69 lines
3.6 KiB
JavaScript
69 lines
3.6 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/3axis-tutorial/3axis-tutorial.ini";
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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: 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 SimSession(core, { sessionId: "wasm-canonical-state" });
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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 = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, 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.motion_authority, "wasm");
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assert.equal(loaded.payload.task_authority, "wasm_task_canonical");
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assert.equal(loaded.payload.wasm_home_limit.state.source, "wasm_home_limit");
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const taskBefore = session.task.export();
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session.task.state.state = "FAULT";
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const canonicalSnapshot = send("SNAPSHOT_REQUEST", "canonical-snapshot");
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assert.equal(canonicalSnapshot.payload.task.state, taskBefore.state);
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assert.equal(canonicalSnapshot.payload.task.mode, taskBefore.mode);
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assert.equal(canonicalSnapshot.payload.task.program_status, taskBefore.program_status);
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assert.equal(canonicalSnapshot.payload.task_authority, "wasm_task_canonical");
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const home = send("HOME", "home-z", { axis: "z" });
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assert.equal(home.payload.wasm_home_limit.state.source, "wasm_home_limit");
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assert.equal(home.payload.wasm_home_limit.state.homed, true);
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assert.equal(home.payload.wasm_home_limit.state.home_sequence, 5);
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assert.equal(home.payload.wasm_home_limit.state.last_error, 0);
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send("HOME", "home-x", { axis: "x" });
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send("HOME", "home-y", { axis: "y" });
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send("JOG_START", "jog", { axis: "x", direction: 1, speed: 2 });
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const stepped = send("SIM_STEP", "jog-step", { cycles: 3 });
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assert.equal(stepped.payload.task_authority, "wasm_task_canonical");
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assert.equal(stepped.payload.wasm_home_limit.state.source, "wasm_home_limit");
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assert.ok(stepped.payload.wasm_home_limit.state.tick > home.payload.wasm_home_limit.state.tick);
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assert.deepEqual(stepped.payload.motion.axes, { x: stepped.payload.motion.joints[0], y: stepped.payload.motion.joints[1], z: stepped.payload.motion.joints[2] });
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const limit = send("LIMIT_SET", "limit", { axis: "x", active: true });
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assert.equal(limit.payload.wasm_home_limit.state.source, "wasm_home_limit");
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console.log(JSON.stringify({
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schema: "wasm-canonical-state-t4.v1",
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status: "verified",
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case: CASE,
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task_authority: loaded.payload.task_authority,
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home_authority: loaded.payload.wasm_home_limit.state.source,
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home_sequence: home.payload.wasm_home_limit.state.home_sequence,
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home_tick: home.payload.wasm_home_limit.state.tick,
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motion_tick: stepped.payload.motion.tick,
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home_limit_tick: stepped.payload.wasm_home_limit.state.tick,
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js_task_tamper_ignored: canonicalSnapshot.payload.task.state === taskBefore.state,
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}));
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