66 lines
3.6 KiB
JavaScript
66 lines
3.6 KiB
JavaScript
import assert from "node:assert/strict";
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import { readFile } from "node:fs/promises";
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import createModule from "../../build-wasm/linuxcnc-sim-core.js";
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import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs";
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import { SimSession, CONTEXT_ID } from "./sim-session.mjs";
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const CASE = "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini";
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const fetchImpl = async (url) => {
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try {
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const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url));
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return { ok: true, text: async () => body.toString("utf8") };
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} catch {
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return { ok: false, text: async () => "" };
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}
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};
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
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const session = new SimSession(core, { sessionId: "panel-snapshot" });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
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let seq = 0;
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const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
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send("HELLO", "hello");
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send("SESSION_ATTACH", "attach");
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const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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const projection = loaded.payload.panel_snapshot;
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assert.equal(projection.schema, "axis-panel-snapshot.v1");
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assert.equal(projection.context_id, CONTEXT_ID);
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assert.equal(projection.session_id, session.sessionId);
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assert.equal(projection.motion_authority, "wasm");
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assert.equal(projection.task_authority, "wasm_task_canonical");
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assert.equal(projection.axis_state.state, "IDLE");
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assert.equal(projection.gates.run.enabled, false);
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assert.equal(projection.gates.run.reason, "axis_taskfile_missing");
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assert.equal(projection.configuration.state, "TASK_READY");
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assert.equal(projection.home_limit.state.source, "wasm_home_limit");
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assert.equal(projection.visual.source, "wasm_canonical_motion");
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assert.deepEqual(projection.visual.pose, { x: 0, y: 0, z: 0 });
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const loadedProgram = send("PROGRAM_LOAD", "program", { path: "panel.ngc", source: "G21 G90\nG0 X1 Y2 Z-1\nM2\n" });
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assert.equal(loadedProgram.payload.panel_snapshot.program.program_status, "loaded");
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assert.ok(loadedProgram.payload.panel_snapshot.visual.toolpath.length > 0);
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const beforeHash = loadedProgram.payload.panel_snapshot.state_hash;
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send("HOME", "home-z", { axis: "z" });
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send("HOME", "home-x", { axis: "x" });
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send("HOME", "home-y", { axis: "y" });
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const jog = send("JOG_START", "jog", { axis: "x", direction: 1, speed: 2 });
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const stepped = send("SIM_STEP", "jog-step", { cycles: 2 });
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assert.notEqual(stepped.payload.panel_snapshot.state_hash, beforeHash);
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assert.equal(stepped.payload.panel_snapshot.visual.source, "wasm_canonical_motion");
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assert.equal(stepped.payload.panel_snapshot.simulation_tick, stepped.simulation_tick);
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assert.equal(stepped.payload.panel_snapshot.state_hash, session.panelSnapshot({ input: { kind: "SIM_STEP", payload: { cycles: 2 } }, tick: session.tick }).state_hash);
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assert.ok(jog.payload.panel_snapshot.home_limit.state.homed === true);
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console.log(JSON.stringify({
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schema: "panel-snapshot-projection.v1",
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status: "verified",
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case: CASE,
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fields: ["task", "program", "motion", "wasm_motion", "home_limit", "hal", "devices", "device_io", "configuration", "axis_state", "visual", "state_hash"],
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authority: "wasm",
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startup: projection.configuration.state,
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visual_source: projection.visual.source,
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state_hash: stepped.payload.panel_snapshot.state_hash,
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}));
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