Configure single-DOF machine joints and drive them from WASM axes
This commit is contained in:
@@ -13,7 +13,7 @@ const [contract, app, panel, preview] = await Promise.all([
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const controlIds = [
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"menu-file", "menu-file-edit-tool-data", "menu-file-quit", "menu-help", "menu-help-about", "about-close",
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"toolbar-estop", "toolbar-power", "toolbar-open", "toolbar-load-case", "toolbar-reload", "toolbar-run", "toolbar-step", "toolbar-pause-resume", "toolbar-stop", "toolbar-block-delete", "toolbar-optional-pause", "toolbar-zoom-in", "toolbar-zoom-out", "toolbar-view-z", "toolbar-view-z2", "toolbar-view-x", "toolbar-view-y", "toolbar-view-y2", "toolbar-view-p", "toolbar-rotate", "toolbar-clear-live-plot",
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"workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-translate", "machine-manager-rotate", "machine-manager-origin", "machine-manager-translation", "machine-manager-rotation", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "manual-home-all", "manual-home-joint-select",
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"workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-joint-direction", "machine-joint-sign", "machine-joint-value", "machine-joint-follow-live", "machine-joint-live-state", "machine-manager-export-json", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "manual-home-all", "manual-home-joint-select",
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"switchkins-0", "switchkins-1", "switchkins-2",
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"tab-manual", "tab-mdi", "tab-diagnostics", "tab-preview", "tab-dro",
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"manual-axis-x", "manual-axis-y", "manual-axis-z", "manual-axis-a", "manual-axis-c",
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106
scripts/test_machine_joint_dof_browser.mjs
Normal file
106
scripts/test_machine_joint_dof_browser.mjs
Normal file
@@ -0,0 +1,106 @@
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import assert from "node:assert/strict";
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import { readFile, mkdir, writeFile } from "node:fs/promises";
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import { pathToFileURL } from "node:url";
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import * as THREE from "../web/react/node_modules/three/build/three.module.js";
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const pw = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE ?? "/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js"));
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const browser = await (pw.default ?? pw).chromium.launch({ headless: true, executablePath: "/usr/bin/google-chrome", args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] });
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const output = new URL("../coverage/glb-machine-manager/joint-dof/", import.meta.url); await mkdir(output, { recursive: true });
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const bytes = await readFile(new URL("../MILL700-U_1.glb", import.meta.url));
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const report = { report_id: "GLB-MGR-E13", status: "running", url: process.env.MACHINE_MANAGER_URL ?? "http://127.0.0.1:5180/", machines: [], browser_errors: [] };
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const near = (a, b, label) => { assert.equal(a.length, b.length, label); a.forEach((v, i) => assert.ok(Math.abs(v - b[i]) < 2e-6, `${label} ${i}: ${v} vs ${b[i]}`)); };
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try {
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for (const coordinates of (process.env.JOINT_TEST_COORDINATES ?? "XYZAC,XYZBC").split(",")) {
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const page = await browser.newPage({ viewport: { width: 1280, height: 900 } });
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page.on("pageerror", (e) => report.browser_errors.push(e.message));
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page.on("console", (m) => { if (["error", "warning"].includes(m.type())) report.browser_errors.push(m.text()); });
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const c = (id) => page.locator(`[data-axis-control="${id}"]`);
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const preview = page.locator("[data-machine-manager-preview]");
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const idle = () => page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false" && document.querySelector("main.axis-app")?.dataset.axisStateSource === "linuxcnc-wasm", null, { timeout: 60000 });
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await page.goto(report.url); await idle();
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if (coordinates === "XYZBC") { await c("workspace-case-select").selectOption("linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"); await idle(); }
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await c("machine-manager-settings").click(); await c("machine-manager-files").setInputFiles({ name: "MILL700-U_1.glb", mimeType: "model/gltf-binary", buffer: bytes });
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await page.waitForFunction(() => document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132);
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assert.equal(await c("machine-joint-value").isDisabled(), true);
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assert.equal(await c("machine-manager-apply").isDisabled(), true);
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assert.equal(await c("machine-manager-translation").count(), 0); assert.equal(await c("machine-manager-rotation").count(), 0);
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const choose = async (name) => {
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const node = c("machine-tree-node").filter({ has: page.locator("span").filter({ hasText: new RegExp(`^${name}$`) }) }).first();
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const path = await node.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path"); await node.dispatchEvent("click");
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await page.waitForFunction((path) => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerSelectedJoint?.endsWith(`:${path}`), path);
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return JSON.parse(await preview.getAttribute("data-machine-manager-selected-transform"));
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};
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const names = { X: "MILL700-A-主轴-JT1", Y: "MILL700-A-主轴-JT2", Z: "MILL700-A-主轴-JT3", [coordinates[3]]: "MILL700-A-工作台-JT1", C: "MILL700-A-工作台-JT2" };
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for (const [axis, name] of Object.entries(names)) { await choose(name); await c("machine-tree-axis-role").selectOption(axis); }
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await choose("MILL700-A底座"); await c("machine-manager-role").selectOption("base");
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assert.equal(await c("machine-manager-apply").isDisabled(), false);
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const parent = await choose(names.Y), sibling = await choose("SHS25C100020_Track_TSXXX-0000058522002"), child = await choose("MILL700-A-主轴-JT4"), zeroZ = await choose(names.Z);
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await c("machine-joint-direction").selectOption("x"); await c("machine-joint-sign").selectOption("-1"); await c("machine-joint-value").fill("30");
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const movedZ = await choose(names.Z); near(movedZ.local, [zeroZ.local[0] - .03, ...zeroZ.local.slice(1)], "single parent X translation"); near(movedZ.localQuaternion, zeroZ.localQuaternion, "locked rotation");
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assert.deepEqual(await choose(names.Y), parent); assert.deepEqual(await choose("SHS25C100020_Track_TSXXX-0000058522002"), sibling);
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const movedChild = await choose("MILL700-A-主轴-JT4"); near(movedChild.world, [child.world[0] - .03, ...child.world.slice(1)], "child follows only configured DOF");
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await choose(names.Z); await c("machine-joint-value").fill("30"); near((await choose(names.Z)).local, movedZ.local, "absolute, no accumulated movement");
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await c("machine-joint-value").fill("0"); await c("machine-joint-direction").selectOption("z");
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await choose("MILL700-A-主轴-JT4"); await c("machine-tree-axis-role").selectOption("Z"); assert.match(await page.locator(".machine-manager-footer").textContent(), /重复|已绑定/); assert.equal(await c("machine-tree-axis-role").inputValue(), "");
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const rotaryZero = await choose(names[coordinates[3]]); await c("machine-joint-value").fill("25"); const rotaryMoved = await choose(names[coordinates[3]]); near(rotaryMoved.local, rotaryZero.local, "rotation pivot fixed");
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const axis = coordinates === "XYZAC" ? new THREE.Vector3(1, 0, 0) : new THREE.Vector3(0, 1, 0);
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near(rotaryMoved.localQuaternion, new THREE.Quaternion().setFromAxisAngle(axis, 25 * Math.PI / 180).multiply(new THREE.Quaternion(...rotaryZero.localQuaternion)).toArray(), "one rotational DOF");
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await c("machine-test-reset").click();
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const zeroFields = page.locator("fieldset.machine-zero"); await zeroFields.getByLabel("X", { exact: true }).fill("5"); await zeroFields.getByLabel("Z", { exact: true }).fill("7"); await zeroFields.getByLabel(coordinates[3], { exact: true }).fill("12"); await zeroFields.getByLabel("C", { exact: true }).fill("9");
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const jsonDownload = page.waitForEvent("download"); await c("machine-manager-export-json").click(); const json = JSON.parse(await readFile(await (await jsonDownload).path(), "utf8"));
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assert.equal(json.schema, "linuxcnc.joint-model/1"); assert.equal(json.coordinates, coordinates); assert.deepEqual(Object.keys(json.axisMap).sort(), [...coordinates].sort()); assert.equal(json.nodes.filter((n) => n.joint).length, 5); assert.ok(json.nodes.every((n) => n.joint === null || n.joint.dof === 1));
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assert.equal(json.nodes.find((n) => n.id === json.axisMap.Z).joint.sign, -1);
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const glbDownload = page.waitForEvent("download"); await c("machine-manager-export").click(); const glb = await readFile(await (await glbDownload).path());
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const gltf = JSON.parse(glb.toString("utf8", 20, 20 + glb.readUInt32LE(12)));
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assert.deepEqual(gltf.scenes[0].extras.linuxcncJointModel, json);
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const bed = gltf.nodes.find((n) => n.name === "MILL700-A底座"); assert.deepEqual(bed.extras.linuxcncJointModel, json); assert.ok(bed.extras.linuxcncMachineGeometry);
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await writeFile(new URL(`${coordinates.toLowerCase()}.json`, output), JSON.stringify(json, null, 2) + "\n");
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await c("machine-manager-delete").click(); await c("machine-manager-files").setInputFiles({ name: `managed-${coordinates.toLowerCase()}.glb`, mimeType: "model/gltf-binary", buffer: glb });
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await page.waitForFunction(() => document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132);
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await choose(names.Z); assert.equal(await c("machine-tree-axis-role").inputValue(), "Z"); assert.equal(await c("machine-joint-sign").inputValue(), "-1"); assert.equal(await zeroFields.getByLabel("Z", { exact: true }).inputValue(), "7");
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console.log(`${coordinates}: GLB export and editor roundtrip verified`);
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// Standard machine-import route validates exported GLB, JSON hierarchy and zero restoration.
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await page.keyboard.press("Escape"); await c("machine-glb-settings").click(); await c("machine-glb-file").setInputFiles({ name: `managed-${coordinates.toLowerCase()}.glb`, mimeType: "model/gltf-binary", buffer: glb });
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await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.machineJointState, null, { timeout: 60000 }); await idle(); await page.keyboard.press("Escape");
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console.log(`${coordinates}: standard GLB importer verified`);
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// Apply directly from the restored one-file hierarchy as well.
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await c("machine-manager-settings").click(); await c("machine-manager-apply").click(); await idle(); assert.match(await page.locator(".machine-manager-footer").textContent(), /已应用/); await page.keyboard.press("Escape");
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const program = `M428
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G21 G90 G94 G17 G40 G49
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G1 X20 Y10 Z10 ${coordinates[3]}20 C30 F120
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G1 X-10 Y-5 Z-5 ${coordinates[3]}-10 C-20 F120
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M2
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`;
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await c("program-file-input").setInputFiles({ name: `joint-map-${coordinates.toLowerCase()}.ngc`, mimeType: "text/plain", buffer: Buffer.from(program) }); await idle();
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console.log(`${coordinates}: apply verified; starting simultaneous five-axis WASM motion`);
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await c("toolbar-power").click(); await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisStateMachine === "ON"); await c("manual-home-all").click();
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await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisHomed === "[true,true,true,true,true]", null, { timeout: 60000 }); await c("toolbar-run").click();
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await page.waitForFunction(() => {
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const view = document.querySelector(".xyzac-machine-view");
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const q = JSON.parse(view?.dataset.machineJointInputs ?? "[]");
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return Number(document.querySelector("main.axis-app")?.dataset.axisCurrentLine) > 0 && q.some((v) => Math.abs(v) > 1e-6);
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}, null, { timeout: 60000 });
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const samples = [];
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for (let i = 0; i < 8; i++) {
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if (samples.length) await page.waitForFunction((tick) => Number(document.querySelector(".xyzac-machine-view")?.dataset.machineJointTick) > tick, samples.at(-1).tick, { timeout: 60000 });
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const sample = await page.locator(".xyzac-machine-view").evaluate((el) => ({ tick: Number(el.dataset.machineJointTick), q: JSON.parse(el.dataset.machineJointInputs), nodes: JSON.parse(el.dataset.machineJointState) }));
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for (const [index, axisName] of [...coordinates].entries()) {
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const state = sample.nodes[axisName]; const original = json.nodes.find((n) => n.joint?.axis === axisName); const d = original.joint;
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const q = d.sign * (sample.q[index] - json.calibration.physicalZero[axisName.toLowerCase()]); const direction = new THREE.Vector3(...["x", "y", "z"].map((a) => a === d.direction ? 1 : 0));
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if ("XYZ".includes(axisName)) { near(state.localMm, new THREE.Vector3(...original.zero.positionMm).addScaledVector(direction, q).toArray(), `${axisName} runtime position`); near(state.quaternion, original.zero.quaternion, `${axisName} locked orientation`); }
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else { near(state.localMm, original.zero.positionMm, `${axisName} fixed pivot`); near(state.quaternion, new THREE.Quaternion().setFromAxisAngle(direction, q * Math.PI / 180).multiply(new THREE.Quaternion(...original.zero.quaternion)).toArray(), `${axisName} runtime rotation`); }
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}
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samples.push(sample);
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}
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for (let axisIndex = 0; axisIndex < 5; axisIndex++) assert.ok(samples.some((s) => Math.abs(s.q[axisIndex] - samples[0].q[axisIndex]) > 1e-6), `${coordinates[axisIndex]} live movement required`);
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await c("machine-manager-settings").click(); await c("machine-joint-follow-live").check(); assert.equal(await c("machine-joint-value").isDisabled(), true);
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await page.waitForFunction(() => document.querySelector('[data-axis-control="machine-joint-live-state"]')?.textContent.includes("WASM tick"));
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const liveSample = await page.evaluate(() => ({ q: JSON.parse(document.querySelector('[data-axis-control="machine-test-state"]').textContent), joints: JSON.parse(document.querySelector("[data-machine-manager-preview]").dataset.machineManagerJointTransforms) }));
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const z = json.nodes.find((n) => n.joint?.axis === "Z"); near(liveSample.joints.Z.localMm, [z.zero.positionMm[0], z.zero.positionMm[1], z.zero.positionMm[2] - liveSample.q.z], "dialog follows live Z sign");
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await page.screenshot({ path: new URL(`${coordinates.toLowerCase()}-live.png`, output).pathname });
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report.machines.push({ coordinates, checks: ["fixed or single DOF", "direction/sign and parent isolation", "pivot and child inheritance", "duplicate axis rejected", "JSON on scene and real bed", "GLB roundtrip restores calibration and bindings", "single-file apply", "WASM runtime axis mapping", "live dialog follows actual joints"], nodeCount: json.nodes.length, samples, liveSample });
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await page.close();
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}
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assert.deepEqual(report.browser_errors, []); report.status = "verified";
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} catch (e) { report.status = "failed"; report.error = e.stack; for (const page of browser.contexts().flatMap((c) => c.pages())) { report.pageText = await page.locator("body").innerText().catch(() => ""); await page.screenshot({ path: new URL("failure.png", output).pathname }).catch(() => {}); } throw e; }
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finally { await writeFile(new URL("browser.report.json", output), JSON.stringify(report, null, 2) + "\n"); await browser.close(); }
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console.log(JSON.stringify({ report_id: report.report_id, status: report.status, machines: report.machines.map((m) => ({ coordinates: m.coordinates, checks: m.checks, samples: m.samples.length })), browser_errors: report.browser_errors }));
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27
scripts/test_machine_joint_model.mjs
Normal file
27
scripts/test_machine_joint_model.mjs
Normal file
@@ -0,0 +1,27 @@
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import assert from "node:assert/strict";
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import * as THREE from "../web/react/node_modules/three/build/three.module.js";
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import { driveJoint, jointZero, validateJointModel, bindJointModel, defaultDof } from "../web/react/src/machine-joints.ts";
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const near = (a, b) => a.forEach((v, i) => assert.ok(Math.abs(v - b[i]) < 1e-9));
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const parent = new THREE.Group(); parent.rotation.z = Math.PI / 2;
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const joint = new THREE.Group(); joint.position.set(.1, .2, .3); joint.rotation.y = Math.PI / 6; parent.add(joint);
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const child = new THREE.Group(); child.position.set(.4, 0, 0); joint.add(child);
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const zero = jointZero(joint), childLocal = child.position.toArray();
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const dof = { axis: "X", direction: "x", sign: -1 };
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for (let i = 0; i < 100; i++) driveJoint(joint, zero, dof, 30, 10);
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near(joint.position.toArray(), [.08, .2, .3]); near(joint.quaternion.toArray(), zero.quaternion);
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parent.updateMatrixWorld(true); near(joint.getWorldPosition(new THREE.Vector3()).toArray(), [-.2, .08, .3]); near(child.position.toArray(), childLocal);
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driveJoint(joint, zero, { axis: "A", direction: "z", sign: 1 }, 100, 10);
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near(joint.position.toArray(), zero.positionMm.map((v) => v / 1000));
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near(joint.quaternion.toArray(), new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), Math.PI / 2).multiply(new THREE.Quaternion(...zero.quaternion)).toArray());
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assert.throws(() => driveJoint(joint, zero, dof, NaN), /无效/);
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const scene = new THREE.Group(); const nodes = [..."XYZAC"].map((axis) => {
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const n = new THREE.Group(); n.name = axis; n.userData.linuxcncNodeId = axis; scene.add(n);
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const config = defaultDof(axis); return { id: axis, name: axis, parentId: null, role: "", source: { file: "test", hash: "hash", path: axis }, zero: jointZero(n), joint: { ...config, dof: 1, type: "XYZ".includes(axis) ? "prismatic" : "revolute", unit: "XYZ".includes(axis) ? "mm" : "deg", frame: "parent" } };
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});
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const model = { schema: "linuxcnc.joint-model/1", coordinates: "XYZAC", units: { length: "mm", angle: "deg", gltfLength: "m" }, controller: { source: "linuxcnc-wasm.visual.joints", axisOrder: [..."XYZAC"] }, calibration: { cOriginMm: [0,0,0], tiltOffsetMm: [0,0,0], physicalZero: { x: 2, y: 0, z: 0, a: 5, b: 0, c: 0 } }, axisMap: Object.fromEntries(nodes.map((n) => [n.id, n.id])), nodes };
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validateJointModel(model); const driver = bindJointModel(scene, model); driver.update({ X: 12, Y: 0, Z: 0, A: 35, C: 0 });
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near(driver.state().X.localMm, [10,0,0]); near(driver.state().A.quaternion, [Math.sin(Math.PI / 12),0,0,Math.cos(Math.PI / 12)]);
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const beforeInvalid = driver.state(); assert.throws(() => driver.update({ X: 999, Y: 0, Z: 0, A: 0 }), /缺少/); assert.deepEqual(driver.state(), beforeInvalid);
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const reject = (mutate) => { const copy = structuredClone(model); mutate(copy); assert.throws(() => validateJointModel(copy)); };
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reject((m) => { m.nodes[1].joint.axis = "X"; }); reject((m) => { m.nodes[0].joint.dof = 2; }); reject((m) => { m.nodes[0].joint.sign = 0; }); reject((m) => { m.axisMap.X = "Y"; }); reject((m) => { m.nodes[0].parentId = "X"; }); reject((m) => { m.calibration.physicalZero.z = NaN; }); reject((m) => { m.units.length = "m"; }); reject((m) => { m.nodes[0].zero.quaternion = [0,0,0,0]; });
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console.log(JSON.stringify({ report_id: "GLB-MGR-E13-MATH", status: "verified", checks: ["parent-frame motion with nonidentity zero orientation", "unit/sign/physical-zero conversion", "100 updates without drift", "child inheritance", "rotation about own origin", "malformed JSON rejected", "missing live axis rejected atomically"] }));
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@@ -31,29 +31,17 @@ try {
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await control("machine-manager-files").setInputFiles(fixtures);
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await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "8");
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assert.equal(await page.locator('[data-machine-tree-path="scene"]').count(), 8); assert.ok(await page.locator('[data-axis-control="machine-tree-node"]').count() >= 16); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "8"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-exposure"), "1.45"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-render-state"), "rendered"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
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report.checks.push("eight GLB parts rendered with studio PMREM lighting and calibrated exposure");
|
||||
const roots = page.locator('[data-machine-tree-path="scene"]'); const sourceRoot = roots.nth(7), targetRoot = roots.nth(6), sourcePart = await sourceRoot.getAttribute("data-machine-tree-part"), targetPart = await targetRoot.getAttribute("data-machine-tree-part"), transfer = await page.evaluateHandle(() => new DataTransfer()); await sourceRoot.locator("button").first().dispatchEvent("dragstart", { dataTransfer: transfer }); await targetRoot.locator("button").first().dispatchEvent("dragover", { dataTransfer: transfer }); await targetRoot.locator("button").first().dispatchEvent("drop", { dataTransfer: transfer }); await page.waitForFunction(({ sourcePart, targetPart }) => document.querySelector(`[data-machine-tree-part="${sourcePart}"][data-machine-tree-path="scene"]`)?.getAttribute("data-machine-tree-parent") === targetPart, { sourcePart, targetPart });
|
||||
report.checks.push("dragging GLB root tree nodes updates component parent hierarchy");
|
||||
|
||||
await control("machine-manager-show-origin").uncheck(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "7");
|
||||
const beforePartOrigin = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-origin")); const translation = page.locator("fieldset.machine-vector").filter({ hasText: "部件平移" }); await translation.getByLabel("X", { exact: true }).fill("10"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .01) < 1e-7; }, { before: beforePartOrigin });
|
||||
const beforePartQuaternion = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-quaternion")); const rotation = page.locator("fieldset.machine-vector").filter({ hasText: "部件旋转" }); await rotation.getByLabel("Z", { exact: true }).fill("15"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: beforePartQuaternion });
|
||||
await control("machine-manager-rotate").click(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-transform-mode"), "rotate");
|
||||
assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
|
||||
report.checks.push("eight GLB parts rendered with studio PMREM lighting");
|
||||
const selectRoot = async (index) => { const node = control("machine-tree-node").filter({ has: page.locator("span").filter({ hasText: new RegExp(`^part_${index}$`) }) }).first(); await node.dispatchEvent("click"); };
|
||||
for (const [index, axis] of [[1, "X"], [2, "Y"], [3, "Z"], [5, "A"], [6, "C"]]) { await selectRoot(index); await control("machine-tree-axis-role").selectOption(axis); }
|
||||
await selectRoot(0); assert.equal(await control("machine-joint-value").isDisabled(), true);
|
||||
await control("machine-manager-show-origin").uncheck();
|
||||
await selectRoot(1); await control("machine-joint-value").fill("10");
|
||||
await page.waitForFunction(() => Math.abs(JSON.parse(document.querySelector("[data-machine-manager-preview]").dataset.machineManagerJointTransforms).X.localMm[0] - 10) < 1e-7);
|
||||
assert.equal(await control("machine-manager-translation").count(), 0);
|
||||
await control("machine-test-reset").click();
|
||||
await page.locator(".machine-manager-dialog").screenshot({ path: new URL("manager-ac-config.png", output).pathname });
|
||||
report.checks.push("origin visibility, numeric translation/rotation and TransformControls mode update");
|
||||
|
||||
// Editing an imported mesh must preserve the enclosing GLB placement.
|
||||
const meshNode = control("machine-tree-node").filter({ hasText: "mesh_0" }).first();
|
||||
const meshPath = await meshNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path");
|
||||
await meshNode.dispatchEvent("click");
|
||||
await control("machine-manager-translation").getByLabel("X", { exact: true }).fill("35");
|
||||
await control("machine-manager-rotation").getByLabel("Z", { exact: true }).fill("30");
|
||||
const baseRoot = page.locator('[data-machine-tree-path="scene"]').first();
|
||||
await baseRoot.locator('[data-axis-control="machine-tree-node"]').first().dispatchEvent("click");
|
||||
assert.equal(await translation.getByLabel("X", { exact: true }).inputValue(), "10");
|
||||
assert.equal(await rotation.getByLabel("Z", { exact: true }).inputValue(), "15");
|
||||
|
||||
report.checks.push("eight-part roots have unique single DOFs; fixed base cannot move; numeric input drives only bound X");
|
||||
const calibrations = page.locator(".machine-manager-calibration fieldset.machine-vector");
|
||||
const cOrigin = calibrations.filter({ hasText: "C 轴原点" }); await cOrigin.getByLabel("X", { exact: true }).fill("24"); await cOrigin.getByLabel("Y", { exact: true }).fill("-12"); await cOrigin.getByLabel("Z", { exact: true }).fill("8");
|
||||
const offset = calibrations.filter({ hasText: "A 到 C 轴偏置" }); await offset.getByLabel("X", { exact: true }).fill("0"); await offset.getByLabel("Y", { exact: true }).fill("18"); await offset.getByLabel("Z", { exact: true }).fill("-45");
|
||||
@@ -61,16 +49,14 @@ try {
|
||||
assert.equal(await control("machine-manager-export").isDisabled(), false); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-camera-up"), "0,0,1"); const downloadPromise = page.waitForEvent("download"); await control("machine-manager-export").click(); const download = await downloadPromise; assert.equal(download.suggestedFilename(), "managed-xyzac.glb");
|
||||
const exportedBytes = await readFile(await download.path());
|
||||
const exported = JSON.parse(exportedBytes.toString("utf8", 20, 20 + exportedBytes.readUInt32LE(12)));
|
||||
const exportedMesh = exported.nodes.find((node) => node.name === "mesh_0");
|
||||
assert.ok(Math.abs(exportedMesh.translation[0] - .035) < 1e-7);
|
||||
assert.ok(Math.abs(exportedMesh.rotation[2] - Math.sin(Math.PI / 12)) < 1e-7);
|
||||
report.checks.push("internal mesh parent-relative position and rotation survive GLB export without moving its parent");
|
||||
const model = exported.scenes[0].extras.linuxcncJointModel;
|
||||
assert.equal(model.schema, "linuxcnc.joint-model/1");
|
||||
assert.equal(model.nodes.filter((n) => n.joint).length, 5);
|
||||
report.checks.push("validated assembly exports a self-contained managed GLB");
|
||||
assert.equal(await control("machine-manager-apply").isDisabled(), false); await control("machine-manager-apply").click();
|
||||
await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.machineManagerSchema === "linuxcnc.machine-manager/1" && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", null, { timeout: 45000 });
|
||||
const geometry = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-machine-manager-geometry"));
|
||||
assert.deepEqual(geometry.cOriginMm, [24, -12, 8]); assert.deepEqual(geometry.tiltOffsetMm, [0, 18, -45]); assert.equal(geometry.physicalZero.x, 5); assert.equal(geometry.physicalZero.a, 10); assert.equal(geometry.physicalZero.c, 20); assert.equal(geometry.parts.length, 8); assert.equal(geometry.parts[0].translationMm[0], 10); assert.equal(geometry.parts[0].rotationDeg[2], 15);
|
||||
assert.deepEqual(geometry.parts[0].nodeTransforms[meshPath], { translationMm: [35, 0, 0], rotationDeg: [0, 0, 30] });
|
||||
assert.deepEqual(geometry.cOriginMm, [24, -12, 8]); assert.deepEqual(geometry.tiltOffsetMm, [0, 18, -45]); assert.equal(geometry.physicalZero.x, 5); assert.equal(geometry.physicalZero.a, 10); assert.equal(geometry.physicalZero.c, 20); assert.equal(geometry.parts.length, 8); assert.equal(geometry.parts[1].nodeJoints.scene.axis, "X");
|
||||
assert.match(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-model-source-path"), /^managed-xyzac\.glb$/);
|
||||
report.checks.push("validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData");
|
||||
|
||||
@@ -78,6 +64,7 @@ try {
|
||||
const xyzbcCase = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"; await control("workspace-case-select").selectOption(xyzbcCase);
|
||||
await page.waitForFunction((path) => document.querySelector('[data-axis-control="workspace-case-select"]')?.value === path && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", xyzbcCase, { timeout: 45000 });
|
||||
await control("machine-manager-settings").click(); assert.match(await page.locator(".machine-manager-dialog .machine-dialog-titlebar").textContent(), /XYZBC/);
|
||||
await selectRoot(5); await control("machine-tree-axis-role").selectOption("B");
|
||||
const bcCalibrations = page.locator(".machine-manager-calibration fieldset.machine-vector"); const bcOrigin = bcCalibrations.filter({ hasText: "C 轴原点" }); await bcOrigin.getByLabel("X", { exact: true }).fill("-18"); await bcOrigin.getByLabel("Y", { exact: true }).fill("14"); await bcOrigin.getByLabel("Z", { exact: true }).fill("12");
|
||||
const bcOffset = bcCalibrations.filter({ hasText: "B 到 C 轴偏置" }); await bcOffset.getByLabel("X", { exact: true }).fill("22"); await bcOffset.getByLabel("Y", { exact: true }).fill("0"); await bcOffset.getByLabel("Z", { exact: true }).fill("-40");
|
||||
const bcZeros = page.locator("fieldset.machine-zero"); await bcZeros.getByLabel("B", { exact: true }).fill("12"); await bcZeros.getByLabel("C", { exact: true }).fill("5"); await control("machine-manager-apply").click();
|
||||
|
||||
@@ -1,105 +1,4 @@
|
||||
import assert from "node:assert/strict";
|
||||
import { mkdir, readFile, writeFile } from "node:fs/promises";
|
||||
import { createHash } from "node:crypto";
|
||||
import { pathToFileURL } from "node:url";
|
||||
import * as THREE from "../web/react/node_modules/three/build/three.module.js";
|
||||
|
||||
const modulePath = process.env.PLAYWRIGHT_MODULE;
|
||||
if (!modulePath) { console.log(JSON.stringify({ schema: "machine-manager-mill700-browser.v1", status: "blocked", code: "playwright_unavailable" })); process.exit(0); }
|
||||
const root = new URL("../", import.meta.url);
|
||||
const modelPath = process.env.MILL700_GLB ?? new URL("MILL700-U_1.glb", root).pathname;
|
||||
const model = await readFile(modelPath); const sha256 = createHash("sha256").update(model).digest("hex");
|
||||
let offset = 12, json = null;
|
||||
while (offset < model.length) { const length = model.readUInt32LE(offset), type = model.readUInt32LE(offset + 4); if (type === 0x4e4f534a) json = JSON.parse(model.toString("utf8", offset + 8, offset + 8 + length)); offset += 8 + length; }
|
||||
assert.ok(json); const parents = new Map(); json.nodes.forEach((node, index) => (node.children ?? []).forEach((child) => parents.set(child, index)));
|
||||
const depth = (index) => parents.has(index) ? 1 + depth(parents.get(index)) : 0;
|
||||
const hierarchy = { root: json.nodes[json.scenes[json.scene ?? 0].nodes[0]].name, nodes: json.nodes.length, meshes: json.meshes.length, maxDepth: Math.max(...json.nodes.map((_, index) => depth(index))), materials: json.materials.length, metallic: json.materials.filter((material) => Number(material.pbrMetallicRoughness?.metallicFactor ?? 1) >= .9).length };
|
||||
const output = new URL("../coverage/glb-machine-manager/mill700/", import.meta.url); await mkdir(output, { recursive: true });
|
||||
const imported = await import(pathToFileURL(modulePath).href); const playwright = imported.default ?? imported;
|
||||
const browser = await playwright.chromium.launch({ headless: true, executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] });
|
||||
const page = await browser.newPage({ viewport: { width: 1600, height: 1050 } }); const errors = [];
|
||||
page.on("pageerror", (error) => errors.push(`pageerror:${error.message}`)); page.on("console", (message) => { if (["warning", "error"].includes(message.type())) errors.push(`console:${message.type()}:${message.text()}`); });
|
||||
const control = (id) => page.locator(`[data-axis-control="${id}"]`);
|
||||
const report = { schema: "machine-manager-mill700-browser.v1", report_id: "GLB-MGR-E05", status: "running", model: { path: modelPath, bytes: model.length, sha256 }, checks: [] };
|
||||
try {
|
||||
await page.goto(process.env.MACHINE_MANAGER_URL ?? "http://127.0.0.1:5174/", { waitUntil: "domcontentloaded", timeout: 30000 });
|
||||
await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false" && document.querySelector("main.axis-app")?.dataset.axisStateSource === "linuxcnc-wasm", null, { timeout: 45000 });
|
||||
await control("machine-manager-settings").click(); await control("machine-manager-files").setInputFiles({ name: "MILL700-U_1.glb", mimeType: "model/gltf-binary", buffer: model });
|
||||
await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "1" && document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRendered === "true" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132, null, { timeout: 60000 });
|
||||
assert.equal(hierarchy.root, "MILL700-U_1"); assert.equal(hierarchy.nodes, 132); assert.equal(hierarchy.meshes, 126); assert.ok(hierarchy.maxDepth >= 6); assert.ok(hierarchy.metallic > 20);
|
||||
const transformPreview = page.locator("[data-machine-manager-preview]"); const beforePartTransform = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-origin")); await control("machine-manager-translation").locator("input").nth(0).fill("100"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .1) < 1e-7; }, { before: beforePartTransform }); const beforePartRotation = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-quaternion")); await control("machine-manager-rotation").locator("input").nth(2).fill("20"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: beforePartRotation }); report.checks.push("root and internal node transforms update their local position and posture relative to their parent");
|
||||
const readSelected = async () => JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-transform"));
|
||||
const choose = async (name) => {
|
||||
const button = control("machine-tree-node").filter({ has: page.locator("span").filter({ hasText: new RegExp(`^${name}$`) }) }).first();
|
||||
const path = await button.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path");
|
||||
await button.dispatchEvent("click");
|
||||
await page.waitForFunction((path) => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerSelectedJoint?.endsWith(`:${path}`), path);
|
||||
return readSelected();
|
||||
};
|
||||
const closeVector = (actual, expected, label) => actual.forEach((value, index) => assert.ok(Math.abs(value - expected[index]) < 1e-7, `${label}[${index}]: ${value} != ${expected[index]}`));
|
||||
const sampleBranch = async () => ({
|
||||
parent: await choose("MILL700-A-主轴-JT2"),
|
||||
sibling: await choose("SHS25C100020_Track_TSXXX-0000058522002"),
|
||||
child: await choose("MILL700-A-主轴-JT4"),
|
||||
selected: await choose("MILL700-A-主轴-JT3"),
|
||||
});
|
||||
const beforeEdit = await sampleBranch();
|
||||
const translationInputs = control("machine-manager-translation").locator("input");
|
||||
for (let i = 0; i < 3; i++) assert.ok(Math.abs(Number(await translationInputs.nth(i).inputValue()) - beforeEdit.selected.local[i] * 1000) < 1e-7);
|
||||
assert.match(await control("machine-tree-origin").textContent(), /节点自身局部原点.*装配位置.*装配姿态/s);
|
||||
await translationInputs.nth(0).fill("120");
|
||||
// Screenshot complaint: move only the selected joint by -44 mm in its parent's Z direction.
|
||||
await translationInputs.nth(2).fill(String(beforeEdit.selected.local[2] * 1000 - 44));
|
||||
const translated = await sampleBranch();
|
||||
const delta = new THREE.Vector3(.12 - beforeEdit.selected.local[0], 0, -.044)
|
||||
.applyQuaternion(new THREE.Quaternion(...beforeEdit.parent.worldQuaternion));
|
||||
closeVector(translated.selected.world, new THREE.Vector3(...beforeEdit.selected.world).add(delta).toArray(), "translation follows rotated parent axes");
|
||||
closeVector(translated.child.world, new THREE.Vector3(...beforeEdit.child.world).add(delta).toArray(), "child inherits translation");
|
||||
for (const key of ["parent", "sibling"]) assert.deepEqual(translated[key], beforeEdit[key], `${key} must not move`);
|
||||
closeVector(translated.child.local, beforeEdit.child.local, "child local position unchanged");
|
||||
await control("machine-manager-rotation").locator("input").nth(2).fill("25");
|
||||
const rotated = await sampleBranch();
|
||||
closeVector(rotated.selected.localQuaternion, new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), 25 * Math.PI / 180).toArray(), "selected local rotation");
|
||||
closeVector(rotated.selected.world, translated.selected.world, "rotation about own origin");
|
||||
for (const key of ["parent", "sibling"]) assert.deepEqual(rotated[key], beforeEdit[key], `${key} must not rotate`);
|
||||
closeVector(rotated.child.local, beforeEdit.child.local, "child local origin unchanged");
|
||||
const childWorld = new THREE.Vector3(...rotated.child.local).applyQuaternion(new THREE.Quaternion(...rotated.selected.worldQuaternion)).add(new THREE.Vector3(...rotated.selected.world));
|
||||
closeVector(rotated.child.world, childWorld.toArray(), "child inherits selected rotation");
|
||||
assert.ok(rotated.child.world.some((value, i) => Math.abs(value - translated.child.world[i]) > 1e-6));
|
||||
assert.equal(await transformPreview.getAttribute("data-machine-manager-selected-joint-axes"), "local-xyz");
|
||||
await choose("MILL700-A-主轴-JT2");
|
||||
assert.equal(Number(await control("machine-manager-rotation").locator("input").nth(2).inputValue()), 0);
|
||||
await choose("MILL700-A-主轴-JT3");
|
||||
assert.equal(Number(await translationInputs.nth(0).inputValue()), 120);
|
||||
assert.equal(Number(await control("machine-manager-rotation").locator("input").nth(2).inputValue()), 25);
|
||||
await page.keyboard.press("Escape");
|
||||
await control("machine-manager-settings").click();
|
||||
await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRendered === "true");
|
||||
closeVector((await readSelected()).local, rotated.selected.local, "reopening preserves node edit");
|
||||
report.nodeEditing = { before: beforeEdit, translated, rotated };
|
||||
report.checks.push("MILL700 JT3 edits preserve parent and sibling transforms; child inherits movement and rotation around the joint origin; values survive reselection and dialog reopening");
|
||||
await page.screenshot({ path: new URL("mill700-studio-lighting.png", output).pathname, timeout: 60000 });
|
||||
const source = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-门1-JT1" }).first(), target = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A底座" }).first(); await source.dispatchEvent("click");
|
||||
await control("machine-manager-rotation").locator("input").nth(2).fill("-15");
|
||||
const doorBefore = await readSelected();
|
||||
const sourceItem = source.locator("xpath=ancestor::li[1]"), targetItem = target.locator("xpath=ancestor::li[1]"), sourcePath = await sourceItem.getAttribute("data-machine-tree-path"), targetPath = await targetItem.getAttribute("data-machine-tree-path"), partId = await sourceItem.getAttribute("data-machine-tree-part"); await target.evaluate((element, payload) => { const transfer = new DataTransfer(); transfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: payload.partId, path: payload.sourcePath })); element.dispatchEvent(new DragEvent("drop", { bubbles: true, cancelable: true, dataTransfer: transfer })); }, { partId, sourcePath }); await page.waitForFunction(({ sourcePath, targetPath }) => document.querySelector(`[data-machine-tree-path="${sourcePath}"]`)?.getAttribute("data-machine-tree-parent") === targetPath, { sourcePath, targetPath }, { timeout: 60000 }); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
|
||||
const doorAfter = await readSelected();
|
||||
closeVector(doorAfter.world, doorBefore.world, "reparent preserves edited world position");
|
||||
closeVector(doorAfter.worldQuaternion, doorBefore.worldQuaternion, "reparent preserves edited world orientation");
|
||||
const doorLocalX = Number(await translationInputs.nth(0).inputValue());
|
||||
await translationInputs.nth(0).fill(String(doorLocalX + 12));
|
||||
const doorEdited = await readSelected();
|
||||
closeVector(doorEdited.local, [doorAfter.local[0] + .012, ...doorAfter.local.slice(1)], "editing uses stable path after reparent");
|
||||
report.checks.push("reparenting an edited node preserves world pose and subsequent inputs edit that node under its new parent");
|
||||
report.hierarchy = hierarchy; report.checks.push("selected MILL700 joint displays its local XYZ coordinate system at local origin"); report.checks.push("existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins");
|
||||
const preview = page.locator("[data-machine-manager-preview]"); assert.equal(await preview.getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await preview.getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await preview.getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await preview.getAttribute("data-machine-manager-camera-up"), "0,0,1"); assert.equal(await preview.getAttribute("data-machine-manager-model-transform"), "none-on-import"); assert.equal(await preview.getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await preview.getAttribute("data-machine-manager-render-state"), "rendered"); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); assert.equal(Number(await preview.getAttribute("data-machine-manager-scene-meshes")), 126); assert.ok(Number(await preview.getAttribute("data-machine-manager-scene-objects")) >= 132); const bounds = JSON.parse(await preview.getAttribute("data-machine-manager-bounds")); assert.ok(bounds.min.every(Number.isFinite) && bounds.max.every(Number.isFinite) && bounds.size > 0); const [bufferWidth, bufferHeight] = (await preview.getAttribute("data-machine-manager-buffer-size")).split("x").map(Number), maxBuffer = Number(await preview.getAttribute("data-machine-manager-max-buffer")); assert.ok(bufferWidth > 0 && bufferHeight > 0 && bufferWidth <= maxBuffer && bufferHeight <= maxBuffer);
|
||||
const bind = async (name, role) => { const node = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: name }).first(); await node.dispatchEvent("click"); await control("machine-tree-axis-role").selectOption(role); };
|
||||
await bind("MILL700-A-主轴-JT1", "x"); await bind("MILL700-A-主轴-JT2", "y"); await bind("MILL700-A-主轴-JT3", "z"); await bind("MILL700-A-工作台-JT1", "tilt"); await bind("MILL700-A-工作台-JT2", "c"); await page.waitForFunction(() => { try { const roles = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRoleTransforms ?? "{}"); return ["x", "y", "z", "tilt", "c"].every((role) => roles[role]); } catch { return false; } });
|
||||
const baseline = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")); await control("machine-test-x").fill("10"); await control("machine-test-y").fill("20"); await control("machine-test-z").fill("30"); await control("machine-test-a").fill("15"); await control("machine-test-c").fill("45"); await page.waitForFunction(() => JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerTestPose ?? "{}").c === 45);
|
||||
const driven = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")), quaternionAngle = (left, right) => 2 * Math.acos(Math.min(1, Math.abs(left.reduce((sum, value, index) => sum + value * right[index], 0))));
|
||||
assert.ok(Math.abs(driven.x.local[0] - baseline.x.local[0] - .01) < 1e-9); assert.ok(Math.abs(driven.y.local[1] - baseline.y.local[1] - .02) < 1e-9); assert.ok(Math.abs(driven.z.local[2] - baseline.z.local[2] - .03) < 1e-9); assert.ok(Math.abs(quaternionAngle(driven.tilt.localQuaternion, baseline.tilt.localQuaternion) - 15 * Math.PI / 180) < 1e-7); assert.ok(Math.abs(quaternionAngle(driven.c.localQuaternion, baseline.c.localQuaternion) - 45 * Math.PI / 180) < 1e-7); assert.deepEqual(driven.tilt.world, baseline.tilt.world); assert.deepEqual(driven.c.local, baseline.c.local); assert.ok(driven.c.world.some((value, index) => Math.abs(value - baseline.c.world[index]) > 1e-6)); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); report.motion = { input: { x: 10, y: 20, z: 30, a: 15, c: 45 }, baseline, driven }; report.checks.push("each joint rotates about its own origin while children inherit parent motion");
|
||||
report.checks.push("metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review"); assert.deepEqual(errors, []); report.status = "verified";
|
||||
await control("machine-manager-delete").click(); await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "0" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length === 0); report.checks.push("imported model can be deleted and its tree is removed");
|
||||
} catch (error) { report.status = "failed"; report.error = error instanceof Error ? error.stack : String(error); await page.screenshot({ path: new URL("failure.png", output).pathname, timeout: 5000 }).catch(() => undefined); throw error; }
|
||||
finally { report.browser_errors = errors; await writeFile(new URL("browser.report.json", output), JSON.stringify(report, null, 2) + "\n"); await browser.close(); }
|
||||
console.log(JSON.stringify(report));
|
||||
// MGR-17 supersedes the unrestricted six-component pose editor. Keep this
|
||||
// established entrypoint exercising MILL700 through the single-DOF contract.
|
||||
process.env.JOINT_TEST_COORDINATES ??= "XYZAC";
|
||||
await import("./test_machine_joint_dof_browser.mjs");
|
||||
|
||||
Reference in New Issue
Block a user