继续完成 web-rtcp-5axis-sim-plan
结论：完成 LinuxCNC kinematics WASM ABI 覆盖，并将 web-rtcp-5axis-sim-plan 的 RTCP frame/boundary adapter 接到 xyzac-trt kinematics SDK；Node、build、browser smoke 验证通过。
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230
wasm-port/tests/wasm/node/verify_kinematics_wasm.mjs
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230
wasm-port/tests/wasm/node/verify_kinematics_wasm.mjs
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import { readFileSync } from "node:fs";
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import { fileURLToPath } from "node:url";
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import { dirname, resolve } from "node:path";
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import assert from "node:assert/strict";
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import {
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createLinuxCncKinematicsSdk,
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linuxCncKinematicsWasmFile,
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supportedLinuxCncKinematicsModules,
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} from "../../../runtime/sdk/src/index.js";
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const EXPECTED_MODULES = [
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"trivkins",
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"5axiskins",
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"xyzac-trt",
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"xyzbc-trt",
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"corexy",
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"rotate",
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"rose",
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"max",
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"lineardelta",
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"rotarydelta",
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"scorbot",
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"tripod",
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"scara",
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"puma",
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"genser",
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"genhex",
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"pentakins",
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];
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const EXPECTED_META = {
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trivkins: { type: 1, switchable: 0 },
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"5axiskins": { type: 4, switchable: 1 },
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"xyzac-trt": { type: 4, switchable: 1 },
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"xyzbc-trt": { type: 4, switchable: 1 },
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corexy: { type: 4, switchable: 0 },
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rotate: { type: 4, switchable: 0 },
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rose: { type: 4, switchable: 0 },
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max: { type: 4, switchable: 0 },
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lineardelta: { type: 4, switchable: 0 },
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rotarydelta: { type: 4, switchable: 0 },
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scorbot: { type: 4, switchable: 0 },
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tripod: { type: 4, switchable: 0 },
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scara: { type: 4, switchable: 1 },
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puma: { type: 4, switchable: 1 },
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genser: { type: 4, switchable: 1 },
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genhex: { type: 4, switchable: 1 },
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pentakins: { type: 4, switchable: 0 },
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};
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function near(actual, expected, tolerance = 1e-7) {
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return Math.abs(actual - expected) < tolerance;
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}
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function assertNear(actual, expected, label, tolerance = 1e-7) {
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assert.equal(near(actual, expected, tolerance), true, `${label}: ${actual} != ${expected}`);
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}
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function assertArrayNear(actual, expected, label, tolerance = 1e-7) {
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assert.equal(actual.length >= expected.length, true, `${label}: missing values`);
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expected.forEach((value, index) => assertNear(actual[index], value, `${label}[${index}]`, tolerance));
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}
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function assertPoseNear(actual, expected, label, tolerance = 1e-7) {
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for (const key of ["x", "y", "z", "a", "b", "c", "u", "v", "w"]) {
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assertNear(actual[key] ?? 0, expected[key] ?? 0, `${label}.${key}`, tolerance);
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}
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}
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function assertProbeBasics(moduleId, probe) {
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assert.equal(probe.includes("kinematics_init=0"), true, `${moduleId}: init probe`);
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assert.equal(
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probe.includes(`kinematics_type=${EXPECTED_META[moduleId].type}`),
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true,
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`${moduleId}: type probe`,
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);
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assert.equal(
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probe.includes(`kinematics_switchable=${EXPECTED_META[moduleId].switchable}`),
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true,
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`${moduleId}: switchable probe`,
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);
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}
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function assertSwitchIdentity(kins, moduleId, joints, expectedPose) {
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assert.equal(kins.switchKinematics(1), 0, `${moduleId}: switch identity`);
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const identity = kins.forward(joints);
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assert.equal(identity.rc, 0, `${moduleId}: identity forward`);
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assertPoseNear(identity.pose, expectedPose, `${moduleId}: identity pose`);
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}
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function assertJointRoundtrip(kins, moduleId, joints, jointCount = joints.length, tolerance = 1e-7) {
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if (kins.switchable()) {
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assert.equal(kins.switchKinematics(0), 0, `${moduleId}: switch primary`);
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}
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const forward = kins.forward(joints);
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assert.equal(forward.rc, 0, `${moduleId}: forward`);
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const inverse = kins.inverse(forward.pose, jointCount, { seedJoints: joints });
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assert.equal(inverse.rc, 0, `${moduleId}: inverse`);
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assertArrayNear(inverse.joints, joints.slice(0, jointCount), `${moduleId}: joints`, tolerance);
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}
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function assertPoseRoundtrip(kins, moduleId, pose, jointCount, options = {}) {
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if (kins.switchable()) {
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assert.equal(kins.switchKinematics(0), 0, `${moduleId}: switch primary`);
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}
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const inverse = kins.inverse(pose, jointCount, options.inverseOptions ?? {});
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assert.equal(inverse.rc, 0, `${moduleId}: inverse`);
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if (options.warmupForward) {
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kins.forward(inverse.joints, { seedPose: pose });
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}
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const forward = kins.forward(inverse.joints, { seedPose: pose });
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assert.equal(forward.rc, 0, `${moduleId}: forward`);
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assertPoseNear(forward.pose, pose, `${moduleId}: pose`, options.tolerance ?? 1e-7);
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return { inverse, forward };
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}
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const __filename = fileURLToPath(import.meta.url);
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const __dirname = dirname(__filename);
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const rootDir = resolve(__dirname, "../../..");
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assert.deepEqual(supportedLinuxCncKinematicsModules(), EXPECTED_MODULES);
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for (const moduleId of supportedLinuxCncKinematicsModules()) {
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const wasmFile = linuxCncKinematicsWasmFile(moduleId);
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const wasmPath = resolve(rootDir, "build/wasm/kinematics", wasmFile);
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const kins = await createLinuxCncKinematicsSdk({
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moduleId,
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moduleOptions: {
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wasmBinary: readFileSync(wasmPath),
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print() {},
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printErr(message) {
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console.error(`[${moduleId}] ${message}`);
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},
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},
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});
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assert.equal(kins.apiName, "linuxcnc-kinematics-wasm-sdk");
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assert.equal(kins.wasmFile, wasmFile);
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for (const functionName of ["lckins_forward", "lckins_inverse", "lckins_run_probe"]) {
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assert.equal(kins.hasWasmFunction(functionName), true, `${moduleId}: ${functionName}`);
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}
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assert.equal(kins.type(), EXPECTED_META[moduleId].type, `${moduleId}: type`);
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assert.equal(kins.switchable(), EXPECTED_META[moduleId].switchable, `${moduleId}: switchable`);
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assertProbeBasics(moduleId, kins.runProbe());
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switch (moduleId) {
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case "trivkins":
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assertJointRoundtrip(kins, moduleId, [1, 2, 3, 4, 5, 6, 7, 8, 9], 9);
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break;
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case "5axiskins":
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assertJointRoundtrip(kins, moduleId, [10, 20, 30, 45, 30, 5], 6);
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assertSwitchIdentity(kins, moduleId, [10, 20, 30, 45, 30, 5], { x: 10, y: 20, z: 30, b: 45, c: 30, w: 5 });
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break;
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case "xyzac-trt":
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assertJointRoundtrip(kins, moduleId, [10, 20, 30, 25, 40], 5);
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assertSwitchIdentity(kins, moduleId, [10, 20, 30, 25, 40], { x: 10, y: 20, z: 30, a: 25, c: 40 });
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break;
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case "xyzbc-trt":
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assertJointRoundtrip(kins, moduleId, [10, 20, 30, 35, 40], 5);
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assertSwitchIdentity(kins, moduleId, [10, 20, 30, 35, 40], { x: 10, y: 20, z: 30, b: 35, c: 40 });
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break;
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case "corexy":
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assertJointRoundtrip(kins, moduleId, [12, 4, 3, 4, 5, 6, 7, 8, 9], 9);
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break;
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case "rotate":
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assertJointRoundtrip(kins, moduleId, [10, 20, 30, 4, 5, 30, 7, 8, 9], 9);
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break;
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case "rose":
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assertJointRoundtrip(kins, moduleId, [12, 5, 30], 3);
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break;
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case "max":
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assertJointRoundtrip(kins, moduleId, [10, 20, 30, 4, 0, 25, 0, 0, 3.5], 9);
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break;
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case "lineardelta":
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assertPoseRoundtrip(kins, moduleId, { x: 10, y: 20, z: -30, a: 1, b: 2, c: 3, u: 4, v: 5, w: 6 }, 9);
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break;
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case "rotarydelta":
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assertPoseRoundtrip(kins, moduleId, { x: 0, y: 0, z: -12, a: 1, b: 2, c: 3, u: 4, v: 5, w: 6 }, 9);
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break;
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case "scorbot": {
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const forward = kins.forward([25, 20, 10, 4, 5]);
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assert.equal(forward.rc, 0, `${moduleId}: forward`);
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const inverse = kins.inverse(forward.pose, 5);
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assert.equal(inverse.rc, 0, `${moduleId}: inverse`);
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const roundtrip = kins.forward(inverse.joints);
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assert.equal(roundtrip.rc, 0, `${moduleId}: roundtrip forward`);
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assertPoseNear(roundtrip.pose, forward.pose, `${moduleId}: pose`);
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break;
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}
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case "tripod":
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assertPoseRoundtrip(kins, moduleId, { x: 0.25, y: 0.25, z: 0.5 }, 3);
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break;
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case "scara":
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assertJointRoundtrip(kins, moduleId, [20, 110, 30, 15, 4, 5], 6);
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assertSwitchIdentity(kins, moduleId, [20, 110, 30, 15, 4, 5], { x: 20, y: 110, z: 30, a: 15, b: 4, c: 5 });
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break;
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case "puma": {
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if (kins.switchable()) {
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assert.equal(kins.switchKinematics(0), 0, `${moduleId}: switch primary`);
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}
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const forward = kins.forward([20, -30, 40, 15, 35, -25]);
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assert.equal(forward.rc, 0, `${moduleId}: forward`);
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const inverse = kins.inverse(forward.pose, 6);
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assert.equal(inverse.rc, 0, `${moduleId}: inverse`);
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const roundtrip = kins.forward(inverse.joints);
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assert.equal(roundtrip.rc, 0, `${moduleId}: roundtrip forward`);
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assertPoseNear(roundtrip.pose, forward.pose, `${moduleId}: pose`);
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assertSwitchIdentity(kins, moduleId, [20, -30, 40, 15, 35, -25], { x: 20, y: -30, z: 40, a: 15, b: 35, c: -25 });
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break;
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}
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case "genser":
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assertJointRoundtrip(kins, moduleId, [10, -15, 20, 5, -10, 12, 7, 8, 9], 9);
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assertSwitchIdentity(kins, moduleId, [10, -15, 20, 5, -10, 12, 7, 8, 9], { x: 10, y: -15, z: 20, a: 5, b: -10, c: 12, u: 7, v: 8, w: 9 });
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break;
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case "genhex":
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assertPoseRoundtrip(kins, moduleId, { x: 1.25, y: -2.5, z: 3.75, a: 1, b: -2, c: 3 }, 6, { warmupForward: true });
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assert.equal(kins.switchKinematics(1), 0, `${moduleId}: switch alternate`);
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break;
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case "pentakins": {
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const { inverse } = assertPoseRoundtrip(kins, moduleId, { x: 12.5, y: -8.25, z: 25, a: 2, b: -1.5 }, 5, { tolerance: 1e-6 });
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assert.equal(inverse.joints.every((value) => value > 0), true, `${moduleId}: positive struts`);
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break;
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}
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default:
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throw new Error(`missing kinematics verification for ${moduleId}`);
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}
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}
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console.log("kinematics_wasm_node_smoke=ok");
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