86 lines
6.0 KiB
JavaScript
86 lines
6.0 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 { 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 {
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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: "linuxcnc/configs/sim/axis/minimal_xyz.ini", fetchImpl });
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assert.equal(bundle.status, "ready");
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const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
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function createSession(id, core) {
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const session = new SimSession(core, { sessionId: id });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id };
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let seq = 0;
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const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload });
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return { session, send };
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}
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const core = await createModule({ wasmBinary });
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const run = createSession("minimal-s8-04", core);
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assert.equal(run.send("HELLO", "hello").kind, "CAPABILITIES");
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assert.equal(run.send("SESSION_ATTACH", "attach").kind, "SESSION_READY");
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const loaded = run.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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assert.equal(loaded.kind, "COMMAND_RESULT");
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assert.equal(loaded.payload.configuration.state, "TASK_READY");
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assert.equal(run.send("HOME", "home").payload.status, "verified");
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assert.equal(run.send("JOG_START", "jog-start", { axis: "x", direction: 1, speed: 2 }).payload.status, "verified");
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const jogStep = run.send("SIM_STEP", "jog-step", { cycles: 10 });
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assert.equal(jogStep.payload.motion.homed, true);
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assert.ok(jogStep.payload.motion.axes.x > 0);
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assert.equal(run.send("JOG_STOP", "jog-stop").payload.status, "verified");
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const override = run.send("SET_OVERRIDE", "override", { feed: 0.5, spindle: 1.2 });
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assert.equal(override.payload.state.feed_override, 0.5);
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const program = run.send("PROGRAM_LOAD", "program", { path: "minimal-s8-04.ngc", source: "G21 G90\nG0 X0 Y0 Z0\nG1 X2 F60\nG1 Y1\nM2\n" });
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assert.equal(program.payload.status, "verified");
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assert.equal(run.send("PROGRAM_RUN", "run").payload.task.state, "RUNNING");
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const checkpoint = run.send("CHECKPOINT", "checkpoint").payload.checkpoint;
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run.send("SIM_STEP", "program-step-1", { cycles: 1 });
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const continuous = createEndpoint({ session: run.session });
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const recovered = run.session.restoreCheckpoint(checkpoint, run.session.timeline.export(), (operation) => operation);
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assert.equal(recovered.status, "recovered");
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const recoveryParity = compareEndpoints(continuous, createEndpoint({ session: run.session }));
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assert.equal(recoveryParity.equal, true, JSON.stringify(recoveryParity));
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const controlCore = await createModule({ wasmBinary });
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const controls = createSession("minimal-s8-04-controls", controlCore);
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controls.send("HELLO", "hello"); controls.send("SESSION_ATTACH", "attach");
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controls.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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controls.send("PROGRAM_LOAD", "program", { path: "minimal-s8-04-controls.ngc", source: "G21 G90\nG0 X0 Y0 Z0\nG1 X2 F60\nG1 Y1\nM2\n" });
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assert.equal(controls.send("PROGRAM_RUN", "run").payload.task.state, "RUNNING");
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controls.send("SIM_STEP", "program-step-1", { cycles: 1 });
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assert.equal(controls.send("PROGRAM_PAUSE", "pause").payload.task.state, "PAUSED");
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assert.equal(controls.send("PROGRAM_RESUME", "resume").payload.task.state, "RUNNING");
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const finished = controls.send("SIM_STEP", "program-step-2", { cycles: 4 });
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assert.equal(finished.payload.program.program_status, "completed");
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assert.equal(finished.payload.task.state, "STOPPED");
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assert.equal(controls.send("PROGRAM_ABORT", "abort").payload.task.program_status, "aborted");
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assert.equal(controls.send("PROGRAM_RESTART", "restart").payload.task.program_status, "loaded");
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const mdi = controls.send("MDI_EXECUTE", "mdi", { block: "G0 X1" });
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assert.equal(mdi.payload.status, "verified");
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const estopCore = await createModule({ wasmBinary });
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const estop = createSession("minimal-s8-04-estop", estopCore);
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estop.send("HELLO", "hello"); estop.send("SESSION_ATTACH", "attach");
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estop.send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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estop.send("HOME", "home");
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const estopResult = estop.send("ESTOP", "estop", { active: true });
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assert.equal(estopResult.kind, "ERROR");
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assert.equal(estopResult.payload.code, "sim_io_estop");
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assert.equal(estopResult.payload.task.state, "ESTOP");
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assert.equal(estop.send("JOG_START", "blocked-jog", { axis: "x", direction: 1, speed: 1 }).kind, "ERROR");
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assert.equal(estop.send("ESTOP", "clear-estop", { active: false }).payload.status, "verified");
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assert.equal(estop.send("IO_RECOVER", "recover").payload.status, "verified");
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assert.equal(estop.send("JOG_START", "jog-after-recover", { axis: "x", direction: 1, speed: 1 }).payload.status, "verified");
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console.log(JSON.stringify({ schema: "minimal-xyz-vertical-s8-04-sample.v1", status: "verified", case: bundle.entrypoint, startup_state: loaded.payload.configuration.state, jog: { tick: jogStep.payload.motion.tick, x: jogStep.payload.motion.axes.x }, override: { feed: override.payload.state.feed_override, spindle: override.payload.state.spindle_override }, program: { status: finished.payload.program.program_status, line: finished.payload.program.line, mdi: mdi.payload.status }, recovery: { status: recovered.status, parity: recoveryParity }, estop: { blocked_code: estopResult.payload.code, recovered: estop.send("SNAPSHOT_REQUEST", "snapshot").payload.task.state }, endpoint_hash: endpointHash(continuous), checkpoint_hash: checkpoint.checkpoint_hash }));
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