298 lines
16 KiB
JavaScript
298 lines
16 KiB
JavaScript
import { fnv1a64 } from "../worker/replay.mjs";
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import { runtimeResourceFixture } from "./resource-resolver.mjs";
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import { SIM_CASE_CATALOG, SIM_FILE_INDEX, SIM_HAL_COMPONENTS } from "./sim-case-catalog.mjs";
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import { isOptionalSourceKey } from "./linuxcnc-source-semantics.mjs";
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import { MACHINE_DEFINITIONS, machineDefinition } from "./machine-definitions.mjs";
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import { readTrtGeometry } from "./trt-geometry.mjs";
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export const SIMULATION_CASE_SCHEMA = "simulation-case-bundle.v1";
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const RESOURCE_KEYS = new Set([
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"HAL", "HALFILE", "POSTGUI_HALFILE", "TOOLTABLE", "TOOL_TABLE", "VARFILE", "PARAMETER_FILE", "OPEN_FILE",
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"PROGRAM", "PROGRAMS", "PYTHON", "PYTHONFILE", "VCP", "VCPFILE", "CLPFILE",
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"PYVCP", "NGCGUI_SUBFILE", "INTRO_GRAPHIC", "SUBROUTINE_PATH", "REMAP",
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]);
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const MANIFEST = new Set(SIM_FILE_INDEX);
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const PRELOADED_HAL_COMPONENTS = Object.freeze(["corexykins", "lineardeltakins", "motmod", "pid", "rotarydeltakins", "stepgen", "trivkins", "xyzac-trt-kins", "xyzbc-trt-kins", "tpmod", "homemod"]);
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const CASE_KINEMATICS = Object.freeze({
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"linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini": Object.freeze({ type: "corexy", path_mode: "kins" }),
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"linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini": Object.freeze({ type: "corexy", path_mode: "hal" }),
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"linuxcnc/configs/sim/axis/ldelta.ini": Object.freeze({ type: "lineardelta", path_mode: "kins" }),
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"linuxcnc/configs/sim/axis/rdelta.ini": Object.freeze({ type: "rotarydelta", path_mode: "kins" }),
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini": Object.freeze({ type: "xyzac-trt", path_mode: "wasm", coordinates: "XYZAC", joint_count: 5, max_linear_velocity: 35, axis_linear_velocity_limit: 20, max_acceleration: 300, max_jerk: 1000000000, servo_cycle_time: 0.001, task_cycle_time: 0.01, cycle_time: 0.001, switchkins: { 0: "identity", 1: "xyzac", 2: "userk" } }),
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini": Object.freeze({ type: "xyzbc-trt", path_mode: "wasm", coordinates: "XYZBC", joint_count: 5, max_linear_velocity: 35, axis_linear_velocity_limit: 20, axis_angular_velocity_limit: 30, max_acceleration: 300, max_jerk: 1000000000, servo_cycle_time: 0.001, task_cycle_time: 0.01, cycle_time: 0.001, switchkins: { 0: "identity", 1: "xyzbc", 2: "userk" } }),
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});
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const RUNTIME_FIXTURES = Object.freeze({
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"linuxcnc/configs/sim/axis/minimal_xyz.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/minimal_xyz_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = minimal_xyz_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated HAL command fixture",
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}),
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"linuxcnc/configs/sim/axis/ja_tests/xz/xz.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/ja_tests/xz/xz_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = xz_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated XZ HAL command fixture",
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}),
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"linuxcnc/configs/sim/axis/ja_tests/xz/xz_both.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = xz_both_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated XZ BOTH HAL command fixture",
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}),
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"linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_auto.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_auto_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = xz_both_auto_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated XZ BOTH AUTO HAL command fixture",
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}),
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-headless_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = xyzac-trt-headless_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated XYZAC HAL command fixture",
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}),
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"linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini": Object.freeze({
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generated_hal: "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal",
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replace: "HALFILE = LIB:basic_sim.tcl",
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with: "HALFILE = xyzbc-trt_cmds.hal",
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reason: "LinuxCNC basic_sim.tcl generated XYZBC HAL command fixture",
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}),
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});
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function clone(value) { return structuredClone(value); }
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function text(value) { return typeof value === "string" && value.trim() ? value.trim() : null; }
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function stripQuotes(value) { return value.trim().replace(/^['"]|['"]$/g, ""); }
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function dirname(path) { const index = path.lastIndexOf("/"); return index < 0 ? "" : path.slice(0, index); }
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function normalize(path) {
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const parts = [];
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for (const part of path.replaceAll("\\", "/").split("/")) {
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if (!part || part === ".") continue;
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if (part === "..") { if (!parts.length) return null; parts.pop(); continue; }
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parts.push(part);
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}
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return parts.join("/");
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}
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function tokens(value) {
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return (value.match(/(?:[^\s"']+|"[^"]*"|'[^']*')+/g) ?? []).map(stripQuotes);
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}
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function candidates(source, raw, key = null, section = null) {
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const value = stripQuotes(raw);
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const first = tokens(value)[0] ?? value;
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// LinuxCNC uses quoted empty values (notably DISPLAY/OPEN_FILE) as an
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// explicit "no file" setting; they must not resolve to the source directory.
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if (!first) return [];
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if (String(key).toUpperCase() === "OPEN_FILE") {
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if (first.startsWith("configs/nc_files/")) return [`linuxcnc/${first}`];
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const relative = normalize(`${dirname(source)}/${first}`);
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const marker = first.indexOf("nc_files/");
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const rootCandidate = marker >= 0 ? normalize(`linuxcnc/nc_files/${first.slice(marker + "nc_files/".length)}`) : null;
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const candidates = [relative, rootCandidate].filter(Boolean).filter(inManifest);
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return candidates.length ? [candidates[0]] : [relative].filter(Boolean);
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}
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if (first.startsWith("/") || first.startsWith("~") || first.startsWith("$")) return [first];
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if (String(key).toUpperCase() === "INTRO_GRAPHIC" && String(section).toUpperCase() === "DISPLAY" && first === "linuxcnc.gif") return ["linuxcnc/linuxcnc.gif"];
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if (first.startsWith("LIB:")) {
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const name = first.slice(4);
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if (!name || name.includes("..") || name.startsWith("/")) return [];
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const libraryPath = normalize(`linuxcnc/lib/hallib/${name}`);
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return libraryPath ? [libraryPath] : [];
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}
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if (["NGCGUI_SUBFILE", "REMAP"].includes(String(key).toUpperCase())) {
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const subroutine = normalize(`${dirname(source)}/remap_subs/${first}`);
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if (subroutine) return [subroutine];
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}
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if (["HAL", "HALFILE"].includes(String(key).toUpperCase()) && !first.includes("/") && !first.startsWith("linuxcnc/")) {
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const halCandidates = [normalize(`${dirname(source)}/${first}`), `linuxcnc/lib/hallib/${first}`].filter(Boolean);
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const indexed = halCandidates.filter(inManifest);
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return indexed.length ? [indexed[0]] : halCandidates;
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}
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if (first.startsWith("linuxcnc/")) return [normalize(first)].filter(Boolean);
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const relative = normalize(`${dirname(source)}/${first}`);
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return relative ? [relative] : [first];
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}
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function includeCandidates(source, raw) {
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const value = stripQuotes(raw);
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if (value.startsWith("linuxcnc/")) return [normalize(value)].filter(Boolean);
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const relative = normalize(`${dirname(source)}/${value}`);
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return relative ? [relative] : [value];
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}
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function runtimeResourceKey(key) {
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return ["PARAMETER_FILE", "VARFILE", "TOOL_TABLE", "TOOLTABLE"].includes(String(key ?? "").toUpperCase());
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}
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function generatedResource(path, key) {
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if (typeof path !== "string" || path.startsWith("/") || path.startsWith("~") || path.startsWith("$") || path.split("/").includes("..")) return null;
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const generated = runtimeResourceFixture({ key, path });
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return generated ? { ...generated, data_hash: fnv1a64(generated.content) } : null;
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}
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function inManifest(path) {
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return MANIFEST.has(path) || path === "linuxcnc/configs/nc_files/3dtest.ngc" || path === "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal";
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}
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function responseUrl(baseUrl, path) { return `${String(baseUrl ?? "").replace(/\/$/, "")}/${path}`.replace(/^\//, "/"); }
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async function fetchText(fetchImpl, baseUrl, path) {
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const response = await fetchImpl(responseUrl(baseUrl, path), { cache: "no-store" });
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if (!response?.ok) return null;
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return response.text();
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}
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function resourceReferences(source, content) {
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const references = [];
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let section = "";
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for (const rawLine of content.split(/\r?\n/)) {
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const include = rawLine.trim().match(/^#?INCLUDE\s*(?:=\s*)?(.+)$/i);
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if (include) {
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references.push(...includeCandidates(source, include[1]).map((path) => ({ path, key: null, source })));
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continue;
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}
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const line = rawLine.split("#", 1)[0].trim();
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const sectionMatch = line.match(/^\[([^\]]+)\]$/);
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if (sectionMatch) { section = sectionMatch[1].trim(); continue; }
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if (section === "RS274NGC" && /^SUBROUTINE_PATH\s*=\s*/i.test(line)) {
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const directory = normalize(`${dirname(source)}/${line.split("=", 2)[1].trim()}`);
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for (const candidate of SIM_FILE_INDEX.filter((path) => directory && path.startsWith(`${directory}/`) && path.endsWith(".ngc"))) references.push({ path: candidate, key: "SUBROUTINE_PATH", section, source });
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continue;
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}
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if (section === "RS274NGC" && /^REMAP\s*=\s*/i.test(line)) {
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const name = /ngc=([^\s]+)/i.exec(line)?.[1];
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if (name) { const candidate = normalize(`${dirname(source)}/remap_subs/${name}.ngc`); if (candidate) references.push({ path: candidate, key: "REMAP", section, source }); }
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continue;
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}
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const assignment = line.match(/^([^=:#]+?)\s*(?:=|:)\s*(.*)$/);
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if (assignment && RESOURCE_KEYS.has(assignment[1].trim().toUpperCase())) {
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const key = assignment[1].trim().toUpperCase();
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const values = tokens(assignment[2]);
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const resourceValues = key === "PROGRAMS" ? values : values.slice(0, 1);
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for (const value of resourceValues) references.push(...candidates(source, value, key, section).map((path) => ({ path, key, section, source })));
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continue;
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}
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const halSource = line.match(/^source\s+(.+)$/i);
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if (halSource && !halSource[1].trim().startsWith("[")) references.push(...candidates(source, halSource[1], "HAL", section).map((path) => ({ path, key: "HAL", section, source })));
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const halUser = line.match(/^loadusr\s+(?:-\S+\s+)*(.*)$/i);
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if (halUser && source === "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.hal") {
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const program = tokens(halUser[1])[0] ?? "";
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if (["./3axis-tutorial", "3axis-tutorial"].includes(program)) {
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references.push(...candidates(source, program, "PYTHON", section).map((path) => ({ path, key: "PYTHON", section, source, capability: "WEB-EQUIV" })));
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}
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}
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}
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return references;
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}
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export function findSimulationCase(path) {
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return SIM_CASE_CATALOG.find((entry) => entry.path === path) ?? null;
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}
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export async function loadSimulationCase({ path, fetchImpl = globalThis.fetch, baseUrl = "" } = {}) {
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if (typeof fetchImpl !== "function") throw new Error("simulation_case_fetch_required");
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const catalog = findSimulationCase(path);
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if (!catalog) throw new Error("simulation_case_unknown");
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const files = {};
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const fetched = [];
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const missing = [];
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const optionalMissing = [];
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const generatedResources = new Map();
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const runtimeFixtures = [];
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const queue = [catalog.path];
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const queued = new Set(queue);
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while (queue.length) {
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const current = queue.shift();
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const generated = generatedResources.get(current);
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const content = generated ? generated.content : await fetchText(fetchImpl, baseUrl, current);
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if (content === null) { missing.push(current); continue; }
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files[current] = content;
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fetched.push(current);
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for (const reference of resourceReferences(current, content)) {
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const candidate = reference.path;
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if (!inManifest(candidate)) {
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const generated = runtimeResourceKey(reference.key) ? generatedResource(candidate, reference.key) : null;
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if (generated) {
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if (!generatedResources.has(candidate)) {
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generatedResources.set(candidate, generated);
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files[candidate] = generated.content;
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fetched.push(candidate);
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runtimeFixtures.push({ case_path: catalog.path, resource_path: candidate, key: reference.key, kind: generated.kind, reason: generated.reason, data_hash: generated.data_hash });
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}
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} else if (isOptionalSourceKey(reference.key, reference.section)) {
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optionalMissing.push({ path: candidate, key: reference.key, section: reference.section ?? null, source: reference.source ?? current, reason: "LinuxCNC intro graphic is optional at startup" });
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} else missing.push(candidate);
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continue;
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}
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if (queued.has(candidate)) continue;
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queued.add(candidate);
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queue.push(candidate);
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}
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}
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// The XYZAC Vismach executable is the authoritative geometry contract for
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// the Web renderer. It is not referenced as a normal INI resource, so
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// resolve it explicitly and carry it through the Worker configuration for
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// source hashing and model provenance.
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const machine = machineDefinition(catalog.path);
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if (machine) {
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const programPath = machine.program;
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if (!(programPath in files)) {
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const content = await fetchText(fetchImpl, baseUrl, programPath);
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if (content === null) missing.push(programPath);
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else { files[programPath] = content; fetched.push(programPath); }
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}
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const visualSource = machine.source_path;
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if (!(visualSource in files)) {
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const content = await fetchText(fetchImpl, baseUrl, visualSource);
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if (content === null) missing.push(visualSource);
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else { files[visualSource] = content; fetched.push(visualSource); }
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}
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}
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const sourceIni = files[catalog.path];
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const fixture = RUNTIME_FIXTURES[catalog.path];
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if (fixture) {
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if (!inManifest(fixture.generated_hal)) missing.push(fixture.generated_hal);
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else if (!files[fixture.generated_hal]) {
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const generated = await fetchText(fetchImpl, baseUrl, fixture.generated_hal);
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if (generated === null) missing.push(fixture.generated_hal);
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else { files[fixture.generated_hal] = generated; fetched.push(fixture.generated_hal); }
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}
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const targetPath = Object.keys(files).find((path) => files[path].includes(fixture.replace));
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const original = targetPath ? files[targetPath] : null;
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if (original && files[fixture.generated_hal]) {
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files[targetPath] = original.replace(fixture.replace, fixture.with);
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runtimeFixtures.push({ case_path: catalog.path, config_path: targetPath, generated_hal: fixture.generated_hal, reason: fixture.reason });
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}
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}
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const unsigned = {
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schema: SIMULATION_CASE_SCHEMA,
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entrypoint: catalog.path,
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files,
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fetched: [...fetched].sort(),
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missing: [...new Set(missing)].sort(),
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optional_missing: [...new Map(optionalMissing.map((row) => [`${row.source}:${row.path}:${row.key}`, row])).values()].sort((left, right) => JSON.stringify(left).localeCompare(JSON.stringify(right))),
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runtime_fixtures: runtimeFixtures,
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};
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return {
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...clone(unsigned),
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source_ini: sourceIni,
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catalog,
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halManifest: [...new Set([...SIM_HAL_COMPONENTS, ...PRELOADED_HAL_COMPONENTS])].sort().map((component) => ({ component })),
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status: missing.length ? "blocked" : "ready",
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state_hash: fnv1a64(unsigned),
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};
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}
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export function toWorkerConfiguration(bundle) {
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if (!bundle || bundle.schema !== SIMULATION_CASE_SCHEMA) throw new Error("simulation_case_bundle_invalid");
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const kinematics = CASE_KINEMATICS[bundle.entrypoint] ? clone(CASE_KINEMATICS[bundle.entrypoint]) : null;
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if (machineDefinition(bundle.entrypoint)) kinematics.offsets = readTrtGeometry(bundle).offsets;
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return {
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entrypoint: bundle.entrypoint,
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files: clone(bundle.files),
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halManifest: clone(bundle.halManifest ?? []),
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state_hash: bundle.state_hash,
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optional_missing: clone(bundle.optional_missing ?? []),
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runtime_fixtures: clone(bundle.runtime_fixtures ?? []),
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...(bundle.entrypoint === "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini" ? { home_limits: { z: [-240, 100] } } : {}),
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...(machineDefinition(bundle.entrypoint) ? { home_limits: { joint_count: 5, kinematics_type: machineDefinition(bundle.entrypoint).kinematics_type, coordinates: machineDefinition(bundle.entrypoint).coordinates, ...machineDefinition(bundle.entrypoint).joint_limits } } : {}),
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...(kinematics ? { kinematics } : {}),
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};
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}
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export { CASE_KINEMATICS, PRELOADED_HAL_COMPONENTS, RESOURCE_KEYS, RUNTIME_FIXTURES };
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