Validate AXIS task state flow
This commit is contained in:
wangdequan
@@ -0,0 +1,63 @@
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import { createServer } from "node:http";
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import { readFile } from "node:fs/promises";
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import { createRequire } from "node:module";
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import path from "node:path";
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const rootDir = path.resolve(import.meta.dirname, "../../..");
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const projectDir = path.join(rootDir, "web-rtcp-5axis-xyzbc-trt-sim-plan");
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const requireFromApp = createRequire(path.join(projectDir, "app/package.json"));
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const { chromium } = requireFromApp("playwright");
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const server = createServer(async (request, response) => {
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try {
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const url = new URL(request.url || "/", "http://127.0.0.1");
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const pathname = decodeURIComponent(url.pathname);
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const filePath = path.join(rootDir, pathname);
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if (!filePath.startsWith(rootDir)) {
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response.writeHead(403).end("forbidden");
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return;
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}
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const body = await readFile(filePath);
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response.writeHead(200, { "content-type": contentType(filePath) });
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response.end(body);
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} catch (error) {
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response.writeHead(404).end(error instanceof Error ? error.message : String(error));
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}
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});
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await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
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const port = server.address().port;
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const browser = await chromium.launch({
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headless: true,
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executablePath: process.env.CHROMIUM || undefined,
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args: ["--disable-gpu", "--no-sandbox", "--enable-unsafe-swiftshader"],
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});
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try {
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const page = await browser.newPage();
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const testUrl = `http://127.0.0.1:${port}/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_all_buttons.html?app=../../app/dist/index.html`;
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await page.goto(testUrl, { waitUntil: "domcontentloaded", timeout: 30000 });
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await page.waitForFunction(() => {
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const text = document.querySelector("#result")?.textContent || "";
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return text.startsWith("xyzbc_trt_all_buttons=ok") || text.startsWith("xyzbc_trt_all_buttons=fail");
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}, null, { timeout: 120000 });
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const result = await page.locator("#result").textContent();
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if (!result?.startsWith("xyzbc_trt_all_buttons=ok")) {
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throw new Error(result || "all button test did not report a result");
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}
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console.log(result.trim());
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} finally {
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await browser.close();
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await new Promise((resolve) => server.close(resolve));
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}
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function contentType(filePath) {
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if (filePath.endsWith(".html")) return "text/html; charset=utf-8";
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if (filePath.endsWith(".js") || filePath.endsWith(".mjs")) return "text/javascript; charset=utf-8";
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if (filePath.endsWith(".css")) return "text/css; charset=utf-8";
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if (filePath.endsWith(".json")) return "application/json; charset=utf-8";
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if (filePath.endsWith(".wasm")) return "application/wasm";
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if (filePath.endsWith(".svg")) return "image/svg+xml";
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if (filePath.endsWith(".png")) return "image/png";
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return "application/octet-stream";
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}
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@@ -0,0 +1,8 @@
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#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)"
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PROJECT_DIR="$ROOT_DIR/web-rtcp-5axis-xyzbc-trt-sim-plan"
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npm --prefix "$PROJECT_DIR/app" run build >/dev/null
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node "$PROJECT_DIR/tests/browser/verify_xyzbc_trt_all_buttons.mjs"
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@@ -0,0 +1,344 @@
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<!doctype html>
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<html lang="en">
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<head>
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<meta charset="utf-8" />
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<title>xyzbc-trt all button coverage</title>
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</head>
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<body>
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<pre id="result">xyzbc_trt_all_buttons=pending</pre>
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<iframe id="app-frame" title="xyzbc-trt app"></iframe>
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<script type="module">
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const result = document.querySelector("#result");
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const frame = document.querySelector("#app-frame");
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const appSrc = new URLSearchParams(window.location.search).get("app") || "../../app/index.html";
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const wait = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
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async function runAllButtons() {
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result.textContent = "xyzbc_trt_all_buttons=loading-frame";
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const frameLoaded = new Promise((resolve, reject) => {
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frame.addEventListener("load", resolve, { once: true });
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frame.addEventListener("error", reject, { once: true });
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});
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frame.src = appSrc;
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await frameLoaded;
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result.textContent = "xyzbc_trt_all_buttons=waiting-api";
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const win = frame.contentWindow;
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const doc = frame.contentDocument;
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const runtimeErrors = [];
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win.addEventListener("error", (event) => {
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runtimeErrors.push(event.message || String(event.error || "window error"));
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});
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win.addEventListener("unhandledrejection", (event) => {
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runtimeErrors.push(event.reason?.message || String(event.reason || "unhandled rejection"));
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});
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await waitFor(() => win.webRtcp5AxisSimulation, "public simulation API");
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const api = win.webRtcp5AxisSimulation;
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result.textContent = "xyzbc_trt_all_buttons=waiting-runtimes";
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await waitFor(() => {
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const state = api.getState();
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return state.kinematicsRuntime?.loaded === true &&
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state.interpreterRuntime?.loaded === true &&
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state.taskHalRuntime?.loaded === true;
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}, "runtime loaded state");
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result.textContent = "xyzbc_trt_all_buttons=waiting-program";
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if (api.getState().machineFileStaging?.status !== "staged") {
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api.dispatch({ type: "STAGE_MACHINE_FILES_REQUEST" });
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}
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await waitFor(() => api.getState().machineFileStaging?.status === "staged", "machine file staging");
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const source = api.getState().machineFileStaging?.gcodeSources?.find((item) => item.filename === "xyzbc_switchkins.ngc") ||
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api.getState().machineFileStaging?.gcodeSources?.[0];
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if (source?.sourceRel) {
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api.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: source.sourceRel });
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}
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await waitFor(() => {
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const state = api.getState();
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return state.machineFileStaging?.status === "staged" &&
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!state.interpreterExecutionPending &&
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Number(state.programAxisPreviewPath?.sampleCount || 0) > 0;
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}, "staged default program");
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result.textContent = "xyzbc_trt_all_buttons=checking-dom";
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assertButtonParityDomCoverage(doc, api.getButtonParity());
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result.textContent = "xyzbc_trt_all_buttons=checking-menu";
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await verifyMenuButtons(doc, api);
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result.textContent = "xyzbc_trt_all_buttons=checking-toolbar";
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await verifyToolbarButtons(doc, api);
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result.textContent = "xyzbc_trt_all_buttons=checking-manual-mdi-pyvcp";
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await verifyManualMdiPyvcpButtons(doc, api);
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result.textContent = "xyzbc_trt_all_buttons=checking-overrides";
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await verifyOverrideCoolantAndViewButtons(doc, api);
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if (runtimeErrors.length > 0) {
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throw new Error(`runtime errors: ${runtimeErrors.join(" | ")}`);
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}
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result.textContent = `xyzbc_trt_all_buttons=ok checked=${api.getButtonParity().length}`;
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}
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function assertButtonParityDomCoverage(doc, buttonParity) {
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if (!Array.isArray(buttonParity) || buttonParity.length < 50) {
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throw new Error(`button parity list too small: ${buttonParity?.length}`);
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}
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const controls = [...doc.querySelectorAll("[data-action], [data-menu-command]")];
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for (const item of buttonParity) {
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const matches = controls.filter((control) => (
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control.dataset.action === item.action ||
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control.dataset.menuCommand === item.action
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));
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if (matches.length === 0) {
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throw new Error(`button parity item has no DOM control: ${item.id}/${item.action}`);
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}
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if (!matches.some((control) => control.dataset.axisSourceRef && control.dataset.axisExpectedEffect)) {
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throw new Error(`button parity item has no source-tagged DOM control: ${item.id}/${item.action}`);
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}
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}
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}
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async function verifyMenuButtons(doc, api) {
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await click(doc, '[data-menu-command="stage"]', "menu Stage LinuxCNC files");
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await waitState(api, (state) => state.machineFileStaging?.status === "staged", "menu stage completed");
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await click(doc, '[data-menu-command="save-session"]', "menu Save session");
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await waitState(api, (state) => (
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state.sessionPersistence?.status === "saved" &&
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Boolean(state.sessionPersistence?.path) &&
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Boolean(state.sessionPersistence?.savedAt)
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), "menu save session completed");
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await click(doc, '[data-menu-command="restore-session"]', "menu Restore session");
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await waitState(api, (state) => (
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state.sessionPersistence?.status === "restored" &&
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Boolean(state.sessionPersistence?.path) &&
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Boolean(state.sessionPersistence?.restoredAt)
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), "menu restore session completed");
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await click(doc, '[data-menu-command="reload"]', "menu Reload");
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await waitState(api, (state) => Number(state.programAxisPreviewPath?.sampleCount || 0) > 0, "menu reload restored preview");
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await click(doc, '[data-menu-command="view-z"]', "menu View Z");
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await waitState(api, (state) => state.preview.selectedView === "z", "menu view z");
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await click(doc, '[data-menu-command="view-y"]', "menu View Y");
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await waitState(api, (state) => state.preview.selectedView === "y", "menu view y");
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await click(doc, '[data-menu-command="view-x"]', "menu View X");
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await waitState(api, (state) => state.preview.selectedView === "x", "menu view x");
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await click(doc, '[data-menu-command="view-p"]', "menu View P");
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await waitState(api, (state) => state.preview.selectedView === "iso", "menu view p");
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await click(doc, '[data-menu-command="clear-preview"]', "menu Clear Live Plot");
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await waitState(api, (state) => state.preview.pathPoints === 0, "menu clear preview");
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await click(doc, '[data-menu-command="audit"]', "menu Run parity audit");
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await waitState(api, (state) => (
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state.interpreterExecutionPending === false &&
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Number(state.programAxisPreviewPath?.sampleCount || 0) > 0 &&
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state.taskHalRuntime?.loaded === true
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), "menu audit completed observable work");
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}
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async function verifyToolbarButtons(doc, api) {
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await ensureResetPoweredHomedManual(doc, api);
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await click(doc, '[data-action="toggle-auto-manual"]', "toolbar AUTO");
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await waitState(api, (state) => state.machine.mode === "auto", "toolbar auto");
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await click(doc, '[data-action="toggle-auto-manual"]', "toolbar MANUAL");
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await waitState(api, (state) => state.machine.mode === "manual", "toolbar manual");
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await click(doc, '[data-action="reload"]', "toolbar reload");
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await waitState(api, (state) => Number(state.programAxisPreviewPath?.sampleCount || 0) > 0, "toolbar reload");
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await click(doc, '[data-action="run"]', "toolbar run");
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await waitState(api, (state) => state.runState === "running" || state.runState === "complete", "toolbar run started");
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await click(doc, '[data-tool-id="tbtn_pause"]', "toolbar pause");
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await waitState(api, (state) => state.runState === "paused", "toolbar pause");
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await click(doc, '[data-action="step"]', "toolbar step");
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await waitState(api, (state) => state.machine.taskPaused === true && Number(state.programExecutionSampleIndex) >= 0, "toolbar step");
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await click(doc, '[data-tool-id="tbtn_pause"]', "toolbar resume");
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await waitState(api, (state) => state.runState === "running", "toolbar resume");
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await click(doc, '[data-action="stop"]', "toolbar stop");
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await waitState(api, (state) => state.runState === "stopped", "toolbar stop");
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await click(doc, '[data-action="estop"]', "toolbar estop");
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await waitState(api, (state) => state.machine.estopActive === true, "toolbar estop");
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await click(doc, '[data-action="estop"]', "toolbar reset");
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await waitState(api, (state) => state.machine.estopActive === false, "toolbar reset");
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if (api.getState().machine.powerOn !== true) {
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await click(doc, '[data-action="power"]', "toolbar power on after reset");
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await waitState(api, (state) => state.machine.powerOn === true, "toolbar power on after reset");
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}
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await click(doc, '[data-action="power"]', "toolbar power off");
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await waitState(api, (state) => state.machine.powerOn === false, "toolbar power off");
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await click(doc, '[data-action="power"]', "toolbar power on");
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await waitState(api, (state) => state.machine.powerOn === true, "toolbar power on");
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}
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async function verifyManualMdiPyvcpButtons(doc, api) {
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await ensureResetPoweredHomedManual(doc, api);
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const joint3 = doc.querySelector('[data-action="select-joint"][value="3"]');
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joint3.checked = true;
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joint3.dispatchEvent(new Event("change", { bubbles: true }));
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await waitState(api, (state) => state.machine.selectedJoint === 3 && state.machine.jogAxis === "b", "select B joint");
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const jogIncrement = doc.querySelector('[data-action="jog-increment"]');
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jogIncrement.value = "0.1";
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jogIncrement.dispatchEvent(new Event("change", { bubbles: true }));
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await waitState(api, (state) => Number(state.machine.jogIncrement) === 0.1, "jog increment");
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const beforeJogB = api.getState().axisPose.b;
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await click(doc, '[data-action="jog-plus"]', "manual jog plus");
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await waitState(api, (state) => state.axisPose.b > beforeJogB, "manual jog plus changed B");
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const afterJogPlusB = api.getState().axisPose.b;
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await click(doc, '[data-action="jog-minus"]', "manual jog minus");
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await waitState(api, (state) => state.axisPose.b < afterJogPlusB, "manual jog minus changed B");
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await click(doc, '[data-action="touch-off"]', "manual touch off");
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await waitState(api, (state) => state.mdiHistory[0] === "G10 L20 P0 B0" && state.machine.mode === "manual", "manual touch off");
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await click(doc, '[data-action="tool-touch-off"]', "manual tool touch off");
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await waitState(api, (state) => state.mdiHistory[0] === "G43" && state.machine.mode === "manual", "manual tool touch off");
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await click(doc, '[data-action="tab-mdi"]', "MDI tab");
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await waitState(api, (state) => state.machine.mode === "mdi", "mdi tab");
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const mdiInput = doc.querySelector('[data-action="mdi-input"]');
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mdiInput.value = "G90";
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mdiInput.dispatchEvent(new Event("input", { bubbles: true }));
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doc.querySelector('[data-action="mdi-form"]').dispatchEvent(new Event("submit", { bubbles: true, cancelable: true }));
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await waitState(api, (state) => state.mdiHistory[0] === "G90", "mdi submit");
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await click(doc, '[data-action="mdi-history"][data-command="G90"]', "MDI history G90");
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await waitState(api, (state) => state.mdiHistory[0] === "G90", "mdi history");
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await click(doc, '[data-action="kins-tcp"]', "PyVCP TCP");
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await waitState(api, (state) => state.kinsType === "tcp-xyzbc" && state.mdiHistory[0] === "M428", "pyvcp tcp");
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await click(doc, '[data-action="kins-identity"]', "PyVCP identity");
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await waitState(api, (state) => state.kinsType === "identity" && state.mdiHistory[0] === "M429", "pyvcp identity");
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await click(doc, '[data-action="kins-userk"]', "PyVCP userk");
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await waitState(api, (state) => state.kinsType === "userk" && state.mdiHistory[0] === "M430", "pyvcp userk");
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}
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async function verifyOverrideCoolantAndViewButtons(doc, api) {
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await ensureResetPoweredHomedManual(doc, api);
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const feedBefore = api.getState().feed.feedOverride;
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await click(doc, '[data-action="feed-override-up"]', "feed override up");
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await waitState(api, (state) => state.feed.feedOverride === Math.min(feedBefore + 10, 200), "feed override up");
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await click(doc, '[data-action="feed-override-down"]', "feed override down");
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await waitState(api, (state) => state.feed.feedOverride === feedBefore, "feed override down");
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const rapidBefore = api.getState().feed.rapidOverride;
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await click(doc, '[data-action="rapid-override-up"]', "rapid override up");
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await waitState(api, (state) => state.feed.rapidOverride === Math.min(rapidBefore + 10, 200), "rapid override up");
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await click(doc, '[data-action="rapid-override-down"]', "rapid override down");
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await waitState(api, (state) => state.feed.rapidOverride === rapidBefore, "rapid override down");
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const spindleOverrideBefore = api.getState().spindle.override;
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await click(doc, '[data-action="spindle-override-up"]', "spindle override up");
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await waitState(api, (state) => state.spindle.override === Math.min(spindleOverrideBefore + 10, 150), "spindle override up");
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await click(doc, '[data-action="spindle-override-down"]', "spindle override down");
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await waitState(api, (state) => state.spindle.override === spindleOverrideBefore, "spindle override down");
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await click(doc, '[data-action="spindle-reverse"]', "spindle reverse");
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await waitState(api, (state) => state.spindle.direction === "reverse" && state.spindle.enabled === true, "spindle reverse");
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await click(doc, '[data-action="spindle-stop"]', "spindle stop");
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await waitState(api, (state) => state.spindle.direction === "stop" && state.spindle.enabled === false, "spindle stop");
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await click(doc, '[data-action="spindle-forward"]', "spindle forward");
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await waitState(api, (state) => state.spindle.direction === "forward" && state.spindle.enabled === true, "spindle forward");
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await click(doc, '[data-action="toggle-flood"]', "toggle flood");
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await waitState(api, (state) => state.coolant.flood === true, "toggle flood");
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await click(doc, '[data-action="toggle-mist"]', "toggle mist");
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await waitState(api, (state) => state.coolant.mist === true, "toggle mist");
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await click(doc, '[data-action="block-delete"]', "block delete");
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await waitState(api, (state) => state.gmoccapyGui.optionalBlocks === true, "block delete");
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await click(doc, '[data-action="optional-stop"]', "optional stop");
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await waitState(api, (state) => state.gmoccapyGui.optionalStop === true, "optional stop");
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await click(doc, '[data-action="ignore-limits"]', "ignore limits");
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await waitState(api, (state) => state.gmoccapyGui.ignoreLimits === true, "ignore limits");
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await click(doc, '[data-action="view-z"]', "view z");
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await waitState(api, (state) => state.preview.selectedView === "z", "view z");
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await click(doc, '[data-action="view-y"]', "view y");
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await waitState(api, (state) => state.preview.selectedView === "y", "view y");
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await click(doc, '[data-action="view-x"]', "view x");
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await waitState(api, (state) => state.preview.selectedView === "x", "view x");
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await click(doc, '[data-action="view-p"]', "view p");
|
||||
await waitState(api, (state) => state.preview.selectedView === "iso", "view p");
|
||||
await click(doc, '[data-action="clear-preview"]', "clear preview");
|
||||
await waitState(api, (state) => state.preview.pathPoints === 0, "clear preview");
|
||||
await click(doc, '[data-action="reload"]', "reload after clear preview");
|
||||
await waitState(api, (state) => state.preview.pathPoints > 0, "reload after clear preview");
|
||||
}
|
||||
|
||||
async function ensureResetPoweredHomedManual(doc, api) {
|
||||
let state = api.getState();
|
||||
if (state.machine.estopActive === true || state.machine.taskState === "estop") {
|
||||
await click(doc, '[data-action="estop"]', "ensure reset estop");
|
||||
await waitState(api, (next) => next.machine.estopActive === false, "ensure estop reset");
|
||||
}
|
||||
state = api.getState();
|
||||
if (state.machine.powerOn !== true) {
|
||||
await click(doc, '[data-action="power"]', "ensure power on");
|
||||
await waitState(api, (next) => next.machine.powerOn === true, "ensure power on");
|
||||
}
|
||||
if (api.getState().machine.mode !== "manual") {
|
||||
await click(doc, '[data-action="tab-manual"]', "ensure manual before home");
|
||||
await waitState(api, (next) => next.machine.mode === "manual", "ensure manual before home");
|
||||
}
|
||||
state = api.getState();
|
||||
if (state.machine.allHomed !== true) {
|
||||
await click(doc, '[data-action="home-all"]', "ensure home all");
|
||||
await waitState(api, (next) => next.machine.allHomed === true, "ensure home all");
|
||||
}
|
||||
if (api.getState().machine.mode !== "manual") {
|
||||
await click(doc, '[data-action="tab-manual"]', "ensure manual");
|
||||
await waitState(api, (next) => next.machine.mode === "manual", "ensure manual mode");
|
||||
}
|
||||
if (api.getState().runState === "running" || api.getState().runState === "paused" || api.getState().runState === "stepping") {
|
||||
await click(doc, '[data-action="stop"]', "ensure stopped");
|
||||
await waitState(api, (next) => next.runState === "stopped" || next.runState === "idle", "ensure stopped");
|
||||
await click(doc, '[data-action="tab-manual"]', "manual after stop");
|
||||
}
|
||||
}
|
||||
|
||||
async function click(doc, selector, label) {
|
||||
const element = await waitFor(() => doc.querySelector(selector), label);
|
||||
element.click();
|
||||
await wait(80);
|
||||
return element;
|
||||
}
|
||||
|
||||
function waitState(api, predicate, label) {
|
||||
return waitFor(() => {
|
||||
const state = api.getState();
|
||||
return predicate(state) ? state : null;
|
||||
}, label, () => summarizeState(api.getState()));
|
||||
}
|
||||
|
||||
async function waitFor(predicate, label, describe = null) {
|
||||
for (let attempt = 0; attempt < 300; attempt += 1) {
|
||||
const value = predicate();
|
||||
if (value) return value;
|
||||
await wait(50);
|
||||
}
|
||||
const suffix = describe ? ` ${describe()}` : "";
|
||||
throw new Error(`timed out waiting for ${label}${suffix}`);
|
||||
}
|
||||
|
||||
function summarizeState(state) {
|
||||
return JSON.stringify({
|
||||
runState: state.runState,
|
||||
mode: state.machine?.mode,
|
||||
taskState: state.machine?.taskState,
|
||||
powerOn: state.machine?.powerOn,
|
||||
allHomed: state.machine?.allHomed,
|
||||
kinsType: state.kinsType,
|
||||
mdiHistory: state.mdiHistory?.slice?.(0, 3),
|
||||
operatorMessage: state.operatorMessage,
|
||||
});
|
||||
}
|
||||
|
||||
runAllButtons().catch((error) => {
|
||||
result.textContent = `xyzbc_trt_all_buttons=fail ${error.stack || error.message || error}`;
|
||||
});
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user