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结论：已同步 native kinematics probe 实际覆盖范围，并明确 canned_cycles 等剩余 fixture 需要 dedicated native LinuxCNC baseline，完整 native probes 验证通过。
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wangdequan
2026-06-07 23:17:52 +08:00
parent c79b431019
commit 169b7b8b39
2 changed files with 29 additions and 4 deletions
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30
wasm-port/docs/compatibility-validation.md
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@@ -62,6 +62,19 @@ The validation fails if:
| `linuxcnc_5axis_kinematics_probe` | Validates vendored LinuxCNC `5axiskins.c` through `switchkins.c`, including 5-axis forward/inverse round-trip behavior and switching to identity kinematics. |
| `linuxcnc_xyzac_trt_kinematics_probe` | Validates vendored LinuxCNC XYZAC TRT kinematics through `switchkins.c`, including forward/inverse round-trip behavior and switching to identity kinematics. |
| `linuxcnc_xyzbc_trt_kinematics_probe` | Validates vendored LinuxCNC XYZBC TRT kinematics through `switchkins.c`, including forward/inverse round-trip behavior and switching to identity kinematics. |
| `linuxcnc_corexy_kinematics_probe` | Validates vendored LinuxCNC CoreXY forward/inverse behavior through the standalone HAL/RTAPI boundary. |
| `linuxcnc_rotate_kinematics_probe` | Validates vendored LinuxCNC rotated-axis forward/inverse behavior. |
| `linuxcnc_rose_kinematics_probe` | Validates vendored LinuxCNC rose kinematics forward/inverse behavior. |
| `linuxcnc_max_kinematics_probe` | Validates vendored LinuxCNC max kinematics forward/inverse behavior. |
| `linuxcnc_lineardelta_kinematics_probe` | Validates vendored LinuxCNC linear-delta inverse/forward pose round-trip behavior. |
| `linuxcnc_rotarydelta_kinematics_probe` | Validates vendored LinuxCNC rotary-delta inverse/forward pose round-trip behavior. |
| `linuxcnc_scorbot_kinematics_probe` | Validates vendored LinuxCNC Scorbot forward/inverse behavior and pose round-trip behavior. |
| `linuxcnc_tripod_kinematics_probe` | Validates vendored LinuxCNC tripod inverse/forward behavior, including below-platform flag behavior. |
| `linuxcnc_scara_kinematics_probe` | Validates vendored LinuxCNC SCARA forward/inverse behavior and switching to identity kinematics. |
| `linuxcnc_puma_kinematics_probe` | Validates vendored LinuxCNC PUMA forward/inverse behavior, pose round-trip behavior, and switching to identity kinematics. |
| `linuxcnc_genser_kinematics_probe` | Validates vendored LinuxCNC generic serial kinematics forward/inverse behavior and switching to identity kinematics. |
| `linuxcnc_genhex_kinematics_probe` | Validates vendored LinuxCNC generic hexapod inverse/forward behavior, including the switchkins iterative-forward warmup path. |
| `linuxcnc_pentakins_kinematics_probe` | Validates vendored LinuxCNC pentapod inverse/forward pose round-trip behavior. |
## Fixture Coverage
@@ -118,7 +131,16 @@ HAL/INI/tool table setup, upstream `rs274` output gaps such as `WAIT` or hidden
NURBS control-point detail, or richer machine session state still need
dedicated native LinuxCNC baselines.
The kinematics probes currently cover LinuxCNC identity/trivial kinematics,
the switchable `5axiskins` XYZBCW bridge-mill model, and the TRT `xyzac`/`xyzbc`
table-rotary models. Serial, delta, SCARA, and other machine-specific
kinematics still need dedicated baselines.
Remaining positive fixtures that are not in the upstream `rs274` side-by-side
baseline are intentionally held out until they get a dedicated native LinuxCNC
baseline: `canned_cycles` currently exposes G83 retract-height canonical detail
that should not be filtered away, `namedparam_semantics` depends on standalone
INI/HAL adapter resolution, `state_tag_motion` validates the standalone
state-tag capture boundary, and `tool_semantics`/`tool_table_setup` depend on
tool table host state.
The kinematics probes currently cover LinuxCNC identity/trivial kinematics, the
switchable `5axiskins` XYZBCW bridge-mill model, TRT `xyzac`/`xyzbc`
table-rotary models, CoreXY, rotated-axis, rose, max, linear-delta,
rotary-delta, Scorbot, tripod, SCARA, PUMA, generic serial, generic hexapod,
and pentapod models.

3
wasm-port/docs/drift-report.md
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@@ -74,6 +74,9 @@ semantic rewrites:
cleanup calls. Adapter-heavy fixtures, standalone modal-state assertions, and
upstream `rs274` output gaps such as `WAIT` or hidden NURBS control-point
detail still need dedicated native LinuxCNC baselines.
- `canned_cycles` is not yet in the upstream `rs274` side-by-side baseline
because G83 currently exposes retract-height canonical detail that needs a
dedicated native LinuxCNC baseline instead of broad event filtering.
## Current Drift Conclusion