Fix web homing motion and synchronize preview state

scripts/test_xyzac_home_reset_browser.mjs

@@ -0,0 +1,79 @@
+import assert from "node:assert/strict";
+import { pathToFileURL } from "node:url";
+
+const modulePath = process.env.PLAYWRIGHT_MODULE;
+assert.ok(modulePath, "PLAYWRIGHT_MODULE is required");
+const imported = await import(pathToFileURL(modulePath).href);
+const playwright = imported.default ?? imported;
+const browser = await playwright.chromium.launch({
+  headless: false,
+  executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome",
+  args: ["--disable-gpu", "--ignore-certificate-errors", "--window-size=1440,1000"],
+});
+const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
+const main = page.locator("main.axis-app");
+page.on("dialog", async (dialog) => { if (dialog.type() === "confirm") await dialog.accept(); else await dialog.dismiss(); });
+const state = () => main.evaluate((element) => {
+  const preview = element.querySelector("[data-xyzac-preview]");
+  return {
+    loading: element.dataset.axisProgramLoading,
+    homed: element.dataset.axisHomed,
+    pose: preview?.dataset.xyzacLivePose,
+    hud: element.querySelector(".axis-preview-hud")?.textContent ?? "",
+    queue: element.dataset.axisTpQueueDepth,
+    command: element.querySelector(".command-status")?.textContent ?? "",
+    error: element.querySelector(".diagnostic-error")?.textContent ?? null,
+  };
+});
+const wait = async (predicate, label) => {
+  const started = Date.now(); let latest;
+  while (Date.now() - started < 45000) { latest = await state(); if (predicate(latest)) return latest; await page.waitForTimeout(100); }
+  throw new Error(`${label}:${JSON.stringify(latest)}`);
+};
+const control = (id) => main.locator(`[data-axis-control="${id}"]`);
+const click = async (id) => { const button = control(id); await wait(async () => await button.count() > 0 && !await button.isDisabled(), `${id}_enabled`); await button.click(); };
+const pose = async () => JSON.parse((await state()).pose ?? "{}");
+const screenshot = async (name) => { await page.screenshot({ path: `/tmp/axis-home-reset-${name}.png` }); console.log(name, JSON.stringify(await state())); };
+
+try {
+  await page.goto(process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", { waitUntil: "domcontentloaded" });
+  await wait((value) => value.loading === "false", "startup");
+  await click("toolbar-power"); await wait((value) => value.command.includes("POWER acknowledged"), "power");
+  await click("manual-home-all"); await wait((value) => value.command.includes("HOME acknowledged") && value.homed === "[true,true,true,true,true]", "home_all");
+  await screenshot("01-home-all-zero");
+  await control("manual-axis-x").check();
+  const jog = control("manual-jog-positive");
+  await jog.dispatchEvent("pointerdown", { pointerId: 41, button: 0 });
+  await wait((value) => value.command.includes("JOG_START acknowledged"), "jog_start");
+  await page.waitForTimeout(450);
+  await jog.dispatchEvent("pointerup", { pointerId: 41, button: 0 });
+  await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", "jog_stop");
+  const jogged = await pose(); assert.ok(Math.abs(Number(jogged.x)) > 1e-6, JSON.stringify(jogged));
+  await screenshot("02-jogged-x");
+  await click("manual-home-axis");
+  const movingAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_axis_motion");
+  const movingAxisPose = JSON.parse(movingAxis.pose); assert.ok(Math.abs(Number(movingAxisPose.x)) > 1e-6, JSON.stringify(movingAxisPose));
+  await screenshot("03-home-axis-moving");
+  const homedAxis = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_axis");
+  const homeAxisPose = JSON.parse(homedAxis.pose); assert.ok(Math.abs(Number(homeAxisPose.x)) < 1e-8, JSON.stringify(homeAxisPose));
+  await screenshot("04-home-axis-zero");
+  for (const [axis, pointerId] of [["y", 42], ["z", 43], ["a", 44], ["c", 45]]) {
+    await control(`manual-axis-${axis}`).check();
+    const button = control("manual-jog-negative");
+    await button.dispatchEvent("pointerdown", { pointerId, button: 0 });
+    await wait((value) => value.command.includes("JOG_START acknowledged"), `${axis}_jog_start`);
+    await page.waitForTimeout(300);
+    await button.dispatchEvent("pointerup", { pointerId, button: 0 });
+    await wait((value) => value.command.includes("JOG_STOP acknowledged") && value.queue === "0", `${axis}_jog_stop`);
+  }
+  await screenshot("05-multi-axis-jogged");
+  await click("manual-home-all");
+  const movingAll = await wait((value) => value.command.includes("HOME acknowledged") && value.queue !== "0", "home_all_motion");
+  const movingAllPose = JSON.parse(movingAll.pose); assert.ok(Object.entries(movingAllPose).some(([axis, value]) => ["x", "y", "z", "a", "c"].includes(axis) && Math.abs(Number(value)) > 1e-6), JSON.stringify(movingAllPose));
+  await screenshot("06-home-all-moving");
+  const final = await wait((value) => value.command.includes("HOME acknowledged") && value.queue === "0", "home_all_again");
+  const finalPose = JSON.parse(final.pose);
+  for (const axis of ["x", "y", "z", "a", "c"]) assert.ok(Math.abs(Number(finalPose[axis])) < 1e-8, `${axis}:${JSON.stringify(finalPose)}`);
+  await screenshot("07-home-all-zero");
+  console.log(JSON.stringify({ schema: "xyzac-home-reset-browser.v1", status: "verified", url: process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/", jogged, home_axis: homeAxisPose, home_all: finalPose, screenshots: ["/tmp/axis-home-reset-01-home-all-zero.png", "/tmp/axis-home-reset-02-jogged-x.png", "/tmp/axis-home-reset-03-home-axis-moving.png", "/tmp/axis-home-reset-04-home-axis-zero.png", "/tmp/axis-home-reset-05-multi-axis-jogged.png", "/tmp/axis-home-reset-06-home-all-moving.png", "/tmp/axis-home-reset-07-home-all-zero.png"] }));
+} finally { await browser.close(); }

scripts/test_xyzac_panel_buttons_browser.mjs

@@ -20,6 +20,7 @@ page.on("dialog", async (dialog) => {
   dialogs.push({ type: dialog.type(), message: dialog.message() });
   if (dialog.type() === "prompt" && dialog.message().startsWith("Touch Off:")) await dialog.accept("0");
   else if (dialog.type() === "prompt" && dialog.message().startsWith("Coordinate system")) await dialog.accept("P1 G54");
+  else if (dialog.type() === "confirm" && dialog.message().includes("already homed")) await dialog.accept();
   else await dialog.dismiss();
 });
 const main = page.locator("main.axis-app");
@@ -114,7 +115,7 @@ try {
   results.push(await record("MANUAL MODE", async () => { await main.getByRole("tab", { name: "Manual Control [F3]" }).click(); await wait((s) => s.mode === "MANUAL" || s.command?.includes("SET_MODE acknowledged"), "manual_mode_ack"); }));
   results.push(await record("HOME/TOUCH OFF boundaries", async () => {
     await click(main.locator('button[data-axis-control="manual-home-axis"]'), "home_axis_repeat");
-    await wait((s) => s.command?.includes("home_joint_requires_joint_mode"), "world_axis_home_source_rejection");
+    await wait((s) => s.error === null && s.command?.includes("HOME acknowledged"), "home_axis_ack");
     await click(main.locator('button[data-axis-control="manual-touch-off"]'), "touch_off");
     await wait((s) => s.error === null && s.command?.includes("TOUCH_OFF acknowledged"), "touch_off_ack");
     if (!await main.locator('[data-axis-control="manual-tool-touch-off"]').isDisabled()) throw new Error("tool_touch_off_must_be_disabled");