按源验证API百分号文件模式

源依据：LinuxCNC src/emc/rs274ngc/rs274ngc_pre.cc 的 Interp::open() 在首个非空行是 % 时启用 percent-file mode，src/emc/rs274ngc/interp_read.cc read_text() 在匹配 % 处结束读取并忽略后续文本。

结论：native API source-linked smoke 增加 CNC_SIM_RS274_FILE_MODE 下的百分号文件断言，确认 cnc_sim API 文件模式走 LinuxCNC open/read 语义而非逐行桥接或 smoke fallback。

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

README.zh-CN.md

@@ -116,19 +116,13 @@ The first useful target is:
 
 公共 API 使用同一个入口解析程序，后端通过 JSON 配置选择：
 
-```json
-{"backend":"smoke"}
-```
-
-`smoke` 是默认后端，用于 wasm 和 UI 联调。
-
-native 构建启用 LinuxCNC 后端后，可以使用：
-
 ```json
 {"backend":"linuxcnc-rs274"}
 ```
 
-网页面板右上角的 `BACKEND` 下拉框会把该配置传给 wasm/core。当前默认 wasm 构建不包含 LinuxCNC 后端，选择 `LINUXCNC` 会返回明确错误；native API 测试已验证该后端可用。
+`linuxcnc-rs274` 是默认后端，wasm 和 UI 默认通过 LinuxCNC RS274 源码路径解析；`smoke` 仅用于显式编译/选择的 legacy 联调路径。
+
+网页面板右上角的 `BACKEND` 下拉框会把该配置传给 wasm/core。`./build-wasm.sh` 会生成 `web/public/cnc_sim.js` 和 `web/public/cnc_sim.wasm`，随后运行 `test-web-wasm-node-smoke.cjs` 和 `test-web-wasm-browser-smoke.sh`；这些 smoke 会验证 wasm 中的 LinuxCNC RS274 后端可在 Node 和 Chromium 浏览器中加载、可解析基础运动，并保留 `M428/M429/M430` remap 触发的运动学切换事件。
 
 ## RTCP 配置
 
@@ -143,11 +137,19 @@ RTCP 默认关闭。开启后，原有 `rapid`、`linear-feed`、`arc-feed` 事
     "toolLengths": {
       "7": 125
     }
+  },
+  "xyzbcTrt": {
+    "xRotPoint": 0,
+    "yRotPoint": 0,
+    "zRotPoint": 0,
+    "xOffset": -20,
+    "zOffset": -15,
+    "conventionalDirections": false
   }
 }
 ```
 
-当前 RTCP 内核是第一版头头/摆头类几何模型：编程 XYZ 视为刀尖点，刀长沿本地 `-Z`，A/B/C 按 `Rz(C) * Ry(B) * Rx(A)` 旋转。后续会继续加入机型拓扑、旋转中心偏置、刀表刀长和不同五轴构型。
+RTCP pivot 事件只在已知 LinuxCNC switchkins 类型下输出。`M428` 切换到 `XYZBC_TRT` 后，`xyzbcTrt` 对应 LinuxCNC `xyzbc-trt-kins` 的 HAL pin：`x-rot-point`、`y-rot-point`、`z-rot-point`、`x-offset`、`z-offset`、`conventional-directions`；刀长仍来自 `toolLength` / `toolLengths`。`M430` 使用 LinuxCNC `userkfuncs.c` 经 `kins_util.c` identity 运动学路径。未支持或未知的 switchkins 类型不会回退到自研 RTCP 几何。
 
 RTCP G 码控制已开始标准化：
 
@@ -161,11 +163,11 @@ RTCP G 码控制已开始标准化：
 
 core 已对原型中的运动学切换 M 码做标准化解析：
 
-- `M429`：切换到三轴恒等运动学 `IDENTITY`，关闭 RTCP。
+- `M429`：切换到三轴恒等运动学 `IDENTITY`。
-- `M428`：恢复到原始五轴运动学，开启 RTCP。
+- `M428`：切换到 LinuxCNC `xyzbc-trt-kins` 的 XYZBC TRT 运动学。
-- `M430`：切换到 `FIVEAXIS_BC`，开启 RTCP。
+- `M430`：切换到 LinuxCNC 默认 `userk` 运动学；当前对齐 `userkfuncs.c` 的 identity 正/逆解。
 
-解析后会发出 `kinematics-switch` 事件。事件中的 `reserved` 字段表示运动学类型：`0=IDENTITY`、`1=ORIGINAL`、`2=FIVEAXIS_BC`；`feed` 字段临时表示 RTCP 状态：`0=关闭`、`1=开启`。同一行中的 `M428 M429 M430` 会按出现顺序产生三个切换事件。
+解析后会发出 `kinematics-switch` 事件。事件中的 `reserved` 字段表示运动学类型：`0=IDENTITY`、`1=XYZBC_TRT`、`2=USERK_IDENTITY`。这些 M 码对齐 LinuxCNC `remap_subs/428remap.ngc`、`429remap.ngc`、`430remap.ngc`，只设置 `motion.switchkins-type`，不隐式开启或关闭 RTCP；RTCP 状态仍由 `G43.4`、`G43.5`、`G49` 控制。同一行中的 `M428 M429 M430` 会按出现顺序产生三个切换事件。
 
 `linuxcnc-rs274` native API backend 会在送入 LinuxCNC 解释器前拦截只包含这些切换 M 码的行，避免 LinuxCNC 去查找外部用户 M-code 文件。
 

analyze-linuxcnc-wasm-blockers.sh

@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this blocker scan is constrained to the RS274/WASM
+# manifest. Python and Boost.Python blockers come from
+# src/emc/rs274ngc/gcodemodule.cc, interp_namedparams.cc, interp_o_word.cc,
+# and the py*.cc module bindings; tooldata/native-backend blockers come from
+# src/emc/tooldata/tooldata_mmap.cc and tooldata_db.cc; native filesystem
+# coverage comes from LinuxCNC RS274 sources such as interp_o_word.cc
+# directory traversal and rs274ngc_pre.cc parameter-file replacement.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+manifest=${1:-linuxcnc-rs274-wasm-source-files.txt}
+
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh "$manifest"
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+python_blockers=()
+python_compile_covered=()
+core_python_sources=()
+dlopen_blockers=()
+core_dlopen_sources=()
+tooldata_blockers=()
+core_tooldata_sources=()
+shimmed_tooldata_users=()
+core_tooldata_users=()
+native_backend_blockers=()
+native_fs_blockers=()
+core_native_fs_sources=()
+core_count=0
+blocked_count=0
+blocked_replacements=()
+shim_source_output=$(./list-linuxcnc-wasm-safe-shims.sh)
+mapfile -t wasm_safe_shims <<<"$shim_source_output"
+
+blocked_replacement_for() {
+    case "$1" in
+        src/emc/tooldata/tooldata_mmap.cc)
+            ./list-linuxcnc-wasm-safe-shims.sh tooldata_mmap_backend.cc
+            ;;
+        src/emc/rs274ngc/canonmodule.cc|src/emc/rs274ngc/gcodemodule.cc|src/emc/rs274ngc/interpmodule.cc)
+            ./list-linuxcnc-wasm-safe-shims.sh linuxcnc_runtime_shim.cc
+            ;;
+        src/emc/rs274ngc/pyarrays.cc|src/emc/rs274ngc/pyblock.cc|src/emc/rs274ngc/pyemctypes.cc|src/emc/rs274ngc/pyinterp1.cc|src/emc/rs274ngc/pyparamclass.cc)
+            ./list-linuxcnc-wasm-safe-shims.sh python_c_api_shim.cc
+            ;;
+        *)
+            return 1
+            ;;
+    esac
+}
+
+wasm_safe_shim_in_build() {
+    local shim=$1
+    local candidate
+    for candidate in "${wasm_safe_shims[@]}"; do
+        if [[ "$candidate" == "$shim" ]]; then
+            return 0
+        fi
+    done
+    return 1
+}
+
+python_compile_probe_covers() {
+    grep -F "$1" test-linuxcnc-wasm-python-c-api-symbols.sh >/dev/null
+}
+
+core_sources=()
+blocked_sources=()
+manifest_line_number=0
+while IFS= read -r manifest_line || [[ -n "$manifest_line" ]]; do
+    manifest_line_number=$((manifest_line_number + 1))
+    case "$manifest_line" in
+        ""|\#*)
+            continue
+            ;;
+    esac
+
+    IFS=: read -r group path note extra <<<"$manifest_line"
+    if [[ -z "$group" || -z "$path" || -z "$note" || -n "${extra:-}" ]]; then
+        echo "bad manifest line $manifest_line_number: $manifest_line" >&2
+        exit 1
+    fi
+    case "$group" in
+        core)
+            core_sources+=("$path")
+            ;;
+        blocked)
+            blocked_sources+=("$path")
+            ;;
+        header|metadata|blocked-header)
+            ;;
+        *)
+            echo "unknown manifest group: $group" >&2
+            exit 1
+            ;;
+    esac
+done < "$manifest"
+core_count=${#core_sources[@]}
+blocked_count=${#blocked_sources[@]}
+
+scan_source() {
+    local group=$1
+    local path=$2
+    full_path="$linuxcnc_root/$path"
+    if [[ ! -f "$full_path" ]]; then
+        echo "missing manifest source: $path" >&2
+        exit 1
+    fi
+    if [[ "$group" == "blocked" ]]; then
+        if ! replacement=$(blocked_replacement_for "$path"); then
+            echo "missing blocked replacement mapping: $path" >&2
+            exit 1
+        fi
+        if [[ ! -f "$replacement" ]]; then
+            echo "missing blocked replacement source: $replacement" >&2
+            exit 1
+        fi
+        if ! wasm_safe_shim_in_build "$replacement"; then
+            echo "blocked replacement is not in wasm shim build set: $path -> $replacement" >&2
+            exit 1
+        fi
+        blocked_replacements+=("$path -> $replacement")
+    fi
+
+    if [[ "$path" == src/emc/tooldata/* ]]; then
+        if [[ "$group" == "blocked" ]]; then
+            tooldata_blockers+=("$path")
+        else
+            core_tooldata_sources+=("$path")
+        fi
+    fi
+
+    if [[ "$path" == "src/emc/tooldata/tooldata_mmap.cc" ]]; then
+        native_backend_blockers+=("$path")
+    fi
+
+    if grep -Eq 'Python\.h|boost/python|pythonplugin|PyObject|PyInit_' "$full_path"; then
+        if [[ "$group" == "blocked" ]]; then
+            python_blockers+=("$path")
+            if python_compile_probe_covers "$path"; then
+                python_compile_covered+=("$path")
+            fi
+        else
+            core_python_sources+=("$path")
+        fi
+    fi
+
+    if grep -Eq 'dlopen|dlsym|RTLD_' "$full_path"; then
+        if [[ "$group" == "blocked" ]]; then
+            dlopen_blockers+=("$path")
+        else
+            core_dlopen_sources+=("$path")
+        fi
+    fi
+
+    if grep -Eq 'mkstemp|mkstemps|dirent\.h|opendir|readdir|unistd\.h' "$full_path"; then
+        if [[ "$group" == "blocked" ]]; then
+            native_fs_blockers+=("$path")
+        else
+            core_native_fs_sources+=("$path")
+        fi
+    fi
+
+    if [[ "$path" != src/emc/tooldata/* ]] && grep -Eq 'tooldata/tooldata.hh|tooldata_' "$full_path"; then
+        if [[ "$group" == "blocked" ]]; then
+            shimmed_tooldata_users+=("$path")
+        else
+            core_tooldata_users+=("$path")
+        fi
+    fi
+}
+
+for path in "${core_sources[@]}"; do
+    [[ -z "$path" ]] && continue
+    scan_source core "$path"
+done
+
+for path in "${blocked_sources[@]}"; do
+    [[ -z "$path" ]] && continue
+    scan_source blocked "$path"
+done
+
+print_group() {
+    local title=$1
+    shift
+    echo "[$title]"
+    if [[ $# -eq 0 ]]; then
+        echo "(none)"
+    else
+        printf '%s\n' "$@" | LC_ALL=C sort -u
+    fi
+    echo
+}
+
+echo "[manifest]"
+echo "core=$core_count"
+echo "blocked=$blocked_count"
+echo
+
+print_group "python" "${python_blockers[@]}"
+print_group "python-compile-covered" "${python_compile_covered[@]}"
+print_group "dlopen" "${dlopen_blockers[@]}"
+print_group "tooldata" "${tooldata_blockers[@]}"
+print_group "tooldata-users" "${shimmed_tooldata_users[@]}"
+print_group "native-backend" "${native_backend_blockers[@]}"
+print_group "native-fs" "${native_fs_blockers[@]}"
+print_group "blocked-replacements" "${blocked_replacements[@]}"
+print_group "core-python-shimmed" "${core_python_sources[@]}"
+print_group "core-dlopen-shimmed" "${core_dlopen_sources[@]}"
+print_group "core-tooldata-shimmed" "${core_tooldata_sources[@]}"
+print_group "core-tooldata-users-shimmed" "${core_tooldata_users[@]}"
+print_group "core-native-fs-shimmed" "${core_native_fs_sources[@]}"

build-linuxcnc-native-bridge-objects.sh

@@ -0,0 +1,105 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: native bridge object caches compile only project
+# canon/kinematics bridge sources that wrap LinuxCNC src/emc/nml_intf/canon.hh
+# and src/emc/kinematics implementations; G-code behavior remains in
+# LinuxCNC RS274 objects linked by the caller.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+cxx=${CXX:-g++}
+if [[ -z ${CXX:-} ]] && command -v ccache >/dev/null 2>&1; then
+    cxx="ccache $cxx"
+fi
+build_jobs=${CNC_SIM_BUILD_JOBS:-8}
+if ! [[ "$build_jobs" =~ ^[1-9][0-9]*$ ]]; then
+    echo "CNC_SIM_BUILD_JOBS must be a positive integer: $build_jobs" >&2
+    exit 1
+fi
+cache_dir=${CNC_SIM_NATIVE_BRIDGE_OBJECT_CACHE_DIR-build/native-bridge-object-cache}
+if [[ -z "$cache_dir" ]]; then
+    echo "CNC_SIM_NATIVE_BRIDGE_OBJECT_CACHE_DIR must not be empty" >&2
+    exit 1
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_NATIVE_BRIDGE_OBJECT_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_NATIVE_BRIDGE_OBJECT_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+exec 8>"$cache_dir/native-bridge-objects.lock"
+flock 8
+
+preflight_cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-"$cache_dir/preflight-cache"}
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh --cache-dir "$preflight_cache_dir" --root-only
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+source_output=$(./list-linuxcnc-bridge-smoke-project-sources.sh)
+mapfile -t sources <<<"$source_output"
+common_flag_output=$(
+    CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" \
+        LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-source-common-cxxflags.sh \
+        --no-ulapi \
+        --core-include \
+        --core-src
+)
+mapfile -t common_flags <<<"$common_flag_output"
+
+objects=()
+source_index=0
+for source in "${sources[@]}"; do
+    objects+=("$cache_dir/source_${source_index}.o")
+    source_index=$((source_index + 1))
+done
+
+signature="$cache_dir/native-bridge-objects.signature"
+next_signature="$cache_dir/native-bridge-objects.signature.next"
+{
+    printf 'CXX=%s\n' "$cxx"
+    printf 'PWD=%s\n' "$PWD"
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'BUILD_RULE_VERSION=1\n'
+    printf 'COMMON_FLAGS='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n'
+    printf 'SOURCES:\n'
+    printf '%s\n' "${sources[@]}"
+} > "$next_signature"
+if [[ ! -f "$signature" ]] || ! cmp -s "$signature" "$next_signature"; then
+    rm -f "$cache_dir"/source_*.o "$cache_dir"/source_*.d
+fi
+mv "$next_signature" "$signature"
+
+makefile="$cache_dir/native-bridge-objects.mk"
+{
+    printf 'CXX := %s\n' "$cxx"
+    printf 'COMMON_FLAGS :='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n\n'
+    printf 'OBJECTS :='
+    printf ' %s' "${objects[@]}"
+    printf '\n\n'
+    printf 'DEP_FILES :=\n'
+    for object in "${objects[@]}"; do
+        printf 'DEP_FILES += %s.d\n' "$object"
+    done
+    printf '\n.PHONY: all\n'
+    printf 'all: $(OBJECTS)\n\n'
+
+    source_index=0
+    for source in "${sources[@]}"; do
+        printf '%s: %s\n' "${objects[$source_index]}" "$source"
+        printf '\t@$(CXX) $(COMMON_FLAGS) -MMD -MP -MF %s.d -c %s -o %s\n\n' \
+            "${objects[$source_index]}" "$source" "${objects[$source_index]}"
+        source_index=$((source_index + 1))
+    done
+    printf '\n-include $(DEP_FILES)\n'
+} > "$makefile"
+make --output-sync=target -j"$build_jobs" -f "$makefile" >/dev/null
+
+printf '%s\n' "${objects[@]}"

build-linuxcnc-wasm-link-probe.sh

@@ -0,0 +1,152 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: link probe modes reuse wasm-safe objects built from
+# linuxcnc-rs274-wasm-source-files.txt and add only a narrow probe main that
+# asserts LinuxCNC rs274ngc_pre/runtime symbols stay linked.
+usage() {
+    echo "usage: $0 --mode rs274ngc-pre|runtime [manifest]" >&2
+}
+
+mode=
+manifest=linuxcnc-rs274-wasm-source-files.txt
+while [[ "$#" -gt 0 ]]; do
+    case "$1" in
+        --mode)
+            if [[ "$#" -lt 2 ]]; then
+                echo "missing --mode value" >&2
+                exit 1
+            fi
+            mode=$2
+            shift 2
+            ;;
+        --help|-h)
+            usage
+            exit 0
+            ;;
+        --*)
+            usage
+            echo "unknown wasm link probe option: $1" >&2
+            exit 1
+            ;;
+        *)
+            manifest=$1
+            shift
+            ;;
+    esac
+done
+case "$mode" in
+    rs274ngc-pre|runtime)
+        ;;
+    "")
+        usage
+        echo "missing --mode" >&2
+        exit 1
+        ;;
+    *)
+        usage
+        echo "unknown wasm link probe mode: $mode" >&2
+        exit 1
+        ;;
+esac
+
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+cxx=${CXX:-g++}
+if [[ -z ${CXX:-} ]] && command -v ccache >/dev/null 2>&1; then
+    cxx="ccache $cxx"
+fi
+build_jobs=${CNC_SIM_BUILD_JOBS:-8}
+if ! [[ "$build_jobs" =~ ^[1-9][0-9]*$ ]]; then
+    echo "CNC_SIM_BUILD_JOBS must be a positive integer: $build_jobs" >&2
+    exit 1
+fi
+cache_dir=${CNC_SIM_WASM_LINK_PROBE_CACHE_DIR-build/wasm-link-probe-cache}
+if [[ -z "$cache_dir" ]]; then
+    echo "CNC_SIM_WASM_LINK_PROBE_CACHE_DIR must not be empty" >&2
+    exit 1
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_WASM_LINK_PROBE_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_WASM_LINK_PROBE_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+
+preflight_cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-"$cache_dir/preflight-cache"}
+object_mode=$mode
+main_source=core/wasm_shims/rs274ngc_pre_probe_main.cc
+target_name=rs274ngc_pre_probe
+common_flag_output=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-common-cxxflags.sh --profile core20-sections)
+mapfile -t common_flags <<<"$common_flag_output"
+case "$mode" in
+    rs274ngc-pre)
+        grep -F 'LinuxCNC source basis: src/emc/rs274ngc/rs274ngc_pre.cc provides' "$main_source" >/dev/null
+        ;;
+    runtime)
+        object_mode=runtime
+        main_source=core/wasm_shims/cnc_sim_wasm_runtime_probe_main.cc
+        target_name=cnc_sim_wasm_runtime_probe
+        common_flags+=(-DCNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
+        grep -F 'LinuxCNC source basis: src/emc/rs274ngc/rs274ngc_pre.cc provides read(),' "$main_source" >/dev/null
+        ;;
+esac
+
+object_output=$(CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" LINUXCNC_ROOT="$linuxcnc_root" ./build-linuxcnc-wasm-probe-objects.sh --mode "$object_mode" "$manifest")
+mapfile -t objects <<<"$object_output"
+manifest=$(cd "$(dirname "$manifest")" && pwd)/$(basename "$manifest")
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+mode_dir="$cache_dir/$mode"
+mkdir -p "$mode_dir"
+exec 8>"$mode_dir/link.lock"
+flock 8
+
+main_object="$mode_dir/main.o"
+target="$mode_dir/$target_name"
+signature="$mode_dir/link.signature"
+next_signature="$mode_dir/link.signature.next"
+{
+    printf 'CXX=%s\n' "$cxx"
+    printf 'PWD=%s\n' "$PWD"
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'MANIFEST=%s\n' "$manifest"
+    printf 'MODE=%s\n' "$mode"
+    printf 'BUILD_RULE_VERSION=1\n'
+    printf 'COMMON_FLAGS='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n'
+    printf 'MAIN_SOURCE=%s\n' "$main_source"
+    printf 'OBJECTS:\n'
+    printf '%s\n' "${objects[@]}"
+} > "$next_signature"
+if [[ ! -f "$signature" ]] || ! cmp -s "$signature" "$next_signature"; then
+    rm -f "$main_object" "$main_object.d" "$target" "$mode_dir/runtime.symbols"
+fi
+mv "$next_signature" "$signature"
+
+makefile="$mode_dir/link.mk"
+{
+    printf 'CXX := %s\n' "$cxx"
+    printf 'COMMON_FLAGS :='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n\n'
+    printf 'OBJECTS :='
+    printf ' %s' "${objects[@]}"
+    printf '\n\n'
+    printf '.PHONY: all\n'
+    printf 'all: %s\n\n' "$target"
+    printf '%s: %s\n' "$main_object" "$main_source"
+    printf '\t@$(CXX) $(COMMON_FLAGS) -MMD -MP -MF %s.d -c %s -o %s\n\n' "$main_object" "$main_source" "$main_object"
+    printf '%s: $(OBJECTS) %s\n' "$target" "$main_object"
+    printf '\t@$(CXX) $(OBJECTS) %s -Wl,--gc-sections -lfmt -o %s\n\n' "$main_object" "$target"
+    printf '\n-include %s.d\n' "$main_object"
+} > "$makefile"
+make --output-sync=target -j"$build_jobs" -f "$makefile" >/dev/null
+
+printf '%s\n' "$target"

build-linuxcnc-wasm-probe-objects.sh

@@ -0,0 +1,197 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: object probes compile the core entries selected from
+# linuxcnc-rs274-wasm-source-files.txt, including src/emc/rs274ngc,
+# src/emc/tooldata/tooldata_common.cc, src/emc/ini/inifile.cc, and
+# src/emc/nml_intf/emcops.cc, together with CMake-listed wasm-safe project
+# bridge sources and shims that replace the manifest's blocked Python, dlopen,
+# tooldata mmap, HAL, and runtime edges.
+usage() {
+    echo "usage: $0 --mode source-objects|rs274ngc-pre|runtime [manifest]" >&2
+}
+
+mode=
+manifest=linuxcnc-rs274-wasm-source-files.txt
+while [[ "$#" -gt 0 ]]; do
+    case "$1" in
+        --mode)
+            if [[ "$#" -lt 2 ]]; then
+                echo "missing --mode value" >&2
+                exit 1
+            fi
+            mode=$2
+            shift 2
+            ;;
+        --help|-h)
+            usage
+            exit 0
+            ;;
+        --*)
+            usage
+            echo "unknown wasm probe object cache option: $1" >&2
+            exit 1
+            ;;
+        *)
+            manifest=$1
+            shift
+            ;;
+    esac
+done
+case "$mode" in
+    source-objects|rs274ngc-pre|runtime)
+        ;;
+    "")
+        usage
+        echo "missing --mode" >&2
+        exit 1
+        ;;
+    *)
+        usage
+        echo "unknown wasm probe object cache mode: $mode" >&2
+        exit 1
+        ;;
+esac
+
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+cxx=${CXX:-g++}
+if [[ -z ${CXX:-} ]] && command -v ccache >/dev/null 2>&1; then
+    cxx="ccache $cxx"
+fi
+build_jobs=${CNC_SIM_BUILD_JOBS:-8}
+if ! [[ "$build_jobs" =~ ^[1-9][0-9]*$ ]]; then
+    echo "CNC_SIM_BUILD_JOBS must be a positive integer: $build_jobs" >&2
+    exit 1
+fi
+cache_dir=${CNC_SIM_WASM_PROBE_OBJECT_CACHE_DIR-build/wasm-probe-object-cache}
+if [[ -z "$cache_dir" ]]; then
+    echo "CNC_SIM_WASM_PROBE_OBJECT_CACHE_DIR must not be empty" >&2
+    exit 1
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_WASM_PROBE_OBJECT_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_WASM_PROBE_OBJECT_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+
+preflight_cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-"$cache_dir/preflight-cache"}
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh --cache-dir "$preflight_cache_dir" "$manifest" --require-rs274-complete
+manifest=$(cd "$(dirname "$manifest")" && pwd)/$(basename "$manifest")
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+common_flag_profile=core20-sections
+case "$mode" in
+    source-objects)
+        common_flag_profile=core20
+        ;;
+esac
+common_flag_output=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-common-cxxflags.sh --profile "$common_flag_profile")
+mapfile -t common_flags <<<"$common_flag_output"
+case "$mode" in
+    runtime)
+        common_flags+=(-DCNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
+        ;;
+esac
+
+grep -F 'LinuxCNC source basis: wasm-safe project probe sources are the thin bridge' list-linuxcnc-wasm-safe-project-sources.sh >/dev/null
+grep -F 'LinuxCNC source basis: wasm-safe shim probe sources are limited to the' list-linuxcnc-wasm-safe-shims.sh >/dev/null
+
+sources=()
+shim_output=$(./list-linuxcnc-wasm-safe-shims.sh)
+mapfile -t shim_sources <<<"$shim_output"
+sources+=("${shim_sources[@]}")
+case "$mode" in
+    source-objects)
+        ;;
+    rs274ngc-pre|runtime)
+        project_source_output=$(./list-linuxcnc-wasm-safe-project-sources.sh)
+        if [[ -n "$project_source_output" ]]; then
+            mapfile -t project_sources <<<"$project_source_output"
+            sources+=("${project_sources[@]}")
+        fi
+        ;;
+esac
+source_output=$(CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-manifest-sources.sh "$manifest" core full)
+mapfile -t linuxcnc_sources <<<"$source_output"
+sources+=("${linuxcnc_sources[@]}")
+for source in "${sources[@]}"; do
+    if [[ -z "$source" ]]; then
+        echo "wasm probe object source list contains an empty path" >&2
+        exit 1
+    fi
+done
+
+mode_dir="$cache_dir/$mode"
+mkdir -p "$mode_dir"
+exec 8>"$mode_dir/objects.lock"
+flock 8
+
+objects=()
+object_index=0
+for source in "${sources[@]}"; do
+    objects+=("$mode_dir/source_${object_index}.o")
+    object_index=$((object_index + 1))
+done
+
+signature="$mode_dir/objects.signature"
+next_signature="$mode_dir/objects.signature.next"
+{
+    printf 'CXX=%s\n' "$cxx"
+    printf 'PWD=%s\n' "$PWD"
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'MANIFEST=%s\n' "$manifest"
+    printf 'MODE=%s\n' "$mode"
+    printf 'BUILD_RULE_VERSION=1\n'
+    printf 'COMMON_FLAGS='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n'
+    printf 'SOURCES:\n'
+    printf '%s\n' "${sources[@]}"
+} > "$next_signature"
+if [[ ! -f "$signature" ]] || ! cmp -s "$signature" "$next_signature"; then
+    rm -f "$mode_dir"/source_*.o "$mode_dir"/source_*.d
+fi
+mv "$next_signature" "$signature"
+
+makefile="$mode_dir/objects.mk"
+{
+    printf 'CXX := %s\n' "$cxx"
+    printf 'COMMON_FLAGS :='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n\n'
+    printf 'OBJECTS :='
+    printf ' %s' "${objects[@]}"
+    printf '\n\n'
+    printf 'DEP_FILES :=\n'
+    for object in "${objects[@]}"; do
+        printf 'DEP_FILES += %s.d\n' "$object"
+    done
+    printf '\n.PHONY: all\n'
+    printf 'all: $(OBJECTS)\n\n'
+
+    object_index=0
+    for source in "${sources[@]}"; do
+        source_flags=()
+        case "$source" in
+            core/src/linuxcnc_corexykins_adapter.c|core/src/linuxcnc_genserfuncs_adapter.c|core/src/linuxcnc_xyzab_tdr_kins_adapter.c)
+                source_flags+=(-fpermissive)
+                ;;
+        esac
+        printf '%s: %s\n' "${objects[$object_index]}" "$source"
+        printf '\t@$(CXX) $(COMMON_FLAGS)'
+        printf ' %s' "${source_flags[@]}"
+        printf ' -MMD -MP -MF %s.d -c %s -o %s\n\n' "${objects[$object_index]}" "$source" "${objects[$object_index]}"
+        object_index=$((object_index + 1))
+    done
+    printf '\n-include $(DEP_FILES)\n'
+} > "$makefile"
+make --output-sync=target -j"$build_jobs" -f "$makefile" >/dev/null
+
+printf '%s\n' "${objects[@]}"

build-linuxcnc-wasm-standalone-probe.sh

@@ -0,0 +1,211 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: standalone probe modes either compile LinuxCNC
+# rs274/tooldata sources directly or link wasm-safe shims whose source basis is
+# checked against LinuxCNC source comments before building.
+usage() {
+    echo "usage: $0 --mode tooldata-link|tooldata-common-link|interp-base-link|python-plugin-link|python-plugin-inittab-link|rs274ngc-pre-object" >&2
+}
+
+mode=
+while [[ "$#" -gt 0 ]]; do
+    case "$1" in
+        --mode)
+            if [[ "$#" -lt 2 ]]; then
+                echo "missing --mode value" >&2
+                exit 1
+            fi
+            mode=$2
+            shift 2
+            ;;
+        --help|-h)
+            usage
+            exit 0
+            ;;
+        *)
+            usage
+            echo "unknown wasm standalone probe option: $1" >&2
+            exit 1
+            ;;
+    esac
+done
+case "$mode" in
+    tooldata-link|tooldata-common-link|interp-base-link|python-plugin-link|python-plugin-inittab-link|rs274ngc-pre-object)
+        ;;
+    "")
+        usage
+        echo "missing --mode" >&2
+        exit 1
+        ;;
+    *)
+        usage
+        echo "unknown wasm standalone probe mode: $mode" >&2
+        exit 1
+        ;;
+esac
+
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+cxx=${CXX:-g++}
+if [[ -z ${CXX:-} ]] && command -v ccache >/dev/null 2>&1; then
+    cxx="ccache $cxx"
+fi
+build_jobs=${CNC_SIM_BUILD_JOBS:-8}
+if ! [[ "$build_jobs" =~ ^[1-9][0-9]*$ ]]; then
+    echo "CNC_SIM_BUILD_JOBS must be a positive integer: $build_jobs" >&2
+    exit 1
+fi
+cache_dir=${CNC_SIM_WASM_STANDALONE_PROBE_CACHE_DIR-build/wasm-standalone-probe-cache}
+if [[ -z "$cache_dir" ]]; then
+    echo "CNC_SIM_WASM_STANDALONE_PROBE_CACHE_DIR must not be empty" >&2
+    exit 1
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_WASM_STANDALONE_PROBE_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_WASM_STANDALONE_PROBE_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+
+preflight_cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-"$cache_dir/preflight-cache"}
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh --cache-dir "$preflight_cache_dir" --root-only
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+common_flag_args=()
+sources=()
+target_name=
+case "$mode" in
+    tooldata-link|tooldata-common-link)
+        if [[ "$mode" == "tooldata-common-link" ]]; then
+            common_flag_args+=(--tooldata-include)
+        fi
+        tooldata_mmap_backend_shim=$(./list-linuxcnc-wasm-safe-shims.sh tooldata_mmap_backend.cc)
+        tooldata_runtime_stubs_shim=$(./list-linuxcnc-wasm-safe-shims.sh tooldata_runtime_stubs.cc)
+        tooldata_common_source=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-source-files.sh src/emc/tooldata/tooldata_common.cc)
+        grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_common.cc provides' core/wasm_shims/tooldata/tooldata_common_probe_main.cc >/dev/null
+        grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_mmap.cc, tooldata_nml.cc,' core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+        sources+=(
+            "$tooldata_common_source"
+            "$tooldata_mmap_backend_shim"
+            "$tooldata_runtime_stubs_shim"
+        )
+        if [[ "$mode" == "tooldata-link" ]]; then
+            sources+=(core/wasm_shims/tooldata/tooldata_probe_main.cc)
+            target_name=tooldata_probe
+        else
+            sources+=(core/wasm_shims/tooldata/tooldata_common_probe_main.cc)
+            target_name=tooldata_common_probe
+        fi
+        ;;
+    interp-base-link)
+        dlfcn_shim=$(./list-linuxcnc-wasm-safe-shims.sh dlfcn.cc)
+        interp_base_source=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-source-files.sh src/emc/rs274ngc/interp_base.cc)
+        grep -F 'LinuxCNC source basis: src/emc/rs274ngc/interp_base.cc provides' core/wasm_shims/interp_base_probe_main.cc >/dev/null
+        sources+=(
+            "$dlfcn_shim"
+            "$interp_base_source"
+            core/wasm_shims/interp_base_probe_main.cc
+        )
+        target_name=interp_base_probe
+        ;;
+    python-plugin-link|python-plugin-inittab-link)
+        python_plugin_shim=$(./list-linuxcnc-wasm-safe-shims.sh python_plugin.cc)
+        if [[ "$mode" == "python-plugin-link" ]]; then
+            probe_source=core/wasm_shims/pythonplugin/python_plugin_probe_main.cc
+            target_name=python_plugin_probe
+            grep -F 'LinuxCNC source basis: src/emc/pythonplugin/python_plugin.cc and' "$probe_source" >/dev/null
+        else
+            probe_source=core/wasm_shims/pythonplugin/python_plugin_inittab_probe_main.cc
+            target_name=python_plugin_inittab_probe
+            grep -F 'LinuxCNC source basis: src/emc/pythonplugin/python_plugin.cc' "$probe_source" >/dev/null
+        fi
+        sources+=(
+            "$python_plugin_shim"
+            "$probe_source"
+        )
+        ;;
+    rs274ngc-pre-object)
+        rs274ngc_pre_source=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-source-files.sh src/emc/rs274ngc/rs274ngc_pre.cc)
+        grep -F 'core:src/emc/rs274ngc/rs274ngc_pre.cc:Interp implementation covered by rs274ngc_pre link probe' linuxcnc-rs274-wasm-source-files.txt >/dev/null
+        sources+=("$rs274ngc_pre_source")
+        target_name=rs274ngc_pre.o
+        ;;
+esac
+
+common_flag_output=$(LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-common-cxxflags.sh "${common_flag_args[@]}")
+mapfile -t common_flags <<<"$common_flag_output"
+
+mode_dir="$cache_dir/$mode"
+mkdir -p "$mode_dir"
+exec 8>"$mode_dir/probe.lock"
+flock 8
+
+objects=()
+object_index=0
+for source in "${sources[@]}"; do
+    objects+=("$mode_dir/source_${object_index}.o")
+    object_index=$((object_index + 1))
+done
+target="$mode_dir/$target_name"
+if [[ "$mode" == "rs274ngc-pre-object" ]]; then
+    target=${objects[0]}
+fi
+
+signature="$mode_dir/probe.signature"
+next_signature="$mode_dir/probe.signature.next"
+{
+    printf 'CXX=%s\n' "$cxx"
+    printf 'PWD=%s\n' "$PWD"
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'MODE=%s\n' "$mode"
+    printf 'BUILD_RULE_VERSION=1\n'
+    printf 'COMMON_FLAGS='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n'
+    printf 'SOURCES:\n'
+    printf '%s\n' "${sources[@]}"
+} > "$next_signature"
+if [[ ! -f "$signature" ]] || ! cmp -s "$signature" "$next_signature"; then
+    rm -f "$mode_dir"/source_*.o "$mode_dir"/source_*.d "$target"
+fi
+mv "$next_signature" "$signature"
+
+makefile="$mode_dir/probe.mk"
+{
+    printf 'CXX := %s\n' "$cxx"
+    printf 'COMMON_FLAGS :='
+    printf ' %s' "${common_flags[@]}"
+    printf '\n\n'
+    printf 'OBJECTS :='
+    printf ' %s' "${objects[@]}"
+    printf '\n\n'
+    printf 'DEP_FILES :=\n'
+    for object in "${objects[@]}"; do
+        printf 'DEP_FILES += %s.d\n' "$object"
+    done
+    printf '\n.PHONY: all\n'
+    printf 'all: %s\n\n' "$target"
+
+    object_index=0
+    for source in "${sources[@]}"; do
+        printf '%s: %s\n' "${objects[$object_index]}" "$source"
+        printf '\t@$(CXX) $(COMMON_FLAGS) -MMD -MP -MF %s.d -c %s -o %s\n\n' \
+            "${objects[$object_index]}" "$source" "${objects[$object_index]}"
+        object_index=$((object_index + 1))
+    done
+
+    if [[ "$mode" != "rs274ngc-pre-object" ]]; then
+        printf '%s: $(OBJECTS)\n' "$target"
+        printf '\t@$(CXX) $(OBJECTS) -o %s\n\n' "$target"
+    fi
+    printf '\n-include $(DEP_FILES)\n'
+} > "$makefile"
+make --output-sync=target -j"$build_jobs" -f "$makefile" >/dev/null
+
+printf '%s\n' "$target"

build-wasm.sh

@@ -3,14 +3,208 @@ set -euo pipefail
 
 cd "$(dirname "$0")"
 
-if ! command -v emcmake >/dev/null 2>&1; then
+# LinuxCNC source basis: the wasm build preflights and compiles the
-    echo "Emscripten is required. Install/activate emsdk so emcmake and emcc are in PATH." >&2
+# linuxcnc-rs274-wasm-source-files.txt manifest entries from
+# src/emc/rs274ngc/tooldata plus source-basis-checked shims before copying the
+# browser artifacts; it must not add independent interpreter behavior.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+manifest=${1:-linuxcnc-rs274-wasm-source-files.txt}
+build_jobs=${CNC_SIM_BUILD_JOBS:-8}
+if ! [[ "$build_jobs" =~ ^[1-9][0-9]*$ ]]; then
+    echo "CNC_SIM_BUILD_JOBS must be a positive integer: $build_jobs" >&2
+    exit 1
+fi
+cmake_compiler_launcher_mode=none
+cmake_compiler_launcher_args=()
+if [[ -z ${CXX:-} ]] && command -v ccache >/dev/null 2>&1; then
+    cmake_compiler_launcher_mode=ccache
+    cmake_compiler_launcher_args+=(
+        -DCMAKE_C_COMPILER_LAUNCHER=ccache
+        -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+    )
+fi
+
+preflight_cache_dir=build/wasm-preflight-cache
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh --cache-dir "$preflight_cache_dir" "$manifest"
+./check-linuxcnc-rs274-source-map.sh
+./check-linuxcnc-kinematics-source-map.sh
+./check-linuxcnc-opfs-source-map.sh
+./check-linuxcnc-switchkins-remap-source-map.sh
+./check-linuxcnc-wasm-smoke-source-map.sh
+./check-linuxcnc-build-source-map.sh
+./check-linuxcnc-browser-app-source-map.sh
+./check-linuxcnc-workstreams-source-map.sh
+./check-linuxcnc-tooldata-source-map.sh
+./check-linuxcnc-wasm-shims-source-map.sh
+./check-linuxcnc-wasm-blockers-source-map.sh
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-switchkins-remap-table-cached.sh --cache-dir "$preflight_cache_dir" linuxcnc-kinematics-source-files.txt
+manifest=$(cd "$(dirname "$manifest")" && pwd)/$(basename "$manifest")
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+default_manifest="$PWD/linuxcnc-rs274-wasm-source-files.txt"
+
+count_nonempty_lines() {
+    local text=${1-}
+    local count=0
+    local line
+
+    while IFS= read -r line; do
+        if [[ -n "$line" ]]; then
+            count=$((count + 1))
+        fi
+    done <<<"$text"
+
+    printf '%s\n' "$count"
+}
+
+parallel_probe_labels=()
+parallel_probe_logs=()
+parallel_probe_pids=()
+
+run_parallel_wasm_probe() {
+    local label=$1
+    shift
+    local probe_index=${#parallel_probe_pids[@]}
+    local log_dir=build/wasm-preflight-cache/parallel-probe-logs
+    local log="$log_dir/probe_${probe_index}.log"
+
+    mkdir -p "$log_dir"
+    (
+        CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" "$@"
+    ) >"$log" 2>&1 &
+    parallel_probe_labels+=("$label")
+    parallel_probe_logs+=("$log")
+    parallel_probe_pids+=("$!")
+}
+
+wait_parallel_wasm_probes() {
+    local failed=0
+    local probe_index
+    local status
+
+    for probe_index in "${!parallel_probe_pids[@]}"; do
+        echo "${parallel_probe_labels[$probe_index]}"
+        if wait "${parallel_probe_pids[$probe_index]}"; then
+            cat "${parallel_probe_logs[$probe_index]}"
+        else
+            status=$?
+            cat "${parallel_probe_logs[$probe_index]}" >&2 || true
+            echo "${parallel_probe_labels[$probe_index]} failed with status $status" >&2
+            failed=1
+        fi
+    done
+    parallel_probe_labels=()
+    parallel_probe_logs=()
+    parallel_probe_pids=()
+
+    if [[ "$failed" -ne 0 ]]; then
+        exit 1
+    fi
+}
+
+# This script writes fixed build and public artifact paths, so serialize it.
+if [[ "${CNC_SIM_BUILD_WASM_SKIP_LOCK:-0}" != "1" ]]; then
+exec 9>"${TMPDIR:-/tmp}/cnc_sim_build_wasm.lock"
+flock 9
+fi
+
+manifest_core_count=0
+manifest_blocked_count=0
+manifest_core_output=$(CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-manifest-sources.sh "$manifest" core)
+manifest_blocked_output=$(CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" LINUXCNC_ROOT="$linuxcnc_root" ./list-linuxcnc-wasm-manifest-sources.sh "$manifest" blocked)
+manifest_core_count=$(count_nonempty_lines "$manifest_core_output")
+manifest_blocked_count=$(count_nonempty_lines "$manifest_blocked_output")
+
+if [[ "$manifest_core_count" -eq 0 || "$manifest_blocked_count" -eq 0 ]]; then
+    echo "unexpected wasm manifest partition: core=$manifest_core_count blocked=$manifest_blocked_count" >&2
+    exit 1
+fi
+if [[ "$manifest" == "$default_manifest" ]] && [[ "$manifest_core_count" -ne 26 || "$manifest_blocked_count" -ne 9 ]]; then
+    echo "unexpected wasm manifest partition: core=$manifest_core_count blocked=$manifest_blocked_count" >&2
+    exit 1
+fi
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh --cache-dir "$preflight_cache_dir" "$manifest" --require-rs274-complete
+
+echo "LinuxCNC wasm blocker scan"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-blockers.sh "$manifest"
+
+echo "LinuxCNC wasm-safe source syntax probe"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-source-syntax.sh "$manifest"
+
+echo "LinuxCNC wasm-safe source object probe"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-source-objects.sh "$manifest"
+
+echo "LinuxCNC wasm-safe CMake probe target"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-cmake-safe-probe.sh "$manifest"
+
+run_parallel_wasm_probe "LinuxCNC wasm tooldata shim link probe" ./test-linuxcnc-wasm-tooldata-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm tooldata_common link probe" ./test-linuxcnc-wasm-tooldata-common-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm tooldata_mmap symbol probe" ./test-linuxcnc-wasm-tooldata-mmap-symbols.sh
+run_parallel_wasm_probe "LinuxCNC wasm tooldata runtime symbol probe" ./test-linuxcnc-wasm-tooldata-runtime-symbols.sh
+run_parallel_wasm_probe "LinuxCNC wasm interp_base link probe" ./test-linuxcnc-wasm-interp-base-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm interp_find link probe" ./test-linuxcnc-wasm-interp-find-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm python_plugin link probe" ./test-linuxcnc-wasm-python-plugin-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm Python C API symbol probe" ./test-linuxcnc-wasm-python-c-api-symbols.sh
+run_parallel_wasm_probe "LinuxCNC wasm Python binding link probe" ./test-linuxcnc-wasm-python-binding-link.sh
+run_parallel_wasm_probe "LinuxCNC wasm rs274ngc_pre object probe" ./test-linuxcnc-wasm-rs274ngc-pre-object.sh
+wait_parallel_wasm_probes
+
+echo "LinuxCNC wasm rs274ngc_pre link blocker scan"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-rs274ngc-pre-link-blockers.sh "$manifest"
+
+echo "LinuxCNC wasm rs274ngc_pre link probe"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-rs274ngc-pre-link.sh "$manifest"
+
+echo "LinuxCNC wasm runtime link probe"
+CNC_SIM_PREFLIGHT_CACHE_DIR="$preflight_cache_dir" ./test-linuxcnc-wasm-runtime-link.sh "$manifest"
+
+missing_tools=()
+for required_tool in cmake emcmake emcc node; do
+    if ! command -v "$required_tool" >/dev/null 2>&1; then
+        missing_tools+=("$required_tool")
+    fi
+done
+if ((${#missing_tools[@]} > 0)); then
+    echo "WASM build tools are required. Missing: ${missing_tools[*]}." >&2
+    echo "Install/activate cmake, emsdk, and Node.js so cmake, emcmake, emcc, and node are in PATH." >&2
     exit 1
 fi
 
-emcmake cmake -S core -B build/wasm -DCMAKE_BUILD_TYPE=Release
+wasm_build_signature=build/wasm/wasm-build.signature
-cmake --build build/wasm
+wasm_build_next_signature=$(mktemp "${TMPDIR:-/tmp}/cnc_sim_wasm_build.signature.XXXXXX")
+{
+    printf 'CXX=%s\n' "${CXX:-g++}"
+    printf 'PWD=%s\n' "$PWD"
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'MANIFEST=%s\n' "$manifest"
+    printf 'MANIFEST_HASH='
+    sha256sum "$manifest"
+    printf 'COMPILER_LAUNCHER=%s\n' "$cmake_compiler_launcher_mode"
+    printf 'CMAKE_LISTS='
+    sha256sum core/CMakeLists.txt
+    printf 'CONFIGURE_RULE_VERSION=2\n'
+} > "$wasm_build_next_signature"
+configure_wasm=1
+if [[ ! -f "$wasm_build_signature" ]] || ! cmp -s "$wasm_build_signature" "$wasm_build_next_signature"; then
+    mkdir -p build/wasm
+elif [[ -f build/wasm/CMakeCache.txt ]]; then
+    configure_wasm=0
+fi
 
+if [[ "$configure_wasm" == "1" ]]; then
+emcmake cmake -S core -B build/wasm \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCNC_SIM_LINUXCNC_ROOT="$linuxcnc_root" \
+    -DCNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST="$manifest" \
+    -DCNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE=ON \
+    -DCNC_SIM_ENABLE_SMOKE_BACKEND=OFF \
+    "${cmake_compiler_launcher_args[@]}"
+fi
+mv "$wasm_build_next_signature" "$wasm_build_signature"
+cmake --build build/wasm --target cnc_sim_wasm_runtime_probe cnc_sim_wasm --parallel "$build_jobs"
 mkdir -p web/public
-cp build/wasm/cnc_sim.js web/public/
+cp build/wasm/cnc_sim.js web/public/cnc_sim.js
-cp build/wasm/cnc_sim.wasm web/public/
+cp build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm
+cmp -s build/wasm/cnc_sim.js web/public/cnc_sim.js
+cmp -s build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm
+./test-web-wasm-node-smoke.sh
+./test-web-wasm-browser-smoke.sh

check-linuxcnc-browser-app-source-map.sh

@@ -0,0 +1,130 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties the browser app entry point to
+# LinuxCNC RS274 parameter-file defaults, rs274ngc_pre.cc restore/save/read
+# file semantics, and the existing OPFS-backed wasm-core bridge. It validates
+# app integration policy only; it does not add CNC behavior or expand smoke
+# parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F '#define RS274NGC_PARAMETER_FILE_NAME_DEFAULT "rs274ngc.var"' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F '#define RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX ".bak"' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F 'int Interp::restore_parameters(const char *filename)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int Interp::save_parameters(const char *filename,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'std::string tempfile = std::string(filename) + ".new";' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '+ RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX;' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'unlink(bakfile.c_str());' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(link(filename, bakfile.c_str()) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(rename(tempfile.c_str(), filename) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'read_text(command, _setup.file_pointer, _setup.linetext,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+
+grep -F 'LinuxCNC browser app source map' docs/linuxcnc-browser-app-source-map.md >/dev/null
+grep -F 'must not add CNC behavior' docs/linuxcnc-browser-app-source-map.md >/dev/null
+grep -F 'must not expand the temporary smoke parser' docs/linuxcnc-browser-app-source-map.md >/dev/null
+grep -F '`RS274NGC_PARAMETER_FILE_NAME_DEFAULT` as `rs274ngc.var`' \
+    docs/linuxcnc-browser-app-source-map.md >/dev/null
+grep -F '`parseFileWithParameterFile(programPath, parameterPath, "linuxcnc", ...)`' \
+    docs/linuxcnc-browser-app-source-map.md >/dev/null
+grep -F 'orders parameter saves as backup unlink' \
+    docs/linuxcnc-browser-app-source-map.md >/dev/null
+
+grep -F '<script type="module" src="/src/app.js"></script>' web/index.html >/dev/null
+grep -F '<option value="linuxcnc-rs274">LINUXCNC</option>' web/index.html >/dev/null
+if [[ "$(grep -Fc '<option value=' web/index.html)" -ne 1 ]]; then
+    echo "browser app backend selector must expose only the LinuxCNC RS274 backend" >&2
+    exit 1
+fi
+
+grep -F 'import { createWasmSimulator } from "./wasm-core.js";' web/src/app.js >/dev/null
+grep -F 'const programPath = "programs/current.ngc";' web/src/app.js >/dev/null
+grep -F 'const linuxCncParameterFileName = "rs274ngc.var";' web/src/app.js >/dev/null
+grep -F 'const parameterPath = `parameters/${linuxCncParameterFileName}`;' web/src/app.js >/dev/null
+grep -F 'const linuxCncBackend = "linuxcnc-rs274";' web/src/app.js >/dev/null
+grep -F 'const opfsOptions = { required: true, mountPoint: "/cnc", workspacePath: "cnc-simulator" };' \
+    web/src/app.js >/dev/null
+grep -F 'simulatorPromise = createWasmSimulator({' web/src/app.js >/dev/null
+grep -F 'opfs: opfsOptions,' web/src/app.js >/dev/null
+grep -F 'OPFS workspace is required for browser program parsing' web/src/app.js >/dev/null
+grep -F 'await simulator.fs.opfs.writeFile(programPath, elements.input.value);' web/src/app.js >/dev/null
+grep -F 'const events = await simulator.parseFileWithParameterFile(programPath, parameterPath, "linuxcnc", parseOptions);' \
+    web/src/app.js >/dev/null
+grep -F 'elements.backendSelect.value = linuxCncBackend;' web/src/app.js >/dev/null
+grep -F 'globalThis.__cncSimulatorForTest = simulatorPromise;' web/src/app.js >/dev/null
+
+grep -F 'app frame did not persist current program into OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not persist LinuxCNC parameter state into OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not persist LinuxCNC parameter backup into OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not clean up LinuxCNC temporary parameter file in OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'OPFS PROGRAM RESTORED' web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not reload LinuxCNC parameter state from OPFS after reload' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'runSection("browser app opfs save"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("browser app opfs restore"' test-web-wasm-browser-smoke.sh >/dev/null
+
+if grep -R -n -E 'localStorage|sessionStorage|indexedDB|showOpenFilePicker|showSaveFilePicker|showDirectoryPicker|webkitRequestFileSystem|FileReader' web/src; then
+    echo "browser app/wasm code must not add filesystem persistence outside OPFS" >&2
+    exit 1
+fi
+
+python3 - <<'PY'
+from pathlib import Path
+
+source_map = Path("docs/linuxcnc-browser-app-source-map.md").read_text(encoding="utf-8")
+for entry in [
+    "web/index.html",
+    "web/src/app.js",
+    "web/test-browser-wasm-smoke-app-sections.js",
+]:
+    if f"| `{entry}` |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-browser-app-source-map.md missing app entry: {entry}")
+
+for phrase in [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "existing `createWasmSimulator()` OPFS API",
+    "programs/current.ngc",
+    "parameters/rs274ngc.var",
+    "visible backend selector must stay limited",
+    "./check-linuxcnc-browser-app-source-map.sh",
+    "does not interpret G-code",
+]:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-browser-app-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-browser-app-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-browser-app-source-map.sh")
+
+app = Path("web/src/app.js").read_text(encoding="utf-8")
+if "parse(" in app.replace("parseProgram", ""):
+    raise SystemExit("browser app should route program execution through parseFileWithParameterFile, not direct parse")
+if app.count("elements.backendSelect.value = linuxCncBackend;") != 2:
+    raise SystemExit("browser app backend selector must only be forced to the LinuxCNC backend")
+if "backendSelect.value" in app.replace("elements.backendSelect.value = linuxCncBackend;", ""):
+    raise SystemExit("browser app must not read the backend selector as a dynamic backend source")
+if 'backend: linuxCncBackend' not in app:
+    raise SystemExit("browser app parse options must force the LinuxCNC backend")
+PY

check-linuxcnc-build-source-map.sh

@@ -0,0 +1,202 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties native/source-link/WASM build entry
+# points to LinuxCNC Submakefile source ownership, source manifests, persistent
+# build signatures, and source-backed WASM artifact ordering. It validates
+# build policy only; it does not add CNC behavior, expand smoke parsing, or
+# interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'LIBRS274SRCS := $(addprefix emc/rs274ngc/,' \
+    "$linuxcnc_root/src/emc/rs274ngc/Submakefile" >/dev/null
+grep -F 'rs274ngc_pre.cc \' "$linuxcnc_root/src/emc/rs274ngc/Submakefile" >/dev/null
+grep -F '../lib/libtooldata.so.0' "$linuxcnc_root/src/emc/rs274ngc/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_common.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_mmap.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_db.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBLCNCINISRCS := emc/ini/inifile.cc' \
+    "$linuxcnc_root/src/emc/ini/Submakefile" >/dev/null
+grep -F 'LIBPPSRCS := $(addprefix emc/pythonplugin/,' \
+    "$linuxcnc_root/src/emc/pythonplugin/Submakefile" >/dev/null
+grep -F 'GENSERKINSSRCS := emc/kinematics/ugenserkins.c' \
+    "$linuxcnc_root/src/emc/kinematics/Submakefile" >/dev/null
+grep -F 'extern int kinematicsInverse(const struct EmcPose * world,' \
+    "$linuxcnc_root/src/emc/kinematics/kinematics.h" >/dev/null
+
+grep -F 'LinuxCNC build source map' docs/linuxcnc-build-source-map.md >/dev/null
+grep -F 'must not add CNC' docs/linuxcnc-build-source-map.md >/dev/null
+grep -F 'must not expand the temporary smoke parser' docs/linuxcnc-build-source-map.md >/dev/null
+grep -F '`src/emc/rs274ngc/Submakefile` defines `LIBRS274SRCS`' \
+    docs/linuxcnc-build-source-map.md >/dev/null
+grep -F '`src/emc/tooldata/Submakefile` defines the LinuxCNC tooldata' \
+    docs/linuxcnc-build-source-map.md >/dev/null
+grep -F 'Default WASM manifest partition must remain 26 wasm-safe `core` sources and' \
+    docs/linuxcnc-build-source-map.md >/dev/null
+grep -F '`build-wasm.sh` must configure with `CNC_SIM_ENABLE_SMOKE_BACKEND=OFF`' \
+    docs/linuxcnc-build-source-map.md >/dev/null
+grep -F '`test-native.sh`, `test-linuxcnc-source-link.sh`, and `build-wasm.sh` must' \
+    docs/linuxcnc-build-source-map.md >/dev/null
+
+grep -F 'LinuxCNC source basis: the wasm build preflights and compiles the' build-wasm.sh >/dev/null
+source_map_guards=(
+    './check-linuxcnc-rs274-source-map.sh'
+    './check-linuxcnc-kinematics-source-map.sh'
+    './check-linuxcnc-opfs-source-map.sh'
+    './check-linuxcnc-switchkins-remap-source-map.sh'
+    './check-linuxcnc-wasm-smoke-source-map.sh'
+    './check-linuxcnc-build-source-map.sh'
+    './check-linuxcnc-browser-app-source-map.sh'
+    './check-linuxcnc-workstreams-source-map.sh'
+    './check-linuxcnc-tooldata-source-map.sh'
+    './check-linuxcnc-wasm-shims-source-map.sh'
+    './check-linuxcnc-wasm-blockers-source-map.sh'
+)
+for guarded_entry in test-native.sh test-linuxcnc-source-link.sh build-wasm.sh; do
+    for source_map_guard in "${source_map_guards[@]}"; do
+        grep -F "$source_map_guard" "$guarded_entry" >/dev/null
+    done
+done
+grep -F 'manifest_core_count=$(count_nonempty_lines "$manifest_core_output")' build-wasm.sh >/dev/null
+grep -F 'manifest_blocked_count=$(count_nonempty_lines "$manifest_blocked_output")' build-wasm.sh >/dev/null
+grep -F 'manifest_core_count" -ne 26 || "$manifest_blocked_count" -ne 9' build-wasm.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm tooldata shim link probe" ./test-linuxcnc-wasm-tooldata-link.sh' build-wasm.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm rs274ngc_pre object probe" ./test-linuxcnc-wasm-rs274ngc-pre-object.sh' build-wasm.sh >/dev/null
+grep -F 'wait_parallel_wasm_probes' build-wasm.sh >/dev/null
+grep -F 'for required_tool in cmake emcmake emcc node; do' build-wasm.sh >/dev/null
+grep -F 'CONFIGURE_RULE_VERSION=2' build-wasm.sh >/dev/null
+grep -F -- '-DCNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE=ON' build-wasm.sh >/dev/null
+grep -F -- '-DCNC_SIM_ENABLE_SMOKE_BACKEND=OFF' build-wasm.sh >/dev/null
+grep -F 'cmake --build build/wasm --target cnc_sim_wasm_runtime_probe cnc_sim_wasm --parallel "$build_jobs"' build-wasm.sh >/dev/null
+grep -F 'cmp -s build/wasm/cnc_sim.js web/public/cnc_sim.js' build-wasm.sh >/dev/null
+grep -F 'cmp -s build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm' build-wasm.sh >/dev/null
+grep -F './test-web-wasm-node-smoke.sh' build-wasm.sh >/dev/null
+grep -F './test-web-wasm-browser-smoke.sh' build-wasm.sh >/dev/null
+
+grep -F 'LinuxCNC source basis: this source-link test compiles the manifest-selected' \
+    test-linuxcnc-source-link.sh >/dev/null
+grep -F 'BUILD_RULE_VERSION=1' test-linuxcnc-source-link.sh >/dev/null
+grep -F 'make --output-sync=target -j"$build_jobs" -f "$source_link_makefile"' \
+    test-linuxcnc-source-link.sh >/dev/null
+grep -F 'LinuxCNC source basis: this syntax probe checks the native RS274 manifest' \
+    test-linuxcnc-source-syntax.sh >/dev/null
+grep -F 'LinuxCNC source basis: the wasm syntax probe compiles the' \
+    test-linuxcnc-wasm-source-syntax.sh >/dev/null
+grep -F "printf 'CONFIGURE_RULE_VERSION=1\n'" \
+    test-linuxcnc-wasm-cmake-safe-probe.sh >/dev/null
+grep -F 'cmake --build "$build_dir" --target linuxcnc_rs274_wasm_safe_probe cnc_sim_wasm_runtime_probe --parallel "$build_jobs"' \
+    test-linuxcnc-wasm-cmake-safe-probe.sh >/dev/null
+
+if grep -F 'printf '\''BUILD_JOBS=%s\n'\'' "$build_jobs"' build-wasm.sh >/dev/null; then
+    echo "build-wasm configure signature must not depend on CNC_SIM_BUILD_JOBS" >&2
+    exit 1
+fi
+for hot_signature_script in \
+    build-linuxcnc-wasm-link-probe.sh \
+    build-linuxcnc-wasm-probe-objects.sh \
+    build-linuxcnc-wasm-standalone-probe.sh \
+    build-linuxcnc-native-bridge-objects.sh \
+    test-linuxcnc-api-native.sh \
+    test-linuxcnc-bridge-native.sh \
+    test-linuxcnc-rs274-native.sh \
+    test-linuxcnc-source-link.sh \
+    test-linuxcnc-source-objects.sh \
+    test-linuxcnc-source-syntax.sh \
+    test-native.sh; do
+    if grep -F "sha256sum $hot_signature_script" "$hot_signature_script" >/dev/null; then
+        echo "$hot_signature_script hot object signature must use BUILD_RULE_VERSION instead of the whole script hash" >&2
+        exit 1
+    fi
+done
+
+python3 - <<'PY'
+from pathlib import Path
+import subprocess
+
+source_map = Path("docs/linuxcnc-build-source-map.md").read_text(encoding="utf-8")
+wasm_manifest = Path("linuxcnc-rs274-wasm-source-files.txt")
+core_count = len(subprocess.check_output(
+    ["./list-linuxcnc-wasm-manifest-sources.sh", str(wasm_manifest), "core"],
+    text=True,
+).splitlines())
+blocked_count = len(subprocess.check_output(
+    ["./list-linuxcnc-wasm-manifest-sources.sh", str(wasm_manifest), "blocked"],
+    text=True,
+).splitlines())
+if core_count != 26 or blocked_count != 9:
+    raise SystemExit(f"unexpected default WASM manifest partition: core={core_count} blocked={blocked_count}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "test-linuxcnc-source-syntax.sh",
+    "test-linuxcnc-wasm-cmake-safe-probe.sh",
+    "build-wasm.sh",
+]:
+    if f"| `{entry}` |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-build-source-map.md missing build entry: {entry}")
+
+for phrase in [
+    "must not add CNC",
+    "must not expand the temporary smoke parser",
+    "CNC_SIM_BUILD_JOBS",
+    "BUILD_RULE_VERSION",
+    "CONFIGURE_RULE_VERSION",
+    "CNC_SIM_ENABLE_SMOKE_BACKEND=OFF",
+    "Node smoke before browser smoke",
+    "does not interpret",
+    "G-code",
+]:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-build-source-map.md missing boundary phrase: {phrase}")
+
+build_wasm = Path("build-wasm.sh").read_text(encoding="utf-8").splitlines()
+positions = {}
+for index, line in enumerate(build_wasm, start=1):
+    if 'run_parallel_wasm_probe "LinuxCNC wasm tooldata shim link probe"' in line:
+        positions["parallel_start"] = index
+    if "wait_parallel_wasm_probes" in line and "parallel_start" in positions and "wait" not in positions:
+        positions["wait"] = index
+    if "LinuxCNC wasm rs274ngc_pre link blocker scan" in line:
+        positions["pre_link"] = index
+    if "for required_tool in cmake emcmake emcc node; do" in line:
+        positions["tools"] = index
+    if "emcmake cmake -S core -B build/wasm" in line:
+        positions["configure"] = index
+    if "cmake --build build/wasm --target cnc_sim_wasm_runtime_probe cnc_sim_wasm" in line:
+        positions["build"] = index
+    if "cp build/wasm/cnc_sim.js web/public/cnc_sim.js" in line:
+        positions["cp_js"] = index
+    if "cp build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm" in line:
+        positions["cp_wasm"] = index
+    if "cmp -s build/wasm/cnc_sim.js web/public/cnc_sim.js" in line:
+        positions["cmp_js"] = index
+    if "cmp -s build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm" in line:
+        positions["cmp_wasm"] = index
+    if "./test-web-wasm-node-smoke.sh" in line:
+        positions["node"] = index
+    if "./test-web-wasm-browser-smoke.sh" in line:
+        positions["browser"] = index
+
+required = [
+    "parallel_start", "wait", "pre_link", "tools", "configure", "build",
+    "cp_js", "cp_wasm", "cmp_js", "cmp_wasm", "node", "browser",
+]
+missing = [name for name in required if name not in positions]
+if missing:
+    raise SystemExit(f"build-wasm.sh missing ordered build anchors: {', '.join(missing)}")
+if not (positions["parallel_start"] < positions["wait"] < positions["pre_link"]):
+    raise SystemExit("build-wasm.sh must wait for parallel probes before rs274ngc_pre link checks")
+if not (positions["tools"] < positions["configure"] < positions["build"]):
+    raise SystemExit("build-wasm.sh must check tools, then configure, then build")
+if not (positions["cp_js"] < positions["cmp_js"] < positions["node"] < positions["browser"]):
+    raise SystemExit("build-wasm.js artifact JS copy/compare or smoke ordering changed")
+if not (positions["cp_wasm"] < positions["cmp_wasm"] < positions["node"] < positions["browser"]):
+    raise SystemExit("build-wasm.wasm artifact copy/compare or smoke ordering changed")
+PY

check-linuxcnc-inputs-cached.sh

@@ -0,0 +1,136 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: the cached input checker keys check-linuxcnc-inputs.sh
+# results by manifest contents and LinuxCNC source mtimes so source-backed
+# rs274/kinematics coverage is not silently reused after upstream changes.
+cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-}
+check_args=("$@")
+if [[ "${1:-}" == "--cache-dir" ]]; then
+    if [[ "$#" -lt 2 ]]; then
+        echo "missing --cache-dir value" >&2
+        exit 1
+    fi
+    cache_dir=$2
+    shift 2
+    check_args=("$@")
+fi
+
+manifest=${1:-}
+require_complete=${2:-}
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+
+if [[ -z "$cache_dir" ]]; then
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs.sh "${check_args[@]}"
+    exit 0
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_PREFLIGHT_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_PREFLIGHT_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+exec 8>"$cache_dir/check-linuxcnc-inputs.lock"
+flock 8
+
+if [[ ! -d "$linuxcnc_root" ]]; then
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs.sh "${check_args[@]}"
+    exit 0
+fi
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+manifest_key=ROOT_ONLY
+manifest_path=
+if [[ -n "$manifest" && "$manifest" != "--root-only" ]]; then
+    if [[ ! -f "$manifest" ]]; then
+        LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs.sh "${check_args[@]}"
+        exit 0
+    fi
+    manifest_path=$(cd "$(dirname "$manifest")" && pwd)/$(basename "$manifest")
+    manifest_key=$(printf '%s' "$manifest_path" | sha256sum | awk '{ print $1 }')
+fi
+
+safe_require=${require_complete:-none}
+safe_require=${safe_require//[^A-Za-z0-9_.-]/_}
+args_key=$(
+    {
+        printf 'ARGS='
+        printf ' %q' "${check_args[@]}"
+        printf '\n'
+    } | sha256sum | awk '{ print $1 }'
+)
+cache_file="$cache_dir/check-linuxcnc-inputs.${manifest_key}.${safe_require}.${args_key}.signature"
+next_signature=$(mktemp "$cache_file.next.XXXXXX")
+
+write_source_stat_signature() {
+    local source_path
+    [[ -z "$manifest_path" ]] && return 0
+    while IFS=: read -r group path note extra; do
+        case "$group" in
+            ""|\#*)
+                continue
+                ;;
+        esac
+        [[ -z "${path:-}" ]] && continue
+        source_path="$linuxcnc_root/$path"
+        if [[ ! -f "$source_path" ]]; then
+            return 1
+        fi
+        stat -c 'SOURCE=%n:%s:%y' "$source_path"
+    done < "$manifest_path"
+}
+
+write_complete_mode_signature() {
+    case "$require_complete" in
+        --require-rs274-complete)
+            find "$linuxcnc_root/src/emc/rs274ngc" -maxdepth 1 -type f \
+                -printf 'RS274=%P:%s:%T@\n' | sort
+            ;;
+        --require-kinematics-complete)
+            for source_dir in \
+                "$linuxcnc_root/src/emc/kinematics" \
+                "$linuxcnc_root/src/libnml/posemath" \
+                "$linuxcnc_root/configs/sim"; do
+                [[ -d "$source_dir" ]] || return 1
+                find "$source_dir" -type f -printf "KIN=$source_dir/%P:%s:%T@\n" | sort
+            done
+            ;;
+    esac
+}
+
+if ! {
+    printf 'CACHED_SCRIPT='
+    sha256sum check-linuxcnc-inputs-cached.sh
+    printf 'CHECK_SCRIPT='
+    sha256sum check-linuxcnc-inputs.sh
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'ARGS='
+    printf ' %q' "${check_args[@]}"
+    printf '\n'
+    if [[ -n "$manifest_path" ]]; then
+        printf 'MANIFEST_PATH=%s\n' "$manifest_path"
+        printf 'MANIFEST='
+        sha256sum "$manifest_path"
+        write_source_stat_signature
+    fi
+    write_complete_mode_signature
+} > "$next_signature"; then
+    rm -f "$next_signature"
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs.sh "${check_args[@]}"
+    exit 0
+fi
+
+if [[ -f "$cache_file" ]] && cmp -s "$cache_file" "$next_signature"; then
+    rm -f "$next_signature"
+    exit 0
+fi
+
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs.sh "${check_args[@]}"
+mv "$next_signature" "$cache_file"

check-linuxcnc-kinematics-source-map.sh

@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard keeps the kinematics source map aligned
+# with linuxcnc-kinematics-source-files.txt, which enumerates LinuxCNC
+# kinematics, posemath, switchkins INI/HAL/remap/tooldata/assets, and adjacent
+# build metadata. It validates source coverage documentation only; it does not
+# add CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'GENSERKINSSRCS := emc/kinematics/ugenserkins.c' \
+    "$linuxcnc_root/src/emc/kinematics/Submakefile" >/dev/null
+grep -F 'extern int kinematicsInverse(const struct EmcPose * world,' \
+    "$linuxcnc_root/src/emc/kinematics/kinematics.h" >/dev/null
+grep -F 'extern int kinematicsSwitch(int switchkins_type);' \
+    "$linuxcnc_root/src/emc/kinematics/kinematics.h" >/dev/null
+grep -F 'motion.switchkins-type' \
+    "$linuxcnc_root/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini" >/dev/null
+grep -F '#<kinstype>' \
+    "$linuxcnc_root/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc" >/dev/null
+
+python3 - <<'PY'
+from pathlib import Path
+import re
+
+manifest = Path("linuxcnc-kinematics-source-files.txt").read_text(encoding="utf-8").splitlines()
+source_map = Path("docs/linuxcnc-kinematics-source-map.md").read_text(encoding="utf-8")
+
+expected_groups = [
+    "core",
+    "config",
+    "remap",
+    "component",
+    "generated",
+    "header",
+    "metadata",
+    "asset",
+    "tooldata",
+]
+counts = {group: 0 for group in expected_groups}
+for line in manifest:
+    if not line or line.startswith("#"):
+        continue
+    group = line.split(":", 1)[0]
+    if group not in counts:
+        raise SystemExit(f"unexpected kinematics manifest group in source map guard: {group}")
+    counts[group] += 1
+
+for group, count in counts.items():
+    pattern = rf"\| `{re.escape(group)}` \| {count} \|"
+    if not re.search(pattern, source_map):
+        raise SystemExit(
+            f"docs/linuxcnc-kinematics-source-map.md {group} count no longer matches linuxcnc-kinematics-source-files.txt"
+        )
+
+for group in expected_groups:
+    if f"`{group}`" not in source_map:
+        raise SystemExit(
+            f"docs/linuxcnc-kinematics-source-map.md is missing kinematics manifest group {group}"
+        )
+
+required_phrases = [
+    "LinuxCNC Source Anchors",
+    "must not add CNC behavior",
+    "must not",
+    "expand the temporary smoke parser",
+    "`src/emc/kinematics/Submakefile`",
+    "`src/emc/kinematics/kinematics.h`",
+    "motion.switchkins-type",
+    "`#<kinstype>` remap assignment",
+    "not browser API surface",
+    "OPFS-only",
+    "derive M428/M429/M430 cases from",
+    "RTCP and five-axis coverage",
+    "./check-linuxcnc-kinematics-source-map.sh",
+    "./check-linuxcnc-inputs.sh linuxcnc-kinematics-source-files.txt --require-kinematics-complete",
+    "./check-linuxcnc-switchkins-remap-table.sh linuxcnc-kinematics-source-files.txt",
+    "does not interpret G-code",
+]
+for phrase in required_phrases:
+    if phrase not in source_map:
+        raise SystemExit(
+            f"docs/linuxcnc-kinematics-source-map.md is missing source-coverage boundary phrase: {phrase}"
+        )
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-kinematics-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-kinematics-source-map.sh")
+PY

check-linuxcnc-opfs-source-map.sh

@@ -0,0 +1,182 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties browser OPFS parameter persistence to
+# interp_internal.hh defaults and rs274ngc_pre.cc restore_parameters() /
+# save_parameters() file semantics. It validates bridge policy only; it does not
+# add CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F '#define RS274NGC_PARAMETER_FILE_NAME_DEFAULT "rs274ngc.var"' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F '#define RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX ".bak"' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F 'int Interp::restore_parameters(const char *filename)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int Interp::open(const char *filename)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '_setup.file_pointer = fopen(filename, "r");' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'read_text(command, _setup.file_pointer, _setup.linetext,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int Interp::save_parameters(const char *filename,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'std::string tempfile = std::string(filename) + ".new";' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '+ RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX;' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'unlink(bakfile.c_str());' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(link(filename, bakfile.c_str()) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(rename(tempfile.c_str(), filename) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+
+grep -F 'RS274NGC_PARAMETER_FILE_NAME_DEFAULT` as `rs274ngc.var`' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F 'RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX` as `.bak`' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '`Interp::restore_parameters()` for parameter-file reads' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '`Interp::open()` by opening' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '`fopen(filename, "r")`, then `Interp::_read()`' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '`read_text()`' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '`Interp::save_parameters()` for `filename + ".new"`' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F 'unlinks `filename + ".bak"`, links the' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F 'must not add independent filesystem behavior or expand the temporary smoke parser' \
+    docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F 'parseFileWithParameterFile()' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F 'OPFS Coverage' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/src/wasm-core.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/src/wasm-core.d.ts` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/src/app.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-basic-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-parameter-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-workspace-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-mirror-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-directory-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-opfs-policy-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+grep -F '| `web/test-browser-wasm-smoke-app-sections.js` |' docs/linuxcnc-opfs-source-map.md >/dev/null
+
+grep -F 'const LINUXCNC_DEFAULT_PARAMETER_FILE = "rs274ngc.var";' web/src/wasm-core.js >/dev/null
+grep -F 'async parseFile(path, dialect = "linuxcnc", options = {})' web/src/wasm-core.js >/dev/null
+grep -F 'OPFS workspace is not available for program file parsing' web/src/wasm-core.js >/dev/null
+grep -F 'const program = new TextDecoder().decode(await opfs.readFile(path));' web/src/wasm-core.js >/dev/null
+grep -F 'async parseFileWithParameterFile(path, parameterPath, dialect = "linuxcnc", options = {})' \
+    web/src/wasm-core.js >/dev/null
+grep -F 'OPFS workspace is not available for program and parameter file parsing' web/src/wasm-core.js >/dev/null
+grep -F '`${LINUXCNC_DEFAULT_PARAMETER_FILE}.new`' web/src/wasm-core.js >/dev/null
+grep -F '`${LINUXCNC_DEFAULT_PARAMETER_FILE}.bak`' web/src/wasm-core.js >/dev/null
+grep -F 'LinuxCNC source basis: rs274ngc_pre.cc restore_parameters() reads the' web/src/wasm-core.js >/dev/null
+grep -F 'before replacing the main file and managing filename + ".bak".' web/src/wasm-core.js >/dev/null
+grep -F 'app frame did not clean up LinuxCNC temporary parameter file in OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'OPFS cannot be disabled in browser contexts with OPFS support' web/src/wasm-core.js >/dev/null
+grep -F 'OPFS path must stay inside the CNC workspace' web/src/wasm-core.js >/dev/null
+grep -F 'OPFS mount point must stay inside the Emscripten filesystem' web/src/wasm-core.js >/dev/null
+grep -F 'async persistDirectory(path)' web/src/wasm-core.js >/dev/null
+grep -F 'async readDirectory(path)' web/src/wasm-core.js >/dev/null
+grep -F 'export type WasmOpfsWorkspace = {' web/src/wasm-core.d.ts >/dev/null
+grep -F 'readDirectory(path: string): Promise<string[]>;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'persistDirectory(path: string): Promise<string[]>;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'loadParameterFile(path: string): Promise<Uint8Array | null>;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'persistParameterFile(path: string): Promise<Uint8Array>;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'opfs?: false | {' web/src/wasm-core.d.ts >/dev/null
+grep -F 'mountPoint?: string;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'workspacePath?: string;' web/src/wasm-core.d.ts >/dev/null
+grep -F 'const events = await simulator.parseFileWithParameterFile(programPath, parameterPath, "linuxcnc", parseOptions);' \
+    web/src/app.js >/dev/null
+grep -F 'OPFS workspace is required for browser program parsing' web/src/app.js >/dev/null
+grep -F 'runBrowserOpfsBasicSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsParameterSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsMirrorSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsDirectorySections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsPolicySections(context)' web/test-browser-wasm-smoke-sections.js >/dev/null
+grep -F 'runSection("opfs directory persist and load"' \
+    web/test-browser-wasm-smoke-opfs-directory-sections.js >/dev/null
+grep -F 'runSection("opfs metadata queries avoid wasm mirror pollution"' \
+    web/test-browser-wasm-smoke-opfs-directory-sections.js >/dev/null
+grep -F 'runSection("opfs copy and move mirror files"' \
+    web/test-browser-wasm-smoke-opfs-mirror-sections.js >/dev/null
+grep -F 'runSection("browser opfs policy"' \
+    web/test-browser-wasm-smoke-opfs-policy-sections.js >/dev/null
+grep -F 'runSection("opfs parameter restore in new instance"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("opfs invalid parameter restore failures"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("opfs stale parameter state cleanup"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("opfs program parse and restore"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("browser app opfs restore"' test-web-wasm-browser-smoke.sh >/dev/null
+
+if grep -R -n -E 'localStorage|sessionStorage|indexedDB|showOpenFilePicker|showSaveFilePicker|showDirectoryPicker|webkitRequestFileSystem|FileReader' web/src; then
+    echo "browser app/wasm code must not add filesystem persistence outside OPFS" >&2
+    exit 1
+fi
+if grep -n -E 'localStorage|sessionStorage|indexedDB|showOpenFilePicker|showSaveFilePicker|showDirectoryPicker|webkitRequestFileSystem|FileReader' \
+    web/test-browser-wasm-smoke-*.js \
+    web/test-browser-wasm-smoke.html \
+    test-web-wasm-browser-smoke.sh; then
+    echo "browser OPFS smoke harness must not add filesystem persistence outside OPFS" >&2
+    exit 1
+fi
+
+python3 - <<'PY'
+from pathlib import Path
+
+source_map = Path("docs/linuxcnc-opfs-source-map.md").read_text(encoding="utf-8")
+coverage_entries = [
+    "web/src/wasm-core.js",
+    "web/src/wasm-core.d.ts",
+    "web/src/app.js",
+    "web/test-browser-wasm-smoke-opfs-basic-sections.js",
+    "web/test-browser-wasm-smoke-opfs-parameter-sections.js",
+    "web/test-browser-wasm-smoke-opfs-workspace-sections.js",
+    "web/test-browser-wasm-smoke-opfs-mirror-sections.js",
+    "web/test-browser-wasm-smoke-opfs-directory-sections.js",
+    "web/test-browser-wasm-smoke-opfs-policy-sections.js",
+    "web/test-browser-wasm-smoke-app-sections.js",
+]
+for entry in coverage_entries:
+    if f"| `{entry}` |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-opfs-source-map.md missing OPFS coverage entry: {entry}")
+
+required_phrases = [
+    "programs/current.ngc",
+    "parameters/rs274ngc.var",
+    'fopen(filename, "r")',
+    "LinuxCNC `read_text()`",
+    "program reads and parameter restore/save bridge files under the OPFS workspace",
+    "`.new`, `.bak`, failure, and stale-state semantics",
+    'unlinks `filename + ".bak"`',
+    "OPFS/WASM mirror persistence",
+    "OPFS directory persistence and WASM mirror refresh",
+    "OPFS workspace and mount policy",
+    "Browser OPFS smoke harness files must also stay free of Local Storage",
+    "they may only verify OPFS-backed browser persistence",
+    "OPFS-backed workspace, directory, parameter-file, and mount/workspace option types",
+    "app-level OPFS program, parameter, backup, and reload behavior",
+    "./check-linuxcnc-opfs-source-map.sh",
+    "does not interpret G-code",
+]
+for phrase in required_phrases:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-opfs-source-map.md missing OPFS coverage phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-opfs-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-opfs-source-map.sh")
+PY

check-linuxcnc-rs274-source-map.sh

@@ -0,0 +1,102 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard keeps the local source map aligned with the
+# LinuxCNC-root relative rs274 manifests that drive native and WASM source-link
+# probes. It validates documentation/manifest drift only; it does not add CNC
+# behavior, expand smoke parsing, or interpret G-code.
+python3 - <<'PY'
+from pathlib import Path
+
+source_map = Path("docs/linuxcnc-rs274-source-map.md").read_text(encoding="utf-8")
+native_manifest = Path("linuxcnc-rs274-source-files.txt").read_text(encoding="utf-8").splitlines()
+wasm_manifest = Path("linuxcnc-rs274-wasm-source-files.txt").read_text(encoding="utf-8").splitlines()
+
+expected = {
+    "### Interpreter core": [
+        Path(line.split(":", 2)[1]).name
+        for line in native_manifest
+        if line.startswith("core:")
+    ],
+    "### Python binding modules": [
+        Path(line.split(":", 2)[1]).name
+        for line in native_manifest
+        if line.startswith("binding:")
+    ],
+    "### WASM-safe source core": [
+        line.split(":", 2)[1]
+        for line in wasm_manifest
+        if line.startswith("core:")
+    ],
+    "### WASM-blocked sources": [
+        line.split(":", 2)[1]
+        for line in wasm_manifest
+        if line.startswith("blocked:")
+    ],
+    "### WASM-tracked headers": [
+        line.split(":", 2)[1]
+        for line in wasm_manifest
+        if line.startswith("header:")
+    ],
+    "### WASM-blocked headers": [
+        line.split(":", 2)[1]
+        for line in wasm_manifest
+        if line.startswith("blocked-header:")
+    ],
+    "### WASM metadata sources": [
+        line.split(":", 2)[1]
+        for line in wasm_manifest
+        if line.startswith("metadata:")
+    ],
+}
+
+actual = {section: [] for section in expected}
+active_section = None
+for line in source_map.splitlines():
+    if line in expected:
+        active_section = line
+        continue
+    if active_section and line.startswith("### "):
+        active_section = None
+    if active_section and line.startswith("- `"):
+        actual[active_section].append(line.split("`", 2)[1])
+
+labels = {
+    "### Interpreter core": "interpreter core",
+    "### Python binding modules": "Python binding module",
+    "### WASM-safe source core": "WASM-safe source core",
+    "### WASM-blocked sources": "WASM-blocked source",
+    "### WASM-tracked headers": "WASM-tracked header",
+    "### WASM-blocked headers": "WASM-blocked header",
+    "### WASM metadata sources": "WASM metadata source",
+}
+for section, expected_entries in expected.items():
+    if actual[section] != expected_entries:
+        raise SystemExit(
+            f"docs/linuxcnc-rs274-source-map.md {labels[section]} list no longer matches source manifest"
+        )
+
+for phrase in [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "source coverage only",
+    "must not become browser API fields",
+    "temporary smoke parser fallback behavior",
+    "Browser-hostile dependencies must remain tracked blockers",
+    "./check-linuxcnc-rs274-source-map.sh",
+    "does not interpret G-code",
+]:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-rs274-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-rs274-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-rs274-source-map.sh")
+PY

check-linuxcnc-switchkins-remap-source-map.sh

@@ -0,0 +1,107 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties generated switchkins/remap aliases and
+# config cases to LinuxCNC configs/sim INI REMAP entries, remap_subs
+# #<kinstype> assignments, and halcmd loadusr parsing sources. It validates
+# generator/table policy only; it does not add CNC behavior, expand smoke
+# parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'LinuxCNC source basis: generated switchkins/remap tables are extracted from' \
+    generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'src/hal/utils/halcmd_commands.cc do_loadusr_cmd()' \
+    generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'getopt("+wWin:")' generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'src/hal/utils/halcmd_completion.c lists the common -W/-Wn/-w/-iw forms' \
+    generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'LinuxCNC TOOL_TABLE source is not listed as tooldata' \
+    generate-linuxcnc-switchkins-remap-table.sh >/dev/null
+
+grep -F 'LinuxCNC source basis: switchkins/remap table validation derives M428/M429/M430' \
+    check-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'validate_tool_table_source_coverage_only' \
+    check-linuxcnc-switchkins-remap-table.sh >/dev/null
+grep -F 'exposes TOOL_TABLE through switchkins API/web bridge' \
+    check-linuxcnc-switchkins-remap-table.sh >/dev/null
+
+grep -F 'int do_loadusr_cmd(const char *args[])' "$linuxcnc_root/src/hal/utils/halcmd_commands.cc" >/dev/null
+grep -F 'getopt(argc,' "$linuxcnc_root/src/hal/utils/halcmd_commands.cc" >/dev/null
+grep -F '"+wWin:"' "$linuxcnc_root/src/hal/utils/halcmd_commands.cc" >/dev/null
+grep -F -- '-Wn' "$linuxcnc_root/src/hal/utils/halcmd_completion.c" >/dev/null
+
+python3 - "$linuxcnc_root" <<'PY'
+from pathlib import Path
+import json
+import re
+import sys
+
+linuxcnc_root = Path(sys.argv[1])
+source_map = Path("docs/linuxcnc-switchkins-remap-source-map.md").read_text(encoding="utf-8")
+table = Path("core/src/linuxcnc_switchkins_remap_table.inc").read_text(encoding="utf-8")
+cpp_cases = Path("core/tests/linuxcnc_switchkins_remap_config_cases.inc").read_text(encoding="utf-8")
+json_cases = json.loads(Path("web/public/linuxcnc_switchkins_remap_config_cases.json").read_text(encoding="utf-8"))
+
+counts = {
+    "core/src/linuxcnc_switchkins_remap_table.inc": len(re.findall(r'^\s*\{"', table, re.M)),
+    "core/tests/linuxcnc_switchkins_remap_config_cases.inc": len(re.findall(r'^\s*\{"', cpp_cases, re.M)),
+    "web/public/linuxcnc_switchkins_remap_config_cases.json": len(json_cases),
+}
+for path, count in counts.items():
+    if f"| `{path}` | {count} |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-switchkins-remap-source-map.md count mismatch for {path}")
+
+remap_sources = [
+    path
+    for path in (linuxcnc_root / "configs/sim").rglob("*remap.ngc")
+    if path.name in {"428remap.ngc", "429remap.ngc", "430remap.ngc"}
+]
+remap_ini_re = re.compile(r"REMAP\s*=\s*M(428|429|430)(?:\D|$)", re.I)
+remap_inis = [
+    path
+    for path in (linuxcnc_root / "configs/sim").rglob("*.ini")
+    if remap_ini_re.search(path.read_text(encoding="utf-8", errors="ignore"))
+]
+if f"| LinuxCNC M428/M429/M430 remap sources | {len(remap_sources)} |" not in source_map:
+    raise SystemExit("docs/linuxcnc-switchkins-remap-source-map.md remap source count mismatch")
+if f"| LinuxCNC switchkins REMAP INI sources | {len(remap_inis)} |" not in source_map:
+    raise SystemExit("docs/linuxcnc-switchkins-remap-source-map.md REMAP INI source count mismatch")
+
+required_phrases = [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "`#<kinstype>` assignments",
+    "[EMCIO] TOOL_TABLE` entries are source coverage only",
+    "must not become generated switchkins aliases",
+    "./check-linuxcnc-switchkins-remap-source-map.sh",
+    "./check-linuxcnc-switchkins-remap-table.sh linuxcnc-kinematics-source-files.txt",
+    "does not interpret G-code",
+]
+for phrase in required_phrases:
+    if phrase not in source_map:
+        raise SystemExit(
+            f"docs/linuxcnc-switchkins-remap-source-map.md is missing boundary phrase: {phrase}"
+        )
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-switchkins-remap-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-switchkins-remap-source-map.sh")
+
+case_fields = {case["field"] for case in json_cases}
+source_only_field_re = re.compile(r"asset|metadata|tool|tooldata|tool_table|TOOL_TABLE", re.I)
+bad_fields = [field for field in case_fields if source_only_field_re.search(field)]
+if bad_fields:
+    raise SystemExit(f"generated switchkins config cases expose source-only fields: {bad_fields}")
+api_surface_re = re.compile(r'\b(?:asset|metadata|toolData|tooldata|toolTable|tooltable|tool_table|TOOL_TABLE)\b')
+for api_path in ["web/src/wasm-core.js", "web/src/index.ts", "core/include/cnc_sim_api.h"]:
+    if api_surface_re.search(Path(api_path).read_text(encoding="utf-8")):
+        raise SystemExit(f"{api_path} exposes source-only switchkins inputs through API surface")
+PY

check-linuxcnc-switchkins-remap-table-cached.sh

@@ -0,0 +1,123 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: cached switchkins/remap validation hashes the LinuxCNC
+# kinematics manifest, referenced configs/remaps, generator script, and bridge
+# outputs before reusing table-check results.
+cache_dir=${CNC_SIM_PREFLIGHT_CACHE_DIR:-}
+check_args=("$@")
+if [[ "${1:-}" == "--cache-dir" ]]; then
+    if [[ "$#" -lt 2 ]]; then
+        echo "missing --cache-dir value" >&2
+        exit 1
+    fi
+    cache_dir=$2
+    shift 2
+    check_args=("$@")
+fi
+
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+manifest=${1:-linuxcnc-kinematics-source-files.txt}
+
+if [[ -z "$cache_dir" ]]; then
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-switchkins-remap-table.sh "${check_args[@]}"
+    exit 0
+fi
+if [[ "$cache_dir" =~ [[:space:]] ]]; then
+    echo "CNC_SIM_PREFLIGHT_CACHE_DIR must not contain whitespace: $cache_dir" >&2
+    exit 1
+fi
+
+mkdir -p "$cache_dir"
+cache_dir=$(cd "$cache_dir" && pwd)
+if [[ "$cache_dir" == "/" ]]; then
+    echo "CNC_SIM_PREFLIGHT_CACHE_DIR must not be the filesystem root" >&2
+    exit 1
+fi
+exec 8>"$cache_dir/check-linuxcnc-switchkins-remap-table.lock"
+flock 8
+
+if [[ ! -d "$linuxcnc_root" || ! -f "$manifest" ]]; then
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-switchkins-remap-table.sh "${check_args[@]}"
+    exit 0
+fi
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+manifest_path=$(cd "$(dirname "$manifest")" && pwd)/$(basename "$manifest")
+manifest_key=$(printf '%s' "$manifest_path" | sha256sum | awk '{ print $1 }')
+args_key=$(
+    {
+        printf 'ARGS='
+        printf ' %q' "${check_args[@]}"
+        printf '\n'
+    } | sha256sum | awk '{ print $1 }'
+)
+cache_file="$cache_dir/check-linuxcnc-switchkins-remap-table.${manifest_key}.${args_key}.signature"
+next_signature=$(mktemp "$cache_file.next.XXXXXX")
+
+write_manifest_source_stats() {
+    local source_path
+    while IFS=: read -r group path note extra; do
+        case "$group" in
+            ""|\#*)
+                continue
+                ;;
+        esac
+        [[ -z "${path:-}" ]] && continue
+        source_path="$linuxcnc_root/$path"
+        if [[ ! -f "$source_path" ]]; then
+            return 1
+        fi
+        stat -c 'SOURCE=%n:%s:%y' "$source_path"
+    done < "$manifest_path"
+}
+
+write_project_output_hashes() {
+    local project_output
+    for project_output in \
+        core/src/cnc_sim_api.cpp \
+        core/src/linuxcnc_switchkins_remap_table.inc \
+        core/tests/linuxcnc_switchkins_remap_config_cases.inc \
+        web/public/linuxcnc_switchkins_remap_config_cases.json \
+        web/src/index.ts \
+        web/src/wasm-core.js; do
+        [[ -f "$project_output" ]] || return 1
+        sha256sum "$project_output"
+    done
+}
+
+if ! {
+    printf 'CACHED_SCRIPT='
+    sha256sum check-linuxcnc-switchkins-remap-table-cached.sh
+    printf 'CHECK_SCRIPT='
+    sha256sum check-linuxcnc-switchkins-remap-table.sh
+    printf 'INPUT_CACHED_SCRIPT='
+    sha256sum check-linuxcnc-inputs-cached.sh
+    printf 'INPUT_CHECK_SCRIPT='
+    sha256sum check-linuxcnc-inputs.sh
+    printf 'GENERATOR_SCRIPT='
+    sha256sum generate-linuxcnc-switchkins-remap-table.sh
+    printf 'LINUXCNC_ROOT=%s\n' "$linuxcnc_root"
+    printf 'ARGS='
+    printf ' %q' "${check_args[@]}"
+    printf '\n'
+    printf 'MANIFEST_PATH=%s\n' "$manifest_path"
+    printf 'MANIFEST='
+    sha256sum "$manifest_path"
+    write_manifest_source_stats
+    printf 'PROJECT_OUTPUTS:\n'
+    write_project_output_hashes
+} > "$next_signature"; then
+    rm -f "$next_signature"
+    LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-switchkins-remap-table.sh "${check_args[@]}"
+    exit 0
+fi
+
+if [[ -f "$cache_file" ]] && cmp -s "$cache_file" "$next_signature"; then
+    rm -f "$next_signature"
+    exit 0
+fi
+
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-switchkins-remap-table.sh "${check_args[@]}"
+mv "$next_signature" "$cache_file"

check-linuxcnc-tooldata-source-map.sh

@@ -0,0 +1,333 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties LinuxCNC tooldata/Submakefile,
+# src/emc/tooldata sources, native/WASM manifests, and wasm-safe tooldata shims
+# to the tooldata source map. It validates source coverage only; it does not
+# add CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_nml.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_mmap.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_common.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_db.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'TOOL_MMAP_READ_SRCS = emc/tooldata/tool_mmap_read.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'TOOL_WATCH_SRCS = emc/tooldata/tool_watch.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'int main (int argc,char**argv)' \
+    "$linuxcnc_root/src/emc/tooldata/tool_mmap_read.cc" >/dev/null
+grep -F 'if (tool_mmap_user())' \
+    "$linuxcnc_root/src/emc/tooldata/tool_mmap_read.cc" >/dev/null
+grep -F 'idx_last = tooldata_last_index_get();' \
+    "$linuxcnc_root/src/emc/tooldata/tool_mmap_read.cc" >/dev/null
+grep -F 'if (tooldata_get(&tdata,idx) != IDX_OK)' \
+    "$linuxcnc_root/src/emc/tooldata/tool_mmap_read.cc" >/dev/null
+grep -F 'RCS_STAT_CHANNEL *stat = 0;' \
+    "$linuxcnc_root/src/emc/tooldata/tool_watch.cc" >/dev/null
+grep -F 'stat = new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "xemc", nmlfile);' \
+    "$linuxcnc_root/src/emc/tooldata/tool_watch.cc" >/dev/null
+grep -F 'EMC_STAT *emcStatus = static_cast<EMC_STAT*>(stat->get_address());' \
+    "$linuxcnc_root/src/emc/tooldata/tool_watch.cc" >/dev/null
+grep -F 'emcStatus->io.tool.pocketPrepped' \
+    "$linuxcnc_root/src/emc/tooldata/tool_watch.cc" >/dev/null
+grep -F '#define TOOL_MMAP_FILENAME ".tool.mmap"' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'bool tool_mmap_is_random_toolchanger(void)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'ans = hptr->is_random_toolchanger;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tool_mmap_creator(EMC_TOOL_STAT const * ptr,int random_toolchanger)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'static int inited=0;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'if (inited) {' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'inited = 1;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'hptr->is_random_toolchanger = random_toolchanger;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'hptr->last_index = 0;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tool_mmap_user()' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'fprintf(stderr,"tool_mmap_user(): tool mmap not available\n");' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'return(-1);' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'void tool_mmap_close()' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'if (!tool_mmap_base) { return; }' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tooldata_last_index_get(void)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'tool_mmap_mutex_give(); return -1;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tooldata_find_index_for_tool(int toolno)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'if (toolno == -1) {tool_mmap_mutex_give(); return -1;}' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'if (!hptr->is_random_toolchanger && toolno == 0)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tool_nml_register(CANON_TOOL_TABLE *tblptr)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_nml.cc" >/dev/null
+grep -F 'int tooldata_db_init(char progname_plus_args[]' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F '#define MAX_DB_PROGRAM_ARGS 10' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'char* token = strtok_r(progname_plus_args, " ", &saveptr);' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (child_argc >= MAX_DB_PROGRAM_ARGS)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (access(child_argv[0],X_OK))' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'int tooldata_db_getall() {' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (!db_live) {return -1;}' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'int tooldata_db_notify(tool_notify_t ntype,' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (!db_live) return 0;' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'int tooldata_read_entry(const char *input_line)' \
+    "$linuxcnc_root/src/emc/tooldata/tooldata_common.cc" >/dev/null
+
+grep -F 'LinuxCNC tooldata source map' docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F 'must not add CNC behavior' docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F 'must not expand the temporary smoke parser' docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F '`src/emc/tooldata/Submakefile` selects `tooldata_mmap.cc`' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F 'Tool table files referenced by switchkins INI files are source coverage only' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F '`src/emc/tooldata/tool_mmap_read.cc` is the mmap tool table reader utility' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F '`tool_mmap_user()`, `tooldata_last_index_get()`, and `tooldata_get()`' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F "single-creator process boundary from" docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F "including after" docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F '`src/emc/tooldata/tool_watch.cc` is the NML/mmap tool table watcher utility' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+grep -F '`EMC_STAT::io.tool` fields through `RCS_STAT_CHANNEL`' \
+    docs/linuxcnc-tooldata-source-map.md >/dev/null
+
+grep -F 'tooldata:src/emc/tooldata/tooldata_common.cc:shared tool table parser/format logic' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'tooldata:src/emc/tooldata/tooldata_mmap.cc:native mmap implementation; replace for wasm' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'tooldata:src/emc/tooldata/tooldata_db.cc:external database integration; exclude from wasm core' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'tooldata:src/emc/tooldata/tooldata_nml.cc:NML tool table backend selected by LinuxCNC TOOL_NML_FLAG' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'header:src/emc/tooldata/tooldata.hh:LinuxCNC tooldata declarations used by RS274 and wasm-safe tooldata shims' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'metadata:src/emc/tooldata/Submakefile:LinuxCNC tooldata build metadata defining mmap and NML backend source selection' \
+    linuxcnc-rs274-source-files.txt >/dev/null
+grep -F 'core:src/emc/tooldata/tooldata_common.cc:shared tool table parser/format logic linked with wasm-safe mmap backend' \
+    linuxcnc-rs274-wasm-source-files.txt >/dev/null
+grep -F 'blocked:src/emc/tooldata/tooldata_mmap.cc:native mmap implementation' \
+    linuxcnc-rs274-wasm-source-files.txt >/dev/null
+grep -F 'metadata:src/emc/tooldata/tooldata_db.cc:source basis for wasm-safe tooldata runtime export shim' \
+    linuxcnc-rs274-wasm-source-files.txt >/dev/null
+grep -F 'metadata:src/emc/tooldata/tooldata_nml.cc:source basis for wasm-safe tooldata runtime NML export shim' \
+    linuxcnc-rs274-wasm-source-files.txt >/dev/null
+
+grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_mmap.cc provides these' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'bool mmap_created = false;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'bool mmap_random_toolchanger = false;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'bool mmap_creator_called = false;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'int tool_mmap_creator(EMC_TOOL_STAT const *ptr, int random_toolchanger)' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'Error: tool_mmap_creator already called BYE' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'mmap_created = true;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'mmap_random_toolchanger = random_toolchanger;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'last_index = 0;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'int tool_mmap_user(void)' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'tool_mmap_user(): tool mmap not available' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'void tool_mmap_close(void)' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'mmap_created = false;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'bool tool_mmap_is_random_toolchanger(void)' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'return mmap_random_toolchanger;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'int tooldata_last_index_get(void)' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'return -1;' \
+    core/wasm_shims/tooldata/tooldata_mmap_backend.cc >/dev/null
+grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_nml.cc and tooldata_db.cc' \
+    core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'constexpr int MAX_DB_PROGRAM_ARGS = 10;' \
+    core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'strtok_r(progname_plus_args, " ", &saveptr)' \
+    core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'argc exceeds MAX_DB_PROGRAM_ARGS=%d' \
+    core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'access(program, X_OK) != 0' \
+    core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'returns 0 when' core/wasm_shims/tooldata/tooldata_runtime_stubs.cc >/dev/null
+grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_common.cc provides' \
+    core/wasm_shims/tooldata/tooldata_common_probe_main.cc >/dev/null
+grep -F 'LinuxCNC source basis: src/emc/tooldata/tooldata_mmap.cc, tooldata_nml.cc,' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'tooldata_db_notify() returns 0 without side effects while db_live is' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'tooldata_db_init(missing_db_program_with_arg.data(), 1) != -1' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'missing_db_program_with_arg[separator] != 0' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'tooldata_db_init(too_many_db_args, 1) != -1' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'tooldata_db_init(non_db_program, 1) != -1' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'tool_mmap_creator(nullptr, 1);' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'WEXITSTATUS(recreate_status) == 0' \
+    core/wasm_shims/tooldata/tooldata_probe_main.cc >/dev/null
+grep -F 'core/wasm_shims/tooldata/tooldata_mmap_backend.cc' docs/linuxcnc-wasm-shims-source-map.md >/dev/null
+grep -F 'core/wasm_shims/tooldata/tooldata_runtime_stubs.cc' docs/linuxcnc-wasm-shims-source-map.md >/dev/null
+
+grep -F 'LinuxCNC source basis: this link probe runs the wasm-safe tooldata shim' \
+    test-linuxcnc-wasm-tooldata-link.sh >/dev/null
+grep -F 'LinuxCNC source basis: this link probe runs tooldata_common through the' \
+    test-linuxcnc-wasm-tooldata-common-link.sh >/dev/null
+grep -F 'LinuxCNC source basis: this symbol probe compares the wasm mmap backend shim' \
+    test-linuxcnc-wasm-tooldata-mmap-symbols.sh >/dev/null
+grep -F 'LinuxCNC source basis: this probe compares wasm-safe tooldata runtime stubs' \
+    test-linuxcnc-wasm-tooldata-runtime-symbols.sh >/dev/null
+grep -F '!!!!db_init: argc exceeds MAX_DB_PROGRAM_ARGS=10' \
+    test-linuxcnc-wasm-tooldata-link.sh >/dev/null
+grep -F 'not executable' test-linuxcnc-wasm-tooldata-link.sh >/dev/null
+grep -F 'Error: tool_mmap_creator already called BYE' \
+    test-linuxcnc-wasm-tooldata-link.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm tooldata shim link probe" ./test-linuxcnc-wasm-tooldata-link.sh' \
+    build-wasm.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm tooldata_common link probe" ./test-linuxcnc-wasm-tooldata-common-link.sh' \
+    build-wasm.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm tooldata_mmap symbol probe" ./test-linuxcnc-wasm-tooldata-mmap-symbols.sh' \
+    build-wasm.sh >/dev/null
+grep -F 'run_parallel_wasm_probe "LinuxCNC wasm tooldata runtime symbol probe" ./test-linuxcnc-wasm-tooldata-runtime-symbols.sh' \
+    build-wasm.sh >/dev/null
+
+python3 - <<'PY'
+from pathlib import Path
+import subprocess
+
+doc = Path("docs/linuxcnc-tooldata-source-map.md").read_text(encoding="utf-8")
+build_wasm_lines = Path("build-wasm.sh").read_text(encoding="utf-8").splitlines()
+native_tooldata = subprocess.check_output(
+    ["./list-linuxcnc-source-manifest-sources.sh", "linuxcnc-rs274-source-files.txt", "tooldata"],
+    text=True,
+).splitlines()
+expected_native = [
+    "src/emc/tooldata/tooldata_common.cc",
+    "src/emc/tooldata/tooldata_mmap.cc",
+    "src/emc/tooldata/tooldata_db.cc",
+    "src/emc/tooldata/tooldata_nml.cc",
+    "src/emc/tooldata/tool_mmap_read.cc",
+    "src/emc/tooldata/tool_watch.cc",
+]
+for source in expected_native:
+    if source not in native_tooldata:
+        raise SystemExit(f"native RS274 manifest missing LinuxCNC tooldata source: {source}")
+
+kin_tooldata = subprocess.check_output(
+    ["./list-linuxcnc-kinematics-manifest-sources.sh", "linuxcnc-kinematics-source-files.txt", "tooldata"],
+    text=True,
+).splitlines()
+if len([source for source in kin_tooldata if source.endswith(".tbl")]) != 10:
+    raise SystemExit("kinematics manifest must track exactly 10 LinuxCNC TOOL_TABLE sources")
+
+positions = {}
+for index, line in enumerate(build_wasm_lines, start=1):
+    if 'run_parallel_wasm_probe "LinuxCNC wasm tooldata shim link probe"' in line:
+        positions["tooldata_link"] = index
+    if 'run_parallel_wasm_probe "LinuxCNC wasm tooldata_common link probe"' in line:
+        positions["tooldata_common"] = index
+    if 'run_parallel_wasm_probe "LinuxCNC wasm tooldata_mmap symbol probe"' in line:
+        positions["tooldata_mmap"] = index
+    if 'run_parallel_wasm_probe "LinuxCNC wasm tooldata runtime symbol probe"' in line:
+        positions["tooldata_runtime"] = index
+    if "cp build/wasm/cnc_sim.js web/public/cnc_sim.js" in line:
+        positions["copy_js"] = index
+    if "cp build/wasm/cnc_sim.wasm web/public/cnc_sim.wasm" in line:
+        positions["copy_wasm"] = index
+
+missing = [
+    name for name in (
+        "tooldata_link",
+        "tooldata_common",
+        "tooldata_mmap",
+        "tooldata_runtime",
+        "copy_js",
+        "copy_wasm",
+    )
+    if name not in positions
+]
+if missing:
+    raise SystemExit(f"build-wasm.sh missing tooldata/copy ordering anchor: {', '.join(missing)}")
+for probe in ("tooldata_link", "tooldata_common", "tooldata_mmap", "tooldata_runtime"):
+    if not (positions[probe] < positions["copy_js"] and positions[probe] < positions["copy_wasm"]):
+        raise SystemExit("build-wasm.sh must run all tooldata link/symbol probes before copying browser artifacts")
+
+for path in [
+    "core/wasm_shims/tooldata/tooldata_mmap_backend.cc",
+    "core/wasm_shims/tooldata/tooldata_runtime_stubs.cc",
+    "test-linuxcnc-wasm-tooldata-link.sh",
+    "test-linuxcnc-wasm-tooldata-common-link.sh",
+    "test-linuxcnc-wasm-tooldata-mmap-symbols.sh",
+    "test-linuxcnc-wasm-tooldata-runtime-symbols.sh",
+]:
+    if path not in doc:
+        raise SystemExit(f"docs/linuxcnc-tooldata-source-map.md missing coverage path: {path}")
+
+for phrase in [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "source coverage only",
+    "must not become browser API fields",
+    "WASM-safe tooldata shims must preserve the LinuxCNC export surface",
+    "must keep external DB services unavailable",
+    "must not fork, exec, poll",
+    "MAX_DB_PROGRAM_ARGS=10",
+    "`strtok_r()` argument splitting",
+    "access(..., X_OK)",
+    "mmap tool table reader utility",
+    "NML/mmap tool table watcher utility",
+    "mmap creator/user/close lifecycle",
+    "random-toolchanger flag",
+    "last-index unavailable return",
+    "in-memory replacement for native mmap",
+    "inactive-DB return values",
+    "./check-linuxcnc-tooldata-source-map.sh",
+    "does not interpret G-code",
+]:
+    if phrase not in doc:
+        raise SystemExit(f"docs/linuxcnc-tooldata-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-tooldata-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-tooldata-source-map.sh")
+PY

check-linuxcnc-wasm-blockers-source-map.sh

@@ -0,0 +1,194 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties the documented WASM blocker map to
+# LinuxCNC RS274/Python/remap/tooldata sources, the rs274 WASM manifest, and
+# wasm-safe shim replacement sources. It validates source coverage only; it
+# does not add CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+manifest=${1:-linuxcnc-rs274-wasm-source-files.txt}
+
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh "$manifest"
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'LinuxCNC source basis: this blocker scan is constrained to the RS274/WASM' \
+    analyze-linuxcnc-wasm-blockers.sh >/dev/null
+grep -F 'blocked replacement is not in wasm shim build set' \
+    analyze-linuxcnc-wasm-blockers.sh >/dev/null
+grep -F 'shim_source_output=$(./list-linuxcnc-wasm-safe-shims.sh)' \
+    analyze-linuxcnc-wasm-blockers.sh >/dev/null
+grep -F 'LinuxCNC source basis: this guardrail locks the blocker categories reported' \
+    test-linuxcnc-wasm-blockers.sh >/dev/null
+grep -F 'Cache wasm blocker analyzer output' docs/linuxcnc-source-policy.md >/dev/null
+
+grep -F '#include <Python.h>' "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyInit_gcode' "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F '#include <boost/python/module.hpp>' "$linuxcnc_root/src/emc/rs274ngc/interpmodule.cc" >/dev/null
+grep -F '#include "pythonplugin/python_plugin.hh"' "$linuxcnc_root/src/emc/rs274ngc/interp_python.cc" >/dev/null
+grep -F 'dlopen' "$linuxcnc_root/src/emc/rs274ngc/interp_base.cc" >/dev/null
+grep -F 'opendir(direct)' "$linuxcnc_root/src/emc/rs274ngc/interp_o_word.cc" >/dev/null
+grep -F 'readdir(aDir)' "$linuxcnc_root/src/emc/rs274ngc/interp_o_word.cc" >/dev/null
+grep -F 'std::string tempfile = std::string(filename) + ".new";' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '+ RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX;' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'unlink(bakfile.c_str());' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(link(filename, bakfile.c_str()) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(rename(tempfile.c_str(), filename) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '#define TOOL_MMAP_FILENAME ".tool.mmap"' "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tool_mmap_creator(' "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+
+python3 - "$linuxcnc_root" "$manifest" <<'PY'
+from pathlib import Path
+import re
+import subprocess
+import sys
+
+linuxcnc_root = Path(sys.argv[1])
+manifest = Path(sys.argv[2])
+source_map = Path("docs/linuxcnc-wasm-blockers-source-map.md").read_text(encoding="utf-8")
+manifest_lines = [
+    line for line in manifest.read_text(encoding="utf-8").splitlines()
+    if line and not line.startswith("#")
+]
+manifest_counts = {"core": 0, "blocked": 0, "header": 0, "blocked-header": 0, "metadata": 0}
+for line in manifest_lines:
+    group = line.split(":", 1)[0]
+    if group not in manifest_counts:
+        raise SystemExit(f"unexpected WASM manifest group in blocker source map guard: {group}")
+    manifest_counts[group] += 1
+for group, count in manifest_counts.items():
+    if f"| `{group}` | {count} |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md count mismatch for {group}")
+
+output = subprocess.check_output(
+    ["./analyze-linuxcnc-wasm-blockers.sh", str(manifest)],
+    text=True,
+    env={"LINUXCNC_ROOT": str(linuxcnc_root)},
+)
+sections = {}
+current = None
+for line in output.splitlines():
+    if line.startswith("[") and line.endswith("]"):
+        current = line[1:-1]
+        sections[current] = []
+    elif current and line:
+        sections[current].append(line)
+
+expected_counts = {
+    "manifest-core": "core=26",
+    "manifest-blocked": "blocked=9",
+    "python": 8,
+    "python-compile-covered": 8,
+    "tooldata": 1,
+    "native-backend": 1,
+    "native-fs": 1,
+    "blocked-replacements": 9,
+    "core-python-shimmed": 6,
+    "core-dlopen-shimmed": 1,
+    "core-tooldata-shimmed": 1,
+    "core-tooldata-users-shimmed": 2,
+    "core-native-fs-shimmed": 16,
+}
+manifest_section = sections.get("manifest", [])
+if expected_counts["manifest-core"] not in manifest_section:
+    raise SystemExit("WASM blocker analyzer core count changed")
+if expected_counts["manifest-blocked"] not in manifest_section:
+    raise SystemExit("WASM blocker analyzer blocked count changed")
+for section, count in expected_counts.items():
+    if section.startswith("manifest-"):
+        continue
+    entries = [entry for entry in sections.get(section, []) if entry != "(none)"]
+    if len(entries) != count:
+        raise SystemExit(f"WASM blocker analyzer section {section} count changed: {len(entries)}")
+    if f"| `{section}` | {count} |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md analyzer count mismatch for {section}")
+if sections.get("dlopen") != ["(none)"]:
+    raise SystemExit("blocked dlopen section is no longer empty")
+if sections.get("tooldata-users") != ["(none)"]:
+    raise SystemExit("blocked tooldata-users section is no longer empty")
+if sections.get("python") != sections.get("python-compile-covered"):
+    raise SystemExit("blocked Python sources are no longer fully compile-covered by the inert Python C API probe")
+
+shim_paths = set(Path(line).as_posix() for line in subprocess.check_output(
+    ["./list-linuxcnc-wasm-safe-shims.sh"],
+    text=True,
+).splitlines() if line)
+required_tracked_entries = [
+    "src/emc/rs274ngc/interp_base.cc -> core/wasm_shims/dlfcn.cc",
+    "src/emc/rs274ngc/gcodemodule.cc",
+    "src/emc/rs274ngc/interpmodule.cc",
+    "src/emc/tooldata/tooldata_mmap.cc",
+    "src/emc/rs274ngc/interp_base.cc",
+    "src/emc/rs274ngc/interp_o_word.cc",
+    "src/emc/rs274ngc/rs274ngc_pre.cc",
+]
+required_replacements = [
+    "src/emc/rs274ngc/canonmodule.cc -> core/wasm_shims/linuxcnc_runtime_shim.cc",
+    "src/emc/rs274ngc/gcodemodule.cc -> core/wasm_shims/linuxcnc_runtime_shim.cc",
+    "src/emc/rs274ngc/interpmodule.cc -> core/wasm_shims/linuxcnc_runtime_shim.cc",
+    "src/emc/rs274ngc/pyarrays.cc -> core/wasm_shims/python_c_api_shim.cc",
+    "src/emc/rs274ngc/pyblock.cc -> core/wasm_shims/python_c_api_shim.cc",
+    "src/emc/rs274ngc/pyemctypes.cc -> core/wasm_shims/python_c_api_shim.cc",
+    "src/emc/rs274ngc/pyinterp1.cc -> core/wasm_shims/python_c_api_shim.cc",
+    "src/emc/rs274ngc/pyparamclass.cc -> core/wasm_shims/python_c_api_shim.cc",
+    "src/emc/tooldata/tooldata_mmap.cc -> core/wasm_shims/tooldata/tooldata_mmap_backend.cc",
+]
+for entry in required_tracked_entries:
+    if " -> " in entry:
+        source, shim = entry.split(" -> ", 1)
+        if source not in sections.get("core-dlopen-shimmed", []):
+            raise SystemExit(f"WASM blocker analyzer output missing core dlopen shimmed source: {source}")
+        if shim not in shim_paths:
+            raise SystemExit(f"WASM blocker analyzer core dlopen shim is absent from wasm-safe shim set: {shim}")
+    elif entry not in output:
+        raise SystemExit(f"WASM blocker analyzer output missing required entry: {entry}")
+    if entry not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md missing required entry: {entry}")
+replacement_entries = [entry for entry in sections.get("blocked-replacements", []) if entry != "(none)"]
+if replacement_entries != required_replacements:
+    raise SystemExit(f"WASM blocker replacement set changed: {replacement_entries}")
+if "Required replacement set:" not in source_map:
+    raise SystemExit("docs/linuxcnc-wasm-blockers-source-map.md must document the complete replacement set")
+for entry in required_replacements:
+    if entry not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md missing required replacement: {entry}")
+
+for replacement in re.findall(r"-> (core/wasm_shims/[^\s]+)", output):
+    if replacement not in shim_paths:
+        raise SystemExit(f"blocked replacement is absent from wasm-safe shim set: {replacement}")
+for phrase in [
+    "does not add CNC behavior",
+    "must not become smoke parser behavior",
+    "blocked `dlopen` and blocked tooldata-users remain empty",
+    'parameter-file replacement through `filename + ".new"`',
+    "O-word lookup and parameter-file replacement",
+    "Python/Boost.Python remap paths remain tracked blockers",
+    "Python/Boost.Python blockers are compile-covered by the inert Python C API probe",
+    "./check-linuxcnc-wasm-blockers-source-map.sh",
+    "does not interpret G-code",
+]:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-wasm-blockers-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-wasm-blockers-source-map.sh")
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "CNC_SIM_WASM_BLOCKERS_SELF_CHECKS=1" not in text:
+        raise SystemExit(f"{entry} must run wasm blocker analyzer self-checks")
+PY

check-linuxcnc-wasm-shims-source-map.sh

@@ -0,0 +1,499 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties the documented wasm-safe shim map to
+# the linuxcnc_wasm_safe_probe_shims CMake set, the RS274/WASM source manifest,
+# and the LinuxCNC sources each shim cites. It validates source coverage only;
+# it does not add CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+manifest=${1:-linuxcnc-rs274-wasm-source-files.txt}
+
+LINUXCNC_ROOT="$linuxcnc_root" ./check-linuxcnc-inputs-cached.sh "$manifest"
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'LinuxCNC source basis: wasm-safe shim probe sources are limited to the' \
+    list-linuxcnc-wasm-safe-shims.sh >/dev/null
+grep -F 'set(linuxcnc_wasm_safe_probe_shims' core/CMakeLists.txt >/dev/null
+grep -F 'LinuxCNC source basis: this guard ties the documented WASM blocker map' \
+    check-linuxcnc-wasm-blockers-source-map.sh >/dev/null
+
+grep -F 'dlopen(NULL, RTLD_GLOBAL);' "$linuxcnc_root/src/emc/rs274ngc/interp_base.cc" >/dev/null
+grep -F 'interp_lib = dlopen(interp_path, RTLD_NOW);' "$linuxcnc_root/src/emc/rs274ngc/interp_base.cc" >/dev/null
+grep -F 'Constructor constructor = (Constructor)dlsym(interp_lib, "makeInterp");' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_base.cc" >/dev/null
+grep -F 'dlerror()' "$linuxcnc_root/src/emc/rs274ngc/interp_base.cc" >/dev/null
+grep -F '#include "libintl.h"' "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F '#define _(s) gettext(s)' "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F 'CHKS((!_readers[(int)' "$linuxcnc_root/src/emc/rs274ngc/interp_internal.cc" >/dev/null
+grep -F 'Cannot use polar coordinate on a machine lacking X or Y axes' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.cc" >/dev/null
+grep -F 'int _task = 0;' "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'int _task = 1;' "$linuxcnc_root/src/emc/task/emctaskmain.cc" >/dev/null
+grep -F '{ "interpreter", PyInit_interpreter },' "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F '{ "emccanon", PyInit_emccanon },' "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'struct _inittab builtin_modules[]' "$linuxcnc_root/src/emc/task/taskclass.cc" >/dev/null
+grep -F 'int Interp::fetch_hal_param(' "$linuxcnc_root/src/emc/rs274ngc/interp_namedparams.cc" >/dev/null
+grep -F 'hal_get_pin_value_by_name(hal_name, &type, &ptr, &conn)' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_namedparams.cc" >/dev/null
+grep -F 'hal_get_signal_value_by_name(hal_name, &type, &ptr, &conn)' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_namedparams.cc" >/dev/null
+grep -F 'hal_get_param_value_by_name(hal_name, &type, &ptr)' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_namedparams.cc" >/dev/null
+grep -F 'HAL_TYPE_UNINITIALIZED = 0,' "$linuxcnc_root/include/hal.h" >/dev/null
+grep -F 'extern int hal_get_pin_value_by_name(' "$linuxcnc_root/include/hal.h" >/dev/null
+grep -F 'extern int hal_get_signal_value_by_name(' "$linuxcnc_root/include/hal.h" >/dev/null
+grep -F 'extern int hal_get_param_value_by_name(' "$linuxcnc_root/include/hal.h" >/dev/null
+grep -F 'int hal_get_pin_value_by_name(' "$linuxcnc_root/src/hal/hal_lib.c" >/dev/null
+grep -F 'int hal_get_signal_value_by_name(' "$linuxcnc_root/src/hal/hal_lib.c" >/dev/null
+grep -F 'int hal_get_param_value_by_name(' "$linuxcnc_root/src/hal/hal_lib.c" >/dev/null
+grep -F 'wordexp(basename, &exp_result, 0);' "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'wordexp(settings->program_prefix, &exp_result, 0);' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'wordexp(settings->subroutines[dct], &exp_result, 0);' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'wordfree(&exp_result);' "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F '#include "nml_intf/emc_nml.hh"' "$linuxcnc_root/src/emc/sai/dummyemcstat.cc" >/dev/null
+grep -F 'EMC_STAT *emcStatus = new EMC_STAT;' "$linuxcnc_root/src/emc/sai/dummyemcstat.cc" >/dev/null
+grep -F 'int NMLmsg::automatically_clear = 1;' \
+    "$linuxcnc_root/src/libnml/nml/nmlmsg.cc" >/dev/null
+grep -F 'NMLmsg::NMLmsg' "$linuxcnc_root/src/libnml/nml/nmlmsg.cc" >/dev/null
+grep -F 'void NMLmsg::clear()' "$linuxcnc_root/src/libnml/nml/nmlmsg.cc" >/dev/null
+grep -F 'memset((void *) this, 0, size);' \
+    "$linuxcnc_root/src/libnml/nml/nmlmsg.cc" >/dev/null
+grep -F 'RCS_STAT_MSG::RCS_STAT_MSG' "$linuxcnc_root/src/libnml/nml/stat_msg.cc" >/dev/null
+grep -F 'command_type = -1;' "$linuxcnc_root/src/libnml/nml/stat_msg.cc" >/dev/null
+grep -F 'echo_serial_number = -1;' "$linuxcnc_root/src/libnml/nml/stat_msg.cc" >/dev/null
+grep -F 'status = RCS_STATUS::UNINITIALIZED;' "$linuxcnc_root/src/libnml/nml/stat_msg.cc" >/dev/null
+grep -F '_state = -1;' "$linuxcnc_root/src/libnml/nml/stat_msg.cc" >/dev/null
+grep -F 'extern int set_print_rcs_error_info(const char *file, int line);' \
+    "$linuxcnc_root/src/libnml/rcs/rcs_print.hh" >/dev/null
+grep -F 'extern int print_rcs_error_new(const char *_fmt, ...)' \
+    "$linuxcnc_root/src/libnml/rcs/rcs_print.hh" >/dev/null
+grep -F '#define rcs_print_error set_print_rcs_error_info( __FILE__, __LINE__); print_rcs_error_new' \
+    "$linuxcnc_root/src/libnml/rcs/rcs_print.hh" >/dev/null
+grep -F 'int set_print_rcs_error_info(const char *file, int line)' \
+    "$linuxcnc_root/src/libnml/rcs/rcs_print.cc" >/dev/null
+grep -F 'print_rcs_error_new' "$linuxcnc_root/src/libnml/rcs/rcs_print.cc" >/dev/null
+grep -F 'retval = rcs_vprint(_fmt, args, 1);' \
+    "$linuxcnc_root/src/libnml/rcs/rcs_print.cc" >/dev/null
+grep -F 'extern int rtapi_snprintf(char *buf, unsigned long int size,' \
+    "$linuxcnc_root/src/rtapi/rtapi.h" >/dev/null
+grep -F 'extern int rtapi_vsnprintf(char *buf, unsigned long size,' \
+    "$linuxcnc_root/src/rtapi/rtapi.h" >/dev/null
+grep -F 'int rtapi_snprintf(char *buffer, unsigned long int size, const char *msg, ...) {' \
+    "$linuxcnc_root/src/rtapi/uspace_common.h" >/dev/null
+grep -F 'result = vsnprintf(buffer, size, msg, args);' \
+    "$linuxcnc_root/src/rtapi/uspace_common.h" >/dev/null
+grep -F 'int rtapi_vsnprintf(char *buffer, unsigned long int size, const char *fmt,' \
+    "$linuxcnc_root/src/rtapi/uspace_common.h" >/dev/null
+grep -F 'return vsnprintf(buffer, size, fmt, args);' \
+    "$linuxcnc_root/src/rtapi/uspace_common.h" >/dev/null
+grep -F 'class PythonPlugin' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_PYTHON_NOT_INITIALIZED = -12,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_BAD_PATH = -5,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_INITTAB_FAILED = -7 ,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_EXCEPTION_DURING_PATH_PREPEND = -9,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_EXCEPTION_DURING_PATH_APPEND = -10,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_NO_CALLABLE = 1,' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PLUGIN_EXCEPTION = 2' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.hh" >/dev/null
+grep -F 'PythonPlugin::instantiate' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'for (int i = 0; inittab[i].name != NULL; i++) {' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'if (module == NULL) {' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'status = PLUGIN_INITTAB_FAILED;' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'if (status < PLUGIN_OK)' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'if (auto inistring = inifile.findString("TOPLEVEL", section)) {' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'if (realpath(toplevel, real_path) == NULL) {' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'status = PLUGIN_BAD_PATH;' "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'while (auto inistring = inifile.findString(n, "PATH_PREPEND", "PYTHON")) {' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'while (auto inistring = inifile.findString(n, "PATH_APPEND", "PYTHON")) {' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'status = PLUGIN_EXCEPTION_DURING_PATH_PREPEND;' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'status = PLUGIN_EXCEPTION_DURING_PATH_APPEND;' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'int IniFile::tildeExpand(const std::string &path, std::string &result)' \
+    "$linuxcnc_root/src/emc/ini/inifile.cc" >/dev/null
+grep -F "if(!home)" "$linuxcnc_root/src/emc/ini/inifile.cc" >/dev/null
+grep -F 'IniFile::trim(sect);' "$linuxcnc_root/src/emc/ini/inifile.cc" >/dev/null
+grep -F 'Section header has trailing content, ignored' "$linuxcnc_root/src/emc/ini/inifile.cc" >/dev/null
+grep -F 'retval = bp::exec_file(cmd, main_namespace, main_namespace);' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'retval = bp::exec(cmd, main_namespace, main_namespace);' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'PyObject *rv = PyObject_Call(function.ptr(), tupleargs.ptr(), kwargs.ptr());' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F 'PyErr_Fetch(&exc,&val,&tb);' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_python.cc" >/dev/null
+grep -F 'PyErr_NormalizeException(&exc,&val,&tb);' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_python.cc" >/dev/null
+grep -F 'if (Py_IsInitialized()) {' \
+    "$linuxcnc_root/src/emc/pythonplugin/python_plugin.cc" >/dev/null
+grep -F '#define callmethod(o, m, f, ...) PyObject_CallMethod((o), (char*)(m), (char*)(f), ## __VA_ARGS__)' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyObject *result = PyObject_GetAttrString(callback, "parameter_file");' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyErr_Format(PyExc_TypeError,' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'return Py_BuildValue("[ddd][ddd][ddd][ddd]",' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyObject *m = PyModule_Create(&gcode_moduledef);' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyType_Ready(&LineCodeType);' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyModule_AddObject(m, "linecode", (PyObject*)&LineCodeType);' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F 'PyObject_SetAttrString(m, "MAX_ERROR", PyLong_FromLong(maxerror));' \
+    "$linuxcnc_root/src/emc/rs274ngc/gcodemodule.cc" >/dev/null
+grep -F '#define TOOL_MMAP_FILENAME ".tool.mmap"' "$linuxcnc_root/src/emc/tooldata/tooldata_mmap.cc" >/dev/null
+grep -F 'int tool_nml_register(CANON_TOOL_TABLE *tblptr)' "$linuxcnc_root/src/emc/tooldata/tooldata_nml.cc" >/dev/null
+grep -F 'int tooldata_db_init(char progname_plus_args[]' "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (!db_live) {return -1;}' "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+grep -F 'if (!db_live) return 0;' "$linuxcnc_root/src/emc/tooldata/tooldata_db.cc" >/dev/null
+
+python3 - "$manifest" <<'PY'
+from pathlib import Path
+import re
+import subprocess
+import sys
+
+manifest = Path(sys.argv[1])
+source_map = Path("docs/linuxcnc-wasm-shims-source-map.md").read_text(encoding="utf-8")
+manifest_text = manifest.read_text(encoding="utf-8")
+shim_paths = [
+    line for line in subprocess.check_output(["./list-linuxcnc-wasm-safe-shims.sh"], text=True).splitlines()
+    if line
+]
+if len(shim_paths) != 11:
+    raise SystemExit(f"expected 11 wasm-safe CMake shim sources, found {len(shim_paths)}")
+if f"| CMake `linuxcnc_wasm_safe_probe_shims` sources | {len(shim_paths)} |" not in source_map:
+    raise SystemExit("docs/linuxcnc-wasm-shims-source-map.md shim count mismatch")
+
+expected_shims = {
+    "core/wasm_shims/dlfcn.cc": ["src/emc/rs274ngc/interp_base.cc"],
+    "core/wasm_shims/emc_status_shim.cc": ["src/emc/sai/dummyemcstat.cc"],
+    "core/wasm_shims/gettext_shim.cc": ["src/emc/rs274ngc/interp_internal.hh"],
+    "core/wasm_shims/linuxcnc_runtime_shim.cc": [
+        "src/emc/rs274ngc/gcodemodule.cc",
+        "src/emc/task/emctaskmain.cc",
+        "src/emc/task/taskclass.cc",
+        "src/emc/rs274ngc/interp_namedparams.cc",
+        "include/hal.h",
+        "src/hal/hal_lib.c",
+        "src/emc/rs274ngc/rs274ngc_pre.cc",
+    ],
+    "core/wasm_shims/nml_status_shim.cc": [
+        "src/libnml/nml/nmlmsg.cc",
+        "src/libnml/nml/stat_msg.cc",
+    ],
+    "core/wasm_shims/python_c_api_shim.cc": [
+        "src/emc/rs274ngc/interp_python.cc",
+        "src/emc/rs274ngc/interp_namedparams.cc",
+        "src/emc/rs274ngc/gcodemodule.cc",
+        "src/emc/pythonplugin/python_plugin.cc",
+    ],
+    "core/wasm_shims/rcs_print_shim.cc": [
+        "src/libnml/rcs/rcs_print.cc",
+        "src/libnml/rcs/rcs_print.hh",
+    ],
+    "core/wasm_shims/rtapi_compat.cc": [
+        "src/rtapi/uspace_common.h",
+        "src/rtapi/rtapi.h",
+    ],
+    "core/wasm_shims/tooldata/tooldata_mmap_backend.cc": [
+        "src/emc/tooldata/tooldata_mmap.cc",
+    ],
+    "core/wasm_shims/tooldata/tooldata_runtime_stubs.cc": [
+        "src/emc/tooldata/tooldata_nml.cc",
+        "src/emc/tooldata/tooldata_db.cc",
+    ],
+    "core/wasm_shims/pythonplugin/python_plugin.cc": [
+        "src/emc/pythonplugin/python_plugin.cc",
+        "src/emc/pythonplugin/python_plugin.hh",
+        "src/emc/ini/inifile.cc",
+    ],
+}
+if shim_paths != list(expected_shims):
+    raise SystemExit("wasm-safe shim CMake order no longer matches docs/linuxcnc-wasm-shims-source-map.md")
+
+for shim_path, linuxcnc_sources in expected_shims.items():
+    shim_text = Path(shim_path).read_text(encoding="utf-8")
+    if "LinuxCNC source basis:" not in shim_text:
+        raise SystemExit(f"{shim_path} is missing a LinuxCNC source basis comment")
+    if f"| `{shim_path}` |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-shims-source-map.md missing shim row: {shim_path}")
+    for source in linuxcnc_sources:
+        if source not in source_map:
+            raise SystemExit(f"docs/linuxcnc-wasm-shims-source-map.md missing source {source} for {shim_path}")
+        if source not in manifest_text:
+            raise SystemExit(f"{source} is not tracked in {manifest}")
+
+runtime_shim = Path("core/wasm_shims/linuxcnc_runtime_shim.cc").read_text(encoding="utf-8")
+runtime_probe = Path("core/wasm_shims/cnc_sim_wasm_runtime_probe_main.cc").read_text(encoding="utf-8")
+dlfcn_shim = Path("core/wasm_shims/dlfcn.cc").read_text(encoding="utf-8")
+dlfcn_header = Path("core/wasm_shims/dlfcn.h").read_text(encoding="utf-8")
+emc_status_shim = Path("core/wasm_shims/emc_status_shim.cc").read_text(encoding="utf-8")
+gettext_shim = Path("core/wasm_shims/gettext_shim.cc").read_text(encoding="utf-8")
+for needle in [
+    "#define RTLD_GLOBAL 0x00100",
+    "#define RTLD_NOW 0x00002",
+    "void *dlopen(const char *filename, int flags);",
+    "void *dlsym(void *handle, const char *symbol);",
+    "char *dlerror(void);",
+    "int dlclose(void *handle);",
+]:
+    if needle not in dlfcn_header:
+        raise SystemExit(f"dlfcn shim header missing LinuxCNC loader boundary: {needle}")
+for needle in [
+    "dynamic loading is unavailable in wasm-safe probe",
+    "void *dlopen(const char *, int)",
+    "return nullptr;",
+    "void *dlsym(void *, const char *)",
+    "char *dlerror(void)",
+    "return last_error;",
+    "int dlclose(void *)",
+    "return 0;",
+]:
+    if needle not in dlfcn_shim:
+        raise SystemExit(f"dlfcn shim missing unavailable-loader boundary: {needle}")
+for needle in [
+    '#include "nml_intf/emc_nml.hh"',
+    "EMC_STAT *emcStatus = new EMC_STAT;",
+]:
+    if needle not in emc_status_shim:
+        raise SystemExit(f"EMC status shim missing detached LinuxCNC status singleton: {needle}")
+for needle in [
+    "extern \"C\" char *gettext(const char *msgid)",
+    "return const_cast<char *>(msgid ? msgid : \"\");",
+]:
+    if needle not in gettext_shim:
+        raise SystemExit(f"gettext shim missing diagnostic passthrough boundary: {needle}")
+nml_status_shim = Path("core/wasm_shims/nml_status_shim.cc").read_text(encoding="utf-8")
+for needle in [
+    "int NMLmsg::automatically_clear = 1;",
+    "void NMLmsg::clear()",
+    "std::memset(static_cast<void *>(this), 0, static_cast<size_t>(size));",
+    "command_type = -1;",
+    "echo_serial_number = -1;",
+    "status = RCS_STATUS::UNINITIALIZED;",
+    "_state = -1;",
+]:
+    if needle not in nml_status_shim:
+        raise SystemExit(f"NML status shim missing LinuxCNC constructor boundary: {needle}")
+for needle in [
+    "int _task = 0;",
+    'extern "C" PyObject *PyInit_interpreter(void)',
+    'extern "C" PyObject *PyInit_emccanon(void)',
+    'extern "C" PyObject *PyInit_gcode(void)',
+    "return nullptr;",
+    'struct _inittab builtin_modules[] = {',
+    '{"interpreter", PyInit_interpreter}',
+    '{"emccanon", PyInit_emccanon}',
+]:
+    if needle not in runtime_shim:
+        raise SystemExit(f"linuxcnc runtime shim missing preview/builtin module boundary: {needle}")
+for needle in [
+    "std::string expand_home_directory(const char *words)",
+    "std::string expand_environment_variables(const std::string &words)",
+    "extern \"C\" int wordexp(const char *words, wordexp_t *pwordexp, int)",
+    "return WRDE_BADVAL;",
+    "return WRDE_NOSPACE;",
+    "pwordexp->we_wordc = 1;",
+    "pwordexp->we_offs = 0;",
+    "extern \"C\" void wordfree(wordexp_t *pwordexp)",
+    "pwordexp->we_wordc = 0;",
+    "pwordexp->we_wordv = nullptr;",
+]:
+    if needle not in runtime_shim:
+        raise SystemExit(f"linuxcnc runtime shim missing limited wordexp boundary: {needle}")
+for needle in [
+    'extern "C" int hal_get_pin_value_by_name',
+    'extern "C" int hal_get_signal_value_by_name',
+    'extern "C" int hal_get_param_value_by_name',
+    "*type = HAL_TYPE_UNINITIALIZED;",
+    "*data = nullptr;",
+    "return -1;",
+]:
+    if needle not in runtime_shim:
+        raise SystemExit(f"linuxcnc runtime shim missing HAL unavailable boundary: {needle}")
+for needle in [
+    "bool hal_lookup_is_unavailable()",
+    'hal_get_pin_value_by_name("cnc-sim.missing-pin", &type, &data, &connected) != -1',
+    'hal_get_signal_value_by_name("cnc-sim.missing-signal", &type, &data, &has_writers) != -1',
+    'hal_get_param_value_by_name("cnc-sim.missing-param", &type, &data) != -1',
+    "type != HAL_TYPE_UNINITIALIZED",
+    "data != nullptr",
+]:
+    if needle not in runtime_probe:
+        raise SystemExit(f"runtime probe missing HAL unavailable assertion: {needle}")
+
+python_plugin_shim = Path("core/wasm_shims/pythonplugin/python_plugin.cc").read_text(encoding="utf-8")
+python_plugin_probe = Path("core/wasm_shims/pythonplugin/python_plugin_probe_main.cc").read_text(encoding="utf-8")
+python_plugin_inittab_probe = Path("core/wasm_shims/pythonplugin/python_plugin_inittab_probe_main.cc").read_text(encoding="utf-8")
+python_c_api_shim = Path("core/wasm_shims/python_c_api_shim.cc").read_text(encoding="utf-8")
+for forbidden in [
+    "bp::exec(",
+    "bp::exec_file(",
+    "PyObject_Call(",
+]:
+    if forbidden in python_plugin_shim:
+        raise SystemExit(f"PythonPlugin wasm shim must not execute Python: {forbidden}")
+for needle in [
+    "python disabled in wasm-safe probe",
+    'find_ini_value(iniFilename, section, "TOPLEVEL", toplevel)',
+    "realpath(toplevel.c_str(), resolved_path) == nullptr",
+    "status = PLUGIN_BAD_PATH;",
+    "status = PLUGIN_INITTAB_FAILED;",
+    "failed to initialize built-in module",
+    "read_ini_section(text, section_name)",
+    "section_name = trim_ini_value(text.substr(1, close - 1));",
+    'check_python_path_entries(iniFilename,',
+    "PLUGIN_EXCEPTION_DURING_PATH_PREPEND",
+    "PLUGIN_EXCEPTION_DURING_PATH_APPEND",
+    "tilde_expand_path(entry, expanded)",
+    "status = PLUGIN_PYTHON_NOT_INITIALIZED;",
+    "return PLUGIN_NO_CALLABLE;",
+    "status = PLUGIN_EXCEPTION;",
+    "if (status < PLUGIN_OK)",
+]:
+    if needle not in python_plugin_shim:
+        raise SystemExit(f"PythonPlugin wasm shim missing disabled-python boundary: {needle}")
+for needle in [
+    "PythonPlugin::PythonPlugin(struct _inittab*) reports PLUGIN_INITTAB_FAILED",
+    "PythonPlugin *plugin = PythonPlugin::instantiate(bad_modules);",
+    "plugin != nullptr",
+    "python_plugin->plugin_status() != PLUGIN_INITTAB_FAILED",
+    "python_plugin->usable()",
+    'python_plugin->last_errmsg() != "failed to initialize built-in module"',
+]:
+    if needle not in python_plugin_inittab_probe:
+        raise SystemExit(f"PythonPlugin inittab probe missing first-caller status assertion: {needle}")
+for needle in [
+    "[ PYTHON ] ; section comment",
+    "PLUGIN_NO_SECTION",
+    "PLUGIN_BAD_INIFILE",
+    "PLUGIN_BAD_PATH",
+    "PLUGIN_EXCEPTION_DURING_PATH_PREPEND",
+    "PLUGIN_EXCEPTION_DURING_PATH_APPEND",
+    "PLUGIN_PYTHON_NOT_INITIALIZED",
+    "PLUGIN_NO_CALLABLE",
+    "PLUGIN_EXCEPTION",
+    "handle_pyerror().empty()",
+]:
+    if needle not in python_plugin_probe:
+        raise SystemExit(f"PythonPlugin probe missing disabled-python status assertion: {needle}")
+for needle in [
+    "static PyTypeObject none_type = {\"NoneType\"};",
+    "static PyObject none_object = {&none_type};",
+    "PyObject *_Py_NoneStructPtr = &none_object;",
+    "int Py_IsInitialized(void)",
+    "return 1;",
+    "PyObject *PyErr_Occurred(void)",
+    "return nullptr;",
+    "void PyErr_Fetch(PyObject **exc, PyObject **val, PyObject **tb)",
+    "*exc = nullptr;",
+    "*val = nullptr;",
+    "*tb = nullptr;",
+    "int PyCallable_Check(PyObject *)",
+    "return 0;",
+    "PyObject *PyObject_CallMethod(PyObject *, char *, char *, ...)",
+    "PyObject *PyObject_GetAttrString(PyObject *, const char *)",
+    "return &none_object;",
+    "PyObject *Py_BuildValue(const char *, ...)",
+    "PyObject *PyModule_Create(PyModuleDef *)",
+    "int PyModule_AddObject(PyObject *, const char *, PyObject *)",
+    "int PyType_Ready(PyTypeObject *)",
+    "void *PyObject_NewShim(std::size_t size, PyTypeObject *type)",
+    "std::calloc(1, size)",
+]:
+    if needle not in python_c_api_shim:
+        raise SystemExit(f"Python C API shim missing symbol boundary: {needle}")
+
+rcs_print_shim = Path("core/wasm_shims/rcs_print_shim.cc").read_text(encoding="utf-8")
+for needle in [
+    "set_print_rcs_error_info",
+    "print_rcs_error_new",
+    "std::vfprintf(stderr, format, args)",
+]:
+    if needle not in rcs_print_shim:
+        raise SystemExit(f"RCS print shim missing split print-error boundary: {needle}")
+
+rtapi_compat_shim = Path("core/wasm_shims/rtapi_compat.cc").read_text(encoding="utf-8")
+for needle in [
+    "rtapi_snprintf",
+    "std::vsnprintf(buf, static_cast<std::size_t>(size), fmt, ap)",
+]:
+    if needle not in rtapi_compat_shim:
+        raise SystemExit(f"RTAPI compatibility shim missing userspace snprintf boundary: {needle}")
+
+for phrase in [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "CMake `linuxcnc_wasm_safe_probe_shims` set",
+    "RS274/WASM manifest",
+    "browser-safe LinuxCNC adaptations",
+    "LinuxCNC `interp_base.cc` dynamic loader calls",
+    "unavailable-loader returns",
+    "detached LinuxCNC `EMC_STAT` singleton",
+    "LinuxCNC `_()` diagnostic call sites",
+    "browser gettext catalogs unavailable",
+    "LinuxCNC NML status constructors",
+    "`RCS_STAT_MSG` default status fields",
+    "dynamic loading unavailable",
+    "unavailable HAL lookup",
+    "must leave HAL values unavailable",
+    "preview `_task=0`",
+    "builtin module stubs",
+    "must not switch browser-safe probes into task mode",
+    "single-word `wordexp()` path expansion",
+    "`wordfree()` cleanup",
+    "must not become a shell expansion feature",
+    "must not become Python execution",
+    "Python C API shim must return inert objects",
+    "must not call into CPython runtime",
+    "keeping Python execution disabled",
+    "must not execute `bp::exec`, `bp::exec_file`, or",
+    "inactive-DB return values",
+    "negative-status short-circuit behavior",
+    "first-caller `_inittab` `PLUGIN_INITTAB_FAILED` edge",
+    "preserve the `TOPLEVEL` missing-path `PLUGIN_BAD_PATH` edge",
+    "preserve `PATH_PREPEND` and `PATH_APPEND` tilde-expansion failure statuses",
+    "preserve LinuxCNC INI section-name trimming and trailing section-comment handling",
+    "LinuxCNC `rcs_print_error` split entry points",
+    "without native print routing",
+    "LinuxCNC userspace `rtapi_snprintf()` formatting",
+    "`uspace_common.h` `vsnprintf()` implementation path",
+    "./check-linuxcnc-wasm-shims-source-map.sh",
+    "does not interpret G-code",
+]:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-shims-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-wasm-shims-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-wasm-shims-source-map.sh")
+
+cmake_text = Path("core/CMakeLists.txt").read_text(encoding="utf-8")
+for shim_path in shim_paths:
+    cmake_suffix = shim_path.removeprefix("core/")
+    if cmake_suffix not in cmake_text:
+        raise SystemExit(f"{shim_path} is not listed in linuxcnc_wasm_safe_probe_shims")
+
+blocker_map = Path("docs/linuxcnc-wasm-blockers-source-map.md").read_text(encoding="utf-8")
+for shim_path in [
+    "core/wasm_shims/linuxcnc_runtime_shim.cc",
+    "core/wasm_shims/python_c_api_shim.cc",
+    "core/wasm_shims/tooldata/tooldata_mmap_backend.cc",
+]:
+    if shim_path not in blocker_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-blockers-source-map.md no longer references {shim_path}")
+PY

check-linuxcnc-wasm-smoke-source-map.sh

@@ -0,0 +1,204 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties Node/browser WASM smoke coverage to
+# LinuxCNC RS274 parameter/INI handling, M-code canon side effects, generated
+# switchkins/remap config cases, kinematics sources, and OPFS-only browser
+# persistence. It validates smoke-test source coverage only; it does not add
+# CNC behavior, expand smoke parsing, or interpret G-code.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F 'int Interp::ini_load(const char *filename)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int Interp::restore_parameters(const char *filename)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int Interp::save_parameters(const char *filename,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'std::string tempfile = std::string(filename) + ".new";' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'unlink(bakfile.c_str());' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(link(filename, bakfile.c_str()) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'if(rename(tempfile.c_str(), filename) < 0)' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'read_text(command, _setup.file_pointer, _setup.linetext,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'int read_text(const char *command, FILE * inport, char *raw_line,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_interp.hh" >/dev/null
+
+grep -F 'int Interp::convert_m(block_pointer block' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_convert.cc" >/dev/null
+grep -F 'int ret = WAIT(round_to_int(block->p_number), DIGITAL_INPUT, type, timeout);' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_convert.cc" >/dev/null
+grep -F 'SET_AUX_OUTPUT_VALUE(round_to_int(block->e_number), block->q_number);' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_convert.cc" >/dev/null
+grep -F 'extern int WAIT(int index' "$linuxcnc_root/src/emc/nml_intf/canon.hh" >/dev/null
+grep -F 'extern void SET_AUX_OUTPUT_VALUE(int index, double value);' \
+    "$linuxcnc_root/src/emc/nml_intf/canon.hh" >/dev/null
+
+grep -F 'kp->kinsname    = "5axiskins";' "$linuxcnc_root/src/emc/kinematics/5axiskins.c" >/dev/null
+grep -F 'int xyzbcKinematicsInverse(const EmcPose * pos' \
+    "$linuxcnc_root/src/emc/kinematics/trtfuncs.c" >/dev/null
+grep -F 'int xyzacKinematicsInverse(const EmcPose * pos' \
+    "$linuxcnc_root/src/emc/kinematics/trtfuncs.c" >/dev/null
+grep -F '*kinv1 = xyzacKinematicsInverse;' \
+    "$linuxcnc_root/src/emc/kinematics/xyzac-trt-kins.c" >/dev/null
+grep -F '*kinv1 = xyzbcKinematicsInverse;' \
+    "$linuxcnc_root/src/emc/kinematics/xyzbc-trt-kins.c" >/dev/null
+grep -F 'int userkKinematicsInverse(const EmcPose * pos' \
+    "$linuxcnc_root/src/emc/kinematics/userkfuncs.c" >/dev/null
+
+grep -F 'LinuxCNC WASM smoke source map' docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F 'must not expand the temporary smoke parser' docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F 'OPFS-only' docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F '`src/emc/rs274ngc/interp_convert.cc` provides `convert_m()` coverage' \
+    docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F 'unlinking `filename + ".bak"`' docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F '`src/emc/kinematics/5axiskins.c`, `src/emc/kinematics/trtfuncs.c`' \
+    docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+grep -F 'Generated switchkins config smoke cases must continue to come from' \
+    docs/linuxcnc-wasm-smoke-source-map.md >/dev/null
+
+grep -F 'LinuxCNC source basis: Node smoke only verifies the wasm/API bridge around' \
+    test-web-wasm-node-smoke.sh >/dev/null
+grep -F 'minimum_steps=${WASM_NODE_SMOKE_MIN_STEPS:-50}' test-web-wasm-node-smoke.sh >/dev/null
+grep -F 'WASM Node smoke covered $passed_steps steps, expected at least $minimum_steps' \
+    test-web-wasm-node-smoke.sh >/dev/null
+grep -F 'expected Node wasm-core wrapper to leave OPFS disabled' test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected Node wasm-core parseFile to require OPFS' test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'linuxcnc_switchkins_remap_config_cases.json' test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected LinuxCNC WASM M68 E3 Q${kinstype} remap side effect' \
+    test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected LinuxCNC WASM M66 E0 L0 remap side effect' \
+    test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected LinuxCNC WASM 5axiskins RTCP pivot from LinuxCNC 5axiskins inverse' \
+    test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected LinuxCNC WASM configured xyzbc-trt RTCP pivot from LinuxCNC trtfuncs inverse' \
+    test-web-wasm-node-smoke.cjs >/dev/null
+grep -F 'expected LinuxCNC WASM configured xyzac-trt RTCP pivot from LinuxCNC xyzab_tdr inverse' \
+    test-web-wasm-node-smoke.cjs >/dev/null
+
+grep -F 'LinuxCNC source basis: browser smoke verifies OPFS-backed wasm/API/app flows' \
+    test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'minimum_sections=${BROWSER_SMOKE_MIN_SECTIONS:-50}' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'BROWSER_SMOKE_MIN_SECTIONS must be a positive integer' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'browser WASM smoke covered $passed_sections sections, expected at least $minimum_sections' \
+    test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'required_browser_sections = {' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("linuxcnc generated switchkins cases load"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("opfs parameter restore in new instance"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("opfs directory persist and load"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("browser opfs policy"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runSection("browser app opfs restore"' test-web-wasm-browser-smoke.sh >/dev/null
+grep -F 'runLinuxCncBrowserSections(context, simulator)' web/test-browser-wasm-smoke-sections.js >/dev/null
+grep -F 'runBrowserOpfsWorkspaceSections(context, simulator)' web/test-browser-wasm-smoke-sections.js >/dev/null
+grep -F 'runBrowserOpfsPolicySections(context)' web/test-browser-wasm-smoke-sections.js >/dev/null
+grep -F 'runBrowserAppOpfsSections(context)' web/test-browser-wasm-smoke-sections.js >/dev/null
+grep -F 'runBrowserOpfsBasicSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsParameterSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsMirrorSections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'runBrowserOpfsDirectorySections(context, simulator)' \
+    web/test-browser-wasm-smoke-opfs-workspace-sections.js >/dev/null
+grep -F 'linuxcnc_switchkins_remap_config_cases.json' \
+    web/test-browser-wasm-smoke-linuxcnc-sections.js >/dev/null
+grep -F 'missing LinuxCNC switchkins config cases after INI_FILE_NAME remap-load filtering' \
+    web/test-browser-wasm-smoke-linuxcnc-sections.js >/dev/null
+grep -F 'LinuxCNC source basis: rs274ngc_pre.cc restore_parameters()' \
+    web/test-browser-wasm-smoke-opfs-parameter-sections.js >/dev/null
+grep -F 'LinuxCNC source basis: rs274ngc_pre.cc save_parameters()' \
+    web/test-browser-wasm-smoke-opfs-parameter-sections.js >/dev/null
+grep -F 'LinuxCNC source basis: rs274ngc_pre.cc read_text() reads' \
+    web/test-browser-wasm-smoke-opfs-basic-sections.js >/dev/null
+grep -F 'runSection("opfs directory persist and load"' \
+    web/test-browser-wasm-smoke-opfs-directory-sections.js >/dev/null
+grep -F 'runSection("opfs metadata queries avoid wasm mirror pollution"' \
+    web/test-browser-wasm-smoke-opfs-directory-sections.js >/dev/null
+grep -F 'runSection("browser opfs policy"' \
+    web/test-browser-wasm-smoke-opfs-policy-sections.js >/dev/null
+grep -F 'app frame did not persist current program into OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not persist LinuxCNC parameter backup into OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+grep -F 'app frame did not clean up LinuxCNC temporary parameter file in OPFS' \
+    web/test-browser-wasm-smoke-app-sections.js >/dev/null
+
+if grep -R -n -E 'localStorage|sessionStorage|indexedDB|showOpenFilePicker|showSaveFilePicker|showDirectoryPicker|webkitRequestFileSystem|FileReader' web/src; then
+    echo "browser app/wasm code must not add filesystem persistence outside OPFS" >&2
+    exit 1
+fi
+if grep -n -E 'localStorage|sessionStorage|indexedDB|showOpenFilePicker|showSaveFilePicker|showDirectoryPicker|webkitRequestFileSystem|FileReader' \
+    web/test-browser-wasm-smoke-*.js \
+    web/test-browser-wasm-smoke.html \
+    test-web-wasm-browser-smoke.sh; then
+    echo "browser WASM smoke harness must not add filesystem persistence outside OPFS" >&2
+    exit 1
+fi
+
+python3 - <<'PY'
+from pathlib import Path
+import json
+import re
+
+source_map = Path("docs/linuxcnc-wasm-smoke-source-map.md").read_text(encoding="utf-8")
+json_cases = json.loads(Path("web/public/linuxcnc_switchkins_remap_config_cases.json").read_text(encoding="utf-8"))
+if not isinstance(json_cases, list) or len(json_cases) == 0:
+    raise SystemExit("generated LinuxCNC switchkins browser config cases are missing")
+
+node_wrapper = Path("test-web-wasm-node-smoke.sh").read_text(encoding="utf-8")
+browser_wrapper = Path("test-web-wasm-browser-smoke.sh").read_text(encoding="utf-8")
+node_min = re.search(r"minimum_steps=\$\{WASM_NODE_SMOKE_MIN_STEPS:-(\d+)\}", node_wrapper)
+browser_min = re.search(r"minimum_sections=\$\{BROWSER_SMOKE_MIN_SECTIONS:-(\d+)\}", browser_wrapper)
+if not node_min or int(node_min.group(1)) < 50:
+    raise SystemExit("Node WASM smoke minimum step threshold is missing or below 50")
+if not browser_min or int(browser_min.group(1)) < 50:
+    raise SystemExit("browser WASM smoke minimum section threshold is missing or below 50")
+
+for path in [
+    "test-web-wasm-node-smoke.sh",
+    "test-web-wasm-node-smoke.cjs",
+    "test-web-wasm-browser-smoke.sh",
+    "web/test-browser-wasm-smoke-linuxcnc-sections.js",
+    "web/test-browser-wasm-smoke-opfs-workspace-sections.js",
+    "web/test-browser-wasm-smoke-opfs-basic-sections.js",
+    "web/test-browser-wasm-smoke-opfs-parameter-sections.js",
+    "web/test-browser-wasm-smoke-opfs-mirror-sections.js",
+    "web/test-browser-wasm-smoke-opfs-directory-sections.js",
+    "web/test-browser-wasm-smoke-opfs-policy-sections.js",
+    "web/test-browser-wasm-smoke-app-sections.js",
+]:
+    if f"| `{path}` |" not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-smoke-source-map.md missing smoke entry: {path}")
+
+required_phrases = [
+    "must not add CNC behavior",
+    "must not expand the temporary smoke parser",
+    "persistence OPFS-only",
+    "Node smoke must leave OPFS disabled",
+    "Browser smoke harness files must not use Local Storage",
+    "Generated switchkins config smoke cases",
+    "browser smoke shell guard also pins required section names",
+    "OPFS workspace/policy/directory handling",
+    'unlinking `filename + ".bak"`',
+    "./check-linuxcnc-wasm-smoke-source-map.sh",
+    "does not interpret G-code",
+]
+for phrase in required_phrases:
+    if phrase not in source_map:
+        raise SystemExit(f"docs/linuxcnc-wasm-smoke-source-map.md missing boundary phrase: {phrase}")
+
+for entry in [
+    "test-native.sh",
+    "test-linuxcnc-source-link.sh",
+    "build-wasm.sh",
+]:
+    text = Path(entry).read_text(encoding="utf-8")
+    if "./check-linuxcnc-wasm-smoke-source-map.sh" not in text:
+        raise SystemExit(f"{entry} must run ./check-linuxcnc-wasm-smoke-source-map.sh")
+PY

check-linuxcnc-workstreams-source-map.sh

@@ -0,0 +1,132 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+cd "$(dirname "$0")"
+
+# LinuxCNC source basis: this guard ties the six active workstream contexts to
+# their source-map guards and to LinuxCNC source/config anchors. It validates
+# coordination policy only; it does not add CNC behavior or expand smoke
+# parsing.
+linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
+linuxcnc_root=$(cd "$linuxcnc_root" && pwd)
+
+grep -F '1. `switchkins/remap` generator and tables' docs/architecture.md >/dev/null
+grep -F '2. `linuxcnc-kinematics` source manifest' docs/architecture.md >/dev/null
+grep -F '3. WASM filesystem and OPFS persistence' docs/architecture.md >/dev/null
+grep -F '4. browser app integration' docs/architecture.md >/dev/null
+grep -F '5. Node and browser smoke coverage' docs/architecture.md >/dev/null
+grep -F '6. source-link, build, and documentation constraints' docs/architecture.md >/dev/null
+grep -F 'The synchronized source-map guard for these contexts is' docs/architecture.md >/dev/null
+grep -F '`docs/linuxcnc-workstreams-source-map.md`.' docs/architecture.md >/dev/null
+
+grep -F 'REMAP = M428' "$linuxcnc_root/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini" >/dev/null
+grep -F '#<kinstype>' "$linuxcnc_root/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc" >/dev/null
+grep -F 'GENSERKINSSRCS := emc/kinematics/ugenserkins.c' \
+    "$linuxcnc_root/src/emc/kinematics/Submakefile" >/dev/null
+grep -F 'extern int kinematicsInverse(const struct EmcPose * world,' \
+    "$linuxcnc_root/src/emc/kinematics/kinematics.h" >/dev/null
+grep -F '#define RS274NGC_PARAMETER_FILE_NAME_DEFAULT "rs274ngc.var"' \
+    "$linuxcnc_root/src/emc/rs274ngc/interp_internal.hh" >/dev/null
+grep -F 'int Interp::save_parameters(const char *filename,' \
+    "$linuxcnc_root/src/emc/rs274ngc/rs274ngc_pre.cc" >/dev/null
+grep -F 'LIBRS274SRCS := $(addprefix emc/rs274ngc/,' \
+    "$linuxcnc_root/src/emc/rs274ngc/Submakefile" >/dev/null
+grep -F 'LIBTOOLDATA_SRCS += emc/tooldata/tooldata_common.cc' \
+    "$linuxcnc_root/src/emc/tooldata/Submakefile" >/dev/null
+grep -F 'LIBLCNCINISRCS := emc/ini/inifile.cc' \
+    "$linuxcnc_root/src/emc/ini/Submakefile" >/dev/null
+grep -F 'LIBPPSRCS := $(addprefix emc/pythonplugin/,' \
+    "$linuxcnc_root/src/emc/pythonplugin/Submakefile" >/dev/null
+
+grep -F 'LinuxCNC workstreams source map' docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'must not add CNC' docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'temporary smoke parser' docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'Every active workstream must have at least one source-map document and guard' \
+    docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'docs/linuxcnc-source-policy.md` must keep the same one-context workflow' \
+    docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'Browser filesystem persistence remains OPFS-only.' docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'Smoke coverage remains verification only' docs/linuxcnc-workstreams-source-map.md >/dev/null
+grep -F 'Keep the change inside one active workstream context unless a dependency is' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'Each pass should advance one reasonable, reviewable context.' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'Keep the six active workstream contexts synchronized with' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F '`docs/linuxcnc-workstreams-source-map.md` so source-map guards' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'Smoke tests are verification guardrails. They must not be expanded with new' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'Do not mix generator/table work, manifests, OPFS/browser work, and build' \
+    docs/linuxcnc-source-policy.md >/dev/null
+grep -F 'Browser-side wasm filesystem behavior must use OPFS-backed storage.' \
+    docs/linuxcnc-source-policy.md >/dev/null
+
+python3 - <<'PY'
+from pathlib import Path
+
+doc = Path("docs/linuxcnc-workstreams-source-map.md").read_text(encoding="utf-8")
+policy = Path("docs/linuxcnc-source-policy.md").read_text(encoding="utf-8")
+expected = {
+    "switchkins/remap": [
+        "docs/linuxcnc-switchkins-remap-source-map.md",
+        "check-linuxcnc-switchkins-remap-source-map.sh",
+    ],
+    "linuxcnc-kinematics": [
+        "docs/linuxcnc-kinematics-source-map.md",
+        "check-linuxcnc-kinematics-source-map.sh",
+    ],
+    "WASM filesystem and OPFS persistence": [
+        "docs/linuxcnc-opfs-source-map.md",
+        "docs/linuxcnc-wasm-shims-source-map.md",
+        "docs/linuxcnc-wasm-blockers-source-map.md",
+        "docs/linuxcnc-tooldata-source-map.md",
+        "check-linuxcnc-opfs-source-map.sh",
+        "check-linuxcnc-wasm-shims-source-map.sh",
+        "check-linuxcnc-wasm-blockers-source-map.sh",
+        "check-linuxcnc-tooldata-source-map.sh",
+    ],
+    "browser app integration": [
+        "docs/linuxcnc-browser-app-source-map.md",
+        "check-linuxcnc-browser-app-source-map.sh",
+    ],
+    "Node and browser smoke coverage": [
+        "docs/linuxcnc-wasm-smoke-source-map.md",
+        "check-linuxcnc-wasm-smoke-source-map.sh",
+    ],
+    "source-link, build, and documentation constraints": [
+        "docs/linuxcnc-rs274-source-map.md",
+        "docs/linuxcnc-build-source-map.md",
+        "docs/linuxcnc-tooldata-source-map.md",
+        "check-linuxcnc-rs274-source-map.sh",
+        "check-linuxcnc-build-source-map.sh",
+        "check-linuxcnc-tooldata-source-map.sh",
+    ],
+}
+for workstream, paths in expected.items():
+    if workstream not in doc:
+        raise SystemExit(f"missing workstream row in docs/linuxcnc-workstreams-source-map.md: {workstream}")
+    policy_terms = {
+        "switchkins/remap": ["switchkins/remap", "M428/M429/M430"],
+        "linuxcnc-kinematics": ["kinematics manifest", "RTCP coverage"],
+        "WASM filesystem and OPFS persistence": ["OPFS", "filesystem"],
+        "browser app integration": ["Browser app", "wasm bridge"],
+        "Node and browser smoke coverage": ["Smoke tests are verification guardrails", "temporary smoke parser"],
+        "source-link, build, and documentation constraints": ["source-link", "build-policy"],
+    }[workstream]
+    if not any(term in policy for term in policy_terms):
+        raise SystemExit(f"docs/linuxcnc-source-policy.md no longer references workstream boundary: {workstream}")
+    for path in paths:
+        if path not in doc:
+            raise SystemExit(f"missing source-map path in workstream index: {path}")
+        if not Path(path).exists():
+            raise SystemExit(f"source-map path listed in workstream index does not exist: {path}")
+        if path.startswith("check-") and not Path(path).stat().st_mode & 0o111:
+            raise SystemExit(f"source-map guard is not executable: {path}")
+
+for test_entry in ["test-native.sh", "test-linuxcnc-source-link.sh", "build-wasm.sh"]:
+    text = Path(test_entry).read_text(encoding="utf-8")
+    for guard in sorted({path for paths in expected.values() for path in paths if path.startswith("check-")}):
+        if f"./{guard}" not in text:
+            raise SystemExit(f"{test_entry} does not run workstream source-map guard: {guard}")
+PY

core/CMakeLists.txt

@@ -1,31 +1,224 @@
 cmake_minimum_required(VERSION 3.20)
-project(cnc_sim_wasm_core LANGUAGES CXX)
+project(cnc_sim_wasm_core LANGUAGES C CXX)
 
 option(CNC_SIM_ENABLE_LINUXCNC_BRIDGE "Build the experimental LinuxCNC canon bridge" OFF)
 option(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND "Build the native LinuxCNC librs274 backend" OFF)
+option(CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE "Compile the browser-safe subset of LinuxCNC rs274 sources" OFF)
+option(CNC_SIM_ENABLE_SMOKE_BACKEND "Build the legacy explicit smoke G-code backend test harness" OFF)
+if(CNC_SIM_ENABLE_SMOKE_BACKEND AND CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+    message(FATAL_ERROR "CNC_SIM_ENABLE_SMOKE_BACKEND cannot be combined with CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE")
+endif()
 set(CNC_SIM_LINUXCNC_ROOT "" CACHE PATH "LinuxCNC source root for the experimental bridge")
+set(CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST
+    "${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc-rs274-wasm-source-files.txt"
+    CACHE FILEPATH
+    "Manifest that partitions LinuxCNC rs274 sources into wasm-safe core and blocked groups"
+)
 
 set(cnc_sim_core_sources
     src/canon_event_sink.cpp
     src/cnc_sim_api.cpp
     src/gcode_backend.cpp
+    src/linuxcnc_5axiskins_adapter.c
+    src/linuxcnc_5axiskins_adapter.cpp
+    src/linuxcnc_corexykins_adapter.c
+    src/linuxcnc_corexykins_adapter.cpp
+    src/linuxcnc_cubic_adapter.c
+    src/linuxcnc_cubic_adapter.cpp
+    src/linuxcnc_genserfuncs_adapter.c
+    src/linuxcnc_genserfuncs_adapter.cpp
+    src/linuxcnc_genhexkins_adapter.c
+    src/linuxcnc_genhexkins_adapter.cpp
+    src/linuxcnc_kins_util_adapter.c
+    src/linuxcnc_kins_util_adapter.cpp
+    src/linuxcnc_lineardeltakins_adapter.c
+    src/linuxcnc_lineardeltakins_adapter.cpp
+    src/linuxcnc_maxkins_adapter.c
+    src/linuxcnc_maxkins_adapter.cpp
+    src/linuxcnc_pentakins_adapter.c
+    src/linuxcnc_pentakins_adapter.cpp
+    src/linuxcnc_pumakins_adapter.c
+    src/linuxcnc_pumakins_adapter.cpp
+    src/linuxcnc_rotatekins_adapter.c
+    src/linuxcnc_rotatekins_adapter.cpp
+    src/linuxcnc_rosekins_adapter.c
+    src/linuxcnc_rosekins_adapter.cpp
+    src/linuxcnc_rotarydeltakins_adapter.c
+    src/linuxcnc_rotarydeltakins_adapter.cpp
+    src/linuxcnc_scarakins_adapter.c
+    src/linuxcnc_scarakins_adapter.cpp
+    src/linuxcnc_scorbot_kins_adapter.c
+    src/linuxcnc_scorbot_kins_adapter.cpp
+    src/linuxcnc_tripodkins_adapter.c
+    src/linuxcnc_tripodkins_adapter.cpp
+    src/linuxcnc_trtfuncs_adapter.c
+    src/linuxcnc_trtfuncs_adapter.cpp
+    src/linuxcnc_userkfuncs_adapter.c
+    src/linuxcnc_userkfuncs_adapter.cpp
+    src/linuxcnc_xyzab_tdr_kins_adapter.c
+    src/linuxcnc_xyzab_tdr_kins_adapter.cpp
     src/rtcp_kinematics.cpp
     src/simulator_gcode_controls.cpp
+)
+
+set(cnc_sim_smoke_backend_sources
     src/smoke_gcode_parser.cpp
 )
 
+set(cnc_sim_linuxcnc_rs274_backend_sources
+    src/linuxcnc_canon_bridge.cpp
+    src/linuxcnc_rs274_backend.cpp
+    src/linuxcnc_tooldata_fixture.cpp
+)
+
 if(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
+    if(CNC_SIM_ENABLE_SMOKE_BACKEND)
+        message(FATAL_ERROR "CNC_SIM_ENABLE_SMOKE_BACKEND cannot be combined with CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND")
+    endif()
     if(EMSCRIPTEN)
         message(FATAL_ERROR "CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND is native-only; it links LinuxCNC librs274")
     endif()
     if(NOT CNC_SIM_LINUXCNC_ROOT)
         message(FATAL_ERROR "Set CNC_SIM_LINUXCNC_ROOT to the LinuxCNC source root")
     endif()
-    list(APPEND cnc_sim_core_sources
+    list(APPEND cnc_sim_core_sources ${cnc_sim_linuxcnc_rs274_backend_sources})
-        src/linuxcnc_canon_bridge.cpp
+elseif(CNC_SIM_ENABLE_SMOKE_BACKEND)
-        src/linuxcnc_rs274_backend.cpp
+    list(APPEND cnc_sim_core_sources ${cnc_sim_smoke_backend_sources})
-        src/linuxcnc_tooldata_fixture.cpp
+endif()
+
+if(CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+    if(NOT CNC_SIM_LINUXCNC_ROOT)
+        message(FATAL_ERROR "Set CNC_SIM_LINUXCNC_ROOT to the LinuxCNC source root")
+    endif()
+    get_filename_component(CNC_SIM_LINUXCNC_ROOT_ABS
+        "${CNC_SIM_LINUXCNC_ROOT}"
+        ABSOLUTE
+        BASE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/.."
     )
+    if(NOT IS_DIRECTORY "${CNC_SIM_LINUXCNC_ROOT_ABS}")
+        message(FATAL_ERROR "LinuxCNC source root does not exist: ${CNC_SIM_LINUXCNC_ROOT_ABS}")
+    endif()
+    if(NOT EXISTS "${CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST}")
+        message(FATAL_ERROR "Missing LinuxCNC wasm source manifest: ${CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST}")
+    endif()
+    if(IS_DIRECTORY "${CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST}")
+        message(FATAL_ERROR "LinuxCNC wasm source manifest is not a file: ${CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST}")
+    endif()
+
+    set(linuxcnc_wasm_safe_probe_sources)
+    set(linuxcnc_wasm_blocked_sources)
+    file(STRINGS "${CNC_SIM_LINUXCNC_WASM_SOURCE_MANIFEST}" linuxcnc_wasm_manifest_lines)
+    foreach(manifest_line IN LISTS linuxcnc_wasm_manifest_lines)
+        string(STRIP "${manifest_line}" manifest_line)
+        if(manifest_line STREQUAL "" OR manifest_line MATCHES "^#")
+            continue()
+        endif()
+        if(NOT manifest_line MATCHES "^([^:]+):([^:]+):(.*)$")
+            message(FATAL_ERROR "Bad LinuxCNC wasm source manifest line: ${manifest_line}")
+        endif()
+
+        set(manifest_group "${CMAKE_MATCH_1}")
+        set(manifest_path "${CMAKE_MATCH_2}")
+        if(NOT manifest_group STREQUAL "core"
+            AND NOT manifest_group STREQUAL "blocked"
+            AND NOT manifest_group STREQUAL "header"
+            AND NOT manifest_group STREQUAL "metadata"
+            AND NOT manifest_group STREQUAL "blocked-header")
+            message(FATAL_ERROR "Unknown LinuxCNC wasm source manifest group: ${manifest_group}")
+        endif()
+
+        set(manifest_source "${CNC_SIM_LINUXCNC_ROOT_ABS}/${manifest_path}")
+        if(NOT EXISTS "${manifest_source}")
+            message(FATAL_ERROR "LinuxCNC wasm manifest source does not exist: ${manifest_source}")
+        endif()
+        if(IS_DIRECTORY "${manifest_source}")
+            message(FATAL_ERROR "LinuxCNC wasm manifest source is not a file: ${manifest_source}")
+        endif()
+
+        if(manifest_group STREQUAL "core")
+            list(APPEND linuxcnc_wasm_safe_probe_sources "${manifest_source}")
+        elseif(manifest_group STREQUAL "blocked")
+            list(APPEND linuxcnc_wasm_blocked_sources "${manifest_source}")
+        endif()
+    endforeach()
+
+    list(LENGTH linuxcnc_wasm_safe_probe_sources linuxcnc_wasm_safe_probe_source_count)
+    list(LENGTH linuxcnc_wasm_blocked_sources linuxcnc_wasm_blocked_source_count)
+    if(linuxcnc_wasm_safe_probe_source_count EQUAL 0)
+        message(FATAL_ERROR "LinuxCNC wasm source manifest has no core entries")
+    endif()
+    if(linuxcnc_wasm_blocked_source_count EQUAL 0)
+        message(FATAL_ERROR "LinuxCNC wasm source manifest has no blocked entries")
+    endif()
+    message(STATUS "LinuxCNC wasm-safe core sources: ${linuxcnc_wasm_safe_probe_source_count}")
+    message(STATUS "LinuxCNC wasm blocked sources: ${linuxcnc_wasm_blocked_source_count}")
+
+    set(cnc_sim_wasm_safe_preinclude_options "SHELL:-include wctype.h")
+    set(cnc_sim_wasm_safe_section_options -ffunction-sections -fdata-sections)
+    set(cnc_sim_wasm_safe_link_options "-Wl,--gc-sections")
+    if(EMSCRIPTEN)
+        list(APPEND cnc_sim_wasm_safe_preinclude_options "SHELL:-include libgen.h")
+        find_path(CNC_SIM_FMT_INCLUDE_DIR fmt/format.h
+            PATHS /usr/include /usr/local/include
+            NO_CMAKE_FIND_ROOT_PATH
+            REQUIRED
+        )
+        list(APPEND cnc_sim_wasm_safe_preinclude_options "SHELL:-idirafter ${CNC_SIM_FMT_INCLUDE_DIR}")
+    endif()
+
+    set(linuxcnc_wasm_safe_probe_shims
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/dlfcn.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/emc_status_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/gettext_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/linuxcnc_runtime_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/nml_status_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/python_c_api_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/rcs_print_shim.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/rtapi_compat.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/tooldata/tooldata_mmap_backend.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/tooldata/tooldata_runtime_stubs.cc
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/pythonplugin/python_plugin.cc
+    )
+
+    add_library(linuxcnc_rs274_wasm_safe_probe_objects OBJECT
+        ${linuxcnc_wasm_safe_probe_shims}
+        ${linuxcnc_wasm_safe_probe_sources}
+    )
+    target_compile_features(linuxcnc_rs274_wasm_safe_probe_objects PUBLIC cxx_std_20)
+    target_compile_definitions(linuxcnc_rs274_wasm_safe_probe_objects PRIVATE ULAPI)
+    target_compile_options(linuxcnc_rs274_wasm_safe_probe_objects PRIVATE
+        ${cnc_sim_wasm_safe_preinclude_options}
+        ${cnc_sim_wasm_safe_section_options}
+    )
+    target_include_directories(linuxcnc_rs274_wasm_safe_probe_objects
+        PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/include
+            ${CMAKE_CURRENT_SOURCE_DIR}/src
+            ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/nml_intf
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/rs274ngc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/motion
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/include
+    )
+    if(EMSCRIPTEN)
+        target_compile_definitions(linuxcnc_rs274_wasm_safe_probe_objects PRIVATE FMT_HEADER_ONLY=1)
+    endif()
+
+    set(cnc_sim_wasm_runtime_probe_main
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/cnc_sim_wasm_runtime_probe_main.cc
+    )
+
+    if(linuxcnc_wasm_blocked_sources)
+        add_custom_target(linuxcnc_rs274_wasm_blocked_sources
+            SOURCES ${linuxcnc_wasm_blocked_sources}
+        )
+    endif()
+endif()
+
+if(CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+    list(APPEND cnc_sim_core_sources ${cnc_sim_linuxcnc_rs274_backend_sources})
 endif()
 
 add_library(cnc_sim_objects OBJECT
@@ -37,9 +230,36 @@ target_include_directories(cnc_sim_objects
         ${CMAKE_CURRENT_SOURCE_DIR}/include
     PRIVATE
         ${CMAKE_CURRENT_SOURCE_DIR}/src
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../linuxcnc/include
 )
 
 target_compile_features(cnc_sim_objects PUBLIC cxx_std_17)
+set(cnc_sim_linuxcnc_kinematics_c_sources
+    src/linuxcnc_5axiskins_adapter.c
+    src/linuxcnc_corexykins_adapter.c
+    src/linuxcnc_cubic_adapter.c
+    src/linuxcnc_genserfuncs_adapter.c
+    src/linuxcnc_genhexkins_adapter.c
+    src/linuxcnc_kins_util_adapter.c
+    src/linuxcnc_lineardeltakins_adapter.c
+    src/linuxcnc_maxkins_adapter.c
+    src/linuxcnc_pentakins_adapter.c
+    src/linuxcnc_pumakins_adapter.c
+    src/linuxcnc_rotatekins_adapter.c
+    src/linuxcnc_rosekins_adapter.c
+    src/linuxcnc_rotarydeltakins_adapter.c
+    src/linuxcnc_scarakins_adapter.c
+    src/linuxcnc_scorbot_kins_adapter.c
+    src/linuxcnc_tripodkins_adapter.c
+    src/linuxcnc_trtfuncs_adapter.c
+    src/linuxcnc_userkfuncs_adapter.c
+    src/linuxcnc_xyzab_tdr_kins_adapter.c
+)
+set_source_files_properties(
+    ${cnc_sim_linuxcnc_kinematics_c_sources}
+    PROPERTIES
+        COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:-fpermissive>"
+)
 
 if(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
     find_package(Python3 REQUIRED COMPONENTS Development)
@@ -59,6 +279,97 @@ if(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
     )
 endif()
 
+if(CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+    target_compile_definitions(cnc_sim_objects
+        PRIVATE
+            CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND
+            CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
+            ULAPI
+    )
+    target_compile_options(cnc_sim_objects PRIVATE ${cnc_sim_wasm_safe_preinclude_options})
+    target_include_directories(cnc_sim_objects
+        PRIVATE
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/nml_intf
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/rs274ngc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/motion
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/include
+            ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims
+    )
+    if(EMSCRIPTEN)
+        target_compile_definitions(cnc_sim_objects PRIVATE FMT_HEADER_ONLY=1)
+    endif()
+endif()
+
+if(CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+    add_executable(linuxcnc_rs274_wasm_safe_probe EXCLUDE_FROM_ALL
+        $<TARGET_OBJECTS:linuxcnc_rs274_wasm_safe_probe_objects>
+        $<TARGET_OBJECTS:cnc_sim_objects>
+        ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims/rs274ngc_pre_probe_main.cc
+    )
+    target_compile_features(linuxcnc_rs274_wasm_safe_probe PRIVATE cxx_std_20)
+    target_compile_definitions(linuxcnc_rs274_wasm_safe_probe
+        PRIVATE
+            CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND
+            CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
+            ULAPI
+    )
+    target_compile_options(linuxcnc_rs274_wasm_safe_probe PRIVATE ${cnc_sim_wasm_safe_preinclude_options})
+    target_link_options(linuxcnc_rs274_wasm_safe_probe PRIVATE ${cnc_sim_wasm_safe_link_options})
+    target_include_directories(linuxcnc_rs274_wasm_safe_probe
+        PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/include
+            ${CMAKE_CURRENT_SOURCE_DIR}/src
+            ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/nml_intf
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/rs274ngc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/motion
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/include
+    )
+    if(EMSCRIPTEN)
+        target_compile_definitions(linuxcnc_rs274_wasm_safe_probe PRIVATE FMT_HEADER_ONLY=1)
+    else()
+        target_link_libraries(linuxcnc_rs274_wasm_safe_probe PRIVATE fmt)
+    endif()
+
+    add_executable(cnc_sim_wasm_runtime_probe EXCLUDE_FROM_ALL
+        $<TARGET_OBJECTS:linuxcnc_rs274_wasm_safe_probe_objects>
+        $<TARGET_OBJECTS:cnc_sim_objects>
+        ${cnc_sim_wasm_runtime_probe_main}
+    )
+    target_compile_features(cnc_sim_wasm_runtime_probe PRIVATE cxx_std_20)
+    target_compile_definitions(cnc_sim_wasm_runtime_probe PRIVATE ULAPI)
+    target_compile_options(cnc_sim_wasm_runtime_probe PRIVATE ${cnc_sim_wasm_safe_preinclude_options})
+    target_link_options(cnc_sim_wasm_runtime_probe PRIVATE ${cnc_sim_wasm_safe_link_options})
+    target_include_directories(cnc_sim_wasm_runtime_probe
+        PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/include
+            ${CMAKE_CURRENT_SOURCE_DIR}/src
+            ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/nml_intf
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/rs274ngc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/motion
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/include
+    )
+    if(EMSCRIPTEN)
+        target_compile_definitions(cnc_sim_wasm_runtime_probe PRIVATE FMT_HEADER_ONLY=1)
+    else()
+        target_link_libraries(cnc_sim_wasm_runtime_probe PRIVATE fmt)
+    endif()
+endif()
+
+if(CNC_SIM_ENABLE_SMOKE_BACKEND)
+    target_compile_definitions(cnc_sim_objects
+        PRIVATE
+            CNC_SIM_ENABLE_SMOKE_BACKEND
+    )
+endif()
+
 add_library(cnc_sim_core STATIC
     $<TARGET_OBJECTS:cnc_sim_objects>
 )
@@ -88,11 +399,13 @@ if(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
 endif()
 
 if(NOT EMSCRIPTEN)
+    if(CNC_SIM_ENABLE_SMOKE_BACKEND)
     add_executable(cnc_sim_api_smoke
         tests/cnc_sim_api_smoke.cpp
     )
     target_link_libraries(cnc_sim_api_smoke PRIVATE cnc_sim_core)
     target_include_directories(cnc_sim_api_smoke PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
+    endif()
 
     add_executable(canon_event_sink_smoke
         tests/canon_event_sink_smoke.cpp
@@ -106,17 +419,24 @@ if(NOT EMSCRIPTEN)
     target_link_libraries(rtcp_kinematics_smoke PRIVATE cnc_sim_core)
     target_include_directories(rtcp_kinematics_smoke PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
+    add_executable(linuxcnc_gees_table_smoke
+        tests/linuxcnc_gees_table_smoke.cpp
+    )
+    target_include_directories(linuxcnc_gees_table_smoke PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
+
     add_executable(simulator_gcode_controls_smoke
         tests/simulator_gcode_controls_smoke.cpp
     )
     target_link_libraries(simulator_gcode_controls_smoke PRIVATE cnc_sim_core)
     target_include_directories(simulator_gcode_controls_smoke PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
+    if(CNC_SIM_ENABLE_SMOKE_BACKEND)
     add_executable(cnc_sim_dump
         tools/cnc_sim_dump.cpp
     )
     target_link_libraries(cnc_sim_dump PRIVATE cnc_sim_core)
     target_include_directories(cnc_sim_dump PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
+    endif()
 
     if(CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND)
         add_executable(cnc_sim_api_linuxcnc_rs274_smoke
@@ -156,7 +476,11 @@ if(CNC_SIM_ENABLE_LINUXCNC_BRIDGE)
 endif()
 
 if(EMSCRIPTEN)
+    if(NOT CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE)
+        message(FATAL_ERROR "WASM builds must enable CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE so LinuxCNC rs274 sources are linked")
+    endif()
     add_executable(cnc_sim_wasm
+        $<TARGET_OBJECTS:linuxcnc_rs274_wasm_safe_probe_objects>
         $<TARGET_OBJECTS:cnc_sim_objects>
     )
 
@@ -164,7 +488,15 @@ if(EMSCRIPTEN)
         PRIVATE
             ${CMAKE_CURRENT_SOURCE_DIR}/include
             ${CMAKE_CURRENT_SOURCE_DIR}/src
+            ${CMAKE_CURRENT_SOURCE_DIR}/wasm_shims
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/nml_intf
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/rs274ngc
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/src/emc/motion
+            ${CNC_SIM_LINUXCNC_ROOT_ABS}/include
     )
+    target_compile_definitions(cnc_sim_wasm PRIVATE FMT_HEADER_ONLY=1)
 
     set_target_properties(cnc_sim_wasm PROPERTIES
         OUTPUT_NAME "cnc_sim"
@@ -172,12 +504,14 @@ if(EMSCRIPTEN)
     )
 
     target_link_options(cnc_sim_wasm PRIVATE
+        ${cnc_sim_wasm_safe_link_options}
         "--no-entry"
         "-sMODULARIZE=1"
         "-sEXPORT_NAME=createCncSimModule"
         "-sALLOW_MEMORY_GROWTH=1"
         "-sALLOW_TABLE_GROWTH=1"
+        "-sFORCE_FILESYSTEM=1"
         "-sEXPORTED_FUNCTIONS=['_malloc','_free','_cnc_sim_create','_cnc_sim_destroy','_cnc_sim_reset','_cnc_sim_set_dialect','_cnc_sim_set_event_callback','_cnc_sim_load_config_json','_cnc_sim_parse_program','_cnc_sim_last_error']"
-        "-sEXPORTED_RUNTIME_METHODS=['ccall','cwrap','UTF8ToString','stringToUTF8','lengthBytesUTF8','addFunction','removeFunction']"
+        "-sEXPORTED_RUNTIME_METHODS=['FS','ccall','cwrap','UTF8ToString','stringToUTF8','lengthBytesUTF8','addFunction','removeFunction']"
     )
 endif()

core/src/canon_event_sink.cpp

@@ -1,6 +1,23 @@
 #include "canon_event_sink.h"
 
-#include "rtcp_kinematics.h"
+#include <cmath>
+
+namespace {
+
+constexpr int kCssSpindleModeEvent = 960;
+constexpr int kConstantRpmSpindleModeEvent = 970;
+
+void rotate_xy(double *x, double *y, double degrees) {
+    const double radians = degrees * std::acos(-1.0) / 180.0;
+    const double c = std::cos(radians);
+    const double s = std::sin(radians);
+    const double nx = *x * c - *y * s;
+    const double ny = *x * s + *y * c;
+    *x = nx;
+    *y = ny;
+}
+
+} // namespace
 
 void CanonEventSink::reset() {
     position_ = {};
@@ -14,14 +31,19 @@ void CanonEventSink::reset() {
     probe_position_ = {};
     probe_tripped_ = false;
     tool_length_offset_ = {};
+    xy_rotation_degrees_ = 0.0;
     callback_status_ = 0;
-    kinematics_type_ = 1;
+    // LinuxCNC xyzbc-trt-kins with sparm=identityfirst starts at switchkins-type 0.
+    // Source: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini.
+    kinematics_type_ = 0;
     feed_override_ = false;
     speed_override_ = false;
     adaptive_feed_ = false;
     feed_hold_ = false;
     mist_on_ = false;
     flood_on_ = false;
+    has_pending_motion_start_ = false;
+    pending_motion_start_ = {};
 }
 
 void CanonEventSink::set_callback(CncSimEventCallback callback, void *user_data) {
@@ -38,12 +60,41 @@ bool CanonEventSink::callback_aborted() const {
     return callback_status_ != 0;
 }
 
+void CanonEventSink::set_block_delete(bool enabled) {
+    block_delete_ = enabled;
+}
+
 void CanonEventSink::configure_rtcp(bool enabled, double tool_length) {
     rtcp_enabled_ = enabled;
     default_rtcp_tool_length_ = tool_length;
     rtcp_tool_length_ = tool_length;
 }
 
+void CanonEventSink::configure_xyzbc_trt(const LinuxCncXyzbcTrtParameters &parameters) {
+    xyzbc_trt_parameters_ = parameters;
+    xyzbc_trt_parameters_configured_ = true;
+    use_xyzac_trt_ = false;
+}
+
+void CanonEventSink::configure_xyzac_trt(const LinuxCncXyzbcTrtParameters &parameters) {
+    xyzbc_trt_parameters_ = parameters;
+    xyzbc_trt_parameters_configured_ = true;
+    use_xyzac_trt_ = true;
+}
+
+void CanonEventSink::configure_fiveaxis(double pivot_length, int kinematics_type) {
+    fiveaxis_configured_ = true;
+    fiveaxis_pivot_length_ = pivot_length;
+    fiveaxis_kinematics_type_ = kinematics_type;
+}
+
+void CanonEventSink::configure_switchkins_remap(int m428_type, int m429_type, int m430_type) {
+    switchkins_remap_configured_ = true;
+    switchkins_m428_type_ = m428_type;
+    switchkins_m429_type_ = m429_type;
+    switchkins_m430_type_ = m430_type;
+}
+
 void CanonEventSink::set_tool_length(int h_code, double tool_length) {
     if (h_code <= 0) {
         default_rtcp_tool_length_ = tool_length;
@@ -62,6 +113,26 @@ void CanonEventSink::set_tool_length_offset(const CncSimPose &offset) {
     tool_length_offset_ = offset;
 }
 
+void CanonEventSink::apply_tool_length_offset(const CncSimPose &offset) {
+    if (!has_pending_motion_start_) {
+        pending_motion_start_ = position_;
+        has_pending_motion_start_ = true;
+    }
+    double dx = tool_length_offset_.x - offset.x;
+    double dy = tool_length_offset_.y - offset.y;
+    rotate_xy(&dx, &dy, -xy_rotation_degrees_);
+    position_.x += dx;
+    position_.y += dy;
+    position_.z += tool_length_offset_.z - offset.z;
+    position_.a += tool_length_offset_.a - offset.a;
+    position_.b += tool_length_offset_.b - offset.b;
+    position_.c += tool_length_offset_.c - offset.c;
+    position_.u += tool_length_offset_.u - offset.u;
+    position_.v += tool_length_offset_.v - offset.v;
+    position_.w += tool_length_offset_.w - offset.w;
+    tool_length_offset_ = offset;
+}
+
 void CanonEventSink::set_rtcp_state(bool enabled, int h_code, int line) {
     rtcp_enabled_ = enabled;
     rtcp_h_code_ = enabled ? h_code : 0;
@@ -76,15 +147,72 @@ void CanonEventSink::set_rtcp_state(bool enabled, int h_code, int line) {
     emit(event);
 }
 
-void CanonEventSink::switch_kinematics(int kinematics_type, bool rtcp_enabled, int line) {
+void CanonEventSink::switch_kinematics(int kinematics_type, int line) {
     kinematics_type_ = kinematics_type;
-    rtcp_enabled_ = rtcp_enabled;
+    // Source: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/{428,429,430}remap.ngc.
+    // M68 E3 Q#<kinstype>, then M66 E0 L0 to force synchronization.
+    set_analog_output(3, static_cast<double>(kinematics_type_), false, line);
+    wait_input(0, 0, 0, 0.0, line);
     CncSimEvent event = base_event(CNC_SIM_EVENT_KINEMATICS_SWITCH, line);
     event.reserved = kinematics_type_;
-    event.feed = rtcp_enabled_ ? 1.0 : 0.0;
     emit(event);
 }
 
+bool CanonEventSink::can_switch_m_code_kinematics(int m_code) const {
+    if (!switchkins_remap_configured_) {
+        return true;
+    }
+    if (m_code == 428) {
+        return switchkins_m428_type_ >= 0;
+    }
+    if (m_code == 429) {
+        return switchkins_m429_type_ >= 0;
+    }
+    if (m_code == 430) {
+        return switchkins_m430_type_ >= 0;
+    }
+    return true;
+}
+
+bool CanonEventSink::switch_m_code_kinematics(int m_code, int default_kinematics_type, int line) {
+    if (switchkins_remap_configured_) {
+        int kinematics_type = -1;
+        if (m_code == 428) {
+            kinematics_type = switchkins_m428_type_;
+        } else if (m_code == 429) {
+            kinematics_type = switchkins_m429_type_;
+        } else if (m_code == 430) {
+            kinematics_type = switchkins_m430_type_;
+        }
+        if (kinematics_type >= 0) {
+            switch_kinematics(kinematics_type, line);
+            return true;
+        }
+        return false;
+    }
+    if (fiveaxis_configured_) {
+        // Sources:
+        // - linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/{428,429,430}remap.ngc
+        // - linuxcnc/configs/sim/axis/vismach/scara/remap_subs/{428,429,430}remap.ngc
+        // - linuxcnc/configs/sim/axis/vismach/melfa-sim/remap_subs/{428,429,430}remap.ngc
+        // These remaps select kinstype 0, 1, and 2 respectively.
+        if (m_code == 428) {
+            switch_kinematics(0, line);
+            return true;
+        }
+        if (m_code == 429) {
+            switch_kinematics(1, line);
+            return true;
+        }
+        if (m_code == 430) {
+            switch_kinematics(2, line);
+            return true;
+        }
+    }
+    switch_kinematics(default_kinematics_type, line);
+    return true;
+}
+
 void CanonEventSink::set_g5x_offset(int index, const CncSimPose &offset, int line) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_G5X_OFFSET, line);
     event.tool = index;
@@ -99,12 +227,48 @@ void CanonEventSink::set_g92_offset(const CncSimPose &offset, int line) {
 }
 
 void CanonEventSink::set_xy_rotation(double angle_degrees, int line) {
+    xy_rotation_degrees_ = angle_degrees;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_XY_ROTATION, line);
     event.feed = angle_degrees;
     emit(event);
 }
 
 void CanonEventSink::use_length_units(double scale, int line) {
+    use_length_units(scale, line, false);
+}
+
+void CanonEventSink::use_length_units(double scale, int line, bool rescale_linear_state) {
+    if (rescale_linear_state && unit_scale_ != 0.0 && scale != unit_scale_) {
+        const double factor = unit_scale_ / scale;
+        // LinuxCNC src/emc/rs274ngc/interp_convert.cc convert_length_units()
+        // rescales linear current axes on G20/G21; A/B/C remain angular.
+        position_.x *= factor;
+        position_.y *= factor;
+        position_.z *= factor;
+        position_.u *= factor;
+        position_.v *= factor;
+        position_.w *= factor;
+        tool_length_offset_.x *= factor;
+        tool_length_offset_.y *= factor;
+        tool_length_offset_.z *= factor;
+        tool_length_offset_.u *= factor;
+        tool_length_offset_.v *= factor;
+        tool_length_offset_.w *= factor;
+        probe_position_.x *= factor;
+        probe_position_.y *= factor;
+        probe_position_.z *= factor;
+        probe_position_.u *= factor;
+        probe_position_.v *= factor;
+        probe_position_.w *= factor;
+        if (has_pending_motion_start_) {
+            pending_motion_start_.x *= factor;
+            pending_motion_start_.y *= factor;
+            pending_motion_start_.z *= factor;
+            pending_motion_start_.u *= factor;
+            pending_motion_start_.v *= factor;
+            pending_motion_start_.w *= factor;
+        }
+    }
     unit_scale_ = scale;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_UNITS, line);
     event.feed = scale;
@@ -138,8 +302,13 @@ void CanonEventSink::set_feed_mode(int spindle, int mode, int line) {
 }
 
 void CanonEventSink::set_spindle_speed(double spindle, int line) {
-    spindle_ = spindle;
+    set_spindle_speed(0, spindle, line);
+}
+
+void CanonEventSink::set_spindle_speed(int spindle, double speed, int line) {
+    spindle_ = speed;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
+    event.tool = spindle;
     event.spindle = spindle_;
     event.reserved = spindle_direction_;
     emit(event);
@@ -149,7 +318,7 @@ void CanonEventSink::set_spindle_mode(int spindle, double mode, int line) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_COMMENT, line);
     event.tool = spindle;
     event.feed = mode;
-    event.reserved = mode == 0.0 ? 970 : 960;
+    event.reserved = mode == 0.0 ? kConstantRpmSpindleModeEvent : kCssSpindleModeEvent;
     emit(event);
 }
 
@@ -229,16 +398,26 @@ void CanonEventSink::set_override_control(int control, bool enabled, int spindle
 }
 
 void CanonEventSink::start_spindle(int direction, int line) {
+    start_spindle(0, direction, line);
+}
+
+void CanonEventSink::start_spindle(int spindle, int direction, int line) {
     spindle_direction_ = direction < 0 ? 2 : 1;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
+    event.tool = spindle;
     event.spindle = spindle_;
     event.reserved = spindle_direction_;
     emit(event);
 }
 
 void CanonEventSink::stop_spindle(int line) {
+    stop_spindle(0, line);
+}
+
+void CanonEventSink::stop_spindle(int spindle, int line) {
     spindle_direction_ = 0;
     CncSimEvent event = base_event(CNC_SIM_EVENT_SET_SPINDLE, line);
+    event.tool = spindle;
     event.spindle = 0.0;
     event.reserved = spindle_direction_;
     emit(event);
@@ -256,41 +435,45 @@ void CanonEventSink::change_tool(int line) {
 
 void CanonEventSink::straight_traverse(int line, const CncSimPose &end) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_RAPID, line);
-    event.start = position_;
+    event.start = has_pending_motion_start_ ? pending_motion_start_ : position_;
     event.end = end;
     emit(event);
-    emit_rtcp_pivot(line, position_, end);
+    emit_rtcp_pivot(line, event.start, end);
+    has_pending_motion_start_ = false;
     position_ = end;
 }
 
 void CanonEventSink::straight_feed(int line, const CncSimPose &end) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_LINEAR_FEED, line);
-    event.start = position_;
+    event.start = has_pending_motion_start_ ? pending_motion_start_ : position_;
     event.end = end;
     emit(event);
-    emit_rtcp_pivot(line, position_, end);
+    emit_rtcp_pivot(line, event.start, end);
+    has_pending_motion_start_ = false;
     position_ = end;
 }
 
 void CanonEventSink::arc_feed(int line, const CncSimPose &end, const CncSimPose &center, int turns) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_ARC_FEED, line);
-    event.start = position_;
+    event.start = has_pending_motion_start_ ? pending_motion_start_ : position_;
     event.end = end;
     event.center = center;
     event.arc_turns = turns;
     emit(event);
-    emit_rtcp_pivot(line, position_, end);
+    emit_rtcp_pivot(line, event.start, end);
+    has_pending_motion_start_ = false;
     position_ = end;
 }
 
 void CanonEventSink::straight_probe(int line, const CncSimPose &end, int probe_type) {
     CncSimEvent event = base_event(CNC_SIM_EVENT_PROBE, line);
-    event.start = position_;
+    event.start = has_pending_motion_start_ ? pending_motion_start_ : position_;
     event.end = end;
     event.reserved = probe_type;
     emit(event);
     probe_position_ = end;
     probe_tripped_ = (probe_type & 2) == 0;
+    has_pending_motion_start_ = false;
     position_ = end;
 }
 
@@ -397,6 +580,10 @@ bool CanonEventSink::flood_on() const {
     return flood_on_;
 }
 
+bool CanonEventSink::block_delete() const {
+    return block_delete_;
+}
+
 void CanonEventSink::set_mist_on(bool enabled) {
     mist_on_ = enabled;
 }
@@ -412,16 +599,67 @@ void CanonEventSink::emit(CncSimEvent event) {
 }
 
 void CanonEventSink::emit_rtcp_pivot(int line, const CncSimPose &start, const CncSimPose &end) {
-    if (!rtcp_enabled_ || rtcp_tool_length_ == 0.0 || callback_status_ != 0) {
+    if (!rtcp_enabled_ || callback_status_ != 0) {
         return;
     }
     CncSimEvent event = base_event(CNC_SIM_EVENT_RTCP_PIVOT, line);
-    event.start = rtcp_pivot_from_tool_tip(start, rtcp_tool_length_);
+    if (fiveaxis_configured_ && kinematics_type_ == fiveaxis_kinematics_type_) {
-    event.end = rtcp_pivot_from_tool_tip(end, rtcp_tool_length_);
+        const LinuxCncFiveAxisJoints start_joints =
-    const RtcpVector tool = rtcp_tool_vector_from_pose(end, rtcp_tool_length_);
+            linuxcnc_5axis_inverse(start, fiveaxis_pivot_length_);
-    event.center.x = tool.x;
+        const LinuxCncFiveAxisJoints end_joints =
-    event.center.y = tool.y;
+            linuxcnc_5axis_inverse(end, fiveaxis_pivot_length_);
-    event.center.z = tool.z;
+        event.start.x = start_joints.x;
+        event.start.y = start_joints.y;
+        event.start.z = start_joints.z;
+        event.start.b = start_joints.b;
+        event.start.c = start_joints.c;
+        event.start.w = start_joints.w;
+        event.end.x = end_joints.x;
+        event.end.y = end_joints.y;
+        event.end.z = end_joints.z;
+        event.end.b = end_joints.b;
+        event.end.c = end_joints.c;
+        event.end.w = end_joints.w;
+        event.reserved = kinematics_type_;
+        event.dwell_seconds = fiveaxis_pivot_length_;
+    } else if (kinematics_type_ == 1 || kinematics_type_ == 2) {
+        LinuxCncFiveAxisJoints start_joints{};
+        LinuxCncFiveAxisJoints end_joints{};
+        if (kinematics_type_ == 1) {
+            LinuxCncXyzbcTrtParameters parameters = xyzbc_trt_parameters_configured_
+                                                        ? xyzbc_trt_parameters_
+                                                        : linuxcnc_xyzbc_trt_default_parameters(rtcp_tool_length_);
+            parameters.tool_offset = rtcp_tool_length_;
+            if (use_xyzac_trt_) {
+                start_joints = linuxcnc_xyzac_trt_inverse(start, parameters);
+                end_joints = linuxcnc_xyzac_trt_inverse(end, parameters);
+            } else {
+                start_joints = linuxcnc_xyzbc_trt_inverse(start, parameters);
+                end_joints = linuxcnc_xyzbc_trt_inverse(end, parameters);
+            }
+        } else {
+            start_joints = linuxcnc_xyzbc_userk_inverse(start);
+            end_joints = linuxcnc_xyzbc_userk_inverse(end);
+        }
+        event.start.x = start_joints.x;
+        event.start.y = start_joints.y;
+        event.start.z = start_joints.z;
+        event.start.a = start_joints.a;
+        event.start.b = start_joints.b;
+        event.start.c = start_joints.c;
+        event.start.w = start_joints.w;
+        event.end.x = end_joints.x;
+        event.end.y = end_joints.y;
+        event.end.z = end_joints.z;
+        event.end.a = end_joints.a;
+        event.end.b = end_joints.b;
+        event.end.c = end_joints.c;
+        event.end.w = end_joints.w;
+        event.reserved = kinematics_type_;
+        event.dwell_seconds = rtcp_tool_length_;
+    } else {
+        return;
+    }
     emit(event);
 }
 

core/src/canon_event_sink.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "cnc_sim_api.h"
+#include "rtcp_kinematics.h"
 
 #include <unordered_map>
 
@@ -10,21 +11,31 @@ public:
     void set_callback(CncSimEventCallback callback, void *user_data);
     void clear_callback_status();
     bool callback_aborted() const;
+    void set_block_delete(bool enabled);
     void configure_rtcp(bool enabled, double tool_length);
+    void configure_xyzbc_trt(const LinuxCncXyzbcTrtParameters &parameters);
+    void configure_xyzac_trt(const LinuxCncXyzbcTrtParameters &parameters);
+    void configure_fiveaxis(double pivot_length, int kinematics_type);
+    void configure_switchkins_remap(int m428_type, int m429_type, int m430_type);
     void set_tool_length(int h_code, double tool_length);
     void set_tool_length_offset(const CncSimPose &offset);
+    void apply_tool_length_offset(const CncSimPose &offset);
     void set_rtcp_state(bool enabled, int h_code, int line);
-    void switch_kinematics(int kinematics_type, bool rtcp_enabled, int line);
+    void switch_kinematics(int kinematics_type, int line);
+    bool can_switch_m_code_kinematics(int m_code) const;
+    bool switch_m_code_kinematics(int m_code, int default_kinematics_type, int line);
     void set_g5x_offset(int index, const CncSimPose &offset, int line);
     void set_g92_offset(const CncSimPose &offset, int line);
     void set_xy_rotation(double angle_degrees, int line);
 
     void use_length_units(double scale, int line);
+    void use_length_units(double scale, int line, bool rescale_linear_state);
     void select_plane(int plane, int line);
     void set_traverse_rate(double rate);
     void set_feed_rate(double feed, int line);
     void set_feed_mode(int spindle, int mode, int line);
     void set_spindle_speed(double spindle, int line);
+    void set_spindle_speed(int spindle, double speed, int line);
     void set_spindle_mode(int spindle, double mode, int line);
     void set_speed_feed_sync(int spindle, double feed_per_revolution, bool velocity_mode, bool enabled, int line);
     void orient_spindle(int spindle, double orientation, int mode, int line);
@@ -34,7 +45,9 @@ public:
     void wait_input(int index, int input_type, int wait_type, double timeout, int line);
     void set_override_control(int control, bool enabled, int spindle, int line);
     void start_spindle(int direction, int line);
+    void start_spindle(int spindle, int direction, int line);
     void stop_spindle(int line);
+    void stop_spindle(int spindle, int line);
     void select_tool(int tool);
     void change_tool(int line);
     void straight_traverse(int line, const CncSimPose &end);
@@ -66,6 +79,7 @@ public:
     bool feed_hold() const;
     bool mist_on() const;
     bool flood_on() const;
+    bool block_delete() const;
     void set_mist_on(bool enabled);
     void set_flood_on(bool enabled);
 
@@ -91,13 +105,27 @@ private:
     double default_rtcp_tool_length_ = 0.0;
     double rtcp_tool_length_ = 0.0;
     int rtcp_h_code_ = 0;
+    LinuxCncXyzbcTrtParameters xyzbc_trt_parameters_{};
+    bool xyzbc_trt_parameters_configured_ = false;
+    bool use_xyzac_trt_ = false;
+    bool fiveaxis_configured_ = false;
+    double fiveaxis_pivot_length_ = 250.0;
+    int fiveaxis_kinematics_type_ = 0;
+    bool switchkins_remap_configured_ = false;
+    int switchkins_m428_type_ = 1;
+    int switchkins_m429_type_ = 0;
+    int switchkins_m430_type_ = 2;
     CncSimPose tool_length_offset_{};
-    int kinematics_type_ = 1;
+    double xy_rotation_degrees_ = 0.0;
+    int kinematics_type_ = 0;
     bool feed_override_ = false;
     bool speed_override_ = false;
     bool adaptive_feed_ = false;
     bool feed_hold_ = false;
     bool mist_on_ = false;
     bool flood_on_ = false;
+    bool block_delete_ = false;
     std::unordered_map<int, double> tool_lengths_;
+    bool has_pending_motion_start_ = false;
+    CncSimPose pending_motion_start_{};
 };

core/src/cnc_sim_api.cpp

@@ -4,12 +4,14 @@
 
 #include <algorithm>
 #include <cctype>
+#include <cstring>
 #include <cstdlib>
 #include <string>
 
 struct CncSimHandle {
     CncSimDialect dialect = CNC_SIM_DIALECT_LINUXCNC;
-    GcodeBackendKind backend = GcodeBackendKind::Smoke;
+    GcodeBackendKind backend = GcodeBackendKind::LinuxCncRs274;
+    GcodeBackendOptions backend_options;
     std::string last_error;
     CanonEventSink sink;
 };
@@ -73,6 +75,116 @@ bool contains_bool_value(const std::string &compact, const char *key, bool *valu
     return false;
 }
 
+bool contains_string_value(const std::string &compact, const char *key, const char *value) {
+    const std::string quoted_needle = std::string("\"") + key + "\":\"" + value + "\"";
+    if (compact.find(quoted_needle) != std::string::npos) {
+        return true;
+    }
+    const std::string prefix_needle = std::string("\"") + key + "\":\"";
+    size_t pos = 0;
+    while ((pos = compact.find(prefix_needle, pos)) != std::string::npos) {
+        pos += prefix_needle.size();
+        const size_t end = compact.find('"', pos);
+        if (end == std::string::npos) {
+            return false;
+        }
+        const std::string field_value = compact.substr(pos, end - pos);
+        if (field_value.find(value) != std::string::npos) {
+            return true;
+        }
+        pos = end + 1;
+    }
+    return false;
+}
+
+bool find_json_string_value(const std::string &json, const char *key, std::string *value) {
+    const std::string needle = std::string("\"") + key + "\"";
+    size_t pos = 0;
+    while ((pos = json.find(needle, pos)) != std::string::npos) {
+        pos += needle.size();
+        while (pos < json.size() && std::isspace(static_cast<unsigned char>(json[pos]))) {
+            ++pos;
+        }
+        if (pos >= json.size() || json[pos] != ':') {
+            continue;
+        }
+        ++pos;
+        while (pos < json.size() && std::isspace(static_cast<unsigned char>(json[pos]))) {
+            ++pos;
+        }
+        if (pos >= json.size() || json[pos] != '"') {
+            continue;
+        }
+        ++pos;
+        std::string parsed;
+        bool escaped = false;
+        for (; pos < json.size(); ++pos) {
+            const char ch = json[pos];
+            if (escaped) {
+                switch (ch) {
+                case '"':
+                case '\\':
+                case '/':
+                    parsed.push_back(ch);
+                    break;
+                case 'n':
+                    parsed.push_back('\n');
+                    break;
+                case 'r':
+                    parsed.push_back('\r');
+                    break;
+                case 't':
+                    parsed.push_back('\t');
+                    break;
+                default:
+                    parsed.push_back(ch);
+                    break;
+                }
+                escaped = false;
+            } else if (ch == '\\') {
+                escaped = true;
+            } else if (ch == '"') {
+                *value = parsed;
+                return true;
+            } else {
+                parsed.push_back(ch);
+            }
+        }
+    }
+    return false;
+}
+
+bool find_json_string_any(const std::string &json, std::string *value, const char *first) {
+    return find_json_string_value(json, first, value);
+}
+
+template <typename... Keys>
+bool find_json_string_any(const std::string &json, std::string *value, const char *first, Keys... rest) {
+    return find_json_string_value(json, first, value) || find_json_string_any(json, value, rest...);
+}
+
+bool contains_switchkins_config_alias(const std::string &compact, const char *alias) {
+    return contains_string_value(compact, "switchkins", alias) ||
+           contains_string_value(compact, "remap", alias) ||
+           contains_string_value(compact, "machine", alias) ||
+           contains_string_value(compact, "kinematics", alias) ||
+           contains_string_value(compact, "halfile", alias) ||
+           contains_string_value(compact, "hal_file", alias) ||
+           contains_string_value(compact, "postguihalfile", alias) ||
+           contains_string_value(compact, "postgui_halfile", alias) ||
+           contains_string_value(compact, "postgui_hal_file", alias) ||
+           contains_string_value(compact, "subroutinepath", alias) ||
+           contains_string_value(compact, "subroutine_path", alias) ||
+           contains_string_value(compact, "config", alias) ||
+           contains_string_value(compact, "configpath", alias) ||
+           contains_string_value(compact, "config_path", alias) ||
+           contains_string_value(compact, "ini", alias) ||
+           contains_string_value(compact, "inifile", alias) ||
+           contains_string_value(compact, "inifilename", alias) ||
+           contains_string_value(compact, "ini_file", alias) ||
+           contains_string_value(compact, "ini_file_name", alias);
+}
+
 bool find_number_value(const std::string &compact, const char *key, double *value) {
     const std::string needle = std::string("\"") + key + "\":";
     const size_t pos = compact.find(needle);
@@ -128,6 +240,118 @@ void apply_tool_length_table(CanonEventSink &sink, const std::string &compact) {
     }
 }
 
+bool find_number_any(const std::string &compact, double *value, const char *first) {
+    return find_number_value(compact, first, value);
+}
+
+template <typename... Keys>
+bool find_number_any(const std::string &compact, double *value, const char *first, Keys... rest) {
+    return find_number_value(compact, first, value) || find_number_any(compact, value, rest...);
+}
+
+bool contains_bool_any(const std::string &compact, bool *value, const char *first) {
+    return contains_bool_value(compact, first, value);
+}
+
+template <typename... Keys>
+bool contains_bool_any(const std::string &compact, bool *value, const char *first, Keys... rest) {
+    return contains_bool_value(compact, first, value) || contains_bool_any(compact, value, rest...);
+}
+
+void apply_xyzbc_trt_config(CanonEventSink &sink, const std::string &compact) {
+    LinuxCncXyzbcTrtParameters parameters = linuxcnc_xyzbc_trt_default_parameters(0.0);
+    bool configured = false;
+    const bool xyzac = compact.find("\"trt\":\"xyzac\"") != std::string::npos ||
+                       compact.find("\"kinematics\":\"xyzac-trt\"") != std::string::npos ||
+                       compact.find("\"switchkins\":\"xyzac-trt\"") != std::string::npos;
+    const bool xyzbc = compact.find("\"trt\":\"xyzbc\"") != std::string::npos ||
+                       compact.find("\"kinematics\":\"xyzbc-trt\"") != std::string::npos ||
+                       compact.find("\"switchkins\":\"xyzbc-trt\"") != std::string::npos;
+
+    configured = find_number_any(compact, &parameters.x_rot_point, "xrotpoint", "x_rot_point", "x-rot-point") ||
+                 configured;
+    configured = find_number_any(compact, &parameters.y_rot_point, "yrotpoint", "y_rot_point", "y-rot-point") ||
+                 configured;
+    configured = find_number_any(compact, &parameters.z_rot_point, "zrotpoint", "z_rot_point", "z-rot-point") ||
+                 configured;
+    configured = find_number_any(compact, &parameters.x_offset, "xoffset", "x_offset", "x-offset") ||
+                 configured;
+    configured = find_number_any(compact, &parameters.y_offset, "yoffset", "y_offset", "y-offset") ||
+                 configured;
+    configured = find_number_any(compact, &parameters.z_offset, "zoffset", "z_offset", "z-offset") ||
+                 configured;
+    configured = contains_bool_any(compact,
+                                   &parameters.conventional_directions,
+                                   "conventionaldirections",
+                                   "conventional_directions",
+                                   "conventional-directions") ||
+                 configured;
+
+    if (configured || xyzac || xyzbc) {
+        configured = true;
+    }
+    if (configured && xyzac) {
+        sink.configure_xyzac_trt(parameters);
+    } else if (configured) {
+        sink.configure_xyzbc_trt(parameters);
+    }
+}
+
+void apply_fiveaxis_config(CanonEventSink &sink, const std::string &compact) {
+    const bool fiveaxis = compact.find("\"kinematics\":\"5axiskins\"") != std::string::npos ||
+                          compact.find("\"switchkins\":\"5axiskins\"") != std::string::npos ||
+                          compact.find("\"kinematics\":\"5axis\"") != std::string::npos;
+    double pivot_length = 250.0;
+    const bool has_pivot_length = find_number_any(compact,
+                                                  &pivot_length,
+                                                  "pivotlength",
+                                                  "pivot_length",
+                                                  "pivot-length");
+    double kinematics_type = 0.0;
+    const bool has_kinematics_type = find_number_any(compact,
+                                                     &kinematics_type,
+                                                     "fiveaxiskinematicstype",
+                                                     "fiveaxis_kinematics_type",
+                                                     "fiveaxis-kinematics-type",
+                                                     "kinematicstype",
+                                                     "kinematics_type");
+    if (fiveaxis || has_pivot_length || has_kinematics_type) {
+        sink.configure_fiveaxis(pivot_length, static_cast<int>(kinematics_type));
+    }
+}
+
+void apply_switchkins_remap_config(CanonEventSink &sink, const std::string &compact) {
+    struct RemapSource {
+        const char *alias;
+        int m428_type;
+        int m429_type;
+        int m430_type;
+    };
+
+    // Generated from LinuxCNC INI REMAP/SUBROUTINE_PATH entries and the
+    // adjacent remap_subs #<kinstype> assignments.
+    static constexpr RemapSource kSources[] = {
+#include "linuxcnc_switchkins_remap_table.inc"
+    };
+
+    const RemapSource *matched_source = nullptr;
+    size_t matched_alias_length = 0;
+    for (const RemapSource &source : kSources) {
+        if (contains_switchkins_config_alias(compact, source.alias)) {
+            const size_t alias_length = std::strlen(source.alias);
+            if (alias_length > matched_alias_length) {
+                matched_source = &source;
+                matched_alias_length = alias_length;
+            }
+        }
+    }
+    if (matched_source) {
+        sink.configure_switchkins_remap(matched_source->m428_type,
+                                        matched_source->m429_type,
+                                        matched_source->m430_type);
+    }
+}
+
 int apply_config(CncSimHandle *handle, const std::string &json) {
     if (json.empty()) {
         return 0;
@@ -143,6 +367,20 @@ int apply_config(CncSimHandle *handle, const std::string &json) {
         return -1;
     }
 
+    std::string ini_file_name;
+    if (find_json_string_any(json,
+                             &ini_file_name,
+                             "ini",
+                             "iniFile",
+                             "inifile",
+                             "iniFileName",
+                             "inifilename",
+                             "ini_file",
+                             "ini_file_name",
+                             "INI_FILE_NAME")) {
+        handle->backend_options.ini_file_name = ini_file_name;
+    }
+
     bool rtcp_enabled = false;
     double tool_length = 0.0;
     const bool has_rtcp_enabled = contains_bool_value(compact, "rtcp", &rtcp_enabled) ||
@@ -152,7 +390,15 @@ int apply_config(CncSimHandle *handle, const std::string &json) {
     if (has_rtcp_enabled || has_tool_length) {
         handle->sink.configure_rtcp(rtcp_enabled, tool_length);
     }
+    bool block_delete = false;
+    if (contains_bool_value(compact, "blockdelete", &block_delete) ||
+        contains_bool_value(compact, "block_delete", &block_delete)) {
+        handle->sink.set_block_delete(block_delete);
+    }
     apply_tool_length_table(handle->sink, compact);
+    apply_switchkins_remap_config(handle->sink, compact);
+    apply_xyzbc_trt_config(handle->sink, compact);
+    apply_fiveaxis_config(handle->sink, compact);
     return 0;
 }
 
@@ -218,7 +464,12 @@ int cnc_sim_parse_program(CncSimHandle *handle, const char *program, size_t prog
     }
 
     handle->last_error.clear();
-    const int rc = parse_gcode_with_backend(handle->backend, handle->sink, program, program_len, &handle->last_error);
+    const int rc = parse_gcode_with_backend(handle->backend,
+                                            handle->sink,
+                                            program,
+                                            program_len,
+                                            handle->backend_options,
+                                            &handle->last_error);
     if (rc != 0 && handle->last_error.empty()) {
         handle->last_error = "program parse failed";
     }

core/src/gcode_backend.cpp

@@ -3,7 +3,9 @@
 #ifdef CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND
 #include "linuxcnc_rs274_backend.h"
 #endif
+#ifdef CNC_SIM_ENABLE_SMOKE_BACKEND
 #include "smoke_gcode_parser.h"
+#endif
 
 const char *gcode_backend_name(GcodeBackendKind backend) {
     switch (backend) {
@@ -20,15 +22,23 @@ int parse_gcode_with_backend(GcodeBackendKind backend,
                              CanonEventSink &sink,
                              const char *program,
                              size_t program_len,
+                             const GcodeBackendOptions &options,
                              std::string *error) {
     switch (backend) {
     case GcodeBackendKind::Smoke: {
+#ifdef CNC_SIM_ENABLE_SMOKE_BACKEND
         SmokeGcodeParser parser(sink);
         return parser.parse(program, program_len, error);
+#else
+        if (error) {
+            *error = "smoke backend is not compiled into this build";
+        }
+        return -1;
+#endif
     }
     case GcodeBackendKind::LinuxCncRs274:
 #ifdef CNC_SIM_ENABLE_LINUXCNC_RS274_BACKEND
-        return parse_linuxcnc_rs274_backend(sink, program, program_len, error);
+        return parse_linuxcnc_rs274_backend(sink, program, program_len, options, error);
 #else
         if (error) {
             *error = "linuxcnc-rs274 backend is not compiled into this build";

core/src/gcode_backend.h

@@ -10,11 +10,15 @@ enum class GcodeBackendKind {
     LinuxCncRs274,
 };
 
+struct GcodeBackendOptions {
+    std::string ini_file_name;
+};
+
 const char *gcode_backend_name(GcodeBackendKind backend);
 
 int parse_gcode_with_backend(GcodeBackendKind backend,
                              CanonEventSink &sink,
                              const char *program,
                              size_t program_len,
+                             const GcodeBackendOptions &options,
                              std::string *error);
-

core/src/linuxcnc_5axiskins_adapter.c

@@ -0,0 +1,266 @@
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_RTAPI_CTYPE_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_KINEMATICS_H
+#define SWITCHKINS_H
+
+#define RTAPI_MSG_ERR 1
+#define PM_PI 3.1415926535897932384626433832795029
+#define TO_RAD (PM_PI / 180.0)
+#define EMCMOT_MAX_JOINTS 16
+#define EMCMOT_MAX_AXIS 9
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+typedef int (*KF)(const double *joint,
+                  EmcPose *pos,
+                  const KINEMATICS_FORWARD_FLAGS *fflags,
+                  KINEMATICS_INVERSE_FLAGS *iflags);
+typedef int (*KI)(const struct EmcPose *world,
+                  double *joint,
+                  const KINEMATICS_INVERSE_FLAGS *iflags,
+                  KINEMATICS_FORWARD_FLAGS *fflags);
+typedef int (*KS)(const int comp_id, const char *coordinates, kparms *ksetup_parms);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static int cnc_sim_axis_idx_for_jno[EMCMOT_MAX_JOINTS];
+static int cnc_sim_max_joints;
+
+void cnc_sim_5axis_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_5axis_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_5axis_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_5axis_hal_pin_float_newf(hal_pin_dir_t dir,
+                                     hal_float_t **data_ptr_addr,
+                                     int comp_id,
+                                     const char *fmt,
+                                     ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_5axis_map_coordinates_to_jnumbers(const char *coordinates,
+                                              const int max_joints,
+                                              const int allow_duplicates,
+                                              int axis_idx_for_jno[]) {
+    (void)allow_duplicates;
+    const char *letters = "XYZABCUVW";
+    int jno = 0;
+    for (int i = 0; i < EMCMOT_MAX_JOINTS; ++i) {
+        axis_idx_for_jno[i] = -1;
+        cnc_sim_axis_idx_for_jno[i] = -1;
+    }
+    while (*coordinates) {
+        const char *found = strchr(letters, toupper((unsigned char)*coordinates));
+        if (!found || jno >= max_joints) {
+            return -1;
+        }
+        axis_idx_for_jno[jno++] = (int)(found - letters);
+        ++coordinates;
+    }
+    cnc_sim_max_joints = jno;
+    for (int i = 0; i < EMCMOT_MAX_JOINTS; ++i) {
+        cnc_sim_axis_idx_for_jno[i] = axis_idx_for_jno[i];
+    }
+    return 0;
+}
+
+int cnc_sim_5axis_position_to_mapped_joints(const int max_joints, const EmcPose *pos, double *joints) {
+    for (int jno = 0; jno < max_joints; ++jno) {
+        switch (cnc_sim_axis_idx_for_jno[jno]) {
+        case 0: joints[jno] = pos->tran.x; break;
+        case 1: joints[jno] = pos->tran.y; break;
+        case 2: joints[jno] = pos->tran.z; break;
+        case 3: joints[jno] = pos->a; break;
+        case 4: joints[jno] = pos->b; break;
+        case 5: joints[jno] = pos->c; break;
+        case 6: joints[jno] = pos->u; break;
+        case 7: joints[jno] = pos->v; break;
+        case 8: joints[jno] = pos->w; break;
+        default: joints[jno] = 0.0; break;
+        }
+    }
+    return 0;
+}
+
+int cnc_sim_5axis_identityKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return 0;
+}
+
+int cnc_sim_5axis_identityKinematicsForward(const double *joint,
+                                            EmcPose *world,
+                                            const KINEMATICS_FORWARD_FLAGS *fflags,
+                                            KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_5axis_identityKinematicsInverse(const EmcPose *world,
+                                            double *joint,
+                                            const KINEMATICS_INVERSE_FLAGS *iflags,
+                                            KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+int cnc_sim_5axis_userkKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return -1;
+}
+
+int cnc_sim_5axis_userkKinematicsForward(const double *joint,
+                                         EmcPose *world,
+                                         const KINEMATICS_FORWARD_FLAGS *fflags,
+                                         KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_5axis_userkKinematicsInverse(const EmcPose *pos,
+                                         double *joint,
+                                         const KINEMATICS_INVERSE_FLAGS *iflags,
+                                         KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)pos;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+#define rtapi_print cnc_sim_5axis_rtapi_print
+#define rtapi_print_msg cnc_sim_5axis_rtapi_print_msg
+#define hal_pin_float_newf cnc_sim_5axis_hal_pin_float_newf
+#define map_coordinates_to_jnumbers cnc_sim_5axis_map_coordinates_to_jnumbers
+#define position_to_mapped_joints cnc_sim_5axis_position_to_mapped_joints
+#define identityKinematicsSetup cnc_sim_5axis_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_5axis_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_5axis_identityKinematicsInverse
+#define userkKinematicsSetup cnc_sim_5axis_userkKinematicsSetup
+#define userkKinematicsForward cnc_sim_5axis_userkKinematicsForward
+#define userkKinematicsInverse cnc_sim_5axis_userkKinematicsInverse
+#define switchkinsSetup cnc_sim_5axis_switchkinsSetup
+#define haldata cnc_sim_5axis_haldata
+#define hal_malloc(size) ((struct haldata *)cnc_sim_5axis_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/5axiskins.c"
+#undef hal_malloc
+#undef haldata
+#undef switchkinsSetup
+#undef userkKinematicsInverse
+#undef userkKinematicsForward
+#undef userkKinematicsSetup
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef position_to_mapped_joints
+#undef map_coordinates_to_jnumbers
+#undef hal_pin_float_newf
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_5axiskins_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "5axiskins";
+    static char halprefix[] = "5axiskins";
+    static char required_coordinates[] = "XYZBCW";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.required_coordinates = required_coordinates;
+    kp.max_joints = EMCMOT_MAX_JOINTS;
+    kp.allow_duplicates = 1;
+    return fiveaxis_KinematicsSetup(0, "XYZBCW", &kp);
+}
+
+void cnc_sim_linuxcnc_5axiskins_set_pivot_length(double pivot_length) {
+    *cnc_sim_5axis_haldata->pivot_length = pivot_length;
+}
+
+int cnc_sim_linuxcnc_5axiskins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return fiveaxis_KinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_5axiskins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return fiveaxis_KinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_5axiskins_adapter.cpp

@@ -0,0 +1,122 @@
+#include "linuxcnc_5axiskins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_5axiskins_setup(void);
+void cnc_sim_linuxcnc_5axiskins_set_pivot_length(double pivot_length);
+int cnc_sim_linuxcnc_5axiskins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_5axiskins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_5axiskins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncFiveAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.b;
+    out[4] = joints.c;
+    out[5] = joints.w;
+}
+
+LinuxCncFiveAxisJoints from_joints(const double joints[16]) {
+    LinuxCncFiveAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.b = joints[3];
+    out.c = joints[4];
+    out.w = joints[5];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_5axiskins_forward(const LinuxCncFiveAxisJoints &joints,
+                                double pivot_length,
+                                CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_5axiskins_set_pivot_length(pivot_length);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_5axiskins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_5axiskins_inverse(const CncSimPose &pose,
+                                double pivot_length,
+                                LinuxCncFiveAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_5axiskins_set_pivot_length(pivot_length);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_5axiskins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_5axiskins_adapter.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_5axiskins_forward(const LinuxCncFiveAxisJoints &joints,
+                                double pivot_length,
+                                CncSimPose *pose);
+bool linuxcnc_5axiskins_inverse(const CncSimPose &pose,
+                                double pivot_length,
+                                LinuxCncFiveAxisJoints *joints);

core/src/linuxcnc_canon_bridge.cpp

@@ -15,6 +15,8 @@
 
 namespace {
 
+constexpr int kToolLengthOffsetEvent = 430;
+
 CanonEventSink *active_sink = nullptr;
 int active_line = 0;
 bool flood_on = false;
@@ -26,6 +28,19 @@ double motion_control_tolerance = 0.0;
 double naivecam_tolerance = 0.0;
 std::string parameter_file_name = "rs274ngc.var";
 
+void load_nonrandom_tool_to_spindle(int pocket) {
+    // LinuxCNC Task::load_tool() uses pocket 0 as the non-random
+    // toolchanger unload handshake. Do not eagerly mirror nonzero
+    // loads here; the source-linked interpreter observes its own
+    // post-canonical state before external task-side load completion.
+    if (pocket == 0) {
+        CANON_TOOL_TABLE unloaded = tooldata_entry_init();
+        unloaded.toolno = 0;
+        unloaded.pocketno = 0;
+        tooldata_put(unloaded, 0);
+    }
+}
+
 CncSimPose make_pose(double x, double y, double z,
                      double a, double b, double c,
                      double u, double v, double w) {
@@ -50,6 +65,12 @@ int plane_to_g_code(CANON_PLANE plane) {
         return 18;
     case CANON_PLANE::YZ:
         return 19;
+    case CANON_PLANE::UV:
+        return 171;
+    case CANON_PLANE::UW:
+        return 181;
+    case CANON_PLANE::VW:
+        return 191;
     default:
         return 17;
     }
@@ -73,6 +94,12 @@ CANON_PLANE g_code_to_plane(int plane) {
         return CANON_PLANE::XZ;
     case 19:
         return CANON_PLANE::YZ;
+    case 171:
+        return CANON_PLANE::UV;
+    case 181:
+        return CANON_PLANE::UW;
+    case 191:
+        return CANON_PLANE::VW;
     case 17:
     default:
         return CANON_PLANE::XY;
@@ -84,6 +111,27 @@ 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);
@@ -145,7 +193,7 @@ void INIT_CANON() {
 void USE_LENGTH_UNITS(CANON_UNITS units) {
     trace_call("USE_LENGTH_UNITS");
     if (active_sink) {
-        active_sink->use_length_units(units_to_scale(units), event_line());
+        active_sink->use_length_units(units_to_scale(units), event_line(), true);
     }
 }
 
@@ -163,10 +211,10 @@ void SET_FEED_RATE(double rate) {
     }
 }
 
-void SET_SPINDLE_SPEED(int, double speed) {
+void SET_SPINDLE_SPEED(int spindle, double speed) {
     trace_call("SET_SPINDLE_SPEED");
     if (active_sink) {
-        active_sink->set_spindle_speed(speed, event_line());
+        active_sink->set_spindle_speed(spindle, speed, event_line());
     }
 }
 
@@ -180,6 +228,10 @@ void SELECT_TOOL(int tool) {
 void CHANGE_TOOL() {
     trace_call("CHANGE_TOOL");
     if (active_sink) {
+        const int selected_tool = active_sink->selected_tool();
+        if (selected_tool == 0) {
+            load_nonrandom_tool_to_spindle(0);
+        }
         active_sink->change_tool(event_line());
     }
 }
@@ -350,6 +402,15 @@ void SET_MOTION_CONTROL_MODE(CANON_MOTION_MODE mode, double tolerance) {
 
 void SET_NAIVECAM_TOLERANCE(double tolerance) {
     naivecam_tolerance = tolerance;
+    if (active_sink) {
+        CncSimEvent event{};
+        event.version = 1;
+        event.type = CNC_SIM_EVENT_COMMENT;
+        event.line = event_line();
+        event.feed = tolerance;
+        event.reserved = 641;
+        active_sink->emit_raw(event);
+    }
 }
 
 void SET_CUTTER_RADIUS_COMPENSATION(double) {
@@ -373,27 +434,21 @@ 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();
+        active_sink->straight_feed(event_line(lineno), nurbs_plane_point_to_pose(point, plane));
-        end.x = point.NURBS_X;
-        end.y = point.NURBS_Y;
-        active_sink->straight_feed(lineno, end);
     }
 }
 
-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();
+        active_sink->straight_feed(event_line(lineno), nurbs_plane_point_to_pose(point, plane));
-        end.x = point.NURBS_X;
-        end.y = point.NURBS_Y;
-        active_sink->straight_feed(lineno, end);
     }
 }
 
@@ -431,21 +486,21 @@ void SET_SPINDLE_MODE(int spindle, double mode) {
 void SPINDLE_RETRACT_TRAVERSE() {
 }
 
-void START_SPINDLE_CLOCKWISE(int, int) {
+void START_SPINDLE_CLOCKWISE(int spindle, int) {
     if (active_sink) {
-        active_sink->start_spindle(1, event_line());
+        active_sink->start_spindle(spindle, 1, event_line());
     }
 }
 
-void START_SPINDLE_COUNTERCLOCKWISE(int, int) {
+void START_SPINDLE_COUNTERCLOCKWISE(int spindle, int) {
     if (active_sink) {
-        active_sink->start_spindle(-1, event_line());
+        active_sink->start_spindle(spindle, -1, event_line());
     }
 }
 
-void STOP_SPINDLE_TURNING(int) {
+void STOP_SPINDLE_TURNING(int spindle) {
     if (active_sink) {
-        active_sink->stop_spindle(event_line());
+        active_sink->stop_spindle(spindle, event_line());
     }
 }
 
@@ -488,13 +543,14 @@ void USE_TOOL_LENGTH_OFFSET(const EmcPose &offset) {
     event.version = 1;
     event.type = CNC_SIM_EVENT_COMMENT;
     event.line = event_line();
-    event.reserved = 430;
+    event.reserved = kToolLengthOffsetEvent;
     event.start = tool_offset;
     active_sink->emit_raw(event);
 }
 
 void CHANGE_TOOL_NUMBER(int number) {
     if (active_sink) {
+        load_nonrandom_tool_to_spindle(number);
         active_sink->select_tool(number);
         active_sink->change_tool(event_line());
     }
@@ -726,11 +782,16 @@ int GET_EXTERNAL_FLOOD() {
 }
 
 CANON_UNITS GET_EXTERNAL_LENGTH_UNIT_TYPE() {
-    return active_sink && active_sink->unit_scale() == 25.4 ? CANON_UNITS_INCHES : CANON_UNITS_MM;
+    // LinuxCNC src/emc/task/emccanon.cc derives this from INI machine/user
+    // units, not from the active G20/G21 program units.
+    return CANON_UNITS_MM;
 }
 
 double GET_EXTERNAL_LENGTH_UNITS() {
-    return active_sink ? active_sink->unit_scale() : 1.0;
+    // LinuxCNC src/emc/task/emccanon.cc returns traj.linearUnits here:
+    // external/user units per internal millimeter. The simulator has no INI
+    // machine-units bridge yet, so the source-linked default is metric.
+    return 1.0;
 }
 
 double GET_EXTERNAL_ANGLE_UNITS() {

core/src/linuxcnc_corexykins_adapter.c

@@ -0,0 +1,127 @@
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define RTAPI_MSG_ERR 1
+#define EMCMOT_MAX_JOINTS 16
+typedef int hal_s32_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_corexykins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_corexykins_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_corexykins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_corexykins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+#define hal_init cnc_sim_corexykins_hal_init
+#define hal_malloc(size) ((struct data *)cnc_sim_corexykins_hal_malloc(size))
+#define hal_ready cnc_sim_corexykins_hal_ready
+#define hal_exit cnc_sim_corexykins_hal_exit
+#define kinematicsType cnc_sim_corexykins_kinematicsType
+#define kinematicsForward cnc_sim_corexykins_kinematicsForward
+#define kinematicsInverse cnc_sim_corexykins_kinematicsInverse
+#define kinematicsHome cnc_sim_corexykins_kinematicsHome
+#define kinematicsSwitchable cnc_sim_corexykins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_corexykins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_corexykins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_corexykins_rtapi_app_exit
+#define comp_id cnc_sim_corexykins_comp_id
+#define data cnc_sim_corexykins_data
+#include "../../../linuxcnc/src/emc/kinematics/corexykins.c"
+#undef data
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsHome
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_corexykins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_corexykins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_corexykins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_corexykins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_corexykins_adapter.cpp

@@ -0,0 +1,104 @@
+#include "linuxcnc_corexykins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_corexykins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_corexykins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_corexykins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose) {
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_corexykins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_corexykins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints) {
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_corexykins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_corexykins_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_corexykins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_corexykins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints);

core/src/linuxcnc_cubic_adapter.c

@@ -0,0 +1,117 @@
+#include <math.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#define __LINUXCNC_RTAPI_MATH_H
+
+typedef struct {
+    double a;
+    double b;
+    double c;
+    double d;
+} CUBIC_COEFF;
+
+typedef struct {
+    int configured;
+    double segmentTime;
+    int interpolationRate;
+    double interpolationTime;
+    double interpolationIncrement;
+    double x0, x1, x2, x3;
+    double wp0, wp1;
+    double velp0, velp1;
+    int filled;
+    int needNextPoint;
+    CUBIC_COEFF coeff;
+} CUBIC_STRUCT;
+
+#define CUBIC_H
+#define cubicInit cnc_sim_cubic_cubicInit
+#define cubicSetSegmentTime cnc_sim_cubic_cubicSetSegmentTime
+#define cubicGetSegmentTime cnc_sim_cubic_cubicGetSegmentTime
+#define cubicSetInterpolationRate cnc_sim_cubic_cubicSetInterpolationRate
+#define cubicGetInterpolationRate cnc_sim_cubic_cubicGetInterpolationRate
+#define cubicAddPoint cnc_sim_cubic_cubicAddPoint
+#define cubicOffset cnc_sim_cubic_cubicOffset
+#define cubicGetInterpolationIncrement cnc_sim_cubic_cubicGetInterpolationIncrement
+#define cubicGetCubicCoeff cnc_sim_cubic_cubicGetCubicCoeff
+#define cubicFilled cnc_sim_cubic_cubicFilled
+#define cubicInterpolate cnc_sim_cubic_cubicInterpolate
+#define cubicNeedNextPoint cnc_sim_cubic_cubicNeedNextPoint
+#define cubicDrain cnc_sim_cubic_cubicDrain
+int cubicInit(CUBIC_STRUCT *ci);
+int cubicSetSegmentTime(CUBIC_STRUCT *ci, double time);
+double cubicGetSegmentTime(CUBIC_STRUCT *ci);
+int cubicSetInterpolationRate(CUBIC_STRUCT *ci, int rate);
+int cubicGetInterpolationRate(CUBIC_STRUCT *ci);
+int cubicAddPoint(CUBIC_STRUCT *ci, double point);
+int cubicOffset(CUBIC_STRUCT *ci, double offset);
+double cubicGetInterpolationIncrement(CUBIC_STRUCT *ci);
+CUBIC_COEFF cubicGetCubicCoeff(CUBIC_STRUCT *ci);
+int cubicFilled(CUBIC_STRUCT *ci);
+double cubicInterpolate(CUBIC_STRUCT *ci, double *x, double *v, double *a, double *j);
+int cubicNeedNextPoint(CUBIC_STRUCT *ci);
+int cubicDrain(CUBIC_STRUCT *ci);
+#include "../../../linuxcnc/src/emc/kinematics/cubic.c"
+#undef cubicDrain
+#undef cubicNeedNextPoint
+#undef cubicInterpolate
+#undef cubicFilled
+#undef cubicGetCubicCoeff
+#undef cubicGetInterpolationIncrement
+#undef cubicOffset
+#undef cubicAddPoint
+#undef cubicGetInterpolationRate
+#undef cubicSetInterpolationRate
+#undef cubicGetSegmentTime
+#undef cubicSetSegmentTime
+#undef cubicInit
+#undef CUBIC_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_linuxcnc_cubic_second_segment_samples(double *x,
+                                                  double *v,
+                                                  double *a,
+                                                  double *j,
+                                                  int sample_count) {
+    if (!x || !v || !a || !j || sample_count != 4) {
+        return -1;
+    }
+
+    CUBIC_STRUCT cubic;
+    if (cnc_sim_cubic_cubicInit(&cubic) != 0 ||
+        cnc_sim_cubic_cubicSetSegmentTime(&cubic, 1.0) != 0 ||
+        cnc_sim_cubic_cubicSetInterpolationRate(&cubic, 4) != 0 ||
+        cnc_sim_cubic_cubicAddPoint(&cubic, 0.0) != 0) {
+        return -1;
+    }
+
+    for (int i = 0; i < 4; ++i) {
+        cnc_sim_cubic_cubicInterpolate(&cubic, NULL, NULL, NULL, NULL);
+    }
+    if (!cnc_sim_cubic_cubicNeedNextPoint(&cubic) ||
+        cnc_sim_cubic_cubicAddPoint(&cubic, 10.0) != 0) {
+        return -1;
+    }
+
+    for (int i = 0; i < sample_count; ++i) {
+        x[i] = cnc_sim_cubic_cubicInterpolate(&cubic, &x[i], &v[i], &a[i], &j[i]);
+    }
+
+    return cnc_sim_cubic_cubicNeedNextPoint(&cubic) ? 0 : -1;
+}
+
+int cnc_sim_linuxcnc_cubic_rejects_invalid_configuration(void) {
+    CUBIC_STRUCT cubic;
+    return cnc_sim_cubic_cubicInit(&cubic) == 0 &&
+           cnc_sim_cubic_cubicSetSegmentTime(&cubic, 0.0) != 0 &&
+           cnc_sim_cubic_cubicSetInterpolationRate(&cubic, 0) != 0 &&
+           cnc_sim_cubic_cubicAddPoint(&cubic, 1.0) != 0;
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_cubic_adapter.cpp

@@ -0,0 +1,36 @@
+#include "linuxcnc_cubic_adapter.h"
+
+extern "C" {
+int cnc_sim_linuxcnc_cubic_second_segment_samples(double *x,
+                                                  double *v,
+                                                  double *a,
+                                                  double *j,
+                                                  int sample_count);
+int cnc_sim_linuxcnc_cubic_rejects_invalid_configuration(void);
+}
+
+bool linuxcnc_cubic_source_second_segment_samples(LinuxCncCubicSample *samples, int sample_count) {
+    if (!samples || sample_count != 4) {
+        return false;
+    }
+
+    double x[4] = {};
+    double v[4] = {};
+    double a[4] = {};
+    double j[4] = {};
+    if (cnc_sim_linuxcnc_cubic_second_segment_samples(x, v, a, j, sample_count) != 0) {
+        return false;
+    }
+
+    for (int i = 0; i < sample_count; ++i) {
+        samples[i].x = x[i];
+        samples[i].v = v[i];
+        samples[i].a = a[i];
+        samples[i].j = j[i];
+    }
+    return true;
+}
+
+bool linuxcnc_cubic_source_rejects_invalid_configuration() {
+    return cnc_sim_linuxcnc_cubic_rejects_invalid_configuration() != 0;
+}

core/src/linuxcnc_cubic_adapter.h

@@ -0,0 +1,11 @@
+#pragma once
+
+struct LinuxCncCubicSample {
+    double x;
+    double v;
+    double a;
+    double j;
+};
+
+bool linuxcnc_cubic_source_second_segment_samples(LinuxCncCubicSample *samples, int sample_count);
+bool linuxcnc_cubic_source_rejects_invalid_configuration();

core/src/linuxcnc_genhexkins_adapter.c

@@ -0,0 +1,223 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_KINEMATICS_H
+#define SWITCHKINS_H
+
+#define RTAPI_MSG_ERR 1
+#define RTAPI_MSG_INFO 2
+#define EMCMOT_MAX_JOINTS 16
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef int hal_bit_t;
+typedef uint32_t hal_u32_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+#include "../../../linuxcnc/src/libnml/posemath/posemath.h"
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+typedef int (*KF)(const double *joint,
+                  EmcPose *pos,
+                  const KINEMATICS_FORWARD_FLAGS *fflags,
+                  KINEMATICS_INVERSE_FLAGS *iflags);
+typedef int (*KI)(const EmcPose *world,
+                  double *joint,
+                  const KINEMATICS_INVERSE_FLAGS *iflags,
+                  KINEMATICS_FORWARD_FLAGS *fflags);
+typedef int (*KS)(const int comp_id, const char *coordinates, kparms *ksetup_parms);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void cnc_sim_genhex_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_genhex_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_genhex_hal_pin_float_newf(hal_pin_dir_t dir,
+                                      hal_float_t **data_ptr_addr,
+                                      int comp_id,
+                                      const char *fmt,
+                                      ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_genhex_hal_pin_u32_newf(hal_pin_dir_t dir,
+                                    hal_u32_t **data_ptr_addr,
+                                    int comp_id,
+                                    const char *fmt,
+                                    ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_u32_t *)calloc(1, sizeof(hal_u32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_genhex_hal_pin_bit_newf(hal_pin_dir_t dir,
+                                    hal_bit_t **data_ptr_addr,
+                                    int comp_id,
+                                    const char *fmt,
+                                    ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_bit_t *)calloc(1, sizeof(hal_bit_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_genhex_identityKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return 0;
+}
+
+int cnc_sim_genhex_identityKinematicsForward(const double *joint,
+                                             EmcPose *world,
+                                             const KINEMATICS_FORWARD_FLAGS *fflags,
+                                             KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_genhex_identityKinematicsInverse(const EmcPose *world,
+                                             double *joint,
+                                             const KINEMATICS_INVERSE_FLAGS *iflags,
+                                             KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+int cnc_sim_genhex_userkKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return -1;
+}
+
+int cnc_sim_genhex_userkKinematicsForward(const double *joint,
+                                          EmcPose *world,
+                                          const KINEMATICS_FORWARD_FLAGS *fflags,
+                                          KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_genhex_userkKinematicsInverse(const EmcPose *world,
+                                          double *joint,
+                                          const KINEMATICS_INVERSE_FLAGS *iflags,
+                                          KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+#define rtapi_print_msg cnc_sim_genhex_rtapi_print_msg
+#define hal_pin_float_newf cnc_sim_genhex_hal_pin_float_newf
+#define hal_pin_u32_newf cnc_sim_genhex_hal_pin_u32_newf
+#define hal_pin_bit_newf cnc_sim_genhex_hal_pin_bit_newf
+#define identityKinematicsSetup cnc_sim_genhex_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_genhex_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_genhex_identityKinematicsInverse
+#define userkKinematicsSetup cnc_sim_genhex_userkKinematicsSetup
+#define userkKinematicsForward cnc_sim_genhex_userkKinematicsForward
+#define userkKinematicsInverse cnc_sim_genhex_userkKinematicsInverse
+#define switchkinsSetup cnc_sim_genhex_switchkinsSetup
+#define haldata cnc_sim_genhex_haldata
+#define hal_malloc(size) ((struct haldata *)cnc_sim_genhex_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/genhexkins.c"
+#undef hal_malloc
+#undef haldata
+#undef switchkinsSetup
+#undef userkKinematicsInverse
+#undef userkKinematicsForward
+#undef userkKinematicsSetup
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef hal_pin_bit_newf
+#undef hal_pin_u32_newf
+#undef hal_pin_float_newf
+#undef rtapi_print_msg
+
+int cnc_sim_linuxcnc_genhexkins_setup(void) {
+    kparms kp;
+    memset(&kp, 0, sizeof(kp));
+    static char kinsname[] = "genhexkins";
+    static char halprefix[] = "genhexkins";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.max_joints = NUM_STRUTS;
+    return genhexKinematicsSetup(0, "XYZABC", &kp);
+}
+
+int cnc_sim_linuxcnc_genhexkins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return genhexKinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_genhexkins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return genhexKinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_genhexkins_adapter.cpp

@@ -0,0 +1,96 @@
+#include "linuxcnc_genhexkins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_genhexkins_setup(void);
+int cnc_sim_linuxcnc_genhexkins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_genhexkins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_genhexkins_setup() == 0;
+    return initialized;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_genhexkins_source_forward(const LinuxCncGenhexJoints &joints,
+                                        const CncSimPose &initial_pose,
+                                        CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[6];
+    std::memcpy(raw_joints, joints.strut, sizeof(raw_joints));
+    EmcPose emc_pose = to_emc_pose(initial_pose);
+    if (cnc_sim_linuxcnc_genhexkins_forward(raw_joints, &emc_pose) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(emc_pose);
+    return true;
+}
+
+bool linuxcnc_genhexkins_source_inverse(const CncSimPose &pose, LinuxCncGenhexJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose emc_pose = to_emc_pose(pose);
+    double raw_joints[6] = {};
+    if (cnc_sim_linuxcnc_genhexkins_inverse(&emc_pose, raw_joints) != 0) {
+        return false;
+    }
+    std::memcpy(joints->strut, raw_joints, sizeof(raw_joints));
+    return true;
+}

core/src/linuxcnc_genhexkins_adapter.h

@@ -0,0 +1,8 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_genhexkins_source_forward(const LinuxCncGenhexJoints &joints,
+                                        const CncSimPose &initial_pose,
+                                        CncSimPose *pose);
+bool linuxcnc_genhexkins_source_inverse(const CncSimPose &pose, LinuxCncGenhexJoints *joints);

core/src/linuxcnc_genserfuncs_adapter.c

@@ -0,0 +1,206 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define RTAPI_MSG_ERR 1
+#define PM_PI 3.1415926535897932384626433832795029
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef unsigned int hal_u32_t;
+typedef int hal_s32_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void cnc_sim_genser_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_genser_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_genser_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_genser_hal_pin_float_newf(hal_pin_dir_t dir,
+                                      hal_float_t **data_ptr_addr,
+                                      int comp_id,
+                                      const char *fmt,
+                                      ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_genser_hal_pin_u32_newf(hal_pin_dir_t dir,
+                                    hal_u32_t **data_ptr_addr,
+                                    int comp_id,
+                                    const char *fmt,
+                                    ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_u32_t *)calloc(1, sizeof(hal_u32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_genser_hal_pin_s32_newf(hal_pin_dir_t dir,
+                                    hal_s32_t **data_ptr_addr,
+                                    int comp_id,
+                                    const char *fmt,
+                                    ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_s32_t *)calloc(1, sizeof(hal_s32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define rtapi_print cnc_sim_genser_rtapi_print
+#define rtapi_print_msg cnc_sim_genser_rtapi_print_msg
+#define hal_pin_float_newf cnc_sim_genser_hal_pin_float_newf
+#define hal_pin_u32_newf cnc_sim_genser_hal_pin_u32_newf
+#define hal_pin_s32_newf cnc_sim_genser_hal_pin_s32_newf
+#define pm_sincos cnc_sim_genser_pm_sincos
+#include "../../../linuxcnc/src/libnml/posemath/sincos.c"
+#include "../../../linuxcnc/src/libnml/posemath/gomath.c"
+#define hal_malloc(size) cnc_sim_genser_hal_malloc(size)
+#include "../../../linuxcnc/src/emc/kinematics/genserfuncs.c"
+#undef hal_malloc
+#undef pm_sincos
+#undef hal_pin_s32_newf
+#undef hal_pin_u32_newf
+#undef hal_pin_float_newf
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_genserfuncs_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "genserkins";
+    static char halprefix[] = "genserkins";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.max_joints = 6;
+    return genserKinematicsSetup(0, "XYZABC", &kp);
+}
+
+void cnc_sim_linuxcnc_genserfuncs_set_parameters(const double *a,
+                                                 const double *alpha,
+                                                 const double *d,
+                                                 const int *unrotate,
+                                                 int max_iterations) {
+    for (int i = 0; i < GENSER_MAX_JOINTS; ++i) {
+        *haldata->a[i] = a[i];
+        *haldata->alpha[i] = alpha[i];
+        *haldata->d[i] = d[i];
+        *haldata->unrotate[i] = unrotate[i];
+    }
+    *haldata->max_iterations = (hal_u32_t)max_iterations;
+}
+
+void cnc_sim_linuxcnc_genserfuncs_default_parameters(double *a,
+                                                     double *alpha,
+                                                     double *d,
+                                                     int *unrotate,
+                                                     int *max_iterations) {
+    const double default_a[GENSER_MAX_JOINTS] = {
+        DEFAULT_A1,
+        DEFAULT_A2,
+        DEFAULT_A3,
+        DEFAULT_A4,
+        DEFAULT_A5,
+        DEFAULT_A6,
+    };
+    const double default_alpha[GENSER_MAX_JOINTS] = {
+        DEFAULT_ALPHA1,
+        DEFAULT_ALPHA2,
+        DEFAULT_ALPHA3,
+        DEFAULT_ALPHA4,
+        DEFAULT_ALPHA5,
+        DEFAULT_ALPHA6,
+    };
+    const double default_d[GENSER_MAX_JOINTS] = {
+        DEFAULT_D1,
+        DEFAULT_D2,
+        DEFAULT_D3,
+        DEFAULT_D4,
+        DEFAULT_D5,
+        DEFAULT_D6,
+    };
+
+    for (int i = 0; i < GENSER_MAX_JOINTS; ++i) {
+        a[i] = default_a[i];
+        alpha[i] = default_alpha[i];
+        d[i] = default_d[i];
+        unrotate[i] = 0;
+    }
+    *max_iterations = GENSER_DEFAULT_MAX_ITERATIONS;
+}
+
+int cnc_sim_linuxcnc_genserfuncs_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return genserKinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_genserfuncs_inverse(const EmcPose *pos, double *joints, int *iterations) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    const int result = genserKinematicsInverse(pos, joints, &iflags, &fflags);
+    if (iterations) {
+        *iterations = genser_kin_inv_iterations(KINS_PTR);
+    }
+    return result;
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_genserfuncs_adapter.cpp

@@ -0,0 +1,166 @@
+#include "linuxcnc_genserfuncs_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_genserfuncs_setup(void);
+void cnc_sim_linuxcnc_genserfuncs_set_parameters(const double *a,
+                                                 const double *alpha,
+                                                 const double *d,
+                                                 const int *unrotate,
+                                                 int max_iterations);
+void cnc_sim_linuxcnc_genserfuncs_default_parameters(double *a,
+                                                     double *alpha,
+                                                     double *d,
+                                                     int *unrotate,
+                                                     int *max_iterations);
+int cnc_sim_linuxcnc_genserfuncs_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_genserfuncs_inverse(const EmcPose *pos, double *joints, int *iterations);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_genserfuncs_setup() == 0;
+    return initialized;
+}
+
+void apply_parameters(const LinuxCncGenserParameters &parameters, int max_iterations) {
+    cnc_sim_linuxcnc_genserfuncs_set_parameters(parameters.a,
+                                                parameters.alpha,
+                                                parameters.d,
+                                                parameters.unrotate,
+                                                max_iterations);
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_genserfuncs_forward(const LinuxCncAxisJoints &joints,
+                                  const LinuxCncGenserParameters &parameters,
+                                  CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters, 100);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_genserfuncs_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_genserfuncs_source_default_parameters(LinuxCncGenserParameters *parameters,
+                                                    int *max_iterations) {
+    if (!parameters) {
+        return false;
+    }
+    int raw_max_iterations = 0;
+    cnc_sim_linuxcnc_genserfuncs_default_parameters(parameters->a,
+                                                    parameters->alpha,
+                                                    parameters->d,
+                                                    parameters->unrotate,
+                                                    &raw_max_iterations);
+    if (max_iterations) {
+        *max_iterations = raw_max_iterations;
+    }
+    return true;
+}
+
+bool linuxcnc_genserfuncs_inverse(const CncSimPose &pose,
+                                  const LinuxCncAxisJoints &joint_estimate,
+                                  const LinuxCncGenserParameters &parameters,
+                                  int max_iterations,
+                                  LinuxCncAxisJoints *joints,
+                                  int *iterations) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters, max_iterations);
+    double raw_joints[16];
+    to_joints(joint_estimate, raw_joints);
+    const EmcPose in = to_emc_pose(pose);
+    if (cnc_sim_linuxcnc_genserfuncs_inverse(&in, raw_joints, iterations) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_genserfuncs_adapter.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_genserfuncs_forward(const LinuxCncAxisJoints &joints,
+                                  const LinuxCncGenserParameters &parameters,
+                                  CncSimPose *pose);
+bool linuxcnc_genserfuncs_source_default_parameters(LinuxCncGenserParameters *parameters,
+                                                    int *max_iterations);
+bool linuxcnc_genserfuncs_inverse(const CncSimPose &pose,
+                                  const LinuxCncAxisJoints &joint_estimate,
+                                  const LinuxCncGenserParameters &parameters,
+                                  int max_iterations,
+                                  LinuxCncAxisJoints *joints,
+                                  int *iterations);

core/src/linuxcnc_kins_util_adapter.c

@@ -0,0 +1,116 @@
+#include <ctype.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <strings.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_EMCPOS_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define RTAPI_MSG_ERR 1
+#define EMCMOT_MAX_JOINTS 16
+#define EMCMOT_MAX_AXIS 9
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void cnc_sim_kins_util_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_kins_util_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+KINEMATICS_TYPE kinematicsType(void) {
+    return KINEMATICS_BOTH;
+}
+
+#define rtapi_print cnc_sim_kins_util_rtapi_print
+#define rtapi_print_msg cnc_sim_kins_util_rtapi_print_msg
+#define map_coordinates_to_jnumbers cnc_sim_kins_util_map_coordinates_to_jnumbers
+#define mapped_joints_to_position cnc_sim_kins_util_mapped_joints_to_position
+#define position_to_mapped_joints cnc_sim_kins_util_position_to_mapped_joints
+#define identityKinematicsSetup cnc_sim_kins_util_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_kins_util_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_kins_util_identityKinematicsInverse
+#include "../../../linuxcnc/src/emc/kinematics/kins_util.c"
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef position_to_mapped_joints
+#undef mapped_joints_to_position
+#undef map_coordinates_to_jnumbers
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_kins_util_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "kins_util_identity";
+    static char halprefix[] = "identity";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.max_joints = EMCMOT_MAX_JOINTS;
+    kp.allow_duplicates = 0;
+    return cnc_sim_kins_util_identityKinematicsSetup(0, "XYZABCUVW", &kp);
+}
+
+int cnc_sim_linuxcnc_kins_util_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_kins_util_identityKinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_kins_util_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_kins_util_identityKinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_kins_util_adapter.cpp

@@ -0,0 +1,121 @@
+#include "linuxcnc_kins_util_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_kins_util_setup(void);
+int cnc_sim_linuxcnc_kins_util_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_kins_util_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_kins_util_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_kins_util_identity_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_kins_util_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_kins_util_identity_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_kins_util_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_kins_util_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_kins_util_identity_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_kins_util_identity_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints);

core/src/linuxcnc_lineardeltakins_adapter.c

@@ -0,0 +1,155 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define EMCMOT_MAX_JOINTS 16
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_lineardelta_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_lineardelta_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_lineardelta_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_lineardelta_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_lineardelta_hal_pin_float_newf(hal_pin_dir_t dir,
+                                           hal_float_t **data_ptr_addr,
+                                           int comp_id,
+                                           const char *fmt,
+                                           ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_lineardelta_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_lineardelta_hal_malloc(size))
+#define hal_pin_float_newf cnc_sim_lineardelta_hal_pin_float_newf
+#define hal_ready cnc_sim_lineardelta_hal_ready
+#define hal_exit cnc_sim_lineardelta_hal_exit
+#define kinematicsType cnc_sim_lineardelta_kinematicsType
+#define kinematicsForward cnc_sim_lineardelta_kinematicsForward
+#define kinematicsInverse cnc_sim_lineardelta_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_lineardelta_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_lineardelta_kinematicsSwitch
+#define rtapi_app_main cnc_sim_lineardelta_rtapi_app_main
+#define rtapi_app_exit cnc_sim_lineardelta_rtapi_app_exit
+#define comp_id cnc_sim_lineardelta_comp_id
+#define haldata cnc_sim_lineardelta_haldata
+#include "../../../linuxcnc/src/emc/kinematics/lineardeltakins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_float_newf
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_lineardeltakins_setup(void) {
+    return cnc_sim_lineardelta_rtapi_app_main();
+}
+
+void cnc_sim_linuxcnc_lineardeltakins_default_parameters(double *r, double *l) {
+    *r = DELTA_RADIUS;
+    *l = DELTA_DIAGONAL_ROD;
+}
+
+void cnc_sim_linuxcnc_lineardeltakins_set_parameters(double r, double l) {
+    *cnc_sim_lineardelta_haldata->r = r;
+    *cnc_sim_lineardelta_haldata->l = l;
+}
+
+int cnc_sim_linuxcnc_lineardeltakins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_lineardelta_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_lineardeltakins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_lineardelta_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_lineardeltakins_adapter.cpp

@@ -0,0 +1,138 @@
+#include "linuxcnc_lineardeltakins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_lineardeltakins_setup(void);
+void cnc_sim_linuxcnc_lineardeltakins_default_parameters(double *r, double *l);
+void cnc_sim_linuxcnc_lineardeltakins_set_parameters(double r, double l);
+int cnc_sim_linuxcnc_lineardeltakins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_lineardeltakins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_lineardeltakins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_lineardeltakins_source_default_parameters(LinuxCncLinearDeltaParameters *parameters) {
+    double r = 0.0;
+    double l = 0.0;
+    cnc_sim_linuxcnc_lineardeltakins_default_parameters(&r, &l);
+    parameters->r = r;
+    parameters->l = l;
+    return true;
+}
+
+bool linuxcnc_lineardeltakins_source_forward(const LinuxCncAxisJoints &joints,
+                                             const LinuxCncLinearDeltaParameters &parameters,
+                                             CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_lineardeltakins_set_parameters(parameters.r, parameters.l);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_lineardeltakins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_lineardeltakins_source_inverse(const CncSimPose &pose,
+                                             const LinuxCncLinearDeltaParameters &parameters,
+                                             LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_lineardeltakins_set_parameters(parameters.r, parameters.l);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_lineardeltakins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_lineardeltakins_adapter.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_lineardeltakins_source_default_parameters(LinuxCncLinearDeltaParameters *parameters);
+bool linuxcnc_lineardeltakins_source_forward(const LinuxCncAxisJoints &joints,
+                                             const LinuxCncLinearDeltaParameters &parameters,
+                                             CncSimPose *pose);
+bool linuxcnc_lineardeltakins_source_inverse(const CncSimPose &pose,
+                                             const LinuxCncLinearDeltaParameters &parameters,
+                                             LinuxCncAxisJoints *joints);

core/src/linuxcnc_maxkins_adapter.c

@@ -0,0 +1,168 @@
+#include <math.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define EMCMOT_MAX_JOINTS 16
+#define PM_PI 3.1415926535897932384626433832795029
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_maxkins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_maxkins_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_maxkins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_maxkins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_maxkins_hal_pin_float_new(const char *name,
+                                      hal_pin_dir_t dir,
+                                      hal_float_t **data_ptr_addr,
+                                      int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_maxkins_hal_pin_bit_new(const char *name,
+                                    hal_pin_dir_t dir,
+                                    hal_bit_t **data_ptr_addr,
+                                    int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_bit_t *)calloc(1, sizeof(hal_bit_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_maxkins_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_maxkins_hal_malloc(size))
+#define hal_pin_float_new cnc_sim_maxkins_hal_pin_float_new
+#define hal_pin_bit_new cnc_sim_maxkins_hal_pin_bit_new
+#define hal_ready cnc_sim_maxkins_hal_ready
+#define hal_exit cnc_sim_maxkins_hal_exit
+#define kinematicsType cnc_sim_maxkins_kinematicsType
+#define kinematicsForward cnc_sim_maxkins_kinematicsForward
+#define kinematicsInverse cnc_sim_maxkins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_maxkins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_maxkins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_maxkins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_maxkins_rtapi_app_exit
+#define comp_id cnc_sim_maxkins_comp_id
+#define haldata cnc_sim_maxkins_haldata
+#include "../../../linuxcnc/src/emc/kinematics/maxkins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_bit_new
+#undef hal_pin_float_new
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_maxkins_setup(void) {
+    return cnc_sim_maxkins_rtapi_app_main();
+}
+
+void cnc_sim_linuxcnc_maxkins_default_parameters(double *pivot_length, int *conventional_directions) {
+    *pivot_length = 0.666;
+    *conventional_directions = 0;
+}
+
+void cnc_sim_linuxcnc_maxkins_set_parameters(double pivot_length, int conventional_directions) {
+    *cnc_sim_maxkins_haldata->pivot_length = pivot_length;
+    *cnc_sim_maxkins_haldata->conventional_directions = conventional_directions != 0;
+}
+
+int cnc_sim_linuxcnc_maxkins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_maxkins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_maxkins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_maxkins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_maxkins_adapter.cpp

@@ -0,0 +1,140 @@
+#include "linuxcnc_maxkins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_maxkins_setup(void);
+void cnc_sim_linuxcnc_maxkins_default_parameters(double *pivot_length, int *conventional_directions);
+void cnc_sim_linuxcnc_maxkins_set_parameters(double pivot_length, int conventional_directions);
+int cnc_sim_linuxcnc_maxkins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_maxkins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_maxkins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_maxkins_source_default_parameters(LinuxCncMaxkinsParameters *parameters) {
+    double pivot_length = 0.0;
+    int conventional_directions = 0;
+    cnc_sim_linuxcnc_maxkins_default_parameters(&pivot_length, &conventional_directions);
+    parameters->pivot_length = pivot_length;
+    parameters->conventional_directions = conventional_directions != 0;
+    return true;
+}
+
+bool linuxcnc_maxkins_source_forward(const LinuxCncAxisJoints &joints,
+                                     const LinuxCncMaxkinsParameters &parameters,
+                                     CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_maxkins_set_parameters(parameters.pivot_length,
+                                           parameters.conventional_directions ? 1 : 0);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_maxkins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_maxkins_source_inverse(const CncSimPose &pose,
+                                     const LinuxCncMaxkinsParameters &parameters,
+                                     LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_maxkins_set_parameters(parameters.pivot_length,
+                                           parameters.conventional_directions ? 1 : 0);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_maxkins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_maxkins_adapter.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_maxkins_source_default_parameters(LinuxCncMaxkinsParameters *parameters);
+bool linuxcnc_maxkins_source_forward(const LinuxCncAxisJoints &joints,
+                                     const LinuxCncMaxkinsParameters &parameters,
+                                     CncSimPose *pose);
+bool linuxcnc_maxkins_source_inverse(const CncSimPose &pose,
+                                     const LinuxCncMaxkinsParameters &parameters,
+                                     LinuxCncAxisJoints *joints);

core/src/linuxcnc_pentakins_adapter.c

@@ -0,0 +1,172 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define EMCMOT_MAX_JOINTS 16
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef uint32_t hal_u32_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+typedef enum { HAL_RO = 64, HAL_RW = (HAL_RO | 128) } hal_param_dir_t;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+#include "../../../linuxcnc/src/libnml/posemath/posemath.h"
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_pentakins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_pentakins_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_pentakins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_pentakins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_pentakins_hal_param_float_newf(hal_param_dir_t dir,
+                                           hal_float_t *data_addr,
+                                           int comp_id,
+                                           const char *fmt,
+                                           ...) {
+    (void)dir;
+    (void)data_addr;
+    (void)comp_id;
+    (void)fmt;
+    return 0;
+}
+
+int cnc_sim_pentakins_hal_pin_float_newf(hal_pin_dir_t dir,
+                                         hal_float_t **data_ptr_addr,
+                                         int comp_id,
+                                         const char *fmt,
+                                         ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_pentakins_hal_pin_u32_newf(hal_pin_dir_t dir,
+                                       hal_u32_t **data_ptr_addr,
+                                       int comp_id,
+                                       const char *fmt,
+                                       ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_u32_t *)calloc(1, sizeof(hal_u32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_pentakins_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_pentakins_hal_malloc(size))
+#define hal_param_float_newf cnc_sim_pentakins_hal_param_float_newf
+#define hal_pin_float_newf cnc_sim_pentakins_hal_pin_float_newf
+#define hal_pin_u32_newf cnc_sim_pentakins_hal_pin_u32_newf
+#define hal_ready cnc_sim_pentakins_hal_ready
+#define hal_exit cnc_sim_pentakins_hal_exit
+#define kinematicsType cnc_sim_pentakins_kinematicsType
+#define kinematicsForward cnc_sim_pentakins_kinematicsForward
+#define kinematicsInverse cnc_sim_pentakins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_pentakins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_pentakins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_pentakins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_pentakins_rtapi_app_exit
+#define comp_id cnc_sim_pentakins_comp_id
+#define haldata cnc_sim_pentakins_haldata
+#include "../../../linuxcnc/src/emc/kinematics/pentakins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_u32_newf
+#undef hal_pin_float_newf
+#undef hal_param_float_newf
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_pentakins_setup(void) {
+    return cnc_sim_pentakins_rtapi_app_main();
+}
+
+int cnc_sim_linuxcnc_pentakins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_pentakins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_pentakins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_pentakins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_pentakins_adapter.cpp

@@ -0,0 +1,97 @@
+#include "linuxcnc_pentakins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_pentakins_setup(void);
+int cnc_sim_linuxcnc_pentakins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_pentakins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_pentakins_setup() == 0;
+    return initialized;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_pentakins_source_forward(const LinuxCncPentakinsJoints &joints,
+                                       const CncSimPose &initial_pose,
+                                       CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[5];
+    std::memcpy(raw_joints, joints.strut, sizeof(raw_joints));
+    EmcPose emc_pose = to_emc_pose(initial_pose);
+    if (cnc_sim_linuxcnc_pentakins_forward(raw_joints, &emc_pose) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(emc_pose);
+    return true;
+}
+
+bool linuxcnc_pentakins_source_inverse(const CncSimPose &pose,
+                                       LinuxCncPentakinsJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose emc_pose = to_emc_pose(pose);
+    double raw_joints[5] = {};
+    if (cnc_sim_linuxcnc_pentakins_inverse(&emc_pose, raw_joints) != 0) {
+        return false;
+    }
+    std::memcpy(joints->strut, raw_joints, sizeof(raw_joints));
+    return true;
+}

core/src/linuxcnc_pentakins_adapter.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_pentakins_source_forward(const LinuxCncPentakinsJoints &joints,
+                                       const CncSimPose &initial_pose,
+                                       CncSimPose *pose);
+bool linuxcnc_pentakins_source_inverse(const CncSimPose &pose,
+                                       LinuxCncPentakinsJoints *joints);

core/src/linuxcnc_pumakins_adapter.c

@@ -0,0 +1,218 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define SWITCHKINS_H
+
+#ifdef __cplusplus
+#define CNC_SIM_EXTERN_C extern "C"
+#else
+#define CNC_SIM_EXTERN_C
+#endif
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+#include "../../../linuxcnc/src/libnml/posemath/sincos.c"
+#include "../../../linuxcnc/src/libnml/posemath/_posemath.c"
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+typedef int (*KF)(const double *joint,
+                  EmcPose *pos,
+                  const KINEMATICS_FORWARD_FLAGS *fflags,
+                  KINEMATICS_INVERSE_FLAGS *iflags);
+typedef int (*KI)(const EmcPose *world,
+                  double *joint,
+                  const KINEMATICS_INVERSE_FLAGS *iflags,
+                  KINEMATICS_FORWARD_FLAGS *fflags);
+typedef int (*KS)(const int comp_id, const char *coordinates, kparms *ksetup_parms);
+
+void cnc_sim_puma_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_puma_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_puma_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_puma_hal_pin_float_newf(hal_pin_dir_t dir,
+                                    hal_float_t **data_ptr_addr,
+                                    int comp_id,
+                                    const char *fmt,
+                                    ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_puma_identityKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return 0;
+}
+
+int cnc_sim_puma_identityKinematicsForward(const double *joint,
+                                           EmcPose *world,
+                                           const KINEMATICS_FORWARD_FLAGS *fflags,
+                                           KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_puma_identityKinematicsInverse(const EmcPose *world,
+                                           double *joint,
+                                           const KINEMATICS_INVERSE_FLAGS *iflags,
+                                           KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+int cnc_sim_puma_userkKinematicsSetup(const int comp_id, const char *coordinates, kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return -1;
+}
+
+int cnc_sim_puma_userkKinematicsForward(const double *joint,
+                                        EmcPose *world,
+                                        const KINEMATICS_FORWARD_FLAGS *fflags,
+                                        KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_puma_userkKinematicsInverse(const EmcPose *world,
+                                        double *joint,
+                                        const KINEMATICS_INVERSE_FLAGS *iflags,
+                                        KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+#define rtapi_print cnc_sim_puma_rtapi_print
+#define rtapi_print_msg cnc_sim_puma_rtapi_print_msg
+#define hal_pin_float_newf cnc_sim_puma_hal_pin_float_newf
+#define identityKinematicsSetup cnc_sim_puma_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_puma_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_puma_identityKinematicsInverse
+#define userkKinematicsSetup cnc_sim_puma_userkKinematicsSetup
+#define userkKinematicsForward cnc_sim_puma_userkKinematicsForward
+#define userkKinematicsInverse cnc_sim_puma_userkKinematicsInverse
+#define switchkinsSetup cnc_sim_puma_switchkinsSetup
+#define haldata cnc_sim_puma_haldata
+#define hal_malloc(size) ((struct haldata *)cnc_sim_puma_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/pumakins.c"
+#undef hal_malloc
+#undef haldata
+#undef switchkinsSetup
+#undef userkKinematicsInverse
+#undef userkKinematicsForward
+#undef userkKinematicsSetup
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef hal_pin_float_newf
+#undef rtapi_print_msg
+#undef rtapi_print
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_pumakins_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "pumakins";
+    static char halprefix[] = "pumakins";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    return pumaKinematicsSetup(0, "XYZABC", &kp);
+}
+
+CNC_SIM_EXTERN_C void cnc_sim_linuxcnc_pumakins_set_parameters(double a2,
+                                                              double a3,
+                                                              double d3,
+                                                              double d4,
+                                                              double d6) {
+    *cnc_sim_puma_haldata->a2 = a2;
+    *cnc_sim_puma_haldata->a3 = a3;
+    *cnc_sim_puma_haldata->d3 = d3;
+    *cnc_sim_puma_haldata->d4 = d4;
+    *cnc_sim_puma_haldata->d6 = d6;
+}
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_pumakins_forward(const double *joints,
+                                                      struct EmcPose *pos,
+                                                      int *iflags) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS raw_iflags = 0;
+    const int result = pumaKinematicsForward(joints, pos, &fflags, &raw_iflags);
+    if (iflags) {
+        *iflags = (int)raw_iflags;
+    }
+    return result;
+}
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_pumakins_inverse(const struct EmcPose *pos,
+                                                      double *joints,
+                                                      int iflags,
+                                                      int *fflags) {
+    KINEMATICS_INVERSE_FLAGS raw_iflags = (KINEMATICS_INVERSE_FLAGS)iflags;
+    KINEMATICS_FORWARD_FLAGS raw_fflags = 0;
+    const int result = pumaKinematicsInverse(pos, joints, &raw_iflags, &raw_fflags);
+    if (fflags) {
+        *fflags = (int)raw_fflags;
+    }
+    return result;
+}

core/src/linuxcnc_pumakins_adapter.cpp

@@ -0,0 +1,156 @@
+#include "linuxcnc_pumakins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_pumakins_setup(void);
+void cnc_sim_linuxcnc_pumakins_set_parameters(double a2,
+                                              double a3,
+                                              double d3,
+                                              double d4,
+                                              double d6);
+int cnc_sim_linuxcnc_pumakins_forward(const double *joints, EmcPose *pos, int *iflags);
+int cnc_sim_linuxcnc_pumakins_inverse(const EmcPose *pos,
+                                      double *joints,
+                                      int iflags,
+                                      int *fflags);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_pumakins_setup() == 0;
+    return initialized;
+}
+
+void apply_parameters(const LinuxCncPumaParameters &parameters) {
+    cnc_sim_linuxcnc_pumakins_set_parameters(parameters.a2,
+                                             parameters.a3,
+                                             parameters.d3,
+                                             parameters.d4,
+                                             parameters.d6);
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_pumakins_forward(const LinuxCncAxisJoints &joints,
+                               const LinuxCncPumaParameters &parameters,
+                               CncSimPose *pose,
+                               int *iflags) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    int raw_iflags = 0;
+    if (cnc_sim_linuxcnc_pumakins_forward(raw_joints, &out, &raw_iflags) != 0) {
+        return false;
+    }
+    if (iflags) {
+        *iflags = raw_iflags;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_pumakins_inverse(const CncSimPose &pose,
+                               const LinuxCncAxisJoints &current_joints,
+                               const LinuxCncPumaParameters &parameters,
+                               int iflags,
+                               LinuxCncAxisJoints *joints,
+                               int *fflags) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    double raw_joints[16];
+    to_joints(current_joints, raw_joints);
+    const EmcPose in = to_emc_pose(pose);
+    int raw_fflags = 0;
+    if (cnc_sim_linuxcnc_pumakins_inverse(&in, raw_joints, iflags, &raw_fflags) != 0) {
+        return false;
+    }
+    if (fflags) {
+        *fflags = raw_fflags;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_pumakins_adapter.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_pumakins_forward(const LinuxCncAxisJoints &joints,
+                               const LinuxCncPumaParameters &parameters,
+                               CncSimPose *pose,
+                               int *iflags);
+bool linuxcnc_pumakins_inverse(const CncSimPose &pose,
+                               const LinuxCncAxisJoints &current_joints,
+                               const LinuxCncPumaParameters &parameters,
+                               int iflags,
+                               LinuxCncAxisJoints *joints,
+                               int *fflags);

core/src/linuxcnc_rosekins_adapter.c

@@ -0,0 +1,147 @@
+#include <math.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define EMCMOT_MAX_JOINTS 16
+#define PM_PI 3.1415926535897932384626433832795029
+#define PM_2_PI (2.0 * PM_PI)
+#define TO_RAD (PM_PI / 180.0)
+#define TO_DEG (180.0 / PM_PI)
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_rosekins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_rosekins_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_rosekins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_rosekins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_rosekins_hal_pin_float_new(const char *name,
+                                       hal_pin_dir_t dir,
+                                       hal_float_t **data_ptr_addr,
+                                       int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_rosekins_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_rosekins_hal_malloc(size))
+#define hal_pin_float_new cnc_sim_rosekins_hal_pin_float_new
+#define hal_ready cnc_sim_rosekins_hal_ready
+#define hal_exit cnc_sim_rosekins_hal_exit
+#define kinematicsType cnc_sim_rosekins_kinematicsType
+#define kinematicsForward cnc_sim_rosekins_kinematicsForward
+#define kinematicsInverse cnc_sim_rosekins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_rosekins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_rosekins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_rosekins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_rosekins_rtapi_app_exit
+#define comp_id cnc_sim_rosekins_comp_id
+#define haldata cnc_sim_rosekins_haldata
+#include "../../../linuxcnc/src/emc/kinematics/rosekins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_float_new
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_rosekins_setup(void) {
+    return cnc_sim_rosekins_rtapi_app_main();
+}
+
+int cnc_sim_linuxcnc_rosekins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_rosekins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_rosekins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_rosekins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_rosekins_adapter.cpp

@@ -0,0 +1,121 @@
+#include "linuxcnc_rosekins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_rosekins_setup(void);
+int cnc_sim_linuxcnc_rosekins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_rosekins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_rosekins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_rosekins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_rosekins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_rosekins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_rosekins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_rosekins_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_rosekins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_rosekins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints);

core/src/linuxcnc_rotarydeltakins_adapter.c

@@ -0,0 +1,165 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define EMCMOT_MAX_JOINTS 16
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_rotarydelta_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_rotarydelta_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_rotarydelta_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_rotarydelta_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_rotarydelta_hal_pin_float_newf(hal_pin_dir_t dir,
+                                           hal_float_t **data_ptr_addr,
+                                           int comp_id,
+                                           const char *fmt,
+                                           ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_rotarydelta_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_rotarydelta_hal_malloc(size))
+#define hal_pin_float_newf cnc_sim_rotarydelta_hal_pin_float_newf
+#define hal_ready cnc_sim_rotarydelta_hal_ready
+#define hal_exit cnc_sim_rotarydelta_hal_exit
+#define kinematicsType cnc_sim_rotarydelta_kinematicsType
+#define kinematicsForward cnc_sim_rotarydelta_kinematicsForward
+#define kinematicsInverse cnc_sim_rotarydelta_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_rotarydelta_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_rotarydelta_kinematicsSwitch
+#define rtapi_app_main cnc_sim_rotarydelta_rtapi_app_main
+#define rtapi_app_exit cnc_sim_rotarydelta_rtapi_app_exit
+#define comp_id cnc_sim_rotarydelta_comp_id
+#define haldata cnc_sim_rotarydelta_haldata
+#include "../../../linuxcnc/src/emc/kinematics/rotarydeltakins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_float_newf
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_rotarydeltakins_setup(void) {
+    return cnc_sim_rotarydelta_rtapi_app_main();
+}
+
+void cnc_sim_linuxcnc_rotarydeltakins_default_parameters(double *platformradius,
+                                                         double *thighlength,
+                                                         double *shinlength,
+                                                         double *footradius) {
+    *platformradius = RDELTA_PFR;
+    *thighlength = RDELTA_TL;
+    *shinlength = RDELTA_SL;
+    *footradius = RDELTA_FR;
+}
+
+void cnc_sim_linuxcnc_rotarydeltakins_set_parameters(double platformradius,
+                                                     double thighlength,
+                                                     double shinlength,
+                                                     double footradius) {
+    *cnc_sim_rotarydelta_haldata->pfr = platformradius;
+    *cnc_sim_rotarydelta_haldata->tl = thighlength;
+    *cnc_sim_rotarydelta_haldata->sl = shinlength;
+    *cnc_sim_rotarydelta_haldata->fr = footradius;
+}
+
+int cnc_sim_linuxcnc_rotarydeltakins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_rotarydelta_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_rotarydeltakins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_rotarydelta_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_rotarydeltakins_adapter.cpp

@@ -0,0 +1,157 @@
+#include "linuxcnc_rotarydeltakins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_rotarydeltakins_setup(void);
+void cnc_sim_linuxcnc_rotarydeltakins_default_parameters(double *platformradius,
+                                                         double *thighlength,
+                                                         double *shinlength,
+                                                         double *footradius);
+void cnc_sim_linuxcnc_rotarydeltakins_set_parameters(double platformradius,
+                                                     double thighlength,
+                                                     double shinlength,
+                                                     double footradius);
+int cnc_sim_linuxcnc_rotarydeltakins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_rotarydeltakins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_rotarydeltakins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_rotarydeltakins_source_default_parameters(LinuxCncRotaryDeltaParameters *parameters) {
+    double platformradius = 0.0;
+    double thighlength = 0.0;
+    double shinlength = 0.0;
+    double footradius = 0.0;
+    cnc_sim_linuxcnc_rotarydeltakins_default_parameters(&platformradius,
+                                                        &thighlength,
+                                                        &shinlength,
+                                                        &footradius);
+    parameters->platformradius = platformradius;
+    parameters->thighlength = thighlength;
+    parameters->shinlength = shinlength;
+    parameters->footradius = footradius;
+    return true;
+}
+
+bool linuxcnc_rotarydeltakins_source_forward(const LinuxCncAxisJoints &joints,
+                                             const LinuxCncRotaryDeltaParameters &parameters,
+                                             CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_rotarydeltakins_set_parameters(parameters.platformradius,
+                                                    parameters.thighlength,
+                                                    parameters.shinlength,
+                                                    parameters.footradius);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_rotarydeltakins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_rotarydeltakins_source_inverse(const CncSimPose &pose,
+                                             const LinuxCncRotaryDeltaParameters &parameters,
+                                             LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    cnc_sim_linuxcnc_rotarydeltakins_set_parameters(parameters.platformradius,
+                                                    parameters.thighlength,
+                                                    parameters.shinlength,
+                                                    parameters.footradius);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_rotarydeltakins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_rotarydeltakins_adapter.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_rotarydeltakins_source_default_parameters(LinuxCncRotaryDeltaParameters *parameters);
+bool linuxcnc_rotarydeltakins_source_forward(const LinuxCncAxisJoints &joints,
+                                             const LinuxCncRotaryDeltaParameters &parameters,
+                                             CncSimPose *pose);
+bool linuxcnc_rotarydeltakins_source_inverse(const CncSimPose &pose,
+                                             const LinuxCncRotaryDeltaParameters &parameters,
+                                             LinuxCncAxisJoints *joints);

core/src/linuxcnc_rotatekins_adapter.c

@@ -0,0 +1,118 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define RTAPI_MSG_ERR 1
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_rotatekins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+int cnc_sim_rotatekins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_rotatekins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+#define hal_init cnc_sim_rotatekins_hal_init
+#define hal_ready cnc_sim_rotatekins_hal_ready
+#define hal_exit cnc_sim_rotatekins_hal_exit
+#define kinematicsType cnc_sim_rotatekins_kinematicsType
+#define kinematicsForward cnc_sim_rotatekins_kinematicsForward
+#define kinematicsInverse cnc_sim_rotatekins_kinematicsInverse
+#define kinematicsHome cnc_sim_rotatekins_kinematicsHome
+#define kinematicsSwitchable cnc_sim_rotatekins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_rotatekins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_rotatekins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_rotatekins_rtapi_app_exit
+#define comp_id cnc_sim_rotatekins_comp_id
+#include "../../../linuxcnc/src/emc/kinematics/rotatekins.c"
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsHome
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_init
+
+int cnc_sim_linuxcnc_rotatekins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_rotatekins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_rotatekins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_rotatekins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_rotatekins_adapter.cpp

@@ -0,0 +1,104 @@
+#include "linuxcnc_rotatekins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_rotatekins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_rotatekins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_rotatekins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose) {
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_rotatekins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_rotatekins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints) {
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_rotatekins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_rotatekins_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_rotatekins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_rotatekins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints);

core/src/linuxcnc_rs274_backend.cpp

@@ -1,6 +1,10 @@
 #include "linuxcnc_rs274_backend.h"
 
+#ifdef CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
+#include "boost/python/object.hpp"
+#else
 #include <Python.h>
+#endif
 
 #include "linuxcnc_canon_bridge.h"
 #include "linuxcnc_tooldata_fixture.h"
@@ -16,11 +20,15 @@
 #include <vector>
 #include <cstdlib>
 #include <fstream>
+#ifndef CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
 #include <unistd.h>
+#endif
 
-int _task = 0;
 char _parameter_file_name[LINELEN];
 
+#ifndef CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
+int _task = 0;
+
 extern "C" PyObject *PyInit_interpreter(void);
 extern "C" PyObject *PyInit_emccanon(void);
 extern "C" struct _inittab builtin_modules[];
@@ -29,6 +37,7 @@ struct _inittab builtin_modules[] = {
     {"emccanon", PyInit_emccanon},
     {nullptr, nullptr},
 };
+#endif
 
 namespace {
 
@@ -73,12 +82,48 @@ bool file_mode_enabled() {
     return std::getenv("CNC_SIM_RS274_FILE_MODE") != nullptr;
 }
 
+class ScopedEnvironmentVariable {
+public:
+    ScopedEnvironmentVariable(const char *name, const std::string &value) : name_(name), active_(!value.empty()) {
+        if (!active_) {
+            return;
+        }
+        if (const char *old = std::getenv(name_)) {
+            had_old_ = true;
+            old_ = old;
+        }
+        setenv(name_, value.c_str(), 1);
+    }
+
+    ~ScopedEnvironmentVariable() {
+        if (!active_) {
+            return;
+        }
+        if (had_old_) {
+            setenv(name_, old_.c_str(), 1);
+        } else {
+            unsetenv(name_);
+        }
+    }
+
+private:
+    const char *name_;
+    bool active_;
+    bool had_old_ = false;
+    std::string old_;
+};
+
+#ifndef CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
 bool write_temp_program(const char *program,
                         size_t program_len,
                         std::string *path,
                         std::string *error) {
-    char tmpl[] = "/tmp/cnc_sim_api_XXXXXX.ngc";
+    const char *tmpdir = std::getenv("TMPDIR");
-    const int fd = mkstemps(tmpl, 4);
+    std::string tmpl = std::string(tmpdir ? tmpdir : "/tmp") + "/cnc_sim_api_XXXXXX.ngc";
+    std::vector<char> tmpl_buffer(tmpl.begin(), tmpl.end());
+    tmpl_buffer.push_back('\0');
+
+    const int fd = mkstemps(tmpl_buffer.data(), 4);
     if (fd < 0) {
         if (error) {
             *error = "failed to create temporary ngc file";
@@ -100,15 +145,16 @@ bool write_temp_program(const char *program,
         ok = false;
     }
     if (!ok) {
-        unlink(tmpl);
+        unlink(tmpl_buffer.data());
         if (error) {
             *error = "failed to write temporary ngc file";
         }
         return false;
     }
-    *path = tmpl;
+    *path = tmpl_buffer.data();
     return true;
 }
+#endif
 
 int execute_file_mode(InterpBase *interp,
                       CanonEventSink &sink,
@@ -160,6 +206,7 @@ int execute_file_mode(InterpBase *interp,
 int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
                                  const char *program,
                                  size_t program_len,
+                                 const GcodeBackendOptions &options,
                                  std::string *error) {
     if (!program && program_len != 0) {
         if (error) {
@@ -168,14 +215,36 @@ int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
         return -1;
     }
 
+    // LinuxCNC source basis: rs274ngc_pre.cc uses
+    // RS274NGC_PARAMETER_FILE_NAME_DEFAULT when the external parameter file
+    // name is empty. Reset the bridge every parse so a prior native env
+    // override does not leak into later default parses.
     if (const char *parameter_file = std::getenv("CNC_SIM_RS274_VAR")) {
         SET_PARAMETER_FILE_NAME(parameter_file);
+    } else {
+        SET_PARAMETER_FILE_NAME("rs274ngc.var");
     }
     cnc_sim_init_minimal_linuxcnc_tooldata();
     sink.clear_callback_status();
     cnc_sim_linuxcnc_set_canon_sink(&sink);
 
+    // LinuxCNC source basis: rs274ngc_pre.cc and interp_namedparams.cc read
+    // INI_FILE_NAME for startup and #<_ini[section]key> named parameters.
+    ScopedEnvironmentVariable ini_file_env("INI_FILE_NAME", options.ini_file_name);
     InterpBase *interp = makeInterp();
+    if (!options.ini_file_name.empty()) {
+        // LinuxCNC source basis: emctask.cc calls Interp::ini_load() before
+        // Interp::init(), and rs274ngc_pre.cc ini_load() maps
+        // [RS274NGC] PARAMETER_FILE through SET_PARAMETER_FILE_NAME().
+        if (interp->ini_load(options.ini_file_name.c_str()) != INTERP_OK) {
+            if (error) {
+                *error = "ini_load failed: " + options.ini_file_name;
+            }
+            delete interp;
+            cnc_sim_linuxcnc_set_canon_sink(nullptr);
+            return -1;
+        }
+    }
     int status = interp->init();
     if (status != INTERP_OK) {
         if (error) {
@@ -185,8 +254,18 @@ int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
         cnc_sim_linuxcnc_set_canon_sink(nullptr);
         return -1;
     }
+    SET_BLOCK_DELETE(sink.block_delete());
 
     if (file_mode_enabled()) {
+#ifdef CNC_SIM_ENABLE_LINUXCNC_WASM_SAFE_PROBE
+        if (error) {
+            *error = "linuxcnc-rs274 file mode is not available in wasm-safe builds";
+        }
+        interp->exit();
+        delete interp;
+        cnc_sim_linuxcnc_set_canon_sink(nullptr);
+        return -1;
+#else
         std::string temp_path;
         if (!write_temp_program(program, program_len, &temp_path, error)) {
             interp->exit();
@@ -202,6 +281,7 @@ int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
             cnc_sim_linuxcnc_set_canon_sink(nullptr);
             return -1;
         }
+#endif
     } else {
         std::string source(program, program + program_len);
         std::istringstream input(source);
@@ -212,21 +292,47 @@ int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
             ++line_number;
             cnc_sim_linuxcnc_set_current_line(line_number);
             std::vector<SimulatorGcodeControlAction> control_actions;
-            if (parse_simulator_gcode_control_line(line, &control_actions)) {
+            if (parse_simulator_gcode_control_line(line, sink.block_delete(), &control_actions)) {
                 bool simulator_only_line = true;
+                bool all_control_actions_handled = true;
                 for (const auto &action : control_actions) {
-                    emit_simulator_gcode_control_action(sink, action, line_number);
+                    if (!can_emit_simulator_gcode_control_action(sink, action)) {
+                        all_control_actions_handled = false;
+                        simulator_only_line = false;
+                    }
                     if (action.kind == SimulatorGcodeControlKind::RtcpState &&
                         !action.rtcp_enabled) {
                         simulator_only_line = false;
                     }
-                    if (stop_if_callback_aborted(sink, error)) {
+                }
-                        interp->exit();
+                if (!all_control_actions_handled && control_actions.size() > 1) {
-                        delete interp;
+                    for (const auto &action : control_actions) {
-                        cnc_sim_linuxcnc_set_canon_sink(nullptr);
+                        if (!can_emit_simulator_gcode_control_action(sink, action) &&
-                        return -1;
+                            action.kind == SimulatorGcodeControlKind::KinematicsSwitch) {
+                            if (error) {
+                                *error = "M-code greater than 199: M" + std::to_string(action.m_code);
+                            }
+                            interp->exit();
+                            delete interp;
+                            cnc_sim_linuxcnc_set_canon_sink(nullptr);
+                            return -1;
+                        }
                     }
                 }
+                if (all_control_actions_handled) {
+                    for (const auto &action : control_actions) {
+                        emit_simulator_gcode_control_action(sink, action, line_number);
+                        if (stop_if_callback_aborted(sink, error)) {
+                            interp->exit();
+                            delete interp;
+                            cnc_sim_linuxcnc_set_canon_sink(nullptr);
+                            return -1;
+                        }
+                    }
+                }
+                if (!all_control_actions_handled) {
+                    simulator_only_line = false;
+                }
                 if (simulator_only_line) {
                     continue;
                 }

core/src/linuxcnc_rs274_backend.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "canon_event_sink.h"
+#include "gcode_backend.h"
 
 #include <cstddef>
 #include <string>
@@ -8,5 +9,5 @@
 int parse_linuxcnc_rs274_backend(CanonEventSink &sink,
                                  const char *program,
                                  size_t program_len,
+                                 const GcodeBackendOptions &options,
                                  std::string *error);
-

core/src/linuxcnc_scarakins_adapter.c

@@ -0,0 +1,224 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define SWITCHKINS_H
+
+#ifdef __cplusplus
+#define CNC_SIM_EXTERN_C extern "C"
+#else
+#define CNC_SIM_EXTERN_C
+#endif
+
+#define PM_PI 3.1415926535897932384626433832795029
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+typedef int (*KF)(const double *joint,
+                  EmcPose *pos,
+                  const KINEMATICS_FORWARD_FLAGS *fflags,
+                  KINEMATICS_INVERSE_FLAGS *iflags);
+typedef int (*KI)(const struct EmcPose *world,
+                  double *joint,
+                  const KINEMATICS_INVERSE_FLAGS *iflags,
+                  KINEMATICS_FORWARD_FLAGS *fflags);
+typedef int (*KS)(const int comp_id, const char *coordinates, kparms *ksetup_parms);
+
+void cnc_sim_scara_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_scara_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_scara_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_scara_hal_pin_float_newf(hal_pin_dir_t dir,
+                                     hal_float_t **data_ptr_addr,
+                                     int comp_id,
+                                     const char *fmt,
+                                     ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_scara_identityKinematicsSetup(const int comp_id,
+                                          const char *coordinates,
+                                          kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return 0;
+}
+
+int cnc_sim_scara_identityKinematicsForward(const double *joint,
+                                            struct EmcPose *world,
+                                            const KINEMATICS_FORWARD_FLAGS *fflags,
+                                            KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_scara_identityKinematicsInverse(const struct EmcPose *world,
+                                            double *joint,
+                                            const KINEMATICS_INVERSE_FLAGS *iflags,
+                                            KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+int cnc_sim_scara_userkKinematicsSetup(const int comp_id,
+                                       const char *coordinates,
+                                       kparms *ksetup_parms) {
+    (void)comp_id;
+    (void)coordinates;
+    (void)ksetup_parms;
+    return -1;
+}
+
+int cnc_sim_scara_userkKinematicsForward(const double *joint,
+                                         struct EmcPose *world,
+                                         const KINEMATICS_FORWARD_FLAGS *fflags,
+                                         KINEMATICS_INVERSE_FLAGS *iflags) {
+    (void)joint;
+    (void)world;
+    (void)fflags;
+    (void)iflags;
+    return -1;
+}
+
+int cnc_sim_scara_userkKinematicsInverse(const struct EmcPose *world,
+                                         double *joint,
+                                         const KINEMATICS_INVERSE_FLAGS *iflags,
+                                         KINEMATICS_FORWARD_FLAGS *fflags) {
+    (void)world;
+    (void)joint;
+    (void)iflags;
+    (void)fflags;
+    return -1;
+}
+
+#define rtapi_print cnc_sim_scara_rtapi_print
+#define rtapi_print_msg cnc_sim_scara_rtapi_print_msg
+#define hal_pin_float_newf cnc_sim_scara_hal_pin_float_newf
+#define identityKinematicsSetup cnc_sim_scara_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_scara_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_scara_identityKinematicsInverse
+#define userkKinematicsSetup cnc_sim_scara_userkKinematicsSetup
+#define userkKinematicsForward cnc_sim_scara_userkKinematicsForward
+#define userkKinematicsInverse cnc_sim_scara_userkKinematicsInverse
+#define switchkinsSetup cnc_sim_scara_switchkinsSetup
+#define haldata cnc_sim_scara_haldata
+#define hal_malloc(size) ((struct scara_data *)cnc_sim_scara_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/scarakins.c"
+#undef hal_malloc
+#undef haldata
+#undef switchkinsSetup
+#undef userkKinematicsInverse
+#undef userkKinematicsForward
+#undef userkKinematicsSetup
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef hal_pin_float_newf
+#undef rtapi_print_msg
+#undef rtapi_print
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_scarakins_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "scarakins";
+    static char halprefix[] = "scarakins";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    return scaraKinematicsSetup(0, "XYZABC", &kp);
+}
+
+CNC_SIM_EXTERN_C void cnc_sim_linuxcnc_scarakins_set_parameters(double d1,
+                                                               double d2,
+                                                               double d3,
+                                                               double d4,
+                                                               double d5,
+                                                               double d6) {
+    *cnc_sim_scara_haldata->d1 = d1;
+    *cnc_sim_scara_haldata->d2 = d2;
+    *cnc_sim_scara_haldata->d3 = d3;
+    *cnc_sim_scara_haldata->d4 = d4;
+    *cnc_sim_scara_haldata->d5 = d5;
+    *cnc_sim_scara_haldata->d6 = d6;
+}
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_scarakins_forward(const double *joints,
+                                                       struct EmcPose *pos,
+                                                       int *iflags) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS raw_iflags = 0;
+    const int result = scaraKinematicsForward(joints, pos, &fflags, &raw_iflags);
+    if (iflags) {
+        *iflags = (int)raw_iflags;
+    }
+    return result;
+}
+
+CNC_SIM_EXTERN_C int cnc_sim_linuxcnc_scarakins_inverse(const struct EmcPose *pos,
+                                                       double *joints,
+                                                       int iflags) {
+    KINEMATICS_INVERSE_FLAGS raw_iflags = (KINEMATICS_INVERSE_FLAGS)iflags;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return scaraKinematicsInverse(pos, joints, &raw_iflags, &fflags);
+}

core/src/linuxcnc_scarakins_adapter.cpp

@@ -0,0 +1,144 @@
+#include "linuxcnc_scarakins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_scarakins_setup(void);
+void cnc_sim_linuxcnc_scarakins_set_parameters(double d1,
+                                               double d2,
+                                               double d3,
+                                               double d4,
+                                               double d5,
+                                               double d6);
+int cnc_sim_linuxcnc_scarakins_forward(const double *joints, EmcPose *pos, int *iflags);
+int cnc_sim_linuxcnc_scarakins_inverse(const EmcPose *pos,
+                                       double *joints,
+                                       int iflags);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_scarakins_setup() == 0;
+    return initialized;
+}
+
+void apply_parameters(const LinuxCncScaraParameters &parameters) {
+    cnc_sim_linuxcnc_scarakins_set_parameters(parameters.d1,
+                                              parameters.d2,
+                                              parameters.d3,
+                                              parameters.d4,
+                                              parameters.d5,
+                                              parameters.d6);
+}
+
+void to_joints(const LinuxCncScaraJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.j0;
+    out[1] = joints.j1;
+    out[2] = joints.j2;
+    out[3] = joints.j3;
+    out[4] = joints.j4;
+    out[5] = joints.j5;
+}
+
+LinuxCncScaraJoints from_joints(const double joints[16]) {
+    LinuxCncScaraJoints out{};
+    out.j0 = joints[0];
+    out.j1 = joints[1];
+    out.j2 = joints[2];
+    out.j3 = joints[3];
+    out.j4 = joints[4];
+    out.j5 = joints[5];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_scarakins_forward(const LinuxCncScaraJoints &joints,
+                                const LinuxCncScaraParameters &parameters,
+                                CncSimPose *pose,
+                                int *iflags) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    int raw_iflags = 0;
+    if (cnc_sim_linuxcnc_scarakins_forward(raw_joints, &out, &raw_iflags) != 0) {
+        return false;
+    }
+    if (iflags) {
+        *iflags = raw_iflags;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_scarakins_inverse(const CncSimPose &pose,
+                                const LinuxCncScaraParameters &parameters,
+                                int iflags,
+                                LinuxCncScaraJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_scarakins_inverse(&in, raw_joints, iflags) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_scarakins_adapter.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_scarakins_forward(const LinuxCncScaraJoints &joints,
+                                const LinuxCncScaraParameters &parameters,
+                                CncSimPose *pose,
+                                int *iflags);
+bool linuxcnc_scarakins_inverse(const CncSimPose &pose,
+                                const LinuxCncScaraParameters &parameters,
+                                int iflags,
+                                LinuxCncScaraJoints *joints);

core/src/linuxcnc_scorbot_kins_adapter.c

@@ -0,0 +1,121 @@
+#include <math.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_GO_TYPES_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+
+#define PM_PI 3.1415926535897932384626433832795029
+#define TO_RAD (PM_PI / 180.0)
+#define TO_DEG (180.0 / PM_PI)
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_scorbot_kins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+int cnc_sim_scorbot_kins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_scorbot_kins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+#define hal_init cnc_sim_scorbot_kins_hal_init
+#define hal_ready cnc_sim_scorbot_kins_hal_ready
+#define hal_exit cnc_sim_scorbot_kins_hal_exit
+#define kinematicsType cnc_sim_scorbot_kins_kinematicsType
+#define kinematicsForward cnc_sim_scorbot_kins_kinematicsForward
+#define kinematicsInverse cnc_sim_scorbot_kins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_scorbot_kins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_scorbot_kins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_scorbot_kins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_scorbot_kins_rtapi_app_exit
+#define comp_id cnc_sim_scorbot_kins_comp_id
+#include "../../../linuxcnc/src/emc/kinematics/scorbot-kins.c"
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_init
+
+int cnc_sim_linuxcnc_scorbot_kins_setup(void) {
+    return cnc_sim_scorbot_kins_rtapi_app_main();
+}
+
+int cnc_sim_linuxcnc_scorbot_kins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_scorbot_kins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_scorbot_kins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_scorbot_kins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_scorbot_kins_adapter.cpp

@@ -0,0 +1,110 @@
+#include "linuxcnc_scorbot_kins_adapter.h"
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_scorbot_kins_setup(void);
+int cnc_sim_linuxcnc_scorbot_kins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_scorbot_kins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_scorbot_kins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncScorbotJoints &joints, double out[5]) {
+    out[0] = joints.j0;
+    out[1] = joints.j1;
+    out[2] = joints.j2;
+    out[3] = joints.j3;
+    out[4] = joints.j4;
+}
+
+LinuxCncScorbotJoints from_joints(const double joints[5]) {
+    LinuxCncScorbotJoints out{};
+    out.j0 = joints[0];
+    out.j1 = joints[1];
+    out.j2 = joints[2];
+    out.j3 = joints[3];
+    out.j4 = joints[4];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_scorbot_kins_source_forward(const LinuxCncScorbotJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[5] = {};
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_scorbot_kins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_scorbot_kins_source_inverse(const CncSimPose &pose, LinuxCncScorbotJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[5] = {};
+    if (cnc_sim_linuxcnc_scorbot_kins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_scorbot_kins_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_scorbot_kins_source_forward(const LinuxCncScorbotJoints &joints, CncSimPose *pose);
+bool linuxcnc_scorbot_kins_source_inverse(const CncSimPose &pose, LinuxCncScorbotJoints *joints);

core/src/linuxcnc_switchkins_remap_table.inc

@@ -0,0 +1,180 @@
+// Generated by ./generate-linuxcnc-switchkins-remap-table.sh.
+// Source: LinuxCNC INI MACHINE/KINEMATICS/HALFILE/POSTGUI_HALFILE/SUBROUTINE_PATH/REMAP entries and
+// adjacent remap_subs/{428,429,430}remap.ngc #<kinstype> assignments.
+    {"configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill", 0, 1, 2},
+    {"bridgemill", 0, 1, 2},
+    {"5axis", 0, 1, 2},
+    {"sim-5axisbridgemill(xyzbcw)", 0, 1, 2},
+    {"sim-5axisbridgemill", 0, 1, 2},
+    {"5axiskinscoordinates=xyzbcwy", 0, 1, 2},
+    {"5axiskins", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal", 0, 1, 2},
+    {"5axisgui.hal", 0, 1, 2},
+    {"5axisgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal", 0, 1, 2},
+    {"5axis_postgui.hal", 0, 1, 2},
+    {"5axis_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary", 1, 0, -1},
+    {"table-dual-rotary", 1, 0, -1},
+    {"xyzab-tdr", 1, 0, -1},
+    {"sim-xyzab-tdr-kins(switchkins)", 1, 0, -1},
+    {"sim-xyzab-tdr-kins", 1, 0, -1},
+    {"xyzab_tdr_kins", 1, 0, -1},
+    {"xyzab_tdr", 1, 0, -1},
+    {"xyzab-tdr-kins", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal", 1, 0, -1},
+    {"xyzab-tdr-postgui.hal", 1, 0, -1},
+    {"xyzab-tdr-postgui", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc", 1, 0, -1},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting", 1, 0, 2},
+    {"table-rotary-tilting", 1, 0, 2},
+    {"xyzac-trt", 1, 0, 2},
+    {"sim-xyzac-trt-kins(switchkins)", 1, 0, 2},
+    {"sim-xyzac-trt-kins", 1, 0, 2},
+    {"xyzac-trt-kinssparm=identityfirst", 1, 0, 2},
+    {"xyzac-trt-kins", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", 1, 0, 2},
+    {"switchkins_postgui.hal", 1, 0, 2},
+    {"switchkins_postgui", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", 1, 0, 2},
+    {"xyzbc-trt", 1, 0, 2},
+    {"sim-xyzbc-trt-kins(switchkins)", 1, 0, 2},
+    {"sim-xyzbc-trt-kins", 1, 0, 2},
+    {"xyzbc-trt-kinssparm=identityfirst", 1, 0, 2},
+    {"xyzbc-trt-kins", 1, 0, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp", 0, 1, 2},
+    {"xyzacb-trsrn_twp", 0, 1, 2},
+    {"xyzacb-trsrn", 0, 1, 2},
+    {"xyzacb-trsrn(switchkins)", 0, 1, 2},
+    {"xyzacb_trsrn", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzacb-trsrn_twp/xyzacb-trsrn_postgui.hal", 0, 1, 2},
+    {"xyzacb-trsrn_postgui.hal", 0, 1, 2},
+    {"xyzacb-trsrn_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating", 0, 1, 2},
+    {"table-rotary_spindle-rotary-nutating", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp", 0, 1, 2},
+    {"xyzbca-trsrn_twp", 0, 1, 2},
+    {"xyzbca-trsrn", 0, 1, 2},
+    {"xyzbca-trsrn(switchkins)", 0, 1, 2},
+    {"xyzbca_trsrn", 0, 1, 2},
+    {"configs/sim/axis/vismach/5axis/table-rotary_spindle-rotary-nutating/xyzbca-trsrn_twp/xyzbca-trsrn_postgui.hal", 0, 1, 2},
+    {"xyzbca-trsrn_postgui.hal", 0, 1, 2},
+    {"xyzbca-trsrn_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/hexapod.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim", 0, 1, 2},
+    {"hexapod-sim", 0, 1, 2},
+    {"hexapod", 0, 1, 2},
+    {"hexapod(switchkins)", 0, 1, 2},
+    {"genhexkins", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/kinematics.hal", 0, 1, 2},
+    {"kinematics.hal", 0, 1, 2},
+    {"kinematics", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/hexapod_postgui.hal", 0, 1, 2},
+    {"hexapod_postgui.hal", 0, 1, 2},
+    {"hexapod_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/melfa.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim", 0, 1, 2},
+    {"melfa-sim", 0, 1, 2},
+    {"melfa", 0, 1, 2},
+    {"melfa(mm)", 0, 1, 2},
+    {"genserkins", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/melfa_dh.hal", 0, 1, 2},
+    {"melfa_dh.hal", 0, 1, 2},
+    {"melfa_dh", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/melfa-postgui.hal", 0, 1, 2},
+    {"melfa-postgui.hal", 0, 1, 2},
+    {"melfa-postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/melfa-sim/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/millturn/millturn.ini", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn", 0, 1, -1},
+    {"millturn", 0, 1, -1},
+    {"millturn(mm)", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn/millturn.hal", 0, 1, -1},
+    {"millturn.hal", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn/millturn-postgui.hal", 0, 1, -1},
+    {"millturn-postgui.hal", 0, 1, -1},
+    {"millturn-postgui", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn/remap_subs/428remap.ngc", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn/remap_subs", 0, 1, -1},
+    {"configs/sim/axis/vismach/millturn/remap_subs/429remap.ngc", 0, 1, -1},
+    {"configs/sim/axis/vismach/puma/puma.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma", 0, 1, 2},
+    {"puma", 0, 1, 2},
+    {"puma(pumakins,switchkins)", 0, 1, 2},
+    {"pumakins", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma_dh.hal", 0, 1, 2},
+    {"puma_dh.hal", 0, 1, 2},
+    {"puma_dh", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma_postgui.hal", 0, 1, 2},
+    {"puma_postgui.hal", 0, 1, 2},
+    {"puma_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma_cube.ini", 0, 1, 2},
+    {"puma_cube", 0, 1, 2},
+    {"puma_cube.ini(pumakins)", 0, 1, 2},
+    {"puma_cube.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma560.ini", 0, 1, 2},
+    {"puma560", 0, 1, 2},
+    {"puma560(switchkins)(inch)", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma560_dh.hal", 0, 1, 2},
+    {"puma560_dh.hal", 0, 1, 2},
+    {"puma560_dh", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma560_postgui.hal", 0, 1, 2},
+    {"puma560_postgui.hal", 0, 1, 2},
+    {"puma560_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/puma/puma560_uvw.ini", 0, 1, 2},
+    {"puma560_uvw", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/scara.ini", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara", 0, 1, 2},
+    {"scara", 0, 1, 2},
+    {"scara(genserkins,switchkins)", 0, 1, 2},
+    {"scarakinscoordinates=xyzcab", 0, 1, 2},
+    {"scarakins", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/scara_postgui.hal", 0, 1, 2},
+    {"scara_postgui.hal", 0, 1, 2},
+    {"scara_postgui", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/remap_subs", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/axis/vismach/scara/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara/scara.ini", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara/remap_subs", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/qtaxis/non-trivial/scara/remap_subs/430remap.ngc", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara/scara.ini", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara/remap_subs/428remap.ngc", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara/remap_subs", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara/remap_subs/429remap.ngc", 0, 1, 2},
+    {"configs/sim/qtvcp_screens/non-trivial/scara/remap_subs/430remap.ngc", 0, 1, 2},

core/src/linuxcnc_tooldata_fixture.cpp

@@ -2,6 +2,8 @@
 
 #include "emc/tooldata/tooldata.hh"
 
+#include <cstdlib>
+
 void cnc_sim_init_minimal_linuxcnc_tooldata() {
     static bool created = false;
     if (!created) {
@@ -22,5 +24,29 @@ void cnc_sim_init_minimal_linuxcnc_tooldata() {
     tool.diameter = 6.0;
     tool.offset.tran.z = 12.5;
     tooldata_put(tool, 1);
-    tooldata_last_index_set(1);
+
+    CANON_TOOL_TABLE thread_tool = tooldata_entry_init();
+    thread_tool.toolno = 4;
+    thread_tool.pocketno = 4;
+    thread_tool.diameter = 1.0;
+    thread_tool.offset.tran.z = 0.7;
+    tooldata_put(thread_tool, 4);
+
+    if (const char *spindle_tool = std::getenv("CNC_SIM_TOOL_IN_SPINDLE")) {
+        const int tool_id = std::atoi(spindle_tool);
+        if (tool_id == 1) {
+            CANON_TOOL_TABLE spindle_tooldata = tool;
+            spindle_tooldata.pocketno = 0;
+            spindle_tooldata.frontangle = 12.0;
+            spindle_tooldata.backangle = 34.0;
+            spindle_tooldata.orientation = 5;
+            tooldata_put(spindle_tooldata, 0);
+        } else if (tool_id == 4) {
+            CANON_TOOL_TABLE spindle_tooldata = thread_tool;
+            spindle_tooldata.pocketno = 0;
+            tooldata_put(spindle_tooldata, 0);
+        }
+    }
+
+    tooldata_last_index_set(4);
 }

core/src/linuxcnc_tripodkins_adapter.c

@@ -0,0 +1,142 @@
+#include <math.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_EMCPOS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int cnc_sim_tripodkins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void *cnc_sim_tripodkins_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_tripodkins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_tripodkins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_tripodkins_hal_pin_float_new(const char *name,
+                                         hal_pin_dir_t dir,
+                                         hal_float_t **data_ptr_addr,
+                                         int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define hal_init cnc_sim_tripodkins_hal_init
+#define hal_malloc(size) ((struct haldata *)cnc_sim_tripodkins_hal_malloc(size))
+#define hal_pin_float_new cnc_sim_tripodkins_hal_pin_float_new
+#define hal_ready cnc_sim_tripodkins_hal_ready
+#define hal_exit cnc_sim_tripodkins_hal_exit
+#define kinematicsType cnc_sim_tripodkins_kinematicsType
+#define kinematicsForward cnc_sim_tripodkins_kinematicsForward
+#define kinematicsInverse cnc_sim_tripodkins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_tripodkins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_tripodkins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_tripodkins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_tripodkins_rtapi_app_exit
+#define comp_id cnc_sim_tripodkins_comp_id
+#define haldata cnc_sim_tripodkins_haldata
+#include "../../../linuxcnc/src/emc/kinematics/tripodkins.c"
+#undef haldata
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsType
+#undef hal_exit
+#undef hal_ready
+#undef hal_pin_float_new
+#undef hal_malloc
+#undef hal_init
+
+int cnc_sim_linuxcnc_tripodkins_setup(void) {
+    return cnc_sim_tripodkins_rtapi_app_main();
+}
+
+int cnc_sim_linuxcnc_tripodkins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_tripodkins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_tripodkins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_tripodkins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_tripodkins_adapter.cpp

@@ -0,0 +1,94 @@
+#include "linuxcnc_tripodkins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_tripodkins_setup(void);
+int cnc_sim_linuxcnc_tripodkins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_tripodkins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_tripodkins_setup() == 0;
+    return initialized;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_tripodkins_source_forward(const LinuxCncTripodJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[3];
+    std::memcpy(raw_joints, joints.strut, sizeof(raw_joints));
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_tripodkins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_tripodkins_source_inverse(const CncSimPose &pose, LinuxCncTripodJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose emc_pose = to_emc_pose(pose);
+    double raw_joints[3] = {};
+    if (cnc_sim_linuxcnc_tripodkins_inverse(&emc_pose, raw_joints) != 0) {
+        return false;
+    }
+    std::memcpy(joints->strut, raw_joints, sizeof(raw_joints));
+    return true;
+}

core/src/linuxcnc_tripodkins_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_tripodkins_source_forward(const LinuxCncTripodJoints &joints, CncSimPose *pose);
+bool linuxcnc_tripodkins_source_inverse(const CncSimPose &pose, LinuxCncTripodJoints *joints);

core/src/linuxcnc_trivkins_adapter.c

@@ -0,0 +1,163 @@
+#include <ctype.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <strings.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_EMCPOS_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define RTAPI_MP_STRING(name, desc)
+#define RTAPI_MSG_ERR 1
+#define EMCMOT_MAX_JOINTS 16
+#define EMCMOT_MAX_AXIS 9
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() { return 0; } \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0; }
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void cnc_sim_trivkins_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_trivkins_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+int cnc_sim_trivkins_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+int cnc_sim_trivkins_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+void cnc_sim_trivkins_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+#define rtapi_print cnc_sim_trivkins_rtapi_print
+#define rtapi_print_msg cnc_sim_trivkins_rtapi_print_msg
+#define kinematicsType cnc_sim_trivkins_kinematicsType
+KINEMATICS_TYPE kinematicsType(void);
+#define map_coordinates_to_jnumbers cnc_sim_trivkins_map_coordinates_to_jnumbers
+#define mapped_joints_to_position cnc_sim_trivkins_mapped_joints_to_position
+#define position_to_mapped_joints cnc_sim_trivkins_position_to_mapped_joints
+#define identityKinematicsSetup cnc_sim_trivkins_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_trivkins_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_trivkins_identityKinematicsInverse
+#include "../../../linuxcnc/src/emc/kinematics/kins_util.c"
+
+#define hal_init cnc_sim_trivkins_hal_init
+#define hal_ready cnc_sim_trivkins_hal_ready
+#define hal_exit cnc_sim_trivkins_hal_exit
+#define kinematicsForward cnc_sim_trivkins_kinematicsForward
+#define kinematicsInverse cnc_sim_trivkins_kinematicsInverse
+#define kinematicsSwitchable cnc_sim_trivkins_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_trivkins_kinematicsSwitch
+#define rtapi_app_main cnc_sim_trivkins_rtapi_app_main
+#define rtapi_app_exit cnc_sim_trivkins_rtapi_app_exit
+#define comp_id cnc_sim_trivkins_comp_id
+#define coordinates cnc_sim_trivkins_coordinates
+#define kinstype cnc_sim_trivkins_kinstype
+#include "../../../linuxcnc/src/emc/kinematics/trivkins.c"
+#undef kinstype
+#undef coordinates
+#undef comp_id
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef hal_exit
+#undef hal_ready
+#undef hal_init
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef position_to_mapped_joints
+#undef mapped_joints_to_position
+#undef map_coordinates_to_jnumbers
+#undef kinematicsType
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_trivkins_setup(void) {
+    return cnc_sim_trivkins_rtapi_app_main();
+}
+
+int cnc_sim_linuxcnc_trivkins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_trivkins_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_trivkins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_trivkins_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+int cnc_sim_linuxcnc_trivkins_type(void) {
+    return (int)cnc_sim_trivkins_kinematicsType();
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_trivkins_adapter.cpp

@@ -0,0 +1,129 @@
+#include "linuxcnc_trivkins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_trivkins_setup(void);
+int cnc_sim_linuxcnc_trivkins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_trivkins_inverse(const EmcPose *pos, double *joints);
+int cnc_sim_linuxcnc_trivkins_type(void);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_trivkins_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_trivkins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_trivkins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_trivkins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_trivkins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}
+
+int linuxcnc_trivkins_source_kinematics_type() {
+    if (!ensure_initialized()) {
+        return 0;
+    }
+    return cnc_sim_linuxcnc_trivkins_type();
+}

core/src/linuxcnc_trivkins_adapter.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_trivkins_source_forward(const LinuxCncAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_trivkins_source_inverse(const CncSimPose &pose, LinuxCncAxisJoints *joints);
+int linuxcnc_trivkins_source_kinematics_type();

core/src/linuxcnc_trtfuncs_adapter.c

@@ -0,0 +1,207 @@
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_RTAPI_CTYPE_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define RTAPI_MSG_ERR 1
+#define PM_PI 3.1415926535897932384626433832795029
+#define TO_RAD (PM_PI / 180.0)
+#define EMCMOT_MAX_JOINTS 16
+#define EMCMOT_MAX_AXIS 9
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+static int cnc_sim_axis_idx_for_jno[EMCMOT_MAX_JOINTS];
+static int cnc_sim_max_joints;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int hal_pin_float_newf(hal_pin_dir_t dir, hal_float_t **data_ptr_addr, int comp_id, const char *fmt, ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int hal_pin_bit_newf(hal_pin_dir_t dir, hal_bit_t **data_ptr_addr, int comp_id, const char *fmt, ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_bit_t *)calloc(1, sizeof(hal_bit_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int map_coordinates_to_jnumbers(const char *coordinates,
+                                const int max_joints,
+                                const int allow_duplicates,
+                                int axis_idx_for_jno[]) {
+    (void)allow_duplicates;
+    const char *letters = "XYZABCUVW";
+    int jno = 0;
+    for (int i = 0; i < EMCMOT_MAX_JOINTS; ++i) {
+        axis_idx_for_jno[i] = -1;
+        cnc_sim_axis_idx_for_jno[i] = -1;
+    }
+    while (*coordinates) {
+        const char *found = strchr(letters, toupper((unsigned char)*coordinates));
+        if (!found || jno >= max_joints) {
+            return -1;
+        }
+        axis_idx_for_jno[jno++] = (int)(found - letters);
+        ++coordinates;
+    }
+    cnc_sim_max_joints = jno;
+    for (int i = 0; i < EMCMOT_MAX_JOINTS; ++i) {
+        cnc_sim_axis_idx_for_jno[i] = axis_idx_for_jno[i];
+    }
+    return 0;
+}
+
+int position_to_mapped_joints(const int max_joints, const EmcPose *pos, double *joints) {
+    for (int jno = 0; jno < max_joints; ++jno) {
+        switch (cnc_sim_axis_idx_for_jno[jno]) {
+        case 0: joints[jno] = pos->tran.x; break;
+        case 1: joints[jno] = pos->tran.y; break;
+        case 2: joints[jno] = pos->tran.z; break;
+        case 3: joints[jno] = pos->a; break;
+        case 4: joints[jno] = pos->b; break;
+        case 5: joints[jno] = pos->c; break;
+        case 6: joints[jno] = pos->u; break;
+        case 7: joints[jno] = pos->v; break;
+        case 8: joints[jno] = pos->w; break;
+        default: joints[jno] = 0.0; break;
+        }
+    }
+    return 0;
+}
+
+#define hal_malloc(size) ((struct haldata *)cnc_sim_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/trtfuncs.c"
+#undef hal_malloc
+
+void cnc_sim_linuxcnc_trtfuncs_reset_setup_state(void) {
+    trtfuncs_max_joints = 0;
+    JX = -1;
+    JY = -1;
+    JZ = -1;
+    JA = -1;
+    JB = -1;
+    JC = -1;
+    JU = -1;
+    JV = -1;
+    JW = -1;
+    haldata = NULL;
+    cnc_sim_max_joints = 0;
+    for (int i = 0; i < EMCMOT_MAX_JOINTS; ++i) {
+        cnc_sim_axis_idx_for_jno[i] = -1;
+    }
+}
+
+int cnc_sim_linuxcnc_trtfuncs_setup_xyzbc(void) {
+    kparms kp = {0};
+    static char kinsname[] = "xyzbc-trt-kins";
+    static char halprefix[] = "xyzbc-trt-kins";
+    static char required_coordinates[] = "XYZBC";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.required_coordinates = required_coordinates;
+    kp.max_joints = EMCMOT_MAX_JOINTS;
+    kp.allow_duplicates = 1;
+    return trtKinematicsSetup(0, "XYZBC", &kp);
+}
+
+int cnc_sim_linuxcnc_trtfuncs_setup_xyzac(void) {
+    kparms kp = {0};
+    static char kinsname[] = "xyzac-trt-kins";
+    static char halprefix[] = "xyzac-trt-kins";
+    static char required_coordinates[] = "XYZAC";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.required_coordinates = required_coordinates;
+    kp.max_joints = EMCMOT_MAX_JOINTS;
+    kp.allow_duplicates = 1;
+    return trtKinematicsSetup(0, "XYZAC", &kp);
+}
+
+void cnc_sim_linuxcnc_trtfuncs_set_pins(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) {
+    *haldata->x_rot_point = x_rot_point;
+    *haldata->y_rot_point = y_rot_point;
+    *haldata->z_rot_point = z_rot_point;
+    *haldata->x_offset = x_offset;
+    *haldata->y_offset = y_offset;
+    *haldata->z_offset = z_offset;
+    *haldata->tool_offset = tool_offset;
+    *haldata->conventional_directions = conventional_directions;
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_trtfuncs_adapter.cpp

@@ -0,0 +1,241 @@
+#include "linuxcnc_trtfuncs_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+int cnc_sim_linuxcnc_trtfuncs_setup_xyzbc(void);
+int cnc_sim_linuxcnc_trtfuncs_setup_xyzac(void);
+void cnc_sim_linuxcnc_trtfuncs_set_pins(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);
+void cnc_sim_linuxcnc_trtfuncs_reset_setup_state(void);
+int xyzbcKinematicsForward(const double *joints,
+                           EmcPose *pos,
+                           const KINEMATICS_FORWARD_FLAGS *fflags,
+                           KINEMATICS_INVERSE_FLAGS *iflags);
+int xyzbcKinematicsInverse(const EmcPose *pos,
+                           double *joints,
+                           const KINEMATICS_INVERSE_FLAGS *iflags,
+                           KINEMATICS_FORWARD_FLAGS *fflags);
+int xyzacKinematicsForward(const double *joints,
+                           EmcPose *pos,
+                           const KINEMATICS_FORWARD_FLAGS *fflags,
+                           KINEMATICS_INVERSE_FLAGS *iflags);
+int xyzacKinematicsInverse(const EmcPose *pos,
+                           double *joints,
+                           const KINEMATICS_INVERSE_FLAGS *iflags,
+                           KINEMATICS_FORWARD_FLAGS *fflags);
+}
+
+namespace {
+
+enum class TrtSetup {
+    None,
+    Xyzbc,
+    Xyzac,
+};
+
+TrtSetup current_setup = TrtSetup::None;
+
+bool ensure_xyzbc() {
+    if (current_setup == TrtSetup::Xyzbc) {
+        return true;
+    }
+    cnc_sim_linuxcnc_trtfuncs_reset_setup_state();
+    if (cnc_sim_linuxcnc_trtfuncs_setup_xyzbc() != 0) {
+        current_setup = TrtSetup::None;
+        return false;
+    }
+    current_setup = TrtSetup::Xyzbc;
+    return true;
+}
+
+bool ensure_xyzac() {
+    if (current_setup == TrtSetup::Xyzac) {
+        return true;
+    }
+    cnc_sim_linuxcnc_trtfuncs_reset_setup_state();
+    if (cnc_sim_linuxcnc_trtfuncs_setup_xyzac() != 0) {
+        current_setup = TrtSetup::None;
+        return false;
+    }
+    current_setup = TrtSetup::Xyzac;
+    return true;
+}
+
+void apply_parameters(const LinuxCncXyzbcTrtParameters &parameters) {
+    cnc_sim_linuxcnc_trtfuncs_set_pins(parameters.x_rot_point,
+                                       parameters.y_rot_point,
+                                       parameters.z_rot_point,
+                                       parameters.x_offset,
+                                       parameters.y_offset,
+                                       parameters.z_offset,
+                                       parameters.tool_offset,
+                                       parameters.conventional_directions);
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+void to_xyzbc_joints(const LinuxCncFiveAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.b;
+    out[4] = joints.c;
+}
+
+void to_xyzac_joints(const LinuxCncFiveAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.c;
+}
+
+LinuxCncFiveAxisJoints from_xyzbc_joints(const double joints[16]) {
+    LinuxCncFiveAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.b = joints[3];
+    out.c = joints[4];
+    return out;
+}
+
+LinuxCncFiveAxisJoints from_xyzac_joints(const double joints[16]) {
+    LinuxCncFiveAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.c = joints[4];
+    return out;
+}
+
+} // namespace
+
+bool linuxcnc_trtfuncs_xyzbc_forward(const LinuxCncFiveAxisJoints &joints,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     CncSimPose *pose) {
+    if (!ensure_xyzbc()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    double raw_joints[16];
+    to_xyzbc_joints(joints, raw_joints);
+    EmcPose out{};
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    if (xyzbcKinematicsForward(raw_joints, &out, &fflags, &iflags) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_trtfuncs_xyzbc_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     LinuxCncFiveAxisJoints *joints) {
+    if (!ensure_xyzbc()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    if (xyzbcKinematicsInverse(&in, raw_joints, &iflags, &fflags) != 0) {
+        return false;
+    }
+    *joints = from_xyzbc_joints(raw_joints);
+    return true;
+}
+
+bool linuxcnc_trtfuncs_xyzac_forward(const LinuxCncFiveAxisJoints &joints,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     CncSimPose *pose) {
+    if (!ensure_xyzac()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    double raw_joints[16];
+    to_xyzac_joints(joints, raw_joints);
+    EmcPose out{};
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    if (xyzacKinematicsForward(raw_joints, &out, &fflags, &iflags) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_trtfuncs_xyzac_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     LinuxCncFiveAxisJoints *joints) {
+    if (!ensure_xyzac()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    if (xyzacKinematicsInverse(&in, raw_joints, &iflags, &fflags) != 0) {
+        return false;
+    }
+    *joints = from_xyzac_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_trtfuncs_adapter.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_trtfuncs_xyzbc_forward(const LinuxCncFiveAxisJoints &joints,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     CncSimPose *pose);
+bool linuxcnc_trtfuncs_xyzbc_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     LinuxCncFiveAxisJoints *joints);
+bool linuxcnc_trtfuncs_xyzac_forward(const LinuxCncFiveAxisJoints &joints,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     CncSimPose *pose);
+bool linuxcnc_trtfuncs_xyzac_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzbcTrtParameters &parameters,
+                                     LinuxCncFiveAxisJoints *joints);

core/src/linuxcnc_userkfuncs_adapter.c

@@ -0,0 +1,154 @@
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <strings.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_EMCMOTCFG_H
+#define __LINUXCNC_EMCPOS_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define RTAPI_MSG_ERR 1
+#define EMCMOT_MAX_JOINTS 16
+#define EMCMOT_MAX_AXIS 9
+
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void cnc_sim_userk_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_userk_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_userk_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_userk_hal_pin_s32_new(const char *name,
+                                  hal_pin_dir_t dir,
+                                  hal_s32_t **data_ptr_addr,
+                                  int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_s32_t *)calloc(1, sizeof(hal_s32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+KINEMATICS_TYPE cnc_sim_userk_kinematicsType(void) {
+    return KINEMATICS_BOTH;
+}
+
+#define rtapi_print cnc_sim_userk_rtapi_print
+#define rtapi_print_msg cnc_sim_userk_rtapi_print_msg
+#define kinematicsType cnc_sim_userk_kinematicsType
+#define hal_pin_s32_new cnc_sim_userk_hal_pin_s32_new
+#define map_coordinates_to_jnumbers cnc_sim_userk_map_coordinates_to_jnumbers
+#define mapped_joints_to_position cnc_sim_userk_mapped_joints_to_position
+#define position_to_mapped_joints cnc_sim_userk_position_to_mapped_joints
+#define identityKinematicsSetup cnc_sim_userk_identityKinematicsSetup
+#define identityKinematicsForward cnc_sim_userk_identityKinematicsForward
+#define identityKinematicsInverse cnc_sim_userk_identityKinematicsInverse
+#define userkKinematicsSetup cnc_sim_userk_userkKinematicsSetup
+#define userkKinematicsForward cnc_sim_userk_userkKinematicsForward
+#define userkKinematicsInverse cnc_sim_userk_userkKinematicsInverse
+#include "../../../linuxcnc/src/emc/kinematics/kins_util.c"
+#define hal_malloc(size) ((struct udata *)cnc_sim_userk_hal_malloc(size))
+#include "../../../linuxcnc/src/emc/kinematics/userkfuncs.c"
+#undef hal_malloc
+#undef userkKinematicsInverse
+#undef userkKinematicsForward
+#undef userkKinematicsSetup
+#undef identityKinematicsInverse
+#undef identityKinematicsForward
+#undef identityKinematicsSetup
+#undef position_to_mapped_joints
+#undef mapped_joints_to_position
+#undef map_coordinates_to_jnumbers
+#undef hal_pin_s32_new
+#undef kinematicsType
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_userkfuncs_setup(void) {
+    kparms kp = {0};
+    static char kinsname[] = "userkfuncs";
+    static char halprefix[] = "userk";
+    kp.kinsname = kinsname;
+    kp.halprefix = halprefix;
+    kp.max_joints = EMCMOT_MAX_JOINTS;
+    kp.allow_duplicates = 1;
+    if (cnc_sim_userk_identityKinematicsSetup(0, "XYZBC", &kp) != 0) {
+        return -1;
+    }
+    return cnc_sim_userk_userkKinematicsSetup(0, "XYZBC", &kp);
+}
+
+int cnc_sim_linuxcnc_userkfuncs_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_userk_userkKinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_userkfuncs_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_userk_userkKinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_userkfuncs_adapter.cpp

@@ -0,0 +1,113 @@
+#include "linuxcnc_userkfuncs_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_userkfuncs_setup(void);
+int cnc_sim_linuxcnc_userkfuncs_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_userkfuncs_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_userkfuncs_setup() == 0;
+    return initialized;
+}
+
+void to_joints(const LinuxCncFiveAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.b;
+    out[4] = joints.c;
+}
+
+LinuxCncFiveAxisJoints from_joints(const double joints[16]) {
+    LinuxCncFiveAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.b = joints[3];
+    out.c = joints[4];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_userkfuncs_forward(const LinuxCncFiveAxisJoints &joints, CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_userkfuncs_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_userkfuncs_inverse(const CncSimPose &pose, LinuxCncFiveAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_userkfuncs_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_userkfuncs_adapter.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_userkfuncs_forward(const LinuxCncFiveAxisJoints &joints, CncSimPose *pose);
+bool linuxcnc_userkfuncs_inverse(const CncSimPose &pose, LinuxCncFiveAxisJoints *joints);

core/src/linuxcnc_xyzab_tdr_kins_adapter.c

@@ -0,0 +1,241 @@
+#include <math.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#define __LINUXCNC_RTAPI_H
+#define __LINUXCNC_RTAPI_APP_H
+#define __LINUXCNC_RTAPI_STRING_H
+#define __LINUXCNC_RTAPI_ERRNO_H
+#define __LINUXCNC_RTAPI_MATH_H
+#define __LINUXCNC_RTAPI_MATH64_H
+#define __LINUXCNC_HAL_H
+#define __LINUXCNC_KINEMATICS_H
+
+#define MODULE_INFO(...)
+#define MODULE_LICENSE(...)
+#define EXPORT_SYMBOL(symbol)
+#define RTAPI_MP_INT(name, description)
+#define RTAPI_MP_STRING(name, description)
+
+#define RTAPI_MSG_ERR 1
+#define RTAPI_MSG_INFO 2
+#define HAL_NAME_LEN 47
+#define EINVAL 22
+#define PM_PI 3.1415926535897932384626433832795029
+#define TO_RAD (PM_PI / 180.0)
+
+typedef double real_t;
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef unsigned int hal_u32_t;
+typedef bool hal_bit_t;
+typedef enum { HAL_IN = 16, HAL_OUT = 32, HAL_IO = (HAL_IN | HAL_OUT) } hal_pin_dir_t;
+
+typedef struct {
+    double x;
+    double y;
+    double z;
+} PmCartesian;
+
+typedef struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+} EmcPose;
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,
+    KINEMATICS_FORWARD_ONLY,
+    KINEMATICS_INVERSE_ONLY,
+    KINEMATICS_BOTH
+} KINEMATICS_TYPE;
+
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+typedef struct kinematics_parms {
+    char *sparm;
+    char *kinsname;
+    char *halprefix;
+    char *required_coordinates;
+    int max_joints;
+    int allow_duplicates;
+    int fwd_iterates_mask;
+    int gui_kinstype;
+} kparms;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int __attribute__((weak)) rtapi_snprintf(char *str, unsigned long int size, const char *fmt, ...) {
+    va_list args;
+    va_start(args, fmt);
+    const int result = vsnprintf(str, (size_t)size, fmt, args);
+    va_end(args);
+    return result;
+}
+
+void cnc_sim_xyzab_tdr_rtapi_print(const char *fmt, ...) {
+    (void)fmt;
+}
+
+void cnc_sim_xyzab_tdr_rtapi_print_msg(int level, const char *fmt, ...) {
+    (void)level;
+    (void)fmt;
+}
+
+void *cnc_sim_xyzab_tdr_hal_malloc(long int size) {
+    return calloc(1, (size_t)size);
+}
+
+int cnc_sim_xyzab_tdr_hal_init(const char *name) {
+    (void)name;
+    return 1;
+}
+
+void cnc_sim_xyzab_tdr_hal_exit(int comp_id) {
+    (void)comp_id;
+}
+
+int cnc_sim_xyzab_tdr_hal_ready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+int cnc_sim_xyzab_tdr_hal_set_unready(int comp_id) {
+    (void)comp_id;
+    return 0;
+}
+
+int cnc_sim_xyzab_tdr_hal_pin_s32_newf(hal_pin_dir_t dir,
+                                       hal_s32_t **data_ptr_addr,
+                                       int comp_id,
+                                       const char *fmt,
+                                       ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_s32_t *)calloc(1, sizeof(hal_s32_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_xyzab_tdr_hal_pin_float_newf(hal_pin_dir_t dir,
+                                         hal_float_t **data_ptr_addr,
+                                         int comp_id,
+                                         const char *fmt,
+                                         ...) {
+    (void)dir;
+    (void)comp_id;
+    (void)fmt;
+    *data_ptr_addr = (hal_float_t *)calloc(1, sizeof(hal_float_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+int cnc_sim_xyzab_tdr_hal_pin_bit_new(const char *name,
+                                      hal_pin_dir_t dir,
+                                      hal_bit_t **data_ptr_addr,
+                                      int comp_id) {
+    (void)name;
+    (void)dir;
+    (void)comp_id;
+    *data_ptr_addr = (hal_bit_t *)calloc(1, sizeof(hal_bit_t));
+    return *data_ptr_addr ? 0 : -1;
+}
+
+#define rtapi_print cnc_sim_xyzab_tdr_rtapi_print
+#define rtapi_print_msg cnc_sim_xyzab_tdr_rtapi_print_msg
+#define hal_malloc(size) cnc_sim_xyzab_tdr_hal_malloc(size)
+#define hal_init cnc_sim_xyzab_tdr_hal_init
+#define hal_exit cnc_sim_xyzab_tdr_hal_exit
+#define hal_ready cnc_sim_xyzab_tdr_hal_ready
+#define hal_set_unready cnc_sim_xyzab_tdr_hal_set_unready
+#define hal_pin_s32_newf cnc_sim_xyzab_tdr_hal_pin_s32_newf
+#define hal_pin_float_newf cnc_sim_xyzab_tdr_hal_pin_float_newf
+#define hal_pin_bit_new cnc_sim_xyzab_tdr_hal_pin_bit_new
+#define kinematicsType cnc_sim_xyzab_tdr_kinematicsType
+#define kinematicsSwitchable cnc_sim_xyzab_tdr_kinematicsSwitchable
+#define kinematicsSwitch cnc_sim_xyzab_tdr_kinematicsSwitch
+#define kinematicsForward cnc_sim_xyzab_tdr_kinematicsForward
+#define kinematicsInverse cnc_sim_xyzab_tdr_kinematicsInverse
+#define rtapi_app_main cnc_sim_xyzab_tdr_rtapi_app_main
+#define rtapi_app_exit cnc_sim_xyzab_tdr_rtapi_app_exit
+#define export cnc_sim_xyzab_tdr_export
+#include "../../../linuxcnc/src/objects/hal/components/xyzab_tdr_kins.c"
+#undef export
+#undef rtapi_app_exit
+#undef rtapi_app_main
+#undef kinematicsInverse
+#undef kinematicsForward
+#undef kinematicsSwitch
+#undef kinematicsSwitchable
+#undef kinematicsType
+#undef hal_pin_bit_new
+#undef hal_pin_float_newf
+#undef hal_pin_s32_newf
+#undef hal_set_unready
+#undef hal_ready
+#undef hal_exit
+#undef hal_init
+#undef hal_malloc
+#undef rtapi_print_msg
+#undef rtapi_print
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_setup(void) {
+    return cnc_sim_xyzab_tdr_kinematicsType() == KINEMATICS_BOTH ? 0 : -1;
+}
+
+void cnc_sim_linuxcnc_xyzab_tdr_kins_set_parameters(double tool_offset_z,
+                                                    double x_offset,
+                                                    double z_offset,
+                                                    double x_rot_point,
+                                                    double y_rot_point,
+                                                    double z_rot_point) {
+    *haldata->tool_offset_z = tool_offset_z;
+    *haldata->x_offset = x_offset;
+    *haldata->z_offset = z_offset;
+    *haldata->x_rot_point = x_rot_point;
+    *haldata->y_rot_point = y_rot_point;
+    *haldata->z_rot_point = z_rot_point;
+}
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_switch(int switchkins_type) {
+    return cnc_sim_xyzab_tdr_kinematicsSwitch(switchkins_type);
+}
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_switch_state(int *kinstype_is_0, int *kinstype_is_1) {
+    if (!haldata || !haldata->kinstype_is_0 || !haldata->kinstype_is_1) {
+        return -1;
+    }
+    if (kinstype_is_0) {
+        *kinstype_is_0 = *haldata->kinstype_is_0 ? 1 : 0;
+    }
+    if (kinstype_is_1) {
+        *kinstype_is_1 = *haldata->kinstype_is_1 ? 1 : 0;
+    }
+    return 0;
+}
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_forward(const double *joints, EmcPose *pos) {
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    return cnc_sim_xyzab_tdr_kinematicsForward(joints, pos, &fflags, &iflags);
+}
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_inverse(const EmcPose *pos, double *joints) {
+    KINEMATICS_INVERSE_FLAGS iflags = 0;
+    KINEMATICS_FORWARD_FLAGS fflags = 0;
+    return cnc_sim_xyzab_tdr_kinematicsInverse(pos, joints, &iflags, &fflags);
+}
+
+#ifdef __cplusplus
+}
+#endif

core/src/linuxcnc_xyzab_tdr_kins_adapter.cpp

@@ -0,0 +1,177 @@
+#include "linuxcnc_xyzab_tdr_kins_adapter.h"
+
+#include <cstring>
+
+extern "C" {
+struct PmCartesian {
+    double x;
+    double y;
+    double z;
+};
+
+struct EmcPose {
+    PmCartesian tran;
+    double a;
+    double b;
+    double c;
+    double u;
+    double v;
+    double w;
+};
+
+int cnc_sim_linuxcnc_xyzab_tdr_kins_setup(void);
+void cnc_sim_linuxcnc_xyzab_tdr_kins_set_parameters(double tool_offset_z,
+                                                    double x_offset,
+                                                    double z_offset,
+                                                    double x_rot_point,
+                                                    double y_rot_point,
+                                                    double z_rot_point);
+int cnc_sim_linuxcnc_xyzab_tdr_kins_switch(int switchkins_type);
+int cnc_sim_linuxcnc_xyzab_tdr_kins_switch_state(int *kinstype_is_0, int *kinstype_is_1);
+int cnc_sim_linuxcnc_xyzab_tdr_kins_forward(const double *joints, EmcPose *pos);
+int cnc_sim_linuxcnc_xyzab_tdr_kins_inverse(const EmcPose *pos, double *joints);
+}
+
+namespace {
+
+bool initialized = false;
+
+bool ensure_initialized() {
+    if (initialized) {
+        return true;
+    }
+    initialized = cnc_sim_linuxcnc_xyzab_tdr_kins_setup() == 0;
+    return initialized;
+}
+
+void apply_parameters(const LinuxCncXyzabTdrParameters &parameters) {
+    cnc_sim_linuxcnc_xyzab_tdr_kins_set_parameters(parameters.tool_offset_z,
+                                                   parameters.x_offset,
+                                                   parameters.z_offset,
+                                                   parameters.x_rot_point,
+                                                   parameters.y_rot_point,
+                                                   parameters.z_rot_point);
+}
+
+void to_joints(const LinuxCncAxisJoints &joints, double out[16]) {
+    std::memset(out, 0, sizeof(double) * 16);
+    out[0] = joints.x;
+    out[1] = joints.y;
+    out[2] = joints.z;
+    out[3] = joints.a;
+    out[4] = joints.b;
+    out[5] = joints.c;
+    out[6] = joints.u;
+    out[7] = joints.v;
+    out[8] = joints.w;
+}
+
+LinuxCncAxisJoints from_joints(const double joints[16]) {
+    LinuxCncAxisJoints out{};
+    out.x = joints[0];
+    out.y = joints[1];
+    out.z = joints[2];
+    out.a = joints[3];
+    out.b = joints[4];
+    out.c = joints[5];
+    out.u = joints[6];
+    out.v = joints[7];
+    out.w = joints[8];
+    return out;
+}
+
+EmcPose to_emc_pose(const CncSimPose &pose) {
+    EmcPose emc{};
+    emc.tran.x = pose.x;
+    emc.tran.y = pose.y;
+    emc.tran.z = pose.z;
+    emc.a = pose.a;
+    emc.b = pose.b;
+    emc.c = pose.c;
+    emc.u = pose.u;
+    emc.v = pose.v;
+    emc.w = pose.w;
+    return emc;
+}
+
+CncSimPose from_emc_pose(const EmcPose &emc) {
+    CncSimPose pose{};
+    pose.x = emc.tran.x;
+    pose.y = emc.tran.y;
+    pose.z = emc.tran.z;
+    pose.a = emc.a;
+    pose.b = emc.b;
+    pose.c = emc.c;
+    pose.u = emc.u;
+    pose.v = emc.v;
+    pose.w = emc.w;
+    return pose;
+}
+
+} // namespace
+
+bool linuxcnc_xyzab_tdr_kins_switch(int switchkins_type) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    return cnc_sim_linuxcnc_xyzab_tdr_kins_switch(switchkins_type) == 0;
+}
+
+bool linuxcnc_xyzab_tdr_kins_switch_state(bool *kinstype_is_0, bool *kinstype_is_1) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    int raw_kinstype_is_0 = 0;
+    int raw_kinstype_is_1 = 0;
+    if (cnc_sim_linuxcnc_xyzab_tdr_kins_switch_state(&raw_kinstype_is_0, &raw_kinstype_is_1) != 0) {
+        return false;
+    }
+    if (kinstype_is_0) {
+        *kinstype_is_0 = raw_kinstype_is_0 != 0;
+    }
+    if (kinstype_is_1) {
+        *kinstype_is_1 = raw_kinstype_is_1 != 0;
+    }
+    return true;
+}
+
+bool linuxcnc_xyzab_tdr_kins_forward(const LinuxCncAxisJoints &joints,
+                                     const LinuxCncXyzabTdrParameters &parameters,
+                                     int switchkins_type,
+                                     CncSimPose *pose) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    if (!linuxcnc_xyzab_tdr_kins_switch(switchkins_type)) {
+        return false;
+    }
+    double raw_joints[16];
+    to_joints(joints, raw_joints);
+    EmcPose out{};
+    if (cnc_sim_linuxcnc_xyzab_tdr_kins_forward(raw_joints, &out) != 0) {
+        return false;
+    }
+    *pose = from_emc_pose(out);
+    return true;
+}
+
+bool linuxcnc_xyzab_tdr_kins_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzabTdrParameters &parameters,
+                                     int switchkins_type,
+                                     LinuxCncAxisJoints *joints) {
+    if (!ensure_initialized()) {
+        return false;
+    }
+    apply_parameters(parameters);
+    if (!linuxcnc_xyzab_tdr_kins_switch(switchkins_type)) {
+        return false;
+    }
+    const EmcPose in = to_emc_pose(pose);
+    double raw_joints[16] = {};
+    if (cnc_sim_linuxcnc_xyzab_tdr_kins_inverse(&in, raw_joints) != 0) {
+        return false;
+    }
+    *joints = from_joints(raw_joints);
+    return true;
+}

core/src/linuxcnc_xyzab_tdr_kins_adapter.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "rtcp_kinematics.h"
+
+bool linuxcnc_xyzab_tdr_kins_switch(int switchkins_type);
+bool linuxcnc_xyzab_tdr_kins_switch_state(bool *kinstype_is_0, bool *kinstype_is_1);
+bool linuxcnc_xyzab_tdr_kins_forward(const LinuxCncAxisJoints &joints,
+                                     const LinuxCncXyzabTdrParameters &parameters,
+                                     int switchkins_type,
+                                     CncSimPose *pose);
+bool linuxcnc_xyzab_tdr_kins_inverse(const CncSimPose &pose,
+                                     const LinuxCncXyzabTdrParameters &parameters,
+                                     int switchkins_type,
+                                     LinuxCncAxisJoints *joints);

core/src/rtcp_kinematics.cpp

@@ -1,72 +1,497 @@
 #include "rtcp_kinematics.h"
 
-#include <cmath>
+#include "linuxcnc_5axiskins_adapter.h"
+#include "linuxcnc_corexykins_adapter.h"
+#include "linuxcnc_genhexkins_adapter.h"
+#include "linuxcnc_genserfuncs_adapter.h"
+#include "linuxcnc_kins_util_adapter.h"
+#include "linuxcnc_lineardeltakins_adapter.h"
+#include "linuxcnc_maxkins_adapter.h"
+#include "linuxcnc_pentakins_adapter.h"
+#include "linuxcnc_pumakins_adapter.h"
+#include "linuxcnc_rotatekins_adapter.h"
+#include "linuxcnc_rosekins_adapter.h"
+#include "linuxcnc_rotarydeltakins_adapter.h"
+#include "linuxcnc_scarakins_adapter.h"
+#include "linuxcnc_scorbot_kins_adapter.h"
+#include "linuxcnc_tripodkins_adapter.h"
+#include "linuxcnc_trtfuncs_adapter.h"
+#include "linuxcnc_userkfuncs_adapter.h"
+#include "linuxcnc_xyzab_tdr_kins_adapter.h"
 
-namespace {
+LinuxCncAxisJoints linuxcnc_identity_default_joints() {
-
+    return {};
-constexpr double kPi = 3.141592653589793238462643383279502884;
-
-double radians(double degrees) {
-    return degrees * kPi / 180.0;
 }
 
-RtcpVector rotate_x(RtcpVector vector, double angle) {
+// Source: linuxcnc/src/emc/kinematics/kins_util.c
-    const double c = std::cos(angle);
+// Mirrors identityKinematicsForward() with default XYZABCUVW coordinate mapping.
-    const double s = std::sin(angle);
+CncSimPose linuxcnc_identity_forward(const LinuxCncAxisJoints &joints) {
-    return {
+    CncSimPose pose{};
-        vector.x,
+    linuxcnc_kins_util_identity_forward(joints, &pose);
-        vector.y * c - vector.z * s,
+    return pose;
-        vector.y * s + vector.z * c,
-    };
 }
 
-RtcpVector rotate_y(RtcpVector vector, double angle) {
+// Source: linuxcnc/src/emc/kinematics/kins_util.c
-    const double c = std::cos(angle);
+// Mirrors identityKinematicsInverse() with default XYZABCUVW coordinate mapping.
-    const double s = std::sin(angle);
+LinuxCncAxisJoints linuxcnc_identity_inverse(const CncSimPose &pose) {
-    return {
+    LinuxCncAxisJoints joints{};
-        vector.x * c + vector.z * s,
+    linuxcnc_kins_util_identity_inverse(pose, &joints);
-        vector.y,
+    return joints;
-        -vector.x * s + vector.z * c,
-    };
 }
 
-RtcpVector rotate_z(RtcpVector vector, double angle) {
+// Source: linuxcnc/src/emc/kinematics/trivkins.c
-    const double c = std::cos(angle);
+// kinematicsForward()/kinematicsInverse() delegate to identityKinematics*().
-    const double s = std::sin(angle);
+
-    return {
+// Source: linuxcnc/src/emc/kinematics/corexykins.c
-        vector.x * c - vector.y * s,
+// Mirrors kinematicsForward().
-        vector.x * s + vector.y * c,
+CncSimPose linuxcnc_corexykins_forward(const LinuxCncAxisJoints &joints) {
-        vector.z,
+    CncSimPose pose{};
-    };
+    linuxcnc_corexykins_source_forward(joints, &pose);
+    return pose;
 }
 
-} // namespace
+// Source: linuxcnc/src/emc/kinematics/corexykins.c
-
+// Mirrors kinematicsInverse().
-RtcpVector rtcp_rotate_abc_degrees(RtcpVector vector, double a_deg, double b_deg, double c_deg) {
+LinuxCncAxisJoints linuxcnc_corexykins_inverse(const CncSimPose &pose) {
-    vector = rotate_x(vector, radians(a_deg));
+    LinuxCncAxisJoints joints{};
-    vector = rotate_y(vector, radians(b_deg));
+    linuxcnc_corexykins_source_inverse(pose, &joints);
-    vector = rotate_z(vector, radians(c_deg));
+    return joints;
-    return vector;
 }
 
-RtcpVector rtcp_tool_vector_from_pose(const CncSimPose &pose, double tool_length) {
+// Source: linuxcnc/src/emc/kinematics/rotatekins.c
-    return rtcp_rotate_abc_degrees({0.0, 0.0, -tool_length}, pose.a, pose.b, pose.c);
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_rotatekins_forward(const LinuxCncAxisJoints &joints) {
+    CncSimPose pose{};
+    linuxcnc_rotatekins_source_forward(joints, &pose);
+    return pose;
 }
 
-CncSimPose rtcp_pivot_from_tool_tip(const CncSimPose &tool_tip, double tool_length) {
+// Source: linuxcnc/src/emc/kinematics/rotatekins.c
-    const RtcpVector tool = rtcp_tool_vector_from_pose(tool_tip, tool_length);
+// Mirrors kinematicsInverse().
-    CncSimPose pivot = tool_tip;
+LinuxCncAxisJoints linuxcnc_rotatekins_inverse(const CncSimPose &pose) {
-    pivot.x = tool_tip.x - tool.x;
+    LinuxCncAxisJoints joints{};
-    pivot.y = tool_tip.y - tool.y;
+    linuxcnc_rotatekins_source_inverse(pose, &joints);
-    pivot.z = tool_tip.z - tool.z;
+    return joints;
-    return pivot;
 }
 
-CncSimPose rtcp_tool_tip_from_pivot(const CncSimPose &pivot, double tool_length) {
+// Source: linuxcnc/src/emc/kinematics/genhexkins.c
-    const RtcpVector tool = rtcp_tool_vector_from_pose(pivot, tool_length);
+// Mirrors genhexKinematicsInverse().
-    CncSimPose tool_tip = pivot;
+LinuxCncGenhexJoints linuxcnc_genhex_inverse(const CncSimPose &pose) {
-    tool_tip.x = pivot.x + tool.x;
+    LinuxCncGenhexJoints joints{};
-    tool_tip.y = pivot.y + tool.y;
+    linuxcnc_genhexkins_source_inverse(pose, &joints);
-    tool_tip.z = pivot.z + tool.z;
+    return joints;
-    return tool_tip;
+}
+
+// Source: linuxcnc/src/emc/kinematics/genhexkins.c
+// Mirrors genhexKinematicsForward().
+CncSimPose linuxcnc_genhex_forward(const LinuxCncGenhexJoints &joints, const CncSimPose &initial_pose) {
+    CncSimPose pose{};
+    linuxcnc_genhexkins_source_forward(joints, initial_pose, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/pentakins.c
+// Mirrors kinematicsInverse().
+LinuxCncPentakinsJoints linuxcnc_pentakins_inverse(const CncSimPose &pose) {
+    LinuxCncPentakinsJoints joints{};
+    linuxcnc_pentakins_source_inverse(pose, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/pentakins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_pentakins_forward(const LinuxCncPentakinsJoints &joints,
+                                      const CncSimPose &initial_pose) {
+    CncSimPose pose{};
+    linuxcnc_pentakins_source_forward(joints, initial_pose, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/tripodkins.c
+// Mirrors kinematicsInverse().
+LinuxCncTripodJoints linuxcnc_tripodkins_inverse(const CncSimPose &pose) {
+    LinuxCncTripodJoints joints{};
+    linuxcnc_tripodkins_source_inverse(pose, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/tripodkins.c
+// Mirrors kinematicsForward() with the default positive-Z forward flag.
+CncSimPose linuxcnc_tripodkins_forward(const LinuxCncTripodJoints &joints) {
+    CncSimPose pose{};
+    linuxcnc_tripodkins_source_forward(joints, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/scorbot-kins.c
+// Mirrors kinematicsInverse().
+LinuxCncScorbotJoints linuxcnc_scorbot_kins_inverse(const CncSimPose &pose) {
+    LinuxCncScorbotJoints joints{};
+    linuxcnc_scorbot_kins_source_inverse(pose, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/scorbot-kins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_scorbot_kins_forward(const LinuxCncScorbotJoints &joints) {
+    CncSimPose pose{};
+    linuxcnc_scorbot_kins_source_forward(joints, &pose);
+    return pose;
+}
+
+// Source defaults: linuxcnc/src/emc/kinematics/lineardeltakins-common.h
+LinuxCncLinearDeltaParameters linuxcnc_lineardelta_default_parameters() {
+    LinuxCncLinearDeltaParameters parameters{};
+    linuxcnc_lineardeltakins_source_default_parameters(&parameters);
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/lineardeltakins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_lineardelta_forward(const LinuxCncAxisJoints &joints,
+                                        const LinuxCncLinearDeltaParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_lineardeltakins_source_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/lineardeltakins.c
+// Mirrors kinematicsInverse().
+LinuxCncAxisJoints linuxcnc_lineardelta_inverse(const CncSimPose &pose,
+                                                const LinuxCncLinearDeltaParameters &parameters) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_lineardeltakins_source_inverse(pose, parameters, &joints);
+    return joints;
+}
+
+// Source defaults: linuxcnc/src/emc/kinematics/rotarydeltakins-common.h
+LinuxCncRotaryDeltaParameters linuxcnc_rotarydelta_default_parameters() {
+    LinuxCncRotaryDeltaParameters parameters{};
+    linuxcnc_rotarydeltakins_source_default_parameters(&parameters);
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/rotarydeltakins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_rotarydelta_forward(const LinuxCncAxisJoints &joints,
+                                        const LinuxCncRotaryDeltaParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_rotarydeltakins_source_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/rotarydeltakins.c
+// Mirrors kinematicsInverse().
+LinuxCncAxisJoints linuxcnc_rotarydelta_inverse(const CncSimPose &pose,
+                                                const LinuxCncRotaryDeltaParameters &parameters) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_rotarydeltakins_source_inverse(pose, parameters, &joints);
+    return joints;
+}
+
+// Source defaults: linuxcnc/src/emc/kinematics/maxkins.c
+LinuxCncMaxkinsParameters linuxcnc_maxkins_default_parameters() {
+    LinuxCncMaxkinsParameters parameters{};
+    linuxcnc_maxkins_source_default_parameters(&parameters);
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/maxkins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_maxkins_forward(const LinuxCncAxisJoints &joints,
+                                    const LinuxCncMaxkinsParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_maxkins_source_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/maxkins.c
+// Mirrors kinematicsInverse().
+LinuxCncAxisJoints linuxcnc_maxkins_inverse(const CncSimPose &pose,
+                                            const LinuxCncMaxkinsParameters &parameters) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_maxkins_source_inverse(pose, parameters, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/rosekins.c
+// Mirrors kinematicsForward().
+CncSimPose linuxcnc_rosekins_forward(const LinuxCncAxisJoints &joints) {
+    CncSimPose pose{};
+    linuxcnc_rosekins_source_forward(joints, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/rosekins.c
+// Mirrors kinematicsInverse().
+LinuxCncAxisJoints linuxcnc_rosekins_inverse(const CncSimPose &pose) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_rosekins_source_inverse(pose, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/5axiskins.c
+// Mirrors s2r(), fiveaxis_KinematicsForward().
+CncSimPose linuxcnc_5axis_forward(const LinuxCncFiveAxisJoints &joints, double pivot_length) {
+    CncSimPose pose{};
+    linuxcnc_5axiskins_forward(joints, pivot_length, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/5axiskins.c
+// Mirrors s2r(), fiveaxis_KinematicsInverse().
+LinuxCncFiveAxisJoints linuxcnc_5axis_inverse(const CncSimPose &pose, double pivot_length) {
+    LinuxCncFiveAxisJoints joints{};
+    linuxcnc_5axiskins_inverse(pose, pivot_length, &joints);
+    return joints;
+}
+
+// Source defaults: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
+LinuxCncXyzbcTrtParameters linuxcnc_xyzbc_trt_default_parameters(double tool_offset) {
+    LinuxCncXyzbcTrtParameters parameters{};
+    parameters.x_offset = -20.0;
+    parameters.y_offset = 0.0;
+    parameters.z_offset = -15.0;
+    parameters.tool_offset = tool_offset;
+    parameters.conventional_directions = false;
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/trtfuncs.c
+// Mirrors xyzbcKinematicsForward().
+CncSimPose linuxcnc_xyzbc_trt_forward(const LinuxCncFiveAxisJoints &joints,
+                                      const LinuxCncXyzbcTrtParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_trtfuncs_xyzbc_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/trtfuncs.c
+// Mirrors xyzbcKinematicsInverse().
+LinuxCncFiveAxisJoints linuxcnc_xyzbc_trt_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzbcTrtParameters &parameters) {
+    LinuxCncFiveAxisJoints joints{};
+    linuxcnc_trtfuncs_xyzbc_inverse(pose, parameters, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/trtfuncs.c
+// Mirrors xyzacKinematicsForward().
+CncSimPose linuxcnc_xyzac_trt_forward(const LinuxCncFiveAxisJoints &joints,
+                                      const LinuxCncXyzbcTrtParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_trtfuncs_xyzac_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/trtfuncs.c
+// Mirrors xyzacKinematicsInverse().
+LinuxCncFiveAxisJoints linuxcnc_xyzac_trt_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzbcTrtParameters &parameters) {
+    LinuxCncFiveAxisJoints joints{};
+    linuxcnc_trtfuncs_xyzac_inverse(pose, parameters, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/userkfuncs.c
+// userkKinematicsForward() delegates to identityKinematicsForward(),
+// implemented in linuxcnc/src/emc/kinematics/kins_util.c.
+CncSimPose linuxcnc_xyzbc_userk_forward(const LinuxCncFiveAxisJoints &joints) {
+    CncSimPose pose{};
+    linuxcnc_userkfuncs_forward(joints, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/userkfuncs.c
+// userkKinematicsInverse() delegates to identityKinematicsInverse(),
+// implemented in linuxcnc/src/emc/kinematics/kins_util.c.
+LinuxCncFiveAxisJoints linuxcnc_xyzbc_userk_inverse(const CncSimPose &pose) {
+    LinuxCncFiveAxisJoints joints{};
+    linuxcnc_userkfuncs_inverse(pose, &joints);
+    return joints;
+}
+
+// Source defaults: linuxcnc/src/emc/kinematics/scarakins.c
+LinuxCncScaraParameters linuxcnc_scara_default_parameters() {
+    LinuxCncScaraParameters parameters{};
+    parameters.d1 = 490.0;
+    parameters.d2 = 340.0;
+    parameters.d3 = 50.0;
+    parameters.d4 = 250.0;
+    parameters.d5 = 50.0;
+    parameters.d6 = 50.0;
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/scarakins.c
+CncSimPose linuxcnc_scara_forward(const LinuxCncScaraJoints &joints,
+                                  const LinuxCncScaraParameters &parameters,
+                                  int *iflags) {
+    CncSimPose pose{};
+    linuxcnc_scarakins_forward(joints, parameters, &pose, iflags);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/scarakins.c
+LinuxCncScaraJoints linuxcnc_scara_inverse(const CncSimPose &pose,
+                                           const LinuxCncScaraParameters &parameters,
+                                           int iflags) {
+    LinuxCncScaraJoints joints{};
+    linuxcnc_scarakins_inverse(pose, parameters, iflags, &joints);
+    return joints;
+}
+
+LinuxCncXyzabTdrParameters linuxcnc_xyzab_tdr_default_parameters(double tool_offset_z) {
+    LinuxCncXyzabTdrParameters parameters{};
+    parameters.tool_offset_z = tool_offset_z;
+    return parameters;
+}
+
+// Source: linuxcnc/src/hal/components/xyzab_tdr_kins.comp
+// Mirrors kinematicsForward() switchkins type 0.
+CncSimPose linuxcnc_xyzab_tdr_identity_forward(const LinuxCncAxisJoints &joints) {
+    CncSimPose pose{};
+    LinuxCncXyzabTdrParameters parameters{};
+    linuxcnc_xyzab_tdr_kins_forward(joints, parameters, 0, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/hal/components/xyzab_tdr_kins.comp
+// Mirrors kinematicsInverse() switchkins type 0.
+LinuxCncAxisJoints linuxcnc_xyzab_tdr_identity_inverse(const CncSimPose &pose) {
+    LinuxCncAxisJoints joints{};
+    LinuxCncXyzabTdrParameters parameters{};
+    linuxcnc_xyzab_tdr_kins_inverse(pose, parameters, 0, &joints);
+    return joints;
+}
+
+// Source: linuxcnc/src/hal/components/xyzab_tdr_kins.comp
+// Mirrors kinematicsForward() switchkins type 1.
+CncSimPose linuxcnc_xyzab_tdr_tcp_forward(const LinuxCncAxisJoints &joints,
+                                          const LinuxCncXyzabTdrParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_xyzab_tdr_kins_forward(joints, parameters, 1, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/hal/components/xyzab_tdr_kins.comp
+// Mirrors kinematicsInverse() switchkins type 1.
+LinuxCncAxisJoints linuxcnc_xyzab_tdr_tcp_inverse(const CncSimPose &pose,
+                                                  const LinuxCncXyzabTdrParameters &parameters) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_xyzab_tdr_kins_inverse(pose, parameters, 1, &joints);
+    return joints;
+}
+
+LinuxCncPumaParameters linuxcnc_puma_default_parameters() {
+    LinuxCncPumaParameters parameters{};
+    parameters.a2 = 300.0;
+    parameters.a3 = 50.0;
+    parameters.d3 = 70.0;
+    parameters.d4 = 400.0;
+    parameters.d6 = 70.0;
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/pumakins.c
+CncSimPose linuxcnc_puma_forward(const LinuxCncAxisJoints &joints,
+                                 const LinuxCncPumaParameters &parameters,
+                                 int *iflags) {
+    CncSimPose pose{};
+    linuxcnc_pumakins_forward(joints, parameters, &pose, iflags);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/pumakins.c
+LinuxCncAxisJoints linuxcnc_puma_inverse(const CncSimPose &pose,
+                                         const LinuxCncAxisJoints &current_joints,
+                                         const LinuxCncPumaParameters &parameters,
+                                         int iflags,
+                                         int *fflags) {
+    LinuxCncAxisJoints joints{};
+    linuxcnc_pumakins_inverse(pose, current_joints, parameters, iflags, &joints, fflags);
+    return joints;
+}
+
+LinuxCncGenserParameters linuxcnc_genser_puma560_parameters() {
+    LinuxCncGenserParameters parameters{};
+    // Source: linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal.
+    parameters.a[0] = 0.0;
+    parameters.a[1] = 0.0;
+    parameters.a[2] = 17.0;
+    parameters.a[3] = 0.0;
+    parameters.a[4] = 0.0;
+    parameters.a[5] = 0.0;
+
+    parameters.alpha[0] = 0.0;
+    parameters.alpha[1] = 1.570796326;
+    parameters.alpha[2] = 0.0;
+    parameters.alpha[3] = 1.570796326;
+    parameters.alpha[4] = -1.570796326;
+    parameters.alpha[5] = 1.570796326;
+
+    parameters.d[0] = 26.45;
+    parameters.d[1] = -5.5;
+    parameters.d[2] = 0.0;
+    parameters.d[3] = 17.05;
+    parameters.d[4] = 0.0;
+    parameters.d[5] = 2.2;
+    return parameters;
+}
+
+LinuxCncGenserParameters linuxcnc_genser_default_parameters(int *max_iterations) {
+    LinuxCncGenserParameters parameters{};
+    linuxcnc_genserfuncs_source_default_parameters(&parameters, max_iterations);
+    return parameters;
+}
+
+// Source: linuxcnc/src/emc/kinematics/genserfuncs.c
+// Mirrors genserKinematicsForward() -> genser_kin_fwd() -> go_link_pose_build()
+// for the six angular DH joints used by the LinuxCNC puma560 M428 configuration.
+CncSimPose linuxcnc_genser_forward(const LinuxCncAxisJoints &joints,
+                                   const LinuxCncGenserParameters &parameters) {
+    CncSimPose pose{};
+    linuxcnc_genserfuncs_forward(joints, parameters, &pose);
+    return pose;
+}
+
+// Source: linuxcnc/src/emc/kinematics/genserfuncs.c
+// Mirrors genserKinematicsInverse() for the six angular DH joints used by
+// the LinuxCNC puma560 M428 configuration.
+LinuxCncAxisJoints linuxcnc_genser_inverse(const CncSimPose &pose,
+                                           const LinuxCncAxisJoints &joint_estimate,
+                                           const LinuxCncGenserParameters &parameters,
+                                           int *iterations,
+                                           int max_iterations) {
+    if (iterations) {
+        *iterations = -1;
+    }
+    LinuxCncAxisJoints joints = joint_estimate;
+    linuxcnc_genserfuncs_inverse(pose, joint_estimate, parameters, max_iterations, &joints, iterations);
+    return joints;
+}
+
+// Source: linuxcnc/src/emc/kinematics/genserfuncs.c
+// Exposes genserKinematicsInverse() success/failure without changing the
+// LinuxCNC-computed joint buffer.
+bool linuxcnc_genser_inverse_checked(const CncSimPose &pose,
+                                     const LinuxCncAxisJoints &joint_estimate,
+                                     const LinuxCncGenserParameters &parameters,
+                                     LinuxCncAxisJoints *joints,
+                                     int *iterations,
+                                     int max_iterations) {
+    if (iterations) {
+        *iterations = -1;
+    }
+    LinuxCncAxisJoints out = joint_estimate;
+    const bool ok = linuxcnc_genserfuncs_inverse(pose,
+                                                 joint_estimate,
+                                                 parameters,
+                                                 max_iterations,
+                                                 &out,
+                                                 iterations);
+    if (joints) {
+        *joints = out;
+    }
+    return ok;
 }

core/src/rtcp_kinematics.h

@@ -8,10 +8,207 @@ struct RtcpVector {
     double z;
 };
 
-// Rotation order is intrinsic tool orientation A then B then C, represented as
+struct LinuxCncFiveAxisJoints {
-// Rz(C) * Ry(B) * Rx(A) applied to a local tool vector.
+    double x;
-RtcpVector rtcp_rotate_abc_degrees(RtcpVector vector, double a_deg, double b_deg, double c_deg);
+    double y;
+    double z;
+    double a;
+    double b;
+    double c;
+    double w;
+};
 
-RtcpVector rtcp_tool_vector_from_pose(const CncSimPose &pose, double tool_length);
+struct LinuxCncAxisJoints {
-CncSimPose rtcp_pivot_from_tool_tip(const CncSimPose &tool_tip, double tool_length);
+    double x;
-CncSimPose rtcp_tool_tip_from_pivot(const CncSimPose &pivot, double tool_length);
+    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;
+};
+
+struct LinuxCncGenhexJoints {
+    double strut[6];
+};
+
+struct LinuxCncPentakinsJoints {
+    double strut[5];
+};
+
+struct LinuxCncTripodJoints {
+    double strut[3];
+};
+
+struct LinuxCncScorbotJoints {
+    double j0;
+    double j1;
+    double j2;
+    double j3;
+    double j4;
+};
+
+struct LinuxCncLinearDeltaParameters {
+    double r;
+    double l;
+};
+
+struct LinuxCncRotaryDeltaParameters {
+    double platformradius;
+    double thighlength;
+    double shinlength;
+    double footradius;
+};
+
+struct LinuxCncMaxkinsParameters {
+    double pivot_length;
+    bool conventional_directions;
+};
+
+LinuxCncAxisJoints linuxcnc_identity_default_joints();
+CncSimPose linuxcnc_identity_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_identity_inverse(const CncSimPose &pose);
+
+CncSimPose linuxcnc_corexykins_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_corexykins_inverse(const CncSimPose &pose);
+
+CncSimPose linuxcnc_rotatekins_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_rotatekins_inverse(const CncSimPose &pose);
+LinuxCncGenhexJoints linuxcnc_genhex_inverse(const CncSimPose &pose);
+CncSimPose linuxcnc_genhex_forward(const LinuxCncGenhexJoints &joints, const CncSimPose &initial_pose);
+LinuxCncPentakinsJoints linuxcnc_pentakins_inverse(const CncSimPose &pose);
+CncSimPose linuxcnc_pentakins_forward(const LinuxCncPentakinsJoints &joints,
+                                      const CncSimPose &initial_pose);
+LinuxCncTripodJoints linuxcnc_tripodkins_inverse(const CncSimPose &pose);
+CncSimPose linuxcnc_tripodkins_forward(const LinuxCncTripodJoints &joints);
+LinuxCncScorbotJoints linuxcnc_scorbot_kins_inverse(const CncSimPose &pose);
+CncSimPose linuxcnc_scorbot_kins_forward(const LinuxCncScorbotJoints &joints);
+LinuxCncLinearDeltaParameters linuxcnc_lineardelta_default_parameters();
+CncSimPose linuxcnc_lineardelta_forward(const LinuxCncAxisJoints &joints,
+                                        const LinuxCncLinearDeltaParameters &parameters);
+LinuxCncAxisJoints linuxcnc_lineardelta_inverse(const CncSimPose &pose,
+                                                const LinuxCncLinearDeltaParameters &parameters);
+LinuxCncRotaryDeltaParameters linuxcnc_rotarydelta_default_parameters();
+CncSimPose linuxcnc_rotarydelta_forward(const LinuxCncAxisJoints &joints,
+                                        const LinuxCncRotaryDeltaParameters &parameters);
+LinuxCncAxisJoints linuxcnc_rotarydelta_inverse(const CncSimPose &pose,
+                                                const LinuxCncRotaryDeltaParameters &parameters);
+LinuxCncMaxkinsParameters linuxcnc_maxkins_default_parameters();
+CncSimPose linuxcnc_maxkins_forward(const LinuxCncAxisJoints &joints,
+                                    const LinuxCncMaxkinsParameters &parameters);
+LinuxCncAxisJoints linuxcnc_maxkins_inverse(const CncSimPose &pose,
+                                            const LinuxCncMaxkinsParameters &parameters);
+CncSimPose linuxcnc_rosekins_forward(const LinuxCncAxisJoints &joints);
+LinuxCncAxisJoints linuxcnc_rosekins_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();
+LinuxCncGenserParameters linuxcnc_genser_default_parameters(int *max_iterations = nullptr);
+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);
+bool linuxcnc_genser_inverse_checked(const CncSimPose &pose,
+                                     const LinuxCncAxisJoints &joint_estimate,
+                                     const LinuxCncGenserParameters &parameters,
+                                     LinuxCncAxisJoints *joints,
+                                     int *iterations,
+                                     int max_iterations = 100);

core/src/simulator_gcode_controls.cpp

@@ -6,31 +6,155 @@
 
 namespace {
 
-std::string strip_line_comment(const std::string &line) {
+bool strip_line_comment(const std::string &line, bool block_delete, std::string *stripped) {
     std::string out;
     bool in_paren = false;
+    bool saw_code = false;
     for (char raw : line) {
         const char ch = static_cast<char>(std::toupper(static_cast<unsigned char>(raw)));
         if (in_paren) {
+            if (ch == '(') {
+                return false;
+            }
             if (ch == ')') {
                 in_paren = false;
             }
             continue;
         }
         if (ch == '(') {
+            saw_code = true;
             in_paren = true;
             continue;
         }
         if (ch == ';') {
             break;
         }
+        if (!saw_code && std::isspace(static_cast<unsigned char>(ch))) {
+            out.push_back(ch);
+            continue;
+        }
+        if (!saw_code && ch == '/') {
+            if (block_delete) {
+                return false;
+            }
+            saw_code = true;
+            continue;
+        }
+        saw_code = true;
         out.push_back(ch);
     }
-    return out;
+    if (in_paren) {
+        return false;
+    }
+    *stripped = out;
+    return true;
 }
 
-bool g_code_is(double actual, double expected) {
+bool linuxcnc_integer_word_value(double value, int *integer) {
-    return std::fabs(actual - expected) < 0.0001;
+    *integer = static_cast<int>(std::floor(value));
+    const double fraction = value - *integer;
+    if (fraction > 0.9999) {
+        *integer = static_cast<int>(std::ceil(value));
+        return true;
+    }
+    return fraction <= 0.0001;
+}
+
+bool linuxcnc_g_word_value(double value, int *g_code) {
+    const double scaled = value * 10.0;
+    int parsed = static_cast<int>(std::floor(scaled));
+    const double fraction = scaled - parsed;
+    if (fraction > 0.999) {
+        parsed = static_cast<int>(std::ceil(scaled));
+    } else if (fraction > 0.001) {
+        return false;
+    }
+    if (parsed < 0 || parsed > 999) {
+        return false;
+    }
+    *g_code = parsed;
+    return true;
+}
+
+bool read_linuxcnc_real_number(const char *text, size_t start, double *value, size_t *end_index) {
+    const char first = text[start];
+    const char next = text[start + 1];
+    if (first == '[') {
+        double nested = 0.0;
+        size_t nested_end = start + 1;
+        if (!read_linuxcnc_real_number(text, start + 1, &nested, &nested_end) ||
+            text[nested_end] != ']') {
+            return false;
+        }
+        *value = nested;
+        *end_index = nested_end + 1;
+        return true;
+    }
+    if ((first == '+' || first == '-') &&
+        next != '\0' &&
+        !std::isdigit(static_cast<unsigned char>(next)) &&
+        next != '.') {
+        double nested = 0.0;
+        size_t nested_end = start + 1;
+        if (!read_linuxcnc_real_number(text, start + 1, &nested, &nested_end)) {
+            return false;
+        }
+        *value = first == '-' ? -nested : nested;
+        *end_index = nested_end;
+        return true;
+    }
+
+    size_t i = start;
+    while (text[i] == '+' || text[i] == '-') {
+        ++i;
+    }
+    const size_t number_start = i;
+    while (std::isdigit(static_cast<unsigned char>(text[i])) || text[i] == '.') {
+        ++i;
+    }
+    if (i == start || i == number_start) {
+        return false;
+    }
+    std::string token(text + start, i - start);
+    char *end = nullptr;
+    const double parsed = std::strtod(token.c_str(), &end);
+    if (end != token.c_str() + token.size()) {
+        return false;
+    }
+    *value = parsed;
+    *end_index = i;
+    return true;
+}
+
+bool skip_linuxcnc_leading_n_number(const std::string &stripped, std::string *without_n) {
+    size_t i = 0;
+    while (std::isspace(static_cast<unsigned char>(stripped[i]))) {
+        ++i;
+    }
+    if (stripped[i] != 'N') {
+        *without_n = stripped;
+        return true;
+    }
+    ++i;
+    const size_t integer_start = i;
+    while (std::isdigit(static_cast<unsigned char>(stripped[i]))) {
+        ++i;
+    }
+    if (i == integer_start) {
+        return false;
+    }
+    if (stripped[i] == '.') {
+        ++i;
+        const size_t fraction_start = i;
+        while (std::isdigit(static_cast<unsigned char>(stripped[i]))) {
+            ++i;
+        }
+        if (i == fraction_start) {
+            return false;
+        }
+    }
+    *without_n = stripped.substr(i);
+    return true;
 }
 
 bool parse_m_control_line(const std::string &stripped,
@@ -46,9 +170,13 @@ bool parse_m_control_line(const std::string &stripped,
             return false;
         }
         ++i;
-        char *end = nullptr;
+        double raw_value = 0.0;
-        const long value = std::strtol(text + i, &end, 10);
+        size_t end = i;
-        if (end == text + i) {
+        if (!read_linuxcnc_real_number(text, i, &raw_value, &end)) {
+            return false;
+        }
+        int value = 0;
+        if (!linuxcnc_integer_word_value(raw_value, &value) || value < 0) {
             return false;
         }
 
@@ -56,19 +184,19 @@ bool parse_m_control_line(const std::string &stripped,
         action.kind = SimulatorGcodeControlKind::KinematicsSwitch;
         if (value == 428) {
             action.value = 1;
-            action.rtcp_enabled = true;
+            action.m_code = 428;
         } else if (value == 429) {
             action.value = 0;
-            action.rtcp_enabled = false;
+            action.m_code = 429;
         } else if (value == 430) {
             action.value = 2;
-            action.rtcp_enabled = true;
+            action.m_code = 430;
         } else {
             return false;
         }
         actions->push_back(action);
         saw_code = true;
-        i = static_cast<size_t>(end - text);
+        i = end;
     }
     return saw_code;
 }
@@ -78,7 +206,9 @@ bool parse_rtcp_control_line(const std::string &stripped,
     const char *text = stripped.c_str();
     std::vector<SimulatorGcodeControlAction> parsed;
     int h_code = 0;
+    bool saw_h_word = false;
     bool saw_rtcp_code = false;
+    bool saw_rtcp_g_word = false;
 
     for (size_t i = 0; text[i] != '\0';) {
         if (std::isspace(static_cast<unsigned char>(text[i]))) {
@@ -90,26 +220,44 @@ bool parse_rtcp_control_line(const std::string &stripped,
             return false;
         }
         ++i;
-        char *end = nullptr;
+        double value = 0.0;
-        const double value = std::strtod(text + i, &end);
+        size_t end = i;
-        if (end == text + i) {
+        if (!read_linuxcnc_real_number(text, i, &value, &end)) {
             return false;
         }
         if (letter == 'H') {
-            h_code = static_cast<int>(std::lround(value));
+            if (saw_h_word) {
-        } else if (g_code_is(value, 43.4) || g_code_is(value, 43.5) || g_code_is(value, 49.0)) {
+                return false;
+            }
+            if (!linuxcnc_integer_word_value(value, &h_code) || h_code < -1) {
+                return false;
+            }
+            saw_h_word = true;
+        } else {
+            int g_code = 0;
+            if (!linuxcnc_g_word_value(value, &g_code) ||
+                (g_code != 434 && g_code != 435 && g_code != 490)) {
+                return false;
+            }
+            if (saw_rtcp_g_word) {
+                return false;
+            }
             SimulatorGcodeControlAction action{};
             action.kind = SimulatorGcodeControlKind::RtcpState;
-            action.value = static_cast<int>(std::lround(value * 10.0));
+            action.value = g_code;
-            action.rtcp_enabled = g_code_is(value, 43.4) || g_code_is(value, 43.5);
+            action.rtcp_enabled = g_code == 434 || g_code == 435;
             parsed.push_back(action);
             saw_rtcp_code = true;
-        } else {
+            saw_rtcp_g_word = true;
-            return false;
         }
-        i = static_cast<size_t>(end - text);
+        i = end;
     }
 
+    for (const auto &action : parsed) {
+        if (!action.rtcp_enabled && saw_h_word) {
+            return false;
+        }
+    }
     for (auto &action : parsed) {
         action.h_code = action.rtcp_enabled ? h_code : 0;
         actions->push_back(action);
@@ -121,25 +269,51 @@ bool parse_rtcp_control_line(const std::string &stripped,
 
 bool parse_simulator_gcode_control_line(const std::string &line,
                                         std::vector<SimulatorGcodeControlAction> *actions) {
+    return parse_simulator_gcode_control_line(line, false, actions);
+}
+
+bool parse_simulator_gcode_control_line(const std::string &line,
+                                        bool block_delete,
+                                        std::vector<SimulatorGcodeControlAction> *actions) {
     actions->clear();
-    const std::string stripped = strip_line_comment(line);
+    std::string stripped;
-    if (parse_m_control_line(stripped, actions)) {
+    if (!strip_line_comment(line, block_delete, &stripped)) {
+        return false;
+    }
+    std::string control_line;
+    if (!skip_linuxcnc_leading_n_number(stripped, &control_line)) {
+        return false;
+    }
+    if (parse_m_control_line(control_line, actions)) {
         return true;
     }
     actions->clear();
-    if (parse_rtcp_control_line(stripped, actions)) {
+    if (parse_rtcp_control_line(control_line, actions)) {
         return true;
     }
     actions->clear();
     return false;
 }
 
-void emit_simulator_gcode_control_action(CanonEventSink &sink,
+bool can_emit_simulator_gcode_control_action(const CanonEventSink &sink,
+                                             const SimulatorGcodeControlAction &action) {
+    if (action.kind == SimulatorGcodeControlKind::KinematicsSwitch) {
+        return sink.can_switch_m_code_kinematics(action.m_code);
+    }
+    if (action.kind == SimulatorGcodeControlKind::RtcpState) {
+        return true;
+    }
+    return false;
+}
+
+bool emit_simulator_gcode_control_action(CanonEventSink &sink,
                                          const SimulatorGcodeControlAction &action,
                                          int line) {
     if (action.kind == SimulatorGcodeControlKind::KinematicsSwitch) {
-        sink.switch_kinematics(action.value, action.rtcp_enabled, line);
+        return sink.switch_m_code_kinematics(action.m_code, action.value, line);
     } else if (action.kind == SimulatorGcodeControlKind::RtcpState) {
         sink.set_rtcp_state(action.rtcp_enabled, action.h_code, line);
+        return true;
     }
+    return false;
 }

core/src/simulator_gcode_controls.h

@@ -13,12 +13,18 @@ enum class SimulatorGcodeControlKind {
 struct SimulatorGcodeControlAction {
     SimulatorGcodeControlKind kind;
     int value;
+    int m_code;
     bool rtcp_enabled;
     int h_code;
 };
 
 bool parse_simulator_gcode_control_line(const std::string &line,
                                         std::vector<SimulatorGcodeControlAction> *actions);
-void emit_simulator_gcode_control_action(CanonEventSink &sink,
+bool parse_simulator_gcode_control_line(const std::string &line,
+                                        bool block_delete,
+                                        std::vector<SimulatorGcodeControlAction> *actions);
+bool can_emit_simulator_gcode_control_action(const CanonEventSink &sink,
+                                             const SimulatorGcodeControlAction &action);
+bool emit_simulator_gcode_control_action(CanonEventSink &sink,
                                          const SimulatorGcodeControlAction &action,
                                          int line);

core/src/smoke_gcode_parser.h

@@ -3,6 +3,7 @@
 #include "canon_event_sink.h"
 
 #include <cstddef>
+#include <unordered_map>
 #include <string>
 
 class SmokeGcodeParser {
@@ -12,14 +13,38 @@ public:
     int parse(const char *program, size_t program_len, std::string *error);
 
 private:
+    struct SmokeToolTableEntry {
+        int pocketno = 0;
+        CncSimPose offset{};
+        double diameter = 0.0;
+        double frontangle = 0.0;
+        double backangle = 0.0;
+        double orientation = 0.0;
+    };
+
     CanonEventSink &sink_;
     bool absolute_ = true;
     bool arc_absolute_ = false;
     bool lathe_diameter_mode_ = false;
     bool cutter_comp_on_ = false;
+    bool cutter_comp_exit_pending_ = false;
+    bool cutter_comp_has_prev_vector_ = false;
+    bool cutter_comp_has_prev_prev_vector_ = false;
+    double cutter_comp_radius_ = 0.0;
+    int spindle_tool_id_ = 0;
+    CncSimPose cutter_comp_prev_vector_{};
+    CncSimPose cutter_comp_prev_prev_vector_{};
+    int cutter_comp_mode_ = 40;
+    bool spindle_css_mode_ = false;
+    bool tool_selected_ = false;
+    bool nurbs_g5_collecting_ = false;
+    int nurbs_g5_control_points_ = 0;
+    int nurbs_g5_order_ = 3;
+    bool nurbs_g6_collecting_ = false;
     int feed_mode_ = 0;
     int canned_cycle_ = 0;
     bool canned_return_to_initial_ = false;
+    bool g92_applied_ = false;
     bool canned_has_r_ = false;
     bool canned_has_z_ = false;
     bool canned_has_p_ = false;
@@ -36,6 +61,11 @@ private:
     double canned_i_ = 0.0;
     double canned_j_ = 0.0;
     double canned_k_ = 0.0;
+    double m66_result_ = 0.0;
     double oword_return_value_ = 0.0;
     bool oword_value_returned_ = false;
+    int selected_tool_id_ = 0;
+    int current_pocket_index_ = 0;
+    int selected_pocket_index_ = 0;
+    std::unordered_map<int, SmokeToolTableEntry> tool_table_;
 };

core/tests/canon_event_sink_smoke.cpp

@@ -1,5 +1,6 @@
 #include "canon_event_sink.h"
 
+#include <cmath>
 #include <iostream>
 #include <vector>
 
@@ -25,6 +26,18 @@ bool expect(bool value, const char *message) {
     return true;
 }
 
+bool near(double actual, double expected) {
+    return std::fabs(actual - expected) < 1e-9;
+}
+
+bool expect_near(double actual, double expected, const char *message) {
+    if (!near(actual, expected)) {
+        std::cerr << "FAIL: " << message << " actual=" << actual << " expected=" << expected << '\n';
+        return false;
+    }
+    return true;
+}
+
 } // namespace
 
 int main() {
@@ -32,6 +45,8 @@ int main() {
     std::vector<CncSimEvent> events;
     CanonEventSink sink;
     sink.set_callback(collect_event, &events);
+    ok &= expect(sink.kinematics_type() == 0,
+                 "expected LinuxCNC xyzbc-trt identityfirst startup kinematics type 0");
 
     CncSimPose end{};
     end.x = 10.0;
@@ -49,6 +64,8 @@ int main() {
 
     int abort_count = 0;
     sink.reset();
+    ok &= expect(sink.kinematics_type() == 0,
+                 "expected LinuxCNC xyzbc-trt identityfirst reset kinematics type 0");
     sink.set_callback(abort_on_second_event, &abort_count);
     sink.select_plane(17, 1);
     sink.set_feed_rate(100.0, 2);
@@ -56,6 +73,290 @@ int main() {
     ok &= expect(sink.callback_aborted(), "expected callback abort state");
     ok &= expect(abort_count == 2, "expected no further callbacks after abort");
 
+    events.clear();
+    sink.reset();
+    sink.set_callback(collect_event, &events);
+    sink.configure_rtcp(false, 250.0);
+    sink.switch_kinematics(2, 1);
+    CncSimPose five_axis_end{};
+    five_axis_end.x = 260.0;
+    five_axis_end.y = 20.0;
+    five_axis_end.z = 280.0;
+    five_axis_end.b = 90.0;
+    five_axis_end.c = 45.0;
+    five_axis_end.w = 12.0;
+    sink.straight_feed(2, five_axis_end);
+    bool saw_userk_before_g434 = false;
+    for (const auto &event : events) {
+        saw_userk_before_g434 = saw_userk_before_g434 || event.type == CNC_SIM_EVENT_RTCP_PIVOT;
+    }
+    ok &= expect(!saw_userk_before_g434, "expected M430 not to enable RTCP without G43.4/G43.5");
+
+    events.clear();
+    sink.set_rtcp_state(true, 0, 2);
+    sink.straight_feed(3, five_axis_end);
+    bool saw_userk_pivot = false;
+    for (const auto &event : events) {
+        saw_userk_pivot = saw_userk_pivot ||
+                          (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                           event.line == 3 &&
+                           event.reserved == 2 &&
+                           near(event.dwell_seconds, 250.0) &&
+                           near(event.end.x, 260.0) &&
+                           near(event.end.y, 20.0) &&
+                           near(event.end.z, 280.0) &&
+                           near(event.end.b, 90.0) &&
+                           near(event.end.c, 45.0) &&
+                           near(event.end.w, 0.0));
+    }
+    ok &= expect(saw_userk_pivot, "expected M430-style RTCP pivot to use LinuxCNC userk identity inverse");
+
+    events.clear();
+    sink.configure_rtcp(true, 0.0);
+    sink.switch_kinematics(2, 3);
+    bool saw_userk_remap_m68 = false;
+    bool saw_userk_remap_m66 = false;
+    bool saw_userk_switch_rtcp_feed = false;
+    for (const auto &event : events) {
+        saw_userk_remap_m68 = saw_userk_remap_m68 ||
+                              (event.type == CNC_SIM_EVENT_COMMENT &&
+                               event.line == 3 &&
+                               event.reserved == 68 &&
+                               event.tool == 3 &&
+                               near(event.feed, 2.0));
+        saw_userk_remap_m66 = saw_userk_remap_m66 ||
+                              (event.type == CNC_SIM_EVENT_COMMENT &&
+                               event.line == 3 &&
+                               event.reserved == 66 &&
+                               event.tool == 0 &&
+                               near(event.feed, 0.0) &&
+                               near(event.dwell_seconds, 0.0));
+        saw_userk_switch_rtcp_feed = saw_userk_switch_rtcp_feed ||
+                                     (event.type == CNC_SIM_EVENT_KINEMATICS_SWITCH &&
+                                      event.line == 3 &&
+                                      event.reserved == 2 &&
+                                      near(event.feed, 1.0));
+    }
+    ok &= expect(saw_userk_remap_m68, "expected M430 remap to emit LinuxCNC M68 E3 Q2 side effect");
+    ok &= expect(saw_userk_remap_m66, "expected M430 remap to emit LinuxCNC M66 E0 L0 side effect");
+    ok &= expect(!saw_userk_switch_rtcp_feed,
+                 "expected kinematics switch event not to carry RTCP state");
+
+    events.clear();
+    CncSimPose zero_tool_end{};
+    zero_tool_end.x = 7.0;
+    zero_tool_end.y = 8.0;
+    zero_tool_end.z = 9.0;
+    zero_tool_end.b = 10.0;
+    zero_tool_end.c = 11.0;
+    sink.straight_feed(4, zero_tool_end);
+    bool saw_zero_tool_userk_pivot = false;
+    for (const auto &event : events) {
+        saw_zero_tool_userk_pivot = saw_zero_tool_userk_pivot ||
+                                    (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                                     event.line == 4 &&
+                                     event.reserved == 2 &&
+                                     near(event.dwell_seconds, 0.0) &&
+                                     near(event.end.x, 7.0) &&
+                                     near(event.end.y, 8.0) &&
+                                     near(event.end.z, 9.0) &&
+                                     near(event.end.b, 10.0) &&
+                                     near(event.end.c, 11.0));
+    }
+    ok &= expect(saw_zero_tool_userk_pivot, "expected M430 userk inverse to run with zero tool offset");
+
+    events.clear();
+    sink.configure_rtcp(false, 250.0);
+    sink.switch_kinematics(1, 3);
+    CncSimPose trt_end{};
+    trt_end.x = 225.0;
+    trt_end.y = 20.0;
+    trt_end.z = -205.0;
+    trt_end.b = 90.0;
+    sink.straight_feed(4, trt_end);
+    bool saw_trt_before_g434 = false;
+    for (const auto &event : events) {
+        saw_trt_before_g434 = saw_trt_before_g434 || event.type == CNC_SIM_EVENT_RTCP_PIVOT;
+    }
+    ok &= expect(!saw_trt_before_g434, "expected M428 not to enable RTCP without G43.4/G43.5");
+
+    events.clear();
+    sink.set_rtcp_state(true, 0, 4);
+    sink.straight_feed(5, trt_end);
+    bool saw_xyzbc_trt_pivot = false;
+    for (const auto &event : events) {
+        saw_xyzbc_trt_pivot = saw_xyzbc_trt_pivot ||
+                              (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                               event.line == 5 &&
+                               event.reserved == 1 &&
+                               near(event.dwell_seconds, 250.0) &&
+                               near(event.end.x, 10.0) &&
+                               near(event.end.y, 20.0) &&
+                               near(event.end.z, 30.0) &&
+                               near(event.end.b, 90.0));
+    }
+    ok &= expect(saw_xyzbc_trt_pivot, "expected M428-style RTCP pivot to use LinuxCNC xyzbc-trt inverse");
+
+    events.clear();
+    LinuxCncXyzbcTrtParameters trt_parameters = linuxcnc_xyzbc_trt_default_parameters(0.0);
+    trt_parameters.x_rot_point = 3.0;
+    trt_parameters.y_rot_point = -4.0;
+    trt_parameters.z_rot_point = 5.0;
+    trt_parameters.x_offset = 2.0;
+    trt_parameters.z_offset = 7.0;
+    trt_parameters.conventional_directions = true;
+    sink.configure_rtcp(false, 11.0);
+    sink.configure_xyzbc_trt(trt_parameters);
+    sink.switch_kinematics(1, 5);
+    sink.set_rtcp_state(true, 0, 5);
+    CncSimPose configured_trt_end{};
+    configured_trt_end.x = 30.0;
+    configured_trt_end.y = 40.0;
+    configured_trt_end.z = 50.0;
+    configured_trt_end.b = 20.0;
+    configured_trt_end.c = -30.0;
+    sink.straight_feed(6, configured_trt_end);
+    LinuxCncXyzbcTrtParameters expected_trt_parameters = trt_parameters;
+    expected_trt_parameters.tool_offset = 11.0;
+    const LinuxCncFiveAxisJoints expected_configured_trt =
+        linuxcnc_xyzbc_trt_inverse(configured_trt_end, expected_trt_parameters);
+    bool saw_configured_trt_pivot = false;
+    for (const auto &event : events) {
+        saw_configured_trt_pivot = saw_configured_trt_pivot ||
+                                   (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                                    event.line == 6 &&
+                                    event.reserved == 1 &&
+                                    near(event.dwell_seconds, 11.0) &&
+                                    near(event.end.x, expected_configured_trt.x) &&
+                                    near(event.end.y, expected_configured_trt.y) &&
+                                    near(event.end.z, expected_configured_trt.z) &&
+                                    near(event.end.b, expected_configured_trt.b) &&
+                                    near(event.end.c, expected_configured_trt.c));
+    }
+    ok &= expect(saw_configured_trt_pivot, "expected M428 xyzbc-trt inverse to use configured HAL-style pins");
+
+    events.clear();
+    LinuxCncXyzbcTrtParameters xyzac_parameters = linuxcnc_xyzbc_trt_default_parameters(0.0);
+    xyzac_parameters.y_offset = 20.0;
+    xyzac_parameters.z_offset = 10.0;
+    sink.configure_rtcp(false, 7.0);
+    sink.configure_xyzac_trt(xyzac_parameters);
+    sink.switch_kinematics(1, 6);
+    sink.set_rtcp_state(true, 0, 6);
+    CncSimPose xyzac_end{};
+    xyzac_end.x = 12.0;
+    xyzac_end.y = -8.0;
+    xyzac_end.z = 42.0;
+    xyzac_end.a = 35.0;
+    xyzac_end.c = -25.0;
+    sink.straight_feed(7, xyzac_end);
+    LinuxCncXyzbcTrtParameters expected_xyzac_parameters = xyzac_parameters;
+    expected_xyzac_parameters.tool_offset = 7.0;
+    const LinuxCncFiveAxisJoints expected_xyzac =
+        linuxcnc_xyzac_trt_inverse(xyzac_end, expected_xyzac_parameters);
+    bool saw_xyzac_trt_pivot = false;
+    for (const auto &event : events) {
+        saw_xyzac_trt_pivot = saw_xyzac_trt_pivot ||
+                              (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                               event.line == 7 &&
+                               event.reserved == 1 &&
+                               near(event.dwell_seconds, 7.0) &&
+                               near(event.end.x, expected_xyzac.x) &&
+                               near(event.end.y, expected_xyzac.y) &&
+                               near(event.end.z, expected_xyzac.z) &&
+                               near(event.end.a, expected_xyzac.a) &&
+                               near(event.end.c, expected_xyzac.c));
+    }
+    ok &= expect(saw_xyzac_trt_pivot, "expected M428 xyzac-trt inverse to use LinuxCNC xyzacKinematicsInverse");
+
+    std::vector<CncSimEvent> fiveaxis_events;
+    CanonEventSink fiveaxis_sink;
+    fiveaxis_sink.set_callback(collect_event, &fiveaxis_events);
+    fiveaxis_sink.configure_rtcp(true, 250.0);
+    fiveaxis_sink.configure_fiveaxis(250.0, 0);
+    fiveaxis_sink.switch_m_code_kinematics(428, 1, 8);
+    CncSimPose bridgemill_end{};
+    bridgemill_end.x = 260.0;
+    bridgemill_end.y = 20.0;
+    bridgemill_end.z = 280.0;
+    bridgemill_end.b = 90.0;
+    bridgemill_end.c = 0.0;
+    fiveaxis_sink.straight_feed(9, bridgemill_end);
+    bool saw_fiveaxis_pivot = false;
+    for (const auto &event : fiveaxis_events) {
+        saw_fiveaxis_pivot = saw_fiveaxis_pivot ||
+                             (event.type == CNC_SIM_EVENT_RTCP_PIVOT &&
+                              event.line == 9 &&
+                              event.reserved == 0 &&
+                              near(event.dwell_seconds, 250.0) &&
+                              near(event.end.x, 10.0) &&
+                              near(event.end.y, 20.0) &&
+                              near(event.end.z, 30.0) &&
+                              near(event.end.b, 90.0) &&
+                              near(event.end.c, 0.0));
+    }
+    ok &= expect(saw_fiveaxis_pivot, "expected M428 bridgemill RTCP pivot to use LinuxCNC 5axiskins inverse");
+
+    std::vector<CncSimEvent> switchkins_events;
+    CanonEventSink switchkins_sink;
+    switchkins_sink.set_callback(collect_event, &switchkins_events);
+    switchkins_sink.configure_switchkins_remap(0, 1, 2);
+    switchkins_sink.switch_m_code_kinematics(428, 1, 10);
+    switchkins_sink.switch_m_code_kinematics(429, 0, 11);
+    bool saw_scara_m428 = false;
+    bool saw_scara_m429 = false;
+    for (const auto &event : switchkins_events) {
+        saw_scara_m428 = saw_scara_m428 ||
+                         (event.type == CNC_SIM_EVENT_KINEMATICS_SWITCH &&
+                          event.line == 10 &&
+                          event.reserved == 0);
+        saw_scara_m429 = saw_scara_m429 ||
+                         (event.type == CNC_SIM_EVENT_KINEMATICS_SWITCH &&
+                          event.line == 11 &&
+                          event.reserved == 1);
+    }
+    ok &= expect(saw_scara_m428,
+                 "expected M428 scara/bridgemill/melfa remap to select LinuxCNC kinstype 0");
+    ok &= expect(saw_scara_m429,
+                 "expected M429 scara/bridgemill/melfa remap to select LinuxCNC identity kinstype 1");
+
+    std::vector<CncSimEvent> table_dual_events;
+    CanonEventSink table_dual_sink;
+    table_dual_sink.set_callback(collect_event, &table_dual_events);
+    table_dual_sink.configure_switchkins_remap(1, 0, -1);
+    const bool table_dual_m430_handled = table_dual_sink.switch_m_code_kinematics(430, 2, 12);
+    bool saw_table_dual_m430 = false;
+    for (const auto &event : table_dual_events) {
+        saw_table_dual_m430 = saw_table_dual_m430 ||
+                              (event.type == CNC_SIM_EVENT_KINEMATICS_SWITCH &&
+                               event.line == 12);
+    }
+    ok &= expect(!table_dual_m430_handled,
+                 "expected LinuxCNC table-dual-rotary config without 430remap.ngc to leave M430 unhandled");
+    ok &= expect(!saw_table_dual_m430,
+                 "expected LinuxCNC table-dual-rotary config without 430remap.ngc to skip M430 switch");
+
+    events.clear();
+    sink.configure_rtcp(true, 250.0);
+    sink.switch_kinematics(0, 3);
+    five_axis_end.x = 300.0;
+    sink.straight_feed(4, five_axis_end);
+    bool saw_disabled_pivot = false;
+    for (const auto &event : events) {
+        saw_disabled_pivot = saw_disabled_pivot || event.type == CNC_SIM_EVENT_RTCP_PIVOT;
+    }
+    ok &= expect(!saw_disabled_pivot, "expected M429-style kinematics switch to disable RTCP pivot events");
+
+    events.clear();
+    sink.configure_rtcp(true, 250.0);
+    sink.switch_kinematics(3, 5);
+    sink.straight_feed(6, five_axis_end);
+    bool saw_unknown_switchkins_pivot = false;
+    for (const auto &event : events) {
+        saw_unknown_switchkins_pivot = saw_unknown_switchkins_pivot || event.type == CNC_SIM_EVENT_RTCP_PIVOT;
+    }
+    ok &= expect(!saw_unknown_switchkins_pivot,
+                 "expected unsupported switchkins type to avoid generic RTCP fallback");
+
     return ok ? 0 : 1;
 }
-