Emit program stop events for LinuxCNC stops

README.zh-CN.md

@@ -62,6 +62,7 @@ The first useful target is:
 - 已有主轴方向状态回归语料，`M3/M4/M5` 会通过 `set-spindle.reserved` 输出 `1=顺时针`、`2=逆时针`、`0=停止`。
 - 已有注释事件行号回归语料，LinuxCNC `COMMENT` 事件会保留当前 G-code 行号。
 - 已有当前刀号事件行号回归语料，LinuxCNC `M61 Q...` 会输出带行号的 `tool-change` 事件。
+- 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`。
 - 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。
 
@@ -84,6 +85,7 @@ The first useful target is:
 - `M3` / `M4` / `M5` 主轴方向事件回归
 - `M61 Q...` 当前刀号事件行号回归
 - LinuxCNC 注释事件行号回归
+- `M0` / `M1` / `M60` 停止类事件回归
 - `G10 L2` / `G10 L20` / `G92.1` 坐标系事件回归
 - `G38.3` 探针事件回归
 

core/src/canon_event_sink.cpp

@@ -192,6 +192,12 @@ void CanonEventSink::program_end(int line) {
     emit(base_event(CNC_SIM_EVENT_PROGRAM_END, line));
 }
 
+void CanonEventSink::program_stop(int line, int kind) {
+    CncSimEvent event = base_event(CNC_SIM_EVENT_PROGRAM_END, line);
+    event.reserved = kind;
+    emit(event);
+}
+
 void CanonEventSink::emit_raw(CncSimEvent event) {
     if (event.version == 0) {
         event.version = 1;

core/src/canon_event_sink.h

@@ -32,6 +32,7 @@ public:
     void straight_probe(int line, const CncSimPose &end);
     void dwell(double seconds, int line);
     void program_end(int line);
+    void program_stop(int line, int kind);
     void emit_raw(CncSimEvent event);
 
     const CncSimPose &position() const;

core/src/linuxcnc_canon_bridge.cpp

@@ -471,6 +471,9 @@ void MIST_ON() {
 }
 
 void PALLET_SHUTTLE() {
+    if (active_sink) {
+        active_sink->program_stop(event_line(), 3);
+    }
 }
 
 void TURN_PROBE_OFF() {
@@ -499,6 +502,9 @@ bool GET_BLOCK_DELETE(void) {
 }
 
 void OPTIONAL_PROGRAM_STOP() {
+    if (active_sink) {
+        active_sink->program_stop(event_line(), 2);
+    }
 }
 
 void SET_OPTIONAL_PROGRAM_STOP(bool) {
@@ -509,6 +515,9 @@ bool GET_OPTIONAL_PROGRAM_STOP() {
 }
 
 void PROGRAM_STOP() {
+    if (active_sink) {
+        active_sink->program_stop(event_line(), 1);
+    }
 }
 
 void SET_MOTION_OUTPUT_BIT(int) {

core/src/smoke_gcode_parser.cpp

@@ -351,6 +351,16 @@ int SmokeGcodeParser::parse(const char *program, size_t program_len, std::string
                 if (stop_if_callback_aborted(sink_, error)) {
                     return -1;
                 }
+            } else if (m == 0) {
+                sink_.program_stop(line_number, 1);
+                if (stop_if_callback_aborted(sink_, error)) {
+                    return -1;
+                }
+            } else if (m == 1) {
+                sink_.program_stop(line_number, 2);
+                if (stop_if_callback_aborted(sink_, error)) {
+                    return -1;
+                }
             } else if (m == 6) {
                 sink_.change_tool(line_number);
                 if (stop_if_callback_aborted(sink_, error)) {
@@ -371,6 +381,11 @@ int SmokeGcodeParser::parse(const char *program, size_t program_len, std::string
                 if (stop_if_callback_aborted(sink_, error)) {
                     return -1;
                 }
+            } else if (m == 60) {
+                sink_.program_stop(line_number, 3);
+                if (stop_if_callback_aborted(sink_, error)) {
+                    return -1;
+                }
             } else if (m == 2 || m == 30) {
                 sink_.program_end(line_number);
                 if (stop_if_callback_aborted(sink_, error)) {

core/tests/cnc_sim_api_linuxcnc_rs274_smoke.cpp

@@ -78,6 +78,10 @@ int main() {
     bool saw_spindle_stop = false;
     bool saw_comment_line = false;
     bool saw_tool_number_line = false;
+    bool saw_program_stop = false;
+    bool saw_optional_stop = false;
+    bool saw_pallet_stop = false;
+    bool saw_final_end = 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;
@@ -171,6 +175,38 @@ int main() {
     }
     ok &= expect(saw_tool_number_line, "expected LinuxCNC M61 tool-number event line");
 
+    const char stop_program[] =
+        "G21 G90 G17\n"
+        "M0\n"
+        "M1\n"
+        "M60\n"
+        "M30\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, stop_program, sizeof(stop_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_program_stop = saw_program_stop ||
+                           (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                            event.line == 2 &&
+                            event.reserved == 1);
+        saw_optional_stop = saw_optional_stop ||
+                            (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                             event.line == 3 &&
+                             event.reserved == 2);
+        saw_pallet_stop = saw_pallet_stop ||
+                          (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                           event.line == 4 &&
+                           event.reserved == 3);
+        saw_final_end = saw_final_end ||
+                        (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                         event.line == 5 &&
+                         event.reserved == 0);
+    }
+    ok &= expect(saw_program_stop, "expected LinuxCNC M0 program stop event");
+    ok &= expect(saw_optional_stop, "expected LinuxCNC M1 optional stop event");
+    ok &= expect(saw_pallet_stop, "expected LinuxCNC M60 pallet shuttle event");
+    ok &= expect(saw_final_end, "expected LinuxCNC M30 final program end event");
+
     const char comment_program[] =
         "G21 G90 G17\n"
         "(operator note)\n"

core/tests/cnc_sim_api_smoke.cpp

@@ -70,6 +70,9 @@ int main() {
     bool saw_spindle_cw = false;
     bool saw_spindle_ccw = false;
     bool saw_spindle_stop = false;
+    bool saw_program_stop = false;
+    bool saw_optional_stop = false;
+    bool saw_pallet_stop = false;
     bool saw_incremental_move = false;
     bool saw_r_arc_center = false;
     for (const auto &event : events) {
@@ -162,6 +165,32 @@ int main() {
     ok &= expect(saw_spindle_ccw, "expected M4 counterclockwise spindle state");
     ok &= expect(saw_spindle_stop, "expected M5 stopped spindle state");
 
+    const char stop_program[] =
+        "G21\n"
+        "M0\n"
+        "M1\n"
+        "M60\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, stop_program, sizeof(stop_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_program_stop = saw_program_stop ||
+                           (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                            event.line == 2 &&
+                            event.reserved == 1);
+        saw_optional_stop = saw_optional_stop ||
+                            (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                             event.line == 3 &&
+                             event.reserved == 2);
+        saw_pallet_stop = saw_pallet_stop ||
+                          (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                           event.line == 4 &&
+                           event.reserved == 3);
+    }
+    ok &= expect(saw_program_stop, "expected M0 program stop event");
+    ok &= expect(saw_optional_stop, "expected M1 optional stop event");
+    ok &= expect(saw_pallet_stop, "expected M60 pallet shuttle event");
+
     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);

core/tests/linuxcnc_canon_bridge_smoke.cpp

@@ -51,6 +51,12 @@ int main() {
     SET_XY_ROTATION(15.0);
     cnc_sim_linuxcnc_set_current_line(20);
     COMMENT("bridge comment");
+    cnc_sim_linuxcnc_set_current_line(21);
+    PROGRAM_STOP();
+    cnc_sim_linuxcnc_set_current_line(22);
+    OPTIONAL_PROGRAM_STOP();
+    cnc_sim_linuxcnc_set_current_line(23);
+    PALLET_SHUTTLE();
     PROGRAM_END();
 
     bool ok = true;
@@ -71,6 +77,9 @@ int main() {
     bool saw_g92 = false;
     bool saw_rotation = false;
     bool saw_comment = false;
+    bool saw_program_stop = false;
+    bool saw_optional_stop = false;
+    bool saw_pallet_stop = false;
     bool saw_end = false;
     for (const auto &event : events) {
         saw_tool = saw_tool || (event.type == CNC_SIM_EVENT_TOOL_CHANGE && event.tool == 7);
@@ -113,6 +122,15 @@ int main() {
                                         event.feed == 15.0);
         saw_comment = saw_comment || (event.type == CNC_SIM_EVENT_COMMENT &&
                                       event.line == 20);
+        saw_program_stop = saw_program_stop || (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                                                event.line == 21 &&
+                                                event.reserved == 1);
+        saw_optional_stop = saw_optional_stop || (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                                                 event.line == 22 &&
+                                                 event.reserved == 2);
+        saw_pallet_stop = saw_pallet_stop || (event.type == CNC_SIM_EVENT_PROGRAM_END &&
+                                             event.line == 23 &&
+                                             event.reserved == 3);
         saw_end = saw_end || event.type == CNC_SIM_EVENT_PROGRAM_END;
     }
 
@@ -129,6 +147,9 @@ int main() {
     ok &= expect(saw_g92, "expected G92 offset event");
     ok &= expect(saw_rotation, "expected XY rotation event");
     ok &= expect(saw_comment, "expected comment event line");
+    ok &= expect(saw_program_stop, "expected program stop event");
+    ok &= expect(saw_optional_stop, "expected optional stop event");
+    ok &= expect(saw_pallet_stop, "expected pallet shuttle stop event");
     ok &= expect(saw_end, "expected program end");
 
     cnc_sim_linuxcnc_set_canon_sink(nullptr);

test-linuxcnc-rs274-native.sh

@@ -39,6 +39,7 @@ CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/basic
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_rtcp_controls.ngc >/tmp/cnc_sim_linuxcnc_rtcp_controls.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_spindle_direction.ngc >/tmp/cnc_sim_linuxcnc_spindle_direction.json
 CNC_SIM_RS274_VAR="$var_file" "$build_dir/linuxcnc_rs274_dump" tests/gcode/linuxcnc_tool_number.ngc >/tmp/cnc_sim_linuxcnc_tool_number.json
+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_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
@@ -95,6 +96,16 @@ if not any(
 ):
     raise SystemExit("missing M61 Q1 tool-number event line")
 
+stops = json.loads(Path("/tmp/cnc_sim_linuxcnc_program_stops.json").read_text())
+stop_states = [
+    (event["line"], event["reserved"])
+    for event in stops
+    if event["type"] == "program-end"
+]
+for expected in [(2, 1), (3, 2), (4, 3), (4, 1), (5, 0)]:
+    if expected not in stop_states:
+        raise SystemExit(f"missing program stop 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 = [
@@ -172,6 +183,7 @@ echo "dumped /tmp/cnc_sim_linuxcnc_basic_mill.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_rtcp_controls.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_spindle_direction.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_tool_number.json"
+echo "dumped /tmp/cnc_sim_linuxcnc_program_stops.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_program_stops.ngc

@@ -0,0 +1,5 @@
+G21 G90 G17
+M0
+M1
+M60
+M30