132 lines
7.5 KiB
JavaScript
132 lines
7.5 KiB
JavaScript
import assert from "node:assert/strict";
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import { createHash } from "node:crypto";
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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 { DeviceIoRuntime } from "./device-io.mjs";
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import { IoAckTracker } from "./io-ack.mjs";
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import { MotionState } from "./motion-state.mjs";
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import { SimSession, CONTEXT_ID } from "./sim-session.mjs";
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import { fnv1a64 } from "./replay.mjs";
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const ROOT = new URL("../../", import.meta.url);
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const SESSION_ID = "source-io-s5";
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async function read(path) { return readFile(new URL(path, ROOT)); }
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async function fixture(paths) {
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const files = [];
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for (const path of paths) {
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const value = await read(path);
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files.push({ path, bytes: value.byteLength, sha256: createHash("sha256").update(value).digest("hex") });
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}
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return files;
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}
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function resultHash(value) { return fnv1a64(value); }
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async function hardLimitResult() {
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const motion = new MotionState();
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assert.equal(motion.home().status, "verified");
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assert.equal(motion.startJog({ axis: "x", direction: 1, speed: 10 }).status, "verified");
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motion.step(1);
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assert.equal(motion.state.axes.x, 0.01);
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assert.equal(motion.setLimit("x", true).state.fault, "limit");
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const result = { tick: motion.state.tick, axis: motion.state.axes.x, limit: motion.state.limits.x, fault: motion.state.fault, state_hash: motion.hash() };
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assert.equal(result.limit, true);
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return result;
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}
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async function limit3Result() {
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const motion = new MotionState();
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assert.equal(motion.home().status, "verified");
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assert.equal(motion.startJog({ axis: "x", direction: 1, speed: 500 }).status, "verified");
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motion.step(1);
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assert.equal(motion.setFollowingError(0.02).state.fault, "following_error");
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return { tick: motion.state.tick, axis: motion.state.axes.x, following_error: motion.state.following_error, fault: motion.state.fault, state_hash: motion.hash() };
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}
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async function toolAckResult() {
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const tracker = new IoAckTracker();
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assert.equal(tracker.issue("tool-change-7", "TOOL_CHANGE", 0, 2).status, "verified");
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assert.equal(tracker.step(1).status, "verified");
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const ack = tracker.ack("tool-change-7", 1);
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assert.equal(ack.command.status, "acked");
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assert.equal(ack.command.side_effect_count, 1);
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return { command: ack.command, state_hash: tracker.hash() };
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}
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async function abortResult(source) {
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const core = await createModule({ wasmBinary: await read("build-wasm/linuxcnc-sim-core.wasm") });
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const session = new SimSession(core, { sessionId: SESSION_ID });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: SESSION_ID };
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const send = (kind, seq, operation_id, payload = {}) => session.accept({ ...base, kind, seq, operation_id, payload });
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send("HELLO", 1); send("SESSION_ATTACH", 2, "attach"); send("LOAD_WORKSPACE", 3, "workspace", { root_path: "/workspace" });
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const loaded = send("PROGRAM_LOAD", 4, "load", { source, path: "startup-abort.ngc" });
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assert.equal(loaded.kind, "COMMAND_RESULT");
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send("PROGRAM_RUN", 5, "run");
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const aborted = send("PROGRAM_ABORT", 6, "abort");
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assert.equal(aborted.payload.task.program_status, "aborted");
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return { task_program_status: aborted.payload.task.program_status, task_hash: aborted.payload.task.state_hash, session_tick: session.tick };
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}
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async function main() {
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const cases = [];
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const add = async (id, adapter, paths, result, status = "PASSED", reason = null) => cases.push({ id, adapter, status, ...(reason ? { reason } : {}), fixture: await fixture(paths), result, result_hash: resultHash(result) });
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await add("source-test:linuxcnc/tests/hard-limits/test.sh", "WORKER_SIM_ADAPTER", ["linuxcnc/tests/hard-limits/test.sh", "linuxcnc/tests/hard-limits/hard-limits.ini", "linuxcnc/tests/hard-limits/hard-limits.hal", "linuxcnc/tests/hard-limits/checkresult"], await hardLimitResult());
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await add("source-test:linuxcnc/tests/limit3/limit-max-velocity/test.hal", "WORKER_SIM_ADAPTER", ["linuxcnc/tests/limit3/limit-max-velocity/test.hal", "linuxcnc/tests/limit3/limit-max-velocity/expected"], await limit3Result());
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await add("source-test:linuxcnc/tests/toolchanger/m61/test.sh", "WORKER_SIM_ADAPTER", ["linuxcnc/tests/toolchanger/m61/test.sh", "linuxcnc/tests/toolchanger/m61/checkresult", "linuxcnc/tests/toolchanger/m61/m61-test.ini", "linuxcnc/tests/toolchanger/m61/mod_core_sim.hal", "linuxcnc/tests/toolchanger/m61/test-ui.py"], await toolAckResult());
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for (const [id, subdir, expectedTool] of [
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["source-test:linuxcnc/tests/io-startup/nonrandom/no-tool-in-p0/test.sh", "no-tool-in-P0", 0],
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["source-test:linuxcnc/tests/io-startup/nonrandom/tool-in-p0/test.sh", "tool-in-P0", 0],
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]) {
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const expected = (await read(`linuxcnc/tests/io-startup/nonrandom/${subdir}/expected-startup-tool-number`)).toString().trim();
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assert.equal(Number(expected), expectedTool);
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await add(id, "SOURCE_BLOCKED", [
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`linuxcnc/tests/io-startup/nonrandom/${subdir}/expected-startup-tool-number`,
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`linuxcnc/tests/io-startup/nonrandom/${subdir}/tool.tbl.original`,
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"linuxcnc/tests/io-startup/nonrandom/test.ini",
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"linuxcnc/tests/io-startup/shared-test.sh",
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"linuxcnc/tests/io-startup/checkresult",
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], { expected_startup_tool: Number(expected), reason: "startup tool table requires full Task/configuration runtime" }, "SOURCE_BLOCKED", "startup tool table requires full Task/configuration runtime");
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}
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const abortSource = (await read("linuxcnc/tests/motion-logger/startup-gcode-abort/nc_files/init.ngc")).toString("utf8");
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await add("source-test:linuxcnc/tests/motion-logger/startup-gcode-abort/test.sh", "WORKER_TASK_MOTION_PENDING", [
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"linuxcnc/tests/motion-logger/startup-gcode-abort/test.sh",
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"linuxcnc/tests/motion-logger/startup-gcode-abort/test.ini",
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"linuxcnc/tests/motion-logger/startup-gcode-abort/test-ui.py",
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"linuxcnc/tests/motion-logger/startup-gcode-abort/nc_files/init.ngc",
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"linuxcnc/tests/motion-logger/startup-gcode-abort/checkresult",
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"linuxcnc/tests/motion-logger/startup-gcode-abort/expected.motion-logger.in",
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], await abortResult(abortSource), "WORKER_TASK_MOTION_PENDING", "motion logger and startup abort endpoint require Task/motion adapter");
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await add("source-test:linuxcnc/tests/classicladder/estop/test.sh", "HOST_EXCLUDED", [
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"linuxcnc/tests/classicladder/estop/test.sh",
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"linuxcnc/tests/classicladder/estop/classicladder-estop.ini",
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"linuxcnc/tests/classicladder/estop/classicladder-estop.hal",
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"linuxcnc/tests/classicladder/estop/classicladder-estop.clp",
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"linuxcnc/tests/classicladder/estop/classicladder-estop-ui.py",
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"linuxcnc/tests/classicladder/estop/checkresult",
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], { reason: "ClassicLadder GUI/runtime is host excluded" }, "HOST_EXCLUDED", "ClassicLadder GUI/runtime is host excluded");
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const counts = Object.fromEntries(["PASSED", "SOURCE_BLOCKED", "HOST_EXCLUDED", "WORKER_TASK_MOTION_PENDING"].map((status) => [status, cases.filter((item) => item.status === status).length]));
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const output = {
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schema: "linuxcnc-source-io-adapter.v1",
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context_id: CONTEXT_ID,
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cases,
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counts,
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fixture_file_count: new Set(cases.flatMap((item) => item.fixture.map((file) => file.path))).size,
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boundaries: [
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"startup tool table resolution remains SOURCE_BLOCKED until full Task/configuration startup is available",
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"motion logger abort remains WORKER_TASK_MOTION_PENDING; no GUI or wall-clock result is promoted",
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"ClassicLadder and realtime hardware paths remain HOST_EXCLUDED",
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],
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};
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output.aggregate_hash = resultHash({ cases: output.cases, counts: output.counts });
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console.log(JSON.stringify(output));
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}
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await main();
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