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ScottW514
e1d1c1b84e
The soft-reset check's comment described the kernel's ramp with the
continuous formula: (f0^2 - 900^2) / (2 a) ticks, 12687 over 223 ms
at the x32 tick, and a part-way run-out at f0 * sqrt(1 - 2 (a / f0)
Q). The kernel's ramp is stepped (cnc.c, ramp_update_tasklet_fn): the
tick holds for the first 10 ms after the stop, then every 10 ms drops
by ramp_rate / 100 until it reaches the 900 Hz floor, which plays
10 ms before the stop. At 112640 Hz and 500000 Hz/s that is 5000 Hz
off every 10 ms: 24 intervals, 240 ms, about 13270 ticks, 118 ms of
the tick. The comment now says so, with the figures that follow: the
rate at a run-out is 24% of the tick with 110 ms of queue left, 38%
with 100 ms, 51% with 90 ms; the tail's mean over the 25 to 30 ms the
poll samples is 32%, 45% and 56% (61% over the 50 ms window bound),
not 21% to 56%; the 70% bound is 14 points above the slowest ramped
tail and 30 below a run-out; the time to leave running is the 100 ms
hold plus the run's end on the ramp, about 240 ms with 100 ms left,
270 ms with 110 ms, 340 ms at the floor. The evidence's ramp_ticks and
ramp_s stay the continuous figures, and the comment says they are,
about 4% and 7% under the stepped ramp's. No judge changes: the 70%
bound, the 25 ms window and the 50 ms gap stay.
The Alarm wait's failure text names a sampling stall: when the 5 ms
sampling loop runs past 2 s after the ^X, the wait has no time to
read a state, and the failure read "not in Alarm within 2 s (state
None)". It now says the state is unread because the sampling loop ran
past the 2 s. The condition is the same; the text is the change.
Proof: a compile and pyflakes 4.0.3 give no message on
forgetest/suite/motion.py, with no undefined name in forgetest or
tests. forgetest unit tests, python3 -B -m unittest discover -s tests
-p test_<name>.py, in a private PID namespace: test_manifest.py 39
OK, test_queue.py 15 OK, test_campaign.py 13 OK. Coverage lint on the
tree manifest from scripts/manifest-from-tree.py (python3 -B -m
forgetest.coverage --manifest ../tree-manifest.json --enforce):
0 uncovered, 0 empty, 0 host-tested row problems, 43 tests. Host dry
runs of the whole test against the null-sink build of the
grblHAL-glowforge default branch head ("serial_test: the scan's exempt
arguments each match once in the sources"), with the machine side
stood in for as before: with a model kernel that ramps from the
controller's cnc/stop write, the test passes, MPos X 3502.07 steps
against 3502, tail 22% of the tick; with a model kernel that ramps as
cnc.c does, 5000 Hz off every 10 ms from 110 ms of queue, the test
passes, MPos X 3496.95 steps against 3497, tail 33% of the tick, the
figure the comment gives for a run-out from 110 ms of queue.
Acceptance: the comment and the message text are inside the test's
own function, so the shared text of suite/motion.py does not change.
The fingerprint of motion.jog-roundtrip moves, and no other test's:
of the implementation hashes of the 43 catalog tests, before and
after, only that one differs.
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.