wangdequan/linuxcncWebWASM
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Make feed override control the WASM trajectory

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wangdequan
2026-08-31 06:19:36 +08:00
parent 2cda55e724
commit 51ba923cb5
13 changed files with 181 additions and 15 deletions
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3
wasm-core/tests/sim_task_test.c
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@@ -28,6 +28,9 @@ int main(void) {
assert(sim_task_command_gate(&task, SIM_TASK_GATE_PAUSE, 0, 1, 0, 1, 0, 10) == SIM_TASK_GATE_PAUSE_STATE);
assert(sim_task_set_mode(&task, SIM_TASK_MODE_AUTO) == SIM_TASK_OK);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_PAUSE, 0, 1, 0, 1, 0, 10) == SIM_TASK_GATE_ALLOWED);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_OVERRIDE, 0, 1, 0, 1, 0, 10) == SIM_TASK_GATE_ALLOWED);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_OVERRIDE, 0, 0, 0, 1, 0, 10) == SIM_TASK_GATE_MACHINE_OFF);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_OVERRIDE, 0, 1, 1, 1, 0, 10) == SIM_TASK_GATE_ESTOP_ACTIVE);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_POWER, 0, 1, 0, 1, 0, 10) == SIM_TASK_GATE_ALLOWED);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_SET_MODE, SIM_TASK_MODE_MANUAL, 1, 0, 1, 0, 10) == SIM_TASK_GATE_MODE_AUTO_ACTIVE);
assert(sim_task_command_gate(&task, SIM_TASK_GATE_ESTOP, 1, 1, 0, 1, 0, 10) == SIM_TASK_GATE_ALLOWED);