Advance simulation parity and 3-axis tutorial coverage

web/worker/test_axis3_tutorial_program.mjs

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+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 CASE = "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini";
+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 bundle = await loadSimulationCase({ path: CASE, fetchImpl });
+const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
+const core = await createModule({ wasmBinary });
+const session = new SimSession(core, { sessionId: "axis3-tutorial-program" });
+const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
+let seq = 0;
+const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
+send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
+const loaded = send("LOAD_WORKSPACE", "load", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
+assert.equal(loaded.payload.configuration.state, "TASK_READY");
+const source = "G21 G90\nG0 X0 Y0 Z0\nG1 X10 Y5 F120\nG91\nG1 Z-1 F60\nG90\nM2\n";
+assert.equal(send("PROGRAM_LOAD", "load-program", { path: "tutorial.ngc", source }).payload.status, "verified");
+assert.equal(send("PROGRAM_RUN", "run").payload.task.state, "RUNNING");
+const pauseTick = send("SIM_STEP", "tick-1", { cycles: 1 });
+assert.equal(pauseTick.payload.task.state, "RUNNING");
+assert.equal(send("PROGRAM_PAUSE", "pause").payload.task.state, "PAUSED");
+assert.equal(send("PROGRAM_RESUME", "resume").payload.task.state, "RUNNING");
+const finish = send("SIM_STEP", "finish", { cycles: 20 });
+assert.equal(finish.payload.program.program_status, "completed");
+assert.equal(finish.payload.task.state, "STOPPED");
+assert.equal(finish.payload.program.state.units, 21);
+assert.equal(finish.payload.program.state.distance_mode, 90);
+assert.equal(finish.payload.program.state.motion_mode, 1);
+assert.equal(finish.payload.program.state.x, 10);
+assert.equal(finish.payload.program.state.y, 5);
+assert.equal(finish.payload.program.state.z, -1);
+assert.equal(finish.payload.program.state.feed, 60);
+assert.equal(send("PROGRAM_RESTART", "restart").payload.task.program_status, "loaded");
+const stepped = send("PROGRAM_STEP", "step");
+assert.equal(stepped.payload.status, "verified");
+assert.equal(stepped.payload.task.state, "PAUSED");
+const mdiBlocked = send("MDI_EXECUTE", "mdi-blocked", { block: "G0 X2 Y3 Z-1" });
+assert.equal(mdiBlocked.kind, "ERROR");
+assert.equal(mdiBlocked.payload.code, "task_state");
+assert.equal(mdiBlocked.payload.message_key, "mdi_while_program_active");
+assert.equal(send("PROGRAM_ABORT", "abort").payload.task.state, "STOPPED");
+const mdi = send("MDI_EXECUTE", "mdi", { block: "G0 X2 Y3 Z-1" });
+assert.equal(mdi.payload.status, "verified");
+assert.equal(mdi.payload.interpreter_state.distance_mode, 90);
+assert.equal(send("PROGRAM_LOAD", "invalid-load", { path: "invalid.ngc", source: "G999\n" }).payload.status, "verified");
+const invalid = send("PROGRAM_STEP", "invalid-step");
+assert.equal(invalid.kind, "ERROR");
+console.log(JSON.stringify({ schema: "axis3-tutorial-program.v1", status: "verified", case: CASE, units: "G21", distance_modes: ["G90", "G91"], run: { paused: true, resumed: true, final: finish.payload.program.program_status, state: finish.payload.task.state }, mdi: { blocked_while_paused: mdiBlocked.payload.message_key, status: mdi.payload.status, distance_mode: mdi.payload.interpreter_state.distance_mode, position: { x: mdi.payload.interpreter_state.x, y: mdi.payload.interpreter_state.y, z: mdi.payload.interpreter_state.z } }, restart: "loaded", step: "verified", invalid_code: invalid.payload.code, final_hash: finish.payload.state_hash }));