From efc92d0380f90f7db57c9a86a0c566cbe17b1049 Mon Sep 17 00:00:00 2001
From: cnc <cnc@localhost>
Date: Sun, 24 May 2026 21:52:21 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=AD=A3=20LinuxCNC=20NURBS=20?=
 =?UTF-8?q?=E5=B9=B3=E9=9D=A2=E6=98=A0=E5=B0=84?=
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---
 core/src/linuxcnc_canon_bridge.cpp    | 35 +++++++++++++++++++--------
 test-linuxcnc-source-link.sh          | 16 ++++++++++++
 tests/gcode/linuxcnc_g52_xz_nurbs.ngc |  7 ++++++
 3 files changed, 48 insertions(+), 10 deletions(-)
 create mode 100644 tests/gcode/linuxcnc_g52_xz_nurbs.ngc

diff --git a/core/src/linuxcnc_canon_bridge.cpp b/core/src/linuxcnc_canon_bridge.cpp
index 7e7e40d..d3b4340 100644
--- a/core/src/linuxcnc_canon_bridge.cpp
+++ b/core/src/linuxcnc_canon_bridge.cpp
@@ -96,6 +96,27 @@ const CncSimPose &current_position() {
     return active_sink ? active_sink->position() : zero;
 }
 
+template <typename NurbsPoint>
+CncSimPose nurbs_plane_point_to_pose(const NurbsPoint &point, CANON_PLANE plane) {
+    CncSimPose end = current_position();
+    switch (plane) {
+    case CANON_PLANE::YZ:
+        end.y = point.NURBS_X;
+        end.z = point.NURBS_Y;
+        break;
+    case CANON_PLANE::XZ:
+        end.x = point.NURBS_Y;
+        end.z = point.NURBS_X;
+        break;
+    case CANON_PLANE::XY:
+    default:
+        end.x = point.NURBS_X;
+        end.y = point.NURBS_Y;
+        break;
+    }
+    return end;
+}
+
 void trace_call(const char *name) {
     if (std::getenv("CNC_SIM_TRACE_CANON")) {
         std::fprintf(stderr, "canon:%s\n", name);
@@ -385,27 +406,21 @@ void STOP_SPEED_FEED_SYNCH() {
     }
 }
 
-void NURBS_G5_FEED(int lineno, const std::vector<NURBS_CONTROL_POINT> &points, unsigned int, CANON_PLANE) {
+void NURBS_G5_FEED(int lineno, const std::vector<NURBS_CONTROL_POINT> &points, unsigned int, CANON_PLANE plane) {
     if (!active_sink) {
         return;
     }
     for (const auto &point : points) {
-        CncSimPose end = active_sink->position();
-        end.x = point.NURBS_X;
-        end.y = point.NURBS_Y;
-        active_sink->straight_feed(lineno, end);
+        active_sink->straight_feed(lineno, nurbs_plane_point_to_pose(point, plane));
     }
 }
 
-void NURBS_G6_FEED(int lineno, const std::vector<NURBS_G6_CONTROL_POINT> &points, unsigned int, double, int, CANON_PLANE) {
+void NURBS_G6_FEED(int lineno, const std::vector<NURBS_G6_CONTROL_POINT> &points, unsigned int, double, int, CANON_PLANE plane) {
     if (!active_sink) {
         return;
     }
     for (const auto &point : points) {
-        CncSimPose end = active_sink->position();
-        end.x = point.NURBS_X;
-        end.y = point.NURBS_Y;
-        active_sink->straight_feed(lineno, end);
+        active_sink->straight_feed(lineno, nurbs_plane_point_to_pose(point, plane));
     }
 }
 
diff --git a/test-linuxcnc-source-link.sh b/test-linuxcnc-source-link.sh
index 8e08ce5..bbadea6 100755
--- a/test-linuxcnc-source-link.sh
+++ b/test-linuxcnc-source-link.sh
@@ -472,6 +472,10 @@ cp "$base_var_file" "$var_file"
 CNC_SIM_RS274_VAR="$var_file" \
     "$build_dir/linuxcnc_rs274_source_dump" tests/gcode/linuxcnc_g52_offset.ngc \
     >/tmp/cnc_sim_linuxcnc_source_g52_offset.json
+cp "$base_var_file" "$var_file"
+CNC_SIM_RS274_VAR="$var_file" \
+    "$build_dir/linuxcnc_rs274_source_dump" tests/gcode/linuxcnc_g52_xz_nurbs.ngc \
+    >/tmp/cnc_sim_linuxcnc_source_g52_xz_nurbs.json
 
 python3 - <<'PY'
 import json
@@ -2026,6 +2030,17 @@ if g52_states != expected_g52_states:
     raise SystemExit(f"unexpected source-linked G52 shared offset sequence: {g52_states!r}")
 if not any(event["type"] == "program-end" and event["line"] == 7 for event in g52_offset):
     raise SystemExit("missing source-linked G52 offset program end line number")
+
+g52_xz_nurbs = json.loads(Path("/tmp/cnc_sim_linuxcnc_source_g52_xz_nurbs.json").read_text())
+if not any(
+    event["type"] == "linear-feed" and
+    event["plane"] == 18 and
+    event["end"]["x"] == 3 and
+    event["end"]["y"] == 0 and
+    event["end"]["z"] == 3
+    for event in g52_xz_nurbs
+):
+    raise SystemExit("missing source-linked G18/XZ NURBS endpoint mapped to X/Z axes")
 PY
 
 echo "linuxcnc rs274 source link smoke passed (${#objects[@]} local objects)"
@@ -2112,3 +2127,4 @@ echo "dumped /tmp/cnc_sim_linuxcnc_source_coordinate_p0.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_source_coordinate_select_all.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_source_g92_restore.json"
 echo "dumped /tmp/cnc_sim_linuxcnc_source_g52_offset.json"
+echo "dumped /tmp/cnc_sim_linuxcnc_source_g52_xz_nurbs.json"
diff --git a/tests/gcode/linuxcnc_g52_xz_nurbs.ngc b/tests/gcode/linuxcnc_g52_xz_nurbs.ngc
new file mode 100644
index 0000000..066c7b6
--- /dev/null
+++ b/tests/gcode/linuxcnc_g52_xz_nurbs.ngc
@@ -0,0 +1,7 @@
+G21 G90 G18
+F100
+G5.2 X1 Z1 P1
+G5.2 X2 Z2 P1
+G5.2 X3 Z3 P1
+G5.3
+M2