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完善 working5 gmoccapy HAL 输入对标

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wangdequan
2026-06-26 22:07:41 -04:00
parent 0d79b3545b
commit 917cec15ad
20 changed files with 2853 additions and 27 deletions
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33
web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_profile.mjs
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@@ -41,13 +41,46 @@ assert.equal(profile.jointConfig[4].homeOffset, 45);
assert.equal(profile.hal.halcmd.feedbackNets.length, 5);
assert.equal(profile.hal.halcmd.offsetNets.some((net) => net.target === "gmoccapy.tooloffset-z"), true);
assert.equal(profile.hal.halcmd.simulationLoops.some((net) => net.signal === "tool-change-loop"), true);
assert.equal(profile.hal.halcmd.toolChange.strategy, "iocontrol-loopback");
assert.equal(profile.hal.halcmd.toolChange.manualGmoccapyPinsConnected, false);
assert.deepEqual(profile.hal.halcmd.toolChange.postguiUnlinks, [
"iocontrol.0.tool-change",
"iocontrol.0.tool-changed",
"iocontrol.0.tool-prep-number",
]);
assert.equal(profile.hal.halcmd.toolChange.commentedManualGuiNets.length, 3);
assert.equal(profile.hal.halcmd.toolChange.activeLoop.signal, "tool-change-loop");
assert.equal(profile.halPins.includes("gmoccapy.program.current-line"), true);
assert.equal(profile.halPins.includes("gmoccapy.spindle_at_speed_led"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-x-plus"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-y-minus"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.axis.jog-b-minus"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.jog-inc-0"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.jog-inc-5"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.jog-increment"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.turtle-jog"), true);
assert.equal(profile.halPins.includes("gmoccapy.ignore-limits"), true);
assert.equal(profile.halPins.includes("gmoccapy.optional-stop"), true);
assert.equal(profile.halPins.includes("gmoccapy.blockdelete"), true);
assert.equal(profile.halPins.includes("gmoccapy.feed.feed-override.count-enable"), true);
assert.equal(profile.halPins.includes("gmoccapy.feed.reset-feed-override"), true);
assert.equal(profile.halPins.includes("gmoccapy.spindle.reset-spindle-override"), true);
assert.equal(profile.halPins.includes("gmoccapy.jog.jog-velocity.direct-value"), true);
assert.equal(profile.halPins.includes("gmoccapy.delete-message"), true);
assert.equal(profile.halPins.includes("gmoccapy.warning-confirm"), true);
assert.equal(profile.toolTable.toolCount, 17);
assert.equal(profile.macros.includes("go_to_position X-pos Y-pos Z-pos"), true);
assert.equal(profile.panelSchema.id, "gmoccapy-xyzab-hal-component");
assert.equal(profile.panelSchema.boundary, "gmoccapy_hal_component_reference_only");
assert.equal(profile.panelSchema.groups.length, 2);
const taskModeControls = profile.panelSchema.groups.find((group) => group.id === "task-mode-actions").controls;
assert.deepEqual(taskModeControls.map((control) => [control.id, control.halpin]), [
["tbtn-estop", "gmoccapy.v-button.button-0"],
["tbtn-on", "gmoccapy.v-button.button-1"],
["rbt-manual", "gmoccapy.v-button.button-2"],
["rbt-mdi", "gmoccapy.v-button.button-3"],
["rbt-auto", "gmoccapy.v-button.button-4"],
]);
assert.deepEqual(fiveAxisProfiles.map(({ id }) => id), ["xyzac-trt", "xyzbc-trt", "gmoccapy-xyzab"]);