补齐 xyzbc-trt Web 路径证据

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

@@ -8,8 +8,15 @@ import {
   selectMachineFileProgram,
   stageProfileMachineFiles,
 } from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
+import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
+import {
+  buildTaskHalProgramMotionPlan,
+  buildTaskHalSessionFromMachineFiles,
+  wrapTaskHalSdk,
+} from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
 import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
 import { createSimulationStore } from "../../app/src/state/store.js";
+import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
 
 const profile = getFiveAxisProfile();
 
@@ -23,6 +30,10 @@ assert.equal(profile.machineFileStaging.defaultProgramFilename, "xyzbc_switchkin
 assert.equal(profile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp");
 assert.ok(profile.halPins.includes("xyzbc-trt-kins.x-offset"));
 assert.ok(profile.halPins.includes("motion.switchkins-type"));
+assert.deepEqual(profile.samplePrograms, [
+  "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
+  "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
+]);
 assert.ok(profile.remaps.some((remap) => remap.code === "M428" && remap.switchkinsType === 1));
 assert.ok(profile.remaps.some((remap) => remap.code === "M429" && remap.switchkinsType === 0));
 assert.ok(profile.remaps.some((remap) => remap.code === "M430" && remap.switchkinsType === 2));
@@ -63,6 +74,9 @@ assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc-trt.tb
 assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/428remap.ngc") && file.kind === "remap"));
 assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/429remap.ngc") && file.kind === "remap"));
 assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/430remap.ngc") && file.kind === "remap"));
+assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/xyzbc_switchkins_sub.ngc") && file.kind === "remap"));
+assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/centering.ngc") && file.kind === "remap"));
+assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/helix_bc.ngc") && file.kind === "remap"));
 assert.ok(staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"));
 assert.ok(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc"));
 assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var") && file.kind === "parameters"), true);
@@ -75,6 +89,54 @@ const selectedPlan = selectMachineFileProgram(
 assert.equal(selectedPlan.selectedProgramFilename, "xyzbc_switchkins.ngc");
 assert.ok(selectedPlan.wasmProgramPath.endsWith("/demos/xyzbc_switchkins.ngc"));
 
+const interpreter = await createLinuxCncInterpreterRuntime();
+const execution = interpreter.runMachineFileProgram({
+  plan: selectedPlan,
+  files: staged.save.files,
+  executionMode: "fiveAxisRemap",
+});
+assert.equal(execution.summary.machineFileExecutionReady, true);
+assert.equal(execution.plannerTiming.plannerRuntimeReady, true);
+assert.equal(execution.plannerTiming.samples.length > 0, true);
+
+const taskHalWasm = await readFile(
+  new URL("../../../wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm", import.meta.url),
+);
+const taskHal = wrapTaskHalSdk(await createLinuxCncTaskHalSdk({
+  wasmBinary: taskHalWasm,
+  print() {},
+  printErr() {},
+}));
+const taskHalSession = buildTaskHalSessionFromMachineFiles({
+  profile,
+  plan: selectedPlan,
+  save: staged.save,
+  selectedProgramRel: selectedPlan.selectedProgramSourceRel,
+});
+taskHal.initSession(taskHalSession);
+taskHal.stageFiles(taskHalSession.files);
+taskHal.openProgram(taskHalSession.programPath);
+taskHal.loadProgramMotionPlan(buildTaskHalProgramMotionPlan({
+  programPath: taskHalSession.programPath,
+  motion: execution.motion,
+  timing: execution.plannerTiming,
+  linearUnits: execution.plannerTiming.linearUnits || "mm",
+  programLines: staged.save.files
+    .find((file) => (file.wasmPath || file.path) === taskHalSession.programPath)
+    ?.text.split(/\r?\n/) || [],
+}));
+taskHal.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" });
+taskHal.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" });
+taskHal.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 });
+taskHal.runCycles({ taskPeriodNs: 20000000, servoPeriodNs: 1000000, taskCycles: 3 });
+const taskHalStatus = taskHal.readStatus();
+assert.equal(taskHalStatus.summary.taskRuntimeReady, true);
+assert.equal(taskHalStatus.summary.halSyncReady, true);
+assert.equal(taskHalStatus.ui.activeLine >= 1, true);
+assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.x), true);
+assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.y), true);
+assert.equal(Number.isFinite(taskHalStatus.motionStatus.axis.z), true);
+
 const store = createSimulationStore();
 const state = store.getState();
 assert.equal(state.machineProfile, "xyzbc-trt");