cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs

import assert from "node:assert/strict";
import { readFileSync } from "node:fs";
import { fileURLToPath } from "node:url";
import { dirname, resolve } from "node:path";

import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js";
import { parseLinuxCncIni } from "../../app/src/runtime/linuxcnc-ini-runtime.js";
import { wrapTaskHalSdk } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
import { createSimulationStore } from "../../app/src/state/store.js";

const __filename = fileURLToPath(import.meta.url);
const __dirname = dirname(__filename);
const rootDir = resolve(__dirname, "../../..");
const wasmPath = resolve(rootDir, "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm");

const sdk = await createLinuxCncTaskHalSdk({
  wasmBinary: readFileSync(wasmPath),
  print() {},
  printErr(message) {
    console.error(message);
  },
});
const runtime = wrapTaskHalSdk(sdk);
const profile = getFiveAxisProfile("xyzac-trt");
const iniText = readFileSync(
  resolve(rootDir, "wasm-port/vendor/linuxcnc", profile.iniPath),
  "utf8",
);
const iniConfig = parseLinuxCncIni(iniText, {
  path: profile.iniPath,
  profileId: profile.id,
});
const store = createSimulationStore();

store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
store.dispatch({
  type: "ATTACH_KINEMATICS_RUNTIME",
  runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }),
});
store.dispatch({ type: "ATTACH_TASK_HAL_RUNTIME", runtime });
assert.equal(store.getState().taskHalRuntimeReadiness.taskRuntimeReady, true);
assert.equal(store.getState().taskHalRuntimeReadiness.motionRuntimeReady, true);
assert.equal(store.getState().taskHalRuntimeReadiness.halRuntimeReady, true);

await store.stageMachineFiles();
store.dispatch({
  type: "LOAD_LINUXCNC_GCODE_SOURCE",
  sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
});
await waitForState(store, (state) => (
  state.machineFileStaging.selectedGcodeSourceRel?.endsWith("xyzac_switchkins_test_1.ngc") &&
  state.taskHalSession?.programPath?.endsWith("xyzac_switchkins_test_1.ngc")
));

store.dispatch({ type: "TOGGLE_POWER" });
await waitForTaskHal(store);
store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_MODE", mode: "auto" });
await waitForTaskHal(store);
store.dispatch({ type: "RUN" });
await waitForTaskHal(store);

let state = store.getState();
assert.equal(state.taskHalStatus.summary.taskRuntimeReady, true);
assert.equal(state.taskHalStatus.summary.halSyncReady, true);
assert.equal(state.taskHalStatus.ui.activeLine >= 1, true);
assert.equal(state.programExecutionSourceMode, "linuxcnc-task-motion-hal-wasm");
assert.equal(state.fullExecutionBoundary.nativeTaskReady, true);
assert.equal(state.fullExecutionBoundary.nativeHalSyncReady, true);

await store.initializeTaskHalSession({ openProgram: true });
store.dispatch({ type: "TOGGLE_POWER" });
await waitForTaskHal(store);
store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_MODE", mode: "mdi" });
await waitForTaskHal(store);
store.dispatch({ type: "RUN_MDI", command: "M428" });
await waitForTaskHal(store);
state = store.getState();
assert.equal(state.taskHalStatus.ui.switchkinsType, 1);
assert.equal(state.kinsType, "tcp-xyzac");
assert.equal(state.rtcpState, "on");

store.dispatch({ type: "SET_MODE", mode: "manual" });
await waitForTaskHal(store);
store.dispatch({ type: "HOME" });
state = store.getState();
const homePose = { ...state.axisPose };
assert.equal(homePose.x, 43);
assert.equal(homePose.y, -32.15);
assert.equal(homePose.z, -11.306);
store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 });
await waitForTaskHal(store);
state = store.getState();
assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1);
assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG X+ should keep HOME work-pose continuity");
assertNear(state.axisPose.y, homePose.y, "task/HAL JOG X+ should not reset Y");
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG X+ should not reset Z");

store.dispatch({ type: "JOG", axis: "y", direction: -1, increment: 0.5 });
await waitForTaskHal(store);
state = store.getState();
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG Y- should not reset X");
assertNear(state.axisPose.y, homePose.y - 0.5, "task/HAL JOG Y- should keep HOME work-pose continuity");
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG Y- should not reset Z");

store.dispatch({ type: "SET_MODE", mode: "auto" });
await waitForTaskHal(store);
store.dispatch({ type: "PAUSE" });
await waitForTaskHal(store);
assert.equal(store.getState().machine.interpState, "paused");

store.dispatch({ type: "RESUME" });
await waitForTaskHal(store);
assert.equal(store.getState().machine.interpState, "reading");

console.log("linuxcnc_task_hal_runtime_smoke=ok");
console.log("task_hal_machine_file_smoke=ok");
console.log("switchkins_remap_hal_sync_smoke=ok");
console.log("browser_task_hal_worker_smoke=ok");

async function waitForTaskHal(store) {
  for (let attempt = 0; attempt < 30; attempt += 1) {
    if (!store.getState().taskHalExecutionPending) {
      await new Promise((resolve) => setTimeout(resolve, 0));
      if (!store.getState().taskHalExecutionPending) return store.getState();
    }
    await new Promise((resolve) => setTimeout(resolve, 0));
  }
  throw new Error("task/HAL store command did not settle");
}

async function waitForState(store, predicate) {
  for (let attempt = 0; attempt < 60; attempt += 1) {
    const state = store.getState();
    if (predicate(state)) return state;
    await new Promise((resolve) => setTimeout(resolve, 0));
  }
  throw new Error("store state condition did not settle");
}

function assertNear(actual, expected, message) {
  assert.equal(Math.abs(Number(actual) - Number(expected)) < 1e-9, true, `${message}: ${actual} !== ${expected}`);
}