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Emit motion control mode events

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This commit is contained in:
CNC Local
2026-05-22 05:39:59 +08:00
parent e941c9bbb4
commit 44e024e49c
7 changed files with 121 additions and 1 deletions
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2
README.zh-CN.md
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@@ -65,6 +65,7 @@ The first useful target is:
- 已有停止类事件回归语料，`M0/M1/M60` 会通过 `program-end.reserved` 输出 `1=程序停`、`2=可选停`、`3=托盘交换`。
- 已有冷却液状态回归语料，`M7/M8/M9` 会通过 `comment.reserved` 临时输出 `10/11=mist off/on`、`20/21=flood off/on`。
- 已有进给模式回归语料，`G93/G94/G95` 会通过 `comment.reserved` 临时输出 `93/94/95`，并通过 `set-feed` 记录 Canon feed mode 回调。
- 已有运动控制模式回归语料，`G61/G61.1/G64` 会通过 `comment.reserved` 临时输出 `611/612/640`，`feed` 暂存 G64 tolerance。
- 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。
@@ -90,6 +91,7 @@ The first useful target is:
- `M0` / `M1` / `M60` 停止类事件回归
- `M7` / `M8` / `M9` 冷却液状态回归
- `G93` / `G94` / `G95` 进给模式回归
- `G61` / `G61.1` / `G64` 运动控制模式回归
- `G10 L2` / `G10 L20` / `G92.1` 坐标系事件回归
- `G38.3` 探针事件回归

26
core/src/linuxcnc_canon_bridge.cpp
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@@ -302,7 +302,31 @@ void SET_FEED_MODE(int, int) {
}
}
void SET_MOTION_CONTROL_MODE(CANON_MOTION_MODE, double) {
void SET_MOTION_CONTROL_MODE(CANON_MOTION_MODE mode, double tolerance) {
int reserved = 0;
switch (mode) {
case CANON_EXACT_PATH:
reserved = 611;
break;
case CANON_EXACT_STOP:
reserved = 612;
break;
case CANON_CONTINUOUS:
reserved = 640;
break;
default:
reserved = 0;
break;
}
if (active_sink) {
CncSimEvent event{};
event.version = 1;
event.type = CNC_SIM_EVENT_COMMENT;
event.line = event_line();
event.feed = tolerance;
event.reserved = reserved;
active_sink->emit_raw(event);
}
}
void SET_NAIVECAM_TOLERANCE(double) {

16
core/src/smoke_gcode_parser.cpp
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@@ -323,6 +323,22 @@ int SmokeGcodeParser::parse(const char *program, size_t program_len, std::string
if (stop_if_callback_aborted(sink_, error)) {
return -1;
}
} else if (g == 61) {
emit_comment_state(sink_, line_number, g_code_is(word.value, 61.1) ? 612 : 611);
if (stop_if_callback_aborted(sink_, error)) {
return -1;
}
} else if (g == 64) {
CncSimEvent event{};
event.version = 1;
event.type = CNC_SIM_EVENT_COMMENT;
event.line = line_number;
event.feed = words.count('P') ? words.at('P') : 0.0;
event.reserved = 640;
sink_.emit_raw(event);
if (stop_if_callback_aborted(sink_, error)) {
return -1;
}
} else if (g == 0 || g == 1 || g == 2 || g == 3) {
modal_motion = g;
} else if (g == 4) {

31
core/tests/cnc_sim_api_linuxcnc_rs274_smoke.cpp
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@@ -91,6 +91,9 @@ int main() {
bool saw_g95_mode = false;
bool saw_g94_feed_mode = false;
bool saw_g95_feed_mode = false;
bool saw_g61_mode = false;
bool saw_g611_mode = false;
bool saw_g64_mode = 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;
@@ -285,6 +288,34 @@ int main() {
ok &= expect(saw_g94_feed_mode, "expected LinuxCNC G94 set-feed mode event");
ok &= expect(saw_g95_feed_mode, "expected LinuxCNC G95 set-feed mode event");
const char motion_mode_program[] =
"G21 G90 G17\n"
"G61\n"
"G61.1\n"
"G64 P0.05\n"
"M30\n";
events.clear();
ok &= expect(cnc_sim_parse_program(sim, motion_mode_program, sizeof(motion_mode_program) - 1) == 0,
cnc_sim_last_error(sim));
for (const auto &event : events) {
saw_g61_mode = saw_g61_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 2 &&
event.reserved == 611);
saw_g611_mode = saw_g611_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 3 &&
event.reserved == 612);
saw_g64_mode = saw_g64_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 4 &&
event.reserved == 640 &&
event.feed == 0.05);
}
ok &= expect(saw_g61_mode, "expected LinuxCNC G61 exact path mode");
ok &= expect(saw_g611_mode, "expected LinuxCNC G61.1 exact stop mode");
ok &= expect(saw_g64_mode, "expected LinuxCNC G64 continuous mode");
const char comment_program[] =
"G21 G90 G17\n"
"(operator note)\n"

30
core/tests/cnc_sim_api_smoke.cpp
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@@ -81,6 +81,9 @@ int main() {
bool saw_g94_mode = false;
bool saw_g95_mode = false;
bool saw_g95_feed_mode = false;
bool saw_g61_mode = false;
bool saw_g611_mode = false;
bool saw_g64_mode = false;
bool saw_incremental_move = false;
bool saw_r_arc_center = false;
for (const auto &event : events) {
@@ -261,6 +264,33 @@ int main() {
ok &= expect(saw_g95_mode, "expected G95 feed mode state");
ok &= expect(saw_g95_feed_mode, "expected G95 feed-per-rev set-feed mode");
const char motion_mode_program[] =
"G21\n"
"G61\n"
"G61.1\n"
"G64 P0.05\n";
events.clear();
ok &= expect(cnc_sim_parse_program(sim, motion_mode_program, sizeof(motion_mode_program) - 1) == 0,
cnc_sim_last_error(sim));
for (const auto &event : events) {
saw_g61_mode = saw_g61_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 2 &&
event.reserved == 611);
saw_g611_mode = saw_g611_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 3 &&
event.reserved == 612);
saw_g64_mode = saw_g64_mode ||
(event.type == CNC_SIM_EVENT_COMMENT &&
event.line == 4 &&
event.reserved == 640 &&
event.feed == 0.05);
}
ok &= expect(saw_g61_mode, "expected G61 exact path mode");
ok &= expect(saw_g611_mode, "expected G61.1 exact stop mode");
ok &= expect(saw_g64_mode, "expected G64 continuous mode");
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);

12
test-linuxcnc-rs274-native.sh
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@@ -42,6 +42,7 @@ CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linux
CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_program_stops.ngc >/tmp/cnc_sim_linuxcnc_program_stops.json
CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_coolant.ngc >/tmp/cnc_sim_linuxcnc_coolant.json
CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_feed_modes.ngc >/tmp/cnc_sim_linuxcnc_feed_modes.json
CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_motion_modes.ngc >/tmp/cnc_sim_linuxcnc_motion_modes.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_comments.ngc >/tmp/cnc_sim_linuxcnc_comments.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
@@ -136,6 +137,16 @@ for expected in [(3, 0), (4, 0)]:
if expected not in feed_mode_events:
raise SystemExit(f"missing feed mode event {expected!r}")
motion_modes = json.loads(Path("/tmp/cnc_sim_linuxcnc_motion_modes.json").read_text())
motion_mode_states = [
(event["line"], event["reserved"], event["feed"])
for event in motion_modes
if event["type"] == "comment"
]
for expected in [(2, 611, 0), (3, 612, 0), (4, 640, 0.05)]:
if expected not in motion_mode_states:
raise SystemExit(f"missing motion mode state {expected!r}")
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 = [
@@ -216,6 +227,7 @@ echo "dumped /tmp/cnc_sim_linuxcnc_tool_number.json"
echo "dumped /tmp/cnc_sim_linuxcnc_program_stops.json"
echo "dumped /tmp/cnc_sim_linuxcnc_coolant.json"
echo "dumped /tmp/cnc_sim_linuxcnc_feed_modes.json"
echo "dumped /tmp/cnc_sim_linuxcnc_motion_modes.json"
echo "dumped /tmp/cnc_sim_linuxcnc_canned_cycle.json"
echo "dumped /tmp/cnc_sim_linuxcnc_comments.json"
echo "dumped /tmp/cnc_sim_linuxcnc_probe_no_error.json"

5
tests/gcode/linuxcnc_motion_modes.ngc Normal file
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@@ -0,0 +1,5 @@
G21 G90 G17
G61
G61.1
G64 P0.05
M30