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

import assert from "node:assert/strict";

import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
import { createSimulationStore, validateRunPreconditions } from "../../app/src/state/store.js";
import { gateLinuxCncTaskAction } from "../../app/src/state/linuxcnc-task-policy.js";

const profile = getFiveAxisProfile("gmoccapy-xyzab");
const store = createSimulationStore();
store.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" });

assert.equal(store.getState().profile.id, profile.id);
assert.equal(store.getState().machine.noForceHoming, false);

let gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: machine must be on");

store.dispatch({ type: "TOGGLE_POWER" });
gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");

store.dispatch({ type: "SET_MODE", mode: "auto" });
gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: home machine first");

store.dispatch({ type: "SET_MODE", mode: "manual" });
store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_MODE", mode: "auto" });
gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: LinuxCNC INI not loaded");

store.dispatch({
  type: "ATTACH_INI_CONFIG",
  profileId: "gmoccapy-xyzab",
  iniConfig: {
    profileId: "gmoccapy-xyzab",
    path: profile.iniPath,
    sourceText: "[TRAJ]\nCOORDINATES = X Y Z A B\nNO_FORCE_HOMING = 0\n[KINS]\nKINEMATICS = trivkins coordinates=xyzab\n",
    validation: { ready: true },
    traj: { coordinates: "XYZAB", noForceHoming: false },
    kinematics: { name: "trivkins", sparm: "coordinates=xyzab" },
    kinematicsParameters: profile.kinematicsParameters,
    kinematicsModuleId: profile.kinematicsModuleId,
    axisLimits: profile.axisLimits,
    jointConfig: profile.jointConfig,
    display: profile.display,
    rs274ngc: profile.rs274ngc,
    hal: {
      ...profile.hal,
      halcmd: profile.hal.halcmd,
      initialSets: [],
    },
    halui: profile.halui,
    emcmot: { servoPeriodNs: 1000000 },
    emcio: {},
    task: { cycleTimeSeconds: 0.001 },
  },
});

gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: LinuxCNC machine files not staged");

store.dispatch({
  type: "MACHINE_FILE_STAGING_COMPLETE",
  plan: {
    profileId: "gmoccapy-xyzab",
    selectedProgramSourceRel: null,
  },
  save: {
    fileCount: 2,
    files: [
      {
        sourceRel: "configs/sim/gmoccapy/gmoccapy_XYZAB.ini",
        wasmPath: "/work/sim/gmoccapy/gmoccapy_XYZAB.ini",
        kind: "ini",
        text: "",
        bytes: 0,
      },
    ],
    summary: { gcodeFileCount: 0 },
  },
});

gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: no machine-file G-code opened for task/HAL session");

store.dispatch({
  type: "MACHINE_FILE_STAGING_COMPLETE",
  plan: {
    profileId: "gmoccapy-xyzab",
    selectedProgramSourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc",
  },
  save: {
    fileCount: 2,
    files: [
      {
        sourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc",
        wasmPath: "/work/sim/gmoccapy/demos/xyzab-demo.ngc",
        kind: "demo",
        text: "G0 X0\nM2\n",
        bytes: 9,
      },
    ],
    summary: { gcodeFileCount: 1 },
  },
  selectedGcodeSourceRel: "configs/sim/gmoccapy/demos/xyzab-demo.ngc",
});

gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "run blocked: task/HAL runtime not ready");

store.dispatch({
  type: "ATTACH_TASK_HAL_RUNTIME",
  runtime: {
    loaded: true,
    readiness() {
      return {
        loaded: true,
        taskRuntimeReady: true,
        motionRuntimeReady: true,
        halRuntimeReady: true,
      };
    },
  },
});

gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
assert.equal(gate.allowed, true);
assert.equal(gate.status.canRunAutoStrict, true);
assert.equal(gate.status.profileId, "gmoccapy-xyzab");

const runPreconditions = validateRunPreconditions(store.getState(), {
  requireTaskHalRuntime: false,
  requireTaskHalSession: false,
});
assert.equal(runPreconditions.ok, false);
assert.equal(runPreconditions.operatorMessage, "run blocked: unsupported five-axis profile gmoccapy-xyzab");

const manualStore = createSimulationStore();
manualStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" });
manualStore.dispatch({ type: "TOGGLE_POWER" });
gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "JOG", axis: "x", direction: 1 });
assert.equal(gate.allowed, true);
gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "HOME" });
assert.equal(gate.allowed, true);

manualStore.dispatch({ type: "HOME" });
manualStore.dispatch({ type: "SET_MODE", mode: "mdi" });
gate = gateLinuxCncTaskAction(manualStore.getState(), { type: "RUN_MDI" });
assert.equal(gate.allowed, true);

const controlStore = createSimulationStore();
controlStore.dispatch({ type: "SET_PROFILE", profileId: "gmoccapy-xyzab" });
controlStore.dispatch({ type: "ESTOP" });
gate = gateLinuxCncTaskAction(controlStore.getState(), { type: "TOGGLE_COOLANT", kind: "flood" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "coolant blocked: machine must be on");
gate = gateLinuxCncTaskAction(controlStore.getState(), { type: "SET_SPINDLE_DIRECTION", direction: "forward" });
assert.equal(gate.allowed, false);
assert.equal(gate.operatorMessage, "spindle blocked: machine must be on");

controlStore.dispatch({ type: "RESET" });
controlStore.dispatch({ type: "TOGGLE_POWER" });
controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "forward" });
assert.equal(controlStore.getState().spindle.enabled, true);
assert.equal(controlStore.getState().spindle.direction, "forward");
controlStore.dispatch({ type: "SET_SPINDLE_DIRECTION", direction: "stop" });
assert.equal(controlStore.getState().spindle.enabled, false);
assert.equal(controlStore.getState().spindle.direction, "stop");

controlStore.dispatch({ type: "TOGGLE_COOLANT", kind: "flood" });
assert.equal(controlStore.getState().coolant.flood, true);

console.log("gmoccapy_xyzab_gates_smoke=ok");