完善五轴 RTCP 仿真与验证资料

qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs

@@ -0,0 +1,550 @@
+import fs from "node:fs/promises";
+import http from "node:http";
+import path from "node:path";
+import { randomUUID } from "node:crypto";
+import puppeteer from "puppeteer-core";
+import { PNG } from "pngjs";
+
+const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
+const QA_ROOT = path.join(REPO_ROOT, "qa/web-rtcp-5axis-site-test");
+const OUTPUT_DIR = path.join(QA_ROOT, "output");
+const EVIDENCE_SCOPE = "working7-manual-flow-evidence";
+const SCREENSHOT_DIR = path.join(OUTPUT_DIR, EVIDENCE_SCOPE);
+const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome";
+const TARGET_URL = process.env.TARGET_URL || "";
+const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html";
+const JOB_ID = process.env.JOB_ID || `w7-${new Date().toISOString().replace(/[-:.TZ]/g, "").slice(0, 14)}-${randomUUID().slice(0, 8)}`;
+const REPORT_ID = process.env.REPORT_ID || `report-${JOB_ID}`;
+const REPORT_BASENAME = `${EVIDENCE_SCOPE}-report`;
+
+await fs.mkdir(OUTPUT_DIR, { recursive: true });
+await fs.mkdir(SCREENSHOT_DIR, { recursive: true });
+
+let server = null;
+let targetUrl = TARGET_URL;
+if (!targetUrl) {
+  server = createStaticServer(REPO_ROOT);
+  await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
+  const address = server.address();
+  if (!address || typeof address === "string") throw new Error("failed to start static server");
+  targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`;
+}
+
+const browser = await puppeteer.launch({
+  headless: true,
+  executablePath: CHROME_PATH,
+  defaultViewport: { width: 1500, height: 1050, deviceScaleFactor: 1 },
+  ignoreHTTPSErrors: true,
+  args: [
+    "--ignore-certificate-errors",
+    "--disable-gpu",
+    "--enable-webgl",
+    "--use-angle=swiftshader",
+    "--enable-unsafe-swiftshader",
+    "--no-sandbox",
+  ],
+});
+
+const page = await browser.newPage();
+const consoleErrors = [];
+const pageErrors = [];
+const networkErrors = [];
+page.on("console", (msg) => {
+  if (msg.type() === "error") consoleErrors.push(msg.text());
+});
+page.on("pageerror", (error) => pageErrors.push(error.message));
+page.on("response", (response) => {
+  if (response.status() >= 400) {
+    networkErrors.push(`${response.status()} ${response.url()}`);
+  }
+});
+
+const report = {
+  jobId: JOB_ID,
+  reportId: REPORT_ID,
+  evidenceScope: EVIDENCE_SCOPE,
+  generatedAt: new Date().toISOString(),
+  targetUrl,
+  chromePath: CHROME_PATH,
+  screenshotsDir: SCREENSHOT_DIR,
+  steps: [],
+  checks: [],
+  consoleErrors,
+  pageErrors,
+  networkErrors,
+};
+
+try {
+  await page.goto(targetUrl, { waitUntil: "networkidle2", timeout: 60000 });
+  await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
+  await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
+  await page.waitForFunction(() => document.querySelector("[data-five-axis-canvas]")?.dataset?.threeReady === "true", { timeout: 20000 });
+  await windowReady();
+  await captureStep("01-loaded", "Main shell loaded", "The gmoccapy shell, canvas, diagnostics, and public store API are ready.");
+
+  await click("power");
+  await waitForState((state) => state.machine.powerOn === true && state.machine.taskState === "on", 10000, "power on");
+  await click("HOME");
+  await waitForState((state) => state.machine.allHomed === true && state.machine.mode === "manual", 10000, "home complete");
+  await captureStep("02-powered-homed-manual", "POWER and HOME", "Machine is powered, homed, and in MANUAL mode.");
+
+  await click("mode-auto");
+  await waitForState((state) => state.machine.mode === "auto" && state.machine.powerOn === true && state.machine.allHomed === true, 10000, "auto mode");
+  await captureStep("03-auto-active", "AUTO mode active", "AUTO mode becomes active while power and home state are preserved.");
+
+  await click("mode-manual");
+  await waitForState((state) => state.machine.mode === "manual" && state.machine.powerOn === true, 10000, "manual mode");
+  const beforeJog = await getState();
+  await click("JOG_X_POS");
+  await waitForState((state) => Number(state.axisPose?.x || 0) > Number(beforeJog.axisPose?.x || 0), 10000, "X+ jog changes position");
+  await captureStep("04-manual-jog-x", "Manual X+ jog", "X+ jog changes the X axis position in MANUAL mode.");
+
+  await click("mode-mdi");
+  await waitForState((state) => state.machine.mode === "mdi", 10000, "mdi mode");
+  await setMdiCommand("G90 X12.5 Y-4 Z1.25 F900");
+  await submitMdiCommand();
+  await waitForState((state) => (
+    state.machine.mode === "mdi" &&
+    /G90 X12\.5 Y-4 Z1\.25 F900/.test(state.machine.mdiCommand || state.operatorMessage || "")
+  ), 10000, "MDI command accepted");
+  await captureStep("05-mdi-command", "MDI command", "MDI accepts a coordinate command and records the staged/executed command state.");
+
+  await click("mode-manual");
+  await waitForState((state) => state.machine.mode === "manual", 10000, "manual before overrides");
+  await click("rapid-override-up");
+  await waitForState((state) => Number(state.feed.rapidOverride) === 110, 8000, "rapid override up");
+  await click("rapid-override-reset");
+  await waitForState((state) => Number(state.feed.rapidOverride) === 100, 8000, "rapid override reset");
+  await click("feed-override-down");
+  await waitForState((state) => Number(state.feed.feedOverride) === 90, 8000, "feed override down");
+  await click("feed-override-reset");
+  await waitForState((state) => Number(state.feed.feedOverride) === 100, 8000, "feed override reset");
+  await click("ignore-limits");
+  await waitForState((state) => state.gmoccapyGui.ignoreLimits === true, 8000, "ignore limits on");
+  await click("block-delete");
+  await waitForState((state) => state.gmoccapyGui.optionalBlocks === true, 8000, "block delete on");
+  await click("optional-stop");
+  await waitForState((state) => state.gmoccapyGui.optionalStop === true, 8000, "optional stop on");
+  await captureStep("06-overrides-hal", "Overrides and HAL inputs", "Rapid/feed overrides reset to 100 and HAL input toggles are active.");
+
+  await click("spindle-forward");
+  await waitForState((state) => state.spindle.enabled === true && state.spindle.direction === "forward", 8000, "spindle forward");
+  await click("spindle-override-up");
+  await waitForState((state) => Number(state.spindle.override) === 110, 8000, "spindle override up");
+  await click("spindle-override-reset");
+  await waitForState((state) => Number(state.spindle.override) === 100, 8000, "spindle override reset");
+  await click("toggle-flood");
+  await waitForState((state) => state.coolant.flood === true, 8000, "flood toggled on");
+  await click("toggle-mist");
+  await waitForState((state) => state.coolant.mist === true, 8000, "mist toggled on");
+  await click("spindle-stop");
+  await waitForState((state) => state.spindle.enabled === false && state.spindle.direction === "stop", 8000, "spindle stop");
+  await captureStep("07-spindle-coolant", "Spindle and coolant", "Spindle, spindle override, flood, and mist controls obey the powered machine gate.");
+
+  const savedSnapshot = await page.evaluate(() => window.webRtcp5AxisSimulation.saveSession({
+    sessionId: "working7-manual-flow",
+    filename: "working7-session.json",
+  }));
+  await waitForState((state) => state.sessionPersistence.status === "saved", 10000, "session saved");
+  await page.select('[data-action="select-profile"]', "gmoccapy-xyzab");
+  await waitForState((state) => state.machineProfile === "gmoccapy-xyzab", 15000, "profile changed before restore");
+  await page.evaluate(() => window.webRtcp5AxisSimulation.restoreSession({
+    sessionId: "working7-manual-flow",
+    filename: "working7-session.json",
+  }));
+  await waitForState((state) => state.sessionPersistence.status === "restored" && state.machineProfile === "xyzac-trt", 15000, "session restored");
+  const restoredSession = await getState();
+  report.sessionEvidence = {
+    savedPath: savedSnapshot.path,
+    savedStorageMode: savedSnapshot.storageMode,
+    restoredPath: restoredSession.sessionPersistence.path,
+    restoredStorageMode: restoredSession.sessionPersistence.storageMode,
+  };
+  await captureStep("08-session-restored", "Save and restore session", "Saved profile and control state are restored after switching to another profile.");
+
+  await captureStep("09-diagnostics", "Diagnostics", "Task policy, INI, Task/HAL, full boundary, gmoccapy communication, and HAL diagnostics are visible.");
+  addChecks();
+  report.status = report.checks.every((check) => check.pass) && pageErrors.length === 0 ? "PASS" : "FAIL";
+
+  const jsonPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.json`);
+  const pdfPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.pdf`);
+  report.jsonPath = jsonPath;
+  report.pdfPath = pdfPath;
+  await fs.writeFile(jsonPath, `${JSON.stringify(report, null, 2)}\n`, "utf8");
+  await writePdfReport(pdfPath, report);
+
+  console.log(`working7_manual_flow_status=${report.status}`);
+  console.log(`working7_manual_flow_job_id=${report.jobId}`);
+  console.log(`working7_manual_flow_report_id=${report.reportId}`);
+  console.log(`working7_manual_flow_json=${jsonPath}`);
+  console.log(`working7_manual_flow_pdf=${pdfPath}`);
+  console.log(`working7_manual_flow_screenshots=${SCREENSHOT_DIR}`);
+  if (report.status !== "PASS") process.exitCode = 1;
+} finally {
+  await page.close().catch(() => {});
+  await browser.close().catch(() => {});
+  if (server) await new Promise((resolve) => server.close(resolve));
+}
+
+async function windowReady() {
+  await waitForState((state) => (
+    state.kinematicsRuntimeReadiness?.loaded === true &&
+    state.interpreterRuntimeReadiness?.loaded === true &&
+    state.taskHalRuntimeReadiness?.loaded === true &&
+    state.machineFileStaging?.status === "staged"
+  ), 30000, "runtime and machine files ready");
+}
+
+async function captureStep(name, title, description) {
+  const screenshotPath = path.join(SCREENSHOT_DIR, `${name}.png`);
+  await page.screenshot({ path: screenshotPath, fullPage: true });
+  const [state, dom, pixelStats] = await Promise.all([
+    getState(),
+    getDomEvidence(),
+    analyzePng(screenshotPath),
+  ]);
+  const step = {
+    name,
+    title,
+    description,
+    screenshotPath,
+    pixelStats,
+    state: summarizeState(state),
+    dom,
+  };
+  report.steps.push(step);
+  return step;
+}
+
+async function getDomEvidence() {
+  return page.evaluate(() => {
+    const text = (selector) => document.querySelector(selector)?.textContent?.trim() || "";
+    const button = (action) => {
+      const element = document.querySelector(`[data-action="${action}"]`);
+      return {
+        exists: Boolean(element),
+        disabled: Boolean(element?.disabled),
+        active: element?.dataset?.active || null,
+        commandReady: element?.dataset?.commandReady || null,
+        title: element?.getAttribute("title") || "",
+      };
+    };
+    return {
+      regions: window.webRtcp5AxisSimulation.getRegions?.() || null,
+      canvas: { ...(document.querySelector("[data-five-axis-canvas]")?.dataset || {}) },
+      sidebar: {
+        power: button("power"),
+        manual: button("mode-manual"),
+        auto: button("mode-auto"),
+        mdi: button("mode-mdi"),
+      },
+      bottom: {
+        home: button("HOME"),
+        jogXPlus: button("JOG_X_POS"),
+        mdiRun: button("MDI_RUN"),
+      },
+      values: {
+        rapidOverride: text('[data-value="rapid-override"]'),
+        feedOverride: text('[data-value="feed-override"]'),
+        spindleOverride: text('[data-value="spindle-override"]'),
+        halLast: text('[data-value="gmoccapy-hal-last"]'),
+        session: text('[data-session-persistence="status"]'),
+        taskGates: text('[data-linuxcnc-task-policy="gates"]'),
+        taskHal: text('[data-task-hal-runtime="readiness"]'),
+        gmoccapyHal: text('[data-gmoccapy-hal="boundary"]'),
+        operatorMessage: text("[data-operator-message]"),
+      },
+    };
+  });
+}
+
+async function setMdiCommand(command) {
+  await page.$eval('[data-action="mdi-command"]', (input, value) => {
+    input.value = value;
+    input.dispatchEvent(new Event("input", { bubbles: true }));
+    input.dispatchEvent(new Event("change", { bubbles: true }));
+  }, command);
+  await waitForState((state) => state.machine.mdiCommand === command.toUpperCase(), 5000, "MDI input staged");
+}
+
+async function submitMdiCommand() {
+  await page.$eval('[data-action="mdi-form"]', (form) => {
+    form.dispatchEvent(new Event("submit", { bubbles: true, cancelable: true }));
+  });
+}
+
+async function click(action) {
+  await page.evaluate((selector) => {
+    const element = document.querySelector(selector);
+    if (!element) throw new Error(`missing action ${selector}`);
+    element.click();
+  }, `[data-action="${action}"]`);
+}
+
+async function getState() {
+  return page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState())));
+}
+
+async function waitForState(predicate, timeoutMs, label) {
+  const started = Date.now();
+  let lastState = null;
+  while (Date.now() - started < timeoutMs) {
+    lastState = await getState();
+    if (predicate(lastState)) return lastState;
+    await wait(50);
+  }
+  throw new Error(`timeout waiting for ${label}: ${JSON.stringify(summarizeState(lastState || {}))}`);
+}
+
+function addChecks() {
+  const byName = Object.fromEntries(report.steps.map((step) => [step.name, step]));
+  const loaded = byName["01-loaded"]?.state;
+  const manual = byName["02-powered-homed-manual"]?.state;
+  const auto = byName["03-auto-active"]?.state;
+  const jog = byName["04-manual-jog-x"]?.state;
+  const mdi = byName["05-mdi-command"]?.state;
+  const overrides = byName["06-overrides-hal"]?.state;
+  const spindleCoolant = byName["07-spindle-coolant"]?.state;
+  const restored = byName["08-session-restored"]?.state;
+  const diagnostics = byName["09-diagnostics"]?.dom;
+
+  report.checks.push(
+    check("Main shell regions and canvas are ready", Object.values(byName["01-loaded"]?.dom?.regions || {}).every(Boolean) && byName["01-loaded"]?.dom?.canvas?.threeReady === "true", JSON.stringify({ regions: byName["01-loaded"]?.dom?.regions, canvas: byName["01-loaded"]?.dom?.canvas })),
+    check("POWER and HOME leave MANUAL ready", manual?.machine?.powerOn === true && manual?.machine?.allHomed === true && manual?.machine?.mode === "manual", JSON.stringify(manual?.machine)),
+    check("AUTO activates without losing power/home", auto?.machine?.mode === "auto" && auto?.machine?.powerOn === true && auto?.machine?.allHomed === true, JSON.stringify(auto?.machine)),
+    check("Manual jog changes X", Number(jog?.axisPose?.x || 0) > Number(manual?.axisPose?.x || 0), JSON.stringify({ before: manual?.axisPose, after: jog?.axisPose })),
+    check("MDI command is accepted in MDI mode", mdi?.machine?.mode === "mdi" && /G90 X12\.5 Y-4 Z1\.25 F900/.test(`${mdi?.machine?.mdiCommand || ""} ${mdi?.operatorMessage || ""}`), JSON.stringify({ machine: mdi?.machine, operatorMessage: mdi?.operatorMessage })),
+    check("Overrides reset and HAL toggles are active", overrides?.feed?.rapidOverride === 100 && overrides?.feed?.feedOverride === 100 && overrides?.gmoccapyGui?.ignoreLimits === true && overrides?.gmoccapyGui?.optionalBlocks === true && overrides?.gmoccapyGui?.optionalStop === true, JSON.stringify({ feed: overrides?.feed, gmoccapyGui: overrides?.gmoccapyGui })),
+    check("Spindle and coolant controls update state", spindleCoolant?.spindle?.direction === "stop" && spindleCoolant?.spindle?.override === 100 && spindleCoolant?.coolant?.flood === true && spindleCoolant?.coolant?.mist === true, JSON.stringify({ spindle: spindleCoolant?.spindle, coolant: spindleCoolant?.coolant })),
+    check("Session restore returns to saved profile", restored?.machineProfile === "xyzac-trt" && restored?.sessionPersistence?.status === "restored", JSON.stringify({ machineProfile: restored?.machineProfile, sessionPersistence: restored?.sessionPersistence, evidence: report.sessionEvidence })),
+    check("Diagnostics expose Task/HAL and gmoccapy HAL", Boolean(diagnostics?.values?.taskHal) && Boolean(diagnostics?.values?.gmoccapyHal), JSON.stringify(diagnostics?.values)),
+    check("Screenshots are nonblank", report.steps.every((step) => step.pixelStats.nonBlackRatio > 0.1), report.steps.map((step) => `${step.name}:${step.pixelStats.nonBlackRatio}`).join(", ")),
+  );
+}
+
+async function writePdfReport(pdfPath, data) {
+  const reportPage = await browser.newPage();
+  const rows = data.checks.map((item) => `
+    <tr>
+      <td>${escapeHtml(item.name)}</td>
+      <td class="${item.pass ? "pass" : "fail"}">${item.pass ? "PASS" : "FAIL"}</td>
+      <td>${escapeHtml(item.detail)}</td>
+    </tr>
+  `).join("");
+  const steps = data.steps.map((step) => `
+    <section>
+      <h2>${escapeHtml(step.name)} - ${escapeHtml(step.title)}</h2>
+      <p>${escapeHtml(step.description)}</p>
+      <p><strong>Screenshot:</strong> ${escapeHtml(step.screenshotPath)}</p>
+      <p><strong>State:</strong> ${escapeHtml(JSON.stringify({
+        machineProfile: step.state.machineProfile,
+        runState: step.state.runState,
+        machine: step.state.machine,
+        axisPose: step.state.axisPose,
+        feed: step.state.feed,
+        spindle: step.state.spindle,
+        coolant: step.state.coolant,
+        sessionPersistence: step.state.sessionPersistence,
+      }))}</p>
+    </section>
+  `).join("");
+  await reportPage.setContent(`<!doctype html>
+    <html>
+      <head>
+        <meta charset="utf-8" />
+        <style>
+          body { font-family: Arial, sans-serif; margin: 28px; color: #17202a; }
+          h1 { font-size: 22px; margin-bottom: 6px; }
+          h2 { font-size: 16px; margin-top: 18px; }
+          table { border-collapse: collapse; width: 100%; margin-top: 14px; }
+          th, td { border: 1px solid #9aa5b1; padding: 6px; font-size: 11px; vertical-align: top; }
+          th { background: #eef2f7; }
+          .pass { color: #126b37; font-weight: 700; }
+          .fail { color: #a61b1b; font-weight: 700; }
+          .meta { font-size: 12px; line-height: 1.45; }
+          section { break-inside: avoid; border-top: 1px solid #d8dee6; padding-top: 8px; }
+        </style>
+      </head>
+      <body>
+        <h1>working7 Manual Flow Evidence</h1>
+        <div class="meta">
+          <div><strong>Status:</strong> ${escapeHtml(data.status)}</div>
+          <div><strong>Job ID:</strong> ${escapeHtml(data.jobId)}</div>
+          <div><strong>Report ID:</strong> ${escapeHtml(data.reportId)}</div>
+          <div><strong>Target:</strong> ${escapeHtml(data.targetUrl)}</div>
+          <div><strong>Generated:</strong> ${escapeHtml(data.generatedAt)}</div>
+          <div><strong>Screenshots:</strong> ${escapeHtml(data.screenshotsDir)}</div>
+        </div>
+        <h2>Checks</h2>
+        <table>
+          <thead><tr><th>Check</th><th>Status</th><th>Evidence</th></tr></thead>
+          <tbody>${rows}</tbody>
+        </table>
+        <h2>Steps</h2>
+        ${steps}
+      </body>
+    </html>`, { waitUntil: "load" });
+  await reportPage.pdf({
+    path: pdfPath,
+    format: "A4",
+    printBackground: true,
+    margin: { top: "12mm", right: "10mm", bottom: "12mm", left: "10mm" },
+  });
+  await reportPage.close();
+}
+
+function summarizeState(state = {}) {
+  return {
+    machineProfile: state.machineProfile,
+    activeProgram: state.activeProgram,
+    runState: state.runState,
+    activeLine: state.activeLine,
+    machine: {
+      powerOn: state.machine?.powerOn,
+      taskState: state.machine?.taskState,
+      mode: state.machine?.mode,
+      allHomed: state.machine?.allHomed,
+      interpState: state.machine?.interpState,
+      taskPaused: state.machine?.taskPaused,
+      mdiCommand: state.machine?.mdiCommand,
+    },
+    axisPose: pickAxes(state.axisPose),
+    dro: pickAxes(state.dro),
+    feed: {
+      rapidOverride: Number(state.feed?.rapidOverride),
+      feedOverride: Number(state.feed?.feedOverride),
+      feedRate: Number(state.feed?.feedRate),
+      currentVelocity: Number(state.feed?.currentVelocity),
+    },
+    spindle: {
+      enabled: Boolean(state.spindle?.enabled),
+      direction: state.spindle?.direction,
+      override: Number(state.spindle?.override),
+      rpm: Number(state.spindle?.rpm),
+    },
+    coolant: {
+      flood: Boolean(state.coolant?.flood),
+      mist: Boolean(state.coolant?.mist),
+    },
+    gmoccapyGui: {
+      ignoreLimits: Boolean(state.gmoccapyGui?.ignoreLimits),
+      optionalBlocks: Boolean(state.gmoccapyGui?.optionalBlocks),
+      optionalStop: Boolean(state.gmoccapyGui?.optionalStop),
+      lastHalPinEffect: state.gmoccapyGui?.lastHalPinEffect,
+    },
+    mdiHistory: state.mdiHistory || [],
+    sessionPersistence: {
+      status: state.sessionPersistence?.status,
+      storageMode: state.sessionPersistence?.storageMode,
+      path: state.sessionPersistence?.path,
+      savedAt: state.sessionPersistence?.savedAt,
+      restoredAt: state.sessionPersistence?.restoredAt,
+    },
+    machineFileStaging: {
+      status: state.machineFileStaging?.status,
+      fileCount: state.machineFileStaging?.fileCount,
+      selectedGcodeSourceRel: state.machineFileStaging?.selectedGcodeSourceRel,
+    },
+    taskHalRuntimeReadiness: {
+      loaded: Boolean(state.taskHalRuntimeReadiness?.loaded),
+      halSyncReady: Boolean(state.taskHalRuntimeReadiness?.halSyncReady),
+    },
+    operatorMessage: state.operatorMessage,
+  };
+}
+
+function createStaticServer(rootDir) {
+  return http.createServer(async (request, response) => {
+    try {
+      const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
+      const relativePath = requestPath === "/" ? "/index.html" : requestPath;
+      const targetPath = path.resolve(rootDir, `.${relativePath}`);
+      if (!targetPath.startsWith(rootDir)) {
+        response.writeHead(403);
+        response.end("forbidden");
+        return;
+      }
+      let filePath = targetPath;
+      let stat = await fs.stat(filePath).catch(() => null);
+      if (stat?.isDirectory()) {
+        filePath = path.join(filePath, "index.html");
+        stat = await fs.stat(filePath).catch(() => null);
+      }
+      if (!stat?.isFile()) {
+        response.writeHead(404);
+        response.end("not found");
+        return;
+      }
+      const body = await fs.readFile(filePath);
+      response.writeHead(200, {
+        "Content-Type": contentTypeFor(filePath),
+        "Content-Length": String(body.byteLength),
+        "Cache-Control": "no-store",
+      });
+      response.end(body);
+    } catch (error) {
+      response.writeHead(500);
+      response.end(error instanceof Error ? error.message : String(error));
+    }
+  });
+}
+
+function contentTypeFor(filePath) {
+  const ext = path.extname(filePath).toLowerCase();
+  return {
+    ".css": "text/css; charset=utf-8",
+    ".html": "text/html; charset=utf-8",
+    ".js": "text/javascript; charset=utf-8",
+    ".json": "application/json; charset=utf-8",
+    ".mjs": "text/javascript; charset=utf-8",
+    ".svg": "image/svg+xml",
+    ".wasm": "application/wasm",
+    ".xml": "application/xml; charset=utf-8",
+  }[ext] || "application/octet-stream";
+}
+
+async function analyzePng(filePath) {
+  const png = PNG.sync.read(await fs.readFile(filePath));
+  let luminanceSum = 0;
+  let nonBlack = 0;
+  for (let index = 0; index < png.data.length; index += 4) {
+    const luminance = png.data[index] * 0.2126 + png.data[index + 1] * 0.7152 + png.data[index + 2] * 0.0722;
+    luminanceSum += luminance;
+    if (luminance > 8) nonBlack += 1;
+  }
+  const total = png.width * png.height;
+  return {
+    width: png.width,
+    height: png.height,
+    averageLuminance: Number((luminanceSum / total).toFixed(2)),
+    nonBlackRatio: Number((nonBlack / total).toFixed(4)),
+  };
+}
+
+function pickAxes(value = {}) {
+  return {
+    x: Number(value?.x || 0),
+    y: Number(value?.y || 0),
+    z: Number(value?.z || 0),
+    a: Number(value?.a || 0),
+    b: Number(value?.b || 0),
+    c: Number(value?.c || 0),
+  };
+}
+
+function check(name, pass, detail) {
+  return { name, pass: Boolean(pass), detail: String(detail ?? "-") };
+}
+
+function escapeHtml(value) {
+  return String(value ?? "")
+    .replace(/&/g, "&amp;")
+    .replace(/</g, "&lt;")
+    .replace(/>/g, "&gt;")
+    .replace(/"/g, "&quot;")
+    .replace(/'/g, "&#39;");
+}
+
+function wait(ms) {
+  return new Promise((resolve) => setTimeout(resolve, ms));
+}

qa/web-rtcp-5axis-site-test/package.json

@@ -4,7 +4,9 @@
   "description": "",
   "main": "index.js",
   "scripts": {
-    "test": "echo \"Error: no test specified\" && exit 1"
+    "evidence:working7": "node capture-working7-manual-flow-evidence.mjs",
+    "evidence:working7:full": "node capture-working7-full-functional-evidence.mjs",
+    "test": "node run-site-test.mjs"
   },
   "keywords": [],
   "author": "",

qa/web-rtcp-5axis-site-test/run-site-test.mjs

@@ -1,17 +1,72 @@
 import fs from "node:fs/promises";
+import http from "node:http";
 import path from "node:path";
 import puppeteer from "puppeteer-core";
 import { PNG } from "pngjs";
 
+const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
 const ROOT = path.resolve("/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test");
 const OUTPUT_DIR = path.join(ROOT, "output");
 const SCREENSHOT_DIR = path.join(ROOT, "screenshots");
-const URL = "https://82.156.24.101:8092/";
-const CHROME_PATH = "/usr/bin/google-chrome";
+const TARGET_URL = process.env.TARGET_URL || "";
+const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html";
+const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome";
 
 const localProgramPath = path.join(ROOT, "fixtures", "test-program.ngc");
 const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
 
+const MIME_TYPES = {
+  ".css": "text/css; charset=utf-8",
+  ".html": "text/html; charset=utf-8",
+  ".js": "text/javascript; charset=utf-8",
+  ".json": "application/json; charset=utf-8",
+  ".mjs": "text/javascript; charset=utf-8",
+  ".png": "image/png",
+  ".svg": "image/svg+xml",
+  ".wasm": "application/wasm",
+  ".xml": "application/xml; charset=utf-8",
+};
+
+function contentTypeFor(filePath) {
+  return MIME_TYPES[path.extname(filePath).toLowerCase()] || "application/octet-stream";
+}
+
+function createStaticServer(rootDir) {
+  return http.createServer(async (request, response) => {
+    try {
+      const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
+      const relativePath = requestPath === "/" ? "/index.html" : requestPath;
+      const targetPath = path.resolve(rootDir, `.${relativePath}`);
+      if (!targetPath.startsWith(rootDir)) {
+        response.writeHead(403);
+        response.end("forbidden");
+        return;
+      }
+      let stat = await fs.stat(targetPath).catch(() => null);
+      let filePath = targetPath;
+      if (stat?.isDirectory()) {
+        filePath = path.join(targetPath, "index.html");
+        stat = await fs.stat(filePath).catch(() => null);
+      }
+      if (!stat?.isFile()) {
+        response.writeHead(404);
+        response.end("not found");
+        return;
+      }
+      const body = await fs.readFile(filePath);
+      response.writeHead(200, {
+        "Content-Type": contentTypeFor(filePath),
+        "Content-Length": String(body.byteLength),
+        "Cache-Control": "no-store",
+      });
+      response.end(body);
+    } catch (error) {
+      response.writeHead(500);
+      response.end(error instanceof Error ? error.message : String(error));
+    }
+  });
+}
+
 await fs.mkdir(OUTPUT_DIR, { recursive: true });
 await fs.mkdir(SCREENSHOT_DIR, { recursive: true });
 await fs.mkdir(path.dirname(localProgramPath), { recursive: true });
@@ -20,6 +75,17 @@ const findings = [];
 const consoleLogs = [];
 const pageErrors = [];
 const requestFailures = [];
+let server = null;
+let targetUrl = TARGET_URL;
+if (!targetUrl) {
+  server = createStaticServer(REPO_ROOT);
+  await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
+  const address = server.address();
+  if (!address || typeof address === "string") {
+    throw new Error("failed to start local static server");
+  }
+  targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`;
+}
 
 const browser = await puppeteer.launch({
   headless: true,
@@ -83,7 +149,7 @@ try {
     "",
   ].join("\n"), "utf8");
 
-  await page.goto(URL, { waitUntil: "networkidle2", timeout: 60000 });
+  await page.goto(targetUrl, { waitUntil: "networkidle2", timeout: 60000 });
   await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
   await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
   await page.waitForFunction(() => {
@@ -140,6 +206,34 @@ try {
     ).catch(() => null);
   }
 
+  async function waitForTaskHalReady(timeoutMs = 30000) {
+    return waitForState((state) => (
+      state.taskHalRuntimeReadiness?.loaded === true &&
+      state.taskHalRuntimeReadiness?.taskRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.motionRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.halRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.halSyncReady === true &&
+      !state.taskHalExecutionPending &&
+      !state.interpreterExecutionPending
+    ), timeoutMs, "Task/HAL ready and app idle").catch(() => null);
+  }
+
+  async function clickJogAndWait(action, axis, direction, beforeValue) {
+    const selector = `[data-action="${action}"]`;
+    await waitForTaskHalReady(30000);
+    for (let attempt = 0; attempt < 2; attempt += 1) {
+      await clickAndWait(selector, 900);
+      const changed = await waitForState((nextState) => {
+        const nextValue = Number(nextState.axisPose?.[axis]);
+        return direction > 0
+          ? nextValue > Number(beforeValue)
+          : nextValue < Number(beforeValue);
+      }, 6000, `${action} axis change`).catch(() => null);
+      if (changed) return changed;
+    }
+    return getState();
+  }
+
   async function getSummary() {
     return page.evaluate(() => {
       const state = window.webRtcp5AxisSimulation.getState();
@@ -179,12 +273,31 @@ try {
   }
 
   async function clickAndWait(selector, waitMs = 600) {
-    await page.click(selector);
+    await page.waitForSelector(selector, { timeout: 10000 });
+    await page.waitForFunction((targetSelector) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) return false;
+      const ariaDisabled = element.getAttribute("aria-disabled") === "true";
+      const commandReady = element.getAttribute("data-command-ready") === "false";
+      return !element.disabled && !ariaDisabled && !commandReady;
+    }, { timeout: 15000 }, selector);
+    await page.evaluate((targetSelector) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) {
+        throw new Error(`missing click target ${targetSelector}`);
+      }
+      if (element.disabled || element.getAttribute("aria-disabled") === "true") {
+        throw new Error(`disabled click target ${targetSelector}`);
+      }
+      element.scrollIntoView({ block: "center", inline: "center" });
+      element.click();
+    }, selector);
     await sleep(waitMs);
     await waitForAppIdle();
   }
 
   async function setInputValue(selector, value) {
+    await page.waitForSelector(selector, { timeout: 10000 });
     await page.$eval(selector, (el, nextValue) => {
       el.value = nextValue;
       el.dispatchEvent(new Event("input", { bubbles: true }));
@@ -193,6 +306,21 @@ try {
     await sleep(400);
   }
 
+  async function selectValue(selector, value) {
+    await page.waitForSelector(selector, { timeout: 10000 });
+    await page.evaluate((targetSelector, nextValue) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) {
+        throw new Error(`missing select target ${targetSelector}`);
+      }
+      element.value = nextValue;
+      element.dispatchEvent(new Event("input", { bubbles: true }));
+      element.dispatchEvent(new Event("change", { bubbles: true }));
+    }, selector, value);
+    await sleep(400);
+    await waitForAppIdle();
+  }
+
   function classify(condition, passText, failText) {
     return condition ? { status: "PASS", text: passText } : { status: "FAIL", text: failText };
   }
@@ -253,10 +381,11 @@ try {
     initialBoundaryStatus.status,
   );
 
+  const taskHalReadyState = await waitForTaskHalReady(30000);
   const initialTaskHalStatus = classifyWarn(
-    !/pending|blocked/i.test(initial.taskHal),
-    `Task/HAL 已就绪：${initial.taskHal}`,
-    `Task/HAL 未完成就绪：${initial.taskHal}`,
+    Boolean(taskHalReadyState),
+    `Task/HAL 已就绪：${taskHalReadyState?.taskHalRuntimeReadiness?.semanticBoundary || initial.taskHal}`,
+    `Task/HAL 冷启动时尚未完成就绪：${initial.taskHal}`,
   );
   await recordResult(
     "initial-task-hal",
@@ -290,6 +419,7 @@ try {
 
   await clickAndWait('[data-action="HOME"]');
   await waitForState((nextState) => nextState.machine.allHomed === true, 8000, "machine homed").catch(() => null);
+  await waitForTaskHalReady(30000);
   state = await getState();
   await recordResult(
     "home",
@@ -300,8 +430,7 @@ try {
   );
 
   const beforeJogX = state.axisPose.x;
-  await clickAndWait('[data-action="JOG_X_POS"]');
-  state = await getState();
+  state = await clickJogAndWait("JOG_X_POS", "x", 1, beforeJogX);
   await recordResult(
     "jog-x-plus",
     "JOG X+",
@@ -311,8 +440,7 @@ try {
   );
 
   const beforeJogY = state.axisPose.y;
-  await clickAndWait('[data-action="JOG_Y_NEG"]');
-  state = await getState();
+  state = await clickJogAndWait("JOG_Y_NEG", "y", -1, beforeJogY);
   await recordResult(
     "jog-y-minus",
     "JOG Y-",
@@ -332,6 +460,9 @@ try {
     state.machine.mode === "auto" ? "PASS" : "FAIL",
   );
 
+  await clickAndWait('[data-action="mode-manual"]');
+  await waitForState((nextState) => nextState.machine.mode === "manual" && nextState.machine.interpState === "idle", 10000, "MANUAL idle before MDI").catch(() => null);
+  await waitForTaskHalReady(30000);
   await clickAndWait('[data-action="mode-mdi"]');
   await waitForState((nextState) => nextState.machine.mode === "mdi", 8000, "MDI mode").catch(() => null);
   state = await getState();
@@ -343,7 +474,17 @@ try {
     state.machine.mode === "mdi" ? "PASS" : "FAIL",
   );
 
+  if (state.machine.mode !== "mdi") {
+    await clickAndWait('[data-action="mode-manual"]');
+    await waitForState((nextState) => nextState.machine.mode === "manual", 10000, "retry manual before MDI").catch(() => null);
+    await waitForTaskHalReady(30000);
+    await clickAndWait('[data-action="mode-mdi"]');
+    await waitForState((nextState) => nextState.machine.mode === "mdi", 10000, "retry MDI mode").catch(() => null);
+    state = await getState();
+  }
+
   await setInputValue('[data-action="mdi-command"]', "M428");
+  await waitForState((nextState) => nextState.machine.mode === "mdi", 10000, "MDI active before M428");
   await clickAndWait('[data-action="mdi-submit"]', 800);
   state = await getState();
   await recordResult(
@@ -493,7 +634,7 @@ try {
     fullOn && stateAfterFullOff.preview.fullscreen === false ? "PASS" : "FAIL",
   );
 
-  await page.select('[data-action="select-profile"]', "xyzbc-trt");
+  await selectValue('[data-action="select-profile"]', "xyzbc-trt");
   await sleep(2000);
   state = await getState();
   await recordResult(
@@ -505,7 +646,7 @@ try {
   );
   await capture("02-profile-xyzbc");
 
-  await page.select('[data-action="select-profile"]', "xyzac-trt");
+  await selectValue('[data-action="select-profile"]', "xyzac-trt");
   await sleep(2000);
   state = await getState();
   await recordResult(
@@ -534,7 +675,7 @@ try {
 
   if (stagedCount > 0) {
     const sourceRel = summary.state.machineFileStaging.gcodeSources[0].sourceRel;
-    await page.select('[data-action="select-linuxcnc-gcode-source"]', sourceRel);
+    await selectValue('[data-action="select-linuxcnc-gcode-source"]', sourceRel);
     await sleep(4000);
     summary = await getSummary();
     const loadedVendored = summary.state.programSource === "linuxcnc-vendored-5axis-gcode";
@@ -604,9 +745,13 @@ try {
   await recordResult(
     "step-program",
     "Step 单步执行",
-    "点击 Step 后 runState=stepping，activeLine 前进或保持受控",
-    `runState=${state.runState}, activeLine=${state.activeLine}`,
-    state.runState === "stepping" || state.activeLine !== beforeStepLine ? "PASS" : "FAIL",
+    "点击 Step 后 Task/HAL 记录 singleStepping=true，并保持暂停态等待后续操作",
+    `runState=${state.runState}, activeLine=${state.activeLine}, taskPaused=${state.machine.taskPaused}, singleStepping=${state.taskHalStatus?.task?.singleStepping}`,
+    state.machine.taskPaused === true
+      && state.taskHalStatus?.task?.singleStepping === true
+      && Number(state.activeLine) >= Number(beforeStepLine)
+      ? "PASS"
+      : "FAIL",
   );
 
   await clickAndWait('[data-action="STOP"]', 1200);
@@ -657,7 +802,10 @@ try {
     saveSessionStatus.status,
   );
 
+  await clickAndWait('[data-action="mode-manual"]');
+  await waitForState((nextState) => nextState.machine.mode === "manual", 8000, "manual mode before session mutation").catch(() => null);
   await clickAndWait('[data-action="JOG_X_POS"]');
+  await waitForState((nextState) => Number(nextState.axisPose.x) !== Number(state.axisPose.x), 8000, "axis changed before restore").catch(() => null);
   const modifiedState = await getState();
   await clickAndWait('[data-action="RESTORE_SESSION"]', 2500);
   state = await getState();
@@ -712,7 +860,7 @@ try {
 
   const report = {
     generatedAt: new Date().toISOString(),
-    targetUrl: URL,
+    targetUrl,
     chromePath: CHROME_PATH,
     screenshots,
     screenshotAnalysis,
@@ -722,10 +870,20 @@ try {
     pageErrors,
     requestFailures,
   };
+  report.status = findings.some((finding) => finding.status === "FAIL") || pageErrors.length > 0
+    ? "FAIL"
+    : "PASS";
 
   await fs.writeFile(path.join(OUTPUT_DIR, "site-test-report.json"), `${JSON.stringify(report, null, 2)}\n`, "utf8");
+  console.log(`site_test_status=${report.status}`);
+  console.log(`site_test_target_url=${targetUrl}`);
+  console.log(`site_test_report=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json`);
+  if (report.status !== "PASS") {
+    process.exitCode = 1;
+  }
 } finally {
-  await browser.close();
+  await browser.close().catch(() => {});
+  if (server) await new Promise((resolve) => server.close(resolve));
 }
 
 async function analyzeScreenshot(filePath) {