test: home qtdragon ui-smoke in place to fix RT/non-RT homing race

qtdragon phase-2 intermittently failed with homed=[0,0,0] after the 60s
home timeout. As BsAtHome noted, an RT/non-RT homing race under CI load.

The qtdragon sim homes by moving each joint into a simulated switch
(HOME_SEARCH_VEL > 0). That RT search-move races the non-RT task under
load and can stall with joints never homed; motion_mode is already free
when it hangs, so it is not a teleop/mode issue. The stable sims (touchy)
home in place with HOME_SEARCH_VEL=0.

Zero HOME_SEARCH_VEL/HOME_LATCH_VEL in the test's config mirror so
qtdragon homes in place. Shipped config untouched; the test checks a
position delta, so the home offset does not matter. Also log motion_mode
in the home WARN/timeout lines (that is what ruled out a teleop race).

Author: grandixximo

tests/ui-smoke/_lib/drive.py

@@ -121,14 +121,16 @@ def home_all(cmd, stat, timeout):
             cmd.home(-1)
             sys.stderr.write(
                 f"WARN: re-issued home(-1); homed={list(stat.homed[:njoints])} "
-                f"task_state={stat.task_state} task_mode={stat.task_mode}\n")
+                f"task_state={stat.task_state} task_mode={stat.task_mode} "
+                f"motion_mode={stat.motion_mode}\n")
             next_reissue = time.monotonic() + HOME_REISSUE_S
         time.sleep(POLL_INTERVAL_S)
     stat.poll()
     sys.stderr.write(
         f"UI_SMOKE_FAIL: timeout waiting for all joints homed after "
         f"{timeout}s; homed={list(stat.homed[:njoints])} "
         f"task_state={stat.task_state} task_mode={stat.task_mode} "
+        f"motion_mode={stat.motion_mode} "
         f"exec_state={stat.exec_state} njoints={njoints}\n")
     return False
 

tests/ui-smoke/qtdragon/test.sh

@@ -37,6 +37,15 @@ cp -r "$SRC_DIR/." "$WORK_DIR/"
 sed -i 's|^LOG_FILE = qtdragon\.log$|LOG_FILE = ~/qtdragon.log|' \
     "$WORK_DIR/qtdragon_metric.ini"
 
+# Home in place. The shipped config homes by moving each joint into a
+# simulated switch (HOME_SEARCH_VEL > 0); that RT search-move races the
+# non-RT task under CI load and intermittently leaves joints unhomed
+# (BsAtHome). The smoke test only needs joints homed, so zero the
+# search/latch velocities. Mirror only; shipped config untouched.
+sed -i 's|^\(HOME_SEARCH_VEL\)\([[:space:]]*\)=.*|\1\2= 0|; \
+        s|^\(HOME_LATCH_VEL\)\([[:space:]]*\)=.*|\1\2= 0|' \
+    "$WORK_DIR/qtdragon_metric.ini"
+
 export LINUXCNC_OPENGL_PLATFORM=offscreen
 export QT_QPA_PLATFORM=offscreen