完善云端RUN执行反馈

web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs

@@ -22,6 +22,11 @@ await verifyRunFeedbackLoop({
   stopAction: "STOP",
 });
 
+await verifyRunReadySequence({
+  profileId: "xyzac-trt",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+});
+
 await verifyRunFeedbackLoop({
   profileId: "xyzac-trt",
   sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
@@ -35,6 +40,7 @@ await verifyRunFeedbackLoop({
 });
 
 console.log("run_feedback_status_loop_smoke=ok");
+console.log("run_ready_sequence_smoke=ok");
 
 async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) {
   const sdk = await createLinuxCncTaskHalSdk({
@@ -138,6 +144,65 @@ async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) {
   assert.equal(state.taskHalStatus.ui.taskCycle >= cycleAfterRun, true);
 }
 
+async function verifyRunReadySequence({ profileId, sourceRel }) {
+  const sdk = await createLinuxCncTaskHalSdk({
+    wasmBinary: readFileSync(wasmPath),
+    print() {},
+    printErr(message) {
+      console.error(message);
+    },
+  });
+  const profile = getFiveAxisProfile(profileId);
+  const iniText = readFileSync(resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath), "utf8");
+  const iniConfig = parseLinuxCncIni(iniText, {
+    path: profile.iniPath,
+    profileId: profile.id,
+  });
+  const store = createSimulationStore();
+
+  store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
+  store.dispatch({
+    type: "ATTACH_KINEMATICS_RUNTIME",
+    runtime: await createLinuxCncKinematicsRuntime({ moduleId: iniConfig.kinematicsModuleId }),
+  });
+  store.dispatch({
+    type: "ATTACH_INTERPRETER_RUNTIME",
+    runtime: await createLinuxCncInterpreterRuntime(),
+  });
+  store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime: wrapTaskHalSdk(sdk) });
+  await store.stageMachineFiles();
+  store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel });
+  await waitForState(store, (state) => (
+    state.taskHalSession?.programPath?.endsWith(sourceRel.split("/").at(-1)) &&
+    state.rtcpFrame?.sourceMode === "source-derived-kinematics-wasm"
+  ));
+
+  store.dispatch({ type: "RUN_READY" });
+  await waitForTaskHalCommand(store);
+  await waitForState(store, (state) => state.machine.taskState === "on" && state.machine.mode === "auto");
+
+  let state = store.getState();
+  assert.equal(state.machine.powerOn, true);
+  assert.equal(state.machine.taskState, "on");
+  assert.equal(state.machine.mode, "auto");
+  assert.equal(state.machine.allHomed, true);
+  assert.equal(state.rtcpState, "on");
+  assert.equal(String(state.kinsType).startsWith("tcp-"), true);
+
+  store.dispatch({ type: "RUN" });
+  await waitForTaskHalCommand(store);
+  await waitForState(store, (nextState) => distinctActiveLines(nextState.programRuntimeFeedbackHistory).length >= 2);
+
+  state = store.getState();
+  assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
+  assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
+  assert.notEqual(state.operatorMessage, "run blocked: home machine first");
+  assert.equal(state.machine.allHomed, true);
+
+  store.dispatch({ type: "STOP" });
+  await waitForTaskHalCommand(store);
+}
+
 async function waitForTaskHalCommand(store) {
   for (let attempt = 0; attempt < 80; attempt += 1) {
     if (!store.getState().taskHalExecutionPending) {

web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs

@@ -132,6 +132,11 @@ assert.equal(gate.operatorMessage, "run blocked: machine must be on");
 store.dispatch({ type: "TOGGLE_POWER" });
 gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");
+
+store.dispatch({ type: "SET_MODE", mode: "auto" });
+gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
+assert.equal(gate.allowed, false);
 assert.equal(gate.operatorMessage, "run blocked: home machine first");
 
 store.dispatch({ type: "HOME" });