smart_wasm/tests

WASM Regression Tests

How to run

1. Build the business WASM module:

npm run build

2. Run the regression suite:

npm run test:wasm

3. Build and run in one step:

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.