wangdequan/linuxcncWebWASM
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Make machine configuration authoritative and restore native checkpoints exactly

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wangdequan
2026-09-18 09:09:41 +08:00
parent 6a69511276
commit 4a568f1f4c
94 changed files with 10882 additions and 301 deletions
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42
wasm-core/tests/sim_linuxcnc_tp_test.c
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@@ -18,6 +18,26 @@ int main(void) {
sim_posemath_pose first = pose(0, 0, 10);
sim_posemath_pose second = pose(20, 20, 10);
assert(planner != NULL);
assert(sim_linuxcnc_tp_init(planner, .001, 35, 300) == 0);
assert(sim_linuxcnc_tp_set_axis_dynamics(planner, 0, 7, 40) == 0);
assert(fabs(sim_linuxcnc_tp_jog_velocity(planner, 0) - 7) < 1e-9);
assert(sim_linuxcnc_tp_set_axis_dynamics(planner, 4, 11, 20) == 0);
assert(fabs(sim_linuxcnc_tp_jog_velocity(planner, 4) - 11) < 1e-9);
assert(sim_linuxcnc_tp_set_axis_dynamics(planner, 9, 7, 40) != 0);
assert(sim_linuxcnc_tp_set_axis_dynamics(planner, 0, NAN, 40) != 0);
assert(sim_linuxcnc_tp_set_axis_dynamics(planner, 0, 7, 0) != 0);
assert(sim_linuxcnc_tp_set_feed_limit(planner, 1.3) == 0);
assert(sim_linuxcnc_tp_set_feed_override(planner, 1.3) == 0);
assert(sim_linuxcnc_tp_set_feed_override(planner, 1.31) != 0);
assert(sim_linuxcnc_tp_set_scale_minimum(planner, .02) == 0);
assert(sim_linuxcnc_tp_set_jog_scale(planner, .02) == 0);
assert(sim_linuxcnc_tp_set_velocity_scale(planner, .02) == 0);
assert(sim_linuxcnc_tp_set_jog_scale(planner, .01) != 0);
assert(sim_linuxcnc_tp_set_scale_minimum(planner, NAN) != 0);
assert(sim_linuxcnc_tp_set_blend(planner, 1, 0, 25, 3, 50, .2) == 0);
assert(sim_linuxcnc_tp_set_blend(planner, 2, 0, 25, 3, 50, .2) != 0);
assert(sim_linuxcnc_tp_set_blend(planner, 1, 0, 0, 3, 50, .2) != 0);
assert(sim_linuxcnc_tp_set_blend(planner, 1, 0, 25, 3, NAN, .2) != 0);
assert(sim_linuxcnc_tp_init(planner, 0.001, 35.0, 300.0) == 0);
assert(sim_linuxcnc_tp_queue_capacity(planner) > 0);
assert(sim_linuxcnc_tp_velocity_mm_min(planner) == 0.0);
@@ -25,6 +45,28 @@ int main(void) {
assert(sim_linuxcnc_tp_set_profile(planner, 0, 0.0) == 0);
assert(sim_linuxcnc_tp_add_line(planner, &first, 20.0, 300.0, 16, 1) == 0);
assert(sim_linuxcnc_tp_add_line(planner, &second, 35.0, 300.0, 18, 1) == 0);
for (int index = 0; index < 20; ++index) assert(sim_linuxcnc_tp_step(planner) == 0);
uint32_t checkpoint_size = sim_linuxcnc_tp_checkpoint_size();
uint8_t *checkpoint = malloc(checkpoint_size);
uint64_t continuation[100];
assert(checkpoint != NULL);
assert(sim_linuxcnc_tp_checkpoint_export(planner, checkpoint, checkpoint_size) == 0);
for (int index = 0; index < 100; ++index) {
assert(sim_linuxcnc_tp_step(planner) == 0);
continuation[index] = sim_linuxcnc_tp_state_hash(planner);
}
const uint64_t before_invalid = sim_linuxcnc_tp_state_hash(planner);
assert(sim_linuxcnc_tp_checkpoint_restore(planner, checkpoint, checkpoint_size - 1) != 0);
checkpoint[0] ^= 1;
assert(sim_linuxcnc_tp_checkpoint_restore(planner, checkpoint, checkpoint_size) != 0);
assert(sim_linuxcnc_tp_state_hash(planner) == before_invalid);
checkpoint[0] ^= 1;
assert(sim_linuxcnc_tp_checkpoint_restore(planner, checkpoint, checkpoint_size) == 0);
for (int index = 0; index < 100; ++index) {
assert(sim_linuxcnc_tp_step(planner) == 0);
assert(sim_linuxcnc_tp_state_hash(planner) == continuation[index]);
}
free(checkpoint);
for (int index = 0; index < 5000; ++index) {
int result = sim_linuxcnc_tp_step(planner);
if (result != 0) fprintf(stderr, "tp_step[%d]=%d\\n", index, result);