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

import assert from "node:assert/strict";
import { readFile } from "node:fs/promises";

import {
  LINUXCNC_PARITY_ITEMS,
  RIGHT_SIDEBAR_PARITY_ENTRIES,
  SWITCHKINS_PARITY_CODES,
} from "../../app/src/runtime/linuxcnc-parity-matrix.js";
import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
import { createSimulationStore } from "../../app/src/state/store.js";

function item(matrix, id) {
  const found = matrix.items.find((entry) => entry.id === id);
  assert.ok(found, `missing parity matrix item ${id}`);
  return found;
}

async function waitForValidatedProgram(store) {
  for (let attempt = 0; attempt < 30; attempt += 1) {
    const state = store.getState();
    if (!state.interpreterExecutionPending && state.programValidation?.ready) {
      return state;
    }
    await new Promise((resolve) => setTimeout(resolve, 0));
  }
  return store.getState();
}

async function loadIniConfigFromVendoredSource(profile) {
  const text = await readFile(
    new URL(`../../../wasm-port/vendor/linuxcnc/${profile.iniPath}`, import.meta.url),
    "utf8",
  );
  return parseLinuxCncIni(text, {
    path: profile.iniPath,
    profileId: profile.id,
  });
}

assert.equal(LINUXCNC_PARITY_ITEMS.length >= 11, true);
assert.deepEqual(RIGHT_SIDEBAR_PARITY_ENTRIES, [
  "E-STOP",
  "POWER",
  "RESET",
  "AUTO",
  "MANUAL",
  "JOG",
  "MDI",
  "IDENTITY",
  "TCP",
]);
assert.deepEqual(SWITCHKINS_PARITY_CODES, ["M428", "M429", "M430"]);

const store = createSimulationStore();
let state = store.getState();
let matrix = state.linuxCncParityMatrix;

assert.equal(matrix.apiName, "web-rtcp-5axis-linuxcnc-parity-matrix");
assert.equal(matrix.profileId, "xyzac-trt");
assert.equal(matrix.status, "implemented");
assert.equal(matrix.implementedCount, matrix.itemCount);
assert.equal(matrix.rightSidebarComplete, true);
assert.equal(matrix.switchkinsComplete, true);
assert.deepEqual(matrix.actualRightSidebarEntries, RIGHT_SIDEBAR_PARITY_ENTRIES);
assert.equal(matrix.requiredSwitchkinsCodes.every((code) => matrix.activeSwitchkinsCodes.includes(code)), true);
assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("impeller-7bl-xyzac.ngc")), true);
assert.equal(matrix.linuxCncPrograms.some((path) => path.endsWith("boat-xyzbc.ngc")), true);
assert.equal(matrix.linuxCncFunctions.includes("E-STOP/POWER/RESET task-state entry"), true);
assert.equal(matrix.linuxCncFunctions.includes("M428 TCP"), true);
assert.equal(matrix.linuxCncFunctions.includes("M429 identity"), true);
assert.equal(matrix.linuxCncFunctions.includes("M430 userk"), true);

assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, true);
assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").sourceMapped, true);
assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").linuxCncPaths.some((path) => path.endsWith("xyzac-trt.ini")), true);
assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").implemented, true);
assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, false);
assert.equal(item(matrix, "gmoccapy-trt-config").linuxCncPaths.some((path) => path.includes("gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini")), true);
assert.equal(item(matrix, "gmoccapy-trt-config").functions.includes("DISPLAY gmoccapy"), true);
assert.equal(item(matrix, "gmoccapy-native-operator-ui").active, true);
assert.equal(item(matrix, "right-sidebar-task-interlocks").active, true);
assert.equal(item(matrix, "vismach-machine-preview").active, true);
assert.equal(item(matrix, "source-derived-kinematics-switchkins").active, true);
assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, false);
assert.equal(item(matrix, "machine-project-directory").active, false);
assert.equal(item(matrix, "task-hal-status-loop").implemented, true);
assert.equal(item(matrix, "gmoccapy-postgui-tool-spindle").active, true);

store.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" });
state = store.getState();
matrix = state.linuxCncParityMatrix;
assert.equal(matrix.profileId, "xyzbc-trt");
assert.equal(item(matrix, "xyzac-trt-axis-vismach-config").active, false);
assert.equal(item(matrix, "xyzbc-trt-axis-vismach-config").active, true);
assert.equal(item(matrix, "source-derived-kinematics-switchkins").evidence.activeSwitchkinsCodes.includes("M428"), true);

store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" });
const profile = getFiveAxisProfile("xyzac-trt");
store.dispatch({
  type: "ATTACH_INI_CONFIG",
  profileId: profile.id,
  iniConfig: await loadIniConfigFromVendoredSource(profile),
});
store.dispatch({
  type: "ATTACH_INTERPRETER_RUNTIME",
  runtime: await createLinuxCncInterpreterRuntime(),
});
await store.stageMachineFiles({ storage: createMemorySessionStorage() });
state = store.getState();
matrix = state.linuxCncParityMatrix;
assert.equal(item(matrix, "machine-project-directory").active, true);
assert.equal(item(matrix, "machine-project-directory").evidence.iniSourceMatchesProfile, true);
assert.equal(item(matrix, "machine-project-directory").evidence.gcodeFileCount >= 8, true);

store.dispatch({
  type: "LOAD_LINUXCNC_GCODE_SOURCE",
  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc",
});
state = await waitForValidatedProgram(store);
matrix = state.linuxCncParityMatrix;
assert.equal(state.programValidation.ready, true);
assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").active, true);
assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file");
assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.motionEventCount > 0, true);
assert.equal(item(matrix, "linuxcnc-interpreter-program-validation").evidence.plannerSampleCount > 0, true);
assert.equal(matrix.activeCount >= 9, true);

console.log("linuxcnc_parity_matrix_smoke=ok");