21 lines
2.0 KiB
JavaScript
21 lines
2.0 KiB
JavaScript
import assert from "node:assert/strict";
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import { axisState, AXIS_STATES, LINUXCNC_STATE_CONSTANTS, validateAxisTransition } from "./axis-state.mjs";
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assert.deepEqual(AXIS_STATES, ["ESTOP", "ESTOP_RESET", "OFF", "ON", "HOME", "IDLE", "RUNNING", "PAUSED"]);
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assert.deepEqual(LINUXCNC_STATE_CONSTANTS, { STATE_ESTOP: 1, STATE_ESTOP_RESET: 2, STATE_OFF: 3, STATE_ON: 4, MODE_MANUAL: 1, MODE_AUTO: 2, MODE_MDI: 3, INTERP_IDLE: 1, INTERP_READING: 2, INTERP_PAUSED: 3, INTERP_WAITING: 4 });
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assert.equal(axisState({ task: { state: "NEW" }, action: "SESSION_ATTACH" }).state, "OFF");
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assert.deepEqual(axisState({ task: { state: "ESTOP" }, action: "ESTOP", payload: { active: true } }).state, "ESTOP");
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assert.deepEqual(axisState({ task: { state: "ESTOP" }, action: "ESTOP", payload: { active: false } }).state, "ESTOP_RESET");
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assert.equal(axisState({ task: { state: "READY" }, action: "HOME" }).state, "HOME");
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assert.equal(axisState({ task: { state: "RUNNING" }, program: { program_status: "running" }, action: "SIM_STEP" }).state, "RUNNING");
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assert.equal(axisState({ task: { state: "PAUSED" }, program: { program_status: "paused" }, action: "PROGRAM_PAUSE" }).state, "PAUSED");
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assert.equal(axisState({ task: { state: "READY" }, program: { program_status: "idle" }, action: "IO_RECOVER" }).state, "IDLE");
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assert.equal(axisState({ task: { state: "RUNNING", mode: "AUTO" }, program: { program_status: "running" } }).source_interp_state, "INTERP_READING");
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assert.equal(axisState({ task: { state: "PAUSED", mode: "AUTO" }, program: { program_status: "paused" } }).source_interp_state, "INTERP_PAUSED");
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assert.equal(validateAxisTransition("ESTOP", "ESTOP_RESET").status, "accepted");
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assert.equal(validateAxisTransition("ESTOP_RESET", "ON").status, "accepted");
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assert.equal(validateAxisTransition("ON", "RUNNING").status, "accepted");
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assert.equal(validateAxisTransition("RUNNING", "HOME").status, "blocked");
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console.log(JSON.stringify({ schema: "axis-state-v1-sample", status: "verified", states: AXIS_STATES, cases: ["ESTOP", "ESTOP_RESET", "OFF", "ON", "HOME", "IDLE", "RUNNING", "PAUSED"] }));
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