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wangdequan
88
kdl-wasm/web/tests/runtime/ioRuntime.test.ts
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88
kdl-wasm/web/tests/runtime/ioRuntime.test.ts
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import { describe, expect, it } from "vitest";
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import { IoImageRuntime, ioKey } from "../../src/runtime/index.js";
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import type { IoReference, PulseInstruction, WaitInstruction } from "../../src/grl/ir/index.js";
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const DO1: IoReference = { domain: "do", index: 1, raw: "io.do[1]" };
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const DI1: IoReference = { domain: "di", index: 1, raw: "io.di[1]" };
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const DI2: IoReference = { domain: "di", index: 2, raw: "io.di[2]" };
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const AI1: IoReference = { domain: "ai", index: 1, raw: "io.ai[1]" };
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describe("virtual IO image, waits, pulses, edges, and scripts", () => {
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it("enforces write permissions and records IO events", () => {
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const io = new IoImageRuntime({
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permissions: [
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{ writer: "program", domains: ["do"], access: "write" },
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{ writer: "script", domains: ["di", "ai"], access: "write" }
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]
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});
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expect(io.write(DO1, true, "program")).toMatchObject({ kind: "write", value: true });
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expect(io.write(DI1, true, "program")).toBeUndefined();
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expect(io.snapshot()).toMatchObject({
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image: { [ioKey(DO1)]: true },
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diagnostics: [expect.objectContaining({ code: "VC_IO_PERMISSION_DENIED" })]
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});
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});
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it("evaluates waits, timeouts, on_timeout hold-stop, and edge conditions", () => {
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const io = new IoImageRuntime({
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permissions: [{ writer: "script", domains: ["di", "ai"], access: "write" }]
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});
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const wait: WaitInstruction = {
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kind: "WAIT",
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condition: "all ( io . di [ 1 ] == true , io . di [ 2 ] == false )",
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timeout: 1,
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onTimeout: { kind: "call", value: "recover" }
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};
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expect(io.evaluateWait(wait, 0)).toMatchObject({ status: "waiting" });
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expect(io.evaluateWait(wait, 1)).toMatchObject({
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status: "hold-stop",
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onTimeout: { kind: "call", value: "recover" },
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diagnostic: { code: "VC_WAIT_TIMEOUT" }
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});
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io.write(DI1, true, "script");
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io.write(DI2, false, "script");
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expect(io.evaluateWait(wait, 0)).toMatchObject({ status: "satisfied" });
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expect(io.matchesCondition("rising ( io . di [ 1 ] )")).toBe(true);
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io.write(DI1, false, "script");
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expect(io.matchesCondition("falling ( io . di [ 1 ] )")).toBe(true);
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io.write(AI1, 5, "script");
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expect(io.matchesCondition("changed ( io . ai [ 1 ] )")).toBe(true);
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});
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it("auto-resets pulses and executes delayed IO scripts", () => {
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const io = new IoImageRuntime({
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permissions: [
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{ writer: "program", domains: ["do"], access: "write" },
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{ writer: "script", domains: ["di"], access: "write" }
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]
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});
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const pulse: PulseInstruction = {
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kind: "PULSE",
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target: DO1,
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duration: 0.2,
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trace: [
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{ time: 0, action: "set", target: DO1, value: true },
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{ time: 0.2, action: "reset", target: DO1, value: false }
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]
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};
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io.executePulse(pulse);
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expect(io.read(DO1)).toBe(true);
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io.advance(0.2);
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expect(io.read(DO1)).toBe(false);
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io.addScript("part-arrival", [{ delay: 0.5, target: DI1, value: true }]);
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io.advance(0.49);
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expect(io.read(DI1)).toBeUndefined();
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io.advance(0.01);
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expect(io.read(DI1)).toBe(true);
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expect(io.snapshot().events.map((event) => event.kind)).toEqual([
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"pulse_set",
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"pulse_reset",
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"script"
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]);
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});
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});
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157
kdl-wasm/web/tests/runtime/motionQueue.test.ts
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157
kdl-wasm/web/tests/runtime/motionQueue.test.ts
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import { describe, expect, it } from "vitest";
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import type { SemanticProgramIr } from "../../src/grl/ir/index.js";
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import type { PathPlanRequest, PathPlanResult, TrajectoryPoint } from "../../src/kdl/types.js";
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import { KdlRuntimeBridge, MotionQueue, type MotionPlanner } from "../../src/runtime/index.js";
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const POSE = {
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position: [0, 0, 0] as [number, number, number],
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quaternion: [0, 0, 0, 1] as [number, number, number, number]
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};
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function point(index: number, time: number, joints: number[], segmentId: string): TrajectoryPoint {
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return {
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index,
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time,
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dt: index === 0 ? 0 : time,
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s: time,
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sd: 1,
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sdd: 0,
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joints,
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jointVelocity: joints.map(() => 0),
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jointAcceleration: joints.map(() => 0),
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flange: POSE,
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tcp: POSE,
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motion: "MOVEJ",
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segmentId,
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diagnostics: []
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};
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}
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function pathResult(request: PathPlanRequest): PathPlanResult {
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return {
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ok: true,
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duration: 1,
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segments: [],
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points: [point(0, 0, request.startJoints, request.segments[0]?.id ?? "p0"), point(1, 1, [1], request.segments[0]?.id ?? "p0")],
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diagnostics: []
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};
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}
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function program(): SemanticProgramIr {
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return {
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moduleName: "Main",
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symbols: [],
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semanticChecks: [],
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diagnostics: [],
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sourceMap: [
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{ kind: "path_point", id: "p0", pathId: "pick_path", pointId: "p0", sourceMap: { line: 10 } },
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{ kind: "operation_action", id: "pick_op_start_action_0", operationId: "pick_op", sourceMap: { line: 20 } }
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],
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procedures: [
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{
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name: "main",
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instructions: [
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{ kind: "RUN_OPERATION", operationId: "pick_op", sourceMap: { line: 30 } }
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]
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}
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],
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paths: [
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{
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pathId: "pick_path",
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request: {
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pathId: "pick_path",
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startJoints: [0],
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sampleTime: 0.1,
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segments: [
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{
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id: "p0",
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motion: "MOVEJ",
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target: { joints: [1] },
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speed: { kind: "joint_abs", velocity: 1 },
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zone: { kind: "fine" },
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sourceMap: { line: 10 }
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}
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]
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},
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motions: [
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{
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kind: "MOVEJ",
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id: "p0",
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pathId: "pick_path",
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pointId: "p0",
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target: { joints: [1] },
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speed: { kind: "joint_abs", velocity: 1 },
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zone: { kind: "fine" },
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sourceMap: { line: 10 },
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source: { brand: { vendor: "ABB", file: "cell.mod", line: 42 } }
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}
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],
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events: []
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}
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],
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operations: [
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{
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operationId: "pick_op",
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kind: "handling",
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pathId: "pick_path",
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process: {},
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startActions: [
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{
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kind: "ACTION",
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actionKind: "start_action",
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operationId: "pick_op",
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statement: "io.do[1] = true",
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sourceMap: { line: 20 }
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}
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],
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endActions: [
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{
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kind: "ACTION",
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actionKind: "end_action",
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operationId: "pick_op",
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statement: "io.do[1] = false",
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sourceMap: { line: 22 }
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}
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]
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}
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],
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kdlBridge: {
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motionRequests: [],
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pathRequests: []
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}
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};
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}
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describe("motion queue and KDL runtime bridge", () => {
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it("preserves operation/path/action sources and samples planned paths by virtual time", async () => {
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const plannerCalls: PathPlanRequest[] = [];
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const planner: MotionPlanner = {
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planPath: (_handle, request) => {
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plannerCalls.push(request);
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return pathResult(request);
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}
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};
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const queue = new MotionQueue({ startJoints: [0], sampleTime: 0.1, planner, robotHandle: 7 });
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const ir = program();
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const bridge = new KdlRuntimeBridge(ir, queue);
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const items = bridge.enqueueInstruction(ir.procedures[0]!.instructions[0]!);
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expect(items.map((item) => item.kind)).toEqual(["action", "path", "action"]);
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expect(items[0]).toMatchObject({ source: { operationId: "pick_op", sourceMap: { line: 20 } } });
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expect(items[1]).toMatchObject({ source: { pathId: "pick_path", operationId: "pick_op" } });
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await queue.planAll();
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expect(plannerCalls).toHaveLength(1);
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expect(plannerCalls[0]).toMatchObject({ pathId: "pick_path", startJoints: [0] });
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expect(queue.advance(0.5)).toMatchObject({
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itemId: items[1]!.id,
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localTime: 0.5,
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point: { joints: [1] },
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source: { pathId: "pick_path", operationId: "pick_op" }
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});
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expect(queue.snapshot().items[1]).toMatchObject({
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planned: { ok: true, duration: 1 }
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});
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});
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});
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