wangdequan
19687c3268
结论：新增 vendored LinuxCNC trajectory planner WASM 构建和 Node smoke，覆盖线段、圆弧、队列规划探针，并纳入 host 聚合验证。
84 lines
2.2 KiB
JavaScript
84 lines
2.2 KiB
JavaScript
import { readFileSync } from "node:fs";
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import { fileURLToPath } from "node:url";
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import { dirname, resolve } from "node:path";
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import assert from "node:assert/strict";
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import createLinuxCncTpModule from "../../../build/wasm/tp/linuxcnc_tp.js";
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function verifyExpectedOutput(fixtureName, output, expectedText) {
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const expectedLines = expectedText.split("\n").filter(Boolean);
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for (const expectedLine of expectedLines) {
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assert.equal(
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output.includes(expectedLine),
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true,
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`${fixtureName}: ${expectedLine}`,
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);
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}
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}
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const __filename = fileURLToPath(import.meta.url);
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const __dirname = dirname(__filename);
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const rootDir = resolve(__dirname, "../../..");
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const wasmPath = resolve(rootDir, "build/wasm/tp/linuxcnc_tp.wasm");
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const tp = await createLinuxCncTpModule({
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wasmBinary: readFileSync(wasmPath),
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print() {},
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printErr(message) {
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console.error(message);
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},
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});
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const resultPtr = tp._lctp_run_probe();
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assert.notEqual(resultPtr, 0);
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try {
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const output = tp.UTF8ToString(resultPtr);
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verifyExpectedOutput(
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"tp_wasm_probe",
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output,
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[
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"tp_default_queue_size=32",
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"tp_err_ok=0",
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"tc_linear=1",
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"tc_circular=2",
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"pose_xyz=1,2,3",
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"tp_create=0",
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"tp_set_cycle_time=0",
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"tp_set_pos=0",
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"tp_set_vmax=0",
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"tp_set_vlimit=0",
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"tp_set_amax=0",
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"tp_set_term_cond=0",
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"tp_add_line=0",
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"tp_cycle_rc=4",
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"tp_get_pos=0",
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"tp_done_after_line=1",
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"tp_queue_depth=0",
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"tp_final_pos=1,0,0",
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"tp_arc_create=0",
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"tp_add_circle=0",
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"tp_arc_cycle_rc=4",
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"tp_arc_get_pos=0",
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"tp_done_after_arc=1",
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"tp_arc_queue_depth=0",
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"tp_arc_final_pos_near_end=1",
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"tp_queue_create=0",
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"tp_queue_add_line1=0",
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"tp_queue_depth_after_line1=1",
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"tp_queue_add_line2=0",
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"tp_queue_depth_after_line2=2",
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"tp_queue_cycle_rc=4",
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"tp_queue_get_pos=0",
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"tp_done_after_queued_lines=1",
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"tp_queue_final_depth=0",
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"tp_queue_final_pos_near_end=1",
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"tp_queue_final_pos=1,1,0",
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].join("\n"),
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);
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} finally {
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tp._lctp_free_string(resultPtr);
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}
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console.log("tp_wasm_node_smoke=ok");
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