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When a machine is switched to a non-G-code driver such as the Ruida
RPA adapter, its dialect_uid kept pointing at the Grbl dialect. Job
encoding picked the native Grbl encoder based on that stale dialect
and handed GRBL G-code to the Ruida driver, which failed to stage the
job with 'Missing '(' in gluescript line: G21 ;Set units to mm'.
- Machine.set_driver now syncs the dialect with the driver's G-code
capability: non-G-code drivers clear the leftover dialect, and
switching back to a G-code driver restores the framework default.
- IntentBuilder._build_encoder now consults the driver's uses_gcode
flag before routing to the native Grbl encoder, so encoding always
follows the connected driver even if a stale dialect survives.
Fixes #420
Setting driver_name on a machine backed by the real context lazily creates a MachineController, which schedules the debounced rebuild-driver-on-init coroutine on the task manager. Sync tests never pump the event loop, so the task can still be pending at teardown and the task_mgr fixture fails with 'Task manager still has tasks'. Build the routing tests on the isolated_machine fixture instead: its mocked context never constructs a real controller, so no background task is scheduled. This matches the other encoder-routing tests in the file.
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Problem
Sending a job to a machine that was switched over to the new Ruida (RPA) driver crashed the send-job task (#420):
Jogging worked, but every job sent GRBL G-code to the Ruida driver.
Root cause
Every machine carries a
dialect_uiddescribing the G-code flavor of its controller, and new machines default togrbl. Switching the machine to a driver that does not speak G-code (RuidaRPAAdapter) did not clear that setting, so the machine still claimed to be a GRBL speaker.The job encoder route in
IntentBuilder._build_encoder()picked the native GRBL encoder purely from the dialect (_is_grbl(dialect)), without consulting the connected driver. The resulting GRBL G-code (G21 ;Set units to mmpreamble) was then handed toRuidaRPAAdapter.run()→stage_gluescript(), whose parser only acceptsmethod(arg)transcript lines.Fix
Machine.set_driver()now syncs the dialect with the driver's G-code capability (_sync_dialect_with_driver):uses_gcode == False) clear the leftover dialect,grbl), mirroring the deserialization fallback inMachine.from_dict().IntentBuilder._build_encoder()only routes to the native GRBLGcodeSpecwhen the driver itself consumes G-code (new_driver_uses_gcode()helper), so job encoding always follows the connected driver — defense in depth against any stale dialect.Testing
RuidaRPAAdapterclears the stalegrbldialect; switching back to a G-code driver restores it. Removed the now-redundantset_dialect_uid(None)workaround fromtest_supports_travel_speed_non_gcode_driver.GcodeSpec; a non-G-code driver with a leftover Grbl dialect routes to the driver'sPythonEncoder.tests/machine/driver/ruidarpa/(326),tests/machine/models/(983),tests/pipeline/(324),tests/machine/device/+tests/machine/driver/(985): all pass.pixi run lintandpixi run formatclean.Stacked on #417 (base branch:
fix/415-ruida-driver-switch-crash).Fixes #420