Add RTCP simulation QA updates
This commit is contained in:
356
qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
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356
qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
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@@ -0,0 +1,356 @@
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import fs from "node:fs/promises";
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import http from "node:http";
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import path from "node:path";
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import puppeteer from "puppeteer-core";
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import { PNG } from "pngjs";
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const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
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const QA_ROOT = path.resolve("/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test");
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const OUTPUT_DIR = path.join(QA_ROOT, "output");
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const SCREENSHOT_DIR = path.join(QA_ROOT, "screenshots", "toolpath-preview-cases");
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const CHROME_PATH = process.env.CHROME_PATH || "/usr/bin/google-chrome";
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const FIXTURE_URL = "/web-rtcp-5axis-sim-plan/app/index.html";
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await fs.mkdir(OUTPUT_DIR, { recursive: true });
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await fs.mkdir(SCREENSHOT_DIR, { recursive: true });
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const MIME_TYPES = {
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".css": "text/css; charset=utf-8",
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".html": "text/html; charset=utf-8",
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".js": "text/javascript; charset=utf-8",
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".json": "application/json; charset=utf-8",
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".mjs": "text/javascript; charset=utf-8",
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".svg": "image/svg+xml",
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".wasm": "application/wasm",
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".xml": "application/xml; charset=utf-8",
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};
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function contentTypeFor(filePath) {
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return MIME_TYPES[path.extname(filePath).toLowerCase()] || "application/octet-stream";
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}
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function createStaticServer(rootDir) {
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return http.createServer(async (request, response) => {
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try {
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const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
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const relativePath = requestPath === "/" ? "/index.html" : requestPath;
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const targetPath = path.resolve(rootDir, `.${relativePath}`);
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if (!targetPath.startsWith(rootDir)) {
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response.writeHead(403);
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response.end("forbidden");
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return;
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}
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let stat = await fs.stat(targetPath).catch(() => null);
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let filePath = targetPath;
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if (stat?.isDirectory()) {
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filePath = path.join(targetPath, "index.html");
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stat = await fs.stat(filePath).catch(() => null);
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}
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if (!stat?.isFile()) {
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response.writeHead(404);
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response.end("not found");
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return;
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}
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const body = await fs.readFile(filePath);
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response.writeHead(200, {
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"Content-Type": contentTypeFor(filePath),
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"Content-Length": String(body.byteLength),
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"Cache-Control": "no-store",
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});
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response.end(body);
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} catch (error) {
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response.writeHead(500);
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response.end(error instanceof Error ? error.message : String(error));
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}
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});
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}
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const server = createStaticServer(REPO_ROOT);
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await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
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const address = server.address();
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if (!address || typeof address === "string") {
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throw new Error("failed to start static server");
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}
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const baseUrl = `http://127.0.0.1:${address.port}`;
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const browser = await puppeteer.launch({
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headless: true,
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executablePath: CHROME_PATH,
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defaultViewport: { width: 1600, height: 1200, deviceScaleFactor: 1 },
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args: [
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"--disable-gpu",
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"--enable-webgl",
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"--use-angle=swiftshader",
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"--enable-unsafe-swiftshader",
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"--no-sandbox",
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],
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});
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const page = await browser.newPage();
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const consoleErrors = [];
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page.on("console", (msg) => {
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if (msg.type() === "error") {
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consoleErrors.push(msg.text());
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}
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});
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page.on("pageerror", (error) => {
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consoleErrors.push(error.message);
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});
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const report = {
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generatedAt: new Date().toISOString(),
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targetUrl: `${baseUrl}${FIXTURE_URL}`,
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projectPath: path.join(REPO_ROOT, "web-rtcp-5axis-sim-plan", "app", "index.html"),
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chromePath: CHROME_PATH,
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screenshots: {},
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cases: [],
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consoleErrors,
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};
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async function wait(ms) {
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await new Promise((resolve) => setTimeout(resolve, ms));
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}
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async function waitForState(predicate, timeoutMs = 20000, label = "state condition") {
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const start = Date.now();
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while (Date.now() - start < timeoutMs) {
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const snapshot = await page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState())));
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if (predicate(snapshot)) return snapshot;
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await wait(100);
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}
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throw new Error(`timeout waiting for ${label}`);
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}
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async function getCanvasDataset() {
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return page.$eval("[data-five-axis-canvas]", (canvas) => ({ ...canvas.dataset }));
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}
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async function waitForCanvasReady(timeoutMs = 20000) {
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await page.waitForFunction(() => {
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const canvas = document.querySelector("[data-five-axis-canvas]");
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return canvas?.dataset?.threeReady === "true"
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&& canvas?.dataset?.threePreviewScope === "machine-reference-and-toolpath";
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}, { timeout: timeoutMs });
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}
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async function captureCase(name) {
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const screenshotPath = path.join(SCREENSHOT_DIR, `${name}.png`);
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const canvas = await page.$("[data-five-axis-canvas]");
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if (!canvas) {
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throw new Error(`missing canvas for ${name}`);
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}
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await canvas.screenshot({ path: screenshotPath });
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report.screenshots[name] = screenshotPath;
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return screenshotPath;
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}
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async function recordCase(name, summary, checks = []) {
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const dataset = await getCanvasDataset();
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const state = await page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState())));
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const screenshotPath = report.screenshots[name];
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const pixelStats = screenshotPath ? await analyzePng(screenshotPath) : null;
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report.cases.push({
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name,
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summary,
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status: checks.every((check) => check.pass) ? "PASS" : "FAIL",
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checks,
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pixelStats,
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dataset,
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state: {
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activeProgram: state.activeProgram,
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activeLine: state.activeLine,
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programSource: state.programSource,
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programExecutionSourceMode: state.programExecutionSourceMode,
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programExecutionSummary: state.programExecution?.summary || null,
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runState: state.runState,
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rtcpState: state.rtcpState,
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kinsType: state.kinsType,
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activeLine: state.activeLine,
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programExecutionMotionIndex: state.programExecutionMotionIndex,
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programExecutionSampleIndex: state.programExecutionSampleIndex,
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programRuntimeFeedbackSource: state.programRuntimeFeedback?.sourceMode || null,
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},
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});
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}
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function previewChecks(dataset, {
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requirePathPoints = true,
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requireExecutedPath = false,
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requireArcPoints = false,
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requireRapidFeed = false,
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expectPathPoints = null,
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expectRtcp = null,
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} = {}) {
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const checks = [
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check("canvas ready", dataset.threeReady === "true", `threeReady=${dataset.threeReady}`),
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check("WebGL renderer", dataset.threeRenderer === "webgl", `renderer=${dataset.threeRenderer}`),
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check("机床参考模型", dataset.threePreviewScope === "machine-reference-and-toolpath" && dataset.threeMachineReferenceModel === "webgl-five-axis-reference", `scope=${dataset.threePreviewScope}, model=${dataset.threeMachineReferenceModel}`),
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check("TCP 球标记", dataset.threeTcpMarker === "sphere" && dataset.threeToolExecutionMarker === "true", `tcp=${dataset.threeTcpMarker}, marker=${dataset.threeToolExecutionMarker}`),
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check("刀轴线", dataset.threeToolAxisMarker === "line", `toolAxisMarker=${dataset.threeToolAxisMarker}`),
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check("场景对象数量", Number(dataset.threeSceneObjects || 0) >= 12, `sceneObjects=${dataset.threeSceneObjects}`),
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check("无 G-code 语义生成", dataset.threeNoGcodeSemanticsGeneration === "ok", `semanticGuard=${dataset.threeNoGcodeSemanticsGeneration}`),
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];
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if (requirePathPoints) {
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checks.push(check("刀路预览点", Number(dataset.threePathPoints || 0) >= 1, `pathPoints=${dataset.threePathPoints}`));
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}
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if (requireExecutedPath) {
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checks.push(check("执行轨迹点", Number(dataset.threeExecutedPathPoints || 0) >= 1, `executed=${dataset.threeExecutedPathPoints}`));
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}
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if (requireArcPoints) {
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checks.push(check("圆弧轨迹点", Number(dataset.threeArcPathPoints || 0) >= 1, `arc=${dataset.threeArcPathPoints}`));
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}
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if (requireRapidFeed) {
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checks.push(check("rapid/feed 区分", Number(dataset.threeRapidPathPoints || 0) >= 1 && Number(dataset.threeFeedPathPoints || 0) >= 1, `rapid=${dataset.threeRapidPathPoints}, feed=${dataset.threeFeedPathPoints}`));
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}
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if (expectPathPoints !== null) {
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checks.push(check("路径点期望", Number(dataset.threePathPoints || 0) === expectPathPoints, `pathPoints=${dataset.threePathPoints}, expected=${expectPathPoints}`));
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}
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if (expectRtcp !== null) {
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checks.push(check("RTCP 状态", dataset.threeRtcpState === expectRtcp, `rtcp=${dataset.threeRtcpState}`));
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}
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return checks;
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}
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function check(name, pass, detail) {
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return { name, pass: Boolean(pass), detail };
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}
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function assertChecks(caseName, checks) {
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const failed = checks.filter((item) => !item.pass);
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if (failed.length > 0) {
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console.warn(`${caseName} failed: ${failed.map((item) => `${item.name} (${item.detail})`).join("; ")}`);
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}
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}
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try {
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await page.goto(`${baseUrl}${FIXTURE_URL}`, { waitUntil: "networkidle2", timeout: 60000 });
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await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
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await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
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await waitForState((state) => state.kinematicsRuntimeReadiness?.loaded === true, 20000, "kinematics runtime ready");
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await waitForCanvasReady();
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await wait(1200);
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let dataset = await getCanvasDataset();
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let checks = previewChecks(dataset, { requirePathPoints: true, requireExecutedPath: true });
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assertChecks("01-home-toolpath", checks);
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await captureCase("01-home-toolpath");
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await recordCase("01-home-toolpath", "默认首屏预览：机床参考模型、TCP 球、刀轴线、fixture 路径和执行轨迹可见", checks);
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await page.evaluate(() => {
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window.webRtcp5AxisSimulation.dispatch({
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type: "LOAD_PROGRAM",
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filename: "operator-demo.ngc",
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content: [
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"G90 G17",
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"G0 X0 Y0 Z0",
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"G1 X10 F100",
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"G1 Y10",
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"G1 X0",
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"G1 Y0",
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"G0 Z5",
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"M5",
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"M2",
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].join("\n"),
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});
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});
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await waitForState((state) => state.programExecutionSourceMode === "linuxcnc-interpreter-wasm" && state.activeProgram === "operator-demo.ngc", 20000, "operator demo loaded");
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await waitForCanvasReady();
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await wait(500);
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dataset = await getCanvasDataset();
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checks = previewChecks(dataset, { requirePathPoints: true, requireExecutedPath: true, requireRapidFeed: true });
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assertChecks("02-operator-demo-toolpath", checks);
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await captureCase("02-operator-demo-toolpath");
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await recordCase("02-operator-demo-toolpath", "本地矩形 G-code：验证 LinuxCNC interpreter canonical motion、rapid/feed 区分、执行轨迹和 TCP 标记", checks);
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await page.evaluate(() => {
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window.webRtcp5AxisSimulation.dispatch({
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type: "LOAD_PROGRAM",
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filename: "operator-arc-demo.ngc",
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content: [
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"G90 G17",
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"G0 X1 Y0 Z0",
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"G2 X0 Y1 I-1 J0 F60",
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"M2",
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].join("\n"),
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});
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});
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await waitForState((state) => state.activeProgram === "operator-arc-demo.ngc" && state.programExecution?.summary?.motionTypes?.includes("ARC_FEED"), 20000, "arc demo loaded");
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await waitForCanvasReady();
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await wait(500);
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dataset = await getCanvasDataset();
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checks = previewChecks(dataset, { requirePathPoints: true, requireExecutedPath: true, requireArcPoints: true });
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assertChecks("03-arc-demo-toolpath", checks);
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await captureCase("03-arc-demo-toolpath");
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await recordCase("03-arc-demo-toolpath", "圆弧 G-code：验证 ARC_FEED 进入弧线轨迹图层并保留执行轨迹", checks);
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await page.evaluate(() => document.querySelector('[data-action="clear-preview"]').click());
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await waitForCanvasReady();
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await wait(500);
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dataset = await getCanvasDataset();
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checks = previewChecks(dataset, { requirePathPoints: false, expectPathPoints: 0 });
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assertChecks("04-clear-preview-reference", checks);
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await captureCase("04-clear-preview-reference");
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await recordCase("04-clear-preview-reference", "清空刀路后：路径点为 0，但机床参考模型、TCP 球和刀轴线仍应可见", checks);
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await waitForState((state) => state.machineFileStaging?.status === "staged" && (state.machineFileStaging?.gcodeSources?.length || 0) >= 4, 25000, "machine files staged");
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await page.select('[data-action="select-linuxcnc-gcode-source"]', "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc");
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await waitForState((state) => state.activeProgram?.endsWith("impeller-7bl-xyzac.ngc"), 25000, "vendored impeller loaded");
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await waitForCanvasReady();
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await wait(1200);
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dataset = await getCanvasDataset();
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checks = previewChecks(dataset, { requirePathPoints: true, requireExecutedPath: true, requireRapidFeed: true, expectRtcp: "on" });
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assertChecks("05-vendored-impeller-toolpath", checks);
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await captureCase("05-vendored-impeller-toolpath");
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await recordCase("05-vendored-impeller-toolpath", "LinuxCNC vendored 五轴 impeller 程序：验证长路径、switchkins/RTCP 状态、rapid/feed 图层和 TCP 执行轨迹", checks);
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await page.evaluate(() => document.querySelector('[data-action="power"]').click());
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await waitForState((state) => state.machine.taskState === "on", 10000, "machine powered on");
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await page.evaluate(() => document.querySelector('[data-action="mode-manual"]').click());
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await waitForState((state) => state.machine.mode === "manual", 10000, "manual mode selected");
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await page.evaluate(() => document.querySelector('[data-action="HOME"]').click());
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await waitForState((state) => state.machine.allHomed === true, 10000, "machine homed");
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await page.evaluate(() => document.querySelector('[data-action="mode-auto"]').click());
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await waitForState((state) => state.machine.mode === "auto", 10000, "auto mode selected");
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await page.evaluate(() => document.querySelector('[data-action="kins-tcp"]').click());
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await waitForState((state) => state.rtcpState === "on" && state.kinsType === "tcp-xyzac", 10000, "RTCP enabled");
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await page.evaluate(() => document.querySelector('[data-action="RUN"]').click());
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await waitForState((state) => state.runState === "running" && state.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm", 15000, "program running");
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await waitForCanvasReady();
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await wait(600);
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dataset = await getCanvasDataset();
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checks = previewChecks(dataset, { requirePathPoints: true, requireExecutedPath: true, requireRapidFeed: true, expectRtcp: "on" });
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assertChecks("06-running-rtcp-toolpath", checks);
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await captureCase("06-running-rtcp-toolpath");
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await recordCase("06-running-rtcp-toolpath", "G-code 运行态：验证 task/HAL runtime feedback 驱动执行轨迹、当前段高亮、TCP 球和刀轴线跟随", checks);
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report.consoleErrors = consoleErrors;
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await fs.writeFile(
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path.join(OUTPUT_DIR, "toolpath-preview-cases.json"),
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`${JSON.stringify(report, null, 2)}\n`,
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"utf8",
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);
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} finally {
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await page.close().catch(() => {});
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await browser.close().catch(() => {});
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await new Promise((resolve) => server.close(resolve));
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}
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async function analyzePng(filePath) {
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const buffer = await fs.readFile(filePath);
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const png = PNG.sync.read(buffer);
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const { width, height, data } = png;
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let luminanceSum = 0;
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let nonBlack = 0;
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for (let index = 0; index < data.length; index += 4) {
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const luminance = data[index] * 0.2126 + data[index + 1] * 0.7152 + data[index + 2] * 0.0722;
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luminanceSum += luminance;
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if (luminance > 8) nonBlack += 1;
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}
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const total = width * height;
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return {
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width,
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height,
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averageLuminance: Number((luminanceSum / total).toFixed(2)),
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nonBlackRatio: Number((nonBlack / total).toFixed(4)),
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};
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}
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