Switch the motors off when the designs are done or stopped

After the last design (or a Stop), the player sends $SLP (GRBL and FluidNC
sleep), so the motors stop holding and the table is quiet. The page shows
"Motors off"; the next design wakes the controller (reset + unlock) and homes
first, since the arm can be moved by hand while the motors are off. The jog
panel wakes it too. Setting: motion.motors_off_when_done (default true).

Checked on the real Uno: Idle -> $SLP -> Sleep -> reset -> Alarm -> $X -> Idle.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

software/tests/test_web.py

@@ -88,11 +88,11 @@ class TestPlayer(unittest.TestCase):
     def tearDown(self):
         self.tmp.cleanup()
 
-    def make(self, speedup):
+    def make(self, speedup, cfg=CFG):
         self.fake, self.c = make_controller(speedup)
-        self.panel = Panel(self.c, CFG)
+        self.panel = Panel(self.c, cfg)
         self.alerts = []
-        self.player = Player(self.panel, CFG, self.lib, alert=lambda t, m: self.alerts.append(m))
+        self.player = Player(self.panel, cfg, self.lib, alert=lambda t, m: self.alerts.append(m))
         self.player.speed = 40
 
     def test_plays_to_the_end(self):
@@ -101,13 +101,36 @@ class TestPlayer(unittest.TestCase):
         self.assertTrue(wait_for(lambda: not self.player.running(), 60))
         self.assertEqual(self.player.state, 'idle')
         self.assertEqual(self.player.message, '')
-        self.assertTrue(self.panel.homed)
         self.assertLessEqual(self.fake.max_rx, 128)
         self.assertTrue(any(l.startswith('$J=') for l in self.fake.lines))     # homed first
+        # done: the motors are switched off, so the next design wakes them and homes again
+        self.assertTrue(self.fake.sleeping)
+        self.assertEqual(self.panel.status()['state'], 'Motors off')
+        self.assertFalse(self.panel.homed)
+        n_jogs = sum(1 for l in self.fake.lines if l.startswith('$J='))
+        self.player.play(['spirals/tiny.thr'])
+        self.assertTrue(wait_for(lambda: not self.player.running(), 60))
+        self.assertEqual(self.player.message, '')
+        self.assertGreater(sum(1 for l in self.fake.lines if l.startswith('$J=')), n_jogs)   # homed again
+        self.assertTrue(self.fake.sleeping)
+        self.fake.close()
+
+    def test_stop_switches_the_motors_off(self):
+        self.make(20)
+        self.player.play(['flowers/rose.thr'])
+        self.assertTrue(wait_for(lambda: self.player.now and self.player.now['frac'] > 0.02, 60))
+        self.player.stop()
+        self.assertEqual(self.player.state, 'idle')
+        self.assertTrue(self.fake.sleeping)
+        self.assertFalse(self.fake.alarm)               # stopped cleanly first, then slept
+        self.assertFalse(self.panel.homed)
         self.fake.close()
 
     def test_stop_keeps_the_position(self):
-        self.make(20)
+        import copy
+        cfg = copy.deepcopy(CFG)
+        cfg['motion']['motors_off_when_done'] = False      # motors left on: no re-homing needed
+        self.make(20, cfg)
         self.player.play(['flowers/rose.thr'])
         self.assertTrue(wait_for(lambda: self.player.now and self.player.now['frac'] > 0.02, 60))
         self.player.stop()
@@ -186,8 +209,9 @@ class TestReconnect(unittest.TestCase):
         self.assertEqual(c.query().state, 'Idle')
         player.play(['spirals/tiny.thr'])            # homes again, then draws
         self.assertTrue(wait_for(lambda: player.now and player.now['name'] == 'tiny', 60))
-        player.stop()
         self.assertTrue(panel.homed)
+        player.stop()
+        self.assertTrue(new.sleeping)                 # motors off after the stop
         new.close()
         fake.close()
 
@@ -235,7 +259,7 @@ class TestHttp(unittest.TestCase):
         self.assertFalse(self.post('jog', {'axis': 'Y', 'd': 1})['ok'])      # refused while playing
         self.assertTrue(wait_for(lambda: json.loads(self.get('/api/status'))['player']['state'] == 'idle', 60))
         st = json.loads(self.get('/api/status'))
-        self.assertTrue(st['machine']['homed'])
+        self.assertEqual(st['machine']['state'], 'Motors off')
         self.assertEqual(st['player']['message'], '')
         self.assertFalse(self.post('play', {'ids': ['../../etc/passwd']})['ok'])
         up = self.post('upload?name=new.thr', raw=b'0 0\n6.28 1\n')