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ScottW514
5f19ae01cd
The lens now takes its hall-edge reference before any controller starts, so Z is referenced on every start and M103 is gone. The laser-stream harness opened its Z session by referencing the lens the way a commissioning card did; it no longer has to, because Z is already open by the time the session runs. forgectrl.panel-serves gains the assertions for the per-axis reference: homed_axes is an axis mask, homed agrees with it, and with a controller running Z is referenced and reads inside the lens reach the same document reports. That last check is the one that catches a panel showing nothing for a Z the controller holds. commission.check-motion already exercised the new path, because the motion wizard's probe runs the same sequence the supervisor does, so its covers map gains lenshome.c and its description names the lens reference and the hard fault behind it.
1199 lines
52 KiB
Python
1199 lines
52 KiB
Python
#!/usr/bin/env python3
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"""Host-side verification of the laser pulse-stream emission.
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Runs the native grblHAL_glowforge binary in null-sink mode with
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GFSINK_DUMP capturing the shipped byte stream, drives small laser jobs
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over TCP, then checks the dumps against the kernel feeder contract:
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1. a power byte (bit 7) leads the stream, before any tick byte
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2. no two consecutive power bytes (the SDMA script drops the second)
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3. the first FIRE bit (0x10) comes after a nonzero power byte
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4. power values match the S words through the core's mapping, floor
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included ($30=1000, $31=0, $35 = the board's floor), and no duty
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under FIRE falls below that floor
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5. FIRE only spans the cutting moves: none before the job, none during
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the G0 return, none at the tail
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6. step accounting survives the insertions: X returns to net zero and
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peaks at the programmed 10 mm
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7. termination: every stream ends with FIRE clear, including an M3
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(constant-power) job whose core never issues a laser-off update -
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the stream must never lean on the kernel's end-of-data backstop
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8. no FIRE bit ever rides a zero-step gap: a stepless run of stream
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bytes carrying FIRE longer than any legitimate between-step
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interval is a stationary dwell burn
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9. rules 7-8 hold across rapid cycle stop/start churn (planner-starve
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shaped jobs), where the FIRE state of the previous cycle must not
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leak into the idle-gap pad bytes
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10. a power ladder fires every rung at the duty commanded for it: no
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FIRE tick rides a duty that was never commanded (a run start resets
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the hardware duty to ~100 %, so a fire bit reaching the stream
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ahead of the rung's power byte would burn at full power), and the
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fire ticks divide evenly across the rungs, which is what fails if a
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rung's opening ticks carry the previous rung's duty
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11. under the density dose model no level ever reaches PWMSAR: every
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power byte carries full duty (one still leads each kernel run), and
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a level change inside a run costs no stream byte at all
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12. density matches the level the core commanded, rung by rung, and no
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burst is longer than the base period
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13. the model is a mask and never a source: run the same job under both
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models and every FIRE tick of the density run is a FIRE tick of the
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analog run, on an identical motion grid
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15. the minimum pulse width holds: no emitted burst is shorter than
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laser_pulse_min_ticks, and the levels too faint to fill it still
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render their exact average density - the debt is carried, so a low
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level becomes fewer full-width pulses rather than stubs
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14. a laser state change made while the stream is idle survives to the
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next run: a standalone S word between moves, from a sender slow
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enough to drain the planner, must still cut at the level it asked
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for rather than dark at a stale duty
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16. and the off transition survives the same way: an M5 executed with
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the planner drained and the kernel run over must darken the rapids
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that follow it, and a bare G0 sent with the spindle off must ship
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dark, under both dose models - the stream's wanted fire state is
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the only thing those moves consult, and a stale true there lights
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the next run at the last level (full duty under density)
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17. and a job's first cut at the level the previous job ended at
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fires: S is modal across M2, the core records the level a set_state
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carries and skips the per-segment update while it is unchanged, so
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the M3 that opens the next job is the only thing that can light its
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first move - set_state must push the whole state, fire included,
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never the duty alone
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22. a jog never fires, whatever the modal spindle says: M3 S1000 with
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the window open and then jogs from Idle (a sender's Fire button plus
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its Move panel) ship every jog tick dark, and the cut after them lit
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23. the corner rolloff shapes against the executing block's own S: two
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cuts at S300 and S1000 queued together render the S300 cruise at the
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S300 density however far ahead the parser has read
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18. the floor is derived, never typed: $35 is loaded from the floor
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key at every precompute, so a $35 typed by the sender is
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overwritten - the ladder renders through the key's floor, and the
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arm report names the model, the floor and the curve in force
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19. the dose curve bends S onto the density that delivers the
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commanded light fraction: with the bench-default curve in force a
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ladder of S rungs renders the curve's densities (half light lands
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near 80 percent density), monotonic, floored and ceiled by
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$35/$36; every other session runs with laser_dose_curve = off so
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its S-to-level arithmetic stays exact
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20. the corner rolloff starves the slow spots: under M4 with the curve
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in force, the accelerate-in head of a line renders less density at
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the default gamma of 2 than at gamma 1, and the cruise middle
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renders the same - the exponent shapes only the velocity-scaled
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rolloff, never the programmed level
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24. a hold verdict is held again after a resume: with the engine's
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verdict at its fail tier (hold, fire blocked, no resume) the client
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holds the job; a ~ under that verdict, which is what a button press
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or a sender does, moves the head for at most one client poll, dark,
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before the client holds it again and says so; the clean verdict then
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resumes the hold the client took, and the rest of the line cuts lit
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The analog sessions select the reference mode through the config; on
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hardware the controller ignores it (density is the only product model -
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analog's strike transient puts a spot at every beam-on), but the
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null-sink build honors it so these rules can hold the density model to
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account against the continuous rendering (rule 13's mask above all).
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Usage: laser_stream_test.py [path-to-binary] (default ./build-native/grblHAL_glowforge)
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"""
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import os
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import re
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import shutil
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import signal
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import socket
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import subprocess
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import sys
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import tempfile
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import threading
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import time
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BIN = os.path.abspath(sys.argv[1] if len(sys.argv) > 1 else "build-native/grblHAL_glowforge")
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PORT = 2399
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STEPS_PER_MM = 53.333
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# The S -> level mapping the board defaults produce: $30 = 1000, $31 = 0,
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# and a $35 floor (boards/glowforge.h DEFAULT_SPINDLE_PWM_MIN_VALUE)
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# against the hardware's 127-count period. The shipped floor is the
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# density one; the analog sessions below select their model explicitly
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# rather than inheriting the default, so both paths stay covered. Changing the board's floor
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# changes every expectation below, which is why it is mirrored here
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# rather than inferred from the stream.
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PWM_PERIOD = 127
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PWM_MIN_PCT = 10.0
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PWM_MIN = int(PWM_PERIOD * PWM_MIN_PCT / 100.0)
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RPM_MAX = 1000.0
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def duty_for(s):
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"""Duty the core computes for an S word, floor included."""
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return int(s * (PWM_PERIOD - PWM_MIN) / RPM_MAX) + PWM_MIN
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# Longest stepless run allowed to carry FIRE, in machine ticks. The
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# slowest legitimate between-step interval in these jobs is the first
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# step of an accel-from-rest: sqrt(2 * (1/53.333 mm) / 700 mm/s^2)
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# = 7.3 ms = ~206 ticks at 28160 Hz. 500 gives >2x margin while staying
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# far below any idle-gap pad run.
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FIRE_GAP_LIMIT_TICKS = 500
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# The machine tick: one stream byte per tick, so byte counts are durations.
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MACHINE_TICK_HZ = 28160.0
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WAIT_IDLE = ("wait_idle",)
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# Session A: the original M4 dynamic-power job (rules 1-6).
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JOB_M4 = [
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"M4 S0",
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"G1 X5 F600 S500",
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"G1 X10 S1000",
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"G0 X0",
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"M5",
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]
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# Session Z: the lens is in the stream. The lens is referenced on its hall
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# edge at the controller's start, so Z is already open here: a 1 mm move up
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# and back at the screw's 2.922 half-steps per millimeter, three Z steps
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# with the direction bit set, three with it clear.
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JOB_Z = [
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"G0 Z4",
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"G0 Z3",
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]
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# Session B: M3 constant power to the end of the stream. The core never
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# issues a laser-off update for M3, so the stream engine itself must
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# terminate the cycle dark (rule 7).
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JOB_M3_TERM = [
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"M3 S1000",
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"G1 X5 F600",
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WAIT_IDLE,
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("sleep", 1.0),
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"M5",
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]
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# Session C: rapid cycle churn - many tiny laser moves sent one at a
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# time with small gaps, so cycles stop and restart the way a planner
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# starve produces them (rules 8-9).
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JOB_CHURN = []
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for _ in range(30):
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JOB_CHURN.append("G1 X0.2 F600 S800")
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JOB_CHURN.append(("sleep", 0.02))
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JOB_CHURN.append("G1 X0 S800")
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JOB_CHURN.append(("sleep", 0.02))
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JOB_CHURN.insert(0, "M4 S0")
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JOB_CHURN.append("M5")
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# Rule 17's budget, derived from the job rather than measured: 60 moves of
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# 0.2 mm at F600 plus the scripted gaps. A stream longer than this is dark
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# pad, and dark pad is time the machine keeps moving after the sender has
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# been told the job is done.
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CHURN_MOTION_S = 60 * (0.2 / (600.0 / 60.0))
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CHURN_GAPS_S = 60 * 0.02
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CHURN_BUDGET_S = (CHURN_MOTION_S + CHURN_GAPS_S) * 1.5 + 0.2
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# Session D: a power ladder in the shape the bench threshold drill uses -
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# constant power (M3) so the commanded duty is the tested duty, rungs
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# ascending, a dark G0 between them. Full power is deliberately absent
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# from the ladder, so duty 127 under FIRE can only be a leak.
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LADDER_S = (20, 30, 60, 120, 200, 300)
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LADDER_DUTY = tuple(duty_for(s) for s in LADDER_S)
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LADDER_MM = 5.0
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JOB_LADDER = ["G91", "G21", "M3"]
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for _i, _s in enumerate(LADDER_S):
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JOB_LADDER.append("S%d" % _s)
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JOB_LADDER.append("G1 X%g F300" % (LADDER_MM if _i % 2 == 0 else -LADDER_MM))
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JOB_LADDER.append("G0 Y1")
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JOB_LADDER.append("M5")
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# Sessions E-G: the density dose model. $35 = 0 for the ladder because
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# the floor exists only to keep an analog duty out of the tube's dead
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# band - under density every pulse is full-power, and a floor would just
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# clamp the light end of the range.
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# The floors are config keys, loaded into $35 at every arm (rule 18).
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# The analog sessions pin theirs at the board's density floor so the
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# duty expectations above hold unchanged; the analog default is the
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# tube's lasing duty (16), covered by the switch sessions below.
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ANALOG_FLOOR_DEFAULT_PCT = 16.0
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ANALOG_CONF = ("laser_power_model = analog\n"
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"laser_dose_curve = off\n"
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"laser_floor_analog = %g\n" % PWM_MIN_PCT)
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DENSITY_PERIOD = 20
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DENSITY_MIN_TICKS = 3
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DENSITY_CONF_BASE = ("laser_pulse_ticks = %d\n"
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"laser_pulse_min_ticks = %d\n"
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% (DENSITY_PERIOD, DENSITY_MIN_TICKS))
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# The density ladder runs unfloored: the floor exists only to keep an
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# analog duty out of the tube's dead band, and here it would just clamp
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# the light end of the range. A floor of 0 is honored as written.
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DENSITY_CONF = ("laser_power_model = density\n"
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"laser_dose_curve = off\n"
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"laser_floor_density = 0\n" + DENSITY_CONF_BASE)
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# The shipped density default: no floor key, so the board's floor applies.
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DENSITY_CONF_FLOORED = ("laser_power_model = density\n"
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"laser_dose_curve = off\n" + DENSITY_CONF_BASE)
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# The shipped default: the bench curve in force (no keys at all).
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DENSITY_CONF_CURVED = "laser_power_model = density\n" + DENSITY_CONF_BASE
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# The compiled bench-default curve (glowforge_laser.c curve_default),
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# mirrored here the way the floor is: changing it changes rule 19.
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CURVE_DEFAULT = ((10.0, 0.5), (20.0, 2.0), (30.0, 7.0), (45.0, 21.0),
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(60.0, 37.0), (80.0, 50.0), (100.0, 100.0))
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def curve_density_for(s_val):
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"""The density fraction the bench-default curve maps an S onto,
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before the $35/$36 clamp (mirrors curve_apply)."""
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l = s_val / RPM_MAX * 100.0
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pts = CURVE_DEFAULT
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if l <= pts[0][1]:
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return pts[0][0] * (l / pts[0][1]) / 100.0
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i = 1
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while i < len(pts) - 1 and l > pts[i][1]:
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i += 1
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d0, l0 = pts[i - 1]
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d1, l1 = pts[i]
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f = min(1.0, (l - l0) / (l1 - l0))
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return (d0 + f * (d1 - d0)) / 100.0
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CURVE_S = (100, 300, 500, 800, 1000)
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JOB_CURVE = ["G91", "G21", "M3"]
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for _s in CURVE_S:
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JOB_CURVE.append("S%d" % _s)
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JOB_CURVE.append("G1 X%g F300" % (LADDER_MM if _s % 2 == 0 else LADDER_MM))
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JOB_CURVE.append("G0 Y1")
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JOB_CURVE.append("M5")
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DENSITY_LEVEL = tuple(int(x * PWM_PERIOD / RPM_MAX) for x in LADDER_S)
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# A $35 typed ahead of the job: rule 18 says the arm overwrites it.
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JOB_DENSITY = ["$35=0"] + JOB_LADDER
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def duty_for_floor(s, floor_pct):
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"""Duty the core computes for an S word against a given floor."""
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lo = int(PWM_PERIOD * floor_pct / 100.0)
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return int(s * (PWM_PERIOD - lo) / RPM_MAX) + lo
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# Session H: three levels inside one kernel run. The moves are short and
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# fast so the planner never drains, and each carries its own S word, so
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# the level changes land mid-run. Analog pays a power byte per level;
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# density pays none, because the level rides the FIRE bits.
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JOB_LEVELS = ["G91", "G21", "M3"]
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for _s in (100, 300, 600):
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for _ in range(20):
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JOB_LEVELS.append("G1 X0.5 F3000 S%d" % _s)
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JOB_LEVELS.append("M5")
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# Session I: the levels arrive on their own lines, and the moves are long
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# enough that the planner drains between them, so each S is executed with
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# nothing streaming. The state has no event to ride and must be
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# re-asserted at the next run's first byte.
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IDLE_S_LEVELS = (100, 300, 600)
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IDLE_S_MM = 5.0
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IDLE_S_FEED = 300
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JOB_IDLE_S = ["G91", "G21", "M3"]
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for _i, _s in enumerate(IDLE_S_LEVELS):
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JOB_IDLE_S.append("S%d" % _s)
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JOB_IDLE_S.append("G1 X%g F%d" % (IDLE_S_MM if _i % 2 == 0 else -IDLE_S_MM,
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IDLE_S_FEED))
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JOB_IDLE_S.append("M5")
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# Session J: the bench ladder's shape. M5 executes with the planner
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# drained and the kernel run over, and the rapids that follow start a
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# new run; the core issues no per-segment laser update for moves made
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# with the spindle off, so the stream's wanted state is all that decides
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# whether those rapids fire. A bare G0 with no M3 since the M5 is the
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# same case one step further.
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M5_IDLE_MM = 5.0
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M5_IDLE_FEED = 600
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M5_IDLE_TICKS = M5_IDLE_MM / (M5_IDLE_FEED / 60.0) * MACHINE_TICK_HZ
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JOB_M5_IDLE = [
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"G91", "G21",
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"M3 S500",
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"G1 X%g F%d" % (M5_IDLE_MM, M5_IDLE_FEED),
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WAIT_IDLE, ("sleep", 0.5),
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"M5", ("sleep", 0.5),
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"G0 X%g" % -M5_IDLE_MM, "G0 Y1",
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WAIT_IDLE,
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"G0 X%g" % M5_IDLE_MM,
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WAIT_IDLE,
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"M3 S500",
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"G1 X%g" % -M5_IDLE_MM,
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WAIT_IDLE, ("sleep", 0.5),
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"M5",
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]
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# Session K: two jobs in one controller process, the second at the level
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# the first ended at. M2 leaves S modal and resets the motion mode to G1,
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# so the next job's M3 executes at that S; the core records it and issues
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# no per-segment update for a G1 at the same level, so the set_state is
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# the only thing that can light it. The parser starts in G0, which is why
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# a process's FIRST job never shows this: its M3 runs at rpm 0.
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JOB_NEXT = [
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"G91", "G21", "M3", "S500",
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"G1 X%g F%d" % (M5_IDLE_MM, M5_IDLE_FEED),
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WAIT_IDLE, ("sleep", 0.5),
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"M5", "G0 X%g" % -M5_IDLE_MM, "G0 Y1",
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WAIT_IDLE, "G90", "M2", ("sleep", 1.0),
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]
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def fail(msg):
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print("FAIL: %s" % msg)
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sys.exit(1)
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def send_line(sock, line, log):
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sock.sendall((line + "\n").encode())
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while True:
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r = read_avail(sock, log, 5.0, until=("ok", "error"))
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if r is None:
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fail("no ok/error for %r" % line)
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if r == "error":
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fail("error response to %r" % line)
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return
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def read_avail(sock, log, timeout, until=None):
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end = time.time() + timeout
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buf = b""
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while time.time() < end:
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sock.settimeout(max(0.05, end - time.time()))
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try:
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data = sock.recv(4096)
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except socket.timeout:
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data = b""
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if data:
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buf += data
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log.append(data.decode(errors="replace"))
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if until:
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for token in until:
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if re.search(r"^%s\b" % token, buf.decode(errors="replace"), re.M):
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return token
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elif until is None:
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return None
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return None
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def wait_idle(sock, log):
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for _ in range(100):
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sock.sendall(b"?")
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read_avail(sock, log, 0.3)
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if re.search(r"<Idle", "".join(log[-3:])):
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return
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time.sleep(0.2)
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fail("controller never returned to Idle")
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def wait_state(sock, log, prefix, timeout=5.0):
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"""Poll '?' until the state word starts with prefix (e.g. 'Hold:0')."""
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end = time.time() + timeout
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while time.time() < end:
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sock.sendall(b"?")
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read_avail(sock, log, 0.3)
|
|
m = re.findall(r"<([A-Za-z]+(?::\d)?)", "".join(log[-3:]))
|
|
if m and m[-1].startswith(prefix):
|
|
return
|
|
time.sleep(0.1)
|
|
fail("controller never reached %s" % prefix)
|
|
|
|
|
|
# The published verdict is clean unless a session sets this: then it is
|
|
# the engine's fail tier (hold, fire blocked, no resume), what an airflow
|
|
# fault publishes. A ("verdict", "hold") step sets it, ("verdict",
|
|
# "clean") clears it.
|
|
VERDICT_HOLD = threading.Event()
|
|
|
|
|
|
def publish_verdicts(path, stop):
|
|
"""Publish a fresh cooling verdict every 0.5 s (the arm flow refuses
|
|
without one; freshness window is 2 s), clean unless VERDICT_HOLD is
|
|
set. Same-host monotonic clock, atomic rename so the reader never
|
|
sees a torn file. "armed" is the engine's acknowledgment that it has
|
|
taken the controller's armed window; the arm waits for it, so a
|
|
stand-in engine that means to let jobs run must assert it."""
|
|
while not stop.is_set():
|
|
hold = VERDICT_HOLD.is_set()
|
|
body = ('{"ts_mono":%.3f,"fire_ok":%s,"hold":%s,'
|
|
'"resume_ok":%s,"armed":true,"reason":"%s"}'
|
|
% (time.clock_gettime(time.CLOCK_MONOTONIC),
|
|
"false" if hold else "true", "true" if hold else "false",
|
|
"false" if hold else "true",
|
|
"harness: airflow fault" if hold else ""))
|
|
tmp = path + ".tmp"
|
|
with open(tmp, "w") as f:
|
|
f.write(body)
|
|
os.replace(tmp, path)
|
|
stop.wait(0.5)
|
|
|
|
|
|
def run_session(name, steps, conf=None, workdir=None, keep=False,
|
|
arm_required=True):
|
|
"""Launch the controller, run the job steps, return the dump bytes.
|
|
|
|
Pass workdir + keep to chain launches over one settings file: the
|
|
core precomputes the spindle PWM mapping once, when the spindle is
|
|
enabled, so a $35 written at runtime only takes effect on the next
|
|
controller start."""
|
|
if workdir is None:
|
|
workdir = tempfile.mkdtemp(prefix="laser-test-")
|
|
dump = os.path.join(workdir, "stream.bin")
|
|
verdict = os.path.join(workdir, "cooling.state")
|
|
env = dict(os.environ, GFSINK_DUMP=dump, GF_VERDICT_FILE=verdict,
|
|
FFLOG_STDERR="1")
|
|
env.pop("GFSINK", None)
|
|
if conf is not None:
|
|
conf_path = os.path.join(workdir, "forgefirm.conf")
|
|
with open(conf_path, "w") as f:
|
|
f.write(conf)
|
|
env["GFHOME_CONF"] = conf_path
|
|
|
|
stop = threading.Event()
|
|
VERDICT_HOLD.clear()
|
|
pub = threading.Thread(target=publish_verdicts, args=(verdict, stop), daemon=True)
|
|
pub.start()
|
|
|
|
proc = subprocess.Popen([BIN, "-p", str(PORT)], cwd=workdir, env=env,
|
|
stdout=subprocess.DEVNULL, stderr=subprocess.PIPE)
|
|
try:
|
|
sock = None
|
|
for _ in range(50):
|
|
try:
|
|
sock = socket.create_connection(("127.0.0.1", PORT), timeout=1)
|
|
break
|
|
except OSError:
|
|
time.sleep(0.1)
|
|
if sock is None:
|
|
err = b""
|
|
if proc.poll() is not None:
|
|
err = proc.stderr.read() or b""
|
|
fail("[%s] cannot connect to the controller (exit=%s)\n%s"
|
|
% (name, proc.poll(), err.decode(errors="replace")))
|
|
|
|
log = []
|
|
read_avail(sock, log, 0.5) # banner / hello
|
|
|
|
for step in steps:
|
|
if step == WAIT_IDLE:
|
|
wait_idle(sock, log)
|
|
elif isinstance(step, tuple) and step[0] == "sleep":
|
|
time.sleep(step[1])
|
|
elif isinstance(step, tuple) and step[0] == "rt":
|
|
sock.sendall(step[1]) # a realtime character: no ok follows
|
|
elif isinstance(step, tuple) and step[0] == "wait_state":
|
|
wait_state(sock, log, step[1])
|
|
elif isinstance(step, tuple) and step[0] == "verdict":
|
|
if step[1] == "hold":
|
|
VERDICT_HOLD.set()
|
|
else:
|
|
VERDICT_HOLD.clear()
|
|
else:
|
|
send_line(sock, step, log)
|
|
|
|
# Wait for the motion to play out on the wall clock (the shipper
|
|
# is wall-paced), then for the Idle report.
|
|
wait_idle(sock, log)
|
|
time.sleep(1.0) # let the shipper drain the tail
|
|
text = "".join(log)
|
|
|
|
run_session.text = text
|
|
if arm_required and "laser armed" not in text:
|
|
fail("[%s] no 'laser armed' message (arming flow did not run)" % name)
|
|
|
|
sock.close()
|
|
finally:
|
|
proc.send_signal(signal.SIGINT)
|
|
try:
|
|
proc.wait(5)
|
|
except subprocess.TimeoutExpired:
|
|
proc.kill()
|
|
stop.set()
|
|
pub.join(2)
|
|
VERDICT_HOLD.clear()
|
|
|
|
data = open(dump, "rb").read()
|
|
if not data and arm_required:
|
|
fail("[%s] empty stream dump" % name)
|
|
if not keep:
|
|
shutil.rmtree(workdir, ignore_errors=True)
|
|
return data
|
|
|
|
|
|
def tick_bytes(data):
|
|
"""The stream with power bytes stripped (tick bytes only)."""
|
|
return bytes(b for b in data if not b & 0x80)
|
|
|
|
|
|
def check_fire_gaps(name, data):
|
|
"""Rule 8: no stepless run carrying FIRE longer than the limit."""
|
|
run = 0
|
|
worst = 0
|
|
for tick, b in enumerate(tick_bytes(data)):
|
|
if b & 0x10 and not b & 0x25: # FIRE, no X/Y/Z step
|
|
run += 1
|
|
worst = max(worst, run)
|
|
if run >= FIRE_GAP_LIMIT_TICKS:
|
|
fail("[%s] FIRE carried across a %d-tick zero-step gap "
|
|
"ending at tick %d (stationary dwell burn)"
|
|
% (name, run, tick))
|
|
else:
|
|
run = 0
|
|
return worst
|
|
|
|
|
|
def check_z_move(name, data):
|
|
"""The lens in the stream: a job's Z move steps it, up with the
|
|
direction bit set, down with it clear, the count the scale gives."""
|
|
ticks = tick_bytes(data)
|
|
up = sum(1 for b in ticks if b & 0x20 and b & 0x40)
|
|
down = sum(1 for b in ticks if b & 0x20 and not b & 0x40)
|
|
if up != 3 or down != 3:
|
|
fail("[%s] Z steps up %d, down %d (expected 3 and 3 for 1 mm at "
|
|
"2.922 half-steps per mm)" % (name, up, down))
|
|
print("PASS [%s]: a 1 mm Z move steps the lens %d up and %d back" % (name, up, down))
|
|
|
|
|
|
def check_termination(name, data):
|
|
"""Rule 7: the stream's final tick byte must carry FIRE clear."""
|
|
ticks = tick_bytes(data)
|
|
if not ticks:
|
|
fail("[%s] no tick bytes in the stream" % name)
|
|
if ticks[-1] & 0x10:
|
|
fail("[%s] stream ends with FIRE set (0x%02x) - termination "
|
|
"rule violated, relies on the end-of-data backstop"
|
|
% (name, ticks[-1]))
|
|
|
|
|
|
def check_m4_job(data):
|
|
"""Rules 1-6 on the original M4 job."""
|
|
if not data[0] & 0x80:
|
|
fail("stream does not lead with a power byte (first byte 0x%02x)" % data[0])
|
|
|
|
prev_power = False
|
|
cur_power = 0
|
|
fire_ticks = [] # (tick_index, power_at_that_tick)
|
|
x_pos = 0
|
|
x_min = x_max = 0
|
|
tick = 0
|
|
first_fire_power = None
|
|
for b in data:
|
|
if b & 0x80:
|
|
if prev_power:
|
|
fail("consecutive power bytes at tick %d" % tick)
|
|
prev_power = True
|
|
cur_power = b & 0x7F
|
|
continue
|
|
prev_power = False
|
|
if b & 0x10:
|
|
if first_fire_power is None:
|
|
first_fire_power = cur_power
|
|
fire_ticks.append((tick, cur_power))
|
|
if b & 0x01:
|
|
x_pos += -1 if b & 0x02 else 1
|
|
x_min = min(x_min, x_pos)
|
|
x_max = max(x_max, x_pos)
|
|
if b & 0x24:
|
|
fail("unexpected Y/Z step at tick %d (byte 0x%02x)" % (tick, b))
|
|
tick += 1
|
|
|
|
if not fire_ticks:
|
|
fail("no FIRE bits in the stream")
|
|
if first_fire_power == 0:
|
|
fail("first FIRE bit rides duty 0 (power-before-fire violated)")
|
|
|
|
powers = sorted(set(p for _, p in fire_ticks))
|
|
if powers[-1] != PWM_PERIOD:
|
|
fail("S1000 did not reach duty %d (max %d)" % (PWM_PERIOD, powers[-1]))
|
|
want = duty_for(500)
|
|
if not any(abs(p - want) <= 2 for p in powers):
|
|
fail("S500 plateau (~%d) not seen (powers %s)" % (want, powers[:20]))
|
|
if powers[0] < PWM_MIN:
|
|
fail("duty %d under FIRE is below the $35 floor of %d: M4's ramp is "
|
|
"commanding power the tube cannot lase at" % (powers[0], PWM_MIN))
|
|
|
|
expect_peak = round(10 * STEPS_PER_MM)
|
|
if abs(x_max - expect_peak) > 2:
|
|
fail("X peak %d steps, expected ~%d" % (x_max, expect_peak))
|
|
if x_pos != 0:
|
|
fail("X net %d steps after return to 0" % x_pos)
|
|
if x_min < 0:
|
|
fail("X went negative (min %d)" % x_min)
|
|
|
|
last_fire = fire_ticks[-1][0]
|
|
tail_steps = 0
|
|
tick = 0
|
|
for b in data:
|
|
if b & 0x80:
|
|
continue
|
|
if tick > last_fire and b & 0x01:
|
|
tail_steps += 1
|
|
tick += 1
|
|
if tail_steps < 400:
|
|
fail("only %d fire-free steps after the last FIRE bit - G0 return not dark" % tail_steps)
|
|
|
|
return fire_ticks, powers, x_max, tail_steps
|
|
|
|
|
|
def check_power_ladder(name, data, expect):
|
|
"""Rule 10: every FIRE tick rides the duty commanded for its rung."""
|
|
cur = None
|
|
order = [] # duties in the order they carry FIRE
|
|
counts = {}
|
|
for b in data:
|
|
if b & 0x80:
|
|
cur = b & 0x7F
|
|
continue
|
|
if b & 0x10:
|
|
if cur is None:
|
|
fail("[%s] FIRE bit ahead of any power byte" % name)
|
|
counts[cur] = counts.get(cur, 0) + 1
|
|
if not order or order[-1] != cur:
|
|
order.append(cur)
|
|
|
|
stray = sorted(d for d in counts if d not in expect)
|
|
if stray:
|
|
fail("[%s] FIRE rode uncommanded duty %s (commanded %s): power the "
|
|
"job never asked for is uncommanded energy"
|
|
% (name, stray, list(expect)))
|
|
if order != list(expect):
|
|
fail("[%s] duty sequence under FIRE was %s, expected %s"
|
|
% (name, order, list(expect)))
|
|
|
|
# Equal-length rungs at one feed burn equal numbers of fire ticks.
|
|
# A rung whose opening ticks carry the previous rung's duty shows up
|
|
# here as a surplus on one duty and a deficit on the next.
|
|
lo, hi = min(counts.values()), max(counts.values())
|
|
if hi > lo * 1.05:
|
|
fail("[%s] fire ticks per rung uneven (%d..%d, %s): a rung is "
|
|
"firing at its neighbor's duty" % (name, lo, hi, counts))
|
|
return counts
|
|
|
|
|
|
def fire_spans(ticks, gap=500):
|
|
"""Tick spans carrying fire, split on dark gaps (the G0 between
|
|
rungs). Within a rung the model's own dark stretches are at most a
|
|
couple of base periods, far below the split."""
|
|
spans = []
|
|
start = last = None
|
|
for i, b in enumerate(ticks):
|
|
if b & 0x10:
|
|
if start is None:
|
|
start = i
|
|
elif i - last > gap:
|
|
spans.append((start, last + 1))
|
|
start = i
|
|
last = i
|
|
if start is not None:
|
|
spans.append((start, last + 1))
|
|
return spans
|
|
|
|
|
|
def check_density(name, data, levels, period, min_ticks):
|
|
"""Rules 11-12: pinned duty, and density per rung matching the level."""
|
|
# A power byte still leads every kernel run - the run start resets the
|
|
# hardware duty - but under this model it only ever carries full duty:
|
|
# the level rides the FIRE bits, never PWMSAR.
|
|
powers = [b & 0x7F for b in data if b & 0x80]
|
|
if not powers or set(powers) != {PWM_PERIOD}:
|
|
fail("[%s] density mode shipped power bytes %s; every one must be "
|
|
"full duty, or a level reached PWMSAR" % (name, sorted(set(powers))))
|
|
|
|
ticks = tick_bytes(data)
|
|
spans = fire_spans(ticks)
|
|
if len(spans) != len(levels):
|
|
fail("[%s] %d fire spans, expected one per rung (%d): %s"
|
|
% (name, len(spans), len(levels), spans[:8]))
|
|
|
|
out = []
|
|
for (a, b), level in zip(spans, levels):
|
|
seg = ticks[a:b]
|
|
got = sum(1 for t in seg if t & 0x10) / float(len(seg))
|
|
want = level / float(PWM_PERIOD)
|
|
out.append((level, round(got, 4)))
|
|
# A span is clipped to whole ticks, not whole periods, so allow a
|
|
# little slack at the edges; the accumulator carries the rest.
|
|
if abs(got - want) > max(0.01, want * 0.06):
|
|
fail("[%s] level %d rendered density %.4f, expected %.4f"
|
|
% (name, level, got, want))
|
|
# Burst lengths inside the span. The last one can be clipped by
|
|
# the core turning fire off mid-burst, so it is not held to the
|
|
# minimum; every other burst is a whole pulse the model chose.
|
|
runs, run = [], 0
|
|
for t in seg:
|
|
if t & 0x10:
|
|
run += 1
|
|
elif run:
|
|
runs.append(run)
|
|
run = 0
|
|
if run:
|
|
runs.append(run)
|
|
if not runs:
|
|
fail("[%s] level %d produced no bursts at all" % (name, level))
|
|
if max(runs) > period:
|
|
fail("[%s] level %d burst of %d ticks exceeds the %d-tick base "
|
|
"period" % (name, level, max(runs), period))
|
|
short = [r for r in runs[:-1] if r < min_ticks]
|
|
if short:
|
|
fail("[%s] level %d emitted %d burst(s) below the %d-tick minimum "
|
|
"(shortest %d): a stub too brief for the supply to strike"
|
|
% (name, level, len(short), min_ticks, min(short)))
|
|
return out
|
|
|
|
|
|
def check_mask(analog, density):
|
|
"""Rule 13: same motion, and density fire is a subset of analog fire."""
|
|
ta, td = tick_bytes(analog), tick_bytes(density)
|
|
if len(ta) != len(td):
|
|
fail("[mask] tick counts differ (analog %d, density %d): the two runs "
|
|
"are not the same motion" % (len(ta), len(td)))
|
|
for i, (a, b) in enumerate(zip(ta, td)):
|
|
if (a & ~0x10) != (b & ~0x10):
|
|
fail("[mask] motion differs at tick %d (analog 0x%02x, density "
|
|
"0x%02x)" % (i, a, b))
|
|
stray = [i for i, (a, b) in enumerate(zip(ta, td)) if (b & 0x10) and not (a & 0x10)]
|
|
if stray:
|
|
fail("[mask] density fired %d tick(s) the core never commanded, first "
|
|
"at %d - the model is acting as a source of emission, not a mask"
|
|
% (len(stray), stray[0]))
|
|
return sum(1 for b in td if b & 0x10), sum(1 for a in ta if a & 0x10)
|
|
|
|
|
|
def count_fire(data):
|
|
return sum(1 for b in tick_bytes(data) if b & 0x10)
|
|
|
|
|
|
def check_cut_spans(name, ticks, n, cut_ticks, what):
|
|
"""Exactly n fire spans, each one cutting move long, none stepping
|
|
at a rapid's rate: FIRE rode nothing but the G1s."""
|
|
spans = fire_spans(ticks)
|
|
if len(spans) != n:
|
|
fail("[%s] %d fire spans, expected exactly %d (%s) (spans %s)"
|
|
% (name, len(spans), n, what, spans))
|
|
for s0, s1 in spans:
|
|
if not 0.8 * cut_ticks <= s1 - s0 <= 1.25 * cut_ticks:
|
|
fail("[%s] fire span of %d ticks, expected ~%d (one G1): FIRE "
|
|
"carried into the move after it" % (name, s1 - s0, cut_ticks))
|
|
# A G1 at F600 steps once per ~53 ticks; a rapid at 200 mm/s
|
|
# steps every ~2.6. Any 100-tick window under FIRE with more
|
|
# than a handful of steps is a rapid being cut.
|
|
worst = 0
|
|
for i in range(s0, max(s0 + 1, s1 - 100), 50):
|
|
worst = max(worst, sum(1 for b in ticks[i:i + 100]
|
|
if (b & 0x10) and (b & 0x25)))
|
|
if worst > 8:
|
|
fail("[%s] %d steps in a 100-tick window under FIRE: a rapid "
|
|
"was cut" % (name, worst))
|
|
return spans
|
|
|
|
|
|
def main():
|
|
# --- session A: M4 dynamic power, rules 1-6 + 7-8 -------------------
|
|
data = run_session("m4", JOB_M4, conf=ANALOG_CONF)
|
|
fire_ticks, powers, x_max, tail_steps = check_m4_job(data)
|
|
check_termination("m4", data)
|
|
|
|
# --- session Z: the lens in the stream --------------------------------
|
|
zdata = run_session("z", JOB_Z, arm_required=False)
|
|
check_z_move("z", zdata)
|
|
gap_a = check_fire_gaps("m4", data)
|
|
print("PASS [m4]: %d bytes, %d power bytes, %d fire ticks, powers %s, "
|
|
"X peak %d steps net 0, %d dark return steps, max fire gap %d"
|
|
% (len(data), sum(1 for b in data if b & 0x80), len(fire_ticks),
|
|
powers, x_max, tail_steps, gap_a))
|
|
|
|
# --- session B: M3 constant power to stream end, rule 7 -------------
|
|
data = run_session("m3-term", JOB_M3_TERM, conf=ANALOG_CONF)
|
|
if not count_fire(data):
|
|
fail("[m3-term] no FIRE bits in the stream")
|
|
check_termination("m3-term", data)
|
|
gap_b = check_fire_gaps("m3-term", data)
|
|
print("PASS [m3-term]: %d bytes, %d fire ticks end dark, max fire gap %d"
|
|
% (len(data), count_fire(data), gap_b))
|
|
|
|
# --- session C: cycle churn, rules 8-9 ------------------------------
|
|
data = run_session("churn", JOB_CHURN, conf=ANALOG_CONF)
|
|
if not count_fire(data):
|
|
fail("[churn] no FIRE bits in the stream")
|
|
check_termination("churn", data)
|
|
gap_c = check_fire_gaps("churn", data)
|
|
# Rule 17: the churn stream carries no runaway pad. Bytes are the time
|
|
# axis, one per machine tick, so the stream's length IS how long the
|
|
# machine plays it. A cycle that resumes while the kernel still drains
|
|
# re-bases production onto the wall cursor; if the producer's lead lets
|
|
# production stay ahead of that cursor across the gap, the re-base is
|
|
# skipped and the overshoot is inherited by every cycle after it. That
|
|
# is what GFSINK_LEAD_MS_MAX bounds, and this is what catches it.
|
|
churn_s = len(data) / MACHINE_TICK_HZ
|
|
if churn_s > CHURN_BUDGET_S:
|
|
fail("[churn] stream is %.0f ms of playout, over the %.0f ms budget: "
|
|
"the cycle re-base is leaving pad behind"
|
|
% (churn_s * 1e3, CHURN_BUDGET_S * 1e3))
|
|
print("PASS [churn]: %d bytes, %d fire ticks, max fire gap %d, "
|
|
"%.0f ms of playout (budget %.0f)"
|
|
% (len(data), count_fire(data), gap_c, churn_s * 1e3,
|
|
CHURN_BUDGET_S * 1e3))
|
|
|
|
# --- session D: power ladder, rule 10 -------------------------------
|
|
data = run_session("ladder", JOB_LADDER, conf=ANALOG_CONF)
|
|
counts = check_power_ladder("ladder", data, LADDER_DUTY)
|
|
check_termination("ladder", data)
|
|
gap_d = check_fire_gaps("ladder", data)
|
|
print("PASS [ladder]: %d bytes, duties %s fire ticks %s, max fire gap %d"
|
|
% (len(data), list(LADDER_DUTY),
|
|
[counts[d] for d in LADDER_DUTY], gap_d))
|
|
|
|
# --- session E: the same ladder under the density model -------------
|
|
# Unfloored through the config key (laser_floor_density = 0), which
|
|
# the arm loads into $35.
|
|
dens = run_session("density", JOB_LADDER, conf=DENSITY_CONF)
|
|
rendered = check_density("density", dens, DENSITY_LEVEL, DENSITY_PERIOD,
|
|
DENSITY_MIN_TICKS)
|
|
check_termination("density", dens)
|
|
if "laser armed (density, floor 0 %, curve off)" not in run_session.text:
|
|
fail("[density] the arm did not select the density model at floor 0")
|
|
print("PASS [density]: %d bytes, %d power bytes all at full duty, "
|
|
"level->density %s"
|
|
% (len(dens), sum(1 for b in dens if b & 0x80), rendered))
|
|
|
|
# --- rule 13: the model masks, it never sources ---------------------
|
|
d_fire, a_fire = check_mask(data, dens)
|
|
print("PASS [mask]: identical motion grid, %d density fire ticks all "
|
|
"inside the %d the core commanded" % (d_fire, a_fire))
|
|
|
|
# --- session F: full level under the model is continuous fire -------
|
|
full = run_session("density-full", JOB_M3_TERM, conf=DENSITY_CONF)
|
|
ticks = tick_bytes(full)
|
|
spans = fire_spans(ticks)
|
|
if not spans:
|
|
fail("[density-full] no FIRE bits in the stream")
|
|
a, b = spans[0]
|
|
got = sum(1 for t in ticks[a:b] if t & 0x10) / float(b - a)
|
|
if got != 1.0:
|
|
fail("[density-full] S1000 rendered density %.4f, expected 1.0" % got)
|
|
check_termination("density-full", full)
|
|
print("PASS [density-full]: S1000 -> density 1.0000 over %d ticks, ends dark"
|
|
% (b - a))
|
|
|
|
# --- session G: churn under the model (rules 7-9 still hold) --------
|
|
ch = run_session("density-churn", JOB_CHURN, conf=DENSITY_CONF)
|
|
if not count_fire(ch):
|
|
fail("[density-churn] no FIRE bits in the stream")
|
|
check_termination("density-churn", ch)
|
|
gap_e = check_fire_gaps("density-churn", ch)
|
|
print("PASS [density-churn]: %d bytes, %d fire ticks, max fire gap %d"
|
|
% (len(ch), count_fire(ch), gap_e))
|
|
|
|
# --- session H: a level change inside a run costs no byte -----------
|
|
lv_a = run_session("levels-analog", JOB_LEVELS, conf=ANALOG_CONF)
|
|
lv_d = run_session("levels-density", JOB_LEVELS, conf=DENSITY_CONF)
|
|
pa = [b & 0x7F for b in lv_a if b & 0x80]
|
|
pd = [b & 0x7F for b in lv_d if b & 0x80]
|
|
if len([d for d in set(pa) if d]) < 3:
|
|
fail("[levels] the analog run shipped duties %s: fewer than the three "
|
|
"commanded levels, so the job is not exercising in-run changes"
|
|
% sorted(set(pa)))
|
|
if set(pd) != {PWM_PERIOD}:
|
|
fail("[levels] density shipped a level as duty: %s" % sorted(set(pd)))
|
|
if len(pd) >= len(pa):
|
|
fail("[levels] density shipped %d power bytes against analog's %d - "
|
|
"the level changes are still costing stream bytes" % (len(pd), len(pa)))
|
|
print("PASS [levels]: analog %d power bytes %s, density %d at full duty"
|
|
% (len(pa), sorted(set(pa)), len(pd)))
|
|
|
|
# --- session I: a level set while idle still cuts (rule 14) ---------
|
|
idle_s = run_session("idle-s", JOB_IDLE_S, conf=ANALOG_CONF)
|
|
fire_by_duty = {}
|
|
cur = None
|
|
for b in idle_s:
|
|
if b & 0x80:
|
|
cur = b & 0x7F
|
|
elif b & 0x10:
|
|
fire_by_duty[cur] = fire_by_duty.get(cur, 0) + 1
|
|
want_ticks = IDLE_S_MM / (IDLE_S_FEED / 60.0) * 28160
|
|
for level in IDLE_S_LEVELS:
|
|
duty = duty_for(level)
|
|
got = fire_by_duty.get(duty, 0)
|
|
if got < want_ticks * 0.9:
|
|
fail("[idle-s] S%d (duty %d) fired %d ticks, expected ~%d: a level "
|
|
"set while the stream was idle was dropped and the move ran "
|
|
"dark or at a stale duty (all: %s)"
|
|
% (level, duty, got, want_ticks, fire_by_duty))
|
|
check_termination("idle-s", idle_s)
|
|
print("PASS [idle-s]: standalone S across idle gaps -> fire ticks per duty %s"
|
|
% {duty_for(l): fire_by_duty[duty_for(l)] for l in IDLE_S_LEVELS})
|
|
|
|
# --- session J: M5 executed while idle darkens the next run (rule 16) ---
|
|
for model, conf in (("analog", ANALOG_CONF), ("density", DENSITY_CONF)):
|
|
name = "m5-idle-" + model
|
|
data = run_session(name, JOB_M5_IDLE, conf=conf)
|
|
spans = check_cut_spans(name, tick_bytes(data), 2, M5_IDLE_TICKS,
|
|
"the two G1 moves: FIRE rode a rapid after M5, "
|
|
"or the bare G0 sent with the spindle off")
|
|
check_termination(name, data)
|
|
print("PASS [%s]: M5 at idle -> the rapids after it and a bare G0 ship "
|
|
"dark; 2 fire spans of %s ticks"
|
|
% (name, [s1 - s0 for s0, s1 in spans]))
|
|
|
|
# --- session K: the next job, at the same level, fires (rule 17) ---
|
|
for model, conf in (("analog", ANALOG_CONF), ("density", DENSITY_CONF)):
|
|
name = "next-job-" + model
|
|
data = run_session(name, JOB_NEXT + JOB_NEXT, conf=conf)
|
|
text = run_session.text
|
|
if text.count("laser armed") != 2 or text.count("laser disarmed") != 2:
|
|
fail("[%s] expected two armed windows closed by M2 (armed %d, "
|
|
"disarmed %d)" % (name, text.count("laser armed"),
|
|
text.count("laser disarmed")))
|
|
spans = check_cut_spans(name, tick_bytes(data), 2, M5_IDLE_TICKS,
|
|
"one G1 per job: the second job's M3 at the "
|
|
"first job's S lit nothing, or a rapid fired")
|
|
check_termination(name, data)
|
|
print("PASS [%s]: the next job's M3 at the previous job's S fires its "
|
|
"G1; 2 fire spans of %s ticks"
|
|
% (name, [s1 - s0 for s0, s1 in spans]))
|
|
|
|
# --- rule 18: the floor is derived from the key, never typed --------
|
|
# The same ladder with a $35=0 typed ahead of it, under the shipped
|
|
# density default (no floor key): the arm loads the board's floor and
|
|
# every rung renders through it.
|
|
floored = run_session("floor-derived", JOB_DENSITY, conf=DENSITY_CONF_FLOORED)
|
|
expect_levels = tuple(duty_for(x) for x in LADDER_S)
|
|
check_density("floor-derived", floored, expect_levels, DENSITY_PERIOD,
|
|
DENSITY_MIN_TICKS)
|
|
if "laser armed (density, floor %g %%, curve off)" % PWM_MIN_PCT not in run_session.text:
|
|
fail("[floor-derived] the arm report does not name the derived floor "
|
|
"(text: %r)" % run_session.text[-400:])
|
|
print("PASS [floor-derived]: a typed $35=0 is overwritten at the arm; the "
|
|
"ladder renders through the %g %% floor key, levels %s"
|
|
% (PWM_MIN_PCT, list(expect_levels)))
|
|
|
|
# --- rule 20: the corner rolloff starves the accel head -------------
|
|
# One long M4 line from rest under the curve, at gamma 1 and the
|
|
# default 2. The accelerate-in head runs velocity-scaled; its
|
|
# rendered density must drop with the exponent while the cruise
|
|
# middle stays put.
|
|
# F6000 = 100 mm/s: the accel from rest lasts ~143 ms (~4000 ticks),
|
|
# so the first 2000 ticks are genuinely velocity-scaled.
|
|
JOB_M4_LONG = ["G91", "G21", "M4 S1000", "G1 X60 F6000", "M5"]
|
|
head_ticks = 2000
|
|
dens_head = {}
|
|
dens_mid = {}
|
|
for gname, gconf in (("g1", "laser_corner_gamma = 1\n"), ("g2", "")):
|
|
data = run_session("rolloff-" + gname, JOB_M4_LONG,
|
|
conf=DENSITY_CONF_CURVED + gconf)
|
|
ticks = tick_bytes(data)
|
|
spans = fire_spans(ticks)
|
|
if len(spans) != 1:
|
|
fail("[rolloff-%s] %d fire spans, expected 1" % (gname, len(spans)))
|
|
a, b = spans[0]
|
|
seg = ticks[a:b]
|
|
head = seg[:head_ticks]
|
|
mid_a = len(seg) // 2 - 2000
|
|
mid = seg[mid_a:mid_a + 4000]
|
|
dens_head[gname] = sum(1 for t in head if t & 0x10) / float(len(head))
|
|
dens_mid[gname] = sum(1 for t in mid if t & 0x10) / float(len(mid))
|
|
if not dens_head["g2"] < dens_head["g1"] - 0.02:
|
|
fail("[rolloff] gamma 2 does not starve the accel head (g1 %.3f, g2 %.3f)"
|
|
% (dens_head["g1"], dens_head["g2"]))
|
|
if abs(dens_mid["g2"] - dens_mid["g1"]) > 0.02:
|
|
fail("[rolloff] gamma changed the cruise density (g1 %.3f, g2 %.3f): it "
|
|
"must shape only the rolloff" % (dens_mid["g1"], dens_mid["g2"]))
|
|
print("PASS [rolloff]: accel-head density %.3f at gamma 1 -> %.3f at the "
|
|
"default 2; cruise %.3f alike" % (dens_head["g1"], dens_head["g2"],
|
|
dens_mid["g1"]))
|
|
|
|
# --- rule 19: the dose curve bends S onto delivered light -----------
|
|
cur = run_session("curve", JOB_CURVE, conf=DENSITY_CONF_CURVED)
|
|
if "curve bench-default" not in run_session.text:
|
|
fail("[curve] the arm does not name the bench-default curve (text: %r)"
|
|
% run_session.text[-300:])
|
|
floor_frac = PWM_MIN / float(PWM_PERIOD)
|
|
expect = []
|
|
for s_val in CURVE_S:
|
|
d = curve_density_for(s_val)
|
|
expect.append(min(1.0, max(d, floor_frac)))
|
|
ticks = tick_bytes(cur)
|
|
spans = fire_spans(ticks)
|
|
if len(spans) != len(CURVE_S):
|
|
fail("[curve] %d fire spans, expected %d" % (len(spans), len(CURVE_S)))
|
|
got = []
|
|
for (a, b) in spans:
|
|
seg = ticks[a:b]
|
|
got.append(sum(1 for t in seg if t & 0x10) / float(len(seg)))
|
|
for g, w, s_val in zip(got, expect, CURVE_S):
|
|
if abs(g - w) > max(0.012, w * 0.06):
|
|
fail("[curve] S%d rendered density %.4f, expected %.4f through the "
|
|
"bench-default curve" % (s_val, g, w))
|
|
if not all(b > a for a, b in zip(got, got[1:])):
|
|
fail("[curve] densities not monotonic: %s" % [round(g, 4) for g in got])
|
|
check_termination("curve", cur)
|
|
print("PASS [curve]: S %s -> densities %s through the bench-default curve "
|
|
"(floored at %.3f)" % (list(CURVE_S), [round(g, 3) for g in got], floor_frac))
|
|
|
|
# --- rule 21: a feed hold leaves no dark ground, in either mode -----
|
|
# One long line at 100 mm/s, held mid-move and resumed. The planned
|
|
# deceleration runs lit (M4 velocity-scaled, M3 constant), the
|
|
# stationary stretch is dark, and the acceleration out of the hold is
|
|
# lit from its first step: a pause is a sharp corner in time. The
|
|
# first-window check is what pins the M3 resume, which once ran dark
|
|
# for a segment buffer because the segments prepped while held
|
|
# carried no spindle update.
|
|
HOLD_WIN = 704 # 25 ms at 28160 Hz
|
|
HOLD_EDGE = 120 # one pulse straddles each edge
|
|
for mode, job in (("m4", ["G90", "G21", "M4 S0", "G1 X150 F6000 S500"]),
|
|
("m3", ["G90", "G21", "M3 S500", "G1 X150 F6000"])):
|
|
steps = job + [("sleep", 0.7), ("rt", b"!"), ("wait_state", "Hold:0"),
|
|
("sleep", 0.5), ("rt", b"~"), WAIT_IDLE, "M5"]
|
|
data = run_session("hold-" + mode, steps, conf=DENSITY_CONF_FLOORED)
|
|
check_fire_gaps("hold-" + mode, data)
|
|
ticks = tick_bytes(data)
|
|
step = [1 if t & 0x05 else 0 for t in ticks]
|
|
fire = [1 if t & 0x10 else 0 for t in ticks]
|
|
first = step.index(1)
|
|
last = len(step) - 1 - step[::-1].index(1)
|
|
best, run = (0, 0), 0
|
|
for i in range(first, last + 1):
|
|
if step[i]:
|
|
if run > best[0]:
|
|
best = (run, i - run)
|
|
run = 0
|
|
else:
|
|
run += 1
|
|
dlen, dstart = best
|
|
dend = dstart + dlen
|
|
if dlen < 2000:
|
|
fail("[hold-%s] no hold in the stream (longest stepless run %d ticks)"
|
|
% (mode, dlen))
|
|
decel = sum(fire[dstart - HOLD_WIN:dstart])
|
|
dwell = sum(fire[dstart + HOLD_EDGE:dend - HOLD_EDGE])
|
|
accel = sum(fire[dend:dend + HOLD_WIN])
|
|
if decel < 50:
|
|
fail("[hold-%s] the deceleration into the hold ran dark (%d fire ticks in "
|
|
"its last 25 ms)" % (mode, decel))
|
|
if dwell:
|
|
fail("[hold-%s] FIRE while held: %d fire ticks in the stationary stretch"
|
|
% (mode, dwell))
|
|
if accel < 50:
|
|
fail("[hold-%s] the resume ran dark (%d fire ticks in the 25 ms after the "
|
|
"first step)" % (mode, accel))
|
|
print("PASS [hold-%s]: lit into the hold (%d fire ticks), dark while held "
|
|
"(%d ticks), lit from the first step out (%d fire ticks)"
|
|
% (mode, decel, dlen, accel))
|
|
|
|
# --- rule 24: a hold verdict is held again after a resume -----------
|
|
# One long line at 50 mm/s. Mid-move the engine's verdict goes to its
|
|
# fail tier (hold, fire blocked, no resume: an airflow fault) and the
|
|
# client takes the feed hold. A ~ then resumes the job under the
|
|
# standing verdict, which is what a button press or a sender does;
|
|
# the client must hold it again within its poll, saying so, and the
|
|
# stretch it moved in between ships dark. The clean verdict then
|
|
# resumes the hold the client took, and the rest of the line cuts lit.
|
|
TICK_HZ = 28160
|
|
steps = ["G90", "G21", "M3 S500", "G1 X150 F3000", ("sleep", 0.7),
|
|
("verdict", "hold"), ("wait_state", "Hold:0"), ("sleep", 0.5),
|
|
("rt", b"~"), ("sleep", 1.2), ("wait_state", "Hold:0"),
|
|
("sleep", 0.5), ("verdict", "clean"), WAIT_IDLE, "M5"]
|
|
data = run_session("verdict-rehold", steps, conf=DENSITY_CONF_FLOORED)
|
|
text = run_session.text
|
|
if "held again" not in text:
|
|
fail("[verdict-rehold] the client did not say it held the job again")
|
|
if "resuming" not in text:
|
|
fail("[verdict-rehold] the client did not resume its own hold once the verdict cleared")
|
|
ticks = tick_bytes(data)
|
|
step = [1 if t & 0x05 else 0 for t in ticks]
|
|
fire = [1 if t & 0x10 else 0 for t in ticks]
|
|
first = step.index(1)
|
|
last = len(step) - 1 - step[::-1].index(1)
|
|
holds, run = [], 0 # the stationary stretches inside the motion
|
|
for i in range(first, last + 1):
|
|
if step[i]:
|
|
if run >= 2000:
|
|
holds.append((i - run, i))
|
|
run = 0
|
|
else:
|
|
run += 1
|
|
if len(holds) != 2:
|
|
fail("[verdict-rehold] expected two holds in the stream, found %d: %s"
|
|
% (len(holds), holds))
|
|
(_h1s, h1e), (h2s, h2e) = holds
|
|
between = sum(fire[h1e:h2s])
|
|
if between:
|
|
fail("[verdict-rehold] FIRE while resumed under the hold verdict: %d fire ticks "
|
|
"between the holds" % between)
|
|
if h2s - h1e > TICK_HZ:
|
|
fail("[verdict-rehold] the second hold came late: %d ticks (%.2f s) of motion under "
|
|
"the verdict" % (h2s - h1e, (h2s - h1e) / float(TICK_HZ)))
|
|
lit_after = sum(fire[h2e:last + 1])
|
|
if lit_after < 50:
|
|
fail("[verdict-rehold] the resume after the clean verdict ran dark (%d fire ticks)"
|
|
% lit_after)
|
|
print("PASS [verdict-rehold]: held, resumed dark for %d ticks (%.2f s), held again, "
|
|
"lit after the clear (%d fire ticks)"
|
|
% (h2s - h1e, (h2s - h1e) / float(TICK_HZ), lit_after))
|
|
|
|
# --- rule 22: a jog never fires, whatever the modal spindle says ----
|
|
# The arm flow runs on the M3 (window open), the modal spindle is on
|
|
# at S1000, and the jogs come from Idle: exactly what a sender's Fire
|
|
# button plus its Move panel sends. Every jog tick ships dark, and the
|
|
# cut after them is lit, from a stream state the jogs did not disturb.
|
|
JOB_JOG = ["G91", "G21", "M3 S1000", WAIT_IDLE,
|
|
"$J=G91X10F1200", WAIT_IDLE, "$J=G91X-10F1200", WAIT_IDLE,
|
|
"G1 X10 F1200", WAIT_IDLE, "M5"]
|
|
data = run_session("jog-dark", JOB_JOG)
|
|
ticks = tick_bytes(data)
|
|
# Runs sit back to back in the dump, so the three moves are told
|
|
# apart by their steps: each is 10 mm, and the cut is the last third.
|
|
total = sum(1 for t in ticks if t & 0x01)
|
|
if abs(total - 3 * 533) > 12:
|
|
fail("[jog-dark] %d X steps, expected about %d (three 10 mm moves)" % (total, 3 * 533))
|
|
cut_from = 2 * (total // 3) - 2 # a fire tick may lead the cut's first step
|
|
jog_fire = cut_fire = steps = 0
|
|
for t in ticks:
|
|
if t & 0x01:
|
|
steps += 1
|
|
if t & 0x10:
|
|
if steps < cut_from:
|
|
jog_fire += 1
|
|
else:
|
|
cut_fire += 1
|
|
if jog_fire:
|
|
fail("[jog-dark] %d FIRE ticks inside the jogs: a jog fired at the modal S" % jog_fire)
|
|
if cut_fire < 100:
|
|
fail("[jog-dark] the cut after the jogs ran dark (%d fire ticks)" % cut_fire)
|
|
print("PASS [jog-dark]: two jogs under M3 S1000 shipped dark (%d fire ticks), the "
|
|
"cut after them lit (%d)" % (jog_fire, cut_fire))
|
|
|
|
# --- rule 23: the rolloff shapes against the block's own S ----------
|
|
# Under the default gamma 2, a second cut at S1000 queued behind the
|
|
# S300 cut must not change what the S300 cruise renders: the ratio the
|
|
# rolloff bends is the segment's own velocity ratio, never the newest
|
|
# S over the executing one.
|
|
ref = run_session("rolloff-ref", ["G91", "G21", "M4 S300", "G1 X30 F6000", "M5"],
|
|
conf=DENSITY_CONF_CURVED)
|
|
two = run_session("rolloff-two", ["G91", "G21", "M4 S300", "G1 X30 F6000",
|
|
"G1 X30 F6000 S1000", "M5"],
|
|
conf=DENSITY_CONF_CURVED)
|
|
rt = tick_bytes(ref)
|
|
rs = fire_spans(rt)
|
|
if len(rs) != 1:
|
|
fail("[rolloff-two] reference: %d fire spans, expected 1" % len(rs))
|
|
a, b = rs[0]
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mid = rt[(a + b) // 2 - 1000:(a + b) // 2 + 1000]
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dens_ref = sum(1 for t in mid if t & 0x10) / float(len(mid))
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tt = tick_bytes(two)
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ts = fire_spans(tt)
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if len(ts) != 1:
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fail("[rolloff-two] %d fire spans, expected 1 (the two cuts join)" % len(ts))
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a, b = ts[0]
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q = a + (b - a) // 4 # the first cut's cruise
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first = tt[q - 1000:q + 1000]
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dens_first = sum(1 for t in first if t & 0x10) / float(len(first))
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if abs(dens_first - dens_ref) > 0.02:
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fail("[rolloff-two] the S300 cruise renders %.3f with S1000 queued behind it, "
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"%.3f alone: the rolloff shaped it against the parser's S" % (dens_first, dens_ref))
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print("PASS [rolloff-two]: the S300 cruise renders %.3f with S1000 queued behind it, "
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"%.3f alone" % (dens_first, dens_ref))
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|
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print("PASS: all stream emission rules hold")
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if __name__ == "__main__":
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main()
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