122 lines
5.5 KiB
JavaScript
122 lines
5.5 KiB
JavaScript
import assert from "node:assert/strict";
|
|
import { readFileSync } from "node:fs";
|
|
import { fileURLToPath } from "node:url";
|
|
|
|
import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
|
|
|
|
const runtime = await createLinuxCncInterpreterRuntime();
|
|
const readiness = runtime.readiness();
|
|
|
|
assert.equal(runtime.apiName, "web-rtcp-5axis-linuxcnc-interpreter-runtime");
|
|
assert.equal(runtime.loaded, true);
|
|
assert.equal(runtime.sourceMode, "linuxcnc-interpreter-wasm");
|
|
assert.equal(runtime.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events");
|
|
assert.equal(readiness.loaded, true);
|
|
assert.equal(readiness.runProgramReady, true);
|
|
assert.equal(readiness.remapRuntimeReady, false);
|
|
assert.equal(readiness.plannerRuntimeReady, true);
|
|
assert.equal(readiness.plannerSemanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
|
|
|
|
const programText = [
|
|
"G90 G17",
|
|
"G0 X0 Y0 Z0",
|
|
"G1 X10 Y2 F100",
|
|
"G1 X12 Y4 A5 C7",
|
|
"M2",
|
|
].join("\n");
|
|
const execution = runtime.runProgram(programText);
|
|
|
|
assert.equal(execution.apiName, "web-rtcp-5axis-linuxcnc-interpreter-program-execution");
|
|
assert.equal(execution.sourceMode, "linuxcnc-interpreter-wasm");
|
|
assert.equal(execution.semanticBoundary, "linuxcnc_interpreter_wasm_canonical_events");
|
|
assert.equal(execution.summary.ready, true);
|
|
assert.equal(execution.summary.motionEventCount >= 3, true);
|
|
assert.equal(execution.summary.canonicalEventCount > execution.summary.motionEventCount, true);
|
|
assert.equal(execution.summary.motionTypes.includes("STRAIGHT_TRAVERSE"), true);
|
|
assert.equal(execution.summary.motionTypes.includes("STRAIGHT_FEED"), true);
|
|
assert.equal(execution.summary.finalAxes.x, 12);
|
|
assert.equal(execution.summary.finalAxes.y, 4);
|
|
assert.equal(execution.summary.finalAxes.a, 5);
|
|
assert.equal(execution.summary.finalAxes.c, 7);
|
|
assert.equal(execution.motion[2].feedRate, 100);
|
|
assert.equal(execution.summary.remapRuntimeReady, false);
|
|
assert.equal(execution.summary.plannerRuntimeReady, true);
|
|
assert.equal(execution.plannerTiming.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
|
|
assert.equal(execution.plannerTiming.totalSeconds > 0, true);
|
|
assert.equal(execution.plannerTiming.motionCount, execution.motion.length);
|
|
assert.equal(execution.summary.fullLinuxCncProgramExecutionReady, false);
|
|
|
|
const g18ArcProgramText = [
|
|
"G90 G18",
|
|
"G0 X1 Z0 Y0",
|
|
"G3 X0 Z1 I-1 K0 Y2 F80",
|
|
"M2",
|
|
].join("\n");
|
|
const g18ArcExecution = runtime.runProgram(g18ArcProgramText);
|
|
const g18ArcMotion = g18ArcExecution.motion[1];
|
|
|
|
assert.equal(g18ArcExecution.summary.ready, true);
|
|
assert.equal(g18ArcExecution.summary.motionEventCount, 2);
|
|
assert.equal(g18ArcExecution.summary.motionTypes.includes("ARC_FEED"), true);
|
|
assert.equal(g18ArcExecution.summary.finalAxes.x, 0);
|
|
assert.equal(g18ArcExecution.summary.finalAxes.y, 2);
|
|
assert.equal(g18ArcExecution.summary.finalAxes.z, 1);
|
|
assert.equal(g18ArcMotion.type, "ARC_FEED");
|
|
assert.equal(g18ArcMotion.axes.arc.plane, 180);
|
|
assert.equal(g18ArcMotion.axes.arc.firstAxis, "z");
|
|
assert.equal(g18ArcMotion.axes.arc.secondAxis, "x");
|
|
assert.equal(g18ArcMotion.axes.arc.thirdAxis, "y");
|
|
assert.equal(g18ArcMotion.axes.z, 1);
|
|
assert.equal(g18ArcMotion.axes.x, 0);
|
|
assert.equal(g18ArcMotion.axes.y, 2);
|
|
assert.equal(g18ArcMotion.feedRate, 80);
|
|
assert.equal(g18ArcExecution.summary.plannerRuntimeReady, true);
|
|
|
|
const switchkinsProgramText = [
|
|
"G90 G17",
|
|
"M428",
|
|
"G0 X0 Y0 Z0 A0 C0",
|
|
"G1 X10 Y2 Z-1 A15 C30 F120",
|
|
"M429",
|
|
"G1 X0 Y0 Z0 A0 C0 F120",
|
|
"M2",
|
|
].join("\n");
|
|
const switchkinsExecution = runtime.runProgram(switchkinsProgramText);
|
|
|
|
assert.equal(switchkinsExecution.summary.ready, true);
|
|
assert.equal(switchkinsExecution.summary.motionEventCount, 3);
|
|
assert.equal(switchkinsExecution.summary.switchkinsEventCount, 2);
|
|
assert.deepEqual(switchkinsExecution.summary.switchkinsCodes, ["M428", "M429"]);
|
|
assert.equal(
|
|
switchkinsExecution.summary.switchkinsRemapBoundary,
|
|
"linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied",
|
|
);
|
|
assert.equal(switchkinsExecution.switchkinsEvents[0].switchkinsType, 1);
|
|
assert.equal(switchkinsExecution.switchkinsEvents[1].switchkinsType, 0);
|
|
assert.equal(switchkinsExecution.motion[0].kinsType, "tcp");
|
|
assert.equal(switchkinsExecution.motion[1].axes.a, 15);
|
|
assert.equal(switchkinsExecution.motion[1].axes.c, 30);
|
|
assert.equal(switchkinsExecution.motion[1].switchkinsCode, "M428");
|
|
assert.equal(switchkinsExecution.motion[2].kinsType, "identity");
|
|
assert.equal(switchkinsExecution.motion[2].switchkinsCode, "M429");
|
|
|
|
assert.equal(switchkinsExecution.summary.remapRuntimeReady, false);
|
|
assert.equal(switchkinsExecution.summary.plannerRuntimeReady, true);
|
|
assert.equal(switchkinsExecution.plannerTiming.totalSeconds > 0, true);
|
|
assert.equal(switchkinsExecution.summary.fullLinuxCncProgramExecutionReady, false);
|
|
|
|
const gmoccapyImpellerProgram = readFileSync(fileURLToPath(new URL(
|
|
"../../../linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
|
|
import.meta.url,
|
|
)), "utf8");
|
|
const gmoccapyImpellerExecution = runtime.runProgram(gmoccapyImpellerProgram);
|
|
const firstG93FeedMotion = gmoccapyImpellerExecution.motion.find((event) => event.type === "STRAIGHT_FEED");
|
|
|
|
assert.equal(gmoccapyImpellerExecution.summary.ready, true);
|
|
assert.equal(gmoccapyImpellerExecution.motion[0].feedMode, "inverse-time");
|
|
assert.equal(firstG93FeedMotion.line, 9);
|
|
assert.equal(Math.abs(firstG93FeedMotion.feedRate - 635.745) < 0.001, true);
|
|
assert.notEqual(firstG93FeedMotion.feedRate, 318);
|
|
|
|
console.log("linuxcnc_interpreter_runtime_smoke=ok");
|