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结论：继续按 LinuxCNC 源码直接复用路线推进，新增 linear delta、rotary delta、scorbot 三类运动学源码的 vendored 同步、native 探针、source probe 覆盖和复用文档，并通过 native 验证。
This commit is contained in:
wangdequan
2026-06-07 19:55:43 +08:00
parent d936e9f10c
commit 01495ee26b
12 changed files with 1276 additions and 2 deletions
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34
wasm-port/tests/native/verify_native_probes.sh
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@@ -95,6 +95,12 @@ check_exitcode linuxcnc_rose_kinematics_probe
check_exitcode linuxcnc_rose_kinematics_probe.run
check_exitcode linuxcnc_max_kinematics_probe
check_exitcode linuxcnc_max_kinematics_probe.run
check_exitcode linuxcnc_lineardelta_kinematics_probe
check_exitcode linuxcnc_lineardelta_kinematics_probe.run
check_exitcode linuxcnc_rotarydelta_kinematics_probe
check_exitcode linuxcnc_rotarydelta_kinematics_probe.run
check_exitcode linuxcnc_scorbot_kinematics_probe
check_exitcode linuxcnc_scorbot_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -147,6 +153,9 @@ check_exitcode linuxcnc_corexykins_source_probe
check_exitcode linuxcnc_rotatekins_source_probe
check_exitcode linuxcnc_rosekins_source_probe
check_exitcode linuxcnc_maxkins_source_probe
check_exitcode linuxcnc_lineardeltakins_source_probe
check_exitcode linuxcnc_rotarydeltakins_source_probe
check_exitcode linuxcnc_scorbot_kins_source_probe
check_exitcode linuxcnc_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -307,6 +316,31 @@ grep -Fq "max_forward=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_inverse=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_roundtrip_joints=1" "$MAX_KINEMATICS_STDOUT"
LINEARDELTA_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_lineardelta_kinematics_probe.run.stdout.log"
grep -Fq "lineardelta_init=0" "$LINEARDELTA_KINEMATICS_STDOUT"
grep -Fq "lineardelta_type=4" "$LINEARDELTA_KINEMATICS_STDOUT"
grep -Fq "lineardelta_switchable=0" "$LINEARDELTA_KINEMATICS_STDOUT"
grep -Fq "lineardelta_inverse=0" "$LINEARDELTA_KINEMATICS_STDOUT"
grep -Fq "lineardelta_forward=0" "$LINEARDELTA_KINEMATICS_STDOUT"
grep -Fq "lineardelta_roundtrip_pose=1" "$LINEARDELTA_KINEMATICS_STDOUT"
ROTARYDELTA_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_rotarydelta_kinematics_probe.run.stdout.log"
grep -Fq "rotarydelta_init=0" "$ROTARYDELTA_KINEMATICS_STDOUT"
grep -Fq "rotarydelta_type=4" "$ROTARYDELTA_KINEMATICS_STDOUT"
grep -Fq "rotarydelta_switchable=0" "$ROTARYDELTA_KINEMATICS_STDOUT"
grep -Fq "rotarydelta_inverse=0" "$ROTARYDELTA_KINEMATICS_STDOUT"
grep -Fq "rotarydelta_forward=0" "$ROTARYDELTA_KINEMATICS_STDOUT"
grep -Fq "rotarydelta_roundtrip_pose=1" "$ROTARYDELTA_KINEMATICS_STDOUT"
SCORBOT_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_scorbot_kinematics_probe.run.stdout.log"
grep -Fq "scorbot_init=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_type=4" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_switchable=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_forward=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_inverse=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_roundtrip_forward=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_roundtrip_pose=1" "$SCORBOT_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"