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Use native LinuxCNC homing and consolidate web panel status

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wangdequan
2026-09-09 12:28:02 +08:00
parent eb5c58cdb3
commit 0be2ee8ce1
35 changed files with 881 additions and 350 deletions
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168
scripts/test_xyzac_home_reset_browser.mjs
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@@ -1,79 +1,107 @@
import assert from "node:assert/strict";
import { pathToFileURL } from "node:url";
const modulePath = process.env.PLAYWRIGHT_MODULE;
assert.ok(modulePath, "PLAYWRIGHT_MODULE is required");
const imported = await import(pathToFileURL(modulePath).href);
const playwright = imported.default ?? imported;
const browser = await playwright.chromium.launch({
headless: false,
executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome",
args: ["--disable-gpu", "--ignore-certificate-errors", "--window-size=1440,1000"],
});
const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
const main = page.locator("main.axis-app");
page.on("dialog", async (dialog) => { if (dialog.type() === "confirm") await dialog.accept(); else await dialog.dismiss(); });
const state = () => main.evaluate((element) => {
const preview = element.querySelector("[data-xyzac-preview]");
return {
loading: element.dataset.axisProgramLoading,
homed: element.dataset.axisHomed,
pose: preview?.dataset.xyzacLivePose,
hud: element.querySelector(".axis-preview-hud")?.textContent ?? "",
queue: element.dataset.axisTpQueueDepth,
command: element.querySelector(".command-status")?.textContent ?? "",
error: element.querySelector(".diagnostic-error")?.textContent ?? null,
const imported = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href);
const { chromium } = imported.default ?? imported;
const url = process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/";
const browser = await chromium.launch({ headless: false, slowMo: 100, executablePath: "/usr/bin/google-chrome", args: ["--disable-gpu"] });
const page = await browser.newPage({ viewport: { width: 1440, height: 1100 } });
const errors = [];
let confirmHome = true;
page.on("pageerror", (e) => errors.push(e.message));
page.on("dialog", async (d) => { await page.waitForTimeout(600); if (d.type() === "confirm" && confirmHome) await d.accept(); else await d.dismiss(); });
await page.addInitScript(() => {
window.homeResults = []; window.homeRequests = [];
const Original = window.Worker;
window.Worker = class extends Original {
constructor(...args) {
super(...args);
this.addEventListener("message", ({ data }) => {
const p = data.payload;
window.homeResults.push({ seq: data.seq, kind: data.kind, command: p?.command, home: p?.homing,
status: p?.source_status ?? p?.panel_snapshot?.source_status,
pose: p?.panel_snapshot?.visual?.pose, epoch: p?.panel_snapshot?.visual?.live_path_epoch });
if (window.homeResults.length > 500) window.homeResults.shift();
});
}
postMessage(data, ...args) { window.homeRequests.push({ seq: data.seq, kind: data.kind, payload: data.payload }); super.postMessage(data, ...args); }
};
});
const wait = async (predicate, label) => {
const started = Date.now(); let latest;
while (Date.now() - started < 45000) { latest = await state(); if (predicate(latest)) return latest; await page.waitForTimeout(100); }
throw new Error(`${label}:${JSON.stringify(latest)}`);
const control = (id) => page.locator(`[data-axis-control="${id}"]`);
const status = () => page.evaluate(() => window.homeResults.filter((r) => r.status).at(-1).status);
const home = async (id) => {
const seq = await page.evaluate(() => window.homeRequests.at(-1)?.seq ?? 0);
await control(id).click();
await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.home?.phase === "accepted"), seq);
await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.status?.homing_history?.length > 1 && !r.status.homing_active), seq);
const result = await status();
assert.equal(result.task.mode, "MANUAL"); assert.equal(result.task.interpState, "INTERP_IDLE"); assert.equal(result.traj.mode, result.joint.every((j) => j.homed) ? "TELEOP" : "FREE");
assert.ok(result.homing_history.some((event) => event.joint.some((j) => j.home_state === 21 && j.homing)));
return result;
};
const jog = async (axis) => {
await control(`manual-axis-${axis}`).check();
const button = control("manual-jog-positive");
await button.scrollIntoViewIfNeeded();
const box = await button.boundingBox();
await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2);
await page.mouse.down(); await page.waitForTimeout(900); await page.mouse.up();
await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
await page.waitForTimeout(250);
return status();
};
const control = (id) => main.locator(`[data-axis-control="${id}"]`);
const click = async (id) => { const button = control(id); await wait(async () => await button.count() > 0 && !await button.isDisabled(), `${id}_enabled`); await button.click(); };
const pose = async () => JSON.parse((await state()).pose ?? "{}");
const screenshot = async (name) => { await page.screenshot({ path: `/tmp/axis-home-reset-${name}.png` }); console.log(name, JSON.stringify(await state())); };
try {
await page.goto(process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", { waitUntil: "domcontentloaded" });
await wait((value) => value.loading === "false", "startup");
await click("toolbar-power"); await wait((value) => value.command.includes("POWER acknowledged"), "power");
await click("manual-home-all"); await wait((value) => value.command.includes("HOME acknowledged") && value.homed === "[true,true,true,true,true]", "home_all");
await screenshot("01-home-all-zero");
await control("manual-axis-x").check();
const jog = control("manual-jog-positive");
await jog.dispatchEvent("pointerdown", { pointerId: 41, button: 0 });
await wait((value) => value.command.includes("JOG_START acknowledged"), "jog_start");
await page.waitForTimeout(450);
await jog.dispatchEvent("pointerup", { pointerId: 41, button: 0 });
await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", "jog_stop");
const jogged = await pose(); assert.ok(Math.abs(Number(jogged.x)) > 1e-6, JSON.stringify(jogged));
await screenshot("02-jogged-x");
await click("manual-home-axis");
const movingAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_axis_motion");
const movingAxisPose = JSON.parse(movingAxis.pose); assert.ok(Math.abs(Number(movingAxisPose.x)) > 1e-6, JSON.stringify(movingAxisPose));
await screenshot("03-home-axis-moving");
const homedAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_axis");
const homeAxisPose = JSON.parse(homedAxis.pose); assert.ok(Math.abs(Number(homeAxisPose.x)) < 1e-8, JSON.stringify(homeAxisPose));
await screenshot("04-home-axis-zero");
for (const [axis, pointerId] of [["y", 42], ["z", 43], ["a", 44], ["c", 45]]) {
await control(`manual-axis-${axis}`).check();
const button = control("manual-jog-negative");
await button.dispatchEvent("pointerdown", { pointerId, button: 0 });
await wait((value) => value.command.includes("JOG_START acknowledged"), `${axis}_jog_start`);
await page.waitForTimeout(300);
await button.dispatchEvent("pointerup", { pointerId, button: 0 });
await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", `${axis}_jog_stop`);
await page.goto(url);
await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false");
await control("toolbar-power").click();
await home("manual-home-all");
for (const [joint, axis] of ["x", "y", "z", "a", "c"].entries()) {
process.stderr.write(`Visible UI: Jog ${axis.toUpperCase()}, then Home Joint ${joint}\n`);
const before = await jog(axis);
assert.ok(before.joint[joint].position > 0);
await control("manual-home-joint-select").selectOption(String(joint));
const after = await home("manual-home-axis");
for (let j = 0; j < 5; j++) {
assert.ok(Math.abs(after.joint[j].motor_position - before.joint[j].motor_position) < 1e-8);
assert.ok(Math.abs(after.joint[j].position - (j === joint ? 0 : before.joint[j].position)) < 1e-8);
}
}
await screenshot("05-multi-axis-jogged");
await click("manual-home-all");
const movingAll = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_all_motion");
const movingAllPose = JSON.parse(movingAll.pose); assert.ok(Object.entries(movingAllPose).some(([axis, value]) => ["x", "y", "z", "a", "c"].includes(axis) && Math.abs(Number(value)) > 1e-6), JSON.stringify(movingAllPose));
await screenshot("06-home-all-moving");
const final = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_all_again");
const finalPose = JSON.parse(final.pose);
for (const axis of ["x", "y", "z", "a", "c"]) assert.ok(Math.abs(Number(finalPose[axis])) < 1e-8, `${axis}:${JSON.stringify(finalPose)}`);
await screenshot("07-home-all-zero");
console.log(JSON.stringify({ schema: "xyzac-home-reset-browser.v1", status: "verified", url: process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", jogged, home_axis: homeAxisPose, home_all: finalPose, screenshots: ["/tmp/axis-home-reset-01-home-all-zero.png", "/tmp/axis-home-reset-02-jogged-x.png", "/tmp/axis-home-reset-03-home-axis-moving.png", "/tmp/axis-home-reset-04-home-axis-zero.png", "/tmp/axis-home-reset-05-multi-axis-jogged.png", "/tmp/axis-home-reset-06-home-all-moving.png", "/tmp/axis-home-reset-07-home-all-zero.png"] }));
const before = await jog("x");
confirmHome = false;
const count = await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length);
await control("manual-home-all").click(); await page.waitForTimeout(800);
assert.equal(await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length), count);
confirmHome = true;
const after = await home("manual-home-all");
assert.deepEqual(after.joint.map((j) => j.motor_position), before.joint.map((j) => j.motor_position));
assert.ok(after.joint.every((j) => j.homed && Math.abs(j.position) < 1e-8));
await control("tab-manual").click();
await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.traj.mode === "TELEOP");
await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
await page.screenshot({ path: "/tmp/axis-native-home-desktop.png", fullPage: true });
const pixelCheck = async () => page.locator("canvas[data-engine]").evaluate((canvas) => {
const gl = canvas.getContext("webgl2") ?? canvas.getContext("webgl");
const data = new Uint8Array(canvas.width * canvas.height * 4);
gl.readPixels(0, 0, canvas.width, canvas.height, gl.RGBA, gl.UNSIGNED_BYTE, data);
const colors = new Set(); for (let i=0;i<data.length;i+=16) colors.add(`${data[i]},${data[i+1]},${data[i+2]}`);
return colors.size;
});
assert.ok(await pixelCheck() > 5);
await control("toolbar-run").click();
await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.mode === "AUTO");
assert.equal((await status()).traj.mode, "COORD");
await control("toolbar-pause-resume").click();
await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.interpState === "INTERP_PAUSED");
await control("tab-manual").click(); assert.equal((await status()).task.mode, "AUTO");
assert.equal(await control("manual-home-all").isDisabled(), true);
await control("toolbar-stop").click();
await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
await page.setViewportSize({ width: 390, height: 844 });
await home("manual-home-all");
await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
await page.screenshot({ path: "/tmp/axis-native-home-mobile.png", fullPage: true });
assert.ok(await pixelCheck() > 5);
assert.equal(await page.evaluate(() => document.documentElement.scrollWidth <= innerWidth), true);
assert.deepEqual(errors, []);
console.log(JSON.stringify({ status: "verified", url, checks: ["visible-five-joint-home", "motor-position-preserved", "native-state-history", "cancel", "auto-paused-mode", "desktop-mobile-canvas"] }));
} finally { await browser.close(); }