.invalidate(str(body.get("reason", "")))
self._send(200 if ok else 400, {"ok": ok, "message": msg})
elif path == "/reset":
ok, msg = r.reset(str(body.get("reason", "")))
self._send(200 if ok else 409, {"ok": ok, "message": msg})
elif path == "/export":
art = r.export()
os.makedirs(self.app.export_dir, exist_ok=True)
with open(os.path.join(self.app.export_dir, "acceptance.json"), "w", encoding="utf-8") as f:
f.write(_artifact.to_json(art))
with open(os.path.join(self.app.export_dir, "acceptance.md"), "w", encoding="utf-8") as f:
f.write(_artifact.to_markdown(art))
self._send(200, {"ok": True, "authorized": art["authorized"], "sha256": art["sha256"],
"counts": art["counts"]})
else:
self._deny(404, "not found")
except Exception as e: # noqa: BLE001
self._deny(500, "%s: %s" % (type(e).__name__, e))
def make_server(app, host="::", port=8090):
handler = type("ForgetestHandler", (Handler,), {"app": app})
ThreadingHTTPServer.allow_reuse_address = True
# An IPv6 bind address (the default "::") gives one dual-stack socket
# that serves IPv4 clients too; a dotted address keeps the IPv4 family.
server_cls = ThreadingHTTPServer
if ":" in host:
server_cls = type("ForgetestServer6", (ThreadingHTTPServer,),
{"address_family": socket.AF_INET6})
srv = server_cls((host, port), handler)
srv.daemon_threads = True
return srv
forgetest/forgetest/suite/__init__.py
-24
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@@ -1,24 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""The acceptance suite: one module per subsystem, imported in display
order. Each module registers its tests with @catalog.test."""
from . import image # noqa: F401,E402
from . import kernel # noqa: F401,E402
from . import forgectrl # noqa: F401,E402
from . import setup # noqa: F401,E402
from . import setup_dark # noqa: F401,E402
from . import setup_burns # noqa: F401,E402
from . import motion # noqa: F401,E402
from . import cooling # noqa: F401,E402
from . import laser # noqa: F401,E402
from . import camera # noqa: F401,E402
from . import update # noqa: F401,E402
from . import cloud # noqa: F401,E402
# Last: it stands on the setup record's consent and on the cloud suite's dark print.
from . import exthost # noqa: F401,E402
from . import homeoff # noqa: F401,E402
from . import tlsrec # noqa: F401,E402
forgetest/forgetest/suite/camera.py
-496
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@@ -1,496 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""camera.* - the lid camera pipeline through forgectrl."""
from ..catalog import test
from .. import hw
from ..baseline import LID_LAMP_ATTR
_CAM_COVERS = [("forgectrl", "src/cam.*"), ("forgectrl", "src/camhealth.*"),
("forgectrl", "src/debayer.*"), ("forgectrl", "src/vpu_jpeg.*"),
("forgectrl", "src/vpu_h264.*"), ("forgectrl", "src/mp4mux.*"),
("forgectrl", "src/gpu_debayer.*"), ("forgectrl", "src/ipu_copy.*"),
("forgectrl", "src/main.c"),
("python3-gfhardware", "gfhardware/src/**"), ("python3-gfhardware", "gfhardware/cam*")]
# The privacy gate spans the camera path and the lid read it depends on,
# in both processes that can reach a sensor.
_PRIVACY_COVERS = _CAM_COVERS + [("forgectrl", "src/status.*"),
("python3-gfhardware", "gfhardware/switches.py"),
("forgefirm-app", "forgefirm-app/ffmachine.py")]
# The sensors the machine ships with, and the geometry each one implies.
# A machine reports exactly one of these; anything else means the sensor
# bound to a driver the capture path has no profile for.
_SENSOR_GEOMETRY = {
"OV5648": (2592, 1944),
"OV8856": (3264, 2448),
}
def _jpeg_size(data):
"""(width, height) from a JPEG's first SOFn marker, or None."""
i = 2
n = len(data)
while i + 3 < n:
if data[i] != 0xFF:
i += 1
continue
marker = data[i + 1]
if marker in (0xD8, 0xD9) or 0xD0 <= marker <= 0xD7:
i += 2
continue
seglen = (data[i + 2] << 8) | data[i + 3]
# SOFn, excluding the non-frame markers in the same range
if 0xC0 <= marker <= 0xCF and marker not in (0xC4, 0xC8, 0xCC):
if i + 9 > n:
return None
return ((data[i + 7] << 8) | data[i + 8],
(data[i + 5] << 8) | data[i + 6])
i += 2 + seglen
return None
@test("camera.snapshot", title="Lid camera snapshot and stream", subsystem="camera",
kind="auto", est_min=2,
covers=_CAM_COVERS,
steps=["Setup: lid closed."],
description="/cam/snapshot returns a JPEG of a plausible size (a black frame compresses "
"far smaller), a second snapshot with the lid lamp switched off differs from it "
"and is smaller (the capture is live, not a frame the pipeline is re-serving, "
"and the lamp lights what the camera sees), and the MJPEG stream starts and "
"stops. A capture marked background=1 yields to a viewer: while the stream is "
"open it is refused in words, the operator's own unmarked capture is still "
"served, and once the viewer stops the background capture is served again. A "
"background value that is neither 0 nor 1 is refused.")
def snapshot(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
st, body = fc.get("/cam/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /cam/status -> %s", st)
ev["cam_status"] = body
ctx.log("cam status: %s", body)
st, data = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half"}, raw=True)
ctx.log("GET /cam/snapshot?cam=lid&res=half -> %s (%d bytes)", st, len(data) if data else 0)
ctx.check(st == 200, "snapshot -> %s %s", st, data[:120] if data else "")
ctx.check(data[:2] == b"\xff\xd8" and data[-2:] == b"\xff\xd9", "snapshot is not a complete JPEG")
ev["snapshot_bytes"] = len(data)
ctx.check(len(data) > 20000, "snapshot is only %d bytes - a dark or empty frame?", len(data))
# Live, and lit: the same frame with the lid lamp off must be a
# different and smaller picture. The lamp is put back where it was.
lamp0 = hw.sysfs_read(LID_LAMP_ATTR)
ev["lid_lamp"] = lamp0
ctx.check(lamp0 is not None, "the lid lamp (%s) is not readable", LID_LAMP_ATTR)
try:
hw.sysfs_write(LID_LAMP_ATTR, "0")
ctx.sleep(1.5)
st, dark = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half"}, raw=True)
finally:
hw.sysfs_write(LID_LAMP_ATTR, lamp0)
ctx.check(st == 200 and dark and dark[:2] == b"\xff\xd8", "snapshot with the lamp off -> %s", st)
ev["snapshot_dark_bytes"] = len(dark)
ctx.log("lamp %s -> %d bytes; lamp off -> %d bytes", lamp0, len(data), len(dark))
ctx.check(dark != data, "the snapshot with the lamp off is byte-identical to the lit one: the "
"capture is not live")
ctx.check(len(dark) < len(data), "the frame with the lamp off is not smaller than the lit one "
"(%d vs %d bytes): the lamp is not lighting what the camera "
"sees", len(dark), len(data))
st, data = fc.get("/cam/snapshot", params={"cam": "lid", "res": "full"}, raw=True)
ctx.log("GET /cam/snapshot?cam=lid&res=full -> %s (%d bytes)", st, len(data) if data else 0)
ctx.check(st == 200 and data[:2] == b"\xff\xd8", "full-resolution snapshot -> %s", st)
ev["snapshot_full_bytes"] = len(data)
# the stream: fetch a little of it and let it close
import urllib.request
req = urllib.request.Request(fc.base + "/cam/stream", headers={"Host": fc.host_header()})
try:
with urllib.request.urlopen(req, timeout=10) as r:
ctype = r.headers.get("Content-Type", "")
chunk = r.read(65536)
except Exception as e: # noqa: BLE001
ctx.fail("stream did not open: %s", e)
ev["stream_ctype"] = ctype
ctx.log("stream: %s, first %d bytes", ctype, len(chunk))
ctx.check("multipart" in ctype and b"\xff\xd8" in chunk, "stream is not an MJPEG multipart")
# A capture nobody is waiting for yields to one somebody is: a
# snapshot borrows the mux and stutters a running stream, which is a
# price worth paying for an operator and not for a program. The
# stream above is closed by now, so one is opened and held here.
bad = fc.get("/cam/snapshot", params={"cam": "lid", "background": "maybe"})
ev["background_bad_value"] = bad
ctx.check(bad[0] == 400, "background=maybe -> %s", bad)
held = urllib.request.urlopen(
urllib.request.Request(fc.base + "/cam/stream", headers={"Host": fc.host_header()}), timeout=10)
try:
held.read(8192)
watching = None
for _ in range(40):
st_, body_ = fc.get("/cam/status")
if isinstance(body_, dict) and body_.get("clients"):
watching = body_
break
ctx.sleep(0.25)
ev["clients_while_watching"] = (watching or {}).get("clients")
ctx.check(watching, "no viewer was counted while the stream was held: %s", body_)
st_, why = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half", "background": "1"})
ev["background_while_watched"] = [st_, why]
ctx.log("background capture while a viewer watches -> %s %s", st_, why)
ctx.check(st_ == 409, "a background capture did not yield to a viewer: %s %s", st_, why)
st_, data_ = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half"}, raw=True)
ev["operator_while_watched"] = [st_, len(data_ or b"")]
ctx.check(st_ == 200 and data_ and data_[:2] == b"\xff\xd8",
"the operator's own capture was refused while watching: %s", st_)
finally:
held.close()
for _ in range(40):
st_, body_ = fc.get("/cam/status")
if isinstance(body_, dict) and not body_.get("clients"):
break
ctx.sleep(0.25)
st_, data_ = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half", "background": "1"}, raw=True)
ev["background_after_watching"] = [st_, len(data_ or b"")]
ctx.check(st_ == 200 and data_ and data_[:2] == b"\xff\xd8",
"a background capture was still refused after the viewer stopped: %s", st_)
ctx.sleep(2)
st, body = fc.get("/cam/status")
ev["cam_status_after"] = body
ctx.log("cam status after: %s", body)
ctx.log("PASS: half-res snapshot %d bytes, %d with the lamp off; full-res %d; stream %s",
ev["snapshot_bytes"], len(dark), len(data), ctype)
@test("camera.sensor-profile", title="Camera geometry follows the fitted sensor", subsystem="camera",
kind="auto", est_min=1,
covers=_CAM_COVERS,
description="/cam/status names the sensor that bound (OV5648 on a 5 MP machine, OV8856 on an "
"8 MP 'HD' one) and reports the geometry that sensor implies, and the JPEGs it "
"actually returns are that size. A machine that reports 'unknown', or whose frames "
"do not match what it advertises, is running the wrong capture profile.")
def sensor_profile(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
st, body = fc.get("/cam/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /cam/status -> %s", st)
sensor = body.get("sensor")
ev["sensor"] = sensor
ctx.log("sensor: %s", sensor)
ctx.check(sensor in _SENSOR_GEOMETRY,
"sensor %r is not one this build has a capture profile for", sensor)
want_w, want_h = _SENSOR_GEOMETRY[sensor]
snap = body.get("snapshot") or {}
stream = body.get("stream") or {}
ev["geometry"] = {"snapshot": snap, "stream": stream}
ctx.log("advertised: snapshot %sx%s, stream %sx%s",
snap.get("width"), snap.get("height"), stream.get("width"), stream.get("height"))
ctx.check(snap.get("width") == want_w and snap.get("height") == want_h,
"%s should advertise %dx%d snapshots, got %sx%s",
sensor, want_w, want_h, snap.get("width"), snap.get("height"))
ctx.check(stream.get("width") == want_w // 2 and stream.get("height") == want_h // 2,
"%s should advertise %dx%d stream frames, got %sx%s",
sensor, want_w // 2, want_h // 2, stream.get("width"), stream.get("height"))
# What it advertises is what it delivers.
for res, (w, h) in (("full", (want_w, want_h)), ("half", (want_w // 2, want_h // 2))):
st, data = fc.get("/cam/snapshot", params={"cam": "lid", "res": res}, raw=True)
ctx.check(st == 200 and data and data[:2] == b"\xff\xd8",
"%s snapshot -> %s", res, st)
got = _jpeg_size(data)
ev["jpeg_%s" % res] = got
ctx.log("%s snapshot: %s (%d bytes)", res, got, len(data))
ctx.check(got == (w, h), "%s snapshot is %s, not %dx%d", res, got, w, h)
@test("camera.h264-stream", title="H.264 live stream", subsystem="camera",
kind="auto", est_min=2,
covers=_CAM_COVERS,
steps=["Setup: lid closed."],
description="/cam/h264 answers a fragmented MP4: a codec header naming the SPS profile, an "
"init segment (ftyp+moov) followed by media fragments (moof+mdat) within a few "
"seconds, and /cam/status reporting the H.264 encoder active with this client "
"counted. Also records which demosaic path (GPU or CPU) served the stream. On a "
"machine whose image lacks Mesa or whose encoder refused, the endpoint must "
"answer 503 rather than hang - that is a pass for the endpoint but is recorded "
"in the evidence.")
def h264_stream(ctx):
import urllib.error
import urllib.request
fc = ctx.forgectrl
ev = ctx.evidence
req = urllib.request.Request(fc.base + "/cam/h264?cam=lid",
headers={"Host": fc.host_header()})
try:
r = urllib.request.urlopen(req, timeout=20)
except urllib.error.HTTPError as e:
ev["status"] = e.code
ev["body"] = e.read()[:200].decode("utf-8", "replace")
ctx.check(e.code == 503, "H.264 refused with %s, not 503: %s", e.code, ev["body"])
ctx.log("H.264 unavailable on this machine (503): %s", ev["body"])
return
with r:
codec = r.headers.get("X-H264-Codec", "")
ctype = r.headers.get("Content-Type", "")
ev["codec"] = codec
ev["content_type"] = ctype
ctx.log("codec %s, content-type %s", codec, ctype)
ctx.check(ctype == "video/mp4", "content type is %r", ctype)
ctx.check(codec.startswith("avc1."), "codec header is %r", codec)
# Init segment, then at least one media fragment.
data = b""
while len(data) < 512 * 1024:
chunk = r.read(65536)
if not chunk:
break
data += chunk
if b"moof" in data and b"mdat" in data:
break
ev["bytes"] = len(data)
ctx.check(data[4:8] == b"ftyp", "stream does not start with ftyp")
ctx.check(b"moov" in data, "no moov (init segment)")
ctx.check(b"avcC" in data, "no avcC in the init segment")
ctx.check(b"moof" in data and b"mdat" in data,
"no media fragment arrived in %d bytes", len(data))
st, body = fc.get("/cam/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /cam/status -> %s", st)
ev["cam_status"] = body
ctx.log("convert=%s h264=%s", body.get("convert"), body.get("h264"))
h = body.get("h264") or {}
ctx.check(h.get("active") is True, "/cam/status does not report the H.264 encoder active: %s",
body)
@test("camera.frame-health", title="Capture delivers whole frames", subsystem="camera",
kind="auto", est_min=1,
covers=_CAM_COVERS,
description="The capture queue flags a frame errored when it is short, torn, or arrived "
"after the CSI-2 receiver lost sync; forgectrl drops those rather than "
"demosaicing them, restarts the stream if they persist, and withholds the "
"stream frames on either side of one. A healthy machine captures a burst of "
"snapshots and a few seconds of stream with none of them flagged and none "
"withheld, and reports the stream's per-stage timing while a viewer watches. "
"A nonzero corrupt count here is a real signal - a marginal camera ribbon, a "
"mistimed D-PHY - even though the frames themselves never reach a client.")
def frame_health(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
def health():
st, body = fc.get("/cam/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /cam/status -> %s", st)
h = body.get("health")
ctx.check(isinstance(h, dict), "/cam/status carries no health block: %s", body)
return h
before = health()
ev["health_before"] = before
ctx.log("before: %s", before)
# A burst, so the count covers a run of frames rather than a single grab.
for _ in range(3):
st, data = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half"}, raw=True)
ctx.check(st == 200 and data and data[:2] == b"\xff\xd8", "snapshot -> %s", st)
after = health()
ev["health_after"] = after
ctx.log("after: %s", after)
captured = (after.get("captured") or 0) - (before.get("captured") or 0)
corrupt = (after.get("corrupt") or 0) - (before.get("corrupt") or 0)
restarts = (after.get("restarts") or 0) - (before.get("restarts") or 0)
ev["captured"] = captured
ev["corrupt"] = corrupt
ev["restarts"] = restarts
ctx.log("captured %d frames, %d corrupt, %d stream restarts", captured, corrupt, restarts)
ctx.check(captured > 0, "no frames were dequeued during three snapshots")
ctx.check(corrupt == 0, "%d of %d captured frames came back errored", corrupt, captured)
ctx.check(restarts == 0, "the capture stream was restarted %d time(s)", restarts)
# The stream path: five seconds of MJPEG, so the frame gate judges a
# few dozen frames and the timing covers two whole windows. A frame is
# withheld only next to one the receiver flagged, so a healthy machine
# withholds none, and the per-stage timing is reported while the
# viewer watches.
import time
import urllib.request
s0 = health()
stream = urllib.request.urlopen(
urllib.request.Request(fc.base + "/cam/stream", headers={"Host": fc.host_header()}),
timeout=10)
try:
got = 0
t_end = time.monotonic() + 5.0
while time.monotonic() < t_end:
got += len(stream.read(65536))
st, body = fc.get("/cam/status")
timing = body.get("timing") if isinstance(body, dict) else None
finally:
stream.close()
s1 = health()
ev["stream_bytes"] = got
ev["stream_timing"] = timing
ev["stream_health"] = [s0, s1]
ctx.log("stream: %d bytes in 5 s, timing %s", got, timing)
s_captured = (s1.get("captured") or 0) - (s0.get("captured") or 0)
s_corrupt = (s1.get("corrupt") or 0) - (s0.get("corrupt") or 0)
s_withheld = (s1.get("withheld") or 0) - (s0.get("withheld") or 0)
ev["stream_captured"] = s_captured
ev["stream_withheld"] = s_withheld
ctx.check(s_captured >= 30, "only %d frames were dequeued in 5 s of stream", s_captured)
ctx.check(s_corrupt == 0, "%d stream frames came back errored", s_corrupt)
ctx.check("withheld" in s1, "/cam/status health carries no withheld count: %s", s1)
ctx.check(s_withheld == 0, "%d stream frames were withheld with none flagged", s_withheld)
ctx.check(isinstance(timing, dict) and
all(k in timing for k in ("latency_ms", "convert_ms", "copy_ms", "encode_ms")),
"/cam/status carries no timing block while a viewer watches: %s", body)
latency = (timing or {}).get("latency_ms") or 0
ctx.check(0 < latency < 250, "capture to publication took %.1f ms while streaming", latency)
@test("camera.lid-privacy", title="Cameras see the room only with the lid closed", subsystem="camera",
kind="operator", est_min=3,
covers=_PRIVACY_COVERS + [("forgectrl", "src/auth.*")],
actions=["lid"],
steps=["Start with the lid closed; you will be told to open it, then close it again.",
"Nothing moves and the laser is not involved."],
description="The privacy gate: with the lid open the lid camera does not capture, and the head "
"camera captures only for a local viewer. A running lid-camera stream stops within a "
"frame or so of the lid opening, /cam/status reports capture as not allowed, and the "
"lid camera's snapshot and stream are refused with 409 and a reason naming the lid, "
"to the panel too. The head camera, which looks down at the bed, still answers the "
"panel (its token) and the extension host (its client header from this host), while "
"the same snapshot and stream asked without either - the cloud client's form - are "
"refused for the lid. Closing the lid restores all of it. This is what stops the "
"machine - and in cloud mode the Glowforge service - from imaging the room through "
"an open lid.")
def lid_privacy(ctx):
import urllib.error
import urllib.request
fc = ctx.forgectrl
ev = ctx.evidence
def status():
st, body = fc.get("/cam/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /cam/status -> %s", st)
return body
def snapshot():
"""(status, body) for a half-res lid snapshot."""
st, data = fc.get("/cam/snapshot", params={"cam": "lid", "res": "half"}, raw=True)
return st, data or b""
# --- lid closed: the baseline the rest is measured against ----------
ctx.act("lid", "close")
body = status()
ctx.check(body.get("capture_allowed") is True,
"with the lid closed /cam/status should allow capture, got %r",
body.get("capture_allowed"))
st, data = snapshot()
ctx.check(st == 200 and data[:2] == b"\xff\xd8",
"snapshot with the lid closed -> %s", st)
ev["closed_snapshot_bytes"] = len(data)
ctx.log("lid closed: snapshot %d bytes", len(data))
# --- a live stream must die when the lid opens ----------------------
req = urllib.request.Request(fc.base + "/cam/stream?cam=lid",
headers={"Host": fc.host_header()})
stream = urllib.request.urlopen(req, timeout=15)
try:
first = stream.read(4096)
ctx.check(b"\xff\xd8" in first, "the stream did not start before the lid test")
ctx.act("lid", "open", text="The stream is running.")
# The engine tears the pipeline down on the next frame and the
# stream ends. Draining now returns whatever was buffered before
# the lid opened and then EOF; what must not happen is frames
# continuing to arrive indefinitely.
drained, ended = 0, False
try:
while True:
chunk = stream.read(65536)
if not chunk:
ended = True
break
drained += len(chunk)
ctx.check(drained < 8 * 1024 * 1024,
"the stream was still delivering after %d bytes with the lid open",
drained)
except Exception as e: # noqa: BLE001 - a reset connection ends it too
ended = True
ctx.log("stream ended with %s", type(e).__name__)
ev["stream_bytes_after_lid_open"] = drained
ctx.log("stream ended after %d further buffered bytes", drained)
ctx.check(ended, "the stream never ended after the lid opened")
finally:
stream.close()
# --- lid open: everything is refused, and says why ------------------
body = status()
ev["status_lid_open"] = body
ctx.check(body.get("capture_allowed") is False,
"with the lid open /cam/status should refuse capture, got %r",
body.get("capture_allowed"))
ctx.check(body.get("stopped_by_lid") is True,
"the engine should record that the lid stopped it, got %r",
body.get("stopped_by_lid"))
ctx.check(body.get("running") is False,
"the capture engine should not still be running with the lid open")
st, data = snapshot()
ev["snapshot_lid_open"] = [st, data[:120].decode("utf-8", "replace")]
ctx.log("lid open: snapshot -> %s %s", st, data[:120])
ctx.check(st == 409, "snapshot with the lid open should be refused with 409, got %s", st)
ctx.check(b"lid" in data.lower(), "the refusal should name the lid: %r", data[:120])
ctx.check(data[:2] != b"\xff\xd8", "a JPEG was returned with the lid open")
# The head camera looks at the bed: a local viewer still has it, the cloud client's form does not.
st, data = fc.get("/cam/snapshot", params={"cam": "head", "res": "half"}, raw=True)
ctx.log("lid open: the panel's head snapshot -> %s", st)
ctx.check(st == 200 and data[:2] == b"\xff\xd8", "the panel's head snapshot with the lid open -> %s", st)
st, data = fc.get("/cam/snapshot", params={"cam": "head", "res": "half"}, raw=True, auth=False,
headers={"X-ForgeFIRM-Client": "extension-host"})
ctx.log("lid open: the extension host's head snapshot -> %s", st)
ctx.check(st == 200 and data[:2] == b"\xff\xd8", "the extension host's head snapshot with the lid open -> %s", st)
st, data = fc.get("/cam/snapshot", params={"cam": "head", "res": "half"}, raw=True, auth=False)
ev["head_cloud_form_lid_open"] = [st, (data or b"")[:120].decode("utf-8", "replace")]
ctx.log("lid open: head snapshot without a token or the header -> %s %s", st, (data or b"")[:120])
ctx.check(st == 409 and b"lid" in (data or b"").lower(),
"the head camera without a token or the header should be refused for the lid, got %s", st)
try:
hreq = urllib.request.Request(fc.base + "/cam/stream?cam=head", headers={"Host": fc.host_header()})
with urllib.request.urlopen(hreq, timeout=10) as r:
ctx.fail("the head stream opened with the lid open, for no local viewer (%s)", r.status)
except urllib.error.HTTPError as e:
ctx.log("lid open: head stream for no local viewer -> %s", e.code)
ctx.check(e.code == 409, "the head stream for no local viewer should be refused with 409, got %s", e.code)
try:
with urllib.request.urlopen(req, timeout=10) as r:
ctx.fail("the stream opened with the lid open (%s)", r.status)
except urllib.error.HTTPError as e:
ctx.log("lid open: stream -> %s", e.code)
ctx.check(e.code == 409, "the stream should be refused with 409, got %s", e.code)
# --- closing the lid restores it -----------------------------------
ctx.act("lid", "close")
body = status()
ctx.check(body.get("capture_allowed") is True,
"closing the lid should allow capture again, got %r",
body.get("capture_allowed"))
st, data = snapshot()
ctx.check(st == 200 and data[:2] == b"\xff\xd8",
"snapshot after closing the lid -> %s", st)
ctx.log("lid closed again: snapshot %d bytes", len(data))
forgetest/forgetest/suite/cloud.py
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forgetest/forgetest/suite/cooling.py
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@@ -1,402 +0,0 @@
# Copyright 2026 514 LLC d/b/a OpenGlow
# Written by Scott Wiederhold
# https://community.openglow.org
# SPDX-License-Identifier: MIT
"""cooling.* - the cooling engine on the machine: the air-assist ground
shift on the coolant readings, flow verification through forgectrl's
diagnostics runner (the same check the fire gate runs) and under a lit
tube, and the fail tier ending the controller on the head's own move
inside an armed window. The engine's decisions on a reading a host can
emulate (the gate settings, the phases' fan duties, the TEC, the fire and
crash watches' tiers and gates) are forgectrl's cool_flow_test and
cool_gate_test."""
import os
import time
from ..catalog import test
from .. import hw
_COOL_COVERS = [("forgectrl", "src/cool.*"), ("forgectrl", "src/coolfmt.*"), ("forgectrl", "src/diag.*"),
("forgectrl", "src/gates.*"), ("forgectrl", "src/airflow.*"),
("forgectrl", "src/accel.*"),
("forgectrl", "src/settings.*"),
("forgectrl", "src/status.*"), ("forgectrl", "src/ui/**"),
("grblhal-glowforge", "src/glowforge_cooling.*"),
("kernel-module-glowforge", "src/thermal*"),
("kernel-module-glowforge", "src/pic*")]
# Registered before the heater tools: a queue runs the catalog in this
# order, and a heater trial leaves a warm slug circulating past the
# coolant sensors for minutes, which the tool's edges read as disagreement.
@test("cooling.aa-offset-calibrate", title="The air-assist ground shift on the coolant readings measures cleanly",
subsystem="cooling", kind="auto", est_min=6,
covers=_COOL_COVERS, requires=["kernel.latch-locked-idle"],
steps=["Coolant loop normal (pump on); the machine idle. The controller is suspended by "
"forgectrl for the duration; the tool first waits for a stationary loop (up to "
"7 minutes after a heater trial), then the air assist cycles three times."],
description="forgectrl's aa-offset-calibrate diagnostic: the loop settled to the flow "
"tools' stationary gate, then the air-assist fan stepped idle to run and back "
"three times with the tube dark and the heater off, both coolant sensors read "
"at every edge. The fan's return current shifts both readings by a number of "
"ADC counts the engine adds back (cool_aa_offset_counts). PASS = the tool "
"reports a recommendation, the six edges agree within its spread limit, and "
"the value sits inside the setting's legal range. The setting is not written.")
def aa_offset_calibrate(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
st, body = fc.get("/diag/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /diag/status -> %s", st)
ctx.check(not body.get("running"), "a diagnostic is already running (%s)", body.get("tool"))
st, body = fc.post("/diag/aa-offset-calibrate")
ctx.log("POST /diag/aa-offset-calibrate -> %s %s", st, body if isinstance(body, dict) else "")
ctx.check(st == 202 and isinstance(body, dict) and body.get("started") is True,
"could not start aa-offset-calibrate (%s %s)", st, body)
result = None
last_phase = None
t0 = time.time()
try:
while time.time() - t0 < AA_CAL_TIMEOUT_S:
ctx.checkpoint()
st, d = fc.get("/diag/status")
if st == 200 and isinstance(d, dict):
if d.get("phase") != last_phase:
last_phase = d.get("phase")
ctx.log("phase: %s", last_phase)
if not d.get("running") and d.get("result") is not None:
result = d.get("result")
for line in d.get("log", [])[-10:]:
ctx.log(" diag: %s", line)
break
time.sleep(2)
except BaseException:
fc.post("/diag/abort")
raise
ctx.check(result is not None, "aa-offset-calibrate did not finish within %d s", AA_CAL_TIMEOUT_S)
ev["result"] = result
ctx.check("error" not in result, "aa-offset-calibrate error: %s", result.get("error"))
ctx.log("offset %s counts, spread %s, recommend %s, edges %s", result.get("offset_counts"),
result.get("spread_counts"), result.get("recommend"), result.get("steps"))
ctx.check("recommend" in result, "no recommendation in %s", result)
ctx.check(0 <= float(result["recommend"]) <= 60,
"recommendation %s outside the setting's range 0..60", result["recommend"])
ctx.check(fc.wait_idle(120, abort=ctx.aborted), "machine did not return to idle after the diagnostic")
@test("cooling.flow-verify", title="Coolant flow check separates flow from no-flow",
subsystem="cooling", kind="auto", est_min=4,
covers=_COOL_COVERS, requires=["kernel.latch-locked-idle"],
steps=["Coolant loop normal (pump on); the machine idle. The controller is suspended by "
"forgectrl for the duration (about 3 minutes)."],
description="forgectrl's flow-verify diagnostic: one heater window with the pump on and "
"one with it commanded off, judged against the configured threshold. PASS = "
"the threshold separates the two readings with the margins forgectrl reports; "
"a thin margin is recorded as a warning.")
def flow_verify(ctx):
fc = ctx.forgectrl
ev = ctx.evidence
st, body = fc.get("/diag/status")
ctx.check(st == 200 and isinstance(body, dict), "GET /diag/status -> %s", st)
ctx.check(not body.get("running"), "a diagnostic is already running (%s)", body.get("tool"))
st, body = fc.post("/diag/flow-verify")
ctx.log("POST /diag/flow-verify -> %s %s", st, body if isinstance(body, dict) else "")
ctx.check(st == 202 and isinstance(body, dict) and body.get("started") is True,
"could not start flow-verify (%s %s)", st, body)
last_phase = None
result = None
t0 = time.time()
try:
while time.time() - t0 < 900:
ctx.checkpoint()
st, d = fc.get("/diag/status")
if st == 200 and isinstance(d, dict):
if d.get("phase") != last_phase:
last_phase = d.get("phase")
ctx.log("phase: %s (down %.1f C, up %.1f C)", last_phase, d.get("down_c", 0), d.get("up_c", 0))
if not d.get("running") and d.get("result") is not None:
result = d.get("result")
for line in d.get("log", [])[-12:]:
ctx.log(" diag: %s", line)
break
time.sleep(2)
except BaseException:
fc.post("/diag/abort")
raise
ctx.check(result is not None, "flow-verify did not finish within 15 minutes")
ev["result"] = result
ctx.check("error" not in result, "flow-verify error: %s", result.get("error"))
ctx.log("verdict: pass=%s threshold=%s flow_rise=%s noflow_rise=%s margins %s/%s thin=%s",
result.get("pass"), result.get("threshold"), result.get("flow_rise"),
result.get("noflow_rise"), result.get("margin_flow"), result.get("margin_noflow"),
result.get("thin_margin"))
ctx.check(result.get("pass") is True, "the threshold does not separate flow from no-flow: %s", result)
if result.get("thin_margin"):
ctx.log("WARNING: thin margin - run flow-calibrate")
ctx.check(fc.wait_idle(120, abort=ctx.aborted), "machine did not return to idle after the diagnostic")
AA_CAL_TIMEOUT_S = 540 # the tool's 420 s settle limit plus its six edges
def _cool(fc):
st, c = fc.get("/cool/status")
return c if st == 200 and isinstance(c, dict) else {}
def _gate_state(fc, key):
g = (fc.settings().get("gates") or {}).get(key) or {}
return g.get("state"), g.get("value")
def _set_gates(ctx, fc, values):
"""POST the gate settings and confirm the reply carries them."""
st, body = fc.post("/settings", params=values)
ctx.check(st == 200 and isinstance(body, dict), "POST /settings %s -> %s %s", values, st, body)
for k, v in values.items():
ctx.check(body.get(k) == v, "settings reply has %s=%r, posted %r", k, body.get(k), v)
return body
CRASH_KEYS = ("cool_accel_x_alert", "cool_accel_y_alert", "cool_accel_abort")
# The flow check under a lit tube. With a prompt press the tube is lit for
# most of the arm-time window, which adds about 1.5 C to the heater rise at
# full power; the engine takes that share off from the tube current before
# the limit (cool_laser_heat_*), reads its baseline and end as means, and
# says so on the verdict line: "verified (heater rise 11.3 C, dT 9.6 C;
# laser 0.8 off 12.0)". The share on the line is the proof the window and
# the fire overlapped; the judged rise inside the dark band is the proof
# the share was right.
LOAD_FEED = 1500 # mm/min: 25 mm/s, the engrave dose that does not char
LOAD_PITCH = 0.3 # mm between lines
LOAD_WIDTH = 30.0 # mm, the line length (+X)
LOAD_LINES = 27 # two 30 x 4 mm fills back to back, about 35 s lit
LOAD_SHARE_MIN_C = 0.3 # the tube was lit inside the window
LOAD_MARGIN_C = 1.0 # the judged rise this far under the limit
LOAD_VERDICT_WAIT_S = 120 # the window opens ~15 s into the session and runs 50 s
_LOAD_LINE_RX = None
def _load_verdict_rx():
global _LOAD_LINE_RX
if _LOAD_LINE_RX is None:
import re
_LOAD_LINE_RX = re.compile(
r"(COOLANT FLOW SUSPECT|COOLANT FLOW FAULT|coolant flow verified|"
r"coolant flow suspicion cleared|coolant flow recovered)[^\n]*?heater rise ([0-9.]+) C"
r"(?: \(limit ([0-9.]+))?, dT ([0-9.]+)(?: C)?(?:; laser ([0-9.]+) off ([0-9.]+))?\)?")
return _LOAD_LINE_RX
def _load_fill():
lines = []
for i in range(LOAD_LINES):
lines.append("G1 X%g F%d" % (LOAD_WIDTH if i % 2 == 0 else -LOAD_WIDTH, LOAD_FEED))
if i < LOAD_LINES - 1:
lines.append("G1 Y%g F%d" % (LOAD_PITCH, LOAD_FEED))
return lines
def _log_since(path, offset):
"""The text a log gained since byte `offset`. A count of lines in a
tail of fixed length cannot tell a new line from an old one: the new
line comes in at the bottom as an old one leaves at the top. A file now
shorter than the offset was rotated under the test, and all of it is
newer."""
try:
with open(path, "rb") as f:
if os.fstat(f.fileno()).st_size >= offset:
f.seek(offset)
return f.read().decode("utf-8", "replace")
except OSError:
return ""
@test("cooling.flow-under-load", title="The flow check reads true with the tube lit through its window",
subsystem="cooling", kind="live", mode="grbl", est_min=4,
covers=_COOL_COVERS + [("forgectrl", "src/main.c")],
requires=["laser.emission-witness", "cooling.flow-verify"], actions=["button"],
steps=["Scrap under the head with 35 mm of free +X and 10 mm of +Y travel; lid closed; exhaust on.",
"Press the physical button AS SOON AS it lights white: the check must run while the "
"tube is lit, and the share on the verdict line is the proof it did."],
description="Two 30 x 4 mm fills at full power on the press (about 35 s lit), the window "
"held open until the engine's flow verdict lands. The verdict must be "
"'verified' with the laser's share on the line (at least 0.3 C: the tube was "
"lit inside the window) and the judged rise at least 1 C under the limit, "
"where the same check read within tenths of the limit before the engine took "
"the tube's share off and read its baseline as a mean.")
def flow_under_load(ctx):
from .laser import sample, prepare, LiveJob, ARM_CUE, run_and_sample, wait_disarm
from .motion import FORGECTRL_LOG, _log_offset
fc = ctx.forgectrl
ev = ctx.evidence
state, check_s = _gate_state(fc, "cool_flow_check_s")
_st, limit = _gate_state(fc, "cool_flow_rise")
ctx.check(state != "off" and check_s, "the flow check is off (cool_flow_check_s=%s)", check_s)
ctx.check(limit, "cool_flow_rise unreadable")
ev.update({"check_s": check_s, "limit_c": limit})
off = _log_offset(FORGECTRL_LOG) # the verdict is a line written after this
# The fill ends one line length out and (LOAD_LINES - 1) pitches up;
# the job brings the head back so the baseline finds it where it began.
back = "G0 X%g Y%g" % (-LOAD_WIDTH if LOAD_LINES % 2 else 0.0, -LOAD_PITCH * (LOAD_LINES - 1))
job = ["G91", "G21", "M3 S1000"] + _load_fill() + ["M5", back]
line = None
heater_seen = False
with ctx.grbl() as g, LiveJob(ctx, g):
prepare(ctx, g)
base = sample(ctx)
ctx.check(base, "forgectrl /status or /cool/status unavailable")
ctx.check(not base["emission"], "emission_samples nonzero before the job (%s)", base["emission"])
ctx.ready(ARM_CUE % "35 mm +X and 10 mm +Y")
ctx.arm_press()
t_job = time.time()
try:
samples = run_and_sample(ctx, g, job, overall_timeout=240)
finally:
ctx.clear_notice()
emis = [s["emission"] for s in samples if s["emission"] is not None]
ev["emission_peak"] = max(emis) if emis else 0
# An arm refused by a gate names itself: the engine's verdict left OK
# during the wait (AIRFLOW, OVERTEMP, a flow FAULT).
gates = sorted({s["verdict"] for s in samples if s.get("verdict") not in (None, "OK")})
ev["verdicts_seen"] = gates
ctx.check(ev["emission_peak"] > 0,
"no emission witnessed: %s" % ("the engine held the run (%s) before the arm"
% ", ".join(gates) if gates
else "arm refused, or no button press"))
# The window stays open (no M2) until the check has judged.
t0 = time.time()
while time.time() - t0 < LOAD_VERDICT_WAIT_S:
ctx.checkpoint()
if hw.sysfs_int("thermal/heater_pwm", 0) > 0:
heater_seen = True
m = None
for m in _load_verdict_rx().finditer(_log_since(FORGECTRL_LOG, off)):
pass
if m:
line = m.group(0)
break
ctx.sleep(1)
ev["heater_seen"] = heater_seen
ctx.log("M2: %s", g.command("G90\nM2", timeout=10))
dt = wait_disarm(ctx, 30)
ev["disarm_after_m2_s"] = round(dt, 1) if dt is not None else None
ctx.check(line, "the engine published no flow verdict within %d s of the job (heater seen: %s)",
LOAD_VERDICT_WAIT_S, heater_seen)
m = _load_verdict_rx().search(line)
kind, rise, _lim, dtc, share, raw = m.groups()
rise = float(rise)
share = float(share) if share else 0.0
raw = float(raw) if raw else rise
ev.update({"verdict_line": line, "kind": kind, "rise_c": rise, "dt_c": float(dtc),
"laser_share_c": share, "raw_rise_c": raw, "job_to_verdict_s": round(time.time() - t_job, 1)})
ctx.log("engine: %s", line)
ctx.check(kind == "coolant flow verified", "the check did not verify flow under load: %s", line)
ctx.check(share >= LOAD_SHARE_MIN_C,
"the tube's share on the line is %.1f C (under %.1f): the window and the fire did not "
"overlap - press the button as soon as it lights", share, LOAD_SHARE_MIN_C)
ctx.check(rise <= float(limit) - LOAD_MARGIN_C,
"judged rise %.1f C is within %.1f C of the %.1f C limit", rise, LOAD_MARGIN_C, float(limit))
ctx.check(dt is not None, "the window did not close after M2")
ctx.log("PASS: lit through the window, raw rise %.1f C, laser %.1f C off, judged %.1f C against %.1f "
"(dT %.1f), window closed %.1f s after M2", raw, share, rise, float(limit), float(dtc), dt)
@test("cooling.fail-tier-stop", title="A fail-tier verdict ends the controller: CRASH stops motion, "
"locks the laser, and the supervisor restarts the controller",
subsystem="cooling", kind="operator", mode="grbl", est_min=4,
covers=_COOL_COVERS + [("forgectrl", "src/super.*")],
requires=["motion.deadman"], actions=["button"],
steps=["Bed clear, lid closed, 40 mm of free +X travel. Nothing fires: the job is dark (S0).",
"Press the physical button when it lights white, once. The head moves and stops on "
"its own; the controller restarts."],
description="The engine's fail tiers (a lid IR fire signal, a head crash signal) do not "
"leave the job to the controller: after the kernel writes (motion stopped, the "
"latch locked) the engine ends the controller through the supervisor, which "
"starts it again, so no run start can relight what was locked and the sender "
"sees the job end. Provable without emission or a physical crash: the crash "
"watch's thresholds at their lowest (1) make the head's own move trip the abort "
"generator inside an armed, dark (S0) job. Expected: the engine logs the crash "
"signal, the supervisor logs the stop and starts a new controller (new pid), the "
"latch is locked, the kernel idle, no emission, the crash fault ends with the run "
"session (the engine's next tick after the controller is gone), and the "
"thresholds are put back.")
def fail_tier_stop(ctx):
from .laser import prepare, stream, sample
from .motion import FORGECTRL_LOG, _log_lines, _log_offset
fc = ctx.forgectrl
ev = ctx.evidence
before = fc.settings()
orig = {k: before.get(k, "") for k in CRASH_KEYS}
ev["orig"] = orig
ctx.check(fc.wait_idle(15, abort=ctx.aborted), "machine not idle at the start")
st, m0 = fc.get("/mode")
ctx.check(st == 200 and isinstance(m0, dict) and m0.get("controller") == "running", "controller not running: %s", m0)
pid0 = m0.get("pid")
_set_gates(ctx, fc, {k: "1" for k in CRASH_KEYS})
off = _log_offset(FORGECTRL_LOG)
t_arm = None
try:
try:
with ctx.grbl() as g:
prepare(ctx, g)
ctx.ready("DARK JOB (S0, nothing fires). Bed clear with 40 mm of free +X travel, lid closed. "
"The head moves 20 mm and the controller restarts on its own.")
stream(g, ["G91", "G21", "M3 S0", "G4 P1", "G1 X20 F1200", "G1 X-20 F1200", "M5", "G90", "M2"])
ctx.arm_press()
t_arm = ctx.wait_for(lambda: bool((sample(ctx) or {}).get("armed")), 240)
ctx.clear_notice()
ctx.check(t_arm is not None, "the window never opened (arm refused, or no press)")
t0 = time.time()
tripped = ctx.wait_for(lambda: _cool(fc).get("verdict") == "CRASH"
or (fc.get("/mode")[1] or {}).get("pid") not in (None, pid0), 30)
ctx.log("the crash tier tripped after %s s", tripped)
except (hw.HwError, OSError) as e:
ctx.log("the Grbl connection ended with the restart: %s", e)
t_kill = time.time()
m1 = None
while time.time() - t_kill < 60:
st, m1 = fc.get("/mode")
if isinstance(m1, dict) and m1.get("controller") == "running" and m1.get("pid") != pid0:
break
ctx.sleep(0.5)
# the daemon's lines reach the log file through syslog, a moment
# after the events they name
ctx.wait_for(lambda: bool(_log_lines(FORGECTRL_LOG, off, "HEAD CRASH SIGNAL"))
and bool(_log_lines(FORGECTRL_LOG, off, "head crash signal - the controller is stopped")), 15)
engine = _log_lines(FORGECTRL_LOG, off, "HEAD CRASH SIGNAL")
super_ = _log_lines(FORGECTRL_LOG, off, "head crash signal - the controller is stopped")
smp = sample(ctx)
ilk = hw.sysfs_int("cnc/interlock_circuit")
ev["result"] = {"mode_after": m1, "engine_lines": [ln[-160:] for ln in engine[-2:]],
"super_lines": [ln[-160:] for ln in super_[-2:]],
"emission": smp and smp["emission"], "kernel": smp and smp["kstate"],
"latch_locked": ilk is not None and bool(ilk & (1 << 3))}
ctx.log("after the crash tier: %s", ev["result"])
ctx.check(engine, "the engine did not log the crash signal")
ctx.check(super_, "the supervisor did not log the fail-tier stop")
ctx.check(m1 and m1.get("pid") != pid0, "the controller was not stopped and started again: %s", m1)
ctx.check(ev["result"]["latch_locked"], "latch not locked after the crash tier")
ctx.check(not (smp and smp["emission"]), "emission during a dark job: %s", smp and smp["emission"])
ctx.check(fc.wait_idle(30, abort=ctx.aborted), "machine not idle after the restart")
# The crash fault is the run session's: the engine ends the session
# on its next 1 Hz tick after the controller is gone, and the fault
# and its hold go with it. The supervisor has the new controller up
# inside that second, so a test that returned here would hand the
# machine back with the fault it raised still standing.
cleared = ctx.wait_for(lambda: _cool(fc).get("verdict") != "CRASH", 10)
ev["result"]["fault_cleared_s"] = cleared
ctx.log("the crash fault ended with the run session after %s s: %s", cleared,
{k: _cool(fc).get(k) for k in ("phase", "verdict", "hold", "armed")})
ctx.check(cleared is not None, "the crash fault did not end with the run session: %s", _cool(fc))
finally:
fc.wait_idle(30, abort=ctx.aborted)
st, body = fc.post("/settings", params=orig)
ctx.log("restore thresholds: POST /settings %s -> %s", orig, st)
after = fc.settings()
ctx.check(all(after.get(k, "") == orig[k] for k in CRASH_KEYS),
"thresholds not restored: %s", {k: after.get(k) for k in CRASH_KEYS})
ctx.log("PASS: the crash tier stopped the job, locked the latch, and the supervisor restarted "
"the controller (pid %s -> %s)", pid0, m1 and m1.get("pid"))
forgetest/forgetest/suite/exthost.py
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