131 lines
7.9 KiB
JavaScript
131 lines
7.9 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 CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini";
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const PROGRAM_PATH = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc";
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const fetchImpl = async (url) => {
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try {
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const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url));
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return { ok: true, text: async () => body.toString("utf8") };
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} catch {
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return { ok: false, text: async () => "" };
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}
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};
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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assert.equal(bundle.status, "ready");
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const source = bundle.files?.[PROGRAM_PATH];
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assert.equal(typeof source, "string");
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const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) });
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const session = new SimSession(core, { sessionId: "xyzac-machine-sequence" });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
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let seq = 0;
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const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `machine-${seq}`, payload });
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send("HELLO");
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send("SESSION_ATTACH");
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assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
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const loaded = send("PROGRAM_LOAD", { source, path: PROGRAM_PATH });
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assert.equal(loaded.kind, "COMMAND_RESULT");
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assert.equal(loaded.payload.motion_authority, "wasm");
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assert.equal(loaded.payload.panel_snapshot.devices.source, "wasm_io");
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const jsMotionHash = session.motion.export().state_hash;
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const emergency = send("ESTOP", { active: true });
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assert.equal(emergency.kind, "COMMAND_RESULT");
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assert.equal(emergency.payload.task.state, "ESTOP");
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assert.equal(emergency.payload.motion_authority, "wasm");
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assert.equal(emergency.payload.device_io.source, "wasm_io");
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assert.equal(emergency.payload.device_io.state.estop, 1);
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assert.equal(emergency.payload.device_io.state.ready, 0);
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assert.equal(emergency.payload.panel_snapshot.motion.estop, true);
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assert.equal(emergency.payload.panel_snapshot.wasm_motion.state.queue_depth, 0);
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assert.equal(session.motion.export().state_hash, jsMotionHash);
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const released = send("ESTOP", { active: false });
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assert.equal(released.payload.status, "verified");
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assert.equal(released.payload.device_io.state.estop, 0);
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assert.equal(released.payload.device_io.state.ready, 0);
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assert.equal(released.payload.task.state, "ESTOP");
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const recovered = send("IO_RECOVER");
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assert.equal(recovered.payload.task.state, "READY");
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assert.equal(recovered.payload.device_io.state.estop, 0);
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assert.equal(recovered.payload.device_io.state.ready, 1);
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const recoveryEpoch = recovered.payload.device_io.state.recovery_epoch;
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const powered = send("POWER", { active: true });
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assert.equal(powered.payload.status, "verified");
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assert.equal(powered.payload.task.state, "READY");
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assert.equal(powered.payload.device_io.source, "wasm_io");
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assert.equal(powered.payload.device_io.state.ready, 1);
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assert.ok(powered.payload.device_io.state.recovery_epoch > recoveryEpoch);
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const homed = send("HOME", { all: true });
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assert.equal(homed.payload.status, "verified");
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assert.equal(homed.payload.motion_authority, "wasm");
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assert.equal(homed.payload.wasm_home_limit.state.homed, true);
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assert.equal(homed.payload.wasm_home_limit.state.joint_count, 5);
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assert.deepEqual(homed.payload.panel_snapshot.motion.homed_axes, [true, true, true, true, true]);
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assert.deepEqual(homed.payload.wasm_home_limit.state.joints, [0, 0, 0, 0, 0]);
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const running = send("PROGRAM_RUN");
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assert.equal(running.payload.status, "verified");
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assert.equal(running.payload.task.state, "RUNNING");
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assert.equal(running.payload.program.source, "linuxcnc-wasm-sim_program");
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assert.equal(running.payload.motion_authority, "wasm");
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assert.equal(session.wasmMotion.exportState().controls.paused, false);
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const stepped = send("SIM_STEP", { cycles: 180 });
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assert.equal(stepped.payload.status, "verified");
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assert.equal(stepped.payload.motion_authority, "wasm");
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assert.ok(stepped.payload.program.current_line > 0);
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assert.ok(stepped.payload.program_steps.length > 0);
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assert.equal(stepped.payload.panel_snapshot.visual.source, "wasm_canonical_motion");
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assert.deepEqual(stepped.payload.panel_snapshot.visual.pose, stepped.payload.wasm_motion.state.position);
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assert.deepEqual(stepped.payload.panel_snapshot.visual.joints, stepped.payload.panel_snapshot.motion.joints);
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assert.deepEqual(stepped.payload.panel_snapshot.coordinates.machine, [stepped.payload.panel_snapshot.visual.pose.x, stepped.payload.panel_snapshot.visual.pose.y, stepped.payload.panel_snapshot.visual.pose.z, stepped.payload.panel_snapshot.visual.pose.a, stepped.payload.panel_snapshot.visual.pose.c]);
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assert.deepEqual(stepped.payload.panel_snapshot.coordinates.commanded, stepped.payload.panel_snapshot.coordinates.machine);
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assert.ok(stepped.payload.panel_snapshot.visual.active_progress > 0);
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assert.equal(stepped.payload.wasm_motion.state.active_tag, 1);
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assert.equal(stepped.payload.panel_snapshot.kinematics.active_type, 1);
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assert.ok(Number.isFinite(stepped.payload.panel_snapshot.visual.pose.a));
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assert.ok(Number.isFinite(stepped.payload.panel_snapshot.visual.pose.c));
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assert.equal(session.motion.export().state_hash, jsMotionHash);
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const aborted = send("PROGRAM_ABORT");
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assert.equal(aborted.payload.task.state, "STOPPED");
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const restarted = send("PROGRAM_RESTART");
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assert.equal(restarted.payload.status, "verified");
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const fullRun = send("PROGRAM_RUN");
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assert.equal(fullRun.payload.task.state, "RUNNING");
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const completed = send("SIM_STEP", { cycles: 8000 });
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assert.equal(completed.payload.status, "verified");
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assert.equal(completed.payload.program.program_status, "completed");
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assert.equal(completed.payload.task.state, "STOPPED");
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assert.equal(completed.payload.wasm_motion.state.queue_depth, 0);
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assert.equal((completed.payload.panel_snapshot.visual.toolpath ?? loaded.payload.panel_snapshot.visual.toolpath).length, 29);
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assert.equal(completed.payload.panel_snapshot.kinematics.active_type, 0);
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console.log(JSON.stringify({
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schema: "xyzac-machine-sequence.v1",
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status: "verified",
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case: CASE,
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sequence: ["ESTOP", "ESTOP_RELEASE", "IO_RECOVER", "POWER", "HOME_ALL", "PROGRAM_RUN", "SIM_STEP"],
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authority: { motion: "wasm", io: "wasm_io", home_limit: "wasm_home_limit", program: "linuxcnc-wasm-sim_program", visual: "wasm_canonical_motion" },
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estop_queue_depth: emergency.payload.panel_snapshot.wasm_motion.state.queue_depth,
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home_joint_count: homed.payload.wasm_home_limit.state.joint_count,
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current_line_after_step: stepped.payload.program.current_line,
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live_axis_sample: stepped.payload.panel_snapshot.visual.pose,
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live_joints: stepped.payload.panel_snapshot.visual.joints,
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active_segment_id: stepped.payload.panel_snapshot.visual.active_segment_id,
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active_progress: stepped.payload.panel_snapshot.visual.active_progress,
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rtcp_active_type: stepped.payload.panel_snapshot.kinematics.active_type,
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rtcp_joint_pose_delta: stepped.payload.panel_snapshot.kinematics.joints.map((value, index) => value - [stepped.payload.panel_snapshot.visual.pose.x, stepped.payload.panel_snapshot.visual.pose.y, stepped.payload.panel_snapshot.visual.pose.z, stepped.payload.panel_snapshot.visual.pose.a, stepped.payload.panel_snapshot.visual.pose.c][index]),
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full_run: { cycles: 8000, program_status: completed.payload.program.program_status, task_state: completed.payload.task.state, queue_depth: completed.payload.wasm_motion.state.queue_depth, final_switchkins_type: completed.payload.panel_snapshot.kinematics.active_type },
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js_motion_unchanged: session.motion.export().state_hash === jsMotionHash,
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state_hash: stepped.payload.panel_snapshot.state_hash,
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}));
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