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Implement AXIS parity UI and execution baseline

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wangdequan
2026-08-23 07:28:37 +08:00
parent 1325504544
commit 06f96f85e5
463 changed files with 84893 additions and 692 deletions
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25
wasm-core/tests/sim_hal_test.c
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@@ -14,6 +14,9 @@ int sim_hal_test_run(void) {
sim_hal_value bit = {SIM_HAL_BIT, {.bit = 1}};
sim_hal_value wrong = {SIM_HAL_S32, {.s32 = 1}};
sim_hal_value out = {0};
uint32_t component_gate = 0;
float component_constant = 0.0f;
uint32_t component_tick_after_failure = 0;
sim_hal_reset();
assert(sim_hal_register_pin("source", SIM_HAL_BIT) == SIM_HAL_OK);
@@ -34,6 +37,24 @@ int sim_hal_test_run(void) {
assert(sim_hal_tick() == 5);
assert(sim_hal_register_thread("invalid", 0) == SIM_HAL_ERR_RANGE);
sim_hal_reset();
assert(sim_hal_register_thread("component-thread", 1) == SIM_HAL_OK);
assert(sim_hal_register_component("gate", "and2", "component-thread") == SIM_HAL_OK);
assert(sim_hal_register_component("value", "constant", "component-thread") == SIM_HAL_OK);
assert(sim_hal_register_component("unsupported", "not-a-static-component", "component-thread") == SIM_HAL_ERR_REAL_EXCLUDED);
assert(sim_hal_set_pin("gate.in0", bit) == SIM_HAL_OK);
assert(sim_hal_set_pin("gate.in1", bit) == SIM_HAL_OK);
assert(sim_hal_set_param("value.value", (sim_hal_value){SIM_HAL_FLOAT, {.real = 3.5f}}) == SIM_HAL_OK);
assert(sim_hal_step(1) == SIM_HAL_OK);
assert(sim_hal_get_pin("gate.out", &out) == SIM_HAL_OK && out.value.bit == 1U);
assert(sim_hal_get_pin("value.out", &out) == SIM_HAL_OK && out.value.real == 3.5f);
component_gate = out.value.real == 3.5f ? 1U : 0U;
assert(sim_hal_set_function_failure("gate", 1) == SIM_HAL_OK);
assert(sim_hal_step(1) == SIM_HAL_ERR_FUNCTION);
component_tick_after_failure = sim_hal_tick();
assert(component_tick_after_failure == 1U);
component_constant = out.value.real;
sim_hal_reset();
assert(sim_hal_register_thread("servo-thread", 1) == SIM_HAL_OK);
assert(sim_hal_register_corexy_by_hal("corexy_by_hal", "servo-thread") == SIM_HAL_OK);
@@ -49,11 +70,11 @@ int sim_hal_test_run(void) {
assert(sim_hal_function_calls("corexy_by_hal") == 1);
assert(sim_hal_corexy_transform("missing") == SIM_HAL_ERR_NOT_FOUND);
assert(sim_hal_register_corexy_by_hal("corexy_by_hal", "servo-thread") == SIM_HAL_ERR_DUPLICATE);
printf("{\"schema\":\"hal-corexy-sample.v1\",\"command\":{\"j0\":%.3f,\"j1\":%.3f,\"alpha\":%.3f,\"beta\":%.3f},\"feedback\":{\"alpha\":%.3f,\"beta\":%.3f,\"j0\":%.3f,\"j1\":%.3f},\"tick\":%u,\"function_calls\":%u}\n",
printf("{\"schema\":\"hal-corexy-sample.v1\",\"command\":{\"j0\":%.3f,\"j1\":%.3f,\"alpha\":%.3f,\"beta\":%.3f},\"feedback\":{\"alpha\":%.3f,\"beta\":%.3f,\"j0\":%.3f,\"j1\":%.3f},\"tick\":%u,\"function_calls\":%u,\"component_batch\":{\"gate\":%u,\"constant\":%.3f,\"rollback_tick\":%u}}\n",
(double)get_float("corexy_by_hal.j0-motor-pos-cmd"), (double)get_float("corexy_by_hal.j1-motor-pos-cmd"),
(double)get_float("corexy_by_hal.alpha-cmd"), (double)get_float("corexy_by_hal.beta-cmd"),
(double)get_float("corexy_by_hal.alpha-fb"), (double)get_float("corexy_by_hal.beta-fb"),
(double)get_float("corexy_by_hal.j0-motor-pos-fb"), (double)get_float("corexy_by_hal.j1-motor-pos-fb"),
sim_hal_tick(), sim_hal_function_calls("corexy_by_hal"));
sim_hal_tick(), sim_hal_function_calls("corexy_by_hal"), component_gate, (double)component_constant, component_tick_after_failure);
return 0;
}