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wangdequan
146
kdl-wasm/web/tests/olp/geometry.test.ts
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146
kdl-wasm/web/tests/olp/geometry.test.ts
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import { describe, expect, it } from "vitest";
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import {
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applyCalibrationRecords,
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commercialExtensionBoundaries,
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compareControllerLowSpeedRun,
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createResourceLibraryTemplate,
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detectBasicCollisions,
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generatePathFromGeometry,
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instantiateProcessTemplate,
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locateCollisionTime,
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sampleOlpProject,
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validateOlpProject
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} from "../../src/olp/index.js";
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describe("OLP geometry, calibration, and multi-robot extensions", () => {
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it("generates path targets from points, edges, and curves", () => {
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const pointPath = generatePathFromGeometry(
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{ kind: "points", points: [[500, 0, 0], [600, 0, 0]] },
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{ pathId: "point_path", speedId: "v_linear", zoneId: "z10" }
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);
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const edgePath = generatePathFromGeometry(
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{ kind: "edge", start: [0, 0, 0], end: [100, 0, 0], samples: 3 },
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{ pathId: "edge_path" }
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);
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const curvePath = generatePathFromGeometry(
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{ kind: "curve", controlPoints: [[0, 0, 0], [50, 50, 0], [100, 0, 0]], samples: 3 },
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{ pathId: "curve_path", targetPrefix: "curve" }
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);
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expect(pointPath.targets.map((target) => target.pose)).toEqual([
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[500, 0, 0, 0, 0, 0],
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[600, 0, 0, 0, 0, 0]
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]);
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expect(edgePath.targets.map((target) => target.pose?.[0])).toEqual([0, 50, 100]);
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expect(curvePath.targets.map((target) => target.name)).toEqual(["curve_00", "curve_01", "curve_02"]);
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expect(curvePath.path.points.map((point) => point.motion)).toEqual(["movej", "movel", "movel"]);
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});
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it("detects primitive collisions and locates the first time point", () => {
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const project = sampleOlpProject();
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const report = detectBasicCollisions([
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{ time: 0, pointId: "p0", position: [100, 0, 0] },
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{ time: 1.25, pointId: "p1", position: [550, 0, -40] }
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], project.resources.collisionObjects);
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expect(report.ok).toBe(false);
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expect(report.hits).toEqual([
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expect.objectContaining({
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objectId: "fixture_box",
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pointId: "p1",
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time: 1.25
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})
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]);
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expect(locateCollisionTime(report)).toBe(1.25);
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});
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it("saves and applies TCP/frame/base/external-axis calibration records", () => {
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const project = sampleOlpProject();
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const calibrated = applyCalibrationRecords(project, [
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{
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id: "tcp_cal_2",
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name: "tcp_cal_2",
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kind: "tcp",
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targetResourceId: "tool_gripper",
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poseDelta: [1, 2, 3, 0, 0, 0]
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},
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{
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id: "fixture_cal_1",
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name: "fixture_cal_1",
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kind: "frame",
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targetResourceId: "frame_fixture",
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poseDelta: [10, 0, 0, 0, 0, 0]
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},
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{
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id: "track_cal_1",
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name: "track_cal_1",
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kind: "external_axis",
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targetResourceId: "track_1",
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axisOffset: 2.5
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}
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]);
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expect(calibrated.resources.tools.find((tool) => tool.id === "tool_gripper")?.tcp).toEqual([1, 2, 103, 0, 0, 0]);
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expect(calibrated.resources.frames.find((frame) => frame.id === "frame_fixture")?.pose).toEqual([810, 0, 0, 0, 0, 0]);
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expect(calibrated.externalAxes[0]?.metadata).toEqual({ calibrationOffset: 2.5 });
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expect(validateOlpProject(calibrated).ok).toBe(true);
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});
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it("creates resource library and process template delivery boundaries", () => {
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const project = sampleOlpProject();
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const library = createResourceLibraryTemplate(project);
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const template = instantiateProcessTemplate(project.processTemplates[0]!, "pick_op");
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const boundaries = commercialExtensionBoundaries();
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expect(library).toMatchObject({
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robots: [{ id: "robot_1", brand: "abb", model: "IRB120" }],
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collisionObjects: [{ id: "fixture_box" }]
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});
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expect(template).toEqual({
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operationId: "pick_op",
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operationKind: "handling",
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defaults: { speedId: "v_linear", zoneId: "z10" },
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deliveryTags: ["source", "post", "report"]
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});
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expect(boundaries).toEqual(expect.arrayContaining([
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expect.objectContaining({ feature: "cad_kernel", mvp: false }),
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expect.objectContaining({ feature: "delivery_package", mvp: true })
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]));
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});
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it("reports multi-robot/external-axis low-speed controller verification boundaries", () => {
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const project = sampleOlpProject();
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const report = compareControllerLowSpeedRun([
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{
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pointId: "p01",
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offline: [500, 0, 0, 0, 0, 0],
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measured: [501, 0, 0, 0.1, 0, 0],
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speedPercent: 10
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},
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{
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pointId: "p02",
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offline: [600, 0, 0, 0, 0, 0],
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measured: [604, 0, 0, 0.5, 0, 0],
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speedPercent: 10
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}
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], {
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positionMm: 5,
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orientationDeg: 1
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});
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expect(project.motionGroups[0]).toMatchObject({
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robotIds: ["robot_1"],
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externalAxisIds: ["track_1"]
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});
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expect(report).toMatchObject({
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status: "pass",
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speedPercent: 10,
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maxPositionErrorMm: 4,
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maxOrientationErrorDeg: 0.5
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});
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expect(report.boundaries).toEqual(expect.arrayContaining([
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expect.stringContaining("does not open a live controller communication session"),
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expect.stringContaining("does not include a full CAD kernel")
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]));
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});
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});
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114
kdl-wasm/web/tests/olp/model.test.ts
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114
kdl-wasm/web/tests/olp/model.test.ts
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import { describe, expect, it } from "vitest";
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import { postProcessAllBrands } from "../../src/grl/post/index.js";
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import { parseGrl } from "../../src/grl/parser/index.js";
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import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
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import {
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applyPatch,
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pathOperationToGrl,
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sampleOlpProject,
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validateOlpProject,
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type OlpProjectModel
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} from "../../src/olp/index.js";
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describe("OLP project model", () => {
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it("creates a serializable station/resource/path/operation sample", () => {
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const project = sampleOlpProject();
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const restored = JSON.parse(JSON.stringify(project)) as OlpProjectModel;
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const report = validateOlpProject(restored);
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expect(restored.schemaVersion).toBe("olp/0.1");
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expect(report).toEqual({ ok: true, issues: [] });
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expect(restored.resources.robots[0]).toMatchObject({
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id: "robot_1",
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kind: "robot",
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brand: "abb"
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});
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expect(restored.externalAxes[0]).toMatchObject({
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id: "track_1",
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axisKind: "linear"
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});
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expect(restored.motionGroups[0]).toMatchObject({
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robotIds: ["robot_1"],
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externalAxisIds: ["track_1"],
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coordination: "synchronized"
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});
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});
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it("applies brand import style object patches and validates references", () => {
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const patched = applyPatch(sampleOlpProject(), [
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{
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op: "add",
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path: "/targets/-",
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value: {
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id: "inspect",
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name: "inspect",
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kind: "pose",
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robotId: "robot_1",
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pose: [650, 25, 0, 0, 0, 0],
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toolId: "tool_gripper",
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frameId: "frame_fixture"
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}
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},
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{
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op: "add",
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path: "/paths/0/points/-",
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value: {
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id: "p03",
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name: "p03",
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motion: "movel",
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targetId: "inspect",
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speedId: "v_linear",
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zoneId: "z10"
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}
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}
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]);
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expect(validateOlpProject(patched).ok).toBe(true);
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expect(patched.paths[0]?.points.map((point) => point.name)).toEqual(["p00", "p01", "p02", "p03"]);
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});
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it("generates stable parseable GRL from Path and Operation", () => {
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const result = pathOperationToGrl(sampleOlpProject(), "pick_op", {
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moduleName: "DemoCell",
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style: "expanded"
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});
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const ast = parseGrl(result.text);
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const ir = compileSemanticProgram(ast, {
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startJoints: [0, 0, 0, 0, 0, 0],
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sampleTime: 0.004
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});
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const post = postProcessAllBrands(ir);
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expect(result.stableIds).toEqual({
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targets: ["home", "pick", "place"],
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points: ["p00", "p01", "p02"],
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path: "pick_path",
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operation: "pick_op"
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});
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expect(result.text).toContain("path pick_path");
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expect(result.text).toContain("operation pick_op");
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expect(result.program).toMatchObject({
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id: "pick_op_grl",
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language: "grl",
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entryOperationIds: ["pick_op"]
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});
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expect(ir.operations[0]).toMatchObject({
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operationId: "pick_op",
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kind: "handling",
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pathId: "pick_path"
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});
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expect(post.outputs.abb.text).toContain("MODULE DemoCell");
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expect(post.outputs.fanuc.text).toContain("/PROG MAIN");
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expect(post.outputs.kuka.text).toContain("DEF Main()");
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});
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it("reports broken schema references with stable issue codes", () => {
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const project = sampleOlpProject();
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project.operations[0]!.pathId = "missing_path";
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expect(validateOlpProject(project)).toMatchObject({
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ok: false,
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issues: [expect.objectContaining({ code: "OLP_REF_PATH_MISSING" })]
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});
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});
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});
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