Advance simulation parity and 3-axis tutorial coverage

web/worker/test_axis3_tutorial_startup.mjs

@@ -0,0 +1,32 @@
+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import { fnv1a64 } from "./replay.mjs";
+import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
+import { WorkspaceRuntime } from "../workspace/runtime.mjs";
+import { startConfiguration } from "../workspace/configuration-startup.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 });
+assert.equal(bundle.status, "ready");
+const firstWorkspace = new WorkspaceRuntime({ files: bundle.files });
+const secondWorkspace = new WorkspaceRuntime({ files: bundle.files });
+const core = { _sim_create() { return 0; }, _sim_load_workspace() { return 0; } };
+const first = startConfiguration({ workspace: firstWorkspace, entrypoint: CASE, core, halManifest: bundle.halManifest });
+const second = startConfiguration({ workspace: secondWorkspace, entrypoint: CASE, core, halManifest: bundle.halManifest });
+assert.equal(first.status, "ready");
+assert.equal(first.state, "TASK_READY");
+assert.deepEqual(first.transitions.map((row) => row.to), ["NEW", "MOUNTED", "PARSED", "RESOLVED", "CORE_CREATED", "HAL_READY", "TASK_READY"]);
+assert.equal(first.state_hash, second.state_hash);
+assert.equal(firstWorkspace.read("/workspace/linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial_mm.var"), "");
+assert.equal(bundle.catalog.coordinates, "X Y Z");
+assert.equal(bundle.catalog.kinematics, "trivkins");
+assert.equal(first.resources.resources.find((row) => row.type === "image").path, "linuxcnc/linuxcnc.gif");
+assert.equal(first.hal.records.some((row) => row.program === "./3axis-tutorial" && row.capability === "WEB-EQUIV"), true);
+const configuration = toWorkerConfiguration(bundle);
+assert.equal(configuration.entrypoint, CASE);
+assert.equal(fnv1a64({ bundle: bundle.state_hash, startup: first.state_hash }), fnv1a64({ bundle: bundle.state_hash, startup: second.state_hash }));
+console.log(JSON.stringify({ schema: "axis3-tutorial-startup.v1", status: "verified", case: CASE, transitions: first.transitions.map((row) => row.to), loader_hash: bundle.state_hash, startup_hash: first.state_hash, deterministic: first.state_hash === second.state_hash, generated: bundle.runtime_fixtures.map((row) => row.resource_path), hal_blocked: first.hal.blocked_count }));