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/docs/compatibility-validation.md

@@ -107,7 +107,13 @@ and missing named-parameter lookup.
 It also writes selected G-code fixtures into the
 Emscripten filesystem through the SDK and runs them through LinuxCNC
 `Interp::open()`, `Interp::read()`, and `Interp::execute()` to validate the
-file execution path. The same Node smoke writes LinuxCNC-format parameter
+file execution path. It also writes the vendored LinuxCNC `xyzac-trt` and
+`xyzbc-trt` table-rotary-tilting sample machine INI, `remap_subs/*.ngc`, and
+`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc` demo files into the Emscripten
+filesystem, then validates the WASM C ABI/SDK path for vendored LinuxCNC
+`REMAP` parsing, O-word remap execution, `M68`/`M66` HAL synchronization, and
+file `open()`/`read()`/`execute()` completion without JavaScript M-code or
+kinematics semantics. The same Node smoke writes LinuxCNC-format parameter
 files into the Emscripten filesystem and validates vendored
 `Interp::restore_parameters()` and `Interp::save_parameters()`, including the
 saved parameter values, missing required numeric parameter defaulting, and the
@@ -238,7 +244,7 @@ The validation fails if:
 | Harness | Purpose |
 | --- | --- |
 | `tests/wasm/node/verify_ini_wasm.sh` | Validates the browser-facing INI WASM module can be built from vendored LinuxCNC `inifile.cc`, loaded through the JS SDK in Node, and queried through the exported C ABI, including LinuxCNC-backed boolean conversion and machine-session file-name string lookup. |
-| `tests/wasm/node/verify_interp_wasm.sh` | Validates the initial interpreter-core WASM module can be built from vendored LinuxCNC interpreter source, loaded through the interpreter JS SDK, run the first fixture group through `Interp::execute()` and selected file fixtures through `Interp::open()`/`read()`/`execute()`, match the native canonical event plus required state readback fixtures, and run parameter-file restore/save through vendored LinuxCNC `Interp::restore_parameters()` and `Interp::save_parameters()`. |
+| `tests/wasm/node/verify_interp_wasm.sh` | Validates the interpreter-core WASM module can be built from vendored LinuxCNC interpreter/remap source, loaded through the interpreter JS SDK, run the first fixture group through `Interp::execute()` and selected file fixtures through `Interp::open()`/`read()`/`execute()`, match the native canonical event plus required state readback fixtures, run vendored `xyzac-trt`/`xyzbc-trt` switchkins remap demo files through the WASM C ABI/SDK path, and run parameter-file restore/save through vendored LinuxCNC `Interp::restore_parameters()` and `Interp::save_parameters()`. |
 | `tests/wasm/node/verify_tp_wasm.sh` | Validates a standalone trajectory-planner WASM module can be built from vendored LinuxCNC TP/TC/Ruckig support source, loaded in Node, and run the same linear, arc, and queued-line planner probe paths covered by the native TP harness. |
 | `tests/opfs/node/verify_file_service.sh` | Validates the host-owned OPFS text-file adapter, path model, session snapshot store including custom filenames and envelope/path rejection paths, machine file store, G-code text store including filename rejection paths, OPFS-to-WASM parameter/tool-table bridges, and grouped machine-session loading without moving file persistence, parameter semantics, or tool-table semantics into the WASM core. |
 | `tests/browser/verify_ini_panel_browser.sh` | Validates the INI SDK, INI/interpreter WASM module loading, LinuxCNC-backed INI machine-session file-name string lookup, OPFS text-file round trip, generic session snapshot round trip plus custom filename and envelope/path rejection paths, machine file text round trip, G-code text round trip plus filename rejection paths, and the INI panel UI's machine-session load with default OPFS parameter/tool-table file mapping, G-code run, and canonical-event display paths in a real browser runtime. |
@@ -603,5 +609,6 @@ standalone remap descriptor path. It reads the vendored `xyzac-trt` and
 `xyzbc-trt` INI `REMAP` entries, resolves their `remap_subs/*.ngc` files
 through LinuxCNC `find_ngc_file()`, and validates the resulting
 `_setup.m_remapped` descriptors for `M428`, `M429`, and `M430`. Python
-callbacks, O-word remap execution, and HAL synchronization remain runtime
+callbacks remain runtime boundaries. Native and WASM validation now execute
-boundaries.
+the NGC remap/file paths through vendored LinuxCNC O-word dispatch and the
+standalone HAL adapter boundary.

wasm-port/docs/porting-steps-standalone.md

@@ -806,13 +806,17 @@ Current five-axis switchkins status:
    `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
    `xyzac_switchkins_test_1.ngc`, and `xyzac_switchkins_test_3.ngc` through
    LinuxCNC remap/file execution paths.
+7. The WASM interpreter core now links vendored `interp_remap.cc` plus the
+   Python-only runtime edge stub, and the Node WASM smoke runs vendored
+   `xyzac_switchkins.ngc` and `xyzbc_switchkins.ngc` through the SDK C ABI
+   without JavaScript M-code or kinematics semantics.
 
 Next work:
 
-1. Export the validated switchkins/remap status through the WASM SDK and INI
+1. Add browser smoke/UI exposure for the validated switchkins/remap status
-   panel without adding JavaScript CNC semantics.
+   without adding JavaScript CNC semantics.
-2. Add browser/Node smoke coverage that runs the vendored 5-axis remap demo
+2. Continue broadening five-axis fixture coverage after the browser path is
-   fixtures through the WASM interpreter boundary.
+   stable.
 
 Involved LinuxCNC source:
 

wasm-port/docs/source-reuse-map.md

@@ -74,10 +74,10 @@ Current validation is intentionally mechanical:
   dual-rotary, and table-rotary-tilting LinuxCNC sample machines. NGC remap
   descriptors for the TRT sample machines are parsed through vendored
   `Interp::parse_remap()` and `find_ngc_file()` by
-  `linuxcnc_remap_parse_harness`. Full standalone execution still needs
+  `linuxcnc_remap_parse_harness`; native and WASM Node validation execute the
-  LinuxCNC O-word remap dispatch, the `M68`/`M66` synchronization path, and
+  selected TRT switchkins demo files through vendored LinuxCNC O-word remap
-  `_hal[motion.switchkins-type]` readback connected through the standalone HAL
+  dispatch, file `open()`/`read()`/`execute()`, and the standalone HAL adapter
-  boundary.
+  boundary for `M68`/`M66` plus `_hal[motion.switchkins-type]` readback.
 - Cutter compensation positive motion and negative interpreter paths are
   fixture-covered through vendored `interp_convert.cc` and `interp_queue.cc`.
 - Browser/WASM C ABI and JS SDK layers are now present for the INI parser, the

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);
     },

wasm-port/tests/wasm/node/verify_interp_wasm.mjs

@@ -1,4 +1,4 @@
-import { readFileSync } from "node:fs";
+import { readdirSync, readFileSync } from "node:fs";
 import { fileURLToPath } from "node:url";
 import { dirname, resolve } from "node:path";
 import assert from "node:assert/strict";
@@ -88,6 +88,41 @@ const interp = await createLinuxCncInterpSdk({
   },
 });
 
+function writeVendorTextFile(sourcePath, wasmPath) {
+  interp.writeTextFile(wasmPath, readFileSync(sourcePath, "utf8"));
+}
+
+function writeFiveAxisTrtMachineFiles() {
+  const sourceDir = resolve(
+    rootDir,
+    "vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting",
+  );
+  const wasmDir = "/work/fiveaxis/table-rotary-tilting";
+
+  writeVendorTextFile(resolve(sourceDir, "xyzac-trt.ini"), `${wasmDir}/xyzac-trt.ini`);
+  writeVendorTextFile(resolve(sourceDir, "xyzbc-trt.ini"), `${wasmDir}/xyzbc-trt.ini`);
+
+  for (const filename of readdirSync(resolve(sourceDir, "remap_subs"))) {
+    if (filename.endsWith(".ngc")) {
+      writeVendorTextFile(
+        resolve(sourceDir, "remap_subs", filename),
+        `${wasmDir}/remap_subs/${filename}`,
+      );
+    }
+  }
+
+  writeVendorTextFile(
+    resolve(sourceDir, "demos/xyzac_switchkins.ngc"),
+    `${wasmDir}/demos/xyzac_switchkins.ngc`,
+  );
+  writeVendorTextFile(
+    resolve(sourceDir, "demos/xyzbc_switchkins.ngc"),
+    `${wasmDir}/demos/xyzbc_switchkins.ngc`,
+  );
+
+  return wasmDir;
+}
+
 const namedParamIniPath = "/work/namedparams.ini";
 interp.writeTextFile(
   namedParamIniPath,
@@ -303,6 +338,54 @@ verifyExpectedOutput(
   ).trimEnd(),
 );
 
+const fiveAxisTrtDir = writeFiveAxisTrtMachineFiles();
+verifyExpectedOutput(
+  "fiveaxis_xyzac_switchkins_wasm",
+  interp.runFiveAxisRemapFile(
+    `${fiveAxisTrtDir}/demos/xyzac_switchkins.ngc`,
+    `${fiveAxisTrtDir}/xyzac-trt.ini`,
+  ),
+  [
+    "fiveaxis_ini_open=1",
+    "fiveaxis_parse_remap_1=0",
+    "fiveaxis_parse_remap_2=0",
+    "fiveaxis_parse_remap_3=0",
+    "fiveaxis_parsed_remap_count=3",
+    "fiveaxis_remaps_ready=1",
+    "fiveaxis_file_open=0",
+    "fiveaxis_file_read_count=620",
+    "fiveaxis_file_execute_count=620",
+    "fiveaxis_file_finish_count=21",
+    "fiveaxis_file_final_rc=1",
+    "fiveaxis_file_reached_exit=1",
+    "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+    "fiveaxis_linuxcnc_remap_file_execute=1",
+  ].join("\n"),
+);
+verifyExpectedOutput(
+  "fiveaxis_xyzbc_switchkins_wasm",
+  interp.runFiveAxisRemapFile(
+    `${fiveAxisTrtDir}/demos/xyzbc_switchkins.ngc`,
+    `${fiveAxisTrtDir}/xyzbc-trt.ini`,
+  ),
+  [
+    "fiveaxis_ini_open=1",
+    "fiveaxis_parse_remap_1=0",
+    "fiveaxis_parse_remap_2=0",
+    "fiveaxis_parse_remap_3=0",
+    "fiveaxis_parsed_remap_count=3",
+    "fiveaxis_remaps_ready=1",
+    "fiveaxis_file_open=0",
+    "fiveaxis_file_read_count=620",
+    "fiveaxis_file_execute_count=620",
+    "fiveaxis_file_finish_count=21",
+    "fiveaxis_file_final_rc=1",
+    "fiveaxis_file_reached_exit=1",
+    "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+    "fiveaxis_linuxcnc_remap_file_execute=1",
+  ].join("\n"),
+);
+
 const parameterFilePath = "/work/rs274ngc.var";
 interp.writeTextFile(
   parameterFilePath,

wasm-port/tools/build_wasm_core.sh

@@ -59,11 +59,12 @@ INTERP_CORE_SOURCES=(
   "$VENDOR_DIR/src/emc/rs274ngc/interp_namedparams.cc"
   "$VENDOR_DIR/src/emc/rs274ngc/interp_write.cc"
   "$VENDOR_DIR/src/emc/rs274ngc/interp_o_word.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_remap.cc"
   "$VENDOR_DIR/src/emc/rs274ngc/rs274ngc_pre.cc"
   "$VENDOR_DIR/src/emc/tooldata/tooldata_common.cc"
   "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
   "$WRAP_DIR/linuxcnc_emc_status_runtime.cpp"
-  "$WRAP_DIR/linuxcnc_interp_edge_stubs.cpp"
+  "$WRAP_DIR/linuxcnc_interp_python_edge_stubs.cpp"
   "$WRAP_DIR/linuxcnc_runtime_state_stubs.cpp"
   "$WRAP_DIR/linuxcnc_tool_adapter.cpp"
   "$WRAP_DIR/linuxcnc_interp_minimal_runtime.cpp"
@@ -96,5 +97,5 @@ link_wasm_module \
   -s STACK_SIZE=2MB \
   -s NO_EXIT_RUNTIME=1 \
   -s FORCE_FILESYSTEM=1 \
-  -s EXPORTED_FUNCTIONS='["_malloc","_free","_lcinterp_run_program","_lcinterp_run_program_with_ini","_lcinterp_run_file","_lcinterp_run_file_with_ini","_lcinterp_restore_parameters","_lcinterp_save_parameters","_lcinterp_load_tool_table","_lcinterp_load_tool_table_random","_lcinterp_save_tool_table","_lcinterp_probe_init_and_synch","_lcinterp_probe_indexer","_lcinterp_probe_named_parameters","_lcinterp_free_string"]' \
+  -s EXPORTED_FUNCTIONS='["_malloc","_free","_lcinterp_run_program","_lcinterp_run_program_with_ini","_lcinterp_run_file","_lcinterp_run_file_with_ini","_lcinterp_run_fiveaxis_remap_file","_lcinterp_restore_parameters","_lcinterp_save_parameters","_lcinterp_load_tool_table","_lcinterp_load_tool_table_random","_lcinterp_save_tool_table","_lcinterp_probe_init_and_synch","_lcinterp_probe_indexer","_lcinterp_probe_named_parameters","_lcinterp_free_string"]' \
   -s EXPORTED_RUNTIME_METHODS='["FS","UTF8ToString","stringToUTF8","lengthBytesUTF8"]'