52 lines
3.1 KiB
JavaScript
52 lines
3.1 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: "axis3-visible-completion" });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
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let sequence = 0;
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const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++sequence, operation_id: operationId, payload });
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send("HELLO", "hello");
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send("SESSION_ATTACH", "attach");
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send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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const source = "G21 G90\nG0 X0 Y0 Z0\nG1 X10 Y5 F120\nG1 Z-1 F60\nG0 X0 Y0 Z0\nM2\n";
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send("PROGRAM_LOAD", "program", { source, path: "visible-completion.ngc" });
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send("PROGRAM_RUN", "run");
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let finish = null;
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let sawWasmMotionAuthority = false;
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for (let index = 0; index < 512; index += 1) {
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finish = send("SIM_STEP", `step-${index}`, { cycles: 1 });
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const wasmPosition = finish.payload.wasm_motion?.state?.position;
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const authoritativePosition = finish.payload.authoritative?.kinematics?.pose;
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if (wasmPosition && authoritativePosition && (wasmPosition.x !== authoritativePosition.x || wasmPosition.y !== authoritativePosition.y || wasmPosition.z !== authoritativePosition.z)) sawWasmMotionAuthority = true;
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if (finish.payload.program?.program_status === "completed" && finish.payload.task?.state === "STOPPED" && finish.payload.wasm_motion?.state?.queue_depth === 0) break;
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}
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assert.equal(finish.payload.program.program_status, "completed");
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assert.equal(finish.payload.task.state, "STOPPED");
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assert.equal(finish.payload.authoritative.kinematics.pose.x, 0);
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assert.equal(finish.payload.authoritative.kinematics.pose.y, 0);
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assert.equal(finish.payload.authoritative.kinematics.pose.z, 0);
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assert.equal(finish.payload.motion.axes.x, 0);
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assert.equal(finish.payload.motion.axes.y, 0);
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assert.equal(finish.payload.motion.axes.z, 0);
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assert.equal(finish.payload.wasm_motion.state.source, "wasm_motion_queue");
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assert.equal(finish.payload.wasm_motion.state.queue_depth, 0);
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assert.equal(sawWasmMotionAuthority, true);
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console.log(JSON.stringify({ schema: "axis3-visible-completion.v1", status: "verified", case: CASE, final_pose: finish.payload.authoritative.kinematics.pose, task_state: finish.payload.task.state, program_status: finish.payload.program.program_status }));
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