mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-28 09:11:11 -07:00
ScottW514
00ded74189
The first campaign with the bench actuator wired failed motion.button-hold-resume on the tool, not the machine: the second press was asked while the first 200 ms pulse was still on, the fixture answered 409, the runner handed the step to an operator who was not in the room, and the post pass could not jog a controller left in Hold. - fixture.py: a press waits for the last pulse to end (the fixture's pulse_ms) plus a 300 ms release, so the controller sees the edge; a 409 for a pulse in progress is waited out against button_pulsing and retried once. - runner.py: in an unattended run a fixture refusal ends the test at once as ERROR naming the refusal; the operator fallback stays for attended runs. - baseline.py: a controller in Hold or Door gets a soft reset before the return jog, position kept. - tests: the fake fixture refuses a press while one is in progress and reports button_pulsing; FakeGrbl records ^X and can land a reset in a chosen state; five new tests. - docs: ACCEPTANCE.md fixture rules, fixture/README.md tool's side. No catalog consequence: tool-side change, no covers map moves. Bench: campaign c-20260824174545-0bdc 25/25 with every action by the fixture; the hold reset proven by a dry drill.
382 lines
15 KiB
Python
382 lines
15 KiB
Python
"""The bench actuator (forgefixture): the box on the bench network that
|
|
opens the lid loop, pulls the interlock loop and presses the button on
|
|
request, so an operator test can run with nobody in the room.
|
|
|
|
Configured by a bench-local file, FIXTURE_CONFIG (default
|
|
/data/forgetest/fixture.json, mode 0600, never in the repo):
|
|
|
|
{"hostname": "forgefixture", "key": "<the fixture's API key>",
|
|
"ip": null, "channels": ["lid", "interlock", "button"],
|
|
"arm_press": false}
|
|
|
|
`hostname` is resolved as <hostname>.local by the resolver here (the
|
|
image carries no mDNS resolver; the fixture answers the query itself);
|
|
`ip` overrides that. `channels` names what is wired. `arm_press` is the
|
|
one policy switch: whether the fixture may press the button to arm the
|
|
laser for a live test (a person's press by default).
|
|
|
|
The fixture does not read the machine: every action the runner asks of
|
|
it is verified through the machine's own readings afterward, exactly as
|
|
an operator's hand is (Context.act). Contract: fixture/README.md.
|
|
"""
|
|
import json
|
|
import os
|
|
import socket
|
|
import struct
|
|
import threading
|
|
import time
|
|
import urllib.error
|
|
import urllib.request
|
|
|
|
FIXTURE_CONFIG = os.environ.get("FORGETEST_FIXTURE_CONFIG", "/data/forgetest/fixture.json")
|
|
CHANNELS = ("lid", "interlock", "button")
|
|
MDNS_GROUP = "224.0.0.251"
|
|
MDNS_PORT = 5353
|
|
RESOLVE_TTL_S = 300.0 # a resolved address is trusted this long
|
|
BUTTON_GAP_S = 0.3 # the release between two presses: long enough for the controller to see it
|
|
PULSE_WAIT_S = 1.5 # a pulse in progress ends within the firmware's 500 ms clamp
|
|
|
|
|
|
class FixtureError(Exception):
|
|
pass
|
|
|
|
|
|
# ---------------------------------------------------------------- mDNS
|
|
|
|
def mdns_query(name):
|
|
"""One mDNS A query for `name` (e.g. "forgefixture.local"), as the
|
|
bytes on the wire: a standard DNS header with id 0, one question,
|
|
class IN with the unicast-response bit set so the answer comes back
|
|
to this socket rather than the group."""
|
|
labels = b"".join(struct.pack("B", len(p)) + p.encode("ascii") for p in name.rstrip(".").split("."))
|
|
header = struct.pack("!HHHHHH", 0, 0, 1, 0, 0, 0)
|
|
return header + labels + b"\x00" + struct.pack("!HH", 1, 0x8001)
|
|
|
|
|
|
def _read_name(data, off):
|
|
"""A DNS name at `off`, compression pointers followed; (name, next
|
|
offset)."""
|
|
parts = []
|
|
jumped = False
|
|
end = off
|
|
guard = 0
|
|
while True:
|
|
if off >= len(data):
|
|
raise ValueError("truncated name")
|
|
n = data[off]
|
|
if n == 0:
|
|
off += 1
|
|
break
|
|
if n & 0xC0 == 0xC0:
|
|
ptr = struct.unpack("!H", data[off:off + 2])[0] & 0x3FFF
|
|
if not jumped:
|
|
end = off + 2
|
|
jumped = True
|
|
off = ptr
|
|
guard += 1
|
|
if guard > 32:
|
|
raise ValueError("pointer loop")
|
|
continue
|
|
parts.append(data[off + 1:off + 1 + n].decode("ascii", "replace"))
|
|
off += 1 + n
|
|
if not jumped:
|
|
end = off
|
|
return ".".join(parts).lower(), end
|
|
|
|
|
|
def mdns_answers(data, name):
|
|
"""The IPv4 addresses in an mDNS response's A records for `name`
|
|
(answers and additionals; a response is anything with QR set)."""
|
|
name = name.rstrip(".").lower()
|
|
out = []
|
|
try:
|
|
_id, flags, qd, an, ns, ar = struct.unpack("!HHHHHH", data[:12])
|
|
if not flags & 0x8000:
|
|
return out
|
|
off = 12
|
|
for _ in range(qd):
|
|
_n, off = _read_name(data, off)
|
|
off += 4
|
|
for _ in range(an + ns + ar):
|
|
rname, off = _read_name(data, off)
|
|
rtype, rclass, _ttl, rdlen = struct.unpack("!HHIH", data[off:off + 10])
|
|
off += 10
|
|
rdata = data[off:off + rdlen]
|
|
off += rdlen
|
|
if rtype == 1 and rdlen == 4 and rname == name:
|
|
out.append(socket.inet_ntoa(rdata))
|
|
except (struct.error, ValueError):
|
|
pass
|
|
return out
|
|
|
|
|
|
def _local_ipv4s():
|
|
"""The interface addresses to send a multicast query from: the
|
|
default first (None), then every IPv4 address this host answers to."""
|
|
out = [None]
|
|
try:
|
|
for info in socket.getaddrinfo(socket.gethostname(), None, socket.AF_INET, socket.SOCK_DGRAM):
|
|
ip = info[4][0]
|
|
if ip not in out and not ip.startswith("127."):
|
|
out.append(ip)
|
|
except OSError:
|
|
pass
|
|
return out
|
|
|
|
|
|
def resolve_mdns(hostname, timeout=2.0, tries=3):
|
|
"""The IPv4 address of <hostname>.local, asked of the network
|
|
directly; None when nothing answers."""
|
|
name = hostname if hostname.endswith(".local") else hostname + ".local"
|
|
query = mdns_query(name)
|
|
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
|
|
try:
|
|
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
|
sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 1)
|
|
# On the mDNS port and in the group, so a responder that answers
|
|
# the group rather than the asker is heard too; a port already
|
|
# taken (a resolver daemon) means that daemon would have served
|
|
# the name, so the ephemeral port and unicast replies will do.
|
|
try:
|
|
sock.bind(("", MDNS_PORT))
|
|
except OSError:
|
|
sock.bind(("", 0))
|
|
try:
|
|
sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP,
|
|
socket.inet_aton(MDNS_GROUP) + socket.inet_aton("0.0.0.0"))
|
|
except OSError:
|
|
pass # no group membership: unicast replies still arrive
|
|
for _ in range(tries):
|
|
# The query goes out of every local IPv4 interface that will
|
|
# take it (a host with a VPN or a VM adapter as its default
|
|
# route would otherwise never reach the bench network).
|
|
sent = False
|
|
for ifaddr in _local_ipv4s():
|
|
try:
|
|
if ifaddr is not None:
|
|
sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_IF, socket.inet_aton(ifaddr))
|
|
sock.sendto(query, (MDNS_GROUP, MDNS_PORT))
|
|
sent = True
|
|
except OSError:
|
|
continue
|
|
if not sent:
|
|
return None
|
|
deadline = time.time() + timeout
|
|
while True:
|
|
left = deadline - time.time()
|
|
if left <= 0:
|
|
break
|
|
sock.settimeout(left)
|
|
try:
|
|
data, _peer = sock.recvfrom(2048)
|
|
except socket.timeout:
|
|
break
|
|
except OSError:
|
|
break
|
|
for ip in mdns_answers(data, name):
|
|
return ip
|
|
return None
|
|
finally:
|
|
sock.close()
|
|
|
|
|
|
# -------------------------------------------------------------- client
|
|
|
|
def load_config(path=None):
|
|
"""The bench's fixture config, or None when there is none (a bench
|
|
without a fixture: the runner behaves exactly as before)."""
|
|
path = path or FIXTURE_CONFIG
|
|
try:
|
|
with open(path, "r", encoding="utf-8") as f:
|
|
cfg = json.load(f)
|
|
except OSError:
|
|
return None
|
|
except ValueError as e:
|
|
raise FixtureError("%s: not JSON: %s" % (path, e))
|
|
if not isinstance(cfg, dict) or not cfg.get("key"):
|
|
raise FixtureError("%s: needs at least a key" % path)
|
|
cfg.setdefault("hostname", "forgefixture")
|
|
cfg.setdefault("ip", None)
|
|
cfg.setdefault("port", 80)
|
|
chans = cfg.get("channels")
|
|
if chans is None:
|
|
chans = list(CHANNELS)
|
|
bad = [c for c in chans if c not in CHANNELS]
|
|
if bad:
|
|
raise FixtureError("%s: unknown channel(s) %s" % (path, ", ".join(bad)))
|
|
cfg["channels"] = list(chans)
|
|
cfg["arm_press"] = bool(cfg.get("arm_press", False))
|
|
return cfg
|
|
|
|
|
|
class Fixture:
|
|
"""The actuator as the runner sees it: which channels it covers, an
|
|
action per channel, a release, its state. Every request carries the
|
|
key; the address comes from the config's ip or the mDNS lookup,
|
|
re-resolved when a request fails to connect."""
|
|
|
|
def __init__(self, cfg, timeout=3.0, resolver=resolve_mdns):
|
|
self.hostname = cfg["hostname"]
|
|
self.ip_override = cfg.get("ip") or None
|
|
self.port = int(cfg.get("port") or 80)
|
|
self.key = cfg["key"]
|
|
self.channels = tuple(cfg["channels"])
|
|
self.arm_press = bool(cfg.get("arm_press", False))
|
|
self.timeout = timeout
|
|
self._resolver = resolver
|
|
self._ip = self.ip_override
|
|
self._resolved_at = time.time() if self.ip_override else 0.0
|
|
self._lock = threading.Lock()
|
|
self.last_state = None
|
|
self._pulse_end = 0.0 # when this client's last press ends (its pulse_ms)
|
|
|
|
# -- address -------------------------------------------------------
|
|
def address(self, refresh=False):
|
|
with self._lock:
|
|
if self.ip_override:
|
|
return self.ip_override
|
|
stale = time.time() - self._resolved_at > RESOLVE_TTL_S
|
|
if self._ip is None or refresh or stale:
|
|
ip = self._resolver(self.hostname)
|
|
if ip is None:
|
|
raise FixtureError("%s.local did not answer the mDNS lookup (set ip in the config "
|
|
"to skip it)" % self.hostname)
|
|
self._ip = ip
|
|
self._resolved_at = time.time()
|
|
return self._ip
|
|
|
|
def where(self):
|
|
return "%s (%s)" % (self.hostname, self._ip or "unresolved")
|
|
|
|
# -- requests ------------------------------------------------------
|
|
def _request(self, method, path, body=None, retry=True):
|
|
ip = self.address()
|
|
data = json.dumps(body).encode() if body is not None else None
|
|
host = ip if self.port == 80 else "%s:%d" % (ip, self.port)
|
|
req = urllib.request.Request("http://%s%s" % (host, path), data=data, method=method,
|
|
headers={"X-Fixture-Key": self.key, "Host": host,
|
|
"Content-Type": "application/json"})
|
|
try:
|
|
with urllib.request.urlopen(req, timeout=self.timeout) as resp:
|
|
return resp.status, json.loads(resp.read().decode("utf-8", "replace") or "{}")
|
|
except urllib.error.HTTPError as e:
|
|
try:
|
|
body = json.loads(e.read().decode("utf-8", "replace") or "{}")
|
|
except ValueError:
|
|
body = {}
|
|
return e.code, body
|
|
except (urllib.error.URLError, socket.timeout, OSError) as e:
|
|
if retry and not self.ip_override:
|
|
# the address may have moved: one fresh lookup, one retry
|
|
self.address(refresh=True)
|
|
return self._request(method, path, body, retry=False)
|
|
raise FixtureError("fixture %s: %s %s: %s" % (self.where(), method, path, e))
|
|
|
|
def status(self):
|
|
st, body = self._request("GET", "/")
|
|
if st == 401:
|
|
raise FixtureError("fixture %s refused the key" % self.where())
|
|
if st != 200 or body.get("device") != "forgefixture":
|
|
raise FixtureError("fixture %s: unexpected answer %s %s" % (self.where(), st, body))
|
|
self.last_state = body
|
|
return body
|
|
|
|
def covers(self, channel):
|
|
"""The runner asks this per action. The button needs the jumper
|
|
in, which the fixture reports; a channel it does not cover falls
|
|
back to the operator."""
|
|
if channel not in self.channels:
|
|
return False
|
|
if channel == "button":
|
|
st = self.last_state
|
|
return bool(st and st.get("button_enabled"))
|
|
return True
|
|
|
|
def act(self, channel, state):
|
|
if channel == "button":
|
|
if state != "press":
|
|
raise FixtureError("the button is only ever pressed")
|
|
st, body = self._press()
|
|
else:
|
|
if state not in ("open", "close"):
|
|
raise FixtureError("%s: unknown state %r" % (channel, state))
|
|
st, body = self._request("POST", "/" + channel, {"state": state})
|
|
if st != 200:
|
|
raise FixtureError("fixture %s: %s %s -> %s %s" % (self.where(), channel, state, st,
|
|
body.get("error") or body))
|
|
self.last_state = body
|
|
return body
|
|
|
|
def _press(self):
|
|
"""One press, spaced from the last one. The controller detects
|
|
the button's rising edge, so a press must follow a release it has
|
|
seen: the next press waits for the last pulse to end (the
|
|
fixture's own pulse_ms) plus BUTTON_GAP_S. A 409 for a pulse in
|
|
progress (a press this client did not time) is waited out once
|
|
against the fixture's state, then retried."""
|
|
wait = self._pulse_end + BUTTON_GAP_S - time.time()
|
|
if wait > 0:
|
|
time.sleep(wait)
|
|
st, body = self._request("POST", "/button", {})
|
|
if st == 409 and "in progress" in str(body.get("error", "")):
|
|
deadline = time.time() + PULSE_WAIT_S
|
|
while time.time() < deadline:
|
|
time.sleep(0.1)
|
|
s, b = self._request("GET", "/")
|
|
if s == 200 and not b.get("button_pulsing"):
|
|
break
|
|
time.sleep(BUTTON_GAP_S)
|
|
st, body = self._request("POST", "/button", {})
|
|
if st == 200:
|
|
self._pulse_end = time.time() + float(body.get("pulse_ms") or 500) / 1000.0
|
|
return st, body
|
|
|
|
def release(self):
|
|
st, body = self._request("POST", "/release", {})
|
|
if st != 200:
|
|
raise FixtureError("fixture %s: release -> %s %s" % (self.where(), st, body.get("error") or body))
|
|
self.last_state = body
|
|
return body
|
|
|
|
@staticmethod
|
|
def energized(state):
|
|
"""The channels a state report shows energized (a loop open, the
|
|
button pressed)."""
|
|
ch = (state or {}).get("channels") or {}
|
|
return [c for c, s in ch.items() if s in ("open", "pressed")]
|
|
|
|
def summary(self):
|
|
st = self.last_state or {}
|
|
return {"hostname": self.hostname, "ip": self._ip, "channels": list(self.channels),
|
|
"button_enabled": bool(st.get("button_enabled")), "arm_press": self.arm_press,
|
|
"version": st.get("version"), "uptime_s": st.get("uptime_s")}
|
|
|
|
|
|
def probe(log, path=None, resolver=resolve_mdns):
|
|
"""The bench's fixture, up and answering, or None: no config means
|
|
no fixture; a config whose fixture does not answer is logged and
|
|
treated the same, so the run goes to the operator."""
|
|
try:
|
|
cfg = load_config(path)
|
|
except FixtureError as e:
|
|
log("fixture: %s - running without it" % e)
|
|
return None
|
|
if cfg is None:
|
|
return None
|
|
fx = Fixture(cfg, resolver=resolver)
|
|
try:
|
|
st = fx.status()
|
|
except FixtureError as e:
|
|
log("fixture: %s - running without it" % e)
|
|
return None
|
|
chans = ", ".join(fx.channels)
|
|
log("fixture up: %s at %s, v%s, covers %s%s" % (
|
|
fx.hostname, fx._ip, st.get("version"), chans,
|
|
"" if st.get("button_enabled") or "button" not in fx.channels
|
|
else " (button disabled: the enable jumper is out)"))
|
|
return fx
|
|
|
|
|
|
__all__ = ["Fixture", "FixtureError", "CHANNELS", "FIXTURE_CONFIG", "load_config", "probe",
|
|
"resolve_mdns", "mdns_query", "mdns_answers"]
|