接入 LinuxCNC TP 运行反馈

wasm-port/tests/wasm/node/verify_tp_wasm.mjs

@@ -80,4 +80,84 @@ try {
   tp._lctp_free_string(resultPtr);
 }
 
+function allocCString(mod, value) {
+  const bytes = mod.lengthBytesUTF8(value) + 1;
+  const ptr = mod._malloc(bytes);
+  mod.stringToUTF8(value, ptr, bytes);
+  return ptr;
+}
+
+const timingPayload = JSON.stringify({
+  cycleTime: 0.001,
+  maxVelocity: 10,
+  maxAcceleration: 50,
+  maxJerk: 100,
+  queueSize: 8,
+  motion: [
+    { line: 2, type: "STRAIGHT_TRAVERSE", x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, feedRate: 0 },
+    { line: 3, type: "STRAIGHT_FEED", x: 1, y: 0, z: 0, a: 0, b: 0, c: 0, feedRate: 60 },
+    { line: 4, type: "STRAIGHT_FEED", x: 1, y: 1, z: 0, a: 0, b: 0, c: 0, feedRate: 60 },
+  ],
+});
+const timingInputPtr = allocCString(tp, timingPayload);
+const timingResultPtr = tp._lctp_run_canonical_motion_timing(timingInputPtr);
+assert.notEqual(timingResultPtr, 0);
+try {
+  const timing = JSON.parse(tp.UTF8ToString(timingResultPtr));
+  assert.equal(timing.ok, true);
+  assert.equal(timing.semanticBoundary, "linuxcnc_tp_queue_runtime_timing_from_canonical_motion");
+  assert.equal(timing.motionCount, 3);
+  assert.equal(timing.addFailures, 0);
+  assert.equal(timing.emittedMotionCount, 3);
+  assert.equal(timing.segments[0].zeroLength, true);
+  assert.equal(timing.segments[0].durationSeconds, 0);
+  assert.equal(timing.totalSeconds > 0, true);
+  assert.equal(timing.tpDone, 1);
+} finally {
+  tp._lctp_free_string(timingResultPtr);
+  tp._free(timingInputPtr);
+}
+
+const arcPayload = JSON.stringify({
+  cycleTime: 0.001,
+  maxVelocity: 10,
+  maxAcceleration: 50,
+  maxJerk: 100,
+  queueSize: 8,
+  motion: [
+    { line: 2, type: "STRAIGHT_TRAVERSE", x: 1, y: 0, z: 0, a: 0, b: 0, c: 0, feedRate: 0 },
+    {
+      line: 3,
+      type: "ARC_FEED",
+      x: 0,
+      y: 1,
+      z: 0,
+      a: 0,
+      b: 0,
+      c: 0,
+      feedRate: 60,
+      plane: 170,
+      centerFirst: 0,
+      centerSecond: 0,
+      rotation: -1,
+      axisEndPoint: 0,
+    },
+  ],
+});
+const arcInputPtr = allocCString(tp, arcPayload);
+const arcResultPtr = tp._lctp_run_canonical_motion_timing(arcInputPtr);
+assert.notEqual(arcResultPtr, 0);
+try {
+  const timing = JSON.parse(tp.UTF8ToString(arcResultPtr));
+  assert.equal(timing.ok, true);
+  assert.equal(timing.addFailures, 0);
+  assert.equal(timing.emittedMotionCount, 2);
+  assert.equal(timing.segments[1].type, "ARC_FEED");
+  assert.equal(timing.segments[1].durationSeconds > 1.4, true);
+  assert.equal(timing.tpDone, 1);
+} finally {
+  tp._lctp_free_string(arcResultPtr);
+  tp._free(arcInputPtr);
+}
+
 console.log("tp_wasm_node_smoke=ok");