mirror of
https://github.com/openglow-org/forgefirm.git
synced 2026-09-27 16:51:12 -07:00
ScottW514
fff0980079
Stream harness rules 16 and 17 with their sessions: an M5 executed with the planner drained and the kernel run over must darken the rapids that follow it (m5-idle), and a job whose M3 runs at the level the previous job ended at must still fire its first cut (next-job). The second rule is the core's contract: set_state records the rpm and the per-segment update is skipped while it is unchanged, so the driver's set_state is the only thing that can light that move. Both sessions run under both dose models; the bench build that went dark on its second job fails next-job with one fire span. Bench drills: pcurve (a per-level ladder of 100 mm lines read from the HV current and the head thermopile at 25 Hz, with the instrument checks and the JSON record) and m5dark (one line, M5, two rapids, judged on the current trace and laser_on_sampled until the armed window closes). Catalog: laser.m5-rapid-dark, a live test of the M5 case (46 tests; the counts in BRINGUP follow). CAMPAIGN-LOG carries the day's record: the two curve ladders, the defect pair, the root cause, the host and bench proof.
787 lines
32 KiB
Python
787 lines
32 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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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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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 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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# 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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ANALOG_CONF = "laser_power_model = analog\n"
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DENSITY_PERIOD = 20
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DENSITY_MIN_TICKS = 3
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DENSITY_CONF = ("laser_power_model = density\n"
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"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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DENSITY_LEVEL = tuple(int(x * PWM_PERIOD / RPM_MAX) for x in LADDER_S)
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JOB_DENSITY = ["$35=0"] + JOB_LADDER
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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) * 28160
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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 publish_verdicts(path, stop):
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"""Publish a fresh, clean cooling verdict every 0.5 s (the arm flow
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refuses without one; freshness window is 2 s). Same-host monotonic
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clock, atomic rename so the reader never sees a torn file."""
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while not stop.is_set():
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body = ('{"ts_mono":%.3f,"fire_ok":true,"hold":false,'
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'"resume_ok":true,"reason":""}'
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% time.clock_gettime(time.CLOCK_MONOTONIC))
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tmp = path + ".tmp"
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with open(tmp, "w") as f:
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f.write(body)
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os.replace(tmp, path)
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stop.wait(0.5)
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def run_session(name, steps, conf=None, workdir=None, keep=False,
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arm_required=True):
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"""Launch the controller, run the job steps, return the dump bytes.
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Pass workdir + keep to chain launches over one settings file: the
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core precomputes the spindle PWM mapping once, when the spindle is
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enabled, so a $35 written at runtime only takes effect on the next
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controller start."""
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if workdir is None:
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workdir = tempfile.mkdtemp(prefix="laser-test-")
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dump = os.path.join(workdir, "stream.bin")
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verdict = os.path.join(workdir, "cooling.state")
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env = dict(os.environ, GFSINK_DUMP=dump, GF_VERDICT_FILE=verdict,
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FFLOG_STDERR="1")
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env.pop("GFSINK", None)
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if conf is not None:
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conf_path = os.path.join(workdir, "forgefirm.conf")
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with open(conf_path, "w") as f:
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f.write(conf)
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env["GFHOME_CONF"] = conf_path
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stop = threading.Event()
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pub = threading.Thread(target=publish_verdicts, args=(verdict, stop), daemon=True)
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pub.start()
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proc = subprocess.Popen([BIN, "-p", str(PORT)], cwd=workdir, env=env,
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stdout=subprocess.DEVNULL, stderr=subprocess.PIPE)
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try:
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sock = None
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for _ in range(50):
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try:
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sock = socket.create_connection(("127.0.0.1", PORT), timeout=1)
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break
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except OSError:
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time.sleep(0.1)
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if sock is None:
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err = b""
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if proc.poll() is not None:
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err = proc.stderr.read() or b""
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fail("[%s] cannot connect to the controller (exit=%s)\n%s"
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% (name, proc.poll(), err.decode(errors="replace")))
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log = []
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read_avail(sock, log, 0.5) # banner / hello
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for step in steps:
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if step == WAIT_IDLE:
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wait_idle(sock, log)
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elif isinstance(step, tuple) and step[0] == "sleep":
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time.sleep(step[1])
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else:
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send_line(sock, step, log)
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# Wait for the motion to play out on the wall clock (the shipper
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# is wall-paced), then for the Idle report.
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wait_idle(sock, log)
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time.sleep(1.0) # let the shipper drain the tail
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text = "".join(log)
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run_session.text = text
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if arm_required and "laser armed" not in text:
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fail("[%s] no 'laser armed' message (arming flow did not run)" % name)
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sock.close()
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finally:
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proc.send_signal(signal.SIGINT)
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try:
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proc.wait(5)
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except subprocess.TimeoutExpired:
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proc.kill()
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stop.set()
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pub.join(2)
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data = open(dump, "rb").read()
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if not data and arm_required:
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fail("[%s] empty stream dump" % name)
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if not keep:
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shutil.rmtree(workdir, ignore_errors=True)
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return data
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def tick_bytes(data):
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"""The stream with power bytes stripped (tick bytes only)."""
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return bytes(b for b in data if not b & 0x80)
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def check_fire_gaps(name, data):
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"""Rule 8: no stepless run carrying FIRE longer than the limit."""
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run = 0
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worst = 0
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for tick, b in enumerate(tick_bytes(data)):
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if b & 0x10 and not b & 0x25: # FIRE, no X/Y/Z step
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run += 1
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worst = max(worst, run)
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if run >= FIRE_GAP_LIMIT_TICKS:
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fail("[%s] FIRE carried across a %d-tick zero-step gap "
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"ending at tick %d (stationary dwell burn)"
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% (name, run, tick))
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else:
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run = 0
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return worst
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def check_termination(name, data):
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"""Rule 7: the stream's final tick byte must carry FIRE clear."""
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ticks = tick_bytes(data)
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if not ticks:
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fail("[%s] no tick bytes in the stream" % name)
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if ticks[-1] & 0x10:
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fail("[%s] stream ends with FIRE set (0x%02x) - termination "
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"rule violated, relies on the end-of-data backstop"
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% (name, ticks[-1]))
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|
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def check_m4_job(data):
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"""Rules 1-6 on the original M4 job."""
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if not data[0] & 0x80:
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fail("stream does not lead with a power byte (first byte 0x%02x)" % data[0])
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prev_power = False
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cur_power = 0
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fire_ticks = [] # (tick_index, power_at_that_tick)
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x_pos = 0
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x_min = x_max = 0
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tick = 0
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first_fire_power = None
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for b in data:
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if b & 0x80:
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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)
|
|
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)
|
|
print("PASS [churn]: %d bytes, %d fire ticks, max fire gap %d"
|
|
% (len(data), count_fire(data), gap_c))
|
|
|
|
# --- 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 -------------
|
|
# $35 is written by a first launch and takes effect on the second:
|
|
# the floor exists only to keep an analog duty out of the tube's
|
|
# dead band, and under density it would just clamp the light end.
|
|
wd = tempfile.mkdtemp(prefix="laser-test-")
|
|
run_session("density-setup", ["$35=0"], conf=DENSITY_CONF, workdir=wd,
|
|
keep=True, arm_required=False)
|
|
dens = run_session("density", JOB_DENSITY, conf=DENSITY_CONF, workdir=wd)
|
|
rendered = check_density("density", dens, DENSITY_LEVEL, DENSITY_PERIOD,
|
|
DENSITY_MIN_TICKS)
|
|
check_termination("density", dens)
|
|
if "laser armed (density)" not in run_session.text:
|
|
fail("[density] the arm did not select the density model")
|
|
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", ["$35=0"] + 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", ["$35=0"] + 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]))
|
|
|
|
print("PASS: all stream emission rules hold")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|