wangdequan/linuxcncWebWASM
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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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18
wasm-core/tests/sim_motion_queue_test.c
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@@ -1,6 +1,7 @@
#include "sim_motion_queue.h"
#include <assert.h>
#include <string.h>
static sim_posemath_segment line(double x0, double x1) {
sim_posemath_segment segment = {
@@ -21,13 +22,28 @@ int main(void) {
command.tag = 42;
assert(sim_motion_init(&queue, 0.1, 10.0) == SIM_MOTION_OK);
assert(sim_motion_enqueue(&queue, &command, &id) == SIM_MOTION_OK && id == 1);
assert(sim_motion_set_paused(&queue, 1) == SIM_MOTION_OK);
assert(sim_motion_step(&queue) == SIM_MOTION_ERR_STATE && queue.tick == 0);
assert(sim_motion_set_paused(&queue, 0) == SIM_MOTION_OK);
command.segment = line(1, 2);
assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_OK);
assert(sim_motion_set_profile(&queue, SIM_MOTION_PROFILE_BLEND) == SIM_MOTION_OK);
assert(sim_motion_set_lookahead(&queue, 2) == SIM_MOTION_OK);
assert(sim_motion_set_dynamics(&queue, 2.0, 20.0) == SIM_MOTION_OK);
assert(sim_motion_plan_hash(&queue) != 0);
{
sim_motion_command peek = {0};
assert(sim_motion_peek(&queue, 0, &peek) == SIM_MOTION_OK && peek.id == 1);
}
assert(sim_motion_step(&queue) == SIM_MOTION_OK);
assert(sim_motion_read_state(&queue, &state) == SIM_MOTION_OK);
assert(state.tick == 1 && state.queue_depth == 2 && state.position.tran.x > 0.09);
assert(state.tick == 1 && state.queue_depth == 2 && state.position.tran.x > 0.01);
assert(sim_motion_state_hash(&queue) != 0);
assert(sim_motion_canonical(&queue, canonical, sizeof(canonical)) > 1);
assert(strstr(canonical, "\"profile\":\"blend\"") != NULL);
assert(sim_motion_set_profile(&queue, SIM_MOTION_PROFILE_EXACT_STOP) == SIM_MOTION_OK);
assert(sim_motion_set_lookahead(&queue, 0) == SIM_MOTION_ERR_RANGE);
assert(sim_motion_set_dynamics(&queue, 0.0, 1.0) == SIM_MOTION_ERR_RANGE);
command.segment = line(9, 10);
assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_ERR_STATE);
command.segment.motion_type = 99;