Track spindle direction in set-spindle events

README.zh-CN.md

@@ -59,6 +59,7 @@ The first useful target is:
 - 已有五轴 RTCP 第一版几何内核，可根据编程刀尖点、A/B/C 姿态和刀长计算枢轴/主轴点补偿位置。
 - 已有坐标系事件回归语料，覆盖 `G10 L2`、`G10 L20` 的 G5X/XY 旋转事件和 `G92.1` 清零事件。
 - 已有探针事件回归语料，LinuxCNC `G38.3` 会输出独立 `probe` 事件，不再混作普通直线进给。
+- 已有主轴方向状态回归语料，`M3/M4/M5` 会通过 `set-spindle.reserved` 输出 `1=顺时针`、`2=逆时针`、`0=停止`。
 - LinuxCNC Canon bridge 会把当前解释行号补到没有自带 `lineno` 的回调事件上，方便 Web 端诊断和源码高亮。
 - 下一步是继续替换源码级链接中残留的 Python、INI/HAL、文件系统和动态加载依赖，并把 RTCP 内核接入 canon 事件流和机型配置。
 
@@ -78,6 +79,7 @@ The first useful target is:
 - LinuxCNC RS274 源文件语法探针和对象编译探针
 - LinuxCNC RS274 源码级链接 smoke
 - 五轴 RTCP 几何内核 smoke
+- `M3` / `M4` / `M5` 主轴方向事件回归
 - `G10 L2` / `G10 L20` / `G92.1` 坐标系事件回归
 - `G38.3` 探针事件回归
 

core/src/canon_event_sink.cpp

@@ -8,6 +8,7 @@ void CanonEventSink::reset() {
     unit_scale_ = 1.0;
     feed_ = 0.0;
     spindle_ = 0.0;
+    spindle_direction_ = 0;
     selected_tool_ = 0;
     callback_status_ = 0;
     kinematics_type_ = 1;
@@ -114,6 +115,23 @@ void CanonEventSink::set_spindle_speed(double spindle, int line) {
     spindle_ = spindle;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
     event.spindle = spindle_;
+    event.reserved = spindle_direction_;
+    emit(event);
+}
+
+void CanonEventSink::start_spindle(int direction, int line) {
+    spindle_direction_ = direction < 0 ? 2 : 1;
+    CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
+    event.spindle = spindle_;
+    event.reserved = spindle_direction_;
+    emit(event);
+}
+
+void CanonEventSink::stop_spindle(int line) {
+    spindle_direction_ = 0;
+    CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
+    event.spindle = 0.0;
+    event.reserved = spindle_direction_;
     emit(event);
 }
 
@@ -201,6 +219,10 @@ double CanonEventSink::spindle_speed() const {
     return spindle_;
 }
 
+int CanonEventSink::spindle_direction() const {
+    return spindle_direction_;
+}
+
 int CanonEventSink::selected_tool() const {
     return selected_tool_;
 }

core/src/canon_event_sink.h

@@ -22,6 +22,8 @@ public:
     void select_plane(int plane, int line);
     void set_feed_rate(double feed, int line);
     void set_spindle_speed(double spindle, int line);
+    void start_spindle(int direction, int line);
+    void stop_spindle(int line);
     void select_tool(int tool);
     void change_tool(int line);
     void straight_traverse(int line, const CncSimPose &end);
@@ -37,6 +39,7 @@ public:
     double unit_scale() const;
     double feed_rate() const;
     double spindle_speed() const;
+    int spindle_direction() const;
     int selected_tool() const;
     int kinematics_type() const;
     bool rtcp_enabled() const;
@@ -55,6 +58,7 @@ private:
     double unit_scale_ = 1.0;
     double feed_ = 0.0;
     double spindle_ = 0.0;
+    int spindle_direction_ = 0;
     int selected_tool_ = 0;
     bool rtcp_enabled_ = false;
     double default_rtcp_tool_length_ = 0.0;

core/src/linuxcnc_canon_bridge.cpp

@@ -355,14 +355,20 @@ void SPINDLE_RETRACT_TRAVERSE() {
 }
 
 void START_SPINDLE_CLOCKWISE(int, int) {
+    if (active_sink) {
+        active_sink->start_spindle(1, event_line());
+    }
 }
 
 void START_SPINDLE_COUNTERCLOCKWISE(int, int) {
+    if (active_sink) {
+        active_sink->start_spindle(-1, event_line());
+    }
 }
 
 void STOP_SPINDLE_TURNING(int) {
     if (active_sink) {
-        active_sink->set_spindle_speed(0.0, 0);
+        active_sink->stop_spindle(event_line());
     }
 }
 
@@ -621,7 +627,16 @@ double GET_EXTERNAL_SPEED(int) {
 }
 
 CANON_DIRECTION GET_EXTERNAL_SPINDLE(int) {
-    return active_sink && active_sink->spindle_speed() != 0.0 ? CANON_CLOCKWISE : CANON_STOPPED;
+    if (!active_sink) {
+        return CANON_STOPPED;
+    }
+    if (active_sink->spindle_direction() == 1) {
+        return CANON_CLOCKWISE;
+    }
+    if (active_sink->spindle_direction() == 2) {
+        return CANON_COUNTERCLOCKWISE;
+    }
+    return CANON_STOPPED;
 }
 
 double GET_EXTERNAL_TOOL_LENGTH_XOFFSET() { return 0.0; }

core/src/smoke_gcode_parser.cpp

@@ -336,8 +336,18 @@ int SmokeGcodeParser::parse(const char *program, size_t program_len, std::string
 
         bool program_end = false;
         for (int m : m_codes) {
-            if (m == 3 || m == 4 || m == 5) {
+            if (m == 3) {
-                sink_.set_spindle_speed(m == 5 ? 0.0 : sink_.spindle_speed(), line_number);
+                sink_.start_spindle(1, line_number);
+                if (stop_if_callback_aborted(sink_, error)) {
+                    return -1;
+                }
+            } else if (m == 4) {
+                sink_.start_spindle(-1, line_number);
+                if (stop_if_callback_aborted(sink_, error)) {
+                    return -1;
+                }
+            } else if (m == 5) {
+                sink_.stop_spindle(line_number);
                 if (stop_if_callback_aborted(sink_, error)) {
                     return -1;
                 }

core/tests/cnc_sim_api_linuxcnc_rs274_smoke.cpp

@@ -73,6 +73,9 @@ int main() {
     bool saw_l20_end_line = false;
     bool saw_probe = false;
     bool saw_probe_as_feed = false;
+    bool saw_spindle_cw = false;
+    bool saw_spindle_ccw = false;
+    bool saw_spindle_stop = false;
     for (const auto &event : events) {
         saw_tool = saw_tool || event.type == CNC_SIM_EVENT_TOOL_CHANGE;
         saw_rapid = saw_rapid || event.type == CNC_SIM_EVENT_RAPID;
@@ -121,6 +124,36 @@ int main() {
     ok &= expect(saw_g49, "expected LinuxCNC G49 RTCP off state");
     ok &= expect(saw_g434, "expected LinuxCNC G43.4 RTCP on state with H code");
 
+    const char spindle_program[] =
+        "G21 G90 G17\n"
+        "S1200 M3\n"
+        "M4\n"
+        "M5\n"
+        "M30\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, spindle_program, sizeof(spindle_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_spindle_cw = saw_spindle_cw ||
+                         (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                          event.line == 2 &&
+                          event.spindle == 1200.0 &&
+                          event.reserved == 1);
+        saw_spindle_ccw = saw_spindle_ccw ||
+                          (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                           event.line == 3 &&
+                           event.spindle == 1200.0 &&
+                           event.reserved == 2);
+        saw_spindle_stop = saw_spindle_stop ||
+                           (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                            event.line == 4 &&
+                            event.spindle == 0.0 &&
+                            event.reserved == 0);
+    }
+    ok &= expect(saw_spindle_cw, "expected LinuxCNC M3 clockwise spindle state");
+    ok &= expect(saw_spindle_ccw, "expected LinuxCNC M4 counterclockwise spindle state");
+    ok &= expect(saw_spindle_stop, "expected LinuxCNC M5 stopped spindle state");
+
     const char probe_program[] =
         "G21 G90 G17\n"
         "G0 X0 Y0 Z5\n"

core/tests/cnc_sim_api_smoke.cpp

@@ -67,6 +67,9 @@ int main() {
     bool saw_m430 = false;
     bool saw_g49 = false;
     bool saw_g434 = false;
+    bool saw_spindle_cw = false;
+    bool saw_spindle_ccw = false;
+    bool saw_spindle_stop = false;
     bool saw_incremental_move = false;
     bool saw_r_arc_center = false;
     for (const auto &event : events) {
@@ -106,6 +109,11 @@ int main() {
                     event.feed == 1.0 &&
                     event.tool == 7 &&
                     event.dwell_seconds == 125.0);
+        saw_spindle_cw = saw_spindle_cw ||
+                         (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                          event.line == 6 &&
+                          event.spindle == 8000.0 &&
+                          event.reserved == 1);
         saw_incremental_move = saw_incremental_move ||
                                (event.type == CNC_SIM_EVENT_LINEAR_FEED &&
                                 event.start.x == 20.0 && event.end.x == 25.0);
@@ -127,9 +135,33 @@ int main() {
     ok &= expect(saw_m430, "expected M430 five-axis BC kinematics switch");
     ok &= expect(saw_g49, "expected G49 RTCP off state");
     ok &= expect(saw_g434, "expected G43.4 RTCP on state with H code");
+    ok &= expect(saw_spindle_cw, "expected M3 clockwise spindle state");
     ok &= expect(saw_incremental_move, "expected G91 incremental move");
     ok &= expect(saw_r_arc_center, "expected R arc center calculation");
 
+    const char spindle_program[] =
+        "G21\n"
+        "S1200 M3\n"
+        "M4\n"
+        "M5\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, spindle_program, sizeof(spindle_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_spindle_ccw = saw_spindle_ccw ||
+                          (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                           event.line == 3 &&
+                           event.spindle == 1200.0 &&
+                           event.reserved == 2);
+        saw_spindle_stop = saw_spindle_stop ||
+                           (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                            event.line == 4 &&
+                            event.spindle == 0.0 &&
+                            event.reserved == 0);
+    }
+    ok &= expect(saw_spindle_ccw, "expected M4 counterclockwise spindle state");
+    ok &= expect(saw_spindle_stop, "expected M5 stopped spindle state");
+
     const char linuxcnc_config[] = "{\"backend\":\"linuxcnc-rs274\"}";
     config_rc = cnc_sim_load_config_json(sim, linuxcnc_config, sizeof(linuxcnc_config) - 1);
     rc = cnc_sim_parse_program(sim, program, sizeof(program) - 1);

core/tests/linuxcnc_canon_bridge_smoke.cpp

@@ -34,6 +34,10 @@ int main() {
     USE_LENGTH_UNITS(CANON_UNITS_MM);
     SELECT_PLANE(CANON_PLANE::XY);
     SET_FEED_RATE(500.0);
+    SET_SPINDLE_SPEED(0, 1200.0);
+    START_SPINDLE_CLOCKWISE(0, 0);
+    START_SPINDLE_COUNTERCLOCKWISE(0, 0);
+    STOP_SPINDLE_TURNING(0);
     SELECT_TOOL(7);
     CHANGE_TOOL();
     STRAIGHT_TRAVERSE(10, 0.0, 0.0, 5.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
@@ -53,6 +57,9 @@ int main() {
     bool saw_tool = false;
     bool saw_rapid = false;
     bool saw_feed = false;
+    bool saw_spindle_cw = false;
+    bool saw_spindle_ccw = false;
+    bool saw_spindle_stop = false;
     bool saw_arc = false;
     bool saw_probe = false;
     bool saw_g5x = false;
@@ -61,6 +68,15 @@ int main() {
     bool saw_end = false;
     for (const auto &event : events) {
         saw_tool = saw_tool || (event.type == CNC_SIM_EVENT_TOOL_CHANGE && event.tool == 7);
+        saw_spindle_cw = saw_spindle_cw || (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                                            event.spindle == 1200.0 &&
+                                            event.reserved == 1);
+        saw_spindle_ccw = saw_spindle_ccw || (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                                             event.spindle == 1200.0 &&
+                                             event.reserved == 2);
+        saw_spindle_stop = saw_spindle_stop || (event.type == CNC_SIM_EVENT_SET_SPINDLE &&
+                                               event.spindle == 0.0 &&
+                                               event.reserved == 0);
         saw_rapid = saw_rapid || (event.type == CNC_SIM_EVENT_RAPID && event.end.z == 5.0);
         saw_feed = saw_feed || (event.type == CNC_SIM_EVENT_LINEAR_FEED && event.end.x == 10.0);
         saw_arc = saw_arc || (event.type == CNC_SIM_EVENT_ARC_FEED &&
@@ -90,6 +106,9 @@ int main() {
     }
 
     ok &= expect(saw_tool, "expected tool change");
+    ok &= expect(saw_spindle_cw, "expected clockwise spindle state");
+    ok &= expect(saw_spindle_ccw, "expected counterclockwise spindle state");
+    ok &= expect(saw_spindle_stop, "expected stopped spindle state");
     ok &= expect(saw_rapid, "expected rapid move");
     ok &= expect(saw_feed, "expected linear feed");
     ok &= expect(saw_arc, "expected arc feed");

test-linuxcnc-rs274-native.sh

@@ -37,6 +37,7 @@ cp "$base_var_file" "$var_file"
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_basic_motion.ngc >/tmp/cnc_sim_linuxcnc_basic_motion.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/basic_mill.ngc >/tmp/cnc_sim_linuxcnc_basic_mill.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_rtcp_controls.ngc >/tmp/cnc_sim_linuxcnc_rtcp_controls.json
+CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_spindle_direction.ngc >/tmp/cnc_sim_linuxcnc_spindle_direction.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_canned_cycle.ngc >/tmp/cnc_sim_linuxcnc_canned_cycle.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_probe_no_error.ngc >/tmp/cnc_sim_linuxcnc_probe_no_error.json
 cp "$base_var_file" "$var_file"
@@ -70,6 +71,19 @@ rtcp = [event for event in controls if event["type"] == "rtcp-state"]
 if [(event["line"], event["tool"], event["feed"]) for event in rtcp] != [(3, 0, 0), (4, 7, 1)]:
     raise SystemExit("unexpected RTCP state sequence")
 
+spindle = json.loads(Path("/tmp/cnc_sim_linuxcnc_spindle_direction.json").read_text())
+spindle_states = [
+    (event["line"], event["spindle"], event["reserved"])
+    for event in spindle
+    if event["type"] == "set-spindle"
+]
+if (2, 1200, 1) not in spindle_states:
+    raise SystemExit("missing M3 clockwise spindle state")
+if (3, 1200, 2) not in spindle_states:
+    raise SystemExit("missing M4 counterclockwise spindle state")
+if (4, 0, 0) not in spindle_states:
+    raise SystemExit("missing M5 stopped spindle state")
+
 cycle = json.loads(Path("/tmp/cnc_sim_linuxcnc_canned_cycle.json").read_text())
 motions = [event for event in cycle if event["type"] in {"rapid", "linear-feed"}]
 expected_cycle = [
@@ -141,6 +155,7 @@ echo "linuxcnc rs274 native smoke passed"
 echo "dumped /tmp/cnc_sim_linuxcnc_basic_motion.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_basic_mill.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_rtcp_controls.json"
+echo "dumped /tmp/cnc_sim_linuxcnc_spindle_direction.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_canned_cycle.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_probe_no_error.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_coordinate_offsets.json"

tests/gcode/linuxcnc_spindle_direction.ngc

@@ -0,0 +1,5 @@
+G21 G90 G17
+S1200 M3
+M4
+M5
+M30