继续推进：用LinuxCNC配置生成switchkins测试

结论：M428/M429/M430 的配置匹配测试已从手写列表改为由 LinuxCNC INI/MACHINE/KINEMATICS/HALFILE 生成，native 与 source-link 验证通过。
2026-05-30 10:10:49 +08:00
parent de273bf830
commit c2d1aa6fe3
4 changed files with 141 additions and 61 deletions
--- a/check-linuxcnc-switchkins-remap-table.sh
+++ b/check-linuxcnc-switchkins-remap-table.sh
@@ -7,7 +7,11 @@ linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
 manifest=${1:-linuxcnc-kinematics-source-files.txt}

 generated_table=$(mktemp "${TMPDIR:-/tmp}/linuxcnc_switchkins_remap_table.XXXXXX.inc")
-trap 'rm -f "$generated_table"' EXIT
+generated_cases=$(mktemp "${TMPDIR:-/tmp}/linuxcnc_switchkins_remap_config_cases.XXXXXX.inc")
+trap 'rm -f "$generated_table" "$generated_cases"' EXIT

 LINUXCNC_ROOT="$linuxcnc_root" ./generate-linuxcnc-switchkins-remap-table.sh "$manifest" > "$generated_table"
 diff -u core/src/linuxcnc_switchkins_remap_table.inc "$generated_table"
+
+LINUXCNC_ROOT="$linuxcnc_root" ./generate-linuxcnc-switchkins-remap-table.sh --config-cases "$manifest" > "$generated_cases"
+diff -u core/tests/linuxcnc_switchkins_remap_config_cases.inc "$generated_cases"
--- a/core/tests/cnc_sim_api_smoke.cpp
+++ b/core/tests/cnc_sim_api_smoke.cpp
@@ -11321,64 +11321,7 @@ int main() {
            int m430_type;
        };
        const SourceBackedConfigCase source_cases[] = {
-            {"config", "configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", 1, 0, -1},
-            {"config", "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", 1, 0, 2},
-            {"config", "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", 1, 0, 2},
-            {"config",
-             "configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini",
-             0,
-             1,
-             2},
-            {"config",
-             "configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini",
-             0,
-             1,
-             2},
-            {"config", "configs/sim/axis/vismach/hexapod-sim/hexapod.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/melfa-sim/melfa.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/millturn/millturn.ini", 0, 1, -1},
-            {"config", "configs/sim/axis/vismach/puma/puma.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/puma/puma_cube.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/puma/puma560.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/puma/puma560_uvw.ini", 0, 1, 2},
-            {"config", "configs/sim/axis/vismach/scara/scara.ini", 0, 1, 2},
-            {"config", "configs/sim/qtaxis/non-trivial/scara/scara.ini", 0, 1, 2},
-            {"config", "configs/sim/qtvcp_screens/non-trivial/scara/scara.ini", 0, 1, 2},
-            {"machine", "Sim-5Axis Bridge Mill (xyzbcw)", 0, 1, 2},
-            {"machine", "sim-xyzab-tdr-kins (switchkins)", 1, 0, -1},
-            {"machine", "sim-xyzac-trt-kins (switchkins)", 1, 0, 2},
-            {"machine", "sim-xyzbc-trt-kins (switchkins)", 1, 0, 2},
-            {"machine", "xyzacb-trsrn (switchkins)", 0, 1, 2},
-            {"machine", "xyzbca-trsrn (switchkins)", 0, 1, 2},
-            {"machine", "hexapod (switchkins)", 0, 1, 2},
-            {"machine", "melfa (mm)", 0, 1, 2},
-            {"machine", "millturn (mm)", 0, 1, -1},
-            {"machine", "PUMA (pumakins,switchkins)", 0, 1, 2},
-            {"machine", "puma_cube.ini (pumakins)", 0, 1, 2},
-            {"machine", "puma560 (switchkins) (inch)", 0, 1, 2},
-            {"machine", "SCARA (genserkins,switchkins)", 0, 1, 2},
-            {"kinematics", "5axiskins", 0, 1, 2},
-            {"kinematics", "xyzab_tdr_kins", 1, 0, -1},
-            {"kinematics", "xyzac-trt-kins sparm=identityfirst", 1, 0, 2},
-            {"kinematics", "xyzbc-trt-kins sparm=identityfirst", 1, 0, 2},
-            {"kinematics", "xyzacb_trsrn", 0, 1, 2},
-            {"kinematics", "xyzbca_trsrn", 0, 1, 2},
-            {"kinematics", "genhexkins", 0, 1, 2},
-            {"kinematics", "genserkins", 0, 1, 2},
-            {"kinematics", "millturn", 0, 1, -1},
-            {"kinematics", "pumakins", 0, 1, 2},
-            {"kinematics", "scarakins coordinates=xyzcab", 0, 1, 2},
-            {"halfile", "5axisgui.hal", 0, 1, 2},
-            {"halfile", "5axisgui", 0, 1, 2},
-            {"halfile", "kinematics.hal", 0, 1, 2},
-            {"hal_file", "melfa_dh.hal", 0, 1, 2},
-            {"hal_file", "melfa_dh", 0, 1, 2},
-            {"hal_file", "millturn.hal", 0, 1, -1},
-            {"halfile", "puma_dh.hal", 0, 1, 2},
-            {"halfile", "puma_dh", 0, 1, 2},
-            {"halfile", "puma560_dh.hal", 0, 1, 2},
-            {"halfile", "puma560_dh", 0, 1, 2},
+#include "linuxcnc_switchkins_remap_config_cases.inc"
        };
        for (const SourceBackedConfigCase &source_case : source_cases) {
            const std::string json = std::string("{\"backend\":\"smoke\",\"") +
--- a/core/tests/linuxcnc_switchkins_remap_config_cases.inc
+++ b/core/tests/linuxcnc_switchkins_remap_config_cases.inc
@@ -0,0 +1,67 @@
+// Generated by ./generate-linuxcnc-switchkins-remap-table.sh --config-cases.
+// Source: LinuxCNC INI config path, MACHINE, KINEMATICS, and non-LIB HALFILE entries
+// for M428/M429/M430 remap #<kinstype> assignments.
+            {"config", "configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", 0, 1, 2},
+            {"machine", "Sim-5Axis Bridge Mill (xyzbcw)", 0, 1, 2},
+            {"kinematics", "5axiskins coordinates=xyzbcwy", 0, 1, 2},
+            {"halfile", "5axisgui.hal", 0, 1, 2},
+            {"halfile", "5axisgui", 0, 1, 2},
+            {"hal_file", "5axisgui.hal", 0, 1, 2},
+            {"hal_file", "5axisgui", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", 1, 0, -1},
+            {"machine", "sim-xyzab-tdr-kins (switchkins)", 1, 0, -1},
+            {"kinematics", "xyzab_tdr_kins", 1, 0, -1},
+            {"config", "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", 1, 0, 2},
+            {"machine", "sim-xyzac-trt-kins (switchkins)", 1, 0, 2},
+            {"kinematics", "xyzac-trt-kins sparm=identityfirst", 1, 0, 2},
+            {"config", "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", 1, 0, 2},
+            {"machine", "sim-xyzbc-trt-kins (switchkins)", 1, 0, 2},
+            {"kinematics", "xyzbc-trt-kins sparm=identityfirst", 1, 0, 2},
+            {"config", "configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini", 0, 1, 2},
+            {"machine", "xyzacb-trsrn (switchkins)", 0, 1, 2},
+            {"kinematics", "xyzacb_trsrn", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini", 0, 1, 2},
+            {"machine", "xyzbca-trsrn (switchkins)", 0, 1, 2},
+            {"kinematics", "xyzbca_trsrn", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/hexapod-sim/hexapod.ini", 0, 1, 2},
+            {"machine", "hexapod (switchkins)", 0, 1, 2},
+            {"kinematics", "genhexkins", 0, 1, 2},
+            {"halfile", "kinematics.hal", 0, 1, 2},
+            {"halfile", "kinematics", 0, 1, 2},
+            {"hal_file", "kinematics.hal", 0, 1, 2},
+            {"hal_file", "kinematics", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/melfa-sim/melfa.ini", 0, 1, 2},
+            {"machine", "melfa (mm)", 0, 1, 2},
+            {"kinematics", "genserkins", 0, 1, 2},
+            {"halfile", "melfa_dh.hal", 0, 1, 2},
+            {"halfile", "melfa_dh", 0, 1, 2},
+            {"hal_file", "melfa_dh.hal", 0, 1, 2},
+            {"hal_file", "melfa_dh", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/millturn/millturn.ini", 0, 1, -1},
+            {"machine", "millturn (mm)", 0, 1, -1},
+            {"kinematics", "millturn", 0, 1, -1},
+            {"halfile", "millturn.hal", 0, 1, -1},
+            {"halfile", "millturn", 0, 1, -1},
+            {"hal_file", "millturn.hal", 0, 1, -1},
+            {"hal_file", "millturn", 0, 1, -1},
+            {"config", "configs/sim/axis/vismach/puma/puma.ini", 0, 1, 2},
+            {"machine", "PUMA (pumakins,switchkins)", 0, 1, 2},
+            {"kinematics", "pumakins", 0, 1, 2},
+            {"halfile", "puma_dh.hal", 0, 1, 2},
+            {"halfile", "puma_dh", 0, 1, 2},
+            {"hal_file", "puma_dh.hal", 0, 1, 2},
+            {"hal_file", "puma_dh", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/puma/puma_cube.ini", 0, 1, 2},
+            {"machine", "puma_cube.ini (pumakins)", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/puma/puma560.ini", 0, 1, 2},
+            {"machine", "puma560 (switchkins) (inch)", 0, 1, 2},
+            {"halfile", "puma560_dh.hal", 0, 1, 2},
+            {"halfile", "puma560_dh", 0, 1, 2},
+            {"hal_file", "puma560_dh.hal", 0, 1, 2},
+            {"hal_file", "puma560_dh", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/puma/puma560_uvw.ini", 0, 1, 2},
+            {"config", "configs/sim/axis/vismach/scara/scara.ini", 0, 1, 2},
+            {"machine", "SCARA (genserkins,switchkins)", 0, 1, 2},
+            {"kinematics", "scarakins coordinates=xyzcab", 0, 1, 2},
+            {"config", "configs/sim/qtaxis/non-trivial/scara/scara.ini", 0, 1, 2},
+            {"config", "configs/sim/qtvcp_screens/non-trivial/scara/scara.ini", 0, 1, 2},
--- a/generate-linuxcnc-switchkins-remap-table.sh
+++ b/generate-linuxcnc-switchkins-remap-table.sh
@@ -4,6 +4,11 @@ set -euo pipefail
 cd "$(dirname "$0")"

 linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+mode=table
+if [[ "${1:-}" == "--config-cases" ]]; then
+    mode=config-cases
+    shift
+fi
 manifest=${1:-linuxcnc-kinematics-source-files.txt}

 if [[ ! -d "$linuxcnc_root" ]]; then
@@ -117,8 +122,15 @@ json_compact_string() {
    printf '%s' "$value" | normalize_alias | sed 's/\\/\\\\/g; s/"/\\"/g'
 }

+cpp_string() {
+    local value=$1
+    printf '%s' "$value" | sed 's/\\/\\\\/g; s/"/\\"/g'
+}
+
 declare -A seen_aliases=()
+declare -A seen_cases=()
 entries=()
+case_entries=()

 add_alias() {
    local alias=$1
@@ -141,6 +153,24 @@ add_alias() {
    entries+=("    {\"$alias\", $m428, $m429, $m430},")
 }

+add_case() {
+    local field=$1
+    local value=$2
+    local m428=$3
+    local m429=$4
+    local m430=$5
+    [[ -n "$value" ]] || return 0
+
+    local types="$m428,$m429,$m430"
+    local key="$field|$value|$types"
+    [[ -z "${seen_cases[$key]:-}" ]] || return 0
+
+    seen_cases[$key]=1
+    field=$(cpp_string "$field")
+    value=$(cpp_string "$value")
+    case_entries+=("            {\"$field\", \"$value\", $m428, $m429, $m430},")
+}
+
 add_machine_aliases() {
    local machine=$1
    local m428=$2
@@ -181,6 +211,24 @@ add_halfile_aliases() {
    add_alias "${hal_base%.hal}" "$m428" "$m429" "$m430"
 }

+add_halfile_cases() {
+    local halfile=$1
+    local m428=$2
+    local m429=$3
+    local m430=$4
+    [[ -n "$halfile" ]] || return 0
+    [[ "$halfile" == LIB:* ]] && return 0
+
+    local hal_base=${halfile##*/}
+    local hal_stem=${hal_base%.hal}
+    add_case "halfile" "$halfile" "$m428" "$m429" "$m430"
+    add_case "halfile" "$hal_base" "$m428" "$m429" "$m430"
+    add_case "halfile" "$hal_stem" "$m428" "$m429" "$m430"
+    add_case "hal_file" "$halfile" "$m428" "$m429" "$m430"
+    add_case "hal_file" "$hal_base" "$m428" "$m429" "$m430"
+    add_case "hal_file" "$hal_stem" "$m428" "$m429" "$m430"
+}
+
 while IFS=: read -r group path _note; do
    [[ "$group" == "config" && "$path" == *.ini ]] || continue

@@ -207,6 +255,10 @@ while IFS=: read -r group path _note; do
    config_base=${path##*/}
    config_stem=${config_base%.ini}

+    add_case "config" "$path" "$m428" "$m429" "$m430"
+    add_case "machine" "$machine" "$m428" "$m429" "$m430"
+    add_case "kinematics" "$kinematics" "$m428" "$m429" "$m430"
+
    add_alias "$path" "$m428" "$m429" "$m430"
    add_alias "$config_dir" "$m428" "$m429" "$m430"
    add_alias "${config_dir##*/}" "$m428" "$m429" "$m430"
@@ -214,6 +266,7 @@ while IFS=: read -r group path _note; do
    add_machine_aliases "$machine" "$m428" "$m429" "$m430"
    add_kinematics_aliases "$kinematics" "$m428" "$m429" "$m430"
    while IFS= read -r halfile; do
+        add_halfile_cases "$halfile" "$m428" "$m429" "$m430"
        add_halfile_aliases "$halfile" "$m428" "$m429" "$m430"
    done <<<"$halfiles"

@@ -229,10 +282,23 @@ while IFS=: read -r group path _note; do
    done
 done <"$manifest"

-cat <<'EOF'
+if [[ "$mode" == table ]]; then
+    cat <<'EOF'
 // Generated by ./generate-linuxcnc-switchkins-remap-table.sh.
 // Source: LinuxCNC INI MACHINE/KINEMATICS/HALFILE/SUBROUTINE_PATH/REMAP entries and
 // adjacent remap_subs/{428,429,430}remap.ngc #<kinstype> assignments.
 EOF

-printf '%s\n' "${entries[@]}"
+    printf '%s\n' "${entries[@]}"
+elif [[ "$mode" == config-cases ]]; then
+    cat <<'EOF'
+// Generated by ./generate-linuxcnc-switchkins-remap-table.sh --config-cases.
+// Source: LinuxCNC INI config path, MACHINE, KINEMATICS, and non-LIB HALFILE entries
+// for M428/M429/M430 remap #<kinstype> assignments.
+EOF
+
+    printf '%s\n' "${case_entries[@]}"
+else
+    echo "unknown switchkins remap table generator mode: $mode" >&2
+    exit 1
+fi