完善五轴 RTCP 仿真与验证资料

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

@@ -1,4 +1,6 @@
 import assert from "node:assert/strict";
+import { readFileSync } from "node:fs";
+import { fileURLToPath } from "node:url";
 
 import { createLinuxCncInterpreterRuntime } from "../../app/src/runtime/linuxcnc-interpreter-runtime.js";
 
@@ -103,4 +105,17 @@ assert.equal(switchkinsExecution.summary.plannerRuntimeReady, true);
 assert.equal(switchkinsExecution.plannerTiming.totalSeconds > 0, true);
 assert.equal(switchkinsExecution.summary.fullLinuxCncProgramExecutionReady, false);
 
+const gmoccapyImpellerProgram = readFileSync(fileURLToPath(new URL(
+  "../../../linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc",
+  import.meta.url,
+)), "utf8");
+const gmoccapyImpellerExecution = runtime.runProgram(gmoccapyImpellerProgram);
+const firstG93FeedMotion = gmoccapyImpellerExecution.motion.find((event) => event.type === "STRAIGHT_FEED");
+
+assert.equal(gmoccapyImpellerExecution.summary.ready, true);
+assert.equal(gmoccapyImpellerExecution.motion[0].feedMode, "inverse-time");
+assert.equal(firstG93FeedMotion.line, 9);
+assert.equal(Math.abs(firstG93FeedMotion.feedRate - 635.745) < 0.001, true);
+assert.notEqual(firstG93FeedMotion.feedRate, 318);
+
 console.log("linuxcnc_interpreter_runtime_smoke=ok");