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Align Web XYZAC command gates with LinuxCNC

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This commit is contained in:
wangdequan
2026-08-28 21:33:11 +08:00
parent 78d884bc67
commit cbd0bc1003
30 changed files with 337 additions and 150 deletions
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152
web/worker/sim-session.mjs
View File

@@ -56,6 +56,21 @@ const PANEL_GATE_ACTIONS = Object.freeze({
POWER: "power",
});
const WASM_GATE_COMMANDS = Object.freeze({
ESTOP: 1, RESET: 2, POWER: 3, HOME: 4, JOG: 5, MDI: 6, RUN: 7,
PAUSE: 8, RESUME: 9, ABORT: 10, RESTART: 11, KINEMATICS: 12,
SET_MODE: 13, PROGRAM_LOAD: 14, STEP: 15,
});
const WASM_GATE_REASONS = Object.freeze({
1: "xyzac_estop_active", 2: "xyzac_machine_off", 3: "xyzac_power_already_on",
4: "xyzac_interp_running", 5: "axis_taskfile_missing", 6: "linuxcnc_wasm_estop_inactive",
7: "xyzac_pause_state_gate", 8: "xyzac_resume_state_gate", 9: "xyzac_abort_state_gate",
10: "xyzac_restart_state_gate", 11: "xyzac_kinematics_type_invalid", 12: "linuxcnc_wasm_mode_unavailable",
13: "linuxcnc_wasm_auto_interp_active", 14: "xyzac_jog_state_gate", 15: "xyzac_mdi_queue_full",
16: "xyzac_reset_state_gate", 17: "linuxcnc_wasm_gate_unknown_command", 18: "xyzac_not_all_homed",
});
function text(value) {
return typeof value === "string" && value.length > 0 ? value : null;
}
@@ -216,6 +231,21 @@ export class SimSession {
return { status: "verified", count: rows.length };
}
resetXyzacProgramToLoaded() {
if (!this.xyzacProgram?.source) return { status: "verified" };
const source = this.xyzacProgram.source;
const path = this.xyzacProgram.path;
const loaded = this.xyzacProgram.load(source, path);
if (loaded.status !== "verified") return loaded;
this.xyzacProgram.setRapidVelocity(this.xyzacRapidVelocity);
const subroutines = this.loadXyzacSubroutines(path);
if (subroutines.status !== "verified") return subroutines;
const preview = this.xyzacProgram.preview();
if (preview.status !== "verified") return preview;
this.previewState = preview;
return { status: "verified" };
}
panelSnapshot({ task = this.task.export(), program = this.xyzacProgram ? this.xyzacProgram.snapshot() : this.program.loaded ? this.program.snapshot() : null, input = {}, tick = this.tick, motionTrace = null, includeToolpath = input.kind !== "SIM_STEP" || !this.xyzacProgram, includeConfiguration = input.kind !== "SIM_STEP" || !this.xyzacProgram, includeStableRuntime = input.kind !== "SIM_STEP" || !this.xyzacProgram } = {}) {
const motion = this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export();
const wasmMotion = this.wasmMotion.read();
@@ -247,7 +277,7 @@ export class SimSession {
home: this.xyzacCommandGate({ kind: "HOME", payload: {} }),
estop: this.xyzacCommandGate({ kind: "ESTOP", payload: { active: true } }),
recover: this.xyzacCommandGate({ kind: "IO_RECOVER", payload: {} }),
power: this.xyzacCommandGate({ kind: "POWER", payload: { active: !Boolean(ioState.ready) } }),
power: this.xyzacCommandGate({ kind: "POWER", payload: { active: ioState.estop ? false : !Boolean(ioState.ready) } }),
powerOn: this.xyzacCommandGate({ kind: "POWER", payload: { active: true } }),
powerOff: this.xyzacCommandGate({ kind: "POWER", payload: { active: false } }),
reset: this.xyzacCommandGate({ kind: "RESET", payload: {} }),
@@ -360,64 +390,47 @@ export class SimSession {
const program = this.xyzacProgram.snapshot();
const io = this.xyzacIo?.canonical?.() ?? {};
const wasmMotion = this.wasmMotion.read();
const active = task.state === "RUNNING" || task.state === "PAUSED" || program.status === 2 || program.status === 3;
const homeLimit = this.wasmHomeLimit.read();
const estop = Boolean(io.estop);
const ready = Boolean(io.ready) && !estop;
const loaded = program.status !== 0;
const action = PANEL_GATE_ACTIONS[input.kind] ?? null;
let enabled = true;
let reason = "linuxcnc_wasm_authority";
if (input.kind === "KINEMATICS_SELECT" && ![0, 1, 2].includes(Number(input.payload?.type))) {
enabled = false;
reason = "xyzac_kinematics_type_invalid";
} else if (input.kind === "ESTOP") {
enabled = input.payload?.active === true || estop;
reason = enabled ? "linuxcnc_wasm_estop_transition" : "linuxcnc_wasm_estop_inactive";
} else if (input.kind === "POWER") {
const requested = input.payload?.active === true;
enabled = requested ? !estop && !ready && !active : !estop && ready && !active;
reason = estop ? "xyzac_estop_active" : active ? "xyzac_interp_running" : enabled ? "linuxcnc_wasm_power_transition" : requested ? "xyzac_power_already_on" : "xyzac_power_already_off";
} else if (input.kind === "IO_RECOVER") {
enabled = !estop && ready && !active;
reason = enabled ? "linuxcnc_wasm_io_recover" : estop ? "xyzac_estop_active" : !ready ? "xyzac_power_required" : "xyzac_interp_running";
} else if (input.kind === "LOAD_WORKSPACE") {
enabled = !estop && !active;
reason = enabled ? "linuxcnc_wasm_workspace_available" : estop ? "xyzac_estop_active" : "xyzac_interp_running";
} else if (["PROGRAM_LOAD", "PROGRAM_RESTART"].includes(input.kind)) {
enabled = !estop && !active && (input.kind !== "PROGRAM_RESTART" || loaded);
reason = estop ? "xyzac_estop_active" : active ? "xyzac_interp_running" : enabled ? "linuxcnc_wasm_program_idle" : "xyzac_taskfile_missing";
} else if (input.kind === "PROGRAM_RUN") {
enabled = ready && !active && loaded;
reason = !ready ? (estop ? "xyzac_estop_active" : "xyzac_machine_off") : active ? "xyzac_interp_running" : loaded ? "linuxcnc_wasm_run_available" : "axis_taskfile_missing";
} else if (input.kind === "PROGRAM_PAUSE") {
enabled = ready && program.status === 2;
reason = enabled ? "linuxcnc_wasm_pause_available" : "xyzac_pause_state_gate";
} else if (input.kind === "PROGRAM_RESUME") {
enabled = ready && program.status === 3;
reason = enabled ? "linuxcnc_wasm_resume_available" : "xyzac_resume_state_gate";
} else if (input.kind === "PROGRAM_ABORT") {
enabled = active;
reason = enabled ? "linuxcnc_wasm_abort_available" : "xyzac_abort_state_gate";
} else if (input.kind === "PROGRAM_STEP") {
enabled = ready && loaded && !active;
reason = !ready ? "xyzac_machine_off" : loaded ? "linuxcnc_wasm_step_available" : "axis_taskfile_missing";
} else if (input.kind === "SET_MODE") {
enabled = ready && !active;
reason = enabled ? "linuxcnc_wasm_mode_available" : estop ? "xyzac_estop_active" : active ? "xyzac_interp_running" : "xyzac_machine_off";
} else if (input.kind === "RESET") {
enabled = ready && !active;
reason = enabled ? "linuxcnc_wasm_reset_available" : estop ? "xyzac_estop_active" : !ready ? "xyzac_machine_off" : "xyzac_interp_running";
} else if (input.kind === "HOME" || ["JOG_START", "JOG_STOP", "SET_OVERRIDE"].includes(input.kind)) {
enabled = ready && !active;
reason = enabled ? "linuxcnc_wasm_manual_available" : estop ? "xyzac_estop_active" : active ? "xyzac_interp_running" : "xyzac_machine_off";
} else if (input.kind === "MDI_EXECUTE") {
enabled = ready && !active;
reason = enabled ? "linuxcnc_wasm_mdi_available" : estop ? "xyzac_estop_active" : active ? "mdi_while_program_active" : "xyzac_machine_off";
} else if (["KINEMATICS_SELECT", "SPINDLE_COMMAND", "SPINDLE_FAULT", "SPINDLE_INHIBIT", "SPINDLE_ORIENT", "SPINDLE_ORIENTED", "TOOL_PREPARE", "TOOL_PREPARED", "TOOL_CHANGE", "TOOL_CHANGED", "TOOL_ABORT", "TOOL_FAULT", "TOOL_CLEAR_FAULT", "PROBE_CONFIG"].includes(input.kind)) {
enabled = ready && !active;
reason = enabled ? "linuxcnc_wasm_io_available" : estop ? "xyzac_estop_active" : active ? "xyzac_interp_running" : "xyzac_machine_off";
}
return { action, enabled, reason, taskState: task.state, interpState: active ? (program.status === 3 ? "PAUSED" : "READING") : "IDLE", wasm: { io_ready: ready, io_estop: estop, program_status: program.program_status, queue_depth: wasmMotion.state.queue_depth } };
const command = input.kind === "JOG_STOP" || input.kind === "JOG_START" || input.kind === "SET_OVERRIDE" ? WASM_GATE_COMMANDS.JOG
: input.kind === "PROGRAM_LOAD" ? WASM_GATE_COMMANDS.PROGRAM_LOAD
: input.kind === "PROGRAM_RESTART" ? WASM_GATE_COMMANDS.RESTART
: input.kind === "PROGRAM_RUN" ? WASM_GATE_COMMANDS.RUN
: input.kind === "PROGRAM_PAUSE" ? WASM_GATE_COMMANDS.PAUSE
: input.kind === "PROGRAM_RESUME" ? WASM_GATE_COMMANDS.RESUME
: input.kind === "PROGRAM_ABORT" ? WASM_GATE_COMMANDS.ABORT
: input.kind === "PROGRAM_STEP" ? WASM_GATE_COMMANDS.STEP
: input.kind === "MDI_EXECUTE" ? WASM_GATE_COMMANDS.MDI
: input.kind === "KINEMATICS_SELECT" ? WASM_GATE_COMMANDS.KINEMATICS
: input.kind === "SET_MODE" ? WASM_GATE_COMMANDS.SET_MODE
: input.kind === "RESET" ? WASM_GATE_COMMANDS.RESET
: input.kind === "HOME" ? WASM_GATE_COMMANDS.HOME
: input.kind === "ESTOP" ? WASM_GATE_COMMANDS.ESTOP
: input.kind === "POWER" ? WASM_GATE_COMMANDS.POWER
: input.kind === "IO_RECOVER" ? WASM_GATE_COMMANDS.POWER : null;
if (!command) return { action, enabled: true, reason: "linuxcnc_wasm_authority" };
const requested = input.kind === "POWER" || input.kind === "ESTOP" ? (input.payload?.active === true ? 1 : 0)
: input.kind === "KINEMATICS_SELECT" ? Number(input.payload?.type)
: input.kind === "SET_MODE" ? ({ MANUAL: 0, MDI: 1, AUTO: 2 }[String(input.payload?.mode ?? "").toUpperCase()] ?? 3) : 0;
const result = this.task.commandGate(command, {
requested,
ioReady: ready,
ioEstop: estop,
homed: Boolean(homeLimit.state?.homed),
queueDepth: Number(task.queued_mdi_commands ?? 0),
queueLimit: Number(task.max_queued_mdi_commands ?? 10),
});
if (result === null) return { action, enabled: false, reason: "linuxcnc_wasm_gate_unavailable", taskState: task.state, interpState: "UNKNOWN" };
let reason = result === 0 ? "linuxcnc_wasm_authority" : WASM_GATE_REASONS[result] ?? "linuxcnc_wasm_gate_unknown_command";
if (result === 2 && input.kind === "POWER" && input.payload?.active !== true) reason = "xyzac_power_already_off";
if (result === 3 && input.kind === "POWER") reason = "xyzac_power_already_on";
if (result === 4 && input.kind === "MDI_EXECUTE") reason = "mdi_while_program_active";
if (result === 4 && input.kind === "PROGRAM_STEP") reason = "xyzac_interp_running";
if (result === 5 && input.kind === "PROGRAM_RESTART") reason = "xyzac_taskfile_missing";
return { action, enabled: result === 0, reason, taskState: task.state, interpState: task.state === "PAUSED" || program.status === 3 ? "PAUSED" : task.state === "RUNNING" || program.status === 2 ? "READING" : "IDLE", wasm: { io_ready: ready, io_estop: estop, program_status: program.program_status, queue_depth: wasmMotion.state.queue_depth, gate_result: result } };
}
stateForCheckpoint() {
@@ -971,13 +984,15 @@ export class SimSession {
const deviceResponse = (kind, payload) => {
const result = this.xyzacIo ? this.xyzacIo.command(kind, payload ?? {}) : this.devices.command(kind, payload ?? {});
if (result.status === "verified" && this.xyzacProgram && kind === "ESTOP" && payload?.active === true) {
// The WASM IO edge owns emergency stop. Stop the WASM trajectory and
// pause the canonical program so no compatibility state can continue
// feeding motion while the machine is stopped.
const programState = this.xyzacProgram.snapshot();
if (programState.status === 2) this.xyzacProgram.pause();
// LinuxCNC emcTaskSetState(ESTOP) calls emcTaskAbort: clear the
// interpreter command and trajectory, then leave the taskfile loaded
// for a later AUTO run after ESTOP_RESET and POWER ON.
this.xyzacProgram.abort();
this.wasmMotion.abort();
this.wasmMotion.setPaused(true);
const resetProgram = this.resetXyzacProgramToLoaded();
if (resetProgram.status !== "verified") return finish(this.error(input, "program_restart", resetProgram.code ?? "program_reload_failed"), "failed");
this.task.setProgram("loaded", 0);
}
try {
if (kind === "ESTOP" && payload?.active === true) this.task.estop(-904);
@@ -1053,10 +1068,20 @@ export class SimSession {
if (this.xyzacProgram) {
const result = this.xyzacIo.command("POWER", input.payload ?? {});
if (result.status === "verified") {
if (input.payload?.active === false) {
/* LinuxCNC emcTaskSetState(OFF) aborts motion, clears the
interpreter command and leaves the loaded taskfile intact. */
this.xyzacProgram.abort();
this.wasmMotion.abort();
this.wasmMotion.setPaused(true);
const resetProgram = this.resetXyzacProgramToLoaded();
if (resetProgram.status !== "verified") return finish(this.error(input, "program_restart", resetProgram.code ?? "program_reload_failed"), "failed");
this.task.setProgram("loaded", 0);
}
try {
if (input.payload?.active === true) this.task.recover();
else if (["READY", "STOPPED"].includes(this.task.state.state)) {
if (this.task.state.state === "READY") this.task.transition("STOPPED");
else if (["READY", "RUNNING", "PAUSED", "STOPPED"].includes(this.task.state.state)) {
if (["READY", "RUNNING", "PAUSED"].includes(this.task.state.state)) this.task.transition("STOPPED");
}
} catch { /* the WASM IO state remains authoritative */ }
if (this.xyzacDeviceIo) this.xyzacDeviceIo.command("INTERLOCK_RESET", input.payload ?? {}, input.operation_id);
@@ -1468,6 +1493,7 @@ export class SimSession {
case "PROGRAM_STEP": {
if (this.xyzacProgram) {
const current = this.xyzacProgram.snapshot();
if (current.status === 1 && this.task.state.mode !== "AUTO") this.task.setMode("AUTO");
if (current.status === 1) this.xyzacProgram.start();
const result = this.xyzacProgram.step();
if (result.status === "verified") { if (result.motion) this.wasmMotion.enqueue(result.motion); this.wasmMotion.setPaused(true); this.task.setProgram(result.program_status === 4 ? "completed" : "paused", result.line); this.task.transition(result.program_status === 4 ? "STOPPED" : "PAUSED"); }
@@ -1523,6 +1549,7 @@ export class SimSession {
if (this.task.state.state === "STOPPED") this.task.recover();
const block = input.payload?.block ?? input.payload?.command;
if (this.xyzacProgram) {
this.task.setMode("MDI");
const result = this.xyzacProgram.executeBlock(block);
if (result.status === "verified") {
const controlCode = Number(result.program?.control_code ?? 0);
@@ -1555,6 +1582,7 @@ export class SimSession {
if (!this.xyzacKinematics) return finish(this.error(input, "kinematics", "xyzac_kinematics_unavailable"), "failed");
const mode = Number(input.payload?.type);
if (![XYZAC_MODES.identity, XYZAC_MODES.xyzac, XYZAC_MODES.userk].includes(mode)) return finish(this.error(input, "kinematics", "xyzac_kinematics_type_invalid"), "failed");
this.task.setMode("MDI");
const result = this.xyzacKinematics.select(mode, this.xyzacKinematics.snapshot().joints);
const code = mode === XYZAC_MODES.xyzac ? "M428" : mode === XYZAC_MODES.identity ? "M429" : "M430";
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, remap: { code, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }, kinematics: this.xyzacKinematics.snapshot(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");

6
web/worker/sim-task.mjs
View File

@@ -170,6 +170,12 @@ export class SimTask {
this.lastError = 0;
}
commandGate(command, { requested = 0, ioReady = false, ioEstop = false, homed = false, queueDepth = 0, queueLimit = 10 } = {}) {
this.ensureCore();
if (!this.coreTask || (typeof this.core?._sim_task_command_gate !== "function" && typeof this.core?.sim_task_command_gate !== "function")) return null;
return coreCall(this.core, "sim_task_command_gate", "number", ["number", "number", "number", "number", "number", "number", "number", "number"], [this.coreTask, command, requested, ioReady ? 1 : 0, ioEstop ? 1 : 0, homed ? 1 : 0, queueDepth, queueLimit]);
}
export() {
this.syncFromCore();
const unsigned = clone(this.state);

6
web/worker/test_xyzac_button_constraints.mjs
View File

@@ -30,20 +30,22 @@ for (const [kind, payload, reason] of [["PROGRAM_RUN", {}, "xyzac_machine_off"],
const powered = send("POWER", { active: true });
assert.equal(powered.payload.panel_snapshot.axis_state.machine_state, "ON");
assert.equal(send("KINEMATICS_SELECT", { type: 1 }).payload.kinematics.active_type, 1);
assert.equal(send("HOME", { all: true }).payload.wasm_home_limit.state.homed, true);
assert.equal(send("KINEMATICS_SELECT", { type: 1 }).payload.kinematics.active_type, 1);
assert.equal(send("POWER", { active: false }).payload.panel_snapshot.axis_state.machine_state, "OFF");
assert.equal(send("PROGRAM_RUN").payload.gate_reason, "xyzac_machine_off");
assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
assert.equal(send("PROGRAM_RUN").payload.task.state, "RUNNING");
for (const [kind, payload, reason] of [["HOME", { all: true }, "xyzac_interp_running"], ["MDI_EXECUTE", { block: "G0 X1" }, "mdi_while_program_active"], ["KINEMATICS_SELECT", { type: 0 }, "xyzac_interp_running"], ["POWER", { active: false }, "xyzac_interp_running"]]) {
for (const [kind, payload, reason] of [["HOME", { all: true }, "xyzac_interp_running"], ["MDI_EXECUTE", { block: "G0 X1" }, "mdi_while_program_active"], ["KINEMATICS_SELECT", { type: 0 }, "xyzac_interp_running"]]) {
const blocked = send(kind, payload);
assert.equal(blocked.kind, "ERROR", kind);
assert.equal(blocked.payload.gate_reason, reason, kind);
}
assert.equal(send("PROGRAM_PAUSE").payload.task.state, "PAUSED");
assert.equal(send("PROGRAM_RESUME").payload.task.state, "RUNNING");
assert.equal(send("POWER", { active: false }).payload.task.state, "STOPPED");
assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
assert.equal(send("PROGRAM_ABORT").payload.task.state, "STOPPED");
assert.equal(send("ESTOP", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ESTOP");

1
web/worker/test_xyzac_gate_matrix.mjs
View File

@@ -28,6 +28,7 @@ assert.equal(initial.gates.switchkinsXyzac.enabled, false);
assert.equal(initial.gates.switchkinsUserk.enabled, false);
assert.equal(initial.gates.vismachClear.visual_only, true);
assert.equal(send("POWER", "power-on", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const powered = send("SNAPSHOT_REQUEST", "powered-snapshot").payload.panel_snapshot;
assert.equal(powered.gates.switchkinsIdentity.enabled, true);
assert.equal(powered.gates.switchkinsXyzac.enabled, true);

1
web/worker/test_xyzac_hal_tool_alarm.mjs
View File

@@ -15,6 +15,7 @@ const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kin
send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const xml = await readFile(new URL("../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", import.meta.url), "utf8");
const postgui = await readFile(new URL("../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", import.meta.url), "utf8");

1
web/worker/test_xyzac_manual_control.mjs
View File

@@ -17,6 +17,7 @@ function setup(id) {
send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
return { session, send };
}

1
web/worker/test_xyzac_protocol_react.mjs
View File

@@ -30,6 +30,7 @@ assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", conf
const power = send("POWER", "power-on", { active: true });
assert.equal(power.kind, "COMMAND_RESULT");
assert.equal(power.payload.command, "POWER");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const switches = [];
for (const type of [0, 1, 2, 1]) {
const response = send("KINEMATICS_SELECT", `select-${type}-${seq}`, { type });

1
web/worker/test_xyzac_recovery.mjs
View File

@@ -28,6 +28,7 @@ async function create(id) {
const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
assert.equal(loaded.payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
return { core, session, send };
}

1
web/worker/test_xyzac_rtcp.mjs
View File

@@ -96,6 +96,7 @@ send("HELLO", "hello");
send("SESSION_ATTACH", "attach");
assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const switchRows = [];
for (const [code, expected] of [["M429", 0], ["M428", 1], ["M430", 2], ["M428", 1]]) {

1
web/worker/test_xyzac_trace_parity.mjs
View File

@@ -29,6 +29,7 @@ assert.equal(send("HELLO", "hello").kind, "CAPABILITIES");
assert.equal(send("SESSION_ATTACH", "attach").kind, "SESSION_READY");
assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
assert.equal(session.xyzacKinematics.forward([12, -5, 20, 30, 45]).status, "verified");
const levels = { protocol: [], control: [], state: [], canonical: [], recovery: [] };

1
web/worker/test_xyzac_trt_case.mjs
View File

@@ -35,6 +35,7 @@ assert.equal(loaded.payload.motion_authority, "wasm");
assert.equal(loaded.payload.configuration.state, "TASK_READY");
assert.equal(loaded.payload.panel_snapshot.kinematics.joint_count, 5);
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const switchRows = [];
for (const [code, expected] of [["M429", 0], ["M428", 1], ["M430", 2]]) {

1
web/worker/test_xyzac_workflow.mjs
View File

@@ -15,6 +15,7 @@ const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kin
send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
const source = "G21 G90\nG0 X10 Y5 Z200 A30 C45\nG1 X20 Y10 Z180 A35 C50 F100\nG1 X30 Y15 Z160 A40 C55 F100\nM2\n";
const loaded = send("PROGRAM_LOAD", "program-load", { source, path: "workflow.ngc" });
assert.equal(loaded.kind, "COMMAND_RESULT");