83 lines
3.8 KiB
Bash
Executable File
83 lines
3.8 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
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LINUXCNC_ROOT="${LINUXCNC_ROOT:-$ROOT_DIR/../linuxcnc}"
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UPSTREAM_TASKINTF="$LINUXCNC_ROOT/src/emc/task/taskintf.cc"
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UPSTREAM_MOTION="$LINUXCNC_ROOT/src/emc/motion/motion.h"
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SUBSET_SRC="$ROOT_DIR/runtime/core/linuxcnc_task_subset/taskintf_wasm_subset.cc"
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SUBSET_HDR="$ROOT_DIR/runtime/core/linuxcnc_task_subset/taskintf_wasm_subset.hh"
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LCMOT_HDR="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h"
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LCMOT_SRC="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c"
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TASK_WRAPPER="$ROOT_DIR/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp"
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WASM_TEST="$ROOT_DIR/tests/wasm/node/verify_task_hal_wasm.mjs"
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MATRIX="$ROOT_DIR/working/04-任务矩阵.md"
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fail() {
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printf 'task_taskintf_traj_control_status=fail\n'
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printf 'task_taskintf_traj_control_error=%s\n' "$1"
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exit 1
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}
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require_file() {
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local label="$1"
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local file="$2"
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[[ -f "$file" ]] || fail "$label missing: $file"
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printf 'task_taskintf_traj_control_%s=ok\n' "$label"
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}
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require_text() {
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local label="$1"
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local file="$2"
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local text="$3"
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grep -Fq "$text" "$file" || fail "$label missing"
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printf 'task_taskintf_traj_control_%s=ok\n' "$label"
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}
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require_file upstream_taskintf "$UPSTREAM_TASKINTF"
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require_file upstream_motion "$UPSTREAM_MOTION"
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require_file subset_source "$SUBSET_SRC"
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require_file subset_header "$SUBSET_HDR"
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require_file lcmot_header "$LCMOT_HDR"
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require_file lcmot_source "$LCMOT_SRC"
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require_file task_wrapper "$TASK_WRAPPER"
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require_file wasm_test "$WASM_TEST"
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require_file matrix "$MATRIX"
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for fn in emcTrajSetMotionId emcTrajEnable emcTrajDisable emcTrajAbort emcTrajPause emcTrajStep emcTrajResume; do
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require_text "upstream_taskintf_$fn" "$UPSTREAM_TASKINTF" "int $fn("
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done
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for cmd in EMCMOT_ENABLE EMCMOT_DISABLE EMCMOT_ABORT EMCMOT_PAUSE EMCMOT_STEP EMCMOT_RESUME; do
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require_text "upstream_motion_$cmd" "$UPSTREAM_MOTION" "$cmd"
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done
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require_text subset_has_enable_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE"
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require_text subset_has_disable_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE"
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require_text subset_has_motion_id_enum "$SUBSET_HDR" "LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID"
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require_text subset_has_enable_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_enable"
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require_text subset_has_disable_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_disable"
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require_text subset_has_motion_id_fn "$SUBSET_HDR" "lc_taskintf_subset_traj_set_motion_id"
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require_text subset_anchor_list "$SUBSET_SRC" "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume"
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require_text lcmot_snapshot_enabled "$LCMOT_HDR" "motion_enabled"
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require_text lcmot_snapshot_next_id "$LCMOT_HDR" "next_motion_id"
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require_text lcmot_enable_command "$LCMOT_SRC" "LCMOT_CMD_ENABLE"
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require_text lcmot_disable_command "$LCMOT_SRC" "LCMOT_CMD_DISABLE"
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require_text lcmot_motion_id_command "$LCMOT_SRC" "LCMOT_CMD_SET_MOTION_ID"
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require_text lcmot_accepts_enable "$LCMOT_SRC" "EMC_TRAJ_ENABLE"
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require_text lcmot_accepts_disable "$LCMOT_SRC" "EMC_TRAJ_DISABLE"
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require_text lcmot_accepts_motion_id "$LCMOT_SRC" "EMC_TRAJ_SET_MOTION_ID"
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require_text wrapper_uses_enable "$TASK_WRAPPER" "lc_taskintf_subset_traj_enable"
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require_text wrapper_uses_disable "$TASK_WRAPPER" "lc_taskintf_subset_traj_disable"
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require_text wrapper_uses_motion_id "$TASK_WRAPPER" "lc_taskintf_subset_traj_set_motion_id"
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require_text wrapper_exports_traj_count "$TASK_WRAPPER" "trajControlIssueCount"
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require_text wasm_test_prints_traj "$WASM_TEST" "taskintf_traj_control_status=ok"
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require_text wasm_test_asserts_traj "$WASM_TEST" "trajControlAnchors"
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require_text matrix_t034_done "$MATRIX" '| T-034 | `taskintf.cc` traj control 子集 | 完成 |'
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require_text matrix_t035_done "$MATRIX" '| T-035 | `taskintf.cc` linear move issue 子集 | 完成 |'
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printf 'task_taskintf_traj_control_status=ok\n'
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