接入 LinuxCNC TP 运行反馈

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

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+import assert from "node:assert/strict";
+
+import { createFullLinuxCncExecutionBoundary } from "../../app/src/runtime/full-execution-boundary.js";
+
+const blocked = createFullLinuxCncExecutionBoundary({});
+assert.equal(blocked.apiName, "web-rtcp-5axis-full-linuxcnc-execution-boundary");
+assert.equal(blocked.phase, "blocked");
+assert.equal(blocked.promotionAllowed, false);
+assert.equal(blocked.fullLinuxCncProgramExecutionReady, false);
+assert.equal(blocked.missing.includes("linuxcnc kinematics WASM frame"), true);
+assert.equal(blocked.blockers.some((blocker) => blocker.includes("native LinuxCNC task")), true);
+
+const canonicalState = {
+  machineProfile: "xyzac-trt",
+  linuxCncBoundaryAdapter: {
+    linuxCncKinematicsReady: true,
+    linuxCncInterpreterReady: true,
+  },
+  rtcpFrame: {
+    semanticBoundary: "linuxcnc_kinematics_wasm_c_abi",
+    readiness: { linuxCncKinematicsReady: true },
+  },
+  interpreterRuntimeReadiness: {
+    loaded: true,
+    semanticBoundary: "linuxcnc_interpreter_wasm_canonical_events",
+  },
+  programExecutionSourceMode: "linuxcnc-interpreter-wasm",
+  programExecution: {
+    sourceMode: "linuxcnc-interpreter-wasm",
+    summary: {
+      motionEventCount: 3,
+      canonicalEventCount: 8,
+    },
+  },
+};
+const canonical = createFullLinuxCncExecutionBoundary(canonicalState);
+
+assert.equal(canonical.readyForUiSimulation, true);
+assert.equal(canonical.machineFileBackedRemapReady, false);
+assert.equal(canonical.semanticBoundary, "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked");
+assert.equal(canonical.satisfied.includes("canonical-motion-events"), true);
+assert.equal(canonical.plannerRuntimeReady, false);
+assert.equal(canonical.missing.includes("machine-file backed five-axis remap run"), true);
+
+const canonicalWithPlanner = createFullLinuxCncExecutionBoundary({
+  ...canonicalState,
+  programExecution: {
+    ...canonicalState.programExecution,
+    plannerTiming: {
+      plannerRuntimeReady: true,
+      semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion",
+    },
+    summary: {
+      ...canonicalState.programExecution.summary,
+      plannerRuntimeReady: true,
+    },
+  },
+});
+
+assert.equal(canonicalWithPlanner.plannerRuntimeReady, true);
+assert.equal(canonicalWithPlanner.satisfied.includes("linuxcnc-tp-queue-runtime-timing"), true);
+assert.equal(canonicalWithPlanner.nativeTaskReady, false);
+assert.equal(canonicalWithPlanner.nativeHalSyncReady, false);
+
+const remap = createFullLinuxCncExecutionBoundary({
+  ...canonicalState,
+  programExecution: {
+    ...canonicalState.programExecution,
+    plannerTiming: {
+      plannerRuntimeReady: true,
+      semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion",
+    },
+    summary: {
+      ...canonicalState.programExecution.summary,
+      plannerRuntimeReady: true,
+    },
+  },
+  machineFileStaging: {
+    status: "staged",
+    fileCount: 12,
+  },
+  machineFileExecution: {
+    sourceMode: "linuxcnc-machine-file-remap-wasm",
+    summary: {
+      machineFileExecutionReady: true,
+    },
+    resultText: [
+      "fiveaxis_ini_open=1",
+      "fiveaxis_remaps_ready=1",
+      "fiveaxis_file_reached_exit=1",
+      "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+    ].join("\n"),
+  },
+});
+
+assert.equal(remap.machineFileBackedRemapReady, true);
+assert.equal(remap.remapRuntimeReady, true);
+assert.equal(remap.halSwitchkinsEvidenceReady, true);
+assert.equal(remap.plannerRuntimeReady, true);
+assert.equal(remap.nativeTaskReady, false);
+assert.equal(remap.nativeHalSyncReady, false);
+assert.equal(remap.fullLinuxCncProgramExecutionReady, false);
+assert.equal(remap.promotionAllowed, false);
+assert.equal(remap.semanticBoundary, "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked");
+assert.equal(remap.satisfied.includes("fiveaxis-remap-machine-file-run"), true);
+assert.equal(remap.evidence.machineFileFlags.length, 3);
+
+console.log("full_execution_boundary_smoke=ok");