接入 LinuxCNC TP 运行反馈

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

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+import assert from "node:assert/strict";
+
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+
+const runtime = await createLinuxCncInterpreterRuntime();
+const readiness = runtime.readiness();
+
+assert.equal(runtime.apiName, "web-rtcp-5axis-linuxcnc-interpreter-runtime");
+assert.equal(runtime.loaded, true);
+assert.equal(runtime.sourceMode, "linuxcnc-interpreter-wasm");
+assert.equal(runtime.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events");
+assert.equal(readiness.loaded, true);
+assert.equal(readiness.runProgramReady, true);
+assert.equal(readiness.remapRuntimeReady, false);
+assert.equal(readiness.plannerRuntimeReady, true);
+assert.equal(readiness.plannerSemanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
+
+const programText = [
+  "G90 G17",
+  "G0 X0 Y0 Z0",
+  "G1 X10 Y2 F100",
+  "G1 X12 Y4 A5 C7",
+  "M2",
+].join("\n");
+const execution = runtime.runProgram(programText);
+
+assert.equal(execution.apiName, "web-rtcp-5axis-linuxcnc-interpreter-program-execution");
+assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm");
+assert.equal(execution.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events");
+assert.equal(execution.summary.ready, true);
+assert.equal(execution.summary.motionEventCount >= 3, true);
+assert.equal(execution.summary.canonicalEventCount > execution.summary.motionEventCount, true);
+assert.equal(execution.summary.motionTypes.includes("STRAIGHT_TRAVERSE"), true);
+assert.equal(execution.summary.motionTypes.includes("STRAIGHT_FEED"), true);
+assert.equal(execution.summary.finalAxes.x, 12);
+assert.equal(execution.summary.finalAxes.y, 4);
+assert.equal(execution.summary.finalAxes.a, 5);
+assert.equal(execution.summary.finalAxes.c, 7);
+assert.equal(execution.motion[2].feedRate, 100);
+assert.equal(execution.summary.remapRuntimeReady, false);
+assert.equal(execution.summary.plannerRuntimeReady, true);
+assert.equal(execution.plannerTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
+assert.equal(execution.plannerTiming.totalSeconds > 0, true);
+assert.equal(execution.plannerTiming.motionCount, execution.motion.length);
+assert.equal(execution.summary.fullLinuxCncProgramExecutionReady, false);
+
+const switchkinsProgramText = [
+  "G90 G17",
+  "M428",
+  "G0 X0 Y0 Z0 A0 C0",
+  "G1 X10 Y2 Z-1 A15 C30 F120",
+  "M429",
+  "G1 X0 Y0 Z0 A0 C0 F120",
+  "M2",
+].join("\n");
+const switchkinsExecution = runtime.runProgram(switchkinsProgramText);
+
+assert.equal(switchkinsExecution.summary.ready, true);
+assert.equal(switchkinsExecution.summary.motionEventCount, 3);
+assert.equal(switchkinsExecution.summary.switchkinsEventCount, 2);
+assert.deepEqual(switchkinsExecution.summary.switchkinsCodes, ["M428", "M429"]);
+assert.equal(
+  switchkinsExecution.summary.switchkinsRemapBoundary,
+  "linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied",
+);
+assert.equal(switchkinsExecution.switchkinsEvents[0].switchkinsType, 1);
+assert.equal(switchkinsExecution.switchkinsEvents[1].switchkinsType, 0);
+assert.equal(switchkinsExecution.motion[0].kinsType, "tcp");
+assert.equal(switchkinsExecution.motion[1].axes.a, 15);
+assert.equal(switchkinsExecution.motion[1].axes.c, 30);
+assert.equal(switchkinsExecution.motion[1].switchkinsCode, "M428");
+assert.equal(switchkinsExecution.motion[2].kinsType, "identity");
+assert.equal(switchkinsExecution.motion[2].switchkinsCode, "M429");
+
+assert.equal(switchkinsExecution.summary.remapRuntimeReady, false);
+assert.equal(switchkinsExecution.summary.plannerRuntimeReady, true);
+assert.equal(switchkinsExecution.plannerTiming.totalSeconds > 0, true);
+assert.equal(switchkinsExecution.summary.fullLinuxCncProgramExecutionReady, false);
+
+console.log("linuxcnc_interpreter_runtime_smoke=ok");