Use independent XYZAC and XYZBC boat programs and models

web/worker/sim-session.mjs

@@ -481,6 +481,9 @@ export class SimSession {
       source_path: modelResource?.path ?? modelSourcePath,
       source_hash: modelResource?.data_hash ?? this.visualModelSourceHash ?? (typeof modelSourceText === "string" ? fnv1a64(modelSourceText) : null),
       coordinate_system: machineDefinition?.coordinates ?? "XYZAC",
+      geometry_variant: machineDefinition?.coordinates === "XYZBC" ? "moving-head-y-tilt" : "moving-knee-x-tilt",
+      tilt_axis: machineDefinition?.coordinates === "XYZBC" ? "Y" : "X",
+      rotary_axis: "Z",
       joints: machineDefinition?.coordinates ? ["table-x", "saddle-y", "spindle-z", `tilt-${machineDefinition.coordinates[3].toLowerCase()}`, "rotate-c"] : ["table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c"],
       components: ["base", "column", "head", "spindle", "tool", "table", "saddle", "zslide"],
     } : null;

web/worker/test_boat_trt_programs.mjs

@@ -0,0 +1,41 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import createModule from "../../build-wasm/linuxcnc-sim-core.js";
+import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
+import { SimSession, CONTEXT_ID } from "./sim-session.mjs";
+
+const ROOT = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting";
+const fetchImpl = async (url) => {
+  try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
+  catch { return { ok: false, text: async () => "" }; }
+};
+const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
+const session = new SimSession(core, { sessionId: "boat-trt-programs" }); let seq = 0;
+const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `boat-${seq}`, payload });
+send("HELLO"); send("SESSION_ATTACH");
+const rows = [];
+for (const coordinates of ["XYZAC", "XYZBC"]) {
+  const ini = `${ROOT}/${coordinates.toLowerCase()}-trt.ini`;
+  const programPath = `${ROOT}/demos/boat-${coordinates.toLowerCase()}.ngc`;
+  const bundle = await loadSimulationCase({ path: ini, fetchImpl });
+  assert.equal(bundle.status, "ready"); assert.ok(bundle.files[programPath]);
+  const workspace = send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
+  assert.equal(workspace.kind, "COMMAND_RESULT"); assert.equal(workspace.payload.panel_snapshot.kinematics.coordinates, coordinates);
+  assert.equal(send("POWER", { active: true }).kind, "COMMAND_RESULT"); send("HOME", { all: true });
+  for (let tick = 0; tick < 100; tick += 1) send("SIM_STEP", { cycles: 1 });
+  const loaded = send("PROGRAM_LOAD", { source: bundle.files[programPath], path: programPath });
+  assert.equal(loaded.kind, "COMMAND_RESULT"); assert.ok(loaded.payload.preview.segments.length > 0);
+  assert.equal(send("PROGRAM_RUN").kind, "COMMAND_RESULT");
+  let result = null;
+  for (let tick = 0; tick < 5000; tick += 1) {
+    result = send("SIM_STEP", { cycles: 100 });
+    assert.notEqual(result.kind, "ERROR");
+    if (result.payload.program.program_status === "completed" && Number(result.payload.wasm_motion.state.queue_depth) === 0) break;
+  }
+  assert.equal(result.payload.program.program_status, "completed");
+  const rotary = coordinates === "XYZBC" ? "b" : "a";
+  assert.ok(Number.isFinite(result.payload.panel_snapshot.visual.pose[rotary]));
+  assert.equal(result.payload.panel_snapshot.visual.machine_model.coordinate_system, coordinates);
+  rows.push({ coordinates, program: programPath, status: result.payload.program.program_status, rotary });
+}
+console.log(JSON.stringify({ schema: "boat-trt-programs.v1", status: "verified", rows }));