86 lines
2.6 KiB
Markdown
86 lines
2.6 KiB
Markdown
# 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.
|