mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-28 01:01:12 -07:00
ScottW514
86ce0419e5
The cloud job tests (lid-abort, lid-during-button-wait, hunt-lid-open,
pause-resume) run in cloud mode and leave the machine there: enter_cloud
reuses a live session (pid-scoped from the client's own websocket state
lines) and switches once from GRBL mode, declaring the change to the
baseline; nothing switches back. Each test judges the log from its own
window, the print by its own "print [id]: finished" line, and waits the
service's follow-up moves out (wait_quiet) before it ends. hunt-lid-open
restarts the cloud client through the supervisor's stop/start lever for
a fresh connect. The former switch-back is what failed the last bench run
of hunt-lid-open (409 machine is not idle: the service was still
re-finding the head after the lid closed).
The baseline is mode-aware: in cloud mode the client owns the GRBL
controller's init values, the lid lamp, and the position counters; the
mode itself is preserved unless the run declared the change
(Context.mode_changed); controller_mode is never handed back as a bare
setting (a bare write left the persisted mode out of step with the live
one). The undeclared-change restore now uses the captured state, which
the post pass never saw before.
The acceptance page gets an "Ignore prerequisites" switch (remembered by
the browser): POST /start {ignore_requires} starts a test whose requires
are unmet, and the run records the unmet prerequisites in its evidence
and log; they stay required for the release. The cloud tests' requires
no longer chain through cloud.mode-switch.
Proof: tests/test_cloud_suite.py replays the four tests on the bench's
own gfcloud excerpts (fixtures/) and the run loop's emitted pause/resume
lines under the real runner Context against a fake forgectrl; baseline
mode tests and the server override test; the whole suite (98) and the
coverage lint pass. Catalog consequence: cloud.* fingerprints move with
the module; the catalog hash moves with the requires.
361 lines
16 KiB
Python
361 lines
16 KiB
Python
"""The baseline: fixed resting values are restored, preserved values are
|
|
handed back, every deviation is a recorded leftover. Runs against a fake
|
|
sysfs tree; forgectrl is unreachable (service-side checks skip)."""
|
|
import json
|
|
import os
|
|
import shutil
|
|
import struct
|
|
import tempfile
|
|
import unittest
|
|
|
|
from forgetest import baseline
|
|
|
|
|
|
class BaselineTests(unittest.TestCase):
|
|
def setUp(self):
|
|
self.tmp = tempfile.mkdtemp(prefix="forgetest-bl-")
|
|
self.sysfs = os.path.join(self.tmp, "sysfs") + os.sep
|
|
self.leds = os.path.join(self.tmp, "leds") + os.sep
|
|
for group in ("cnc", "pic", "head", "thermal"):
|
|
os.makedirs(self.sysfs + group)
|
|
for name in baseline.BUTTON_LEDS + ("lid_led",):
|
|
os.makedirs(self.leds + name)
|
|
self._led(name, "0")
|
|
# a clean machine
|
|
for attr, val in baseline.FIXED_SYSFS + baseline.IDLE_READBACKS:
|
|
self._attr(attr, val)
|
|
self._attr("cnc/interlock_circuit", "45")
|
|
self._attr("pic/lid_led", "0")
|
|
self._pos(0, 0, 0)
|
|
os.environ["GF_SYSFS_ROOT"] = self.sysfs
|
|
os.environ["GF_LEDS_ROOT"] = self.leds
|
|
os.environ["FORGECTRL_URL"] = "http://127.0.0.1:1" # nothing listens
|
|
baseline.Baseline._unreachable_until = 0.0
|
|
self.lines = []
|
|
|
|
def tearDown(self):
|
|
shutil.rmtree(self.tmp, ignore_errors=True)
|
|
for k in ("GF_SYSFS_ROOT", "GF_LEDS_ROOT", "FORGECTRL_URL"):
|
|
os.environ.pop(k, None)
|
|
|
|
def _attr(self, attr, val):
|
|
with open(self.sysfs + attr, "w") as f:
|
|
f.write(str(val))
|
|
|
|
def _read(self, attr):
|
|
with open(self.sysfs + attr) as f:
|
|
return f.read().strip()
|
|
|
|
def _led(self, name, val):
|
|
with open(self.leds + name + "/brightness", "w") as f:
|
|
f.write(val)
|
|
# the class interface writes 'target'; the fake mirrors it into brightness
|
|
# only when the test asks (see _sync_leds)
|
|
|
|
def _sync_leds(self):
|
|
for name in baseline.BUTTON_LEDS:
|
|
p = self.leds + name + "/target"
|
|
if os.path.exists(p):
|
|
with open(p) as f:
|
|
v = f.read().strip()
|
|
with open(self.leds + name + "/brightness", "w") as f:
|
|
f.write(v)
|
|
|
|
def _pos(self, x, y, z):
|
|
with open(self.sysfs + "cnc/position", "wb") as f:
|
|
f.write(struct.pack("<5i", x, y, z, 0, 0))
|
|
|
|
def bl(self):
|
|
return baseline.Baseline(self.lines.append)
|
|
|
|
def test_clean_machine_has_no_leftovers(self):
|
|
left = self.bl().enforce("pre", captured=None)
|
|
self.assertEqual(left, [])
|
|
self.assertTrue(any("pre: clean" in l for l in self.lines))
|
|
|
|
def test_fixed_values_are_restored_and_recorded(self):
|
|
self._attr("cnc/motor_lock", "15")
|
|
self._attr("cnc/step_freq", "10000")
|
|
self._attr("cnc/streaming", "1")
|
|
left = self.bl().enforce("post", captured=None)
|
|
items = {x.item: x for x in left}
|
|
self.assertEqual(set(items), {"cnc/motor_lock", "cnc/step_freq", "cnc/streaming"})
|
|
for x in left:
|
|
self.assertEqual(x.action, "restored", str(x))
|
|
self.assertEqual(self._read("cnc/motor_lock"), "8")
|
|
self.assertEqual(self._read("cnc/step_freq"), "28160")
|
|
self.assertEqual(self._read("cnc/streaming"), "0")
|
|
self.assertEqual(items["cnc/motor_lock"].found, "15")
|
|
self.assertEqual(items["cnc/motor_lock"].expected, "8")
|
|
|
|
def test_unlocked_latch_is_relocked(self):
|
|
self._attr("cnc/interlock_circuit", "5") # bit 3 clear = unlocked
|
|
left = self.bl().enforce("post", captured=None)
|
|
self.assertEqual([x.item for x in left], ["laser_latch"])
|
|
self.assertEqual(self._read("cnc/laser_latch"), "1")
|
|
|
|
def test_readonly_deviation_is_unrestorable(self):
|
|
self._attr("cnc/state", "disabled")
|
|
left = self.bl().enforce("post", captured=None)
|
|
self.assertEqual([(x.item, x.action) for x in left], [("cnc/state", "unrestorable")])
|
|
|
|
def test_button_leds_are_turned_off(self):
|
|
self._led("button_led_2", "255")
|
|
left = self.bl().enforce("post", captured=None)
|
|
self.assertEqual([x.item for x in left], ["leds/button_led_2"])
|
|
self._sync_leds()
|
|
self.assertEqual(baseline.read_led("button_led_2"), "0")
|
|
|
|
def test_preserved_position(self):
|
|
b = self.bl()
|
|
cap = b.capture()
|
|
self.assertEqual(cap["position"], [0, 0, 0])
|
|
# the run shifted the counters
|
|
self._pos(1000, 0, 0)
|
|
left = b.enforce("post", captured=cap)
|
|
items = {x.item: x for x in left}
|
|
self.assertEqual(set(items), {"position"})
|
|
# no GRBL controller on the host: the head cannot be jogged back
|
|
self.assertTrue(items["position"].action.startswith("unrestorable"), items["position"].action)
|
|
self.assertEqual(items["position"].found, [1000, 0, 0])
|
|
|
|
def _pos_bytes(self, x, y, z, processed, total):
|
|
with open(self.sysfs + "cnc/position", "wb") as f:
|
|
f.write(struct.pack("<3i2I", x, y, z, processed, total))
|
|
|
|
def test_ring_residue_is_a_leftover_and_blocks_the_return_jog(self):
|
|
b = self.bl()
|
|
cap = b.capture()
|
|
# the run left 40 unplayed bytes queued in the kernel ring and the
|
|
# head 1000 counts out: the residue is reported, and the return jog
|
|
# is refused (it would replay the residue first)
|
|
self._pos_bytes(1000, 0, 0, 100, 140)
|
|
left = b.enforce("post", captured=cap)
|
|
items = {x.item: x for x in left}
|
|
self.assertIn("pulse ring", items)
|
|
self.assertEqual(items["pulse ring"].found, "40 unplayed bytes")
|
|
self.assertIn("unplayed bytes queued", items["position"].action)
|
|
self.assertEqual(baseline.read_ring_residue(), 40)
|
|
|
|
def test_clean_ring_reads_zero_residue(self):
|
|
self.assertEqual(baseline.read_ring_residue(), 0)
|
|
|
|
def test_lamp_needs_forgectrl(self):
|
|
# the lamp's idle level comes from forgectrl's settings: without the
|
|
# daemon there is nothing to compare against
|
|
self._attr("pic/lid_led", "77")
|
|
left = self.bl().enforce("pre", captured=None)
|
|
self.assertEqual(left, [])
|
|
self.assertEqual(self._read("pic/lid_led"), "77")
|
|
|
|
def test_no_sysfs_means_skip(self):
|
|
os.environ["GF_SYSFS_ROOT"] = os.path.join(self.tmp, "nope") + os.sep
|
|
left = self.bl().enforce("pre", captured=None)
|
|
self.assertEqual(left, [])
|
|
self.assertTrue(any("kernel sysfs not present" in l for l in self.lines))
|
|
|
|
def test_boot_reference_needs_a_recent_boot(self):
|
|
os.environ["FORGETEST_BOOT_ID"] = "test-boot"
|
|
try:
|
|
# no reference file, uptime unknown on a host without /proc/uptime,
|
|
# or too old: None, with the reason logged
|
|
ref = baseline.boot_reference(self.lines.append, self.tmp)
|
|
up = baseline.uptime_s()
|
|
if up is None or up > baseline.BOOT_MAX_AGE_S:
|
|
self.assertIsNone(ref)
|
|
self.assertTrue(any("no fresh-boot reference" in l for l in self.lines))
|
|
else:
|
|
# a young host: the reference is taken from the fake tree
|
|
self.assertIsNotNone(ref)
|
|
self.assertEqual(ref["sysfs"]["cnc/motor_lock"], "8")
|
|
self.assertTrue(os.path.exists(os.path.join(self.tmp, "boot-test-boot.json")))
|
|
# and loaded back the second time
|
|
self.lines[:] = []
|
|
ref2 = baseline.boot_reference(self.lines.append, self.tmp)
|
|
self.assertEqual(ref2["ts"], ref["ts"])
|
|
self.assertTrue(any("reference loaded" in l for l in self.lines))
|
|
finally:
|
|
os.environ.pop("FORGETEST_BOOT_ID", None)
|
|
|
|
def test_fixed_constants_checked_against_a_dump(self):
|
|
ref = {"sysfs": {"cnc/motor_lock": "8", "cnc/step_freq": "10000"}}
|
|
diffs = baseline.check_fixed_against(ref, self.lines.append)
|
|
self.assertEqual(diffs, ["cnc/step_freq: boot=10000 constant=28160"])
|
|
|
|
|
|
# -- the reference is taken after the controller applied its config -----
|
|
|
|
def _probe_state(self):
|
|
# what the kernel shows between the supervisor's motion probe and
|
|
# the GRBL controller's init writes
|
|
self._attr("cnc/motor_lock", "0")
|
|
self._attr("cnc/step_freq", "10000")
|
|
self._attr("cnc/y_mode", "1")
|
|
|
|
def test_wait_configured_returns_once_the_controller_wrote_its_config(self):
|
|
self._probe_state()
|
|
calls = {"n": 0}
|
|
|
|
def sleep(_s):
|
|
calls["n"] += 1
|
|
if calls["n"] == 3: # the controller's init writes land
|
|
for attr, val in baseline.CONFIGURED_MARKERS:
|
|
self._attr(attr, val)
|
|
ok = baseline.wait_controller_configured(
|
|
self.lines.append, {"controller": "running", "mode": "grbl", "motion": "verified"},
|
|
timeout=5, sleep=sleep)
|
|
self.assertTrue(ok)
|
|
self.assertTrue(any("controller configured" in l for l in self.lines))
|
|
self.assertGreaterEqual(calls["n"], 4) # 3 polls + the settle
|
|
|
|
def test_wait_configured_times_out_and_says_so(self):
|
|
self._probe_state()
|
|
t = {"now": 0.0}
|
|
real_time = baseline.time.time
|
|
baseline.time.time = lambda: t["now"]
|
|
try:
|
|
def sleep(s):
|
|
t["now"] += s
|
|
ok = baseline.wait_controller_configured(
|
|
self.lines.append, {"controller": "running", "mode": "grbl"}, timeout=2, sleep=sleep)
|
|
finally:
|
|
baseline.time.time = real_time
|
|
self.assertFalse(ok)
|
|
self.assertTrue(any("did not apply its config" in l for l in self.lines))
|
|
|
|
def test_wait_configured_is_a_noop_outside_grbl_mode(self):
|
|
self._probe_state()
|
|
ok = baseline.wait_controller_configured(
|
|
self.lines.append, {"controller": "running", "mode": "cloud"}, timeout=1,
|
|
sleep=lambda s: self.fail("slept in cloud mode"))
|
|
self.assertTrue(ok)
|
|
ok = baseline.wait_controller_configured(
|
|
self.lines.append, {"controller": "stopped", "mode": "grbl"}, timeout=1,
|
|
sleep=lambda s: self.fail("slept with the controller stopped"))
|
|
self.assertTrue(ok)
|
|
|
|
def test_preconfig_reference_is_recognized(self):
|
|
self.assertTrue(baseline.reference_preconfig(
|
|
{"sysfs": {"cnc/motor_lock": "0", "cnc/step_freq": "10000", "cnc/y_mode": "1"}}))
|
|
self.assertFalse(baseline.reference_preconfig(
|
|
{"sysfs": {"cnc/motor_lock": "8", "cnc/step_freq": "28160", "cnc/y_mode": "8"}}))
|
|
# a genuinely different single constant is a machine fact, not pre-config
|
|
self.assertFalse(baseline.reference_preconfig(
|
|
{"sysfs": {"cnc/motor_lock": "8", "cnc/step_freq": "10000", "cnc/y_mode": "8"}}))
|
|
self.assertFalse(baseline.reference_preconfig({"sysfs": {}}))
|
|
|
|
def test_stale_preconfig_reference_is_retaken_on_a_fresh_boot(self):
|
|
os.environ["FORGETEST_BOOT_ID"] = "test-boot-2"
|
|
try:
|
|
path = os.path.join(self.tmp, "boot-test-boot-2.json")
|
|
with open(path, "w") as f:
|
|
json.dump({"ts": "old", "sysfs": {"cnc/motor_lock": "0", "cnc/step_freq": "10000",
|
|
"cnc/y_mode": "1"}}, f)
|
|
ref = baseline.boot_reference(self.lines.append, self.tmp)
|
|
up = baseline.uptime_s()
|
|
if up is None or up > baseline.BOOT_MAX_AGE_S:
|
|
# too old to retake: the stale reference stands, marked
|
|
self.assertTrue(any("predates the controller's config" in l for l in self.lines))
|
|
self.assertEqual(ref["ts"], "old")
|
|
else:
|
|
self.assertTrue(any("retaking" in l for l in self.lines))
|
|
self.assertEqual(ref["sysfs"]["cnc/motor_lock"], "8")
|
|
finally:
|
|
os.environ.pop("FORGETEST_BOOT_ID", None)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|
|
|
|
|
|
class BaselineModeTests(BaselineTests):
|
|
"""The baseline against a fake forgectrl: what the mode in force
|
|
owns. Reuses the fake sysfs tree of BaselineTests; only the new
|
|
tests run here (the inherited ones are skipped)."""
|
|
|
|
def setUp(self):
|
|
super().setUp()
|
|
import helpers
|
|
self.fc = helpers.FakeForgectrl().start()
|
|
baseline.Baseline._unreachable_until = 0.0
|
|
|
|
def tearDown(self):
|
|
self.fc.stop()
|
|
super().tearDown()
|
|
|
|
def run(self, result=None):
|
|
# only this class's own tests, not the base class's
|
|
if self._testMethodName not in BaselineModeTests.__dict__:
|
|
return
|
|
return super().run(result)
|
|
|
|
def cloud(self):
|
|
self.fc.state["mode"] = {"mode": "cloud", "controller": "running", "pid": 7, "motion": "verified"}
|
|
self.fc.state["settings"]["controller_mode"] = "cloud"
|
|
|
|
def test_grbl_mode_restores_the_controller_values_and_the_lamp(self):
|
|
self._attr("cnc/step_freq", "10000")
|
|
self._attr("pic/lid_led", "77")
|
|
left = self.bl().enforce("pre", captured=None)
|
|
self.assertEqual(sorted(x.item for x in left), ["cnc/step_freq", "pic/lid_led"])
|
|
self.assertEqual(self._read("cnc/step_freq"), "28160")
|
|
self.assertEqual(self._read("pic/lid_led"), "236")
|
|
|
|
def test_cloud_mode_leaves_the_clients_config_lamp_and_counters(self):
|
|
self.cloud()
|
|
self._attr("cnc/step_freq", "10000") # the cloud client's tick
|
|
self._attr("pic/x_step_current", "135")
|
|
self._attr("pic/lid_led", "77") # its lid-image level
|
|
b = self.bl()
|
|
cap = b.capture()
|
|
self.assertEqual(cap["mode"], "cloud")
|
|
self.assertNotIn("controller_mode", cap["settings"])
|
|
self._pos(-13096, -7400, 0) # the service re-zeroed and moved
|
|
self._attr("cnc/streaming", "1") # NOT the client's: still restored
|
|
left = b.enforce("post", captured=cap)
|
|
self.assertEqual([x.item for x in left], ["cnc/streaming"])
|
|
self.assertEqual(self._read("cnc/step_freq"), "10000")
|
|
self.assertEqual(self._read("pic/x_step_current"), "135")
|
|
self.assertEqual(self._read("pic/lid_led"), "77")
|
|
self.assertEqual(self._read("cnc/streaming"), "0")
|
|
self.assertEqual(self.fc.posts, []) # no mode switch, no settings write
|
|
|
|
def test_cloud_mode_still_relocks_the_latch(self):
|
|
self.cloud()
|
|
self._attr("cnc/interlock_circuit", "37") # bit 3 clear: unlocked
|
|
left = self.bl().enforce("post", captured=None)
|
|
self.assertEqual([x.item for x in left], ["laser_latch"])
|
|
self.assertEqual(self._read("cnc/laser_latch"), "1")
|
|
|
|
def test_undeclared_mode_change_is_handed_back_through_the_switch(self):
|
|
b = self.bl()
|
|
cap = b.capture() # found in grbl
|
|
self.assertEqual(cap["mode"], "grbl")
|
|
self.cloud() # the run left it in cloud, silently
|
|
left = b.enforce("post", captured=cap)
|
|
items = {x.item: x for x in left}
|
|
self.assertIn("mode", items)
|
|
self.assertEqual(items["mode"].action, "restored")
|
|
self.assertEqual(self.fc.posts, [("/mode", {"controller": "grbl"})])
|
|
self.assertEqual(self.fc.state["mode"]["mode"], "grbl")
|
|
|
|
def test_declared_mode_change_is_kept(self):
|
|
b = self.bl()
|
|
cap = b.capture()
|
|
self.cloud()
|
|
cap["mode"] = "cloud" # Context.mode_changed("cloud")
|
|
left = b.enforce("post", captured=cap)
|
|
self.assertNotIn("mode", [x.item for x in left])
|
|
self.assertEqual(self.fc.posts, [])
|
|
self.assertEqual(self.fc.state["mode"]["mode"], "cloud")
|
|
|
|
def test_controller_mode_setting_is_never_written_back_bare(self):
|
|
b = self.bl()
|
|
cap = b.capture()
|
|
self.assertNotIn("controller_mode", cap["settings"])
|
|
self.fc.state["settings"]["controller_mode"] = "cloud" # a switch persisted it
|
|
self.fc.state["mode"]["mode"] = "cloud"
|
|
cap["mode"] = "cloud"
|
|
b.enforce("post", captured=cap)
|
|
self.assertEqual([p for p, _ in self.fc.posts if p == "/settings"], [])
|