51b415a701
结论：补齐 Puma560 DH 参数生成器的可执行入口和 LinuxCNC-root 相对 HAL 源约束，锁住 puma560_dh.hal 中 genserkins DH 值到生成输出的映射，不新增 CNC 行为或 smoke 功能。
90 lines
2.3 KiB
Bash
Executable File
90 lines
2.3 KiB
Bash
Executable File
#!/usr/bin/env bash
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set -euo pipefail
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cd "$(dirname "$0")"
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# LinuxCNC source basis: Puma560 DH parameter output is generated from
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# configs/sim/axis/vismach/puma/puma560_dh.hal setp genserkins.{A,ALPHA,D}-N
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# values used by LinuxCNC genser/switchkins simulation configs.
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linuxcnc_root=${LINUXCNC_ROOT:-../linuxcnc}
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usage() {
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echo "usage: $0 [linuxcnc-root-relative-puma560-dh-hal]" >&2
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}
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case "${1:-}" in
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--help|-h)
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usage
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exit 0
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;;
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--*)
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usage
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echo "unknown LinuxCNC puma560 DH generator option: $1" >&2
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exit 1
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;;
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esac
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if [[ -n "${2:-}" ]]; then
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usage
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echo "too many LinuxCNC puma560 DH generator arguments" >&2
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exit 1
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fi
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source_path=${1:-configs/sim/axis/vismach/puma/puma560_dh.hal}
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if [[ "$source_path" = /* || "$source_path" == .. || "$source_path" == ../* || "$source_path" == */.. || "$source_path" == */../* ]]; then
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echo "LinuxCNC puma560 DH HAL source path must stay LinuxCNC-root relative: $source_path" >&2
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exit 1
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fi
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if [[ "$source_path" != *.hal ]]; then
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echo "LinuxCNC puma560 DH source must be a HAL file: $source_path" >&2
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exit 1
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fi
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source_file="$linuxcnc_root/$source_path"
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if [[ ! -f "$source_file" ]]; then
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echo "missing LinuxCNC puma560 DH HAL source: $source_file" >&2
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exit 1
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fi
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awk -v source_path="$source_path" '
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function fail(message) {
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print message > "/dev/stderr"
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exit 1
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}
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$1 == "setp" && $2 ~ /^genserkins\.(A|ALPHA|D)-[0-5]$/ {
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split($2, qualified, ".")
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split(qualified[2], name_index, "-")
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name = name_index[1]
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joint_index = name_index[2] + 0
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values[name, joint_index] = $3
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}
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END {
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names[0] = "A"
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arrays["A"] = "a"
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names[1] = "ALPHA"
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arrays["ALPHA"] = "alpha"
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names[2] = "D"
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arrays["D"] = "d"
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print "// Generated by ./generate-linuxcnc-puma560-dh-parameters.sh."
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print "// Source: linuxcnc/" source_path " setp genserkins.{A,ALPHA,D}-N values."
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for (n = 0; n < 3; n++) {
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name = names[n]
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array = arrays[name]
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for (i = 0; i < 6; i++) {
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key = name SUBSEP i
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if (!(key in values)) {
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fail("missing " name "-" i " in " source_path)
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}
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print " parameters." array "[" i "] = " values[key] ";"
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}
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if (n < 2) {
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print ""
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}
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}
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}
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' "$source_file"
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