56 lines
4.1 KiB
JavaScript
56 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 { 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 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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assert.equal(bundle.status, "ready");
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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-io-authority" });
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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, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload });
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send("HELLO", "hello");
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send("SESSION_ATTACH", "attach");
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const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) });
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assert.equal(loaded.payload.status, "verified");
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assert.equal(loaded.payload.panel_snapshot.io.source, "wasm_io");
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assert.equal(loaded.payload.panel_snapshot.device_io.source, "wasm_device_io");
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assert.equal(loaded.payload.panel_snapshot.hal.runtime.source, "wasm_hal");
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assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
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const spindle = send("SPINDLE_COMMAND", "spindle-on", { spindle: 0, rpm: 1200, enabled: true });
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assert.equal(spindle.kind, "COMMAND_RESULT");
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assert.equal(spindle.payload.device_io.source, "wasm_io");
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assert.equal(spindle.payload.device_io.state.spindles[0].command_rpm, 1200);
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const prepared = send("TOOL_PREPARE", "tool-prepare", { tool: 7, pocket: 3 });
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assert.equal(prepared.payload.device_io.source, "wasm_io");
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assert.equal(send("TOOL_PREPARED", "tool-prepared", { prepared: true }).payload.status, "verified");
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assert.equal(send("SPINDLE_COMMAND", "spindle-off", { spindle: 0, rpm: 0, enabled: false }).payload.status, "verified");
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assert.equal(send("TOOL_CHANGE", "tool-change").payload.status, "verified");
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assert.equal(send("TOOL_CHANGED", "tool-changed", { changed: true }).payload.status, "verified");
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assert.equal(send("PROBE_CONFIG", "probe-arm", { probe_type: 0 }).payload.status, "verified");
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const probe = session.xyzacIo.probeUpdate({ x: 10, y: 20, z: 30, a: 30, c: 45 }, 1);
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assert.equal(probe.status, "verified");
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const hal = send("HAL_SET", "hal-probe", { target: "pin", name: "motion.probe-input", type: "bit", value: true });
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assert.equal(hal.kind, "COMMAND_RESULT");
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assert.equal(hal.payload.hal_runtime.source, "wasm_hal");
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assert.equal((send("SIM_STEP", "io-step", { cycles: 1 }).payload.panel_snapshot.io ?? loaded.payload.panel_snapshot.io).source, "wasm_io");
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assert.equal(send("SNAPSHOT_REQUEST", "device-snapshot").payload.panel_snapshot.device_io.source, "wasm_device_io");
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const estop = send("ESTOP", "io-estop", { active: true });
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assert.equal(estop.payload.device_io.source, "wasm_io");
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const blocked = send("SPINDLE_COMMAND", "spindle-blocked", { spindle: 0, rpm: 500, enabled: true });
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assert.equal(blocked.kind, "ERROR");
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assert.equal(send("ESTOP", "io-estop-reset", { active: false }).payload.panel_snapshot.axis_state.machine_state, "ESTOP_RESET");
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assert.equal(send("POWER", "power-on-after-estop", { active: true }).payload.device_io.source, "wasm_io");
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const firstHash = send("SNAPSHOT_REQUEST", "snapshot-a").payload.panel_snapshot.device_io.projection_hash;
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const secondHash = send("SNAPSHOT_REQUEST", "snapshot-b").payload.panel_snapshot.device_io.projection_hash;
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assert.equal(firstHash, secondHash);
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console.log(JSON.stringify({ schema: "xyzac-trt-wasm-io-authority.v1", status: "verified", case: CASE, sources: ["wasm_io", "wasm_hal"], tool: 7, probe: true, estop_gate: "verified", state_hash: firstHash }));
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