完善 LinuxCNC 对标矩阵与 gmoccapy TRT 仿真

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

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+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");