79 lines
5.2 KiB
JavaScript
79 lines
5.2 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/5axis/table-rotary-tilting/xyzac-trt.ini";
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const PROGRAM = "G21 G90\nG0 X0 Y0 Z10 A0 C0\nG1 X10 Y5 Z5 A30 C45 F100\nM2\n";
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const fetchImpl = async (url) => {
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try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
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catch { return { ok: false, text: async () => "" }; }
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};
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
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const session = new SimSession(core, { sessionId: "xyzac-button-constraints" });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
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let seq = 0;
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const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `button-${seq}`, payload });
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send("HELLO");
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send("SESSION_ATTACH");
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const loaded = send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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assert.equal(loaded.payload.panel_snapshot.axis_state.machine_state, "ESTOP_RESET");
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assert.equal(send("PROGRAM_LOAD", { source: PROGRAM, path: "button.ngc" }).payload.status, "verified");
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assert.equal(send("RESET").payload.gate_reason, "xyzac_machine_off");
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const restarted = send("PROGRAM_RESTART");
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assert.equal(restarted.payload.program.path, "button.ngc");
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for (const [kind, payload, reason] of [["PROGRAM_RUN", {}, "xyzac_machine_off"], ["HOME", { all: true }, "xyzac_machine_off"], ["JOG_START", { axis: "x", direction: 1, speed: 1 }, "xyzac_machine_off"], ["MDI_EXECUTE", { block: "G0 X1" }, "xyzac_machine_off"], ["KINEMATICS_SELECT", { type: 1 }, "xyzac_machine_off"], ["POWER", { active: false }, "xyzac_power_already_off"]]) {
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const blocked = send(kind, payload);
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assert.equal(blocked.kind, "ERROR", kind);
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assert.equal(blocked.payload.gate_reason, reason, kind);
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}
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const powered = send("POWER", { active: true });
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assert.equal(powered.payload.panel_snapshot.axis_state.machine_state, "ON");
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assert.equal(send("HOME", { all: true }).payload.wasm_home_limit.state.homed, true);
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assert.equal(send("KINEMATICS_SELECT", { type: 1 }).payload.kinematics.active_type, 1);
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assert.equal(send("RESET").payload.command, "RESET");
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assert.equal(send("MDI_EXECUTE", { block: "G0 X1" }).payload.task.mode, "MDI");
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assert.equal(send("JOG_STOP").payload.command, "JOG_STOP");
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assert.equal(send("SET_MODE", { mode: "MANUAL" }).payload.mode, "MANUAL");
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assert.equal(send("POWER", { active: false }).payload.panel_snapshot.axis_state.machine_state, "OFF");
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assert.equal(send("PROGRAM_RUN").payload.gate_reason, "xyzac_machine_off");
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assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
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assert.equal(send("PROGRAM_RUN").payload.task.state, "RUNNING");
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for (const [kind, payload, reason] of [["HOME", { all: true }, "xyzac_interp_running"], ["MDI_EXECUTE", { block: "G0 X1" }, "mdi_while_program_active"], ["KINEMATICS_SELECT", { type: 0 }, "xyzac_interp_running"], ["SET_MODE", { mode: "MANUAL" }, "linuxcnc_wasm_auto_interp_active"]]) {
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const blocked = send(kind, payload);
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assert.equal(blocked.kind, "ERROR", kind);
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assert.equal(blocked.payload.gate_reason, reason, kind);
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}
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assert.equal(send("PROGRAM_PAUSE").payload.task.state, "PAUSED");
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const abortedWhilePaused = send("PROGRAM_ABORT");
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assert.equal(abortedWhilePaused.payload.task.state, "STOPPED");
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assert.equal(abortedWhilePaused.payload.task.program_status, "aborted");
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assert.equal(abortedWhilePaused.payload.wasm_motion.state.queue_depth, 0);
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assert.equal(send("PROGRAM_RESTART").payload.task.program_status, "loaded");
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assert.equal(send("PROGRAM_RUN").payload.task.state, "RUNNING");
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assert.equal(send("PROGRAM_PAUSE").payload.task.state, "PAUSED");
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assert.equal(send("PROGRAM_RESUME").payload.task.state, "RUNNING");
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assert.equal(send("POWER", { active: false }).payload.task.state, "STOPPED");
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assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
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assert.equal(send("PROGRAM_ABORT").payload.task.state, "STOPPED");
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assert.equal(send("ESTOP", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ESTOP");
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const reset = send("ESTOP", { active: false });
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assert.equal(reset.payload.panel_snapshot.axis_state.machine_state, "ESTOP_RESET");
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assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");
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console.log(JSON.stringify({
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schema: "xyzac-button-constraints.v1",
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status: "verified",
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case: CASE,
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sequence: ["ESTOP", "ESTOP_RESET", "POWER_ON", "HOME", "IDLE", "RUNNING", "PAUSED", "RESUME", "ABORT", "ESTOP"],
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authority: "linuxcnc-wasm-worker",
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gates: { off_blocks_motion: true, running_blocks_manual: true, running_allows_power_off: true, power_off_aborts_running: true, pause_resume_exclusive: true, mdi_requires_home: true },
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state_hash: reset.payload.panel_snapshot.state_hash,
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}));
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