feat: sync latest run execution updates

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

@@ -0,0 +1,171 @@
+import assert from "node:assert/strict";
+import { readFileSync } from "node:fs";
+import { dirname, resolve } from "node:path";
+import { fileURLToPath } from "node:url";
+
+import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
+import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js";
+import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
+import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
+import { createSimulationStore } from "../../app/src/state/store.js";
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = dirname(__filename);
+const rootDir = resolve(__dirname, "../../..");
+const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm");
+
+await verifyRunFeedbackLoop({
+  profileId: "xyzac-trt",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+  stopAction: "STOP",
+});
+
+await verifyRunFeedbackLoop({
+  profileId: "xyzac-trt",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+  stopAction: "ABORT",
+});
+
+await verifyRunFeedbackLoop({
+  profileId: "xyzbc-trt",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
+  stopAction: "STOP",
+});
+
+console.log("run_feedback_status_loop_smoke=ok");
+
+async function verifyRunFeedbackLoop({ profileId, sourceRel, stopAction }) {
+  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 kinematicsModuleId = iniConfig.kinematicsModuleId;
+  const store = createSimulationStore();
+
+  store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
+  store.dispatch({
+    type: "ATTACH_KINEMATICS_RUNTIME",
+    runtime: await createLinuxCncKinematicsRuntime({ moduleId: 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: "TOGGLE_POWER" });
+  await waitForTaskHalCommand(store);
+  store.dispatch({ type: "HOME" });
+  store.dispatch({ type: "SET_MODE", mode: "auto" });
+  await waitForTaskHalCommand(store);
+
+  store.dispatch({ type: "RUN" });
+  await waitForTaskHalCommand(store);
+  await waitForState(store, (state) => distinctActiveLines(state.programRuntimeFeedbackHistory).length >= 3);
+
+  let state = store.getState();
+  const history = state.programRuntimeFeedbackHistory;
+  if (state.taskHalStatusLoop.profileId) {
+    assert.equal(state.taskHalStatusLoop.profileId, profileId);
+  }
+  if (state.taskHalStatusLoop.kinematicsModuleId) {
+    assert.equal(state.taskHalStatusLoop.kinematicsModuleId, kinematicsModuleId);
+  }
+  assert.equal(state.taskHalStatusLoop.taskPeriodNs, 10000000);
+  assert.equal(state.taskHalStatusLoop.servoPeriodNs, 1000000);
+  assert.equal(history.length >= 3, true);
+  assert.equal(history.every((entry) => entry.sourceMode === "linuxcnc-task-motion-hal-wasm"), true);
+  assert.equal(history.every((entry) => entry.semanticBoundary === "linuxcnc_task_motion_hal_wasm_simulation_runtime"), true);
+  assert.equal(history.some((entry) => entry.sourceMode === "fixture-line-playback"), false);
+  assert.equal(history.every((entry) => entry.activeLineSource === "motion-status"), true);
+  assert.equal(history.every((entry) => entry.activeLineHalSynced === true), true);
+  assert.equal(history.every((entry) => entry.line === entry.motionProgramLine), true);
+  assert.equal(history.every((entry) => entry.line === entry.halProgramLine), true);
+  assert.equal(history.some((entry) => entry.currentVelocityMmPerMin > 0), true);
+  assert.equal(history.some((entry) => entry.currentVelocityMmPerMin !== 3600), true);
+  assert.equal(isMonotonic(history.map((entry) => entry.taskCycle).reverse()), true);
+  assert.equal(isMonotonic(history.map((entry) => entry.cycle).reverse()), true);
+  const activeLines = distinctActiveLines(history);
+  assert.equal(activeLines.length >= 3, true, `${sourceRel} activeLines=${activeLines.join(",")}`);
+  assert.equal(isMonotonic(activeLines), true, `${sourceRel} activeLines=${activeLines.join(",")}`);
+  assert.equal(
+    sourceRel.endsWith("boat-xyzbc.ngc") ? activeLines.join(",") !== "1,10" : true,
+    true,
+    `${sourceRel} activeLines=${activeLines.join(",")}`,
+  );
+  assert.equal(
+    sourceRel.endsWith("boat-xyzbc.ngc") ? activeLines.some((line) => line > activeLines.indexOf(line) + 1) : true,
+    true,
+    `${sourceRel} activeLines=${activeLines.join(",")}`,
+  );
+  assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
+  assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
+  assert.equal(state.taskHalStatus.summary.halSyncReady, true);
+
+  const cycleAfterRun = state.taskHalStatus.ui.taskCycle;
+  store.dispatch({ type: "STEP" });
+  await waitForTaskHalCommand(store);
+  state = store.getState();
+  assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
+  assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
+
+  store.dispatch({ type: stopAction });
+  await waitForTaskHalCommand(store);
+  state = store.getState();
+  assert.equal(state.taskHalStatusLoop.active, false);
+  assert.equal(["stopped", "complete", "idle"].includes(state.runState), true);
+  assert.equal(
+    stopAction !== "ABORT" || ["aborted", "stopped", "complete", "idle"].includes(state.taskHalStatusLoop.stopReason),
+    true,
+  );
+  assert.equal(state.taskHalStatus.ui.taskCycle >= cycleAfterRun, true);
+}
+
+async function waitForTaskHalCommand(store) {
+  for (let attempt = 0; attempt < 80; attempt += 1) {
+    if (!store.getState().taskHalExecutionPending) {
+      await new Promise((resolve) => setTimeout(resolve, 0));
+      if (!store.getState().taskHalExecutionPending) return store.getState();
+    }
+    await new Promise((resolve) => setTimeout(resolve, 0));
+  }
+  throw new Error("task/HAL command did not settle");
+}
+
+async function waitForState(store, predicate) {
+  for (let attempt = 0; attempt < 160; attempt += 1) {
+    const state = store.getState();
+    if (predicate(state)) return state;
+    await new Promise((resolve) => setTimeout(resolve, 5));
+  }
+  throw new Error("store state condition did not settle");
+}
+
+function isMonotonic(values) {
+  for (let index = 1; index < values.length; index += 1) {
+    if (Number(values[index]) < Number(values[index - 1])) return false;
+  }
+  return true;
+}
+
+function distinctActiveLines(history = []) {
+  return [...new Set(history.map((entry) => Number(entry.line)).reverse())]
+    .filter((line) => Number.isFinite(line));
+}