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ScottW514
888b47abe8
Seen on the bench reference, twice in one session: at the end of a passing run the hand-back jogged the head 30 mm into the back-left stop blocks, from a head that had not moved. The baseline compares the kernel's step counters at the end of a run with the start and jogs the head back by the difference. The GRBL controller zeroes those counters at every start (the lens's startup reference) and at every home (home_completed()), and rewrites its anchor, /run/grblhal.homed, each time. Across either event the difference between two counter readings is not a distance the head traveled. It stayed hidden because the counters normally read zero between tests. homing.manual broke that: a manual home zeroes the counters 30 mm out from where the test began, so after the test's own correct return they read -6400, and the next test that restarts the controller (setup.check-flow-verify, then motion.release) ended at 0, "expected -6400", and was "returned" by 30 mm. An operator who jogs the head from a Grbl client and then starts any takeover test from the page would have met the same thing, by whatever distance they had jogged. The baseline's capture() now records the counters' frame, the anchor's inode and mtime. If the frame changed during the run and the test did not vouch for the new one, the hand-back logs that the two readings share no frame, and moves nothing. ctx.counters_rezeroed() is how a test vouches: it now sets rezero_declared beside the position it expects. The start_reads argument it briefly took is gone, since it made the baseline accept counters that nothing after it could live with. homing.manual restarts the controller once more after returning the head, so it ends with the counters at zero where it began, and declares that. events.stream waits for its three places. A stream an earlier test closed keeps its place until the daemon's next write to it (its keep-alive), as documented, so run straight after forgectrl.lease the third stream drew 503. The test now opens the three once they can be opened, and says so in its log. Proven. test_baseline gains test_a_lost_counter_frame_never_moves_the_head: counters at -6400, a new anchor, counters at 0: no jog, no leftover, and the log says why; the same counters with the frame intact are still a displaced head; a declared re-zero is held to the position it declared. With the frame check unable to see the change (the first cut of the test reused an inode inside one clock tick) the case fails with ['position'], which is the old behavior. The unit suite passes. On the bench reference, arranged so a failure would move the head away from the stop: the head jogged to +60 mm (counters 12800), motion.release run, PASS, "the controller re-zeroed its counters during the run ... the head is not moved", and nothing moved. forgectrl.lease then events.stream: two logged waits, PASS. homing.manual then setup.check-flow-verify, the sequence that drove the head into the stop: both PASS with a clean hand-back.