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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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5
wasm-port/docs/drift-report.md
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@@ -31,6 +31,7 @@ semantic rewrites:
| Realtime scheduler | TP probes seed deterministic status/config data instead of running LinuxCNC realtime process topology. |
| Kinematics component lifecycle | Kinematics modules are initialized through LinuxCNC module entry points where native runtime probes exist, while HAL component init/ready/exit, HAL pin allocation, and RTAPI module metadata are handled by standalone shims. |
| Go math C/C++ linkage | `genserkins` runtime probing compiles vendored `gomath.c` through a narrow C++ wrapper so LinuxCNC `genserfuncs.c` can link to the upstream Go math symbols without editing vendored source. |
| Switchkins iterative forward | `genhexkins` runtime probing follows LinuxCNC switchkins iterative-forward behavior, including the first-call warmup path before asserting roundtrip convergence. |
| Browser storage | OPFS remains outside the native core and is not yet connected. |
## Enforced Non-Drift Rules
@@ -52,8 +53,8 @@ semantic rewrites:
serial, hexapod, pentapod, and related kinematics sources now have native
source-probe coverage.
- Full machine baselines beyond the current identity/trivial, `5axiskins`,
TRT, delta, SCARA, PUMA, serial `genserkins`, and other existing runtime
probes are not established.
TRT, delta, SCARA, PUMA, serial `genserkins`, hexapod `genhexkins`,
pentapod `pentakins`, and other existing runtime probes are not established.
- Fixture expectations are currently checked against the standalone vendored
source path, not by running a native LinuxCNC binary for every fixture.

8
wasm-port/docs/source-reuse-map.md
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@@ -38,7 +38,7 @@ Current validation is intentionally mechanical:
| Identity/trivial kinematics | `src/emc/kinematics/kinematics.h`, `cubic.h`, `kins_util.c`, `trivkins.c` | Copy unchanged | HAL component lifecycle and RTAPI module metadata are replaced by standalone shims; forward/inverse mapping behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_kinematics_probe` |
| Switchable 5-axis bridge kinematics | `src/emc/kinematics/5axiskins.c`, `switchkins.c`, `switchkins.h`, `userkfuncs.c`, plus `src/rtapi/rtapi_ctype.h` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; switchable 5-axis forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_5axis_kinematics_probe` |
| TRT table-rotary kinematics | `src/emc/kinematics/trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c` | Copy unchanged | HAL pin allocation and switchkins lifecycle stay runtime boundaries; XYZAC/XYZBC TRT forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_xyzac_trt_kinematics_probe`, `linuxcnc_xyzbc_trt_kinematics_probe` |
| Additional non-switchable kinematics | `src/emc/kinematics/corexykins.c`, `rotatekins.c`, `rosekins.c`, `maxkins.c`, `lineardeltakins.c`, `lineardeltakins-common.h`, `rotarydeltakins.c`, `rotarydeltakins-common.h`, `scorbot-kins.c`, `tripodkins.c`, `scarakins.c`, `pumakins.c`, `pumakins.h`, `genhexkins.c`, `genhexkins.h`, `genserfuncs.c`, `genserkins.c`, `genserkins.h`, `ugenserkins.c`, `pentakins.c`, `pentakins.h`, `cubic.c` | Copy unchanged | HAL pin allocation, HAL parameter allocation, HAL component lifecycle, RTAPI module metadata, Go math C/C++ linkage, and userspace test-program process entry remain standalone runtime edges; forward/inverse behavior remains LinuxCNC source where the module exposes it | Vendor byte sync, per-file source probes, `linuxcnc_corexy_kinematics_probe`, `linuxcnc_rotate_kinematics_probe`, `linuxcnc_rose_kinematics_probe`, `linuxcnc_max_kinematics_probe`, `linuxcnc_lineardelta_kinematics_probe`, `linuxcnc_rotarydelta_kinematics_probe`, `linuxcnc_scorbot_kinematics_probe`, `linuxcnc_tripod_kinematics_probe`, `linuxcnc_scara_kinematics_probe`, `linuxcnc_puma_kinematics_probe`, `linuxcnc_genser_kinematics_probe` |
| Additional non-switchable kinematics | `src/emc/kinematics/corexykins.c`, `rotatekins.c`, `rosekins.c`, `maxkins.c`, `lineardeltakins.c`, `lineardeltakins-common.h`, `rotarydeltakins.c`, `rotarydeltakins-common.h`, `scorbot-kins.c`, `tripodkins.c`, `scarakins.c`, `pumakins.c`, `pumakins.h`, `genhexkins.c`, `genhexkins.h`, `genserfuncs.c`, `genserkins.c`, `genserkins.h`, `ugenserkins.c`, `pentakins.c`, `pentakins.h`, `cubic.c` | Copy unchanged | HAL pin allocation, HAL parameter allocation, HAL component lifecycle, RTAPI module metadata, Go math C/C++ linkage, switchkins iterative-forward warmup, and userspace test-program process entry remain standalone runtime edges; forward/inverse behavior remains LinuxCNC source where the module exposes it | Vendor byte sync, per-file source probes, `linuxcnc_corexy_kinematics_probe`, `linuxcnc_rotate_kinematics_probe`, `linuxcnc_rose_kinematics_probe`, `linuxcnc_max_kinematics_probe`, `linuxcnc_lineardelta_kinematics_probe`, `linuxcnc_rotarydelta_kinematics_probe`, `linuxcnc_scorbot_kinematics_probe`, `linuxcnc_tripod_kinematics_probe`, `linuxcnc_scara_kinematics_probe`, `linuxcnc_puma_kinematics_probe`, `linuxcnc_genser_kinematics_probe`, `linuxcnc_genhex_kinematics_probe`, `linuxcnc_pentakins_kinematics_probe` |
| Trajectory planner | `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, `spherical_arc.c`, `blendmath.c`, `sp_scurve.c`, `ruckig_wrapper.c`, plus matching `*.h` files | Copy unchanged | Native realtime scheduling and motion process state are replaced by standalone probe setup | Vendor byte sync, per-file source probes, `linuxcnc_tp_api_probe` |
| Ruckig C planner support | Selected `src/emc/tp/cruckig/*.c` and `*.h` files in the manifest | Copy unchanged | Used as LinuxCNC planner support code through vendored TP sources | Vendor byte sync, per-file source probes |
| Posemath | `src/libnml/posemath/posemath.cc`, `_posemath.c`, `gomath.c`, `sincos.c`, and matching headers | Copy unchanged | `gomath.c` is compiled as C; `rtapi.h` shim is C/C++ compatible for this boundary | Vendor byte sync, per-file source probes, TP probe |
@@ -63,9 +63,9 @@ Current validation is intentionally mechanical:
## Known Gaps
- Additional non-trivial kinematics implementation files are now extracted at
source-probe level. Serial `genserkins` has a native runtime baseline; full
runtime machine baselines for hexapod, pentapod, and userspace genser flows
are not yet established.
source-probe level. Serial `genserkins`, hexapod `genhexkins`, and pentapod
`pentakins` have native runtime baselines; full runtime machine baselines for
userspace genser flows are not yet established.
- Browser/WASM C ABI and JS SDK layers are not yet built for the full
interpreter/planner core.
- OPFS persistence is not yet connected to INI, tool table, parameter file, or

110
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_genhex_kinematics_probe.cpp Normal file
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@@ -0,0 +1,110 @@
#include <cmath>
#include <iostream>
#include "emc/kinematics/kinematics.h"
#include "emc/motion/emcmotcfg.h"
int rtapi_app_main(void);
void rtapi_app_exit(void);
namespace {
int near(double actual, double expected)
{
return std::fabs(actual - expected) < 1e-6;
}
int near_pose(const EmcPose &actual, const EmcPose &expected)
{
return near(actual.tran.x, expected.tran.x) &&
near(actual.tran.y, expected.tran.y) &&
near(actual.tran.z, expected.tran.z) &&
near(actual.a, expected.a) &&
near(actual.b, expected.b) &&
near(actual.c, expected.c);
}
int near_identity_pose(const EmcPose &actual, const double *joints)
{
return near(actual.tran.x, joints[0]) &&
near(actual.tran.y, joints[1]) &&
near(actual.tran.z, joints[2]) &&
near(actual.a, joints[3]) &&
near(actual.b, joints[4]) &&
near(actual.c, joints[5]);
}
void print_pose(const char *prefix, const EmcPose &pose)
{
std::cout << prefix << "_xyz="
<< pose.tran.x << ","
<< pose.tran.y << ","
<< pose.tran.z << "\n";
std::cout << prefix << "_abc="
<< pose.a << ","
<< pose.b << ","
<< pose.c << "\n";
}
void print_joints(const char *prefix, const double *joints)
{
std::cout << prefix << "_struts="
<< joints[0] << ","
<< joints[1] << ","
<< joints[2] << ","
<< joints[3] << ","
<< joints[4] << ","
<< joints[5] << "\n";
}
} // namespace
int main()
{
const int init_rc = rtapi_app_main();
std::cout << "genhex_init=" << init_rc << "\n";
std::cout << "genhex_type=" << kinematicsType() << "\n";
std::cout << "genhex_switchable=" << kinematicsSwitchable() << "\n";
EmcPose pose{};
pose.tran.x = 1.25;
pose.tran.y = -2.5;
pose.tran.z = 3.75;
pose.a = 1.0;
pose.b = -2.0;
pose.c = 3.0;
KINEMATICS_FORWARD_FLAGS fflags = 0;
KINEMATICS_INVERSE_FLAGS iflags = 0;
double inverse_joints[EMCMOT_MAX_JOINTS]{};
const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
std::cout << "genhex_inverse=" << inverse_rc << "\n";
print_joints("genhex_inverse", inverse_joints);
EmcPose warmup_pose = pose;
const int warmup_rc = kinematicsForward(inverse_joints, &warmup_pose, &fflags, &iflags);
std::cout << "genhex_forward_warmup=" << warmup_rc << "\n";
EmcPose forward_pose = pose;
const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
std::cout << "genhex_forward=" << forward_rc << "\n";
print_pose("genhex_forward", forward_pose);
std::cout << "genhex_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
const int switch_rc = kinematicsSwitch(1);
std::cout << "genhex_switch_identity=" << switch_rc << "\n";
double identity_joints[EMCMOT_MAX_JOINTS]{};
for (int index = 0; index < 6; ++index) {
identity_joints[index] = inverse_joints[index];
}
EmcPose identity_pose{};
const int identity_forward_rc = kinematicsForward(
identity_joints, &identity_pose, &fflags, &iflags);
std::cout << "genhex_identity_forward=" << identity_forward_rc << "\n";
print_pose("genhex_identity", identity_pose);
std::cout << "genhex_identity_near="
<< near_identity_pose(identity_pose, identity_joints) << "\n";
rtapi_app_exit();
return 0;
}

89
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_pentakins_kinematics_probe.cpp Normal file
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@@ -0,0 +1,89 @@
#include <cmath>
#include <iostream>
#include "emc/kinematics/kinematics.h"
#include "emc/motion/emcmotcfg.h"
int rtapi_app_main(void);
void rtapi_app_exit(void);
namespace {
int near(double actual, double expected)
{
return std::fabs(actual - expected) < 1e-6;
}
int near_pose(const EmcPose &actual, const EmcPose &expected)
{
return near(actual.tran.x, expected.tran.x) &&
near(actual.tran.y, expected.tran.y) &&
near(actual.tran.z, expected.tran.z) &&
near(actual.a, expected.a) &&
near(actual.b, expected.b);
}
int positive_struts(const double *joints)
{
for (int index = 0; index < 5; ++index) {
if (joints[index] <= 0.0) {
return 0;
}
}
return 1;
}
void print_pose(const char *prefix, const EmcPose &pose)
{
std::cout << prefix << "_xyz="
<< pose.tran.x << ","
<< pose.tran.y << ","
<< pose.tran.z << "\n";
std::cout << prefix << "_ab="
<< pose.a << ","
<< pose.b << "\n";
}
void print_joints(const char *prefix, const double *joints)
{
std::cout << prefix << "_struts="
<< joints[0] << ","
<< joints[1] << ","
<< joints[2] << ","
<< joints[3] << ","
<< joints[4] << "\n";
}
} // namespace
int main()
{
const int init_rc = rtapi_app_main();
std::cout << "pentakins_init=" << init_rc << "\n";
std::cout << "pentakins_type=" << kinematicsType() << "\n";
std::cout << "pentakins_switchable=" << kinematicsSwitchable() << "\n";
EmcPose pose{};
pose.tran.x = 12.5;
pose.tran.y = -8.25;
pose.tran.z = 25.0;
pose.a = 2.0;
pose.b = -1.5;
KINEMATICS_FORWARD_FLAGS fflags = 0;
KINEMATICS_INVERSE_FLAGS iflags = 0;
double inverse_joints[EMCMOT_MAX_JOINTS]{};
const int inverse_rc = kinematicsInverse(&pose, inverse_joints, &iflags, &fflags);
std::cout << "pentakins_inverse=" << inverse_rc << "\n";
print_joints("pentakins_inverse", inverse_joints);
std::cout << "pentakins_positive_struts=" << positive_struts(inverse_joints) << "\n";
EmcPose forward_pose = pose;
const int forward_rc = kinematicsForward(inverse_joints, &forward_pose, &fflags, &iflags);
std::cout << "pentakins_forward=" << forward_rc << "\n";
print_pose("pentakins_forward", forward_pose);
std::cout << "pentakins_roundtrip_pose=" << near_pose(forward_pose, pose) << "\n";
rtapi_app_exit();
return 0;
}

25
wasm-port/tests/native/verify_native_probes.sh
View File

@@ -109,6 +109,10 @@ check_exitcode linuxcnc_puma_kinematics_probe
check_exitcode linuxcnc_puma_kinematics_probe.run
check_exitcode linuxcnc_genser_kinematics_probe
check_exitcode linuxcnc_genser_kinematics_probe.run
check_exitcode linuxcnc_genhex_kinematics_probe
check_exitcode linuxcnc_genhex_kinematics_probe.run
check_exitcode linuxcnc_pentakins_kinematics_probe
check_exitcode linuxcnc_pentakins_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -407,6 +411,27 @@ grep -Fq "genser_switch_identity=0" "$GENSER_KINEMATICS_STDOUT"
grep -Fq "genser_identity_forward=0" "$GENSER_KINEMATICS_STDOUT"
grep -Fq "genser_identity_near=1" "$GENSER_KINEMATICS_STDOUT"
GENHEX_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_genhex_kinematics_probe.run.stdout.log"
grep -Fq "genhex_init=0" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_type=4" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_switchable=1" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_inverse=0" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_forward_warmup=-1" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_forward=0" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_roundtrip_pose=1" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_switch_identity=0" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_identity_forward=0" "$GENHEX_KINEMATICS_STDOUT"
grep -Fq "genhex_identity_near=1" "$GENHEX_KINEMATICS_STDOUT"
PENTAKINS_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_pentakins_kinematics_probe.run.stdout.log"
grep -Fq "pentakins_init=0" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_type=4" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_switchable=0" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_inverse=0" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_positive_struts=1" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_forward=0" "$PENTAKINS_KINEMATICS_STDOUT"
grep -Fq "pentakins_roundtrip_pose=1" "$PENTAKINS_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"

65
wasm-port/tools/build_native_probes.sh
View File

@@ -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" \