参考所有分组，完成尽量多的内容。禁止顺手扩功能 smoke

结论：补齐 Puma560 DH 参数生成器的可执行入口和 LinuxCNC-root 相对 HAL 源约束，锁住 puma560_dh.hal 中 genserkins DH 值到生成输出的映射，不新增 CNC 行为或 smoke 功能。

generate-linuxcnc-puma560-dh-parameters.sh

@@ -7,7 +7,38 @@ cd "$(dirname "$0")"
 # configs/sim/axis/vismach/puma/puma560_dh.hal setp genserkins.{A,ALPHA,D}-N
 # values used by LinuxCNC genser/switchkins simulation configs.
 linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+
+usage() {
+    echo "usage: $0 [linuxcnc-root-relative-puma560-dh-hal]" >&2
+}
+
+case "${1:-}" in
+    --help|-h)
+        usage
+        exit 0
+        ;;
+    --*)
+        usage
+        echo "unknown LinuxCNC puma560 DH generator option: $1" >&2
+        exit 1
+        ;;
+esac
+if [[ -n "${2:-}" ]]; then
+    usage
+    echo "too many LinuxCNC puma560 DH generator arguments" >&2
+    exit 1
+fi
+
 source_path=${1:-configs/sim/axis/vismach/puma/puma560_dh.hal}
+if [[ "$source_path" = /* || "$source_path" == .. || "$source_path" == ../* || "$source_path" == */.. || "$source_path" == */../* ]]; then
+    echo "LinuxCNC puma560 DH HAL source path must stay LinuxCNC-root relative: $source_path" >&2
+    exit 1
+fi
+if [[ "$source_path" != *.hal ]]; then
+    echo "LinuxCNC puma560 DH source must be a HAL file: $source_path" >&2
+    exit 1
+fi
+
 source_file="$linuxcnc_root/$source_path"
 
 if [[ ! -f "$source_file" ]]; then
@@ -25,8 +56,8 @@ $1 == "setp" && $2 ~ /^genserkins\.(A|ALPHA|D)-[0-5]$/ {
     split($2, qualified, ".")
     split(qualified[2], name_index, "-")
     name = name_index[1]
-    index = name_index[2] + 0
-    values[name, index] = $3
+    joint_index = name_index[2] + 0
+    values[name, joint_index] = $3
 }
 
 END {