fix: make Pause button pause running program

web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs

@@ -313,11 +313,15 @@ for (const action of [
   "run",
   "pause",
   "resume",
+  "pause-resume",
   "step",
   "stop",
   "home-all",
   "jog-plus",
   "jog-minus",
+  "spindle-reverse",
+  "spindle-stop",
+  "spindle-forward",
   "kins-identity",
   "kins-tcp",
   "kins-userk",
@@ -335,14 +339,61 @@ buttonStore.dispatch({ type: "TOGGLE_POWER" });
 assert.equal(buttonStore.getState().machine.powerOn, true);
 buttonStore.dispatch({ type: "HOME" });
 assert.equal(buttonStore.getState().machine.allHomed, true);
-assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.x, 43);
-assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.y, -32.15);
-assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.z, -11.306);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.x, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.y, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.z, 10);
 await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
 assert.equal(buttonStore.getState().machine.mode, "auto");
 assert.equal(["running", "complete"].includes(buttonStore.getState().runState), true);
 assert.equal(Boolean(buttonStore.getState().programRuntimeFeedback), true);
+if (buttonStore.getState().runState === "running") {
+  buttonStore.dispatch({ type: "PAUSE_RESUME" });
+  assert.equal(buttonStore.getState().runState, "paused");
+  assert.equal(buttonStore.getState().machine.interpState, "paused");
+  buttonStore.dispatch({ type: "PAUSE_RESUME" });
+  assert.equal(buttonStore.getState().runState, "running");
+  assert.equal(buttonStore.getState().machine.interpState, "reading");
+  buttonStore.dispatch({ type: "PAUSE_RESUME" });
+  assert.equal(buttonStore.getState().runState, "paused");
+  assert.equal(buttonStore.getState().machine.interpState, "paused");
+  const beforeStepSample = buttonStore.getState().programExecutionSampleIndex;
+  buttonStore.dispatch({ type: "STEP" });
+  assert.equal(buttonStore.getState().runState, "stepping");
+  assert.equal(buttonStore.getState().machine.interpState, "paused");
+  assert.equal(buttonStore.getState().programExecutionSampleIndex > beforeStepSample, true);
+  buttonStore.dispatch({ type: "RESUME" });
+  assert.equal(buttonStore.getState().runState, "running");
+  assert.equal(buttonStore.getState().machine.interpState, "reading");
+  buttonStore.dispatch({ type: "PAUSE" });
+  assert.equal(buttonStore.getState().runState, "paused");
+  assert.equal(buttonStore.getState().machine.interpState, "paused");
+  buttonStore.dispatch({ type: "RESUME" });
+  assert.equal(buttonStore.getState().runState, "running");
+  assert.equal(buttonStore.getState().machine.interpState, "reading");
+}
 buttonStore.dispatch({ type: "STOP" });
+
+const idleInterpRunningStore = createSimulationStore({
+  runState: "running",
+  machine: {
+    powerOn: true,
+    estopActive: false,
+    taskState: "on",
+    mode: "auto",
+    interpState: "idle",
+    interpResumeState: "reading",
+    taskPaused: false,
+    allHomed: true,
+    noForceHoming: false,
+  },
+});
+idleInterpRunningStore.dispatch({ type: "PAUSE" });
+assert.equal(idleInterpRunningStore.getState().runState, "paused");
+assert.equal(idleInterpRunningStore.getState().machine.interpState, "paused");
+assert.equal(idleInterpRunningStore.getState().machine.taskPaused, true);
+idleInterpRunningStore.dispatch({ type: "RESUME" });
+assert.equal(idleInterpRunningStore.getState().runState, "running");
+assert.equal(idleInterpRunningStore.getState().machine.interpState, "reading");
 buttonStore.dispatch({ type: "SET_MODE", mode: "manual" });
 buttonStore.dispatch({ type: "SET_MODE", mode: "mdi" });
 buttonStore.dispatch({ type: "RUN_MDI", command: "M428" });
@@ -370,10 +421,28 @@ const feedBefore = buttonStore.getState().feed.feedOverride;
 buttonStore.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: 10 });
 assert.equal(buttonStore.getState().feed.feedOverride, feedBefore + 10);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.feed.feedOverridePercent, feedBefore + 10);
+buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" });
+assert.equal(buttonStore.getState().spindle.direction, "reverse");
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 1);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
+buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" });
+assert.equal(buttonStore.getState().spindle.direction, "stop");
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, false);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 0);
 buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" });
 assert.equal(buttonStore.getState().spindle.direction, "forward");
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.actualRpm, 1600);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 1);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
+assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
 buttonStore.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" });
 assert.equal(buttonStore.getState().coolant.flood, true);
 assert.equal(buttonStore.getState().linuxCncProcessMonitor.coolant.flood, true);