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ScottW514
308a033146
Both tests failed for the operator on the bench reference on 2026-09-24, image 20260923232513, from the harness and not the machine. laser.verdict-cut (00:10:52) needed the kernel's sampled LASER_ON count to read 0 within 2.5 s of the hold. That count latches once a second over the second before, so it reads 0 only once a whole window has closed inside the hold, up to 2 s in, and this hold lasted 1.37 s. Every sample of the hold read bit 0 of interlock_circuit as 1: the gated LASER_ON, active low, dark. The dark judge now reads the gated output itself, cnc/laser_on (1 = on), about 3300 times a second on the bench reference, yielding the CPU between reads (the stream threads run SCHED_FIFO). Its witness is the same reads over the second before the pause, which must see the cut lit (10 reads or more, none failed). The hold is dark when every read that falls wholly inside it, from 0.3 s after the first Hold:0 to the last Hold row, reads off, none failed, and there are at least 500. The 0.3 s is the pause tier's first deceleration, lit on purpose, still playing out of the driver's 200 ms queue and its 10 ms lead when the controller reports Hold:0. The daemon's pause is 3.0 s, as the code already had and the description now says. dark_span() is pure, kept inside the test's function, and tests/test_laser_verdict.py runs it through the function's code object over synthetic trails (8 cases: a dark hold, the lit deceleration inside the drain, emission after it caught, a burst the resume ends, failed reads counted, the drain counted from the first Hold:0, no Hold:0, and a hold too short for the drain). laser.disarm-in-hold (00:06:23, 180 s) pressed the button through ctx.act at once, before the job reached its arm wait, so the press was lost and the move never started. It now uses ctx.arm_press(), which presses when the button lights, and waits for Run. Proof: forgetest's unit tests pass on the host (474 OK, 4 skipped). Only the fingerprints of laser.verdict-cut and laser.disarm-in-hold move. Acceptance: the change is the two catalog tests themselves; both are attended (laser emission, the operator present) and a campaign runs both again.
106 lines
4.3 KiB
Python
106 lines
4.3 KiB
Python
# Copyright 2026 514 LLC d/b/a OpenGlow
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# Written by Scott Wiederhold
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# https://community.openglow.org
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# SPDX-License-Identifier: MIT
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"""The dark judge of laser.verdict-cut over synthetic trails. The judge is
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a function inside the test's own body, so a change to it moves that test's
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fingerprint and no other laser test's; it is reached here through the test
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function's code object. A trail row is a status poll; its `fast` entry is
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the burst of cnc/laser_on reads taken after that poll: [start, end, reads,
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reads that saw the laser on, reads that failed]."""
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import types
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import unittest
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from forgetest.suite import laser
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DRAIN_S = 0.3
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def dark_span():
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code = next(c for c in laser.verdict_cut.__code__.co_consts
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if isinstance(c, types.CodeType) and c.co_name == "dark_span")
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assert code.co_freevars == (), "the judge must not close over the test's variables"
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return types.FunctionType(code, vars(laser))
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def row(t, gstate, on=None, n=350, bad=0):
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r = {"t": t, "gstate": gstate}
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if on is not None:
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r["fast"] = [round(t + 0.01, 3), round(t + 0.11, 3), n, on, bad]
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return r
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class DarkSpanTests(unittest.TestCase):
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def setUp(self):
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self.judge = dark_span()
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def hold(self, lit_at=(), tail_lit=0):
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"""Run, then a hold from 2.0 s (Hold:0) polled every 0.14 s with a
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burst after each poll, then the resume at 3.4 s. lit_at: the
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poll times whose burst saw the laser on; tail_lit: the burst
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after the last Hold poll, which the resume ends."""
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rows = [row(1.72, "Run"), row(1.86, "Run")]
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t = 2.0
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while t < 3.3:
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rows.append(row(round(t, 2), "Hold:0", on=5 if round(t, 2) in lit_at else 0))
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t += 0.14
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rows[-1]["fast"][3] = tail_lit
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rows.append(row(3.4, "Run"))
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return rows
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def test_a_dark_hold_is_judged_dark(self):
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d = self.judge(self.hold(), DRAIN_S)
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reads, on, bad, bursts, first, last = d
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self.assertEqual((on, bad), (0, 0))
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self.assertGreater(bursts, 0)
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self.assertEqual(reads, bursts * 350)
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self.assertGreaterEqual(first, 2.0 + DRAIN_S)
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self.assertLessEqual(last, 3.4)
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def test_the_lit_deceleration_inside_the_drain_is_not_judged(self):
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# the pause tier's first deceleration plays out of the kernel's
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# queue after Hold:0: lit bursts inside the drain are expected
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d = self.judge(self.hold(lit_at=(2.0, 2.14)), DRAIN_S)
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self.assertEqual(d[1], 0)
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def test_emission_after_the_drain_is_caught(self):
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# the negative control: a lit read inside the judged span is seen
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d = self.judge(self.hold(lit_at=(2.56,)), DRAIN_S)
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self.assertEqual(d[1], 5)
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def test_a_burst_the_resume_ends_is_not_judged(self):
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# the poll after it reads Run: the cut may have relit inside it
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d = self.judge(self.hold(tail_lit=40), DRAIN_S)
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self.assertEqual(d[1], 0)
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def test_failed_reads_are_counted(self):
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rows = self.hold()
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rows[5]["fast"][4] = 3
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self.assertEqual(self.judge(rows, DRAIN_S)[2], 3)
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def test_the_drain_counts_from_the_first_hold_complete(self):
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# Hold:1 (decelerating) rows do not start the span: a lit burst
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# after a Hold:1 poll but inside the drain of the first Hold:0 is
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# not judged
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rows = [row(1.8, "Run"), row(1.94, "Hold:1", on=30), row(2.08, "Hold:0", on=12),
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row(2.22, "Hold:0", on=0), row(2.36, "Hold:0", on=0), row(2.5, "Hold:0", on=0),
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row(2.64, "Hold:0", on=0), row(2.78, "Run")]
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reads, on, bad, bursts, first, last = self.judge(rows, DRAIN_S)
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self.assertEqual(on, 0)
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self.assertGreaterEqual(first, 2.08 + DRAIN_S)
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# 2.51 only: 2.37 is inside the drain, 2.65 is ended by the resume
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self.assertEqual(bursts, 1)
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def test_no_hold_complete_cannot_be_judged(self):
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self.assertIsNone(self.judge([row(1.0, "Run"), row(1.2, "Hold:1", on=0), row(1.4, "Run")], DRAIN_S))
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def test_a_hold_too_short_for_the_drain_leaves_nothing_to_judge(self):
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# the test then fails on too few reads, never passes on none
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rows = [row(1.8, "Run"), row(2.0, "Hold:0", on=0), row(2.14, "Hold:0", on=0), row(2.28, "Run")]
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self.assertEqual(self.judge(rows, DRAIN_S)[:4], [0, 0, 0, 0])
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if __name__ == "__main__":
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unittest.main()
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