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fix: verify run path with 50ms screenshots

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wangdequan
2026-07-03 17:04:33 -04:00
parent 7a30e5f0e9
commit ed9eb3ec17
3304 changed files with 237409 additions and 80 deletions
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33
web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html
View File

@@ -152,6 +152,7 @@
'[data-action="estop"]',
'[data-action="power"]',
'[data-action="run"]',
'[data-action="toggle-auto-manual"]',
'[data-action="step"]',
'[data-action="stop"]',
'[data-action="jog-plus"]',
@@ -273,6 +274,20 @@
await waitState((state) => state.machine.powerOn === true && state.machine.taskState === "on", "machine power on");
await click('[data-action="home-all"]', "AXIS home all");
await waitState((state) => state.machine.allHomed === true && state.machine.mode === "manual", "home all");
await click('[data-action="toggle-auto-manual"]', "AXIS AUTO mode toolbar toggle");
await waitState((state) => state.machine.mode === "auto", "toolbar toggle to AUTO");
await click('[data-action="toggle-auto-manual"]', "AXIS MANUAL mode toolbar toggle");
await waitState((state) => state.machine.mode === "manual", "toolbar toggle to MANUAL");
await click('[data-action="run"]', "AXIS direct run after home");
await waitState((state) => (
(state.runState === "running" || state.runState === "complete")
&& state.machine.mode === "auto"
&& state.programRuntimeFeedback
), "direct run after power and home");
await click('[data-action="stop"]', "AXIS stop after direct run");
await waitState((state) => state.runState === "stopped" && state.machine.mode === "auto", "stop after direct run");
await click('[data-action="tab-manual"]', "AXIS manual tab after direct run");
await waitState((state) => state.machine.mode === "manual", "manual mode after direct run");
await click('[data-action="tab-mdi"]', "AXIS MDI tab");
await waitState((state) => state.machine.mode === "mdi", "MDI mode");
@@ -292,6 +307,24 @@
const beforeJogC = api.getState().axisPose.c;
await click('[data-action="jog-plus"]', "AXIS jog plus");
await waitState((state) => state.axisPose.c > beforeJogC, "jog C plus");
await click('[data-action="touch-off"]', "AXIS manual touch off");
await waitState((state) => (
state.machine.mode === "manual" &&
state.runState === "idle" &&
state.mdiHistory[0] === "G10 L20 P0 C0"
), "manual touch off");
await click('[data-action="tool-touch-off"]', "AXIS manual tool touch off");
await waitState((state) => (
state.machine.mode === "manual" &&
state.runState === "idle" &&
state.mdiHistory[0] === "G43"
), "manual tool touch off");
const defaultProgramSource = api.getState().machineFileStaging.gcodeSources.find((source) => source.filename === "xyzbc_switchkins.ngc");
api.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: defaultProgramSource.sourceRel });
await waitState((state) => (
state.machineFileStaging.selectedGcodeSourceRel === defaultProgramSource.sourceRel &&
Number(state.programAxisPreviewPath?.sampleCount || 0) > 0
), "restore default LinuxCNC program after manual touch off");
const beforeFeed = api.getState().feed.feedOverride;
await click('[data-action="feed-override-up"]', "feed override up");

15
web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs
View File

@@ -338,6 +338,12 @@ assert.equal(buttonStore.getState().machine.allHomed, true);
assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.x, 43);
assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.y, -32.15);
assert.equal(buttonStore.getState().linuxCncProcessMonitor.axes.joint.z, -11.306);
await buttonStore.dispatch({ type: "RUN_FROM_OPERATOR" });
assert.equal(buttonStore.getState().machine.mode, "auto");
assert.equal(["running", "complete"].includes(buttonStore.getState().runState), true);
assert.equal(Boolean(buttonStore.getState().programRuntimeFeedback), true);
buttonStore.dispatch({ type: "STOP" });
buttonStore.dispatch({ type: "SET_MODE", mode: "manual" });
buttonStore.dispatch({ type: "SET_MODE", mode: "mdi" });
buttonStore.dispatch({ type: "RUN_MDI", command: "M428" });
assert.equal(buttonStore.getState().kinsType, "tcp-xyzbc");
@@ -351,6 +357,15 @@ buttonStore.dispatch({ type: "SET_ACTIVE_JOINT", joint: 4 });
const cBeforeJog = buttonStore.getState().axisPose.c;
buttonStore.dispatch({ type: "JOG", axis: "c", direction: 1, increment: 1 });
assert.equal(buttonStore.getState().axisPose.c, cBeforeJog + 1);
buttonStore.dispatch({ type: "RUN_MDI", command: "G10 L20 P0 C0", manualTouchOff: true });
assert.equal(buttonStore.getState().mdiHistory[0], "G10 L20 P0 C0");
assert.equal(buttonStore.getState().machine.mode, "manual");
assert.equal(buttonStore.getState().runState, "idle");
assert.equal(buttonStore.getState().operatorMessage, "manual touch off G10 L20 P0 C0");
buttonStore.dispatch({ type: "RUN_MDI", command: "G43", manualTouchOff: true });
assert.equal(buttonStore.getState().mdiHistory[0], "G43");
assert.equal(buttonStore.getState().machine.mode, "manual");
assert.equal(buttonStore.getState().runState, "idle");
const feedBefore = buttonStore.getState().feed.feedOverride;
buttonStore.dispatch({ type: "ADJUST_OVERRIDE", target: "feed", delta: 10 });
assert.equal(buttonStore.getState().feed.feedOverride, feedBefore + 10);