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完善 LinuxCNC 对标矩阵与 gmoccapy TRT 仿真

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wangdequan
2026-07-01 08:19:21 -04:00
parent 1e66f170c9
commit 9803aadf0a
31 changed files with 3966 additions and 104 deletions
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12
web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
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@@ -127,6 +127,13 @@ assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wa
assert.equal(kinematicsState.rtcpFrame.semanticBoundary, "linuxcnc_kinematics_wasm_c_abi");
assert.equal(kinematicsState.rtcpFrame.readiness.linuxCncKinematicsReady, true);
kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true });
kinematicsState = kinematicsStore.getState();
assert.equal(kinematicsState.rtcpState, "off");
assert.equal(kinematicsState.operatorMessage, "kinematics blocked: machine must be on");
kinematicsStore.dispatch({ type: "TOGGLE_POWER" });
kinematicsStore.dispatch({ type: "HOME" });
kinematicsStore.dispatch({ type: "SET_RTCP", enabled: true });
kinematicsState = kinematicsStore.getState();
assert.equal(kinematicsState.rtcpState, "on");
@@ -134,8 +141,6 @@ assert.equal(kinematicsState.rtcpFrame.sourceMode, "source-derived-kinematics-wa
assert.equal(kinematicsState.lastKinematicsResult.moduleId, "xyzac-trt");
assert.equal(kinematicsState.dro.tcpX, kinematicsState.rtcpFrame.tcpPose.x);
kinematicsStore.dispatch({ type: "TOGGLE_POWER" });
kinematicsStore.dispatch({ type: "HOME" });
kinematicsStore.dispatch({ type: "SET_MODE", mode: "auto" });
kinematicsStore.dispatch({ type: "STEP" });
kinematicsState = kinematicsStore.getState();
@@ -270,6 +275,8 @@ assert.equal(store.getState().machineProfile, "xyzbc-trt");
assert.equal(store.getState().profile.traj.coordinates, "XYZBC");
const xyzbcRuntime = await createLinuxCncKinematicsRuntime({ moduleId: "xyzbc-trt" });
store.dispatch({ type: "ATTACH_KINEMATICS_RUNTIME", runtime: xyzbcRuntime });
store.dispatch({ type: "TOGGLE_POWER" });
store.dispatch({ type: "HOME" });
store.dispatch({ type: "SET_RTCP", enabled: true });
state = store.getState();
assert.equal(state.kinsType, "tcp-xyzbc");
@@ -277,6 +284,7 @@ assert.equal(state.rtcpFrame.kinematicsModuleId, "xyzbc-trt");
assert.equal(state.rtcpFrame.jointPose[3].axis, "B");
store.dispatch({ type: "SET_PROFILE", profileId: "xyzac-trt" });
store.dispatch({ type: "RESET" });
store.dispatch({ type: "RUN" });
assert.equal(store.getState().activeLine, 501);
assert.equal(store.getState().operatorMessage, "run blocked: machine must be on");