完善 LinuxCNC 对标矩阵与 gmoccapy TRT 仿真

2026-07-01 08:19:21 -04:00
parent 1e66f170c9
commit 9803aadf0a
31 changed files with 3966 additions and 104 deletions
--- a/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_trt_project_sidebar.mjs
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_trt_project_sidebar.mjs
@@ -0,0 +1,164 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+
+import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
+import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
+import { createSimulationStore } from "../../app/src/state/store.js";
+
+function sidebarEntry(state, id) {
+  const entry = state.rightSidebarEntrances.find((candidate) => candidate.id === id);
+  assert.ok(entry, `missing right sidebar entry ${id}`);
+  return entry;
+}
+
+async function waitForValidatedProgram(store) {
+  for (let attempt = 0; attempt < 30; attempt += 1) {
+    const state = store.getState();
+    if (!state.interpreterExecutionPending && state.programValidation?.ready) {
+      return state;
+    }
+    await new Promise((resolve) => setTimeout(resolve, 0));
+  }
+  return store.getState();
+}
+
+async function loadIniConfigFromVendoredSource(profile) {
+  const text = await readFile(
+    new URL(`../../../wasm-port/vendor/linuxcnc/${profile.iniPath}`, import.meta.url),
+    "utf8",
+  );
+  return parseLinuxCncIni(text, {
+    path: profile.iniPath,
+    profileId: profile.id,
+  });
+}
+
+const store = createSimulationStore();
+let state = store.getState();
+assert.equal(state.rightSidebarEntrances.length, 9);
+assert.deepEqual(
+  state.rightSidebarEntrances.map((entry) => entry.label),
+  ["E-STOP", "POWER", "RESET", "AUTO", "MANUAL", "JOG", "MDI", "IDENTITY", "TCP"],
+);
+assert.equal(sidebarEntry(state, "power").allowed, true);
+assert.equal(sidebarEntry(state, "auto").allowed, false);
+assert.equal(sidebarEntry(state, "manual").allowed, false);
+assert.equal(sidebarEntry(state, "jog").allowed, false);
+assert.equal(sidebarEntry(state, "mdi").allowed, false);
+assert.equal(sidebarEntry(state, "identity").active, true);
+assert.equal(sidebarEntry(state, "identity").status, "active-blocked");
+assert.equal(sidebarEntry(state, "tcp").allowed, false);
+
+store.dispatch({ type: "ESTOP" });
+state = store.getState();
+assert.equal(sidebarEntry(state, "estop").status, "emergency");
+assert.equal(sidebarEntry(state, "power").allowed, false);
+assert.equal(sidebarEntry(state, "power").operatorMessage, "power on blocked: reset estop first");
+
+store.dispatch({ type: "RESET" });
+store.dispatch({ type: "TOGGLE_POWER" });
+state = store.getState();
+assert.equal(state.machine.taskState, "on");
+assert.equal(sidebarEntry(state, "power").active, true);
+assert.equal(sidebarEntry(state, "manual").active, true);
+assert.equal(sidebarEntry(state, "jog").active, false);
+assert.equal(sidebarEntry(state, "auto").allowed, false);
+assert.equal(sidebarEntry(state, "auto").operatorMessage, "mode blocked: home machine before AUTO");
+
+store.dispatch({ type: "SET_MODE", mode: "jog" });
+state = store.getState();
+assert.equal(state.machine.mode, "manual");
+assert.equal(state.machine.manualPanel, "jog");
+assert.equal(sidebarEntry(state, "manual").active, false);
+assert.equal(sidebarEntry(state, "jog").active, true);
+
+store.dispatch({ type: "HOME" });
+store.dispatch({ type: "SET_MODE", mode: "auto" });
+state = store.getState();
+assert.equal(sidebarEntry(state, "auto").active, true);
+assert.equal(sidebarEntry(state, "mdi").allowed, true);
+assert.equal(sidebarEntry(state, "tcp").allowed, true);
+
+store.dispatch({ type: "SET_KINS_TYPE", kinsType: "tcp-xyzac" });
+state = store.getState();
+assert.equal(state.kinsType, "tcp-xyzac");
+assert.equal(state.rtcpState, "on");
+assert.equal(sidebarEntry(state, "tcp").active, true);
+store.dispatch({ type: "SET_KINS_TYPE", kinsType: "identity" });
+assert.equal(store.getState().kinsType, "identity");
+
+store.dispatch({
+  type: "LOAD_PROGRAM",
+  filename: "sidebar-running-gate.ngc",
+  content: [
+    "G0 X0 Y0 Z0",
+    "G1 X1 F100",
+    "G1 X2",
+    "G1 X3",
+    "G1 X4",
+    "G1 X5",
+    "G1 X6",
+    "G1 X7",
+    "G1 X8",
+    "G1 X9",
+    "M2",
+  ].join("\n"),
+});
+store.dispatch({ type: "RUN" });
+state = store.getState();
+assert.equal(state.runState, "running");
+assert.equal(sidebarEntry(state, "manual").allowed, false);
+assert.equal(sidebarEntry(state, "tcp").allowed, false);
+assert.equal(sidebarEntry(state, "tcp").operatorMessage, "kinematics blocked: interpreter must be idle");
+
+store.dispatch({ type: "STOP" });
+store.dispatch({ type: "SET_MODE", mode: "manual" });
+
+const profile = getFiveAxisProfile("xyzac-trt");
+const iniConfig = await loadIniConfigFromVendoredSource(profile);
+store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
+store.dispatch({
+  type: "ATTACH_INTERPRETER_RUNTIME",
+  runtime: await createLinuxCncInterpreterRuntime(),
+});
+await store.stageMachineFiles({ storage: createMemorySessionStorage() });
+state = store.getState();
+assert.equal(state.machineProject.profileId, "xyzac-trt");
+assert.equal(state.machineProject.projectRoot, "web-rtcp-5axis-sim-plan/machines/xyzac-trt");
+assert.equal(state.machineProject.ini.filename, "xyzac-trt.ini");
+assert.equal(state.machineProject.ini.sourceMatchesProfile, true);
+assert.equal(state.machineProject.ini.textMatchesLoadedIni, true);
+assert.equal(state.machineProject.configFileCount > 0, true);
+assert.equal(state.machineProject.gcodeFileCount, 16);
+assert.equal(state.machineProject.gcodeFiles.some((file) => file.filename === "impeller-7bl-xyzac.ngc"), true);
+
+store.dispatch({
+  type: "LOAD_LINUXCNC_GCODE_SOURCE",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc",
+});
+state = await waitForValidatedProgram(store);
+assert.equal(state.programValidation.ready, true);
+assert.equal(state.programValidation.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file");
+assert.equal(state.programValidation.previewSource, "linuxcnc_interpreter_canonical_motion");
+assert.equal(state.programValidation.motionEventCount > 0, true);
+assert.equal(state.programValidation.plannerSampleCount > 0, true);
+assert.equal(state.programValidation.realtimeAxisValues.x, state.axisPose.x);
+assert.equal(state.machineProject.selectedProgram.filename, "impeller-7bl-xyzac.ngc");
+
+const xyzbcStore = createSimulationStore();
+xyzbcStore.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" });
+const xyzbcProfile = getFiveAxisProfile("xyzbc-trt");
+xyzbcStore.dispatch({
+  type: "ATTACH_INI_CONFIG",
+  profileId: xyzbcProfile.id,
+  iniConfig: await loadIniConfigFromVendoredSource(xyzbcProfile),
+});
+await xyzbcStore.stageMachineFiles({ storage: createMemorySessionStorage() });
+const xyzbcState = xyzbcStore.getState();
+assert.equal(xyzbcState.machineProject.profileId, "xyzbc-trt");
+assert.equal(xyzbcState.machineProject.ini.filename, "xyzbc-trt.ini");
+assert.equal(xyzbcState.machineProject.gcodeFiles.some((file) => file.filename === "boat-xyzbc.ngc"), true);
+
+console.log("gmoccapy_trt_project_sidebar_smoke=ok");
--- a/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_parity_matrix.mjs
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_parity_matrix.mjs
@@ -0,0 +1,131 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+
+import {
+  LINUXCNC_PARITY_ITEMS,
+  RIGHT_SIDEBAR_PARITY_ENTRIES,
+  SWITCHKINS_PARITY_CODES,
+} from "../../app/src/runtime/linuxcnc-parity-matrix.js";
+import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
+import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
+import { createSimulationStore } from "../../app/src/state/store.js";
+
+function item(matrix, id) {
+  const found = matrix.items.find((entry) => entry.id === id);
+  assert.ok(found, `missing parity matrix item ${id}`);
+  return found;
+}
+
+async function waitForValidatedProgram(store) {
+  for (let attempt = 0; attempt < 30; attempt += 1) {
+    const state = store.getState();
+    if (!state.interpreterExecutionPending && state.programValidation?.ready) {
+      return state;
+    }
+    await new Promise((resolve) => setTimeout(resolve, 0));
+  }
+  return store.getState();
+}
+
+async function loadIniConfigFromVendoredSource(profile) {
+  const text = await readFile(
+    new URL(`../../../wasm-port/vendor/linuxcnc/${profile.iniPath}`, import.meta.url),
+    "utf8",
+  );
+  return parseLinuxCncIni(text, {
+    path: profile.iniPath,
+    profileId: profile.id,
+  });
+}
+
+assert.equal(LINUXCNC_PARITY_ITEMS.length >= 11, true);
+assert.deepEqual(RIGHT_SIDEBAR_PARITY_ENTRIES, [
+  "E-STOP",
+  "POWER",
+  "RESET",
+  "AUTO",
+  "MANUAL",
+  "JOG",
+  "MDI",
+  "IDENTITY",
+  "TCP",
+]);
+assert.deepEqual(SWITCHKINS_PARITY_CODES, ["M428", "M429", "M430"]);
+
+const store = createSimulationStore();
+let state = store.getState();
+let matrix = state.linuxCncParityMatrix;
+
+assert.equal(matrix.apiName, "web-rtcp-5axis-linuxcnc-parity-matrix");
+assert.equal(matrix.profileId, "xyzac-trt");
+assert.equal(matrix.status, "implemented");
+assert.equal(matrix.implementedCount, matrix.itemCount);
+assert.equal(matrix.rightSidebarComplete, true);
+assert.equal(matrix.switchkinsComplete, true);
+assert.deepEqual(matrix.actualRightSidebarEntries, RIGHT_SIDEBAR_PARITY_ENTRIES);
+assert.equal(matrix.requiredSwitchkinsCodes.every((code) => matrix.activeSwitchkinsCodes.includes(code)), true);
+assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("impeller-7bl-xyzac.ngc")), true);
+assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("boat-xyzbc.ngc")), true);
+assert.equal(matrix.linuxCncFunctions.includes("E-STOP/POWER/RESET task-state entry"), true);
+assert.equal(matrix.linuxCncFunctions.includes("M428 TCP"), true);
+assert.equal(matrix.linuxCncFunctions.includes("M429 identity"), true);
+assert.equal(matrix.linuxCncFunctions.includes("M430 userk"), true);
+
+assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, true);
+assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").sourceMapped, true);
+assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").linuxCncPaths.some((path) => path.endsWith("xyzac-trt.ini")), true);
+assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").implemented, true);
+assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, false);
+assert.equal(item(matrix, "gmoccapy-trt-config").linuxCncPaths.some((path) => path.includes("gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini")), true);
+assert.equal(item(matrix, "gmoccapy-trt-config").functions.includes("DISPLAY gmoccapy"), true);
+assert.equal(item(matrix, "gmoccapy-native-operator-ui").active, true);
+assert.equal(item(matrix, "right-sidebar-task-interlocks").active, true);
+assert.equal(item(matrix, "vismach-machine-preview").active, true);
+assert.equal(item(matrix, "source-derived-kinematics-switchkins").active, true);
+assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, false);
+assert.equal(item(matrix, "machine-project-directory").active, false);
+assert.equal(item(matrix, "task-hal-status-loop").implemented, true);
+assert.equal(item(matrix, "gmoccapy-postgui-tool-spindle").active, true);
+
+store.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" });
+state = store.getState();
+matrix = state.linuxCncParityMatrix;
+assert.equal(matrix.profileId, "xyzbc-trt");
+assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, false);
+assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, true);
+assert.equal(item(matrix, "source-derived-kinematics-switchkins").evidence.activeSwitchkinsCodes.includes("M428"), true);
+
+store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" });
+const profile = getFiveAxisProfile("xyzac-trt");
+store.dispatch({
+  type: "ATTACH_INI_CONFIG",
+  profileId: profile.id,
+  iniConfig: await loadIniConfigFromVendoredSource(profile),
+});
+store.dispatch({
+  type: "ATTACH_INTERPRETER_RUNTIME",
+  runtime: await createLinuxCncInterpreterRuntime(),
+});
+await store.stageMachineFiles({ storage: createMemorySessionStorage() });
+state = store.getState();
+matrix = state.linuxCncParityMatrix;
+assert.equal(item(matrix, "machine-project-directory").active, true);
+assert.equal(item(matrix, "machine-project-directory").evidence.iniSourceMatchesProfile, true);
+assert.equal(item(matrix, "machine-project-directory").evidence.gcodeFileCount >= 8, true);
+
+store.dispatch({
+  type: "LOAD_LINUXCNC_GCODE_SOURCE",
+  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc",
+});
+state = await waitForValidatedProgram(store);
+matrix = state.linuxCncParityMatrix;
+assert.equal(state.programValidation.ready, true);
+assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, true);
+assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file");
+assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.motionEventCount > 0, true);
+assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.plannerSampleCount > 0, true);
+assert.equal(matrix.activeCount >= 9, true);
+
+console.log("linuxcnc_parity_matrix_smoke=ok");
--- a/web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
+++ b/web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
@@ -127,6 +127,13 @@ assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wa
 assert.equal(kinematicsState.rtcpFrame.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi");
 assert.equal(kinematicsState.rtcpFrame.readiness.linuxCncKinematicsReady, true);

+kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true });
+kinematicsState = kinematicsStore.getState();
+assert.equal(kinematicsState.rtcpState, "off");
+assert.equal(kinematicsState.operatorMessage, "kinematics blocked: machine must be on");
+
+kinematicsStore.dispatch({ type: "TOGGLE_POWER" });
+kinematicsStore.dispatch({ type: "HOME" });
 kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true });
 kinematicsState = kinematicsStore.getState();
 assert.equal(kinematicsState.rtcpState, "on");
@@ -134,8 +141,6 @@ assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wa
 assert.equal(kinematicsState.lastKinematicsResult.moduleId, "xyzac-trt");
 assert.equal(kinematicsState.dro.tcpX, kinematicsState.rtcpFrame.tcpPose.x);

-kinematicsStore.dispatch({ type: "TOGGLE_POWER" });
-kinematicsStore.dispatch({ type: "HOME" });
 kinematicsStore.dispatch({ type: "SET_MODE", mode: "auto" });
 kinematicsStore.dispatch({ type: "STEP" });
 kinematicsState = kinematicsStore.getState();
@@ -270,6 +275,8 @@ assert.equal(store.getState().machineProfile, "xyzbc-trt");
 assert.equal(store.getState().profile.traj.coordinates, "XYZBC");
 const xyzbcRuntime = await createLinuxCncKinematicsRuntime({ moduleId: "xyzbc-trt" });
 store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime: xyzbcRuntime });
+store.dispatch({ type: "TOGGLE_POWER" });
+store.dispatch({ type: "HOME" });
 store.dispatch({ type: "SET_RTCP", enabled: true });
 state = store.getState();
 assert.equal(state.kinsType, "tcp-xyzbc");
@@ -277,6 +284,7 @@ assert.equal(state.rtcpFrame.kinematicsModuleId, "xyzbc-trt");
 assert.equal(state.rtcpFrame.jointPose[3].axis, "B");

 store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" });
+store.dispatch({ type: "RESET" });
 store.dispatch({ type: "RUN" });
 assert.equal(store.getState().activeLine, 501);
 assert.equal(store.getState().operatorMessage, "run blocked: machine must be on");