65 lines
4.0 KiB
JavaScript
65 lines
4.0 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 X20 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(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
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catch { return { ok: false, text: async () => "" }; }
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};
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
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async function open(sessionId) {
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const core = await createModule({ wasmBinary });
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const session = new SimSession(core, { sessionId });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: sessionId };
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let seq = 0;
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const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `${sessionId}-${seq}`, payload });
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send("HELLO"); 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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return { session, send };
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}
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const first = await open("xyzac-followups-a");
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const blocked = first.send("MDI_EXECUTE", { block: "G0 X1" });
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assert.equal(blocked.kind, "ERROR");
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assert.equal(blocked.payload.code, "axis_gate");
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assert.equal(blocked.payload.reason, "xyzac_machine_off");
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assert.equal(blocked.payload.message_key, "xyzac_machine_off");
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first.send("POWER", { active: true });
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assert.equal(first.send("HOME", { all: true }).kind, "COMMAND_RESULT");
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for (let tick = 0; tick < 500 && !first.session.wasmHomeLimit.read().state.homed; tick++) first.send("SIM_STEP", { cycles: 1 });
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assert.equal(first.session.wasmHomeLimit.read().state.homed, true);
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assert.equal(first.send("PROGRAM_LOAD", { source: PROGRAM, path: "followups.ngc" }).kind, "COMMAND_RESULT");
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assert.equal(first.send("PROGRAM_RUN").kind, "COMMAND_RESULT");
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const compact = first.send("SIM_STEP", { cycles: 1, response: "motion_delta" });
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assert.equal(compact.payload.snapshot_mode, "motion_delta");
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assert.equal(compact.payload.panel_snapshot, undefined);
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assert.ok(compact.payload.motion_sample?.pose);
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const full = first.send("SIM_STEP", { cycles: 1 });
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const compactBytes = Buffer.byteLength(JSON.stringify(compact));
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const fullBytes = Buffer.byteLength(JSON.stringify(full));
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assert.ok(compactBytes < fullBytes / 2, `${compactBytes} >= ${fullBytes / 2}`);
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const off = first.send("POWER", { active: false });
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assert.equal(off.payload.recovery_checkpoint.schema, "xyzac-power-off-checkpoint.v1");
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assert.equal(off.payload.recovery_checkpoint.state.task.state, "STOPPED");
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assert.ok(Buffer.byteLength(JSON.stringify(off.payload.recovery_checkpoint)) < 512 * 1024);
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const second = await open("xyzac-followups-b");
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const restored = second.send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle), recovery_checkpoint: off.payload.recovery_checkpoint });
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assert.equal(restored.payload.power_off_recovery.status, "verified");
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assert.equal(restored.payload.task.state, "STOPPED");
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assert.equal(restored.payload.panel_snapshot.program.program_status, "loaded");
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console.log(JSON.stringify({
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schema: "xyzac-runtime-followups.v1",
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status: "verified",
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motion_delta: { compact_bytes: compactBytes, full_bytes: fullBytes, reduction_ratio: Number((1 - compactBytes / fullBytes).toFixed(3)) },
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errors: { code: blocked.payload.code, reason: blocked.payload.reason, message_key: blocked.payload.message_key },
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power_off_persistence: { schema: off.payload.recovery_checkpoint.schema, bytes: Buffer.byteLength(JSON.stringify(off.payload.recovery_checkpoint)), restored: restored.payload.power_off_recovery.status },
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}));
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