Emit feed mode state events

README.zh-CN.md

@@ -64,6 +64,7 @@ The first useful target is:
 - 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`。
 - 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。
 - 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。
 
@@ -88,6 +89,7 @@ The first useful target is:
 - LinuxCNC 注释事件行号回归
 - `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
 - `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

@@ -111,6 +111,13 @@ void CanonEventSink::set_feed_rate(double feed, int line) {
     emit(event);
 }
 
+void CanonEventSink::set_feed_mode(int mode, int line) {
+    CncSimEvent event = base_event(CNC_SIM_EVENT_SET_FEED, line);
+    event.feed = feed_;
+    event.reserved = mode;
+    emit(event);
+}
+
 void CanonEventSink::set_spindle_speed(double spindle, int line) {
     spindle_ = spindle;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);

core/src/canon_event_sink.h

@@ -21,6 +21,7 @@ public:
     void use_length_units(double scale, int line);
     void select_plane(int plane, int line);
     void set_feed_rate(double feed, int line);
+    void set_feed_mode(int mode, int line);
     void set_spindle_speed(double spindle, int line);
     void start_spindle(int direction, int line);
     void stop_spindle(int line);

core/src/linuxcnc_canon_bridge.cpp

@@ -7,6 +7,7 @@
 #include <cstdarg>
 #include <cstdio>
 #include <cstring>
+#include <string_view>
 #include <cstdlib>
 #include <string>
 #include <vector>
@@ -296,6 +297,9 @@ void SET_FEED_REFERENCE(CANON_FEED_REFERENCE) {
 }
 
 void SET_FEED_MODE(int, int) {
+    if (active_sink) {
+        active_sink->set_feed_mode(0, event_line());
+    }
 }
 
 void SET_MOTION_CONTROL_MODE(CANON_MOTION_MODE, double) {
@@ -427,8 +431,17 @@ void RELOAD_TOOLDATA(void) {
 void CLAMP_AXIS(CANON_AXIS) {
 }
 
-void COMMENT(const char *) {
+void COMMENT(const char *message) {
-    emit_state_event(CNC_SIM_EVENT_COMMENT, 0);
+    int reserved = 0;
+    const std::string_view text = message ? std::string_view(message) : std::string_view();
+    if (text.find("feed mode set to inverse time") != std::string_view::npos) {
+        reserved = 93;
+    } else if (text.find("feed mode set to units per minute") != std::string_view::npos) {
+        reserved = 94;
+    } else if (text.find("feed mode set to units per revolution") != std::string_view::npos) {
+        reserved = 95;
+    }
+    emit_state_event(CNC_SIM_EVENT_COMMENT, reserved);
 }
 
 void DISABLE_ADAPTIVE_FEED() {

core/src/smoke_gcode_parser.cpp

@@ -314,6 +314,15 @@ int SmokeGcodeParser::parse(const char *program, size_t program_len, std::string
                     absolute_ = true;
                 } else if (g == 91) {
                     absolute_ = false;
+                } else if (g == 93 || g == 94 || g == 95) {
+                    emit_comment_state(sink_, line_number, g);
+                    if (stop_if_callback_aborted(sink_, error)) {
+                        return -1;
+                    }
+                    sink_.set_feed_mode(g == 95 ? 1 : 0, line_number);
+                    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

@@ -86,6 +86,11 @@ int main() {
     bool saw_flood_on = false;
     bool saw_mist_off = false;
     bool saw_flood_off = false;
+    bool saw_g93_mode = false;
+    bool saw_g94_mode = false;
+    bool saw_g95_mode = false;
+    bool saw_g94_feed_mode = false;
+    bool saw_g95_feed_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;
@@ -243,6 +248,43 @@ int main() {
     ok &= expect(saw_mist_off, "expected LinuxCNC M9 mist off state");
     ok &= expect(saw_flood_off, "expected LinuxCNC M9 flood off state");
 
+    const char feed_mode_program[] =
+        "G21 G90 G17\n"
+        "G93\n"
+        "G94\n"
+        "G95\n"
+        "M30\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, feed_mode_program, sizeof(feed_mode_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_g93_mode = saw_g93_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 2 &&
+                        event.reserved == 93);
+        saw_g94_mode = saw_g94_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 3 &&
+                        event.reserved == 94);
+        saw_g95_mode = saw_g95_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 4 &&
+                        event.reserved == 95);
+        saw_g94_feed_mode = saw_g94_feed_mode ||
+                            (event.type == CNC_SIM_EVENT_SET_FEED &&
+                             event.line == 3 &&
+                             event.reserved == 0);
+        saw_g95_feed_mode = saw_g95_feed_mode ||
+                            (event.type == CNC_SIM_EVENT_SET_FEED &&
+                             event.line == 4 &&
+                             event.reserved == 0);
+    }
+    ok &= expect(saw_g93_mode, "expected LinuxCNC G93 feed mode state");
+    ok &= expect(saw_g94_mode, "expected LinuxCNC G94 feed mode state");
+    ok &= expect(saw_g95_mode, "expected LinuxCNC G95 feed mode state");
+    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 comment_program[] =
         "G21 G90 G17\n"
         "(operator note)\n"

core/tests/cnc_sim_api_smoke.cpp

@@ -77,6 +77,10 @@ int main() {
     bool saw_flood_on = false;
     bool saw_mist_off = false;
     bool saw_flood_off = false;
+    bool saw_g93_mode = false;
+    bool saw_g94_mode = false;
+    bool saw_g95_mode = false;
+    bool saw_g95_feed_mode = false;
     bool saw_incremental_move = false;
     bool saw_r_arc_center = false;
     for (const auto &event : events) {
@@ -226,6 +230,37 @@ int main() {
     ok &= expect(saw_mist_off, "expected M9 mist off state");
     ok &= expect(saw_flood_off, "expected M9 flood off state");
 
+    const char feed_mode_program[] =
+        "G21\n"
+        "G93\n"
+        "G94\n"
+        "G95\n";
+    events.clear();
+    ok &= expect(cnc_sim_parse_program(sim, feed_mode_program, sizeof(feed_mode_program) - 1) == 0,
+                 cnc_sim_last_error(sim));
+    for (const auto &event : events) {
+        saw_g93_mode = saw_g93_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 2 &&
+                        event.reserved == 93);
+        saw_g94_mode = saw_g94_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 3 &&
+                        event.reserved == 94);
+        saw_g95_mode = saw_g95_mode ||
+                       (event.type == CNC_SIM_EVENT_COMMENT &&
+                        event.line == 4 &&
+                        event.reserved == 95);
+        saw_g95_feed_mode = saw_g95_feed_mode ||
+                            (event.type == CNC_SIM_EVENT_SET_FEED &&
+                             event.line == 4 &&
+                             event.reserved == 1);
+    }
+    ok &= expect(saw_g93_mode, "expected G93 feed mode state");
+    ok &= expect(saw_g94_mode, "expected G94 feed mode state");
+    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 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

@@ -41,6 +41,7 @@ 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_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_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_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
@@ -117,6 +118,24 @@ for expected in [(2, 11), (3, 21), (4, 10), (4, 20)]:
     if expected not in coolant_states:
         raise SystemExit(f"missing coolant state {expected!r}")
 
+feed_modes = json.loads(Path("/tmp/cnc_sim_linuxcnc_feed_modes.json").read_text())
+feed_mode_comments = [
+    (event["line"], event["reserved"])
+    for event in feed_modes
+    if event["type"] == "comment"
+]
+for expected in [(2, 93), (3, 94), (4, 95)]:
+    if expected not in feed_mode_comments:
+        raise SystemExit(f"missing feed mode comment state {expected!r}")
+feed_mode_events = [
+    (event["line"], event["reserved"])
+    for event in feed_modes
+    if event["type"] == "set-feed"
+]
+for expected in [(3, 0), (4, 0)]:
+    if expected not in feed_mode_events:
+        raise SystemExit(f"missing feed mode event {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 = [
@@ -196,6 +215,7 @@ 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_coolant.json"
+echo "dumped /tmp/cnc_sim_linuxcnc_feed_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_feed_modes.ngc

@@ -0,0 +1,5 @@
+G21 G90 G17
+G93
+G94
+G95
+M30