mirror of
https://github.com/openglow-org/forgefirm.git
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ScottW514
cd84786fc5
- scripts/bench/tray_test.py, run by the driver's CI: M103 P1 and P0 move Z and its envelope by tray_offset_mm on the lens step grid, tell the sender, write and remove the marker beside the shared config, and ship no step; a missing P, P2, P0.5, P-1, and an axis word are errors that change nothing; the switch behind a move waits for the move; the port's tray op with a sender connected, its count exact, refused out of form, during a program, and at a package's M-code; the mode across a soft reset and a killed controller, a start over the marker taking the lens reference in the tray-out frame; the offset's range; an unreferenced lens; a camera home in both modes handing the runner the same park. The kernel-idle half of the barrier needs the pulse device: a null sink is always idle. - scripts/bench/ctlport_test.py: the dark case carries tray out and in under an open armed window. - forgetest: motion.tray in its own module, suite/tray.py, so no other test's fingerprint moves. It switches the mode both ways through the panel's route and through M103 from a Grbl client and judges each switch: /status's mode, Z, and reach moved by the offset's grid, the port's state, the marker, the reference and its source unchanged, the client told, the kernel's counters unmoved. A jog to the Z the lens read before a switch is refused in the other mode and taken back in the mode found; a setup card started with the tray out is refused in the operator's words; the panel page carries the switch. The mode goes back as found in a finally. It does not restart the controller, which would drop the X and Y reference: persistence is tray_test.py's. - The bench registry and README list tray_test.py. Proof: tray_test.py ALL PASS against the driver with the mode, and six driver copies each missing one part of it fail. The driver's whole CI harness list passes. The forgetest unit suite: 500 tests OK. The coverage lint over the working trees: nothing uncovered, 126 tests. On the bench reference, with the binaries hot-deployed on the fx18 image: motion.tray PASS, and FAIL against the driver whose anchor lost its source word on the second switch. Acceptance. motion.tray is new; the suite and bench files are in no other test's fingerprint.
786 lines
31 KiB
Python
786 lines
31 KiB
Python
#!/usr/bin/env python3
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# 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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"""Host-side verification of the controller port and the stream's line
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multiplexer.
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Runs the native grblHAL_glowforge binary in null-sink mode and drives two
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clients at once: a scripted sender on the Grbl TCP socket that counts every
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response it gets, and the port's one client on the Unix socket grbl.ctl in
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the state directory. The sender's count is the point: a sender synchronizes
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on ok and error, so one response too many or too few desynchronizes every
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job after it.
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1. a port jog's status goes to the port and never to the sender, which
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sees a [MSG:] and nothing else
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2. a port jog that errors does not leave its error with the sender: with
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COMPATIBILITY_LEVEL 0 the core holds a parser error against the next
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g-code line, and the next line here is the sender's
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3. the sender always wins: a sender line that arrives during a port jog
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cancels the jog, waits, and gets its own ok, never error:9
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4. a port jog is refused while the sender is active, while a program
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runs, and when its words carry anything a jog does not need; a motion
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word the core's jog grammar rejects comes back as the core's error
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5. the port has one client: a second connection is refused and the first
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keeps working (it never displaces, unlike the Grbl socket); a client
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that closes and reconnects at once is served
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6. a CR LF sender keeps its count across a port jog, an empty line
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included
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7. the status hook survives a soft reset (the core puts its own report
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handlers back at every reset)
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8. the port's client is the dead-man: closing it cancels its jog
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9. every port operation ships dark. Under an open armed window, with M3
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modal and S above zero, a port jog, a canceled port jog, the refused
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jogs, and the panel operations (the tray's mode among them) add steps
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to the shipped stream and not one FIRE tick. A jog block carries the modal spindle state, so the
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stream's mask on jogging is the only thing that keeps a jog dark, and
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this is what holds the port to it
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10. "sender out" keeps senders from the network out, and only on an idle
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machine with a quiet sender: it is refused while a sender line runs
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(a dwell), within 2 s of the sender's last line, and while a program
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moves; granted, it drops the sender after a message line, turns every
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sender from the network away the same way without touching the
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session, still lets one from this host in, outlives the port's client,
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and "sender in" ends it. A sender from the network is one that
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connects to this host's own address rather than the loopback
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Usage: ctlport_test.py [path/to/grblHAL_glowforge]
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"""
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import json
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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 = 2397
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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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class Sender:
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"""The scripted sender: every line it receives is classified, and the
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responses (ok, error:N) are counted apart from everything else."""
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def __init__(self, port, eol="\n", host="127.0.0.1"):
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self.eol = eol
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self.responses = [] # "ok" / "error:N", in order
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self.other = [] # messages, reports, the banner
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self.lock = threading.Lock()
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self.closed = False # the controller closed the socket
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for _ in range(50):
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try:
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self.sock = socket.create_connection((host, 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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else:
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fail("cannot connect to the controller")
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self.sock.settimeout(0.2)
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self.alive = True
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self.thread = threading.Thread(target=self._read, daemon=True)
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self.thread.start()
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time.sleep(0.5) # the banner
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def _read(self):
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buf = b""
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while self.alive:
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try:
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data = self.sock.recv(4096)
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except socket.timeout:
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continue
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except OSError:
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self.closed = True
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return
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if not data:
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self.closed = True
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return
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buf += data
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while b"\n" in buf:
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raw, buf = buf.split(b"\n", 1)
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line = raw.decode(errors="replace").strip()
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if not line:
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continue
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with self.lock:
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if line == "ok" or line.startswith("error:"):
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self.responses.append(line)
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else:
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self.other.append(line)
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def count(self):
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with self.lock:
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return len(self.responses)
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def send(self, line, timeout=5.0):
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"""Send one line and return its response: the one response that
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arrives for it."""
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n = self.count()
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self.sock.sendall((line + self.eol).encode())
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end = time.time() + timeout
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while time.time() < end:
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if self.count() > n:
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with self.lock:
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return self.responses[n]
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time.sleep(0.01)
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fail("no response to the sender's %r" % line)
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def realtime(self, byte):
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self.sock.sendall(byte)
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def state(self):
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with self.lock:
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n = len(self.other)
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self.sock.sendall(b"?")
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end = time.time() + 2.0
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while time.time() < end:
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with self.lock:
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for line in self.other[n:]:
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m = re.match(r"<([A-Za-z]+)", line)
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if m:
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return m.group(1)
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time.sleep(0.01)
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fail("no status report")
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def wait_state(self, want, timeout=20.0):
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end = time.time() + timeout
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while time.time() < end:
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if self.state() == want:
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return
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time.sleep(0.1)
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fail("the controller never reached %s (now %s)" % (want, self.state()))
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def saw(self, needle):
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with self.lock:
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return sum(needle in line for line in self.other)
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def close(self):
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self.alive = False
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try:
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self.sock.close()
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except OSError:
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pass
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class PortClient:
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def __init__(self, path):
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self.sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
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self.sock.settimeout(5.0)
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self.sock.connect(path)
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self.buf = b""
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def request(self, line):
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self.sock.sendall((line + "\n").encode())
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return self.reply()
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def reply(self):
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while b"\n" not in self.buf:
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data = self.sock.recv(4096)
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if not data:
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return None
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self.buf += data
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raw, self.buf = self.buf.split(b"\n", 1)
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return raw.decode()
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def state(self):
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return json.loads(self.request("state"))
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def close(self):
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try:
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self.sock.close()
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except OSError:
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pass
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def publish_verdicts(path, stop):
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"""Stand in for the cooling engine: a clean verdict that acknowledges the
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armed window, refreshed twice a second. A laser line arms against it."""
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while not stop.is_set():
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tmp = path + ".tmp"
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with open(tmp, "w") as f:
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f.write('{"ts_mono":%.3f,"fire_ok":true,"verdict":"OK","hold":false,'
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'"resume_ok":true,"armed":true,"reason":""}'
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% time.clock_gettime(time.CLOCK_MONOTONIC))
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os.replace(tmp, path)
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stop.wait(0.5)
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class Session:
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def __init__(self, eol="\n", laser=False):
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self.workdir = tempfile.mkdtemp(prefix="ctlport-")
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conf = os.path.join(self.workdir, "forgefirm.conf")
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with open(conf, "w") as f:
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f.write("cool_fan_grace_s = 0\nlaser_disarm_s = 30\nhoming_mode = manual\n")
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env = dict(os.environ, GFHOME_CONF=conf, GF_STATE_DIR=self.workdir, FFLOG_STDERR="1")
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env.pop("GFSINK", None)
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env.pop("GF_SWITCH_FILE", None)
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self.dump = os.path.join(self.workdir, "stream.bin")
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self.stop = threading.Event()
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self.pub = None
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if laser:
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verdict = os.path.join(self.workdir, "cooling.state")
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env.update(GFSINK_DUMP=self.dump, GF_VERDICT_FILE=verdict)
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self.pub = threading.Thread(target=publish_verdicts, args=(verdict, self.stop),
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daemon=True)
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self.pub.start()
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self.proc = subprocess.Popen([BIN, "-p", str(PORT)], cwd=self.workdir, env=env,
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stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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self.sender = Sender(PORT, eol)
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self.path = os.path.join(self.workdir, "grbl.ctl")
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for _ in range(50):
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if os.path.exists(self.path):
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break
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time.sleep(0.1)
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else:
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fail("the controller did not create %s" % self.path)
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self.port = PortClient(self.path)
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def quiet(self):
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"""Past the port's sender-quiet interval."""
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time.sleep(0.45)
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def ticks(self):
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"""(step ticks, FIRE ticks) shipped so far. A byte with bit 7 set is a
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power byte; in a tick byte 0x25 are the X, Y and Z steps and 0x10 is FIRE."""
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with open(self.dump, "rb") as f:
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data = f.read()
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return (sum(1 for b in data if not b & 0x80 and b & 0x25),
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sum(1 for b in data if not b & 0x80 and b & 0x10))
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def close(self):
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self.port.close()
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self.sender.close()
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self.proc.send_signal(signal.SIGINT)
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try:
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self.proc.wait(5)
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except subprocess.TimeoutExpired:
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self.proc.kill()
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self.stop.set()
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if self.pub is not None:
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self.pub.join(2)
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shutil.rmtree(self.workdir, ignore_errors=True)
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def test_socket_mode(s):
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mode = os.stat(s.path).st_mode & 0o777
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if mode != 0o600:
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fail("[mode] grbl.ctl is %o, not 600" % mode)
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print("PASS [mode]: grbl.ctl is a socket with mode 600")
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def test_status_routing(s):
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if s.sender.send("G91") != "ok" or s.sender.send("G0 X1") != "ok":
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fail("[routing] the sender's own lines did not get ok")
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s.sender.wait_state("Idle")
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s.quiet()
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before = s.sender.count()
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x0 = s.port.state()["mpos"][0]
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r = s.port.request("jog G91 X2 F600")
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if r != "ok":
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fail("[routing] the port jog got %r, not ok" % r)
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s.sender.wait_state("Idle")
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# The sender polled its status all the way through the jog. A realtime
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# character is not a line: it cancels nothing, and the jog ran whole.
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moved = s.port.state()["mpos"][0] - x0
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if abs(moved - 2.0) > 0.01:
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fail("[routing] the sender's status polls cut the port jog short: moved %.3f of 2" % moved)
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if s.sender.count() != before:
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fail("[routing] the sender got a response for the port's line: %r"
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% s.sender.responses[before:])
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if not s.sender.saw("[MSG:Panel jog]"):
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fail("[routing] the sender got no [MSG:] for the port jog")
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if s.sender.send("G0 X1") != "ok":
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fail("[routing] the sender's next line did not get ok")
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print("PASS [routing]: the port jog's ok went to the port and the jog ran whole under the "
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"sender's status polls; the sender saw a [MSG:] and its count is intact")
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def test_error_not_inherited(s):
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s.sender.wait_state("Idle")
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s.quiet()
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before = s.sender.count()
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r = s.port.request("jog G91 X1") # no feed rate: the core refuses it
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if not (r or "").startswith("error:"):
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fail("[error] a jog with no feed rate got %r, not an error" % r)
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if s.sender.count() != before:
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fail("[error] the sender got the port's error: %r" % s.sender.responses[before:])
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r2 = s.sender.send("G0 X1")
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if r2 != "ok":
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fail("[error] the sender's next g-code line got %r: it inherited the port's %s" % (r2, r))
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print("PASS [error]: the port got %s; the sender's next line ran and got ok" % r)
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def test_sender_wins(s):
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s.sender.wait_state("Idle")
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s.quiet()
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x0 = s.port.state()["mpos"][0]
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# Fast, so the cancel is a real deceleration: the core stays in the jog
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# state for the length of it, and a sender line read in that window is
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# the error:9 the hold exists to prevent. A slow jog stops at once and
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# would pass with no hold at all.
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if s.port.request("jog G91 X300 F6000") != "ok": # 3 s if nothing stops it
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fail("[sender-wins] the long port jog was refused")
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time.sleep(0.7)
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st = s.port.state()
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if st["state"] != "Jog" or not st["port_jog"]:
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fail("[sender-wins] not jogging for the port: %r" % st)
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t0 = time.time()
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r = s.sender.send("G0 X1", timeout=10.0)
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dt = time.time() - t0
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if r != "ok":
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fail("[sender-wins] the sender's line during a port jog got %r, not ok" % r)
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s.sender.wait_state("Idle")
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st = s.port.state()
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if st["port_jog"]:
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fail("[sender-wins] the port still claims the jog: %r" % st)
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moved = st["mpos"][0] - x0
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if moved > 200:
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fail("[sender-wins] the port jog was not canceled (X moved %.1f mm)" % moved)
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print("PASS [sender-wins]: the sender's line canceled the port jog, waited %.2f s, "
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"and got ok" % dt)
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def test_sender_wins_queued(s):
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"""The window the read gate exists for. The core reads a line's bytes
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in one pass and polls the stream only at the end of line, so a sender
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line that sits in the ring right behind the port's jog line is read
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while the jog it follows is still running, with no poll in between to
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cancel it. A dwell opens the window on purpose: the port's line is
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queued during it, and the sender streams its next line behind that."""
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s.sender.wait_state("Idle")
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s.sender.send("G91")
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n = s.sender.count()
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s.sender.sock.sendall(("G4 P1.5" + s.sender.eol).encode()) # no ok until the dwell ends
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s.quiet()
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s.port.sock.sendall(b"jog G91 X300 F6000\n") # queued behind the dwell
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time.sleep(0.2)
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s.sender.sock.sendall(("G0 X1" + s.sender.eol).encode()) # streamed behind the port's line
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end = time.time() + 10.0
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while time.time() < end and s.sender.count() < n + 2:
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time.sleep(0.02)
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got = s.sender.responses[n:n + 2]
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port_reply = s.port.reply()
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if port_reply != "ok":
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fail("[sender-wins-queued] the queued port jog got %r, not ok" % port_reply)
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if got != ["ok", "ok"]:
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fail("[sender-wins-queued] the sender's dwell and the line behind the port jog got %r, "
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"not two ok" % got)
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s.sender.wait_state("Idle")
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print("PASS [sender-wins-queued]: a sender line queued right behind the port's jog line "
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"waited for the cancel and got ok")
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|
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class NewlinePoller(threading.Thread):
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"""A sender that polls the way LightBurn does: '?' with an end of line
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behind it, on a timer. The '?' is a realtime character; the end of line
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is an empty line, which the core answers ok."""
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def __init__(self, sender, period=0.25):
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super().__init__(daemon=True)
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self.sender, self.period = sender, period
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self.polls = 0
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self.halt = threading.Event()
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def run(self):
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while not self.halt.is_set():
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self.sender.sock.sendall(b"?" + self.sender.eol.encode())
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self.polls += 1
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self.halt.wait(self.period)
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def stop(self):
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self.halt.set()
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self.join()
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|
|
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def poll_case(tag, eol):
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"""An empty line is not the sender speaking. With a sender polling
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'?'<eol> four times a second (LightBurn polls about twice a second): a
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port jog is never refused for it, a long port jog runs whole under it,
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and every poll still draws its one ok, during the jog too. A real line
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|
still goes first."""
|
|
s = Session(eol=eol)
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try:
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s.sender.wait_state("Idle")
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s.quiet()
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before = s.sender.count()
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|
poller = NewlinePoller(s.sender)
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poller.start()
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|
time.sleep(0.6)
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|
refused = []
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for i in range(8): # spread across the poll period
|
|
r = s.port.request("jog G91 X0.5 F3000")
|
|
if r != "ok":
|
|
refused.append(r)
|
|
time.sleep(0.11)
|
|
if refused:
|
|
fail("[%s] %d of 8 port jogs were refused under a status poll: %s" % (tag, len(refused), refused))
|
|
while s.port.state()["state"] != "Idle":
|
|
time.sleep(0.05)
|
|
x0 = s.port.state()["mpos"][0]
|
|
if s.port.request("jog G91 X60 F3000") != "ok": # 1.2 s and more: several polls long
|
|
fail("[%s] the long port jog was refused under a status poll" % tag)
|
|
t0 = time.time()
|
|
while time.time() - t0 < 10:
|
|
st = s.port.state()
|
|
if st["state"] == "Idle" and not st["port_jog"]:
|
|
break
|
|
time.sleep(0.05)
|
|
moved = s.port.state()["mpos"][0] - x0
|
|
if abs(moved - 60.0) > 0.02:
|
|
fail("[%s] a status poll cut the port jog short: moved %.3f of 60" % (tag, moved))
|
|
polls_mid = poller.polls
|
|
# A real line still goes first: it cancels a port jog and draws its ok.
|
|
x1 = s.port.state()["mpos"][0]
|
|
if s.port.request("jog G91 X-300 F6000") != "ok":
|
|
fail("[%s] the fast port jog was refused" % tag)
|
|
time.sleep(0.7)
|
|
poller.stop() # the real line's response is then the only one outstanding
|
|
time.sleep(0.3)
|
|
n = s.sender.count()
|
|
s.sender.sock.sendall(("G4 P0" + eol).encode())
|
|
end = time.time() + 10
|
|
while time.time() < end and s.sender.count() <= n:
|
|
time.sleep(0.01)
|
|
if s.sender.count() != n + 1 or s.sender.responses[n] != "ok":
|
|
fail("[%s] the sender's real line under a port jog got %r" % (tag, s.sender.responses[n:]))
|
|
s.sender.wait_state("Idle")
|
|
back = x1 - s.port.state()["mpos"][0]
|
|
if back > 250:
|
|
fail("[%s] the sender's real line did not cancel the port jog: it ran %.1f of 300" % (tag, back))
|
|
time.sleep(0.5)
|
|
got = s.sender.count() - before
|
|
want = poller.polls + 1 # one ok per poll's empty line, and the G4
|
|
if got != want:
|
|
fail("[%s] %d polls and one line drew %d responses, not %d" % (tag, poller.polls, got, want))
|
|
print("PASS [%s]: under a '?'+EOL poll 8 of 8 port jogs were accepted, a 60 mm port jog ran whole "
|
|
"(%d polls into it), every poll drew its ok (%d), and a real line still canceled a port jog at "
|
|
"%.1f of 300" % (tag, polls_mid, poller.polls, back))
|
|
finally:
|
|
s.close()
|
|
|
|
|
|
def test_poll_lf():
|
|
poll_case("poll-lf", "\n")
|
|
|
|
|
|
def test_poll_crlf():
|
|
poll_case("poll-crlf", "\r\n")
|
|
|
|
|
|
def test_refusals(s):
|
|
s.sender.wait_state("Idle")
|
|
s.sender.send("G90")
|
|
r = s.port.request("jog G91 X1 F600") # inside the quiet interval
|
|
if r != "busy:sender":
|
|
fail("[refusals] a jog right after a sender line got %r, not busy:sender" % r)
|
|
s.quiet()
|
|
for words in ("G91 X1 F600 $H", "g91 x1 f600", "G91 X1 F600;M3", ""):
|
|
r = s.port.request("jog " + words)
|
|
if r != "error:invalid":
|
|
fail("[refusals] jog %r got %r, not error:invalid" % (words, r))
|
|
x0 = s.port.state()["mpos"][0]
|
|
r = s.port.request("jog G1 X5 F600") # a motion mode is not a jog word
|
|
if not (r or "").startswith("error:"):
|
|
fail("[refusals] jog G1 got %r, not the core's error" % r)
|
|
r = s.port.request("jog G91 X1 F600 S500 M3")
|
|
if not (r or "").startswith("error:"):
|
|
fail("[refusals] a jog with S and M3 got %r, not the core's error" % r)
|
|
time.sleep(0.3)
|
|
if abs(s.port.state()["mpos"][0] - x0) > 0.001:
|
|
fail("[refusals] a refused jog moved the machine")
|
|
s.sender.send("G91")
|
|
s.sender.send("G1 X40 F300") # a program: 8 s of Run
|
|
s.quiet()
|
|
st = s.port.state()
|
|
r = s.port.request("jog G91 Y1 F600")
|
|
if r != "busy:state":
|
|
fail("[refusals] a jog during a program (%s) got %r, not busy:state" % (st["state"], r))
|
|
s.sender.realtime(b"\x18") # end the program
|
|
time.sleep(1.0)
|
|
s.sender.send("$X")
|
|
print("PASS [refusals]: busy:sender inside the quiet interval, error:invalid for stray "
|
|
"characters, the core's error for G1 and for S/M3, busy:state during a program")
|
|
|
|
|
|
def test_single_client(s):
|
|
second = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
|
|
second.settimeout(3.0)
|
|
second.connect(s.path)
|
|
try:
|
|
second.sendall(b"state\n")
|
|
data = second.recv(100)
|
|
except OSError:
|
|
data = b""
|
|
second.close()
|
|
if data:
|
|
fail("[single-client] a second port client was served: %r" % data)
|
|
if s.port.state().get("state") is None:
|
|
fail("[single-client] the first client stopped working")
|
|
# A client that closes and reconnects at once is not a second client: the
|
|
# port has to notice the hang-up before it judges the new connection.
|
|
for i in range(5):
|
|
s.port.close()
|
|
s.port = PortClient(s.path)
|
|
try:
|
|
ok = s.port.state().get("state") is not None
|
|
except (OSError, TypeError, ValueError):
|
|
ok = False
|
|
if not ok:
|
|
fail("[single-client] reconnect %d right after a close was refused" % (i + 1))
|
|
print("PASS [single-client]: the second connection was refused, the first kept working, and "
|
|
"five reconnects right after a close were each served")
|
|
|
|
|
|
def test_crlf():
|
|
s = Session(eol="\r\n")
|
|
try:
|
|
for line in ("G91", "G0 X1", ""):
|
|
if s.sender.send(line) != "ok":
|
|
fail("[crlf] %r did not get ok" % line)
|
|
s.sender.wait_state("Idle")
|
|
s.quiet()
|
|
before = s.sender.count()
|
|
if s.port.request("jog G91 X1 F600") != "ok":
|
|
fail("[crlf] the port jog was refused")
|
|
s.sender.wait_state("Idle")
|
|
for line in ("", "G0 X1", "", ""):
|
|
if s.sender.send(line) != "ok":
|
|
fail("[crlf] %r after the port jog did not get ok" % line)
|
|
time.sleep(0.5)
|
|
got = s.sender.count() - before
|
|
if got != 4:
|
|
fail("[crlf] 4 sender lines after the port jog got %d responses" % got)
|
|
print("PASS [crlf]: a CR LF sender's count is exact across a port jog, empty lines included")
|
|
finally:
|
|
s.close()
|
|
|
|
|
|
def test_port_dark():
|
|
s = Session(laser=True)
|
|
try:
|
|
s.sender.send("G91")
|
|
s.sender.send("M3 S500")
|
|
s.sender.send("G1 X10 F1500")
|
|
s.sender.wait_state("Idle")
|
|
time.sleep(0.5)
|
|
if not s.sender.saw("laser armed"):
|
|
fail("[dark] the laser line did not arm: the case would prove nothing")
|
|
steps0, fire0 = s.ticks()
|
|
if fire0 == 0:
|
|
fail("[dark] the armed G1 shipped no FIRE tick: the dump cannot see emission")
|
|
s.quiet()
|
|
|
|
replies = {}
|
|
replies["state"] = s.port.request("state")
|
|
replies["jog"] = s.port.request("jog G91 X8 F1200")
|
|
s.sender.wait_state("Idle")
|
|
replies["jog-long"] = s.port.request("jog G91 X200 F6000")
|
|
time.sleep(0.4)
|
|
replies["cancel"] = s.port.request("cancel")
|
|
s.sender.wait_state("Idle")
|
|
for words in ("G1 X5 F600", "G91 X5 F600 S900 M3", "G91 X5 F600 M4", "G91 G2 X5 I2 F600"):
|
|
replies["jog " + words] = s.port.request("jog " + words)
|
|
replies["release"] = s.port.request("release") # refused: a laser job is armed
|
|
replies["energize"] = s.port.request("energize")
|
|
replies["home"] = s.port.request("home") # manual: declares X0 Y0, moves nothing
|
|
replies["tray out"] = s.port.request("tray out") # the Z frame moves, the head does not
|
|
replies["tray in"] = s.port.request("tray in")
|
|
replies["jog-after-home"] = s.port.request("jog G91 X6 F1200")
|
|
s.sender.wait_state("Idle")
|
|
time.sleep(0.5)
|
|
|
|
steps1, fire1 = s.ticks()
|
|
if replies["jog"] != "ok" or replies["jog-long"] != "ok" or replies["jog-after-home"] != "ok":
|
|
fail("[dark] a port jog under the open window was refused: %r" % replies)
|
|
if replies["tray out"] != "ok" or replies["tray in"] != "ok":
|
|
fail("[dark] the tray op under the open window was refused: %r" % replies)
|
|
if steps1 <= steps0:
|
|
fail("[dark] the port jogs shipped no step: the case would prove nothing")
|
|
if s.sender.saw("laser disarmed"):
|
|
fail("[dark] the armed window closed during the case: %r" % replies)
|
|
if fire1 != fire0:
|
|
fail("[dark] port operations under an open window with M3 S500 shipped %d FIRE ticks: %r"
|
|
% (fire1 - fire0, replies))
|
|
print("PASS [dark]: under an open armed window with M3 S500, %d port operations shipped "
|
|
"%d steps and no FIRE tick" % (len(replies), steps1 - steps0))
|
|
finally:
|
|
s.close()
|
|
|
|
|
|
def test_reset_keeps_hook(s):
|
|
s.sender.realtime(b"\x18")
|
|
time.sleep(1.0)
|
|
s.sender.send("$X")
|
|
s.sender.wait_state("Idle")
|
|
s.quiet()
|
|
before = s.sender.count()
|
|
if s.port.request("jog G91 X1 F600") != "ok":
|
|
fail("[reset] the port jog after a soft reset was refused")
|
|
s.sender.wait_state("Idle")
|
|
if s.sender.count() != before:
|
|
fail("[reset] after a soft reset the port's ok went to the sender")
|
|
print("PASS [reset]: the status hook survives a soft reset")
|
|
|
|
|
|
def test_dead_man(s):
|
|
s.sender.wait_state("Idle")
|
|
s.quiet()
|
|
if s.port.request("jog G91 X60 F200") != "ok":
|
|
fail("[dead-man] the long port jog was refused")
|
|
time.sleep(0.5)
|
|
s.port.close()
|
|
t0 = time.time()
|
|
s.sender.wait_state("Idle", timeout=6.0)
|
|
print("PASS [dead-man]: closing the port's client canceled its jog (idle after %.2f s)"
|
|
% (time.time() - t0))
|
|
s.port = PortClient(s.path)
|
|
if s.port.state()["port_jog"]:
|
|
fail("[dead-man] a new client inherited the old jog")
|
|
|
|
|
|
def own_address():
|
|
"""This host's own address on the network, which a connection to it
|
|
comes from: a sender from the network, as the controller sees it."""
|
|
u = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
try:
|
|
u.connect(("192.0.2.1", 9)) # TEST-NET: routes, sends nothing
|
|
addr = u.getsockname()[0]
|
|
except OSError:
|
|
addr = ""
|
|
finally:
|
|
u.close()
|
|
if not addr or addr.startswith("127."):
|
|
fail("[sender-out] this host has no address but the loopback; the test needs one")
|
|
return addr
|
|
|
|
|
|
def generation(s):
|
|
with open(os.path.join(s.workdir, "grbl.state")) as f:
|
|
return json.load(f)["sender"]["generation"]
|
|
|
|
|
|
def wait_closed(sender, what, timeout=3.0):
|
|
end = time.time() + timeout
|
|
while time.time() < end and not sender.closed:
|
|
time.sleep(0.05)
|
|
if not sender.closed:
|
|
fail("[sender-out] %s was not closed" % what)
|
|
|
|
|
|
def test_sender_out():
|
|
s = Session()
|
|
try:
|
|
own = own_address()
|
|
if s.port.state().get("sender_out") is not False:
|
|
fail("[sender-out] the state does not say the sender is let in")
|
|
net = Sender(PORT, host=own) # displaces the session's own sender
|
|
net.wait_state("Idle")
|
|
|
|
# A line that runs: a dwell is Idle to the core, and still the sender's.
|
|
net.sock.sendall(b"G4 P3" + net.eol.encode())
|
|
time.sleep(1.0)
|
|
got = s.port.request("sender out")
|
|
if got != "busy:sender":
|
|
fail("[sender-out] during the sender's dwell: %r, wanted busy:sender" % got)
|
|
end = time.time() + 5
|
|
while net.count() < 1 and time.time() < end:
|
|
time.sleep(0.05)
|
|
# A sender that just finished a line is not done with the machine.
|
|
if net.send("G21") != "ok":
|
|
fail("[sender-out] G21 was not answered ok")
|
|
got = s.port.request("sender out")
|
|
if got != "busy:sender":
|
|
fail("[sender-out] within 2 s of the sender's last line: %r, wanted busy:sender" % got)
|
|
# A program that moves.
|
|
net.sock.sendall(b"G91 G1 X20 F300" + net.eol.encode())
|
|
time.sleep(0.8)
|
|
got = s.port.request("sender out")
|
|
if got != "busy:state":
|
|
fail("[sender-out] while a program moves: %r, wanted busy:state" % got)
|
|
net.wait_state("Idle")
|
|
print("PASS [sender-out]: refused during a dwell, within 2 s of a line, and while a program moves")
|
|
|
|
time.sleep(2.3)
|
|
gen = generation(s)
|
|
got = s.port.request("sender out")
|
|
if got != "ok":
|
|
fail("[sender-out] an idle machine and a quiet sender: %r, wanted ok" % got)
|
|
wait_closed(net, "the connected sender")
|
|
if not net.saw("[MSG:The machine is in use"):
|
|
fail("[sender-out] the dropped sender was not told why: %r" % net.other[-3:])
|
|
st = s.port.state()
|
|
if st.get("sender_out") is not True or st.get("sender") is not False:
|
|
fail("[sender-out] the state after it: %r" % st)
|
|
print("PASS [sender-out]: granted, it dropped the sender after a message line")
|
|
|
|
gen = generation(s)
|
|
late = Sender(PORT, host=own)
|
|
wait_closed(late, "a sender from the network")
|
|
if not late.saw("[MSG:The machine is in use") or late.count():
|
|
fail("[sender-out] the turned-away sender read %r" % late.other)
|
|
time.sleep(0.3)
|
|
if generation(s) != gen or s.port.state().get("sender") is not False:
|
|
fail("[sender-out] turning a sender away changed the session")
|
|
local = Sender(PORT)
|
|
if local.closed or local.send("G21") != "ok":
|
|
fail("[sender-out] a sender on this host was not let in")
|
|
local.close()
|
|
print("PASS [sender-out]: a sender from the network is turned away and the session is "
|
|
"untouched; one from this host connects")
|
|
|
|
s.port.close()
|
|
s.port = PortClient(s.path)
|
|
if s.port.state().get("sender_out") is not True:
|
|
fail("[sender-out] it did not outlive the port's client")
|
|
if s.port.request("sender out") != "ok":
|
|
fail("[sender-out] asked again, it was not ok")
|
|
if s.port.request("sender in") != "ok":
|
|
fail("[sender-out] sender in was not ok")
|
|
if s.port.state().get("sender_out") is not False:
|
|
fail("[sender-out] sender in did not end it")
|
|
again = Sender(PORT, host=own)
|
|
if again.closed or again.send("G21") != "ok":
|
|
fail("[sender-out] after sender in, a sender from the network was not let in")
|
|
again.close()
|
|
print("PASS [sender-out]: it outlives the port's client, and sender in lets the network back in")
|
|
finally:
|
|
s.close()
|
|
|
|
|
|
def main():
|
|
if not os.path.exists(BIN):
|
|
fail("no controller binary at %s" % BIN)
|
|
s = Session()
|
|
try:
|
|
test_socket_mode(s)
|
|
test_status_routing(s)
|
|
test_error_not_inherited(s)
|
|
test_sender_wins(s)
|
|
test_sender_wins_queued(s)
|
|
test_refusals(s)
|
|
test_single_client(s)
|
|
test_reset_keeps_hook(s)
|
|
test_dead_man(s)
|
|
finally:
|
|
s.close()
|
|
test_crlf()
|
|
test_poll_lf()
|
|
test_poll_crlf()
|
|
test_port_dark()
|
|
test_sender_out()
|
|
print("ALL PASS")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|