Configure single-DOF machine joints and drive them from WASM axes
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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");
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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 });
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report.checks.push("dragging GLB root tree nodes updates component parent hierarchy");
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await control("machine-manager-show-origin").uncheck(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "7");
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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 });
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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 });
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await control("machine-manager-rotate").click(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-transform-mode"), "rotate");
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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");
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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"); };
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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); }
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await selectRoot(0); assert.equal(await control("machine-joint-value").isDisabled(), true);
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await control("machine-manager-show-origin").uncheck();
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await selectRoot(1); await control("machine-joint-value").fill("10");
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await page.waitForFunction(() => Math.abs(JSON.parse(document.querySelector("[data-machine-manager-preview]").dataset.machineManagerJointTransforms).X.localMm[0] - 10) < 1e-7);
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assert.equal(await control("machine-manager-translation").count(), 0);
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await control("machine-test-reset").click();
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await page.locator(".machine-manager-dialog").screenshot({ path: new URL("manager-ac-config.png", output).pathname });
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report.checks.push("origin visibility, numeric translation/rotation and TransformControls mode update");
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// Editing an imported mesh must preserve the enclosing GLB placement.
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const meshNode = control("machine-tree-node").filter({ hasText: "mesh_0" }).first();
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const meshPath = await meshNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path");
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await meshNode.dispatchEvent("click");
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await control("machine-manager-translation").getByLabel("X", { exact: true }).fill("35");
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await control("machine-manager-rotation").getByLabel("Z", { exact: true }).fill("30");
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const baseRoot = page.locator('[data-machine-tree-path="scene"]').first();
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await baseRoot.locator('[data-axis-control="machine-tree-node"]').first().dispatchEvent("click");
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assert.equal(await translation.getByLabel("X", { exact: true }).inputValue(), "10");
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assert.equal(await rotation.getByLabel("Z", { exact: true }).inputValue(), "15");
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report.checks.push("eight-part roots have unique single DOFs; fixed base cannot move; numeric input drives only bound X");
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const calibrations = page.locator(".machine-manager-calibration fieldset.machine-vector");
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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");
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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");
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@@ -61,16 +49,14 @@ try {
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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");
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const exportedBytes = await readFile(await download.path());
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const exported = JSON.parse(exportedBytes.toString("utf8", 20, 20 + exportedBytes.readUInt32LE(12)));
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const exportedMesh = exported.nodes.find((node) => node.name === "mesh_0");
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assert.ok(Math.abs(exportedMesh.translation[0] - .035) < 1e-7);
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assert.ok(Math.abs(exportedMesh.rotation[2] - Math.sin(Math.PI / 12)) < 1e-7);
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report.checks.push("internal mesh parent-relative position and rotation survive GLB export without moving its parent");
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const model = exported.scenes[0].extras.linuxcncJointModel;
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assert.equal(model.schema, "linuxcnc.joint-model/1");
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assert.equal(model.nodes.filter((n) => n.joint).length, 5);
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report.checks.push("validated assembly exports a self-contained managed GLB");
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assert.equal(await control("machine-manager-apply").isDisabled(), false); await control("machine-manager-apply").click();
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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 });
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const geometry = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-machine-manager-geometry"));
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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);
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assert.deepEqual(geometry.parts[0].nodeTransforms[meshPath], { translationMm: [35, 0, 0], rotationDeg: [0, 0, 30] });
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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");
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assert.match(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-model-source-path"), /^managed-xyzac\.glb$/);
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report.checks.push("validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData");
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@@ -78,6 +64,7 @@ try {
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const xyzbcCase = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"; await control("workspace-case-select").selectOption(xyzbcCase);
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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 });
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await control("machine-manager-settings").click(); assert.match(await page.locator(".machine-manager-dialog .machine-dialog-titlebar").textContent(), /XYZBC/);
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await selectRoot(5); await control("machine-tree-axis-role").selectOption("B");
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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");
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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");
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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();
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