Emit motion control mode events

README.zh-CN.md

@@ -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
 

core/src/linuxcnc_canon_bridge.cpp

@@ -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) {

core/src/smoke_gcode_parser.cpp

@@ -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) {

core/tests/cnc_sim_api_linuxcnc_rs274_smoke.cpp

@@ -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"

core/tests/cnc_sim_api_smoke.cpp

@@ -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);

test-linuxcnc-rs274-native.sh

@@ -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"

tests/gcode/linuxcnc_motion_modes.ngc

@@ -0,0 +1,5 @@
+G21 G90 G17
+G61
+G61.1
+G64 P0.05
+M30