189 lines
10 KiB
JavaScript
189 lines
10 KiB
JavaScript
import assert from "node:assert/strict";
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import { readFile } from "node:fs/promises";
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import { createMemorySessionStorage } from "../../app/src/runtime/five-axis-session.js";
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import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
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import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js";
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import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
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import {
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selectMachineFileProgram,
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stageProfileMachineFiles,
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} from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
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import { buildRtcpFrame } from "../../app/src/runtime/rtcp-frame.js";
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import { createProfileSourceReferenceSummary } from "../../app/src/profiles/source-reference-map.js";
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import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
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import { createSimulationStore, validateRunPreconditions } from "../../app/src/state/store.js";
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const GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX = "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/";
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const GMOCAPY_TRT_EXAMPLE_FILES = [
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"boat-xyzac.ngc",
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"boat-xyzbc.ngc",
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"impeller-7bl-xyzac.ngc",
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"test-xyzac.ngc",
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"test-xyzbc.ngc",
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];
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const DIRECT_PROGRAM_EXAMPLES = [
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"impeller-7bl-xyzac.ngc",
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"boat-xyzac.ngc",
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"boat-xyzbc.ngc",
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];
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const NGC_GUI_SUBROUTINE_EXAMPLES = [
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{ filename: "test-xyzac.ngc", subroutine: "test-xyzac", rotaryAxis: "A" },
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{ filename: "test-xyzbc.ngc", subroutine: "test-xyzbc", rotaryAxis: "B" },
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];
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const profile = getFiveAxisProfile("gmoccapy-xyzac-trt");
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const iniText = await readFile(
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new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini", import.meta.url),
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"utf8",
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);
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const postguiText = await readFile(
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new URL("../../../wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal", import.meta.url),
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"utf8",
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);
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assert.equal(profile.display.display, "gmoccapy");
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assert.equal(profile.display.openFile, "./examples/impeller-7bl-xyzac.ngc");
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assert.equal(profile.kinematics, "xyzac-trt-kins");
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assert.equal(profile.kinematicsModuleId, "xyzac-trt");
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assert.equal(profile.kinematicsParameters.fixedTrtDefault, true);
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assert.equal(profile.kinematicsParameters.switchkinsTypes[0].webKinsType, "tcp-xyzac");
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assert.equal(profile.rtcpProof, true);
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assert.equal(profile.machineFileStaging.machineRel, "gmoccapy/non_trivial_kinematics/table-rotary-tilting");
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assert.equal(profile.machineFileStaging.demoDirectory, "examples");
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assert.equal(profile.hal.halcmd.offsetNets.some((net) => net.target === "gmoccapy.tooloffset-z"), true);
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assert.equal(profile.hal.halcmd.toolChange.manualGmoccapyPinsConnected, true);
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const sourceSummary = createProfileSourceReferenceSummary(profile.id);
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assert.equal(sourceSummary.referenceCount >= 10, true);
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assert.equal(sourceSummary.kinds.includes("ini"), true);
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assert.equal(sourceSummary.kinds.includes("gcode_demo"), true);
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assert.equal(sourceSummary.kinds.includes("gcode_ngcgui_subroutine"), true);
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assert.equal(sourceSummary.kinds.includes("remap_subroutine"), true);
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assert.equal(sourceSummary.sourceRequiredCount >= 2, true);
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for (const filename of GMOCAPY_TRT_EXAMPLE_FILES) {
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assert.equal(
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sourceSummary.references.some((reference) => reference.path === `${GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX}${filename}`),
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true,
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`${filename} source reference`,
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);
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}
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const iniConfig = parseLinuxCncIni(iniText, {
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path: profile.iniPath,
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profileId: profile.id,
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});
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assert.equal(iniConfig.validation.ready, true);
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assert.equal(iniConfig.machineName, "sim-xyzac-trt");
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assert.equal(iniConfig.display.display, "gmoccapy");
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assert.equal(iniConfig.traj.coordinates, "XYZAC");
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assert.equal(iniConfig.kinematics.name, "xyzac-trt-kins");
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assert.equal(iniConfig.kinematicsParameters.sparm, null);
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assert.deepEqual(iniConfig.rs274ngc.remaps.map((remap) => remap.code), ["M6", "M61"]);
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assert.equal(iniConfig.rs274ngc.subroutinePath, "./examples:../../macros");
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assert.equal(iniConfig.hal.postguiHalFiles.includes("postgui.hal"), true);
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assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("xyzac-trt-gui")), true);
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assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("xyzac-trt-kins.tool-offset")), true);
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assert.equal(iniConfig.hal.halcmd.some((line) => line.includes("sets :y-offset 20")), true);
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assert.equal(iniConfig.emcmot.servoPeriodNs, 1000000);
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assert.equal(iniConfig.task.cycleTimeSeconds, 0.010);
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assert.equal(postguiText.includes("gmoccapy.spindle_feedback_bar"), true);
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assert.equal(postguiText.includes("gmoccapy.toolchange-change"), true);
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assert.equal(postguiText.includes("gmoccapy.tooloffset-z"), true);
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const staged = await stageProfileMachineFiles(profile, {
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storage: createMemorySessionStorage(),
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});
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assert.equal(staged.plan.profileId, profile.id);
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assert.equal(staged.plan.machineRel, "gmoccapy/non_trivial_kinematics/table-rotary-tilting");
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assert.equal(staged.plan.demoDirectory, "examples");
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assert.equal(staged.save.files.some((file) => file.sourceRel === profile.iniPath), true);
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assert.equal(staged.save.files.some((file) => file.sourceRel === profile.toolTablePath), true);
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assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("macros/change_g43.ngc")), true);
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assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("macros/settool_g43.ngc")), true);
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assert.deepEqual(staged.save.gcodeSources.map((source) => source.filename), GMOCAPY_TRT_EXAMPLE_FILES);
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assert.equal(staged.save.gcodeSources.every((source) => source.sourceRel.startsWith(GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX)), true);
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assert.equal(staged.save.gcodeSources.every((source) => source.semanticBoundary === "linuxcnc_vendored_5axis_gcode_source_file"), true);
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assert.equal(staged.save.gcodeFiles.some((file) => file.filename === "test-xyzac.ngc"), true);
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assert.equal(staged.save.gcodeFiles.some((file) => file.filename === "test-xyzbc.ngc"), true);
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const selectedPlan = selectMachineFileProgram(
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staged.plan,
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staged.save,
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"configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
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);
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assert.equal(selectedPlan.selectedProgramFilename, "impeller-7bl-xyzac.ngc");
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assert.equal(selectedPlan.wasmProgramPath.endsWith("/examples/impeller-7bl-xyzac.ngc"), true);
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const runtime = await createLinuxCncInterpreterRuntime();
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for (const filename of DIRECT_PROGRAM_EXAMPLES) {
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const source = staged.save.files.find((file) => file.sourceRel.endsWith(`/examples/${filename}`));
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assert.ok(source, `${filename} staged`);
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const execution = runtime.runProgram(source.text);
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assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`);
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assert.equal(execution.summary.ready, true, `${filename} ready`);
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assert.equal(execution.summary.motionEventCount > 0, true, `${filename} motion`);
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assert.equal(execution.plannerTiming.samples.length > 0, true, `${filename} planner samples`);
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}
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for (const { filename, subroutine, rotaryAxis } of NGC_GUI_SUBROUTINE_EXAMPLES) {
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const source = staged.save.files.find((file) => file.sourceRel.endsWith(`/examples/${filename}`));
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assert.ok(source, `${filename} staged`);
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assert.equal(source.text.includes(`o<${subroutine}> sub`), true, `${filename} subroutine open`);
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assert.equal(source.text.includes(`o<${subroutine}> endsub`), true, `${filename} subroutine close`);
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assert.equal(source.text.includes("T#<tool1> M6"), true, `${filename} tool-change semantics`);
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assert.equal(source.text.includes("G43 H#<tool2> Z0"), true, `${filename} tool-offset semantics`);
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assert.equal(new RegExp(`G00 ${rotaryAxis}#<${rotaryAxis.toLowerCase()}_angle> C#<c_angle>`).test(source.text), true, `${filename} rotary-axis semantics`);
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const execution = runtime.runProgram(source.text);
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assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm", `${filename} source mode`);
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assert.equal(execution.summary.ready, false, `${filename} ngcgui subroutine is not a standalone main program`);
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assert.equal(execution.summary.motionEventCount, 0, `${filename} direct subroutine execution has no motion`);
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}
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const kinematics = await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt", switchkinsType: 0 });
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const frame = buildRtcpFrame({
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axisPose: { x: 16.339, y: -25.409, z: 33.353, a: -71.841, c: -35.93 },
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activeLine: 5,
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kinsType: "tcp-xyzac",
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rtcpEnabled: true,
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profile,
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linuxCncKinematicsResult: kinematics.frameForJoints([16.339, -25.409, 33.353, -71.841, -35.93]),
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});
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assert.equal(frame.sourceMode, "source-derived-kinematics-wasm");
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assert.equal(frame.readiness.linuxCncKinematicsReady, true);
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assert.equal(frame.rtcpState, "on");
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assert.equal(frame.profileId, "gmoccapy-xyzac-trt");
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const store = createSimulationStore();
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store.dispatch({ type: "SET_PROFILE", profileId: profile.id });
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store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
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store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime: kinematics });
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await store.refreshKinematicsFrame();
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store.dispatch({ type: "ATTACH_INTERPRETER_RUNTIME", runtime });
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await store.stageMachineFiles({ storage: createMemorySessionStorage() });
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store.dispatch({
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type: "LOAD_LINUXCNC_GCODE_SOURCE",
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sourceRel: "configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
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});
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await new Promise((resolve) => setTimeout(resolve, 0));
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const loadedState = store.getState();
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assert.equal(loadedState.machineProfile, profile.id);
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assert.equal(loadedState.display?.display, undefined);
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assert.equal(loadedState.kinsType, "tcp-xyzac");
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assert.equal(loadedState.rtcpState, "on");
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assert.equal(loadedState.machineProject.gcodeDirectory.endsWith("/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples"), true);
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assert.equal(loadedState.machineProject.selectedProgram.filename, "impeller-7bl-xyzac.ngc");
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assert.equal(loadedState.programValidation.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file");
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assert.equal(loadedState.programExecution?.summary?.motionEventCount > 0, true);
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assert.equal(loadedState.toolDbReadiness.toolCount, 10);
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const preconditions = validateRunPreconditions(loadedState, {
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requireTaskHalRuntime: false,
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requireTaskHalSession: false,
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});
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assert.equal(preconditions.ok, true);
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assert.equal(preconditions.profileId, "gmoccapy-xyzac-trt");
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assert.equal(preconditions.selectedGcodeSourceRel.endsWith("/examples/impeller-7bl-xyzac.ngc"), true);
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console.log("gmoccapy_xyzac_trt_parity_smoke=ok");
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