docs: record pause wasm implementation plan
This commit is contained in:
wangdequan
@@ -226,7 +226,19 @@ assert.equal(store.getState().programAxisPreviewPath.samples[0].tool.diameter, 8
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assert.equal(store.getState().programAxisPreviewPath.samples[0].sourceFile, "xyzbc_switchkins_sub.ngc");
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assert.equal(store.getState().programAxisPreviewPath.samples[0].statement.includes("g53 g0"), true);
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store.dispatch({ type: "RUN_READY" });
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store.dispatch({ type: "RUN" });
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assert.equal(store.getState().machine.powerOn, false);
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assert.equal(store.getState().machine.allHomed, false);
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assert.equal(store.getState().machine.mode, "manual");
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assert.equal(store.getState().operatorMessage, "RUN setup ready: reset ESTOP, power on, Home All, then Run");
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await store.dispatch({ type: "RUN_FROM_OPERATOR" });
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assert.equal(store.getState().runState, "idle");
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assert.equal(store.getState().operatorMessage, "run blocked: machine must be on");
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store.dispatch({ type: "TOGGLE_POWER" });
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await store.dispatch({ type: "RUN_FROM_OPERATOR" });
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assert.equal(store.getState().runState, "idle");
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assert.equal(store.getState().operatorMessage, "run blocked: home machine first");
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store.dispatch({ type: "HOME" });
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await store.dispatch({ type: "RUN_FROM_OPERATOR" });
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const liveRunState = store.getState();
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assert.equal(liveRunState.programUiExecution.source, "programAxisPreviewPath.samples");
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assert.equal(liveRunState.programUiExecution.samplePeriodMs, 50);
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@@ -299,6 +311,21 @@ assert.equal(vismachState.transforms.tool.translate.z, -25);
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assert.equal(vismachState.halNets.length, 9);
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assert.equal(vismachState.semanticBoundary, "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins");
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const pausedVismachState = buildVismachModelState({
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...state,
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runState: "paused",
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machine: { ...state.machine, interpState: "paused", taskPaused: true },
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axisPose: { x: 12.5, y: -6.25, z: 3.75, b: 35, c: -90 },
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programRuntimeFeedback: {
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axisPose: { x: 99, y: 88, z: 77, b: 66, c: 55 },
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},
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});
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assert.equal(pausedVismachState.pins["table-x"], 12.5);
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assert.equal(pausedVismachState.pins["saddle-y"], -6.25);
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assert.equal(pausedVismachState.pins["spindle-z"], 3.75);
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assert.equal(pausedVismachState.pins["tilt-b"], 35);
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assert.equal(pausedVismachState.pins["rotate-c"], -90);
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const stagedState = store.getState();
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assert.equal(storeStage.save.profileId, "xyzbc-trt");
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assert.equal(stagedState.machineFileStaging.profileId, "xyzbc-trt");
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@@ -333,10 +360,26 @@ for (const action of [
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const buttonStore = createSimulationStore();
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buttonStore.dispatch({ type: "ESTOP" });
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assert.equal(buttonStore.getState().machine.estopActive, true);
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buttonStore.dispatch({ type: "TOGGLE_POWER" });
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assert.equal(buttonStore.getState().machine.taskState, "off");
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assert.equal(buttonStore.getState().machine.powerOn, false);
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buttonStore.dispatch({ type: "TOGGLE_POWER" });
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assert.equal(buttonStore.getState().machine.taskState, "off");
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assert.equal(buttonStore.getState().machine.powerOn, false);
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await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
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assert.equal(buttonStore.getState().runState, "powered-off");
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assert.equal(buttonStore.getState().operatorMessage, "run blocked: machine must be on");
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buttonStore.dispatch({ type: "ESTOP" });
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buttonStore.dispatch({ type: "RESET" });
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assert.equal(buttonStore.getState().machine.taskState, "estop-reset");
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await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
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assert.equal(buttonStore.getState().runState, "idle");
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assert.equal(buttonStore.getState().operatorMessage, "run blocked: machine must be on");
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buttonStore.dispatch({ type: "TOGGLE_POWER" });
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assert.equal(buttonStore.getState().machine.powerOn, true);
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await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
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assert.equal(buttonStore.getState().runState, "idle");
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assert.equal(buttonStore.getState().operatorMessage, "run blocked: home machine first");
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buttonStore.dispatch({ type: "HOME" });
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assert.equal(buttonStore.getState().machine.allHomed, true);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.x, 0);
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@@ -350,12 +393,14 @@ if (buttonStore.getState().runState === "running") {
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buttonStore.dispatch({ type: "PAUSE_RESUME" });
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assert.equal(buttonStore.getState().runState, "paused");
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assert.equal(buttonStore.getState().machine.interpState, "paused");
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assert.equal(buttonStore.getState().feed.currentVelocity, 0);
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buttonStore.dispatch({ type: "PAUSE_RESUME" });
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assert.equal(buttonStore.getState().runState, "running");
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assert.equal(buttonStore.getState().machine.interpState, "reading");
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buttonStore.dispatch({ type: "PAUSE_RESUME" });
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assert.equal(buttonStore.getState().runState, "paused");
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assert.equal(buttonStore.getState().machine.interpState, "paused");
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assert.equal(buttonStore.getState().feed.currentVelocity, 0);
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const beforeStepSample = buttonStore.getState().programExecutionSampleIndex;
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buttonStore.dispatch({ type: "STEP" });
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assert.equal(buttonStore.getState().runState, "stepping");
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@@ -367,11 +412,19 @@ if (buttonStore.getState().runState === "running") {
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buttonStore.dispatch({ type: "PAUSE" });
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assert.equal(buttonStore.getState().runState, "paused");
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assert.equal(buttonStore.getState().machine.interpState, "paused");
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assert.equal(buttonStore.getState().feed.currentVelocity, 0);
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buttonStore.dispatch({ type: "RESUME" });
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assert.equal(buttonStore.getState().runState, "running");
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assert.equal(buttonStore.getState().machine.interpState, "reading");
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}
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buttonStore.dispatch({ type: "STOP" });
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buttonStore.dispatch({ type: "TOGGLE_POWER" });
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assert.equal(buttonStore.getState().machine.taskState, "off");
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assert.equal(buttonStore.getState().machine.powerOn, false);
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assert.equal(buttonStore.getState().machine.allHomed, false);
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buttonStore.dispatch({ type: "TOGGLE_POWER" });
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assert.equal(buttonStore.getState().machine.taskState, "off");
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assert.equal(buttonStore.getState().machine.powerOn, false);
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const idleInterpRunningStore = createSimulationStore({
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runState: "running",
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@@ -388,74 +441,147 @@ const idleInterpRunningStore = createSimulationStore({
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},
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});
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idleInterpRunningStore.dispatch({ type: "PAUSE" });
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assert.equal(idleInterpRunningStore.getState().runState, "paused");
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assert.equal(idleInterpRunningStore.getState().machine.interpState, "paused");
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assert.equal(idleInterpRunningStore.getState().machine.taskPaused, true);
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idleInterpRunningStore.dispatch({ type: "RESUME" });
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assert.equal(idleInterpRunningStore.getState().runState, "running");
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assert.equal(idleInterpRunningStore.getState().machine.interpState, "reading");
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buttonStore.dispatch({ type: "SET_MODE", mode: "manual" });
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buttonStore.dispatch({ type: "SET_MODE", mode: "mdi" });
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buttonStore.dispatch({ type: "RUN_MDI", command: "M428" });
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assert.equal(buttonStore.getState().kinsType, "tcp-xyzbc");
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.rtcpState, "on");
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buttonStore.dispatch({ type: "RUN_MDI", command: "M429" });
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assert.equal(buttonStore.getState().kinsType, "identity");
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buttonStore.dispatch({ type: "RUN_MDI", command: "M430" });
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assert.equal(buttonStore.getState().kinsType, "userk");
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buttonStore.dispatch({ type: "SET_MODE", mode: "manual" });
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buttonStore.dispatch({ type: "SET_ACTIVE_JOINT", joint: 4 });
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const cBeforeJog = buttonStore.getState().axisPose.c;
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buttonStore.dispatch({ type: "JOG", axis: "c", direction: 1, increment: 1 });
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assert.equal(buttonStore.getState().axisPose.c, cBeforeJog + 1);
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buttonStore.dispatch({ type: "RUN_MDI", command: "G10 L20 P0 C0", manualTouchOff: true });
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assert.equal(buttonStore.getState().mdiHistory[0], "G10 L20 P0 C0");
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assert.equal(buttonStore.getState().machine.mode, "manual");
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assert.equal(buttonStore.getState().runState, "idle");
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assert.equal(buttonStore.getState().operatorMessage, "manual touch off G10 L20 P0 C0");
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buttonStore.dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true });
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assert.equal(buttonStore.getState().mdiHistory[0], "G43");
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assert.equal(buttonStore.getState().machine.mode, "manual");
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assert.equal(buttonStore.getState().runState, "idle");
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const feedBefore = buttonStore.getState().feed.feedOverride;
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buttonStore.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: 10 });
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assert.equal(buttonStore.getState().feed.feedOverride, feedBefore + 10);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.feed.feedOverridePercent, feedBefore + 10);
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buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" });
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assert.equal(buttonStore.getState().spindle.direction, "reverse");
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 1);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
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buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" });
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assert.equal(buttonStore.getState().spindle.direction, "stop");
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, false);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 0);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 0);
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buttonStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" });
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assert.equal(buttonStore.getState().spindle.direction, "forward");
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.actualRpm, 1600);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 1);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
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buttonStore.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" });
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assert.equal(buttonStore.getState().coolant.flood, true);
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assert.equal(buttonStore.getState().linuxCncProcessMonitor.coolant.flood, true);
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buttonStore.dispatch({ type: "SET_BLOCK_DELETE", enabled: true });
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assert.equal(buttonStore.getState().gmoccapyGui.optionalBlocks, true);
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buttonStore.dispatch({ type: "SET_OPTIONAL_STOP", enabled: true });
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assert.equal(buttonStore.getState().gmoccapyGui.optionalStop, true);
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buttonStore.dispatch({ type: "SET_IGNORE_LIMITS", enabled: true });
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assert.equal(buttonStore.getState().gmoccapyGui.ignoreLimits, true);
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buttonStore.dispatch({ type: "SET_VIEW", view: "x" });
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assert.equal(buttonStore.getState().preview.selectedView, "x");
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buttonStore.dispatch({ type: "CLEAR_PREVIEW" });
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assert.equal(buttonStore.getState().preview.pathPoints, 0);
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assert.equal(idleInterpRunningStore.getState().machine.interpState, "idle");
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assert.equal(idleInterpRunningStore.getState().machine.taskPaused, false);
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assert.equal(idleInterpRunningStore.getState().operatorMessage, "pause blocked: interpreter is not running");
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idleInterpRunningStore.dispatch({ type: "PAUSE_RESUME" });
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assert.equal(idleInterpRunningStore.getState().runState, "running");
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assert.equal(idleInterpRunningStore.getState().machine.interpState, "idle");
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assert.equal(idleInterpRunningStore.getState().operatorMessage, "pause ignored: interpreter is idle");
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const staleManualRunningStore = createSimulationStore({
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runState: "running",
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machine: {
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powerOn: true,
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estopActive: false,
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taskState: "on",
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mode: "manual",
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interpState: "reading",
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interpResumeState: "reading",
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taskPaused: false,
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allHomed: true,
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noForceHoming: false,
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},
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});
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staleManualRunningStore.dispatch({ type: "PAUSE_RESUME" });
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assert.equal(staleManualRunningStore.getState().runState, "running");
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assert.equal(staleManualRunningStore.getState().machine.mode, "manual");
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assert.equal(staleManualRunningStore.getState().machine.interpState, "reading");
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assert.equal(staleManualRunningStore.getState().machine.taskPaused, false);
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assert.equal(staleManualRunningStore.getState().operatorMessage, "pause blocked: task mode must be auto or MDI");
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assert.equal(staleManualRunningStore.getState().taskHalPauseLock, null);
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const lockedPauseState = staleManualRunningStore.getState();
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staleManualRunningStore.dispatch({
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type: "TASK_HAL_STATUS_APPLIED",
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operatorMessage: "simulated stale running task/HAL status",
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status: {
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taskRuntimeReady: true,
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taskCommandsDriveMotionRuntime: true,
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task: {
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state: "ON",
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mode: "AUTO",
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interpState: "READING",
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execState: "EXEC",
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taskCycle: 123,
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},
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motionStatus: {
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cycle: 25,
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motionHalSyncReady: true,
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motion: {
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programLine: Number(lockedPauseState.activeLine || 1) + 5,
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currentVel: 12,
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requestedVel: 12,
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inPosition: false,
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},
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axis: {
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x: 99,
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y: 88,
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z: 77,
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b: 66,
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c: 55,
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},
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},
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halSnapshot: {
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ready: true,
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pins: {
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"motion.program-line": { value: Number(lockedPauseState.activeLine || 1) + 5 },
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},
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},
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},
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});
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assert.equal(staleManualRunningStore.getState().runState, "running");
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assert.equal(staleManualRunningStore.getState().machine.mode, "manual");
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assert.equal(staleManualRunningStore.getState().machine.interpState, "reading");
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assert.equal(staleManualRunningStore.getState().taskHalPauseLock, null);
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const controlStore = createSimulationStore();
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controlStore.dispatch({ type: "ESTOP" });
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controlStore.dispatch({ type: "RESET" });
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controlStore.dispatch({ type: "TOGGLE_POWER" });
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controlStore.dispatch({ type: "HOME" });
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controlStore.dispatch({ type: "SET_MODE", mode: "manual" });
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controlStore.dispatch({ type: "SET_MODE", mode: "mdi" });
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controlStore.dispatch({ type: "RUN_MDI", command: "M428" });
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assert.equal(controlStore.getState().kinsType, "tcp-xyzbc");
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assert.equal(controlStore.getState().linuxCncProcessMonitor.axes.rtcpState, "on");
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controlStore.dispatch({ type: "RUN_MDI", command: "M429" });
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assert.equal(controlStore.getState().kinsType, "identity");
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controlStore.dispatch({ type: "RUN_MDI", command: "M430" });
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assert.equal(controlStore.getState().kinsType, "userk");
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controlStore.dispatch({ type: "SET_MODE", mode: "manual" });
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controlStore.dispatch({ type: "SET_ACTIVE_JOINT", joint: 4 });
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const cBeforeJog = controlStore.getState().axisPose.c;
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controlStore.dispatch({ type: "JOG", axis: "c", direction: 1, increment: 1 });
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assert.equal(controlStore.getState().axisPose.c, cBeforeJog + 1);
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controlStore.dispatch({ type: "RUN_MDI", command: "G10 L20 P0 C0", manualTouchOff: true });
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assert.equal(controlStore.getState().mdiHistory[0], "G10 L20 P0 C0");
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assert.equal(controlStore.getState().machine.mode, "manual");
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assert.equal(controlStore.getState().runState, "idle");
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assert.equal(controlStore.getState().operatorMessage, "manual touch off G10 L20 P0 C0");
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controlStore.dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true });
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assert.equal(controlStore.getState().mdiHistory[0], "G43");
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assert.equal(controlStore.getState().machine.mode, "manual");
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assert.equal(controlStore.getState().runState, "idle");
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const feedBefore = controlStore.getState().feed.feedOverride;
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controlStore.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: 10 });
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assert.equal(controlStore.getState().feed.feedOverride, feedBefore + 10);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.feed.feedOverridePercent, feedBefore + 10);
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controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "reverse" });
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assert.equal(controlStore.getState().spindle.direction, "reverse");
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 1);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
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controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" });
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assert.equal(controlStore.getState().spindle.direction, "stop");
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.enabled, false);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 0);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 0);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 0);
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controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" });
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assert.equal(controlStore.getState().spindle.direction, "forward");
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.enabled, true);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.actualRpm, 1600);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.on, 1);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.forward, 1);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.reverse, 0);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.spindle.halPins.speedOut, 1600);
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controlStore.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" });
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assert.equal(controlStore.getState().coolant.flood, true);
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assert.equal(controlStore.getState().linuxCncProcessMonitor.coolant.flood, true);
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controlStore.dispatch({ type: "SET_BLOCK_DELETE", enabled: true });
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assert.equal(controlStore.getState().gmoccapyGui.optionalBlocks, true);
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controlStore.dispatch({ type: "SET_OPTIONAL_STOP", enabled: true });
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assert.equal(controlStore.getState().gmoccapyGui.optionalStop, true);
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controlStore.dispatch({ type: "SET_IGNORE_LIMITS", enabled: true });
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assert.equal(controlStore.getState().gmoccapyGui.ignoreLimits, true);
|
||||
controlStore.dispatch({ type: "SET_VIEW", view: "x" });
|
||||
assert.equal(controlStore.getState().preview.selectedView, "x");
|
||||
controlStore.dispatch({ type: "CLEAR_PREVIEW" });
|
||||
assert.equal(controlStore.getState().preview.pathPoints, 0);
|
||||
|
||||
const stagingPlan = await createMachineFileStagingPlan({ profile });
|
||||
assert.equal(stagingPlan.summary.remapFileCount >= 3, true);
|
||||
|
||||
Reference in New Issue
Block a user