满庭芳·源流归一

结论：LinuxCNC rs274ngc 源码移植边界继续收拢。已将 rs274ngc 头文件纳入 manifest 跟踪，core 编译组仍只包含可编译源文件；启用 CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND 时 API 默认使用 LinuxCNC rs274 后端；M428/M429/M430 与 5axis/TRT/TDR/RTCP 相关路径继续保持来自 LinuxCNC 源码或 remap 配置的薄桥接。

验证：./test-linuxcnc-source-syntax.sh；./test-linuxcnc-api-native.sh；./test-native.sh；./test-linuxcnc-source-link.sh。

core/src/rtcp_kinematics.h

@@ -8,10 +8,134 @@ struct RtcpVector {
     double z;
 };
 
-// Rotation order is intrinsic tool orientation A then B then C, represented as
-// Rz(C) * Ry(B) * Rx(A) applied to a local tool vector.
-RtcpVector rtcp_rotate_abc_degrees(RtcpVector vector, double a_deg, double b_deg, double c_deg);
+struct LinuxCncFiveAxisJoints {
+    double x;
+    double y;
+    double z;
+    double a;
+    double b;
+    double c;
+    double w;
+};
 
-RtcpVector rtcp_tool_vector_from_pose(const CncSimPose &pose, double tool_length);
-CncSimPose rtcp_pivot_from_tool_tip(const CncSimPose &tool_tip, double tool_length);
-CncSimPose rtcp_tool_tip_from_pivot(const CncSimPose &pivot, double tool_length);
+struct LinuxCncAxisJoints {
+    double x;
+    double y;
+    double z;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+struct LinuxCncXyzbcTrtParameters {
+    double x_rot_point;
+    double y_rot_point;
+    double z_rot_point;
+    double x_offset;
+    double y_offset;
+    double z_offset;
+    double tool_offset;
+    bool conventional_directions;
+};
+
+struct LinuxCncScaraParameters {
+    double d1;
+    double d2;
+    double d3;
+    double d4;
+    double d5;
+    double d6;
+};
+
+struct LinuxCncXyzabTdrParameters {
+    double tool_offset_z;
+    double x_offset;
+    double z_offset;
+    double x_rot_point;
+    double y_rot_point;
+    double z_rot_point;
+};
+
+struct LinuxCncPumaParameters {
+    double a2;
+    double a3;
+    double d3;
+    double d4;
+    double d6;
+};
+
+struct LinuxCncGenserParameters {
+    double a[6];
+    double alpha[6];
+    double d[6];
+    int unrotate[6];
+};
+
+struct LinuxCncScaraJoints {
+    double j0;
+    double j1;
+    double j2;
+    double j3;
+    double j4;
+    double j5;
+};
+
+LinuxCncAxisJoints linuxcnc_identity_default_joints();
+CncSimPose linuxcnc_identity_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_identity_inverse(const CncSimPose &pose);
+
+CncSimPose linuxcnc_rotatekins_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_rotatekins_inverse(const CncSimPose &pose);
+
+CncSimPose linuxcnc_5axis_forward(const LinuxCncFiveAxisJoints &joints, double pivot_length);
+LinuxCncFiveAxisJoints linuxcnc_5axis_inverse(const CncSimPose &pose, double pivot_length);
+
+LinuxCncXyzbcTrtParameters linuxcnc_xyzbc_trt_default_parameters(double tool_offset);
+CncSimPose linuxcnc_xyzbc_trt_forward(const LinuxCncFiveAxisJoints &joints,
+                                      const LinuxCncXyzbcTrtParameters &parameters);
+LinuxCncFiveAxisJoints linuxcnc_xyzbc_trt_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzbcTrtParameters &parameters);
+CncSimPose linuxcnc_xyzac_trt_forward(const LinuxCncFiveAxisJoints &joints,
+                                      const LinuxCncXyzbcTrtParameters &parameters);
+LinuxCncFiveAxisJoints linuxcnc_xyzac_trt_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzbcTrtParameters &parameters);
+CncSimPose linuxcnc_xyzbc_userk_forward(const LinuxCncFiveAxisJoints &joints);
+LinuxCncFiveAxisJoints linuxcnc_xyzbc_userk_inverse(const CncSimPose &pose);
+
+LinuxCncScaraParameters linuxcnc_scara_default_parameters();
+CncSimPose linuxcnc_scara_forward(const LinuxCncScaraJoints &joints,
+                                  const LinuxCncScaraParameters &parameters,
+                                  int *iflags);
+LinuxCncScaraJoints linuxcnc_scara_inverse(const CncSimPose &pose,
+                                           const LinuxCncScaraParameters &parameters,
+                                           int iflags);
+
+LinuxCncXyzabTdrParameters linuxcnc_xyzab_tdr_default_parameters(double tool_offset_z);
+CncSimPose linuxcnc_xyzab_tdr_identity_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_xyzab_tdr_identity_inverse(const CncSimPose &pose);
+CncSimPose linuxcnc_xyzab_tdr_tcp_forward(const LinuxCncAxisJoints &joints,
+                                          const LinuxCncXyzabTdrParameters &parameters);
+LinuxCncAxisJoints linuxcnc_xyzab_tdr_tcp_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzabTdrParameters &parameters);
+
+LinuxCncPumaParameters linuxcnc_puma_default_parameters();
+CncSimPose linuxcnc_puma_forward(const LinuxCncAxisJoints &joints,
+                                 const LinuxCncPumaParameters &parameters,
+                                 int *iflags);
+LinuxCncAxisJoints linuxcnc_puma_inverse(const CncSimPose &pose,
+                                         const LinuxCncAxisJoints &current_joints,
+                                         const LinuxCncPumaParameters &parameters,
+                                         int iflags,
+                                         int *fflags);
+
+LinuxCncGenserParameters linuxcnc_genser_puma560_parameters();
+CncSimPose linuxcnc_genser_forward(const LinuxCncAxisJoints &joints,
+                                   const LinuxCncGenserParameters &parameters);
+LinuxCncAxisJoints linuxcnc_genser_inverse(const CncSimPose &pose,
+                                           const LinuxCncAxisJoints &joint_estimate,
+                                           const LinuxCncGenserParameters &parameters,
+                                           int *iterations,
+                                           int max_iterations = 100);