按规划持续工作

结论：已将 vendored LinuxCNC xyzab-tdr-demo.ngc 纳入五轴 table-dual-rotary remap/tool-table/file 执行 baseline，native、Node WASM 和 browser 均通过同源验证；TDR 按 LinuxCNC INI 的两个 REMAP 验证，未实现自有 M 码或运动学语义。

wasm-port/docs/compatibility-validation.md

@@ -111,10 +111,12 @@ 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`, `boat-xyzac.ngc`,
 `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` demo files into the Emscripten
-filesystem, then validates the WASM C ABI/SDK path for vendored LinuxCNC
-`REMAP` parsing, vendored LinuxCNC tool-table loading from the machine INI,
-O-word remap execution, `M68`/`M66` HAL synchronization, and file
-`open()`/`read()`/`execute()` completion without JavaScript M-code or
+filesystem. It also writes the vendored LinuxCNC `xyzab-tdr` table-dual-rotary
+INI, tool table, `remap_subs/*.ngc`, and `xyzab-tdr-demo.ngc` into the
+Emscripten filesystem. These checks validate the WASM C ABI/SDK path for
+vendored LinuxCNC `REMAP` parsing, vendored LinuxCNC tool-table loading from
+the machine INI, 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()`,
@@ -164,8 +166,9 @@ when a machine session is copied into the interpreter WASM filesystem. It also
 clicks the INI panel's 5-axis remap demo action and verifies that the UI
 copies vendored LinuxCNC `xyzac-trt` machine/remap/demo files into the
 interpreter WASM filesystem, calls the LinuxCNC-backed SDK remap execution
-path for the vendored `boat-xyzac.ngc` demo, and displays the resulting
-`fiveaxis_*` status lines without JavaScript M-code or kinematics semantics.
+path for the vendored `impeller-7bl-xyzac.ngc` demo, and displays the
+resulting `fiveaxis_*` status lines without JavaScript M-code or kinematics
+semantics.
 
 The browser interpreter smoke script serves `wasm-port/` over localhost and
 runs Chromium headless against a test page that loads the interpreter-core
@@ -199,9 +202,12 @@ WASM filesystem, and that absent INI file-name values use the default OPFS
 parameter/tool-table paths in a real browser session. It also writes vendored
 LinuxCNC `xyzac-trt`/`xyzbc-trt` INI, remap subroutines, and switchkins demo
 files, including the larger `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and
-`impeller-7bl-xyzac.ngc` demos, into the browser WASM filesystem and verifies
-`runFiveAxisRemapFile()` for both sample machines through the exported
-LinuxCNC remap/tool-table/file execution path.
+`impeller-7bl-xyzac.ngc` demos, into the browser WASM filesystem. It also
+writes vendored LinuxCNC `xyzab-tdr` machine files and `xyzab-tdr-demo.ngc`
+into the browser WASM filesystem. The browser smoke verifies
+`runFiveAxisRemapFile()` for the table-rotary-tilting and table-dual-rotary
+sample machines through the exported LinuxCNC remap/tool-table/file execution
+path.
 
 The aggregate host smoke script builds the INI, interpreter-core, and
 trajectory-planner WASM artifacts once, then runs the Node WASM smokes, the
@@ -231,7 +237,7 @@ The validation fails if:
 | `linuxcnc_interp_init_harness` | Validates vendored LinuxCNC `Interp::init()` emits canonical initialization boundaries, reads metric/inch machine units, and synchronizes current/selected tool slots through standalone status adapters. |
 | `linuxcnc_indexer_harness` | Validates vendored LinuxCNC single-axis rotary indexer dispatch emits lock/unlock and motion boundaries through the standalone event sink. |
 | `linuxcnc_remap_hal_sync_harness` | Validates vendored LinuxCNC `M68`/`M66` execution can drive the standalone HAL adapter boundary used by 5-axis switchkins remap files, including `_hal[motion.switchkins-type]` readback. |
-| `linuxcnc_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines, loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` through the LinuxCNC file `open/read/execute` path. |
+| `linuxcnc_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines, plus the two-remap `M429 -> M428 -> M429` path in the `xyzab-tdr` sample machine. It loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and `xyzab-tdr-demo.ngc` through the LinuxCNC file `open/read/execute` path. |
 | `linuxcnc_tp_api_probe` | Validates vendored LinuxCNC trajectory planner calls for linear, arc, and queued motion paths. |
 | `linuxcnc_kinematics_probe` | Validates vendored LinuxCNC `trivkins.c` plus `kins_util.c` initialize and perform identity forward/inverse mapping through the standalone HAL/RTAPI boundary. |
 | `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. |

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

@@ -802,17 +802,18 @@ Current five-axis switchkins status:
 5. `linuxcnc_remap_hal_sync_harness` validates vendored LinuxCNC `M68` and
    `M66` synchronization through the standalone HAL adapter boundary.
 6. `linuxcnc_5axis_remap_execute_harness` executes the `xyzac-trt` and
-   `xyzbc-trt` switchkins `M429 -> M428 -> M430 -> M429` paths, loads
-   vendored machine tool tables through LinuxCNC `tooldata_load()`, and runs
-   vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
+   `xyzbc-trt` switchkins `M429 -> M428 -> M430 -> M429` paths plus the
+   `xyzab-tdr` two-remap `M429 -> M428 -> M429` path, loads vendored machine
+   tool tables through LinuxCNC `tooldata_load()`, and runs vendored
+   `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
    `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`,
-   `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` through
-   LinuxCNC remap/file execution paths.
+   `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and
+   `xyzab-tdr-demo.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`, `xyzbc_switchkins.ngc`, `boat-xyzac.ngc`, and
-   `boat-xyzbc.ngc`, plus `impeller-7bl-xyzac.ngc` through the SDK C ABI
-   without JavaScript M-code or kinematics semantics.
+   `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and `xyzab-tdr-demo.ngc`
+   through the SDK C ABI without JavaScript M-code or kinematics semantics.
 8. Browser smoke and the INI panel UI now expose the same validated 5-axis
    remap execution path by copying vendored LinuxCNC sample-machine files into
    the interpreter WASM filesystem and calling the SDK C ABI.
@@ -822,8 +823,8 @@ Next work:
 1. Continue broadening five-axis fixture coverage through the same
    source-backed execution boundary.
 2. Evaluate additional vendored LinuxCNC five-axis sample machines and demos
-   after the TRT boat and impeller demos are stable in native, Node WASM,
-   browser, and UI remap paths.
+   after the TRT boat/impeller and TDR demo paths are stable in native, Node
+   WASM, browser, and UI remap paths.
 
 Involved LinuxCNC source: