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Add RTCP simulation QA updates

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This commit is contained in:
wangdequan
2026-06-22 09:30:27 -04:00
parent 61e2fe8441
commit ea8e10031b
51 changed files with 10008 additions and 178 deletions
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55
web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
View File

@@ -84,8 +84,8 @@
}
}
if (!doc.querySelector(".machine-preview")) {
throw new Error("missing machine preview");
if (!doc.querySelector(".toolpath-preview")) {
throw new Error("missing toolpath preview");
}
let canvas = doc.querySelector("[data-five-axis-canvas]");
if (!canvas) {
@@ -95,13 +95,17 @@
canvas.dataset.threeReady !== "true" ||
canvas.dataset.threeFrameApi !== "web-rtcp-5axis-motion-frame" ||
canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
canvas.dataset.threeCameraControls !== "orbit-pan-zoom" ||
Number(canvas.dataset.threePathPoints ?? 0) < 64 ||
Number(canvas.dataset.threeSceneObjects ?? 0) < 5 ||
Number(canvas.dataset.threeSceneObjects ?? 0) < 12 ||
!canvas.dataset.threeToolhead ||
!canvas.dataset.threeToolAxis ||
!canvas.dataset.threeTcpPose ||
canvas.dataset.threeToolExecutionMarker !== "true"
canvas.dataset.threeToolExecutionMarker !== "true" ||
canvas.dataset.threeTcpMarker !== "sphere" ||
canvas.dataset.threeToolAxisMarker !== "line"
) {
throw new Error(`Three.js preview did not expose ready render state: ${JSON.stringify(canvas.dataset)}`);
}
@@ -428,6 +432,10 @@
}
if (
canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
canvas.dataset.threeTcpMarker !== "sphere" ||
canvas.dataset.threeToolAxisMarker !== "line" ||
canvas.dataset.threeToolpathPreviewSource !== "linuxcnc_interpreter_canonical_motion" ||
canvas.dataset.threeToolExecutionTraceSource !== "linuxcnc_tp_samples_or_task_motion_hal_feedback" ||
canvas.dataset.threePathFitBounds !== "ok" ||
@@ -813,23 +821,38 @@
});
function assertCanvasNonblank(canvas, context) {
const stats = canvasPixelStats(canvas, context);
if (stats.nonBlackRatio <= 0.02) {
throw new Error(`${context}: non-black pixel ratio too low ${JSON.stringify(stats)}`);
}
if (stats.averageLuminance <= 5) {
throw new Error(`${context}: average luminance too low ${JSON.stringify(stats)}`);
}
}
function canvasPixelStats(canvas, context) {
const gl = canvas.getContext("webgl2") || canvas.getContext("webgl");
if (!gl) {
throw new Error(`${context}: missing WebGL context`);
}
const pixel = new Uint8Array(4);
gl.readPixels(
Math.floor(canvas.width / 2),
Math.floor(canvas.height / 2),
1,
1,
gl.RGBA,
gl.UNSIGNED_BYTE,
pixel,
);
if (pixel[0] === 0 && pixel[1] === 0 && pixel[2] === 0 && pixel[3] === 0) {
throw new Error(`${context}: center pixel was blank`);
const width = Math.max(canvas.width || 0, 1);
const height = Math.max(canvas.height || 0, 1);
const pixels = new Uint8Array(width * height * 4);
gl.readPixels(0, 0, width, height, gl.RGBA, gl.UNSIGNED_BYTE, pixels);
let nonBlack = 0;
let luminance = 0;
for (let index = 0; index < pixels.length; index += 4) {
const luma = pixels[index] * 0.2126 + pixels[index + 1] * 0.7152 + pixels[index + 2] * 0.0722;
luminance += luma;
if (luma > 8) nonBlack += 1;
}
const total = width * height;
return {
width,
height,
nonBlackRatio: nonBlack / total,
averageLuminance: luminance / total,
};
}
</script>
</body>

20
web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
View File

@@ -63,11 +63,27 @@ assert.equal(state.rtcpState, "on");
store.dispatch({ type: "SET_MODE", mode: "manual" });
await waitForTaskHal(store);
store.dispatch({ type: "HOME" });
state = store.getState();
const homePose = { ...state.axisPose };
assert.equal(homePose.x, 43);
assert.equal(homePose.y, -32.15);
assert.equal(homePose.z, -11.306);
store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 });
await waitForTaskHal(store);
state = store.getState();
assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1);
assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG X+ should keep HOME work-pose continuity");
assertNear(state.axisPose.y, homePose.y, "task/HAL JOG X+ should not reset Y");
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG X+ should not reset Z");
store.dispatch({ type: "JOG", axis: "y", direction: -1, increment: 0.5 });
await waitForTaskHal(store);
state = store.getState();
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG Y- should not reset X");
assertNear(state.axisPose.y, homePose.y - 0.5, "task/HAL JOG Y- should keep HOME work-pose continuity");
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG Y- should not reset Z");
store.dispatch({ type: "SET_MODE", mode: "auto" });
await waitForTaskHal(store);
@@ -94,3 +110,7 @@ async function waitForTaskHal(store) {
}
throw new Error("task/HAL store command did not settle");
}
function assertNear(actual, expected, message) {
assert.equal(Math.abs(Number(actual) - Number(expected)) < 1e-9, true, `${message}: ${actual} !== ${expected}`);
}

86
web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
View File

@@ -428,4 +428,90 @@ assert.equal(state.machine.powerOn, false);
assert.equal(state.machine.taskState, "estop-reset");
assert.equal(state.operatorMessage, "estop reset; machine off");
const taskHalSwitchkinsStore = createSimulationStore({
programStartLine: 1,
activeLine: 5,
kinsType: "tcp-xyzac",
rtcpState: "on",
programExecutionSourceMode: "linuxcnc-interpreter-wasm",
programExecution: {
sourceMode: "linuxcnc-interpreter-wasm",
motion: [
{
type: "STRAIGHT_TRAVERSE",
line: 5,
axes: { x: 1, y: 2, z: 3, a: 10, c: 20 },
switchkinsType: 1,
kinsType: "tcp",
},
{
type: "STRAIGHT_FEED",
line: 20,
axes: { x: 2, y: 3, z: 4, a: 0, c: 0 },
switchkinsType: 0,
kinsType: "identity",
},
],
summary: {
motionEventCount: 2,
switchkinsEventCount: 2,
switchkinsCodes: ["M428", "M429"],
},
},
});
taskHalSwitchkinsStore.dispatch({
type: "TASK_HAL_STATUS_APPLIED",
status: taskHalStatusForSwitchkinsLine({ activeLine: 5, switchkinsType: 0 }),
operatorMessage: "task/HAL status retained program TCP switchkins",
});
state = taskHalSwitchkinsStore.getState();
assert.equal(state.activeLine, 5);
assert.equal(state.kinsType, "tcp-xyzac");
assert.equal(state.rtcpState, "on");
taskHalSwitchkinsStore.dispatch({
type: "TASK_HAL_STATUS_APPLIED",
status: taskHalStatusForSwitchkinsLine({ activeLine: 20, switchkinsType: 0 }),
operatorMessage: "task/HAL status applied program identity switchkins",
});
state = taskHalSwitchkinsStore.getState();
assert.equal(state.activeLine, 20);
assert.equal(state.kinsType, "identity");
assert.equal(state.rtcpState, "off");
console.log("rtcp_store_smoke=ok");
function taskHalStatusForSwitchkinsLine({ activeLine, switchkinsType }) {
return {
semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime",
task: {
state: "ON",
mode: "AUTO",
interpState: "READING",
execState: "WAITING_FOR_MOTION",
},
motionStatus: {
motion: {
programLine: activeLine,
motionType: 1,
switchkinsType,
currentVel: 1,
requestedVel: 1,
inPosition: false,
},
},
ui: {
taskState: "on",
taskMode: "auto",
interpState: "reading",
activeLine,
switchkinsType,
axisPoseFrame: "work",
axisPose: { x: 1, y: 2, z: 3, a: 10, b: 0, c: 20 },
currentVelocity: 60,
servoCycle: 1,
taskCycle: 1,
motionQueueDepth: 1,
},
};
}