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Make machine configuration authoritative and restore native checkpoints exactly

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wangdequan
2026-09-18 09:09:41 +08:00
parent 6a69511276
commit 4a568f1f4c
94 changed files with 10882 additions and 301 deletions
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75
scripts/test_checkpoint_reload_browser.mjs Normal file
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import assert from "node:assert/strict";
import { mkdir, readFile, writeFile } from "node:fs/promises";
import { pathToFileURL } from "node:url";
const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href);
const output = new URL("../coverage/recovery/", import.meta.url);
await mkdir(output, { recursive: true });
const browser = await chromium.launch({ executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", headless: true, args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] });
const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
const selectedMachine = process.env.RECOVERY_MACHINE ?? "xyzac-trt";
const suffix = selectedMachine === "xyzac-trt" ? "" : `-${selectedMachine}`;
if (selectedMachine !== "xyzac-trt") {
const catalog = JSON.parse(await readFile(new URL("../web/workspace/machine-catalog.json", import.meta.url), "utf8"));
catalog.default_machine = selectedMachine;
await page.route(/machine-catalog\.json\?import/, (route) => route.fulfill({ contentType: "text/javascript", body: `export default ${JSON.stringify(catalog)};` }));
}
const errors = []; page.on("pageerror", (error) => errors.push(error.message));
await page.addInitScript(() => {
window.recoveryMessages = [];
const NativeWorker = window.Worker;
window.Worker = class extends NativeWorker {
constructor(...args) {
super(...args);
this.addEventListener("message", ({ data }) => {
if (!data.payload?.command) return;
window.recoveryMessages.push({ command: data.payload.command, kind: data.kind, status: data.payload.status, persistence: data.payload.recovery_persistence, recovery: data.payload.power_off_recovery?.status });
});
}
};
});
const control = (id) => page.locator(`[data-axis-control="${id}"]`);
const ready = () => page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false");
const joints = () => page.locator(".xyzac-machine-view").evaluate((node) => JSON.parse(node.dataset.xyzacJoints));
const report = { report_id: "checkpoint-browser-reload-v1", machine: selectedMachine, status: "running" };
try {
await page.goto(process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5174/"); await ready();
await control("program-file-input").setInputFiles({ name: "recovery-browser.ngc", mimeType: "text/plain", buffer: Buffer.from("G21 G90\nG1 X8 Y3 Z2 F600\nM2\n") });
await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramPath?.endsWith("recovery-browser.ngc") && document.querySelector("main")?.dataset.axisProgramLoading === "false");
await control("toolbar-power").click(); await control("manual-home-all").click();
await page.waitForFunction(() => !document.querySelector('[data-axis-control="manual-axis-x"]').disabled);
await control("manual-axis-x").check();
const button = await control("manual-jog-positive").boundingBox();
await page.mouse.move(button.x + button.width / 2, button.y + button.height / 2); await page.mouse.down();
await page.waitForFunction(() => JSON.parse(document.querySelector(".xyzac-machine-view").dataset.xyzacJoints)[0] > 2);
await page.mouse.up();
await page.waitForFunction(() => window.recoveryMessages.some((row) => row.command === "JOG_STOP"));
report.before = await joints();
await control("toolbar-power").click();
await page.waitForFunction(() => window.recoveryMessages.some((row) => row.command === "POWER" && row.persistence?.status === "verified" && row.persistence?.bytes > 0));
report.saved = await page.evaluate(() => window.recoveryMessages.filter((row) => row.command === "POWER" && row.persistence?.bytes > 0).at(-1).persistence);
await page.reload(); await ready();
await page.waitForFunction(() => window.recoveryMessages.some((row) => row.command === "LOAD_WORKSPACE" && row.recovery === "verified"));
report.after = await joints();
report.preview_segments = Number(await page.locator(".xyzac-tool-preview").getAttribute("data-xyzac-toolpath-count"));
assert.ok(report.preview_segments > 0, "restore must publish the regenerated preview");
assert.deepEqual(report.after, report.before);
assert.match(await page.locator("main").getAttribute("data-axis-program-path"), /recovery-browser\.ngc$/);
assert.equal(await page.evaluate(() => window.recoveryMessages.filter((row) => row.command === "PROGRAM_LOAD").length), 0, "startup must not overwrite the recovered program with the packaged demo");
await control("toolbar-power").click();
await control("manual-jog-increment").selectOption("0.1000");
await control("manual-axis-x").check(); await control("manual-jog-positive").click();
await page.waitForFunction((start) => JSON.parse(document.querySelector(".xyzac-machine-view").dataset.xyzacJoints)[0] >= start + .0999, report.after[0]);
report.continued = await joints();
assert.deepEqual(errors, []); report.status = "verified";
await page.screenshot({ path: new URL(`browser-reload${suffix}.png`, output).pathname, fullPage: true });
} catch (error) {
report.status = "failed"; report.error = String(error.stack ?? error);
report.messages = await page.evaluate(() => window.recoveryMessages);
await page.screenshot({ path: new URL(`browser-reload-failure${suffix}.png`, output).pathname, fullPage: true });
throw error;
} finally {
report.browser_errors = errors;
await writeFile(new URL(`browser-reload${suffix}.report.json`, output), JSON.stringify(report, null, 2) + "\n");
await browser.close();
}
console.log(JSON.stringify(report));