134 lines
5.2 KiB
JavaScript
134 lines
5.2 KiB
JavaScript
import assert from "node:assert/strict";
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import { readFile } from "node:fs/promises";
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import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
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import { createLinuxCncKinematicsRuntime } from "../../app/src/runtime/linuxcnc-kinematics-runtime.js";
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import {
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applyIniConfigToProfile,
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parseLinuxCncIni,
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} from "../../app/src/runtime/linuxcnc-ini-runtime.js";
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import { stageProfileMachineFiles } from "../../app/src/runtime/linuxcnc-machine-file-staging.js";
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import { buildTaskHalSessionFromMachineFiles } from "../../app/src/runtime/linuxcnc-task-hal-runtime.js";
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import {
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createSimulationStore,
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validateRunPreconditions,
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} from "../../app/src/state/store.js";
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const cases = [
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{
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profileId: "xyzac-trt",
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machineName: "sim-xyzac-trt-kins (switchkins)",
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coordinates: "XYZAC",
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kinematicsName: "xyzac-trt-kins",
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kinematicsModuleId: "xyzac-trt",
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wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm",
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sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
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},
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{
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profileId: "xyzbc-trt",
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machineName: "sim-xyzbc-trt-kins (switchkins)",
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coordinates: "XYZBC",
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kinematicsName: "xyzbc-trt-kins",
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kinematicsModuleId: "xyzbc-trt",
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wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm",
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sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
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},
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];
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for (const item of cases) {
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const baseProfile = getFiveAxisProfile(item.profileId);
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const iniText = await readLinuxCncFile(baseProfile.iniPath);
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const iniConfig = parseLinuxCncIni(iniText, {
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path: baseProfile.iniPath,
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profileId: item.profileId,
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});
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assert.equal(iniConfig.profileId, item.profileId);
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assert.equal(iniConfig.machineName, item.machineName);
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assert.equal(iniConfig.traj.coordinates, item.coordinates);
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assert.equal(iniConfig.kinematics.name, item.kinematicsName);
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assert.equal(iniConfig.kinematicsModuleId, item.kinematicsModuleId);
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assert.equal(iniConfig.validation.ready, true);
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const profile = applyIniConfigToProfile(baseProfile, iniConfig);
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assert.equal(profile.traj.coordinates, item.coordinates);
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assert.equal(profile.kinematicsModuleId, item.kinematicsModuleId);
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assert.equal(profile.axisLimits[item.coordinates[0]].max > 0, true);
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assert.equal(profile.jointConfig.length, item.coordinates.length);
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const kinematicsRuntime = await createLinuxCncKinematicsRuntime({ moduleId: item.kinematicsModuleId });
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assert.equal(kinematicsRuntime.readiness().moduleId, item.kinematicsModuleId);
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assert.equal(kinematicsRuntime.wasmFile, item.wasmFile);
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assert.equal(kinematicsRuntime.frameForJoints([10, 20, 30, 5, 15]).moduleId, item.kinematicsModuleId);
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const staged = await stageProfileMachineFiles(profile);
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const selectedPlan = staged.plan.selectedProgramSourceRel === item.sourceRel
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? staged.plan
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: {
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...staged.plan,
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wasmProgramPath: staged.save.files.find((file) => file.sourceRel === item.sourceRel)?.wasmPath,
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selectedProgramSourceRel: item.sourceRel,
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};
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const session = buildTaskHalSessionFromMachineFiles({
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profile,
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plan: selectedPlan,
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save: staged.save,
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selectedProgramRel: item.sourceRel,
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});
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assert.equal(session.profileId, item.profileId);
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assert.equal(session.iniPath.endsWith(`${item.profileId}.ini`), true);
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assert.equal(session.programSourceRel, item.sourceRel);
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assert.equal(session.programPath.endsWith(item.sourceRel.split("/").at(-1)), true);
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}
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const initialStore = createSimulationStore();
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let check = validateRunPreconditions(initialStore.getState(), {
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requireTaskHalRuntime: false,
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requireTaskHalSession: false,
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});
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assert.equal(check.ok, false);
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assert.equal(check.operatorMessage, "run blocked: LinuxCNC INI not loaded");
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const profile = getFiveAxisProfile("xyzac-trt");
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const iniText = await readLinuxCncFile(profile.iniPath);
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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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const store = createSimulationStore();
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store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
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store.dispatch({
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type: "ATTACH_KINEMATICS_RUNTIME",
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runtime: await createLinuxCncKinematicsRuntime({ moduleId: "xyzac-trt" }),
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});
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await store.stageMachineFiles();
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store.dispatch({
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type: "LOAD_LINUXCNC_GCODE_SOURCE",
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sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc",
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});
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check = validateRunPreconditions(store.getState(), {
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requireTaskHalRuntime: false,
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requireTaskHalSession: false,
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});
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assert.equal(check.ok, true);
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assert.equal(check.profileId, "xyzac-trt");
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assert.equal(check.coordinates, "XYZAC");
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assert.equal(check.kinematicsModuleId, "xyzac-trt");
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assert.equal(check.selectedGcodeSourceRel.endsWith("xyzac_switchkins_test_1.ngc"), true);
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check = validateRunPreconditions(store.getState(), {
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requireTaskHalRuntime: true,
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requireTaskHalSession: false,
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});
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assert.equal(check.ok, false);
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assert.equal(check.operatorMessage, "run blocked: task/HAL runtime not ready");
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console.log("run_preconditions_ini_profile_smoke=ok");
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console.log("run_preconditions_kinematics_smoke=ok");
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console.log("run_preconditions_machine_file_smoke=ok");
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async function readLinuxCncFile(sourceRel) {
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return readFile(new URL(`../../../wasm-port/vendor/linuxcnc/${sourceRel}`, import.meta.url), "utf8");
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}
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