42 lines
2.9 KiB
JavaScript
42 lines
2.9 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 ROOT = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting";
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const fetchImpl = async (url) => {
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try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
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catch { return { ok: false, text: async () => "" }; }
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};
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const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
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const session = new SimSession(core, { sessionId: "boat-trt-programs" }); let seq = 0;
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const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `boat-${seq}`, payload });
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send("HELLO"); send("SESSION_ATTACH");
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const rows = [];
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for (const coordinates of ["XYZAC", "XYZBC"]) {
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const ini = `${ROOT}/${coordinates.toLowerCase()}-trt.ini`;
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const programPath = `${ROOT}/demos/boat-${coordinates.toLowerCase()}.ngc`;
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const bundle = await loadSimulationCase({ path: ini, fetchImpl });
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assert.equal(bundle.status, "ready"); assert.ok(bundle.files[programPath]);
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const workspace = send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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assert.equal(workspace.kind, "COMMAND_RESULT"); assert.equal(workspace.payload.panel_snapshot.kinematics.coordinates, coordinates);
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assert.equal(send("POWER", { active: true }).kind, "COMMAND_RESULT"); send("HOME", { all: true });
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for (let tick = 0; tick < 100; tick += 1) send("SIM_STEP", { cycles: 1 });
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const loaded = send("PROGRAM_LOAD", { source: bundle.files[programPath], path: programPath });
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assert.equal(loaded.kind, "COMMAND_RESULT"); assert.ok(loaded.payload.preview.segments.length > 0);
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assert.equal(send("PROGRAM_RUN").kind, "COMMAND_RESULT");
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let result = null;
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for (let tick = 0; tick < 5000; tick += 1) {
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result = send("SIM_STEP", { cycles: 100 });
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assert.notEqual(result.kind, "ERROR");
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if (result.payload.program.program_status === "completed" && Number(result.payload.wasm_motion.state.queue_depth) === 0) break;
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}
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assert.equal(result.payload.program.program_status, "completed");
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const rotary = coordinates === "XYZBC" ? "b" : "a";
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assert.ok(Number.isFinite(result.payload.panel_snapshot.visual.pose[rotary]));
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assert.equal(result.payload.panel_snapshot.visual.machine_model.coordinate_system, coordinates);
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rows.push({ coordinates, program: programPath, status: result.payload.program.program_status, rotary });
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}
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console.log(JSON.stringify({ schema: "boat-trt-programs.v1", status: "verified", rows }));
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