完善五轴 RTCP 仿真与验证资料

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) {