63 lines
4.1 KiB
JavaScript
63 lines
4.1 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 { compareEndpoints, createEndpoint, endpointHash } from "./endpoint-replay.mjs";
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import { SimSession, CONTEXT_ID } from "./sim-session.mjs";
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const fetchImpl = async (url) => {
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try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; }
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catch { return { ok: false, text: async () => "" }; }
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};
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const CASES = [
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{ path: "linuxcnc/configs/sim/axis/ldelta.ini", type: "lineardelta", pose: [0, 0, 64.636584194], joints: [300, 300, 300] },
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{ path: "linuxcnc/configs/sim/axis/rdelta.ini", type: "rotarydelta", pose: [0, 0, -3.793360169], joints: [10, 10, 10] },
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];
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const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
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async function runCase(entry, fast) {
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const bundle = await loadSimulationCase({ path: entry.path, fetchImpl });
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assert.equal(bundle.status, "ready");
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const configuration = toWorkerConfiguration(bundle);
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assert.equal(configuration.kinematics.type, entry.type);
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const core = await createModule({ wasmBinary });
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const session = new SimSession(core, { sessionId: `${entry.type}-${fast ? "fast" : "1x"}` });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId };
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let seq = 0;
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const send = (kind, operationId, payload = {}) => {
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const response = session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
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assert.notEqual(response.kind, "ERROR", `${entry.path}:${kind}:${response.payload?.code ?? "error"}`);
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return response;
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};
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send("HELLO", "hello"); send("SESSION_ATTACH", "attach");
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const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration });
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assert.equal(loaded.payload.configuration.state, "TASK_READY");
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assert.equal(loaded.payload.configuration.hal.blocked_count, 0);
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send("PROGRAM_LOAD", "program", { source: `G21 G90\nG0 X${entry.pose[0]} Y${entry.pose[1]} Z${entry.pose[2]}\nM2\n`, path: `${entry.type}.ngc` });
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send("PROGRAM_RUN", "run");
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if (fast) send("SIM_STEP", "fast", { cycles: 8 }); else for (let index = 0; index < 8; index += 1) send("SIM_STEP", `step-${index}`, { cycles: 1 });
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const endpoint = createEndpoint({ session });
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assert.equal(endpoint.authoritative.kinematics.type, entry.type);
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entry.joints.forEach((expected, index) => assert.ok(Math.abs(endpoint.authoritative.kinematics.joints[index] - expected) < 1e-6));
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const checkpoint = session.createCheckpoint();
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send("SIM_STEP", "post-checkpoint", { cycles: 1 });
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const continuous = createEndpoint({ session });
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const recovery = session.restoreCheckpoint(checkpoint, session.timeline.export(), (operation) => operation);
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assert.equal(recovery.status, "recovered");
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const recoveryParity = compareEndpoints(continuous, createEndpoint({ session }));
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assert.equal(recoveryParity.equal, true, JSON.stringify(recoveryParity));
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return { path: entry.path, type: entry.type, startup: loaded.payload.configuration.state, joints: endpoint.authoritative.kinematics.joints, endpoint_hash: endpointHash(endpoint), mode_parity: null, recovery: recoveryParity, checkpoint_hash: checkpoint.checkpoint_hash };
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}
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const cases = [];
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for (const entry of CASES) {
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const oneX = await runCase(entry, false);
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const fast = await runCase(entry, true);
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// The endpoint is deterministic across 1x/fast; rerun captures the same nominal family golden.
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const modeParity = { equal: oneX.endpoint_hash === fast.endpoint_hash, expected_hash: oneX.endpoint_hash, actual_hash: fast.endpoint_hash };
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assert.equal(modeParity.equal, true);
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cases.push({ ...oneX, mode_parity: modeParity, fast_endpoint_hash: fast.endpoint_hash });
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}
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console.log(JSON.stringify({ schema: "machine-families-s8-08-sample.v1", status: "verified", cases, boundary: "Delta lineardelta/rotarydelta only; official kinematics oracle remains separately blocked; other machine families queued" }));
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