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

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

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 sidebarEntry(state, id) {
  const entry = state.rightSidebarEntrances.find((candidate) => candidate.id === id);
  assert.ok(entry, `missing right sidebar entry ${id}`);
  return entry;
}

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,
  });
}

const store = createSimulationStore();
let state = store.getState();
assert.equal(state.rightSidebarEntrances.length, 9);
assert.deepEqual(
  state.rightSidebarEntrances.map((entry) => entry.label),
  ["E-STOP", "POWER", "RESET", "AUTO", "MANUAL", "JOG", "MDI", "IDENTITY", "TCP"],
);
assert.equal(sidebarEntry(state, "power").allowed, true);
assert.equal(sidebarEntry(state, "auto").allowed, false);
assert.equal(sidebarEntry(state, "manual").allowed, false);
assert.equal(sidebarEntry(state, "jog").allowed, false);
assert.equal(sidebarEntry(state, "mdi").allowed, false);
assert.equal(sidebarEntry(state, "identity").active, true);
assert.equal(sidebarEntry(state, "identity").status, "active-blocked");
assert.equal(sidebarEntry(state, "tcp").allowed, false);

store.dispatch({ type: "ESTOP" });
state = store.getState();
assert.equal(sidebarEntry(state, "estop").status, "emergency");
assert.equal(sidebarEntry(state, "power").allowed, false);
assert.equal(sidebarEntry(state, "power").operatorMessage, "power on blocked: reset estop first");

store.dispatch({ type: "RESET" });
store.dispatch({ type: "TOGGLE_POWER" });
state = store.getState();
assert.equal(state.machine.taskState, "on");
assert.equal(sidebarEntry(state, "power").active, true);
assert.equal(sidebarEntry(state, "manual").active, true);
assert.equal(sidebarEntry(state, "jog").active, false);
assert.equal(sidebarEntry(state, "auto").allowed, false);
assert.equal(sidebarEntry(state, "auto").operatorMessage, "mode blocked: home machine before AUTO");

store.dispatch({ type: "SET_MODE", mode: "jog" });
state = store.getState();
assert.equal(state.machine.mode, "manual");
assert.equal(state.machine.manualPanel, "jog");
assert.equal(sidebarEntry(state, "manual").active, false);
assert.equal(sidebarEntry(state, "jog").active, true);

store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_MODE", mode: "auto" });
state = store.getState();
assert.equal(sidebarEntry(state, "auto").active, true);
assert.equal(sidebarEntry(state, "mdi").allowed, true);
assert.equal(sidebarEntry(state, "tcp").allowed, true);

store.dispatch({ type: "SET_KINS_TYPE", kinsType: "tcp-xyzac" });
state = store.getState();
assert.equal(state.kinsType, "tcp-xyzac");
assert.equal(state.rtcpState, "on");
assert.equal(sidebarEntry(state, "tcp").active, true);
store.dispatch({ type: "SET_KINS_TYPE", kinsType: "identity" });
assert.equal(store.getState().kinsType, "identity");

store.dispatch({
  type: "LOAD_PROGRAM",
  filename: "sidebar-running-gate.ngc",
  content: [
    "G0 X0 Y0 Z0",
    "G1 X1 F100",
    "G1 X2",
    "G1 X3",
    "G1 X4",
    "G1 X5",
    "G1 X6",
    "G1 X7",
    "G1 X8",
    "G1 X9",
    "M2",
  ].join("\n"),
});
store.dispatch({ type: "RUN" });
state = store.getState();
assert.equal(state.runState, "running");
assert.equal(sidebarEntry(state, "manual").allowed, false);
assert.equal(sidebarEntry(state, "tcp").allowed, false);
assert.equal(sidebarEntry(state, "tcp").operatorMessage, "kinematics blocked: interpreter must be idle");

store.dispatch({ type: "STOP" });
store.dispatch({ type: "SET_MODE", mode: "manual" });

const profile = getFiveAxisProfile("xyzac-trt");
const iniConfig = await loadIniConfigFromVendoredSource(profile);
store.dispatch({ type: "ATTACH_INI_CONFIG", profileId: profile.id, iniConfig });
store.dispatch({
  type: "ATTACH_INTERPRETER_RUNTIME",
  runtime: await createLinuxCncInterpreterRuntime(),
});
await store.stageMachineFiles({ storage: createMemorySessionStorage() });
state = store.getState();
assert.equal(state.machineProject.profileId, "xyzac-trt");
assert.equal(state.machineProject.projectRoot, "web-rtcp-5axis-sim-plan/machines/xyzac-trt");
assert.equal(state.machineProject.ini.filename, "xyzac-trt.ini");
assert.equal(state.machineProject.ini.sourceMatchesProfile, true);
assert.equal(state.machineProject.ini.textMatchesLoadedIni, true);
assert.equal(state.machineProject.configFileCount > 0, true);
assert.equal(state.machineProject.gcodeFileCount, 16);
assert.equal(state.machineProject.gcodeFiles.some((file) => file.filename === "impeller-7bl-xyzac.ngc"), 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);
assert.equal(state.programValidation.ready, true);
assert.equal(state.programValidation.sourceGuard, "linuxcnc_vendored_5axis_gcode_source_file");
assert.equal(state.programValidation.previewSource, "linuxcnc_interpreter_canonical_motion");
assert.equal(state.programValidation.motionEventCount > 0, true);
assert.equal(state.programValidation.plannerSampleCount > 0, true);
assert.equal(state.programValidation.realtimeAxisValues.x, state.axisPose.x);
assert.equal(state.machineProject.selectedProgram.filename, "impeller-7bl-xyzac.ngc");

const xyzbcStore = createSimulationStore();
xyzbcStore.dispatch({ type: "SET_PROFILE", profileId: "xyzbc-trt" });
const xyzbcProfile = getFiveAxisProfile("xyzbc-trt");
xyzbcStore.dispatch({
  type: "ATTACH_INI_CONFIG",
  profileId: xyzbcProfile.id,
  iniConfig: await loadIniConfigFromVendoredSource(xyzbcProfile),
});
await xyzbcStore.stageMachineFiles({ storage: createMemorySessionStorage() });
const xyzbcState = xyzbcStore.getState();
assert.equal(xyzbcState.machineProject.profileId, "xyzbc-trt");
assert.equal(xyzbcState.machineProject.ini.filename, "xyzbc-trt.ini");
assert.equal(xyzbcState.machineProject.gcodeFiles.some((file) => file.filename === "boat-xyzbc.ngc"), true);

console.log("gmoccapy_trt_project_sidebar_smoke=ok");