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ScottW514
2f2a4160af
The GRBL driver's stream engine and its motion envelope change (grblHAL-glowforge: the shipper writes outside the lock, a clamp inside an armed window faults, the X/Y soft limits follow the home, the machine's settings are pinned, the homing keys are clamped). This commit carries the host rules and the catalog tests that hold them; the driver commit follows, because its CI fetches these harnesses unpinned. scripts/bench/laser_stream_test.py: - Rule 28: a 300 ms producer stall while armed faults the stream with ALARM:17, the kernel sees no step burst (at most the planned steps per 100 ticks), the stream ends dark, the latch sideband ends on the lock. The same stall unarmed is a warning: the move completes with every step, the clamp visible as the burst the kernel counts. - Rule 29: a 300 ms stall of the sink's write leaves the producer on pace: no clamp, every step, lit through, dark at the end. - The stand-in engine takes GFSINK_STALL_MS and GFSINK_WRITE_STALL_MS, null-sink only. scripts/bench/z_envelope_test.py: - Rule 10: homed (a gfcloud home), a program move past X max, Y max or the near edge alarms with ALARM:2 before any motion, a jog past the bed is refused with error 15, a move inside the bed runs, and a $20 write keeps the limits. The core repeats the last error for the line after a refused jog until an empty line clears it, so the rule sends one. forgetest/forgetest/suite/motion.py: - motion.soft-limits (kind auto, no emission): homes through the cloud suite's gfhome homing when the machine is not homed, then the three refusals (ALARM:2, the kernel counters still), the refused jog, the inside move, and the return to the corner read at rest. - motion.deadman phase 2b: a 100 ms SIGSTOP mid-move, inside the kernel's queue: no underrun, the controller's log warns of the clamped late events, the move completes with every step (read at rest), the latch stays locked. The armed clamp is proven on the host (rule 28). forgetest/forgetest/suite/cloud.py: - gfhome_homing drains the driver's answer to $H once the session ends: it sits behind the status reports and passed for the reply to the caller's next command (a setting read as None). forgetest/forgetest/baseline.py: - The hand-back reads the position counters at the kernel's own microstep mode (cnc/x_mode, read before the sysfs restore puts the settings' mode back). At the x8 constant, an x32 machine's 30 mm read as 120 mm, beyond the return bound, and the displaced head was left in place. The dead band scales the same way. tests/test_baseline.py holds both. Proof. Host: stream rules 1 to 29 and z_envelope rules 1 to 10 against the null-sink driver, the forgetest unit tests. Bench reference: motion.soft-limits passed (X 495 and Y 279 refused with ALARM:2 and 0.000 mm of kernel motion, X-1 the same, the jog error:15, the inside move ran, back at the corner 0.0/0.0 mm); motion.deadman passed with the new phase (92 late events clamped, max behind 92.3 ms, no underrun, 30.0 mm counted, latch locked) and the hand-back jogged the head back under the x32 scale.
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.
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.