Add RUN precondition gate for 5-axis simulation

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

@@ -4,6 +4,9 @@ import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 
 import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
+import { getFiveAxisProfile } from "../../app/src/profiles/index.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";
 
@@ -20,21 +23,37 @@ const sdk = await createLinuxCncTaskHalSdk({
   },
 });
 const runtime = wrapTaskHalSdk(sdk);
-const store = createSimulationStore({
-  programLines: [
-    "G0 X1 Y2 Z-3 A10 C20",
-    "G1 X2 Y3 Z-4 A11 C21",
-    "M428",
-    "G1 X3 Y4 Z-5 A12 C22",
-  ],
-  activeProgram: "task-hal-store-smoke.ngc",
+const profile = getFiveAxisProfile("xyzac-trt");
+const iniText = readFileSync(
+  resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath),
+  "utf8",
+);
+const iniConfig = parseLinuxCncIni(iniText, {
+  path: profile.iniPath,
+  profileId: profile.id,
 });
+const store = createSimulationStore();
 
+store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
+store.dispatch({
+  type: "ATTACH_KINEMATICS_RUNTIME",
+  runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }),
+});
 store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime });
 assert.equal(store.getState().taskHalRuntimeReadiness.taskRuntimeReady, true);
 assert.equal(store.getState().taskHalRuntimeReadiness.motionRuntimeReady, true);
 assert.equal(store.getState().taskHalRuntimeReadiness.halRuntimeReady, true);
 
+await store.stageMachineFiles();
+store.dispatch({
+  type: "LOAD_LINUXCNC_GCODE_SOURCE",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+});
+await waitForState(store, (state) => (
+  state.machineFileStaging.selectedGcodeSourceRel?.endsWith("xyzac_switchkins_test_1.ngc") &&
+  state.taskHalSession?.programPath?.endsWith("xyzac_switchkins_test_1.ngc")
+));
+
 store.dispatch({ type: "TOGGLE_POWER" });
 await waitForTaskHal(store);
 store.dispatch({ type: "HOME" });
@@ -47,11 +66,14 @@ let state = store.getState();
 assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
 assert.equal(state.taskHalStatus.summary.halSyncReady, true);
 assert.equal(state.taskHalStatus.ui.activeLine >= 1, true);
-assert.equal(state.axisPose.x >= 1, true);
 assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
 assert.equal(state.fullExecutionBoundary.nativeTaskReady, true);
 assert.equal(state.fullExecutionBoundary.nativeHalSyncReady, true);
 
+await store.initializeTaskHalSession({ openProgram: true });
+store.dispatch({ type: "TOGGLE_POWER" });
+await waitForTaskHal(store);
+store.dispatch({ type: "HOME" });
 store.dispatch({ type: "SET_MODE", mode: "mdi" });
 await waitForTaskHal(store);
 store.dispatch({ type: "RUN_MDI", command: "M428" });
@@ -111,6 +133,15 @@ async function waitForTaskHal(store) {
   throw new Error("task/HAL store command did not settle");
 }
 
+async function waitForState(store, predicate) {
+  for (let attempt = 0; attempt < 60; attempt += 1) {
+    const state = store.getState();
+    if (predicate(state)) return state;
+    await new Promise((resolve) => setTimeout(resolve, 0));
+  }
+  throw new Error("store state condition did not settle");
+}
+
 function assertNear(actual, expected, message) {
   assert.equal(Math.abs(Number(actual) - Number(expected)) < 1e-9, true, `${message}: ${actual} !== ${expected}`);
 }

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

@@ -0,0 +1,133 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+
+import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
+import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js";
+import {
+  applyIniConfigToProfile,
+  parseLinuxCncIni,
+} from "../../app/src/runtime/linuxcnc-ini-runtime.js";
+import { stageProfileMachineFiles } from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
+import { buildTaskHalSessionFromMachineFiles } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
+import {
+  createSimulationStore,
+  validateRunPreconditions,
+} from "../../app/src/state/store.js";
+
+const cases = [
+  {
+    profileId: "xyzac-trt",
+    machineName: "sim-xyzac-trt-kins (switchkins)",
+    coordinates: "XYZAC",
+    kinematicsName: "xyzac-trt-kins",
+    kinematicsModuleId: "xyzac-trt",
+    wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm",
+    sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+  },
+  {
+    profileId: "xyzbc-trt",
+    machineName: "sim-xyzbc-trt-kins (switchkins)",
+    coordinates: "XYZBC",
+    kinematicsName: "xyzbc-trt-kins",
+    kinematicsModuleId: "xyzbc-trt",
+    wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm",
+    sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
+  },
+];
+
+for (const item of cases) {
+  const baseProfile = getFiveAxisProfile(item.profileId);
+  const iniText = await readLinuxCncFile(baseProfile.iniPath);
+  const iniConfig = parseLinuxCncIni(iniText, {
+    path: baseProfile.iniPath,
+    profileId: item.profileId,
+  });
+
+  assert.equal(iniConfig.profileId, item.profileId);
+  assert.equal(iniConfig.machineName, item.machineName);
+  assert.equal(iniConfig.traj.coordinates, item.coordinates);
+  assert.equal(iniConfig.kinematics.name, item.kinematicsName);
+  assert.equal(iniConfig.kinematicsModuleId, item.kinematicsModuleId);
+  assert.equal(iniConfig.validation.ready, true);
+
+  const profile = applyIniConfigToProfile(baseProfile, iniConfig);
+  assert.equal(profile.traj.coordinates, item.coordinates);
+  assert.equal(profile.kinematicsModuleId, item.kinematicsModuleId);
+  assert.equal(profile.axisLimits[item.coordinates[0]].max > 0, true);
+  assert.equal(profile.jointConfig.length, item.coordinates.length);
+
+  const kinematicsRuntime = await createLinuxCncKinematicsRuntime({ moduleId: item.kinematicsModuleId });
+  assert.equal(kinematicsRuntime.readiness().moduleId, item.kinematicsModuleId);
+  assert.equal(kinematicsRuntime.wasmFile, item.wasmFile);
+  assert.equal(kinematicsRuntime.frameForJoints([10, 20, 30, 5, 15]).moduleId, item.kinematicsModuleId);
+
+  const staged = await stageProfileMachineFiles(profile);
+  const selectedPlan = staged.plan.selectedProgramSourceRel === item.sourceRel
+    ? staged.plan
+    : {
+        ...staged.plan,
+        wasmProgramPath: staged.save.files.find((file) => file.sourceRel === item.sourceRel)?.wasmPath,
+        selectedProgramSourceRel: item.sourceRel,
+      };
+  const session = buildTaskHalSessionFromMachineFiles({
+    profile,
+    plan: selectedPlan,
+    save: staged.save,
+    selectedProgramRel: item.sourceRel,
+  });
+  assert.equal(session.profileId, item.profileId);
+  assert.equal(session.iniPath.endsWith(`${item.profileId}.ini`), true);
+  assert.equal(session.programSourceRel, item.sourceRel);
+  assert.equal(session.programPath.endsWith(item.sourceRel.split("/").at(-1)), true);
+}
+
+const initialStore = createSimulationStore();
+let check = validateRunPreconditions(initialStore.getState(), {
+  requireTaskHalRuntime: false,
+  requireTaskHalSession: false,
+});
+assert.equal(check.ok, false);
+assert.equal(check.operatorMessage, "run blocked: LinuxCNC INI not loaded");
+
+const profile = getFiveAxisProfile("xyzac-trt");
+const iniText = await readLinuxCncFile(profile.iniPath);
+const iniConfig = parseLinuxCncIni(iniText, {
+  path: profile.iniPath,
+  profileId: profile.id,
+});
+const store = createSimulationStore();
+store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
+store.dispatch({
+  type: "ATTACH_KINEMATICS_RUNTIME",
+  runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }),
+});
+await store.stageMachineFiles();
+store.dispatch({
+  type: "LOAD_LINUXCNC_GCODE_SOURCE",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
+});
+
+check = validateRunPreconditions(store.getState(), {
+  requireTaskHalRuntime: false,
+  requireTaskHalSession: false,
+});
+assert.equal(check.ok, true);
+assert.equal(check.profileId, "xyzac-trt");
+assert.equal(check.coordinates, "XYZAC");
+assert.equal(check.kinematicsModuleId, "xyzac-trt");
+assert.equal(check.selectedGcodeSourceRel.endsWith("xyzac_switchkins_test_1.ngc"), true);
+
+check = validateRunPreconditions(store.getState(), {
+  requireTaskHalRuntime: true,
+  requireTaskHalSession: false,
+});
+assert.equal(check.ok, false);
+assert.equal(check.operatorMessage, "run blocked: task/HAL runtime not ready");
+
+console.log("run_preconditions_ini_profile_smoke=ok");
+console.log("run_preconditions_kinematics_smoke=ok");
+console.log("run_preconditions_machine_file_smoke=ok");
+
+async function readLinuxCncFile(sourceRel) {
+  return readFile(new URL(`../../../wasm-port/vendor/linuxcnc/${sourceRel}`, import.meta.url), "utf8");
+}