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kdl-wasm/web/tests/controller/virtualController.test.ts

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+import { describe, expect, it } from "vitest";
+import type { SemanticProgramIr } from "../../src/grl/ir/index.js";
+import { IrExecutionRuntime, VirtualControllerStateMachine } from "../../src/controller/index.js";
+
+function program(): SemanticProgramIr {
+  return {
+    moduleName: "Main",
+    symbols: [],
+    semanticChecks: [],
+    paths: [],
+    operations: [],
+    diagnostics: [],
+    sourceMap: [
+      {
+        kind: "CALL",
+        id: "call_helper",
+        procedureId: "main",
+        sourceMap: { file: "main.grl", line: 2, column: 5 }
+      },
+      {
+        kind: "ALARM",
+        id: "helper_alarm",
+        procedureId: "helper",
+        sourceMap: { file: "main.grl", line: 6, column: 5 }
+      }
+    ],
+    procedures: [
+      {
+        name: "main",
+        sourceMap: { file: "main.grl", line: 1, column: 1 },
+        instructions: [
+          {
+            kind: "RAW_STATEMENT",
+            text: "ready = true",
+            sourceMap: { file: "main.grl", line: 1, column: 5 }
+          },
+          {
+            kind: "CALL",
+            target: "helper",
+            args: [],
+            sourceMap: { file: "main.grl", line: 2, column: 5 }
+          },
+          {
+            kind: "RETURN",
+            sourceMap: { file: "main.grl", line: 3, column: 5 }
+          }
+        ]
+      },
+      {
+        name: "helper",
+        sourceMap: { file: "main.grl", line: 5, column: 1 },
+        instructions: [
+          {
+            kind: "ALARM",
+            alarmId: "A1",
+            message: "helper alarm",
+            severity: "warning",
+            sourceMap: { file: "main.grl", line: 6, column: 5 }
+          },
+          {
+            kind: "RETURN",
+            sourceMap: { file: "main.grl", line: 7, column: 5 }
+          }
+        ]
+      }
+    ],
+    kdlBridge: {
+      motionRequests: [],
+      pathRequests: []
+    }
+  };
+}
+
+describe("virtual controller state machine and IR execution runtime", () => {
+  it("reports legal and illegal controller command transitions", () => {
+    const machine = new VirtualControllerStateMachine();
+
+    expect(machine.dispatch("run")).toMatchObject({
+      ok: false,
+      state: "unloaded",
+      diagnostic: { code: "VC_INVALID_STATE_TRANSITION" }
+    });
+    expect(machine.dispatch("load")).toMatchObject({ ok: true, previous: "unloaded", state: "stopped" });
+    expect(machine.dispatch("run")).toMatchObject({ ok: true, previous: "stopped", state: "running" });
+    expect(machine.dispatch("pause")).toMatchObject({ ok: true, previous: "running", state: "paused" });
+    expect(machine.dispatch("step")).toMatchObject({ ok: true, previous: "paused", state: "paused" });
+    expect(machine.dispatch("stop")).toMatchObject({ ok: true, previous: "paused", state: "stopped" });
+    expect(machine.snapshot().diagnostics).toHaveLength(1);
+  });
+
+  it("executes PC, calls, scopes, alarms, trace, source map, and breakpoints", () => {
+    const runtime = new IrExecutionRuntime();
+    runtime.load(program());
+
+    expect(runtime.snapshot()).toMatchObject({
+      procedure: "main",
+      pc: 0,
+      scopeStack: [{ id: "global" }, { id: "main" }]
+    });
+
+    runtime.setBreakpoint({ id: "helper-alarm", procedure: "helper", source: { line: 6 }, enabled: true });
+    expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "RAW_STATEMENT" } });
+    expect(runtime.getVariable("ready")).toBe(true);
+    expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "CALL" } });
+    expect(runtime.snapshot()).toMatchObject({
+      procedure: "helper",
+      pc: 0,
+      callStack: [expect.objectContaining({ procedure: "helper", returnTo: { procedure: "main", pc: 2 } })]
+    });
+
+    expect(runtime.step()).toMatchObject({ status: "breakpoint", instruction: { kind: "ALARM" } });
+    expect(runtime.removeBreakpoint("helper-alarm")).toBe(true);
+    expect(runtime.step()).toMatchObject({ status: "executed", instruction: { kind: "ALARM" } });
+    expect(runtime.snapshot().alarmQueue).toEqual([
+      expect.objectContaining({ id: "A1", message: "helper alarm", severity: "warning" })
+    ]);
+    expect(runtime.currentSource()).toMatchObject({ sourceMap: { line: 7 } });
+    expect(runtime.run()).toMatchObject({ status: "completed" });
+    expect(runtime.snapshot().trace).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({ kind: "load" }),
+        expect.objectContaining({ kind: "breakpoint", data: { breakpointId: "helper-alarm" } }),
+        expect.objectContaining({ kind: "alarm", data: { alarmId: "A1", severity: "warning" } })
+      ])
+    );
+  });
+});