按规划持续工作

结论：WASM interpreter 已链接 vendored LinuxCNC interp_remap.cc，并通过 SDK C ABI 运行 vendored xyzac/xyzbc switchkins remap demo；Node/host/browser smoke 均通过，未新增 JavaScript M428/M429/M430 或运动学语义。

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp

@@ -11,6 +11,7 @@
 #include <emscripten/emscripten.h>
 
 #include "canon_event_sink.hh"
+#include "emc/ini/inifile.hh"
 #include "linuxcnc_hal_adapter.hh"
 #include "linuxcnc_tool_adapter.hh"
 #include "nml_intf/emc.hh"
@@ -58,6 +59,19 @@ void seed_hal_values()
                               HAL_FLOAT, disconnected, false);
 }
 
+void seed_switchkins_hal()
+{
+    standalone::reset_hal_adapter();
+
+    hal_data_u switchkins{};
+    switchkins.f = 0.0;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.switchkins-type",
+                              HAL_FLOAT, switchkins);
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.analog-out-03",
+                              HAL_FLOAT, switchkins);
+    standalone::link_hal_pin_alias("motion.analog-out-03", "motion.switchkins-type");
+}
+
 void seed_tool_values()
 {
     standalone::reset_tool_adapter();
@@ -92,6 +106,29 @@ void initialize_minimal_interp(Interp &interp)
     std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
 }
 
+void initialize_fiveaxis_remap_interp(Interp &interp)
+{
+    seed_switchkins_hal();
+    seed_tool_values();
+    interp._setup.length_units = CANON_UNITS_MM;
+    interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.ijk_distance_mode = DISTANCE_MODE::INCREMENTAL;
+    interp._setup.feed_mode = FEED_MODE::UNITS_PER_MINUTE;
+    interp._setup.plane = CANON_PLANE::XY;
+    interp._setup.motion_mode = G_0;
+    interp._setup.percent_flag = false;
+    interp._setup.sequence_number = 0;
+    interp._setup.parameter_occurrence = 0;
+    interp._setup.num_spindles = 1;
+    interp._setup.feature_set = FEATURE_INI_VARS | FEATURE_HAL_PIN_VARS;
+    interp._setup.parameter_g73_peck_clearance = 1.0;
+    interp._setup.parameter_g83_peck_clearance = 1.0;
+    interp._setup.parameters[5599] = 1.0;
+    interp.load_tool_table();
+    std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
+    interp.init_named_parameters();
+}
+
 void initialize_indexer_interp(Interp &interp)
 {
     standalone::reset_hal_adapter();
@@ -220,6 +257,51 @@ void append_named_value(std::ostringstream &output, Interp &interp, const char *
     output << name << ": rc=" << rc << " found=" << status << " value=" << value << "\n";
 }
 
+std::string parent_path(const char *path)
+{
+    std::string value = path ? path : "";
+    const std::string::size_type slash = value.find_last_of('/');
+    if (slash == std::string::npos) {
+        return ".";
+    }
+    if (slash == 0) {
+        return "/";
+    }
+    return value.substr(0, slash);
+}
+
+bool parse_machine_remaps(Interp &interp, std::ostringstream &output, const char *ini_path)
+{
+    const std::string machine_dir = parent_path(ini_path);
+    const std::string remap_dir = machine_dir + "/remap_subs";
+
+    linuxcnc::IniFile ini(ini_path ? ini_path : "");
+    const bool opened = static_cast<bool>(ini);
+    output << "fiveaxis_ini_open=" << (opened ? 1 : 0) << "\n";
+    if (!opened) {
+        return false;
+    }
+
+    std::snprintf(interp._setup.program_prefix, sizeof(interp._setup.program_prefix), "%s",
+                  machine_dir.c_str());
+    interp._setup.subroutines[0] = strstore(remap_dir.c_str());
+
+    bool ok = true;
+    int remap_count = 0;
+    while (auto remap = ini.findString(++remap_count, "REMAP", "RS274NGC")) {
+        const int line_number = ini.lineOf(remap_count, "REMAP", "RS274NGC").second;
+        const int rc = interp.parse_remap(remap->c_str(), line_number);
+        output << "fiveaxis_parse_remap_" << remap_count << "=" << rc << "\n";
+        ok &= rc == INTERP_OK;
+    }
+
+    remap_count -= 1;
+    output << "fiveaxis_parsed_remap_count=" << remap_count << "\n";
+    ok &= remap_count == 3;
+    output << "fiveaxis_remaps_ready=" << (ok ? 1 : 0) << "\n";
+    return ok;
+}
+
 void apply_parameter_assignments(Interp &interp, const char *assignments)
 {
     std::istringstream input(assignments ? assignments : "");
@@ -368,6 +450,102 @@ char *lcinterp_run_file(const char *path)
     return lcinterp_run_file_with_ini(path, nullptr);
 }
 
+EMSCRIPTEN_KEEPALIVE
+char *lcinterp_run_fiveaxis_remap_file(const char *path, const char *ini_path)
+{
+    if (ini_path && ini_path[0] != '\0') {
+        setenv("INI_FILE_NAME", ini_path, 1);
+    } else {
+        unsetenv("INI_FILE_NAME");
+    }
+
+    Interp interp;
+    standalone::reset_canon_events();
+    initialize_fiveaxis_remap_interp(interp);
+
+    std::ostringstream output;
+    bool ok = parse_machine_remaps(interp, output, ini_path);
+
+    const int open_rc = interp.open(path);
+    output << "fiveaxis_file_open=" << open_rc << "\n";
+    if (open_rc != INTERP_OK) {
+        append_error_text(output, interp, "fiveaxis_file_error_text=", open_rc);
+        output << "fiveaxis_linuxcnc_remap_file_execute=0\n";
+        unsetenv("INI_FILE_NAME");
+        return copy_result(output.str());
+    }
+
+    constexpr int max_file_steps = 4096;
+    int file_read_count = 0;
+    int file_execute_count = 0;
+    int file_finish_count = 0;
+    int final_rc = INTERP_OK;
+    bool reached_exit = false;
+
+    while ((file_read_count < max_file_steps) && (file_execute_count < max_file_steps)) {
+        const int read_rc = interp.read();
+        if (read_rc == INTERP_ENDFILE) {
+            output << "fiveaxis_file_read_eof=" << read_rc << "\n";
+            final_rc = read_rc;
+            break;
+        }
+
+        ++file_read_count;
+        if ((read_rc != INTERP_OK) && (read_rc != INTERP_EXECUTE_FINISH)) {
+            output << "fiveaxis_file_read_" << file_read_count << "=" << read_rc << "\n";
+            append_error_text(output, interp, "fiveaxis_file_error_text=", read_rc);
+            final_rc = read_rc;
+            ok = false;
+            break;
+        }
+
+        const int execute_rc = interp.execute();
+        ++file_execute_count;
+        final_rc = execute_rc;
+        if (execute_rc == INTERP_EXECUTE_FINISH) {
+            ++file_finish_count;
+        }
+
+        if ((execute_rc != INTERP_OK) && (execute_rc != INTERP_EXIT) &&
+            (execute_rc != INTERP_EXECUTE_FINISH)) {
+            output << "fiveaxis_file_execute_" << file_execute_count << "="
+                   << execute_rc << "\n";
+            append_error_text(output, interp, "fiveaxis_file_error_text=", execute_rc);
+            ok = false;
+            break;
+        }
+
+        if (execute_rc == INTERP_EXIT) {
+            reached_exit = true;
+            break;
+        }
+    }
+
+    int hal_status = 0;
+    double switchkins_type = 0.0;
+    const int hal_rc =
+        interp.find_named_param("_hal[motion.switchkins-type]", &hal_status, &switchkins_type);
+
+    output << "fiveaxis_file_read_count=" << file_read_count << "\n";
+    output << "fiveaxis_file_execute_count=" << file_execute_count << "\n";
+    output << "fiveaxis_file_finish_count=" << file_finish_count << "\n";
+    output << "fiveaxis_file_final_rc=" << final_rc << "\n";
+    output << "fiveaxis_file_reached_exit=" << (reached_exit ? 1 : 0) << "\n";
+    output << "fiveaxis_hal_switchkins: rc=" << hal_rc << " found=" << hal_status
+           << " value=" << switchkins_type << "\n";
+
+    ok &= reached_exit;
+    ok &= file_read_count > 0;
+    ok &= file_execute_count > 0;
+    ok &= file_read_count < max_file_steps;
+    ok &= file_execute_count < max_file_steps;
+    ok &= hal_rc == INTERP_OK && hal_status == 1 && switchkins_type == 0.0;
+
+    output << "fiveaxis_linuxcnc_remap_file_execute=" << (ok ? 1 : 0) << "\n";
+    unsetenv("INI_FILE_NAME");
+    return copy_result(output.str());
+}
+
 EMSCRIPTEN_KEEPALIVE
 char *lcinterp_restore_parameters(const char *path)
 {

wasm-port/runtime/sdk/src/linuxcnc-interp.js

@@ -74,6 +74,10 @@ export async function createLinuxCncInterpSdk(moduleOptions = {}) {
       return callStringResult(mod, "lcinterp_run_file_with_ini", path, iniPath);
     },
 
+    runFiveAxisRemapFile(path, iniPath) {
+      return callStringResult(mod, "lcinterp_run_fiveaxis_remap_file", path, iniPath);
+    },
+
     restoreParameters(path) {
       return callStringResult(mod, "lcinterp_restore_parameters", path);
     },