108 lines
6.5 KiB
JavaScript
108 lines
6.5 KiB
JavaScript
import assert from "node:assert/strict";
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import { pathToFileURL } from "node:url";
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const imported = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href);
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const { chromium } = imported.default ?? imported;
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const url = process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5175/";
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const browser = await chromium.launch({ headless: false, slowMo: 100, executablePath: "/usr/bin/google-chrome", args: ["--disable-gpu"] });
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const page = await browser.newPage({ viewport: { width: 1440, height: 1100 } });
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const errors = [];
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let confirmHome = true;
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page.on("pageerror", (e) => errors.push(e.message));
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page.on("dialog", async (d) => { await page.waitForTimeout(600); if (d.type() === "confirm" && confirmHome) await d.accept(); else await d.dismiss(); });
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await page.addInitScript(() => {
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window.homeResults = []; window.homeRequests = [];
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const Original = window.Worker;
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window.Worker = class extends Original {
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constructor(...args) {
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super(...args);
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this.addEventListener("message", ({ data }) => {
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const p = data.payload;
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window.homeResults.push({ seq: data.seq, kind: data.kind, command: p?.command, home: p?.homing,
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status: p?.source_status ?? p?.panel_snapshot?.source_status,
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pose: p?.panel_snapshot?.visual?.pose, epoch: p?.panel_snapshot?.visual?.live_path_epoch });
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if (window.homeResults.length > 500) window.homeResults.shift();
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});
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}
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postMessage(data, ...args) { window.homeRequests.push({ seq: data.seq, kind: data.kind, payload: data.payload }); super.postMessage(data, ...args); }
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};
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});
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const control = (id) => page.locator(`[data-axis-control="${id}"]`);
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const status = () => page.evaluate(() => window.homeResults.filter((r) => r.status).at(-1).status);
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const home = async (id) => {
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const seq = await page.evaluate(() => window.homeRequests.at(-1)?.seq ?? 0);
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await control(id).click();
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await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.home?.phase === "accepted"), seq);
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await page.waitForFunction((seq) => window.homeResults.some((r) => r.seq > seq && r.status?.homing_history?.length > 1 && !r.status.homing_active), seq);
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const result = await status();
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assert.equal(result.task.mode, "MANUAL"); assert.equal(result.task.interpState, "INTERP_IDLE"); assert.equal(result.traj.mode, result.joint.every((j) => j.homed) ? "TELEOP" : "FREE");
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assert.ok(result.homing_history.some((event) => event.joint.some((j) => j.home_state === 21 && j.homing)));
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return result;
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};
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const jog = async (axis) => {
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await control(`manual-axis-${axis}`).check();
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const button = control("manual-jog-positive");
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await button.scrollIntoViewIfNeeded();
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const box = await button.boundingBox();
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await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2);
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await page.mouse.down(); await page.waitForTimeout(900); await page.mouse.up();
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await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
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await page.waitForTimeout(250);
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return status();
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};
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try {
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await page.goto(url);
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await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false");
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await control("toolbar-power").click();
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await home("manual-home-all");
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for (const [joint, axis] of ["x", "y", "z", "a", "c"].entries()) {
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process.stderr.write(`Visible UI: Jog ${axis.toUpperCase()}, then Home Joint ${joint}\n`);
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const before = await jog(axis);
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assert.ok(before.joint[joint].position > 0);
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await control("manual-home-joint-select").selectOption(String(joint));
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const after = await home("manual-home-axis");
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for (let j = 0; j < 5; j++) {
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assert.ok(Math.abs(after.joint[j].motor_position - before.joint[j].motor_position) < 1e-8);
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assert.ok(Math.abs(after.joint[j].position - (j === joint ? 0 : before.joint[j].position)) < 1e-8);
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}
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}
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const before = await jog("x");
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confirmHome = false;
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const count = await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length);
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await control("manual-home-all").click(); await page.waitForTimeout(800);
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assert.equal(await page.evaluate(() => window.homeRequests.filter((r) => r.kind === "HOME").length), count);
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confirmHome = true;
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const after = await home("manual-home-all");
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assert.deepEqual(after.joint.map((j) => j.motor_position), before.joint.map((j) => j.motor_position));
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assert.ok(after.joint.every((j) => j.homed && Math.abs(j.position) < 1e-8));
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await control("tab-manual").click();
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await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.traj.mode === "TELEOP");
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await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
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await page.screenshot({ path: "/tmp/axis-native-home-desktop.png", fullPage: true });
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const pixelCheck = async () => page.locator("canvas[data-engine]").evaluate((canvas) => {
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const gl = canvas.getContext("webgl2") ?? canvas.getContext("webgl");
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const data = new Uint8Array(canvas.width * canvas.height * 4);
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gl.readPixels(0, 0, canvas.width, canvas.height, gl.RGBA, gl.UNSIGNED_BYTE, data);
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const colors = new Set(); for (let i=0;i<data.length;i+=16) colors.add(`${data[i]},${data[i+1]},${data[i+2]}`);
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return colors.size;
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});
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assert.ok(await pixelCheck() > 5);
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await control("toolbar-run").click();
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await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.mode === "AUTO");
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assert.equal((await status()).traj.mode, "COORD");
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await control("toolbar-pause-resume").click();
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await page.waitForFunction(() => window.homeResults.filter((r) => r.status).at(-1)?.status.task.interpState === "INTERP_PAUSED");
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await control("tab-manual").click(); assert.equal((await status()).task.mode, "AUTO");
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assert.equal(await control("manual-home-all").isDisabled(), true);
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await control("toolbar-stop").click();
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await page.waitForFunction(() => document.querySelector("main").dataset.axisTpQueueDepth === "0");
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await page.setViewportSize({ width: 390, height: 844 });
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await home("manual-home-all");
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await page.locator('[aria-label="LinuxCNC status"]').scrollIntoViewIfNeeded();
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await page.screenshot({ path: "/tmp/axis-native-home-mobile.png", fullPage: true });
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assert.ok(await pixelCheck() > 5);
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assert.equal(await page.evaluate(() => document.documentElement.scrollWidth <= innerWidth), true);
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assert.deepEqual(errors, []);
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console.log(JSON.stringify({ status: "verified", url, checks: ["visible-five-joint-home", "motor-position-preserved", "native-state-history", "cancel", "auto-paused-mode", "desktop-mobile-canvas"] }));
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} finally { await browser.close(); }
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