75 lines
4.3 KiB
JavaScript
75 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 { 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) => {
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try {
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const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url));
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return { ok: true, text: async () => body.toString("utf8") };
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} catch {
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return { ok: false, text: async () => "" };
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}
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};
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const bundle = await loadSimulationCase({ path: CASE, fetchImpl });
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assert.equal(bundle.status, "ready");
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const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
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const core = await createModule({ wasmBinary });
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function open(sessionId) {
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const session = new XyzacSession(core, { sessionId });
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const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: sessionId };
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let seq = 0;
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const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `${sessionId}-${seq}`, payload });
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assert.equal(send("HELLO").kind, "CAPABILITIES");
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assert.equal(send("SESSION_ATTACH").kind, "SESSION_READY");
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assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified");
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assert.equal(send("POWER", { active: true }).payload.status, "verified");
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return { session, send };
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}
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const partial = open("xyzac-home-axis-source");
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for (const [axis, joint] of [["x", 0], ["y", 1], ["z", 2], ["a", 3], ["c", 4]]) {
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const response = partial.send("HOME", { axis, joint });
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assert.equal(response.kind, "COMMAND_RESULT", `${axis}: ${JSON.stringify(response.payload)}`);
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assert.deepEqual(response.payload.homing, {
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phase: "complete", target: "joint", source_axis: axis, joint,
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motion_mode_before: "TELEOP", motion_mode_during: "FREE", motion_mode_after: "TELEOP",
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});
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assert.equal(response.payload.wasm_home_limit.state.homed_mask, (1 << (joint + 1)) - 1);
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}
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assert.equal(partial.send("HOME", { axis: "x", joint: 1 }).payload.message_key, "home_axis_joint_mismatch");
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assert.equal(partial.session.wasmHomeLimit.read().state.homed_mask, 31);
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const all = open("xyzac-home-all-source");
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assert.equal(all.send("HOME", { all: true }).payload.wasm_home_limit.state.homed, true);
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const move = all.send("MDI_EXECUTE", { block: "G21 G90 G0 X10 Y5 Z20 A30 C45" });
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assert.equal(move.kind, "COMMAND_RESULT");
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for (let tick = 0; tick < 20000 && all.session.wasmMotion.read().state.queue_depth > 0; tick += 1) all.send("SIM_STEP", { cycles: 1 });
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assert.ok(Math.abs(all.session.wasmMotion.read().state.position.x - 10) < 1e-8);
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const rehome = all.send("HOME", { all: true });
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assert.equal(rehome.kind, "COMMAND_RESULT");
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assert.equal(rehome.payload.homing.phase, "moving");
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assert.notDeepEqual(rehome.payload.panel_snapshot.visual.pose, { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 });
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for (let tick = 0; tick < 2000 && all.session.wasmMotion.read().state.queue_depth > 0; tick += 1) all.send("SIM_STEP", { cycles: 1 });
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const completed = all.send("SNAPSHOT_REQUEST");
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assert.deepEqual(completed.payload.panel_snapshot.visual.pose, { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 });
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assert.deepEqual(completed.payload.wasm_home_limit.state.joints, [0, 0, 0, 0, 0]);
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assert.ok(completed.payload.wasm_home_limit.state.home_sequence > rehome.payload.wasm_home_limit.state.home_sequence);
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const running = open("xyzac-home-gate-source");
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assert.equal(running.send("PROGRAM_LOAD", { source: "G21 G90\nG1 X10 F60\nM2\n", path: "home-gate.ngc" }).kind, "COMMAND_RESULT");
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assert.equal(running.send("HOME", { all: true }).kind, "COMMAND_RESULT");
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assert.equal(running.send("PROGRAM_RUN").kind, "COMMAND_RESULT");
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assert.equal(running.send("HOME", { axis: "x", joint: 0 }).payload.gate_reason, "xyzac_interp_running");
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console.log(JSON.stringify({
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schema: "xyzac-home-source-flow.v1",
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status: "verified",
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source: ["axis.py:home_all_joints", "axis.py:home_joint", "axis.py:go_home", "axis.tcl:update_state"],
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checks: ["axis_to_joint_map", "free_joint_transaction", "pose_sync", "invalid_pair_rejection", "running_gate"],
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}));
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