wangdequan/linuxcncWebWASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Implement WebAssembly runtime and kinematics coverage

Browse Source
This commit is contained in:
wangdequan
2026-08-21 06:04:48 +08:00
parent 5dd614c335
commit 554b72dae8
112 changed files with 47148 additions and 807 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
wasm-core/tests/sim_hal_test.c
View File

@@ -1,8 +1,16 @@
#include "sim_hal.h"
#include <assert.h>
#include <stdio.h>
int main(void) {
static float get_float(const char *name) {
sim_hal_value value = {0};
assert(sim_hal_get_pin(name, &value) == SIM_HAL_OK);
assert(value.type == SIM_HAL_FLOAT);
return value.value.real;
}
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};
@@ -25,5 +33,27 @@ int main(void) {
assert(sim_hal_step(1) == SIM_HAL_ERR_FUNCTION);
assert(sim_hal_tick() == 5);
assert(sim_hal_register_thread("invalid", 0) == SIM_HAL_ERR_RANGE);
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);
assert(sim_hal_set_pin("corexy_by_hal.j0-motor-pos-cmd", (sim_hal_value){SIM_HAL_FLOAT, {.real = 6.0f}}) == SIM_HAL_OK);
assert(sim_hal_set_pin("corexy_by_hal.j1-motor-pos-cmd", (sim_hal_value){SIM_HAL_FLOAT, {.real = 2.0f}}) == SIM_HAL_OK);
assert(sim_hal_set_pin("corexy_by_hal.alpha-fb", (sim_hal_value){SIM_HAL_FLOAT, {.real = 4.0f}}) == SIM_HAL_OK);
assert(sim_hal_set_pin("corexy_by_hal.beta-fb", (sim_hal_value){SIM_HAL_FLOAT, {.real = 1.0f}}) == SIM_HAL_OK);
assert(sim_hal_step(1) == SIM_HAL_OK);
assert(get_float("corexy_by_hal.alpha-cmd") == 4.0f);
assert(get_float("corexy_by_hal.beta-cmd") == 2.0f);
assert(get_float("corexy_by_hal.j0-motor-pos-fb") == 5.0f);
assert(get_float("corexy_by_hal.j1-motor-pos-fb") == 3.0f);
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",
(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"));
return 0;
}