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kdl-wasm/web/tests/olp/model.test.ts

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+import { describe, expect, it } from "vitest";
+import { postProcessAllBrands } from "../../src/grl/post/index.js";
+import { parseGrl } from "../../src/grl/parser/index.js";
+import { compileSemanticProgram } from "../../src/grl/semantic/index.js";
+import {
+  applyPatch,
+  pathOperationToGrl,
+  sampleOlpProject,
+  validateOlpProject,
+  type OlpProjectModel
+} from "../../src/olp/index.js";
+
+describe("OLP project model", () => {
+  it("creates a serializable station/resource/path/operation sample", () => {
+    const project = sampleOlpProject();
+    const restored = JSON.parse(JSON.stringify(project)) as OlpProjectModel;
+    const report = validateOlpProject(restored);
+
+    expect(restored.schemaVersion).toBe("olp/0.1");
+    expect(report).toEqual({ ok: true, issues: [] });
+    expect(restored.resources.robots[0]).toMatchObject({
+      id: "robot_1",
+      kind: "robot",
+      brand: "abb"
+    });
+    expect(restored.externalAxes[0]).toMatchObject({
+      id: "track_1",
+      axisKind: "linear"
+    });
+    expect(restored.motionGroups[0]).toMatchObject({
+      robotIds: ["robot_1"],
+      externalAxisIds: ["track_1"],
+      coordination: "synchronized"
+    });
+  });
+
+  it("applies brand import style object patches and validates references", () => {
+    const patched = applyPatch(sampleOlpProject(), [
+      {
+        op: "add",
+        path: "/targets/-",
+        value: {
+          id: "inspect",
+          name: "inspect",
+          kind: "pose",
+          robotId: "robot_1",
+          pose: [650, 25, 0, 0, 0, 0],
+          toolId: "tool_gripper",
+          frameId: "frame_fixture"
+        }
+      },
+      {
+        op: "add",
+        path: "/paths/0/points/-",
+        value: {
+          id: "p03",
+          name: "p03",
+          motion: "movel",
+          targetId: "inspect",
+          speedId: "v_linear",
+          zoneId: "z10"
+        }
+      }
+    ]);
+
+    expect(validateOlpProject(patched).ok).toBe(true);
+    expect(patched.paths[0]?.points.map((point) => point.name)).toEqual(["p00", "p01", "p02", "p03"]);
+  });
+
+  it("generates stable parseable GRL from Path and Operation", () => {
+    const result = pathOperationToGrl(sampleOlpProject(), "pick_op", {
+      moduleName: "DemoCell",
+      style: "expanded"
+    });
+    const ast = parseGrl(result.text);
+    const ir = compileSemanticProgram(ast, {
+      startJoints: [0, 0, 0, 0, 0, 0],
+      sampleTime: 0.004
+    });
+    const post = postProcessAllBrands(ir);
+
+    expect(result.stableIds).toEqual({
+      targets: ["home", "pick", "place"],
+      points: ["p00", "p01", "p02"],
+      path: "pick_path",
+      operation: "pick_op"
+    });
+    expect(result.text).toContain("path pick_path");
+    expect(result.text).toContain("operation pick_op");
+    expect(result.program).toMatchObject({
+      id: "pick_op_grl",
+      language: "grl",
+      entryOperationIds: ["pick_op"]
+    });
+    expect(ir.operations[0]).toMatchObject({
+      operationId: "pick_op",
+      kind: "handling",
+      pathId: "pick_path"
+    });
+    expect(post.outputs.abb.text).toContain("MODULE DemoCell");
+    expect(post.outputs.fanuc.text).toContain("/PROG MAIN");
+    expect(post.outputs.kuka.text).toContain("DEF Main()");
+  });
+
+  it("reports broken schema references with stable issue codes", () => {
+    const project = sampleOlpProject();
+    project.operations[0]!.pathId = "missing_path";
+
+    expect(validateOlpProject(project)).toMatchObject({
+      ok: false,
+      issues: [expect.objectContaining({ code: "OLP_REF_PATH_MISSING" })]
+    });
+  });
+});