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结论：已继续补齐 LinuxCNC 源码派生的 genhexkins 与 pentakins 原生 runtime baseline，构建、vendor 同步、语义守卫和 native probe 验证均通过。
This commit is contained in:
wangdequan
2026-06-07 21:12:01 +08:00
parent 3faaa8e7a2
commit 232f42f45a
6 changed files with 296 additions and 6 deletions
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65
wasm-port/tools/build_native_probes.sh
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@@ -463,6 +463,27 @@ GENSER_KINEMATICS_PROBE_SOURCES=(
"$WRAP_DIR/linuxcnc_genser_kinematics_probe.cpp"
)
GENHEX_KINEMATICS_PROBE_SOURCES=(
"$VENDOR_DIR/src/emc/kinematics/kins_util.c"
"$VENDOR_DIR/src/emc/kinematics/switchkins.c"
"$VENDOR_DIR/src/emc/kinematics/userkfuncs.c"
"$VENDOR_DIR/src/emc/kinematics/genhexkins.c"
"$VENDOR_DIR/src/libnml/posemath/posemath.cc"
"$VENDOR_DIR/src/libnml/posemath/_posemath.c"
"$VENDOR_DIR/src/libnml/posemath/sincos.c"
"$WRAP_DIR/linuxcnc_hal_adapter.cpp"
"$WRAP_DIR/linuxcnc_genhex_kinematics_probe.cpp"
)
PENTAKINS_KINEMATICS_PROBE_SOURCES=(
"$VENDOR_DIR/src/emc/kinematics/pentakins.c"
"$VENDOR_DIR/src/libnml/posemath/posemath.cc"
"$VENDOR_DIR/src/libnml/posemath/_posemath.c"
"$VENDOR_DIR/src/libnml/posemath/sincos.c"
"$WRAP_DIR/linuxcnc_hal_adapter.cpp"
"$WRAP_DIR/linuxcnc_pentakins_kinematics_probe.cpp"
)
TP_CORE_SOURCES=(
"$VENDOR_DIR/src/emc/tp/tp.c"
"$VENDOR_DIR/src/emc/tp/tc.c"
@@ -741,6 +762,20 @@ build_binary_target \
GENSER_KINEMATICS_PROBE_SOURCES \
NO_LINK_FLAGS
build_binary_target \
linuxcnc_genhex_kinematics_probe \
"$BUILD_DIR/linuxcnc_genhex_kinematics_probe" \
TP_FLAGS \
GENHEX_KINEMATICS_PROBE_SOURCES \
NO_LINK_FLAGS
build_binary_target \
linuxcnc_pentakins_kinematics_probe \
"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe" \
TP_FLAGS \
PENTAKINS_KINEMATICS_PROBE_SOURCES \
NO_LINK_FLAGS
if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_kinematics_probe.exitcode")" == "0" ]]; then
set +e
"$BUILD_DIR/linuxcnc_kinematics_probe" \
@@ -966,6 +1001,36 @@ else
"$BUILD_DIR/linuxcnc_genser_kinematics_probe.run.stderr.log"
fi
if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_genhex_kinematics_probe.exitcode")" == "0" ]]; then
set +e
"$BUILD_DIR/linuxcnc_genhex_kinematics_probe" \
>"$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.stdout.log" \
2>"$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.stderr.log"
GENHEX_KINEMATICS_RUN_RC=$?
set -e
echo "$GENHEX_KINEMATICS_RUN_RC" > "$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.exitcode"
else
rm -f \
"$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.exitcode" \
"$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.stdout.log" \
"$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.stderr.log"
fi
if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.exitcode")" == "0" ]]; then
set +e
"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe" \
>"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.stdout.log" \
2>"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.stderr.log"
PENTAKINS_KINEMATICS_RUN_RC=$?
set -e
echo "$PENTAKINS_KINEMATICS_RUN_RC" > "$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.exitcode"
else
rm -f \
"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.exitcode" \
"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.stdout.log" \
"$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.stderr.log"
fi
if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_tp_api_probe.exitcode")" == "0" ]]; then
set +e
"$BUILD_DIR/linuxcnc_tp_api_probe" \