同步五轴仿真文档和验证证据

web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs

@@ -119,6 +119,20 @@ store.dispatch({ type: "RESUME" });
 await waitForTaskHal(store);
 assert.equal(store.getState().machine.interpState, "reading");
 
+store.dispatch({ type: "STEP" });
+await waitForTaskHal(store);
+state = store.getState();
+assert.equal(state.machine.interpState, "paused");
+assert.equal(state.machine.taskPaused, true);
+assert.equal(state.taskHalStatus.task.singleStepping, true);
+
+store.dispatch({ type: "STOP" });
+await waitForTaskHal(store);
+state = store.getState();
+assert.equal(state.runState, "stopped");
+assert.equal(state.machine.interpState, "idle");
+assert.equal(state.taskHalStatus.motionStatus.motion.aborted, true);
+
 console.log("linuxcnc_task_hal_runtime_smoke=ok");
 console.log("task_hal_machine_file_smoke=ok");
 console.log("switchkins_remap_hal_sync_smoke=ok");

web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs

@@ -199,8 +199,16 @@ async function verifyRunReadySequence({ profileId, sourceRel }) {
   assert.notEqual(state.operatorMessage, "run blocked: home machine first");
   assert.equal(state.machine.allHomed, true);
 
+  const activeLineBeforeStop = state.activeLine;
   store.dispatch({ type: "STOP" });
   await waitForTaskHalCommand(store);
+  await new Promise((resolve) => setTimeout(resolve, 120));
+  state = store.getState();
+  assert.equal(state.taskHalStatusLoop.active, false);
+  assert.equal(state.runState, "stopped");
+  assert.equal(state.machine.interpState, "idle");
+  assert.equal(state.feed.currentVelocity, 0);
+  assert.equal(state.activeLine, activeLineBeforeStop);
 }
 
 async function waitForTaskHalCommand(store) {