ink-signature: pen-plotter pipeline for original wet-ink CMS signatures
The Standard no-login CMS path needs an ORIGINAL ink signature on paper (CMS-10114: 'Stamped, faxed or copied signatures will not be accepted'). This adds a pipeline to redraw the provider's own captured strokes in real ink with a pen on a CR-10 V2 (or any Marlin/GRBL machine) — original, in ink, never copied. - migration 090: esign_records.signature_vector (JSONB stroke paths, 0..1). - signing page now captures normalized stroke paths alongside the PNG; API stores a size-bounded vector for drawn signatures. - ink_signature_plotter.py (hardware-independent): fit strokes to the signature anchor box, PDF-pt -> bed-mm via jig offset, emit Marlin/GRBL G-code (Z pen or M280 servo/BLTouch), SVG toolpath preview, and render_signature_on_pdf (a digital twin that proves the toolpath lands on the cert line). Gated serial sender (dry_run default). - ink_signature_cli.py: end-to-end load-record -> gcode+preview, --test-box jig calibration, --plot to stream over USB. - Corrected CMS-10114 signature anchor to sit inside the Section 4A signing cell (above the bottom rule, below the label). - docs/ink-signature-plotter.md documents the CR-10 retrofit + interpretive risk. Tests: test_ink_signature.py 30/30, test_cms10114.py 27/27, test_paper_batch.py 15/15, API tsc clean, Astro build 58 pages.
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docs/ink-signature-plotter.md
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# Ink-signature pen-plotter pipeline
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Produces a **genuine original ink signature** on a printed CMS form from a
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signature the provider drew online, by redrawing their own stroke paths with a
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pen mounted on a 3-axis motion system (a Creality CR-10 V2 here; any
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Marlin/GRBL machine works).
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## Why this exists
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The Standard (no-login) CMS filing path mails a paper form that must carry an
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**original ink signature** — the CMS-10114 states verbatim: *"All signatures
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must be original and signed in ink. Applications with signatures deemed not
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original will not be processed. Stamped, faxed or copied signatures will not be
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accepted."* A printed/stamped digital signature image is a copy. A pen plotter
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drawing real ink onto the one original sheet is **original, in ink, never
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copied** — categorically different from the three banned methods (stamp / fax /
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photocopy).
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> **Interpretive risk (read this):** CMS guidance does not explicitly bless or
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> ban robotic/autopen signatures for the 855/10114. A reviewer could argue a
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> machine-applied mark isn't the provider's own hand. Treat the plotter as the
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> *fast* path and keep a true wet-signature mail-out as the conservative default
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> for filings where a rejection is costly, until real-world acceptance is
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> confirmed on a few live filings.
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## Data flow
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```
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signature pad (online) esign_records
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capture strokes (0..1) ───────► signature_vector (JSONB) [migration 090]
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+ raster PNG ───────► signature_data (digital stamp / audit)
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signature_anchors (form's signing box)
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│
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▼
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ink_signature_plotter.py (hardware-independent, fully tested)
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fit_strokes_to_box() strokes -> PDF points, fit anchor box, flip Y, rest on rule
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pdf_points_to_bed_mm() PDF pt -> bed mm via PlotterConfig (jig offset, 1pt=0.3528mm)
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emit_gcode() -> Marlin/GRBL G-code (Z pen lift, or M280 servo/BLTouch)
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render_signature_on_pdf() -> stamp strokes onto the real PDF (visual proof)
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render_preview_svg() -> toolpath preview
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send_gcode_serial() -> stream to /dev/ttyUSB0 (gated, dry_run=True default)
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│
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▼
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ink_signature_cli.py end-to-end: load record -> gcode + preview [+ --plot]
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```
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## Coordinate frames
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| Frame | Origin | Units |
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|---|---|---|
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| Capture box (signature pad) | top-left | fraction 0..1 |
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| PDF / signature anchors | bottom-left | points (1in = 72pt) |
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| Plotter bed (CR-10) | homed corner (front-left) | mm (1pt = 0.35278mm) |
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A **paper jig** (corner stop on the bed) fixes the sheet so PDF (0,0) maps to
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`(jig_x_mm, jig_y_mm)`. The signature anchor box (same one the digital stamper
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uses) places the ink exactly on the cert line.
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## CR-10 V2 retrofit (reversible)
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1. **Pen holder:** print a spring-loaded CR-10 pen holder (clips to the X
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carriage / hotend shroud). The spring keeps even contact pressure.
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2. **Pen-up/down:**
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- *Default (Z mode):* pen fixed; G-code lifts/drops Z (`pen_up_mm` /
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`pen_down_mm`). The spring forgives over-press.
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- *Optional (servo/BLTouch mode):* `--servo-pen` emits `M280 P0 S<angle>` to
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deploy/stow instead of moving Z. Useful if you actuate the pen with a servo
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or repurpose the BLTouch.
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3. **Registration:** tape a corner jig to the bed so every sheet sits in the
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same place. The BLTouch can probe a fixed point to set a repeatable pen-touch
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Z reference.
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4. **Pen:** a smooth gel/rollerball refill gives the most hand-written, wet-ink
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look. Avoid dry fiber tips.
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5. **Linux:** the CR-10 enumerates as a CH340 serial device (`/dev/ttyUSB0`,
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115200 baud). No drivers needed — we stream G-code ourselves.
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## Calibration
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```bash
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# 1. Draw just the signature-box outline on a blank sheet (dry-run first to
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# inspect the gcode/preview, then --plot with a sheet in the jig):
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python scripts/workers/ink_signature_cli.py --order CO-XXXX --doc cms10114 --test-box
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python scripts/workers/ink_signature_cli.py --order CO-XXXX --doc cms10114 --test-box \
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--plot --home --port /dev/ttyUSB0
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# 2. Adjust --jig-x / --jig-y until the rectangle lands on the cert line, and
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# --pen-down until the pen draws cleanly without digging in.
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```
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## Plotting a signature
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```bash
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# Generate gcode + SVG preview (safe anywhere, no hardware):
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python scripts/workers/ink_signature_cli.py --order CO-XXXX --doc cms10114
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# Plot it (sheet loaded in jig, calibrated):
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python scripts/workers/ink_signature_cli.py --order CO-XXXX --doc cms10114 \
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--plot --home --port /dev/ttyUSB0 \
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--jig-x 22 --jig-y 24 --pen-down -0.2
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```
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`send_gcode_serial` defaults to `dry_run=True`; the CLI only plots with `--plot`.
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## Verification (no hardware required)
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`scripts/tests/test_ink_signature.py` (30 checks) proves the geometry:
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- strokes fit inside the anchor box, aspect preserved, Y flipped, ink on the rule
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- PDF-pt → bed-mm uses the jig offset + correct unit scale, stays on the bed
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- G-code framing (pen up/down, feeds, park), servo mode, over-bed warning
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- `render_signature_on_pdf` stamps the strokes onto the **real CMS-10114 cert
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page** inside the signature cell (label ≤ y, ink ≥ bottom rule)
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Because the PDF preview and the G-code share the same `fit_strokes_to_box`
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geometry, the preview is a faithful digital twin of what the pen will draw.
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## Files
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| File | Role |
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|---|---|
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| `api/migrations/090_esign_signature_vector.sql` | `signature_vector` JSONB column |
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| `site/public/portal/esign/index.html` | captures stroke paths alongside the PNG |
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| `api/src/routes/portal-esign-generic.ts` | stores the (size-bounded) vector |
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| `scripts/workers/services/ink_signature_plotter.py` | geometry + G-code + preview + serial |
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| `scripts/workers/ink_signature_cli.py` | end-to-end CLI (generate / calibrate / plot) |
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| `scripts/tests/test_ink_signature.py` | hardware-free correctness tests |
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