Initial commit

tests/README.md

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+# WASM Regression Tests
+
+## How to run
+
+1. Build the business WASM module:
+
+```powershell
+npm run build
+```
+
+2. Run the regression suite:
+
+```powershell
+npm run test:wasm
+```
+
+3. Build and run in one step:
+
+```powershell
+npm test
+```
+
+The runner loads `public/wasm/smart_math.js`, calls `init_func`, then executes the business API through `func`.
+
+## Test program
+
+- Runner: `scripts/run_wasm_tests.js`
+- Entry exports used:
+  - `_init_func`
+  - `_func`
+  - `_smart_free_string`
+
+The runner is data-driven for stable request samples, and adds two dynamic FK/IK roundtrip cases so inverse kinematics is checked against forward kinematics instead of hard-coded pose strings.
+
+## Test data
+
+### Kinematics
+
+- `tests/testdata/kinematics/list_robots.json`
+  - Verifies the built-in robot initialization completed and at least two robots are available.
+- `tests/testdata/kinematics/forward_zero.json`
+  - Verifies TCP forward kinematics at zero joints.
+- `tests/testdata/kinematics/forward_all_joints_path.json`
+  - Verifies all-joint forward export for two frames.
+- `tests/testdata/kinematics/roundtrip_single_seed.json`
+  - Seed joints for FK -> IK -> FK single-pose regression.
+- `tests/testdata/kinematics/roundtrip_path_seed.json`
+  - Seed joints for two-pose path interpolation regression.
+
+### SPC
+
+- `tests/testdata/spc/basic_5x30.json`
+  - Canonical 150-point SPC sample.
+  - Uses the actual command name `Cmd_Spc`.
+
+### Four-bar / Crank slider
+
+- `tests/testdata/fourbar/crank_slider_valid.json`
+  - Normal calculation case.
+- `tests/testdata/fourbar/crank_slider_invalid.json`
+  - Invalid parameter case to verify validation and error return.
+
+### Quadruped robot
+
+- `tests/testdata/quadruped/calculate_points_from_motor_angles.json`
+  - Verifies reverse result export from motor angles.
+- `tests/testdata/quadruped/perform_forward_kinematics.json`
+  - Verifies gait trajectory generation with explicit gait/system parameters.
+
+## What is asserted
+
+- Top-level API success and required result fields.
+- Expected frame count / robot count / array length.
+- Four-bar validation errors for bad inputs.
+- SPC subgroup size and spec limits.
+- Quadruped result structure.
+- FK/IK roundtrip tolerances:
+  - single pose position tolerance: `0.002`
+  - single pose quaternion tolerance: `0.002`
+  - path endpoint position tolerance: `0.01`
+
+## Notes
+
+- The old ad-hoc files such as `spc_in.txt` and `WorkTest.json` are still useful as raw references, but the regression runner uses the normalized data under `tests/testdata`.
+- If you change URDF, robot naming, or quadruped default config, update the corresponding files under `tests/testdata` first.

tests/test_smart_json.cpp

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+#include "../src/smart_json_wrapper.h"
+#include <iostream>
+#include <string>
+
+void printSeparator()
+{
+    std::cout << "\n"
+              << std::string(60, '=') << "\n"
+              << std::endl;
+}
+
+void printTestResult(const std::string &testName, bool passed)
+{
+    std::cout << (passed ? "✅ " : "❌ ") << testName << std::endl;
+}
+
+void testFunctionRegistry()
+{
+    std::cout << "测试函数注册表..." << std::endl;
+
+    auto &registry = FunctionRegistry::instance();
+    auto functions = registry.getAllFunctions();
+
+    std::cout << "注册的函数数量: " << functions.size() << std::endl;
+    for (const auto &[name, func] : functions)
+    {
+        std::cout << "  - " << name << ": " << func->description << std::endl;
+    }
+
+    printTestResult("函数注册表测试", functions.size() > 0);
+}
+
+void testSmartJsonProcessor()
+{
+    std::cout << "测试智能JSON处理器..." << std::endl;
+
+    SmartJsonProcessor processor;
+
+    // 测试用例
+    std::vector<std::pair<std::string, std::string>> test_cases = {
+        {"标准参数名",
+         R"({
+                "req_code": "TEST_001",
+                "req_cmd": "add",
+                "a": 10,
+                "b": 20
+            })"},
+        {"别名参数名",
+         R"({
+                "req_code": "TEST_002",
+                "req_cmd": "add",
+                "num1": 30,
+                "num2": 40
+            })"},
+        {"不同大小写",
+         R"({
+                "req_code": "TEST_003",
+                "req_cmd": "ADD",
+                "First": 50,
+                "Second": 60
+            })"},
+        {"浮点数乘法",
+         R"({
+                "req_code": "TEST_004",
+                "req_cmd": "multiply",
+                "a": 2.5,
+                "b": 4.0
+            })"},
+        {"斐波那契",
+         R"({
+                "req_code": "TEST_005",
+                "req_cmd": "fibonacci",
+                "n": 10
+            })"}};
+
+    int passed_tests = 0;
+    for (const auto &[test_name, json_request] : test_cases)
+    {
+        try
+        {
+            auto response = processor.processRequest(json_request);
+            std::cout << "  " << test_name << ": ";
+            if (response.success)
+            {
+                std::cout << "✅ (耗时: " << response.execution_time << "ms)" << std::endl;
+                passed_tests++;
+            }
+            else
+            {
+                std::cout << "❌ 错误: " << response.msg << std::endl;
+            }
+        }
+        catch (const std::exception &e)
+        {
+            std::cout << "  " << test_name << ": ❌ 异常: " << e.what() << std::endl;
+        }
+    }
+
+    printTestResult("智能JSON处理器测试", passed_tests == test_cases.size());
+}
+
+void testFunctionInfo()
+{
+    std::cout << "测试函数信息查询..." << std::endl;
+
+    SmartJsonProcessor processor;
+
+    std::vector<std::string> functions_to_test = {"add", "multiply", "fibonacci", "unknown_function"};
+
+    int passed_tests = 0;
+    for (const auto &func_name : functions_to_test)
+    {
+        try
+        {
+            std::string info = processor.getFunctionInfo(func_name);
+            std::cout << "  " << func_name << ": ";
+            if (info.find("未找到") == std::string::npos)
+            {
+                std::cout << "✅" << std::endl;
+                passed_tests++;
+            }
+            else
+            {
+                std::cout << "❌ " << info << std::endl;
+            }
+        }
+        catch (const std::exception &e)
+        {
+            std::cout << "  " << func_name << ": ❌ 异常: " << e.what() << std::endl;
+        }
+    }
+
+    printTestResult("函数信息查询测试", passed_tests >= 3);
+}
+
+void testAvailableFunctions()
+{
+    std::cout << "测试可用函数列表..." << std::endl;
+
+    SmartJsonProcessor processor;
+    auto functions = processor.getAvailableFunctions();
+
+    std::cout << "可用函数:" << std::endl;
+    for (const auto &[name, func_info] : functions)
+    {
+        std::cout << "  - " << name << " (" << func_info->description << ")" << std::endl;
+        std::cout << "    参数: ";
+        for (const auto &param : func_info->params)
+        {
+            std::cout << param.name << "(" << param.getTypeName() << ") ";
+        }
+        std::cout << std::endl;
+    }
+
+    printTestResult("可用函数列表测试", !functions.empty());
+}
+
+int main()
+{
+    std::cout << "\n";
+    std::cout << "=========================================" << std::endl;
+    std::cout << "    Smart WASM JSON API 测试套件        " << std::endl;
+    std::cout << "=========================================" << std::endl;
+
+    try
+    {
+        testFunctionRegistry();
+        printSeparator();
+
+        testSmartJsonProcessor();
+        printSeparator();
+
+        testFunctionInfo();
+        printSeparator();
+
+        testAvailableFunctions();
+        printSeparator();
+
+        std::cout << "\n🎉 所有测试完成!" << std::endl;
+    }
+    catch (const std::exception &e)
+    {
+        std::cerr << "\n❌ 测试过程中发生异常: " << e.what() << std::endl;
+        return 1;
+    }
+
+    return 0;
+}

tests/testdata/fourbar/crank_slider_invalid.json

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+{
+  "msg": "fourbar invalid",
+  "req_code": "CASE_FB_002",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_FourBar_CrankSlider",
+  "req_param": {
+    "L_AB": 0.0,
+    "L_BS": 0.2,
+    "S_OFS": 0.5,
+    "angleDeg": 30.0
+  }
+}

tests/testdata/fourbar/crank_slider_valid.json

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+{
+  "msg": "fourbar valid",
+  "req_code": "CASE_FB_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_FourBar_CrankSlider",
+  "req_param": {
+    "L_AB": 0.5,
+    "L_BS": 2.0,
+    "S_OFS": 0.0,
+    "angleDeg": 45.0
+  }
+}

tests/testdata/kinematics/forward_all_joints_path.json

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+{
+  "msg": "fk all joints path",
+  "req_code": "CASE_FK_ALL_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_Kinematics_forward_all_joints",
+  "req_param": {
+    "robot_uuid": "abb_irb120_3_58",
+    "joints_str": "0,0,0,0,0,0;0.15,-0.25,0.35,0.10,-0.20,0.30"
+  }
+}

tests/testdata/kinematics/forward_zero.json

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+{
+  "msg": "fk zero pose",
+  "req_code": "CASE_FK_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_Kinematics_forward_pose_str",
+  "req_param": {
+    "robot_uuid": "abb_irb120_3_58",
+    "q_init_str": "0,0,0,0,0,0"
+  }
+}

tests/testdata/kinematics/list_robots.json

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+{
+  "msg": "list robots after init",
+  "req_code": "CASE_LIST_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_ListRobots",
+  "req_param": {
+    "detail": true
+  }
+}

tests/testdata/kinematics/roundtrip_path_seed.json

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+{
+  "robot_uuid": "abb_irb120_3_58",
+  "q_init_str": "0,0,0,0,0,0",
+  "start_joints": [0.00, 0.00, 0.00, 0.00, 0.00, 0.00],
+  "end_joints": [0.20, -0.20, 0.30, 0.10, -0.10, 0.20],
+  "steps": 12,
+  "position_tolerance": 0.01
+}

tests/testdata/kinematics/roundtrip_single_seed.json

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+{
+  "robot_uuid": "abb_irb120_3_58",
+  "q_init_str": "0,0,0,0,0,0",
+  "target_joints": [0.15, -0.25, 0.35, 0.10, -0.20, 0.30],
+  "position_tolerance": 0.002,
+  "orientation_tolerance": 0.002
+}

tests/testdata/quadruped/calculate_points_from_motor_angles.json

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+{
+  "msg": "quadruped points from motor angles",
+  "req_code": "CASE_QP_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
+  "req_param": {
+    "Param": {
+      "LF": {
+        "thigh_angle_deg": -37.4784578338516,
+        "shank_angle_deg": -22.4917532451628,
+        "ankle_angle_deg": 0.0
+      },
+      "LH": {
+        "thigh_angle_deg": -34.0564623655754,
+        "shank_angle_deg": -22.1353106546916,
+        "ankle_angle_deg": 0.0
+      },
+      "RF": {
+        "thigh_angle_deg": 34.0564623655754,
+        "shank_angle_deg": 22.1353106546916,
+        "ankle_angle_deg": 0.0
+      },
+      "RH": {
+        "thigh_angle_deg": 37.4784578338516,
+        "shank_angle_deg": 22.4917532451628,
+        "ankle_angle_deg": 0.0
+      }
+    }
+  }
+}

tests/testdata/quadruped/perform_forward_kinematics.json

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+{
+  "msg": "quadruped forward gait",
+  "req_code": "CASE_QP_002",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_QuadrupedRobot_PerformForwardKinematics",
+  "req_param": {
+    "GaitInfo": {
+      "GaitType": "trot",
+      "Period": 0.8,
+      "Frequency": 50.0,
+      "StepTime": 0.02,
+      "SupportTime": 0.4,
+      "SwingTime": 0.4,
+      "SupportRatio": 0.5,
+      "SwingRatio": 0.5,
+      "TotalFrames": 40,
+      "TotalTime": 0.8
+    },
+    "SystemParameters": {
+      "A_x": 0.0,
+      "A_y": 500.0,
+      "L10": 300.0,
+      "L20": 286.0,
+      "L30": 55.0,
+      "StepLength": 60.0,
+      "StepHeight": 50.0,
+      "X": 30.0,
+      "DeltaX": 0.0,
+      "L21": 70.0,
+      "L22": 292.0,
+      "L23": 80.0,
+      "Beta1": 166.0,
+      "BB2_BC_Angle": 3.3859387489,
+      "C1_B_Length": 107.0,
+      "CC1": 179.0,
+      "L31": 32.0,
+      "C2C3_Length": 32.0,
+      "Lead": 10.0,
+      "D1_L_Offset": 90.0,
+      "D2_L_Offset": 50.0,
+      "C4_D2_Offset": 18.0,
+      "ThighMotorReduction": 1.0,
+      "ShankMotorReduction": 1.0,
+      "AnkleMotorReduction": 1.0
+    }
+  }
+}

tests/testdata/spc/basic_5x30.json

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+{
+  "msg": "spc basic 5x30",
+  "req_code": "CASE_SPC_001",
+  "req_from": "wasm_test",
+  "req_cmd": "Cmd_Spc",
+  "req_param": {
+    "n": 5,
+    "k": 30,
+    "usl": 1.7,
+    "lsl": 1.5,
+    "x": [
+      1.55, 1.58, 1.61, 1.6, 1.6,
+      1.58, 1.63, 1.63, 1.62, 1.63,
+      1.62, 1.63, 1.62, 1.59, 1.58,
+      1.58, 1.6, 1.61, 1.62, 1.63,
+      1.58, 1.64, 1.63, 1.62, 1.62,
+      1.62, 1.62, 1.63, 1.61, 1.57,
+      1.64, 1.62, 1.61, 1.6, 1.58,
+      1.57, 1.59, 1.61, 1.62, 1.63,
+      1.58, 1.61, 1.6, 1.62, 1.63,
+      1.6, 1.61, 1.64, 1.64, 1.63,
+      1.58, 1.6, 1.62, 1.63, 1.65,
+      1.62, 1.58, 1.59, 1.57, 1.58,
+      1.57, 1.57, 1.58, 1.59, 1.64,
+      1.61, 1.64, 1.62, 1.6, 1.59,
+      1.65, 1.62, 1.62, 1.6, 1.58,
+      1.57, 1.59, 1.57, 1.59, 1.62,
+      1.56, 1.57, 1.57, 1.61, 1.62,
+      1.56, 1.58, 1.59, 1.6, 1.62,
+      1.58, 1.6, 1.6, 1.62, 1.63,
+      1.58, 1.59, 1.6, 1.63, 1.62,
+      1.58, 1.59, 1.62, 1.63, 1.64,
+      1.58, 1.59, 1.62, 1.63, 1.61,
+      1.58, 1.59, 1.6, 1.61, 1.63,
+      1.57, 1.59, 1.61, 1.61, 1.62,
+      1.58, 1.58, 1.6, 1.61, 1.63,
+      1.62, 1.58, 1.58, 1.58, 1.57,
+      1.63, 1.59, 1.57, 1.58, 1.57,
+      1.58, 1.62, 1.61, 1.63, 1.61,
+      1.58, 1.57, 1.59, 1.6, 1.62,
+      1.62, 1.6, 1.6, 1.57, 1.57
+    ]
+  }
+}