84 lines
4.3 KiB
JavaScript
84 lines
4.3 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 { fnv1a64 } from "./replay.mjs";
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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 wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
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const source = "G21 G90\nG0 X0 Y0 Z0\nG1 X40 Y20 F120\nG1 Z-2 F60\nG0 X0 Y0 Z0\nM2\n";
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async function create(id) {
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const core = await createModule({ wasmBinary });
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const session = new SimSession(core, { sessionId: id });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id };
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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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send("PROGRAM_LOAD", "program", { path: "checkpoint.ngc", source });
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send("PROGRAM_RUN", "run");
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return { session, send };
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}
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const continuous = await create("wasm-motion-checkpoint");
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const before = continuous.send("SIM_STEP", "before", { cycles: 3 });
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assert.ok(before.payload.wasm_motion.state.queue_depth > 0);
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const checkpoint = continuous.send("CHECKPOINT", "checkpoint").payload.checkpoint;
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assert.equal(checkpoint.state.wasm_motion.schema, "sim_motion_queue_state.v1");
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assert.equal(checkpoint.state.motion_authority, "wasm");
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assert.equal(checkpoint.state_hash, fnv1a64(checkpoint.state));
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continuous.send("SIM_STEP", "after", { cycles: 4 });
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const continuousState = continuous.session.workspacePackageState();
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const recovered = await create("wasm-motion-checkpoint");
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for (const method of ["syncProgram", "step", "applyMotion"]) {
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recovered.session.authoritative[method] = () => { throw new Error(`js_motion_authority_called:${method}`); };
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}
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const recovery = recovered.session.restoreCheckpoint(checkpoint, continuous.session.timeline.export(), (operation) => operation);
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assert.equal(recovery.status, "recovered");
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const recoveredState = recovered.session.workspacePackageState();
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assert.equal(fnv1a64(continuousState), fnv1a64(recoveredState));
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assert.equal(recoveredState.wasm_motion.state.queue_depth, continuousState.wasm_motion.state.queue_depth);
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assert.deepEqual(recoveredState.wasm_motion.state.position, continuousState.wasm_motion.state.position);
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const trace = continuous.session.exportTrace();
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const traced = await create("wasm-motion-checkpoint");
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const traceImport = traced.session.importTrace(trace);
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assert.equal(traceImport.status, "verified");
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assert.equal(traced.session.workspacePackageState().wasm_motion.state_hash, continuousState.wasm_motion.state_hash);
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assert.deepEqual(traced.session.workspacePackageState().wasm_motion.state.position, continuousState.wasm_motion.state.position);
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const damaged = structuredClone(checkpoint);
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damaged.state.wasm_motion.bytes = `${damaged.state.wasm_motion.bytes.startsWith("00") ? "ff" : "00"}${damaged.state.wasm_motion.bytes.slice(2)}`;
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damaged.state_hash = fnv1a64(damaged.state);
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const blocked = recovered.session.restoreCheckpoint(damaged, null, (operation) => operation);
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assert.equal(blocked.status, "blocked");
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console.log(JSON.stringify({
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schema: "wasm-motion-checkpoint-t3.v1",
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status: "verified",
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case: CASE,
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checkpoint_hash: checkpoint.checkpoint_hash,
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continuous_hash: fnv1a64(continuousState),
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recovered_hash: fnv1a64(recoveredState),
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endpoint_equal: fnv1a64(continuousState) === fnv1a64(recoveredState),
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trace_import: traceImport.status,
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checkpoint_queue_depth: checkpoint.state.wasm_motion.state.queue_depth,
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blocked_damaged_checkpoint: blocked.status,
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}));
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