Run XYZAC through upstream LinuxCNC TP

wasm-core/tests/sim_linuxcnc_tp_test.c

@@ -0,0 +1,39 @@
+#include "sim_linuxcnc_tp.h"
+
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+static sim_posemath_pose pose(double x, double y, double z) {
+    sim_posemath_pose value = {{x, y, z}, 0, 0, 0, 0, 0, 0};
+    return value;
+}
+
+int main(void) {
+    sim_linuxcnc_tp *planner = calloc(1, sim_linuxcnc_tp_size());
+    sim_tp_state state = {0};
+    char canonical[512] = {0};
+    sim_posemath_pose origin = pose(0, 0, 0);
+    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, 0.001, 35.0, 300.0) == 0);
+    assert(sim_linuxcnc_tp_set_position(planner, &origin) == 0);
+    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 < 5000; ++index) {
+        int result = sim_linuxcnc_tp_step(planner);
+        if (result != 0) fprintf(stderr, "tp_step[%d]=%d\\n", index, result);
+        assert(result == 0);
+        assert(sim_linuxcnc_tp_read_state(planner, &state) == 0);
+        if (state.queue_depth == 0) break;
+    }
+    assert(state.queue_depth == 0);
+    assert(state.position.tran.x > 19.9 && state.position.tran.y > 19.9 && state.position.tran.z > 9.9);
+    assert(sim_linuxcnc_tp_state_hash(planner) != 0);
+    assert(sim_linuxcnc_tp_canonical(planner, canonical, sizeof(canonical)) > 1);
+    puts(canonical);
+    free(planner);
+    return 0;
+}