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feat: sync latest run execution updates

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wangdequan
2026-06-22 21:47:16 -04:00
parent 0b1aad39e1
commit 8d3177cb73
92 changed files with 22837 additions and 246 deletions
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111
wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
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@@ -52,5 +52,116 @@ const events = sdk.readEvents().events;
assert.equal(events.includes("task_plan_run"), true);
assert.equal(events.includes("task_mdi_switchkins:M429"), true);
sdk.resetSession();
sdk.initSession({
iniPath: "xyzac-trt.ini",
iniText: "[TRAJ]\nCOORDINATES = X Y Z A C\n",
});
assert.equal(sdk.stageFile("programs/feed-plan.ngc", "G1 X120 F60\nG1 X121 F600\n"), 0);
assert.equal(sdk.openProgram("programs/feed-plan.ngc"), 0);
assert.equal(sdk.loadProgramMotionPlan({
programPath: "programs/feed-plan.ngc",
segments: [
{
line: 1,
type: "STRAIGHT_FEED",
motionClass: "feed",
feedMode: "units-per-minute",
startSeconds: 0,
durationSeconds: 120,
velocityMmPerMin: 60,
startAxes: { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 },
endAxes: { x: 120, y: 0, z: 0, a: 0, b: 0, c: 0 },
},
{
line: 2,
type: "STRAIGHT_FEED",
motionClass: "feed",
feedMode: "units-per-minute",
startSeconds: 120,
durationSeconds: 0.1,
velocityMmPerMin: 600,
startAxes: { x: 120, y: 0, z: 0, a: 0, b: 0, c: 0 },
endAxes: { x: 121, y: 0, z: 0, a: 0, b: 0, c: 0 },
},
],
}), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" }), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" }), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 }), 0);
assert.equal(sdk.runCycles({ taskCycles: 1, taskPeriodNs: 1000000000, servoPeriodNs: 1000000 }), 0);
status = sdk.readStatus();
assert.equal(status.motionStatus.motion.programLine, 1);
assert.equal(status.motionStatus.axis.x > 0 && status.motionStatus.axis.x < 2, true);
assert.equal(status.motionStatus.motion.currentVel, 1);
assert.equal(status.motionStatus.motion.currentVel !== 60, true);
assert.equal(sdk.runCycles({ taskCycles: 119, taskPeriodNs: 1000000000, servoPeriodNs: 1000000 }), 0);
status = sdk.readStatus();
assert.equal(status.motionStatus.motion.programLine, 2);
assert.equal(status.motionStatus.motion.currentVel, 10);
assert.equal(status.motionStatus.axis.x >= 120, true);
sdk.resetSession();
sdk.initSession({
iniPath: "xyzac-trt.ini",
iniText: "[TRAJ]\nCOORDINATES = X Y Z A C\n",
});
assert.equal(sdk.stageFile("programs/comment-lines.ngc", [
"(comment before first move)",
"",
"G1 X1 F60",
"; inline comment-only line",
"G1 X2 F60",
"M2",
].join("\n")), 0);
assert.equal(sdk.openProgram("programs/comment-lines.ngc"), 0);
assert.equal(sdk.loadProgramMotionPlan({
programPath: "programs/comment-lines.ngc",
segments: [
{
line: 3,
type: "STRAIGHT_FEED",
motionClass: "feed",
feedMode: "units-per-minute",
startSeconds: 0,
durationSeconds: 1,
velocityMmPerMin: 60,
startAxes: { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 },
endAxes: { x: 1, y: 0, z: 0, a: 0, b: 0, c: 0 },
},
{
line: 5,
type: "STRAIGHT_FEED",
motionClass: "feed",
feedMode: "units-per-minute",
startSeconds: 1,
durationSeconds: 1,
velocityMmPerMin: 60,
startAxes: { x: 1, y: 0, z: 0, a: 0, b: 0, c: 0 },
endAxes: { x: 2, y: 0, z: 0, a: 0, b: 0, c: 0 },
},
],
}), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_SET_STATE", state: "ON" }), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_SET_MODE", mode: "AUTO" }), 0);
assert.equal(sdk.sendCommand({ type: "EMC_TASK_PLAN_RUN", line: 0 }), 0);
assert.equal(sdk.runCycles({ taskCycles: 1, taskPeriodNs: 500000000, servoPeriodNs: 1000000 }), 0);
status = sdk.readStatus();
assert.equal(status.task.openedLineCount, 6);
assert.equal(status.task.openedSourceLineCount, 6);
assert.equal(status.task.executableLineCount, 3);
assert.equal(status.motionStatus.motion.programLine, 3);
assert.equal(status.halSnapshot.pins["motion.program-line"].value, 3);
assert.equal(sdk.runCycles({ taskCycles: 1, taskPeriodNs: 600000000, servoPeriodNs: 1000000 }), 0);
status = sdk.readStatus();
assert.equal(status.motionStatus.motion.programLine, 5);
assert.equal(status.halSnapshot.pins["motion.program-line"].value, 5);
assert.equal(status.task.nextProgramLine, 5);
assert.equal(sdk.runCycles({ taskCycles: 1, taskPeriodNs: 1000000000, servoPeriodNs: 1000000 }), 0);
status = sdk.readStatus();
assert.equal(status.task.nextProgramLine, 6);
console.log("linuxcnc_task_hal_sdk=ok");
console.log("task_hal_sdk_status_snapshot=ok");
console.log("task_hal_feed_timed_motion_plan=ok");
console.log("task_hal_comment_source_line_numbers=ok");