63 lines
4.5 KiB
JavaScript
63 lines
4.5 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 { XyzacSession, CONTEXT_ID } from "./xyzac-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) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } };
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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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 XyzacSession(core, { sessionId: "xyzac-workflow" });
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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"); send("SESSION_ATTACH", "attach");
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assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
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assert.equal(send("POWER", "power-on", { active: true }).payload.status, "verified");
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assert.equal(send("HOME", "home-all", { all: true }).payload.wasm_home_limit.state.homed, true);
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const source = "G21 G90\nG0 X10 Y5 Z200 A30 C45\nG1 X20 Y10 Z180 A35 C50 F100\nG1 X30 Y15 Z160 A40 C55 F100\nM2\n";
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const loaded = send("PROGRAM_LOAD", "program-load", { source, path: "workflow.ngc" });
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assert.equal(loaded.kind, "COMMAND_RESULT");
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const runWithout = send("PROGRAM_RUN", "run");
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assert.equal(runWithout.payload.task.state, "RUNNING");
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const first = send("SIM_STEP", "step-1", { cycles: 1 });
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assert.equal(first.payload.motion_authority, "wasm");
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const tickAfterFirst = first.simulation_tick;
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const paused = send("PROGRAM_PAUSE", "pause");
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assert.equal(paused.payload.task.state, "PAUSED");
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const cursorPaused = paused.payload.program.current_line;
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const pausedSnapshot = send("SNAPSHOT_REQUEST", "paused-snapshot");
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assert.equal(pausedSnapshot.payload.task.state, "PAUSED");
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assert.equal(pausedSnapshot.payload.panel_snapshot.program.current_line, cursorPaused);
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const pausedPoll = send("SIM_STEP", "paused-poll", { cycles: 5, response: "motion_delta" });
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assert.equal(pausedPoll.payload.task.state, "PAUSED");
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assert.equal(pausedPoll.payload.program.program_status, "paused");
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const resumed = send("PROGRAM_RESUME", "resume");
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assert.equal(resumed.payload.task.state, "RUNNING");
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const second = send("SIM_STEP", "step-2", { cycles: 1 });
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assert.ok(second.simulation_tick > tickAfterFirst);
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const activeBeforeAbort = second.payload.wasm_motion.state.active_id;
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const aborted = send("PROGRAM_ABORT", "abort");
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assert.equal(aborted.payload.task.state, "STOPPED");
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assert.equal(aborted.payload.panel_snapshot.wasm_motion.state.queue_depth, 0);
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assert.equal(aborted.payload.panel_snapshot.wasm_motion.state.active_id, 0);
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const restart = send("PROGRAM_RESTART", "restart");
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assert.equal(restart.payload.task.program_status, "loaded");
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assert.equal(restart.payload.program.path, "workflow.ngc");
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assert.equal(restart.payload.program.source_hash, loaded.payload.program.source_hash);
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const seek = send("PROGRAM_SEEK", "seek-line", { line: 3 });
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assert.equal(seek.payload.task.program_status, "paused");
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assert.equal(seek.payload.program.current_line, 3);
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const runLine = send("PROGRAM_RESUME", "run-from-line");
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assert.equal(runLine.payload.task.state, "RUNNING");
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const lineStep = send("SIM_STEP", "run-line-step", { cycles: 1 });
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assert.equal(lineStep.payload.motion_authority, "wasm");
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const checkpoint = send("CHECKPOINT", "checkpoint");
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assert.equal(checkpoint.kind, "CHECKPOINT_READY");
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const recovered = send("RECOVER", "recover", { checkpoint: checkpoint.payload.checkpoint });
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assert.equal(recovered.payload.status, "recovered");
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assert.equal(recovered.payload.state.program.source_text, source);
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assert.equal(session.ledger.reconcile("step-1").status, "committed");
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console.log(JSON.stringify({ schema: "xyzac-workflow-rtcp-05.v1", status: "verified", case: CASE, tick_after_first: tickAfterFirst, active_before_abort: activeBeforeAbort, pause_cursor: cursorPaused, restart_source_hash: restart.payload.program.source_hash, run_from_line: lineStep.payload.program.current_line, recovery: recovered.payload.status, final_state_hash: lineStep.payload.panel_snapshot.state_hash }));
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