Add RTCP simulation QA updates

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

@@ -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}`);
+}

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

@@ -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,
+    },
+  };
+}