ckochandClaude Opus 5.5
7afe562124
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>
271 lines
11 KiB
Python
271 lines
11 KiB
Python
"""The web app's library, player and HTTP API, against the GRBL simulator.
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Run from the software folder: python3 -m unittest discover -s tests -v"""
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import json
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import os
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import socket
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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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import unittest
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os.environ['SANDTABLE_QUIET'] = '1' # never pop up desktop notifications from the tests
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import urllib.request
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
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sys.path.insert(0, os.path.dirname(__file__))
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from sandtable import config, patterns, thr
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from sandtable.grbl import Controller
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from sandtable.ui import Panel
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from sandtable.web import Library, Player, serve
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from fakegrbl import FakeGrbl
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CFG = config.load('/nonexistent.toml')
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def make_library(tmp):
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root = os.path.join(tmp, 'patterns')
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os.makedirs(os.path.join(root, 'spirals'))
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os.makedirs(os.path.join(root, 'flowers'))
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thr.save(os.path.join(root, 'spirals', 'tiny.thr'), patterns.spiral(loops=2))
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thr.save(os.path.join(root, 'flowers', 'rose.thr'), patterns.rose(petals=3))
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return Library(CFG, root=root, cache=os.path.join(tmp, 'cache'), removed=os.path.join(tmp, 'removed'))
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def make_controller(speedup):
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fake = FakeGrbl(speedup=speedup, carriage_mm=30.0, switch_at=2.0)
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c = Controller(fake, 'grbl', log=lambda *a: None)
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c.wake(wait=0.3)
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return fake, c
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def wait_for(cond, timeout=30):
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t_end = time.monotonic() + timeout
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while time.monotonic() < t_end:
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if cond():
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return True
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time.sleep(0.05)
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return False
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class TestLibrary(unittest.TestCase):
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def setUp(self):
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self.tmp = tempfile.TemporaryDirectory()
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self.lib = make_library(self.tmp.name)
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def tearDown(self):
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self.tmp.cleanup()
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def test_items_and_thumbs(self):
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items = self.lib.items()
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self.assertEqual([d['id'] for d in items], ['flowers/rose.thr', 'spirals/tiny.thr'])
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png = self.lib.thumb('spirals/tiny.thr')
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self.assertTrue(os.path.getsize(png) > 1000)
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self.assertGreater(self.lib.items()[1]['est'], 0) # running time known once the thumbnail is made
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def test_refuses_paths_outside(self):
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for bad in ('../cache/index.json', '../../tiny.thr', '/etc/passwd', 'spirals/../../x.thr', 'spirals/nope.thr'):
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with self.assertRaises(KeyError):
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self.lib.path(bad)
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def test_upload_and_remove(self):
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ident = self.lib.add('My Design (1).thr', '# sandify\n0 0\n3.14 1\n')
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self.assertEqual(ident, 'uploads/My-Design-1.thr')
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self.assertEqual(self.lib.add('My Design (1).thr', '0 0\n1 1\n'), 'uploads/My-Design-1-2.thr')
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with self.assertRaises(ValueError):
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self.lib.add('junk.thr', 'hello\nworld\n')
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self.lib.remove(ident)
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self.assertNotIn(ident, [d['id'] for d in self.lib.items()])
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self.assertTrue(os.path.exists(os.path.join(self.tmp.name, 'removed', ident)))
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class TestPlayer(unittest.TestCase):
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def setUp(self):
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self.tmp = tempfile.TemporaryDirectory()
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self.lib = make_library(self.tmp.name)
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def tearDown(self):
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self.tmp.cleanup()
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def make(self, speedup, cfg=CFG):
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self.fake, self.c = make_controller(speedup)
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self.panel = Panel(self.c, cfg)
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self.alerts = []
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self.player = Player(self.panel, cfg, self.lib, alert=lambda t, m: self.alerts.append(m))
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self.player.speed = 40
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def test_plays_to_the_end(self):
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self.make(100)
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self.player.play(['spirals/tiny.thr'])
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self.assertTrue(wait_for(lambda: not self.player.running(), 60))
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self.assertEqual(self.player.state, 'idle')
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self.assertEqual(self.player.message, '')
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self.assertLessEqual(self.fake.max_rx, 128)
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self.assertTrue(any(l.startswith('$J=') for l in self.fake.lines)) # homed first
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# done: the motors are switched off, so the next design wakes them and homes again
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self.assertTrue(self.fake.sleeping)
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self.assertEqual(self.panel.status()['state'], 'Motors off')
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self.assertFalse(self.panel.homed)
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n_jogs = sum(1 for l in self.fake.lines if l.startswith('$J='))
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self.player.play(['spirals/tiny.thr'])
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self.assertTrue(wait_for(lambda: not self.player.running(), 60))
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self.assertEqual(self.player.message, '')
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self.assertGreater(sum(1 for l in self.fake.lines if l.startswith('$J=')), n_jogs) # homed again
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self.assertTrue(self.fake.sleeping)
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self.fake.close()
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def test_stop_switches_the_motors_off(self):
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self.make(20)
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self.player.play(['flowers/rose.thr'])
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self.assertTrue(wait_for(lambda: self.player.now and self.player.now['frac'] > 0.02, 60))
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self.player.stop()
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self.assertEqual(self.player.state, 'idle')
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self.assertTrue(self.fake.sleeping)
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self.assertFalse(self.fake.alarm) # stopped cleanly first, then slept
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self.assertFalse(self.panel.homed)
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self.fake.close()
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def test_stop_keeps_the_position(self):
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import copy
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cfg = copy.deepcopy(CFG)
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cfg['motion']['motors_off_when_done'] = False # motors left on: no re-homing needed
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self.make(20, cfg)
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self.player.play(['flowers/rose.thr'])
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self.assertTrue(wait_for(lambda: self.player.now and self.player.now['frac'] > 0.02, 60))
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self.player.stop()
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self.assertFalse(self.player.running())
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self.assertEqual(self.player.state, 'idle')
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st = self.c.query()
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self.assertEqual(st.state, 'Idle')
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self.assertFalse(self.fake.alarm)
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real = self.fake.mpos[1] + self.fake.offset_true # where the carriage really is
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# still homed: rho matches the carriage to within the simulator's homing overshoot. Without
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# putting the G92 offset back after the reset it would be ~30 mm out.
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self.assertAlmostEqual(st.wpos[1], real, delta=0.2)
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self.assertTrue(self.panel.homed)
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self.fake.close()
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def test_pause_resume_and_skip(self):
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self.make(20)
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self.player.play(['flowers/rose.thr', 'spirals/tiny.thr'])
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self.assertTrue(wait_for(lambda: self.player.now and self.player.now['name'] == 'rose' and self.player.now['frac'] > 0.01, 60))
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self.player.pause()
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self.assertEqual(self.player.state, 'paused')
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time.sleep(0.3)
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y = self.c.status.mpos[1]
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time.sleep(0.3)
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self.assertAlmostEqual(self.c.status.mpos[1], y, places=3) # held still
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self.player.resume()
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self.player.skip()
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self.assertTrue(wait_for(lambda: self.player.now and self.player.now['name'] == 'tiny', 30))
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self.player.stop()
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self.assertEqual(self.player.state, 'idle')
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self.fake.close()
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def test_switch_trip_is_reported(self):
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self.make(20)
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self.player.play(['flowers/rose.thr'])
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self.assertTrue(wait_for(lambda: self.player.now and self.player.now['frac'] > 0.05, 60))
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with self.fake.lock:
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self.fake.switch_at = 1000.0 # the switch closes everywhere
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self.assertTrue(wait_for(lambda: not self.player.running(), 30))
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self.assertIn('home switch', self.player.message)
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self.assertEqual(len(self.alerts), 1)
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self.assertFalse(self.panel.homed)
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self.fake.close()
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class TestReconnect(unittest.TestCase):
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def setUp(self):
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self.tmp = tempfile.TemporaryDirectory()
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self.lib = make_library(self.tmp.name)
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def tearDown(self):
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self.tmp.cleanup()
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def test_cable_out_and_back_in(self):
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fake, c = make_controller(20)
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fresh = []
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def opener(cfg): # "plugging back in" gives a new simulated Uno
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if not fresh:
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raise OSError('the Uno is not connected: plug in its USB cable (it reconnects by itself)')
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return fresh[-1]
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panel = Panel(c, CFG, opener=opener)
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player = Player(panel, CFG, self.lib)
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player.play(['flowers/rose.thr'])
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self.assertTrue(wait_for(lambda: player.now and player.now['frac'] > 0.02, 60))
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fake.unplugged = True
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self.assertTrue(wait_for(lambda: not player.running(), 10))
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self.assertIn('USB connection', player.message)
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self.assertTrue(wait_for(lambda: not panel.connected, 5))
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self.assertFalse(panel.homed)
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self.assertTrue(wait_for(lambda: 'not connected' in panel.error, 5)) # trying to reconnect
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new = FakeGrbl(speedup=20, carriage_mm=30.0)
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fresh.append(new)
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self.assertTrue(wait_for(lambda: panel.connected, 10))
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self.assertEqual(panel.error, '')
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self.assertEqual(c.query().state, 'Idle')
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player.play(['spirals/tiny.thr']) # homes again, then draws
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self.assertTrue(wait_for(lambda: player.now and player.now['name'] == 'tiny', 60))
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self.assertTrue(panel.homed)
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player.stop()
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self.assertTrue(new.sleeping) # motors off after the stop
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new.close()
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fake.close()
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class TestHttp(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.tmp = tempfile.TemporaryDirectory()
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lib = make_library(cls.tmp.name)
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cls.fake, c = make_controller(100)
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s = socket.socket()
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s.bind(('127.0.0.1', 0))
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cls.port = s.getsockname()[1]
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s.close()
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threading.Thread(target=serve, args=(c, CFG), kwargs={'port': cls.port, 'open_browser': False, 'library': lib},
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daemon=True).start()
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assert wait_for(lambda: cls._up(), 10)
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@classmethod
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def _up(cls):
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try:
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urllib.request.urlopen(f'http://127.0.0.1:{cls.port}/api/status', timeout=1)
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return True
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except OSError:
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return False
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def get(self, path):
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with urllib.request.urlopen(f'http://127.0.0.1:{self.port}{path}', timeout=10) as r:
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return r.read()
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def post(self, path, body=None, raw=None):
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data = raw if raw is not None else json.dumps(body or {}).encode()
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req = urllib.request.Request(f'http://127.0.0.1:{self.port}/api/{path}', data=data, method='POST')
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with urllib.request.urlopen(req, timeout=40) as r:
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return json.loads(r.read())
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def test_pages_and_play(self):
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self.assertIn(b'Sand Table', self.get('/'))
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self.assertIn(b'jog & calibrate', self.get('/jog'))
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lib = json.loads(self.get('/api/library'))
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self.assertEqual(len(lib), 2)
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self.assertTrue(self.get('/thumb?id=spirals/tiny.thr').startswith(b'\x89PNG'))
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r = self.post('play', {'ids': ['spirals/tiny.thr']})
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self.assertTrue(r['ok'], r)
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self.assertFalse(self.post('jog', {'axis': 'Y', 'd': 1})['ok']) # refused while playing
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self.assertTrue(wait_for(lambda: json.loads(self.get('/api/status'))['player']['state'] == 'idle', 60))
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st = json.loads(self.get('/api/status'))
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self.assertEqual(st['machine']['state'], 'Motors off')
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self.assertEqual(st['player']['message'], '')
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self.assertFalse(self.post('play', {'ids': ['../../etc/passwd']})['ok'])
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up = self.post('upload?name=new.thr', raw=b'0 0\n6.28 1\n')
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self.assertEqual(up['msg'], 'uploads/new.thr')
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if __name__ == '__main__':
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unittest.main()
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