Implement WebAssembly runtime and kinematics coverage

wasm-core/tests/sim_motion_queue_test.c

@@ -0,0 +1,36 @@
+#include "sim_motion_queue.h"
+
+#include <assert.h>
+
+static sim_posemath_segment line(double x0, double x1) {
+    sim_posemath_segment segment = {
+        {{x0, 0, 0}, 0, 0, 0, 0, 0, 0},
+         {{x1, 0, 0}, 0, 0, 0, 0, 0, 0},
+         {0, 0, 0}, {0, 0, 1}, 1.0, 1.0, SIM_POSEMATH_LINEAR, 0
+    };
+    return segment;
+}
+
+int main(void) {
+    sim_motion_queue queue = {0};
+    sim_motion_command command = {0};
+    sim_motion_state state = {0};
+    char canonical[512] = {0};
+    uint32_t id = 0;
+    command.segment = line(0, 1);
+    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);
+    command.segment = line(1, 2);
+    assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_OK);
+    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(sim_motion_state_hash(&queue) != 0);
+    assert(sim_motion_canonical(&queue, canonical, sizeof(canonical)) > 1);
+    command.segment = line(9, 10);
+    assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_ERR_STATE);
+    command.segment.motion_type = 99;
+    assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_ERR_MOTION_TYPE);
+    return 0;
+}