按规划持续工作

2026-06-09 06:13:28 +08:00
parent 902c6ecaea
commit 2658ee3b72
255 changed files with 12487 additions and 150 deletions
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/README
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/README
@@ -0,0 +1,16 @@
+This test verifies that M62-M68 can be remapped through both python
+and NGC, and that calling the original M-codes is supported in the
+remap subroutine.
+
+It also serves as an example of how to do this, since esp. the M66
+python function is not trivial and must be a generator yielding
+`INTERP_EXECUTE_FINISH`.
+
+The recursive call to the original functions needs supporting code for
+mode 5 M-codes in `interp_convert.cc` `convert_m()`, and for M62-M68
+in `rs274ngc_pre.cc`, `find_remappings()`.
+
+The peculiar M66 needs special handling in the interpreter for
+`input_flag`, and to ensure that its result (in param `#5399`) is
+available within the remap, `Interp::pycall()` runs `read_inputs()`
+before returning control back to the python generator.
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/expected
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/expected
@@ -0,0 +1,123 @@
+**********  Testing python remaps
+----Testing M62/M63 digital output w/motion----
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+----Testing M64/M65 digital output, immediate----
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+----Testing M66 digital input----
+cmd: "M66 P1"; input: 1.0000
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+cmd: "M66 P1"; input: 0.0000
+    M66 remapping pre:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+    M66 remapping post:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+----Testing M66 analog input----
+cmd: "M66 E1 L0"; input: 42.1300
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+cmd: "M66 E1 L0"; input: -13.4200
+    M66 remapping pre:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+    M66 remapping post:  5399=-13.420000; 100=-13.420000; ain0=-13.42; din0=0
+----Testing M67 analog output w/motion----
+cmd: "M67 E1 Q42.13"
+    M67 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M67 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M67 E1 Q-13.42"
+    M67 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M67 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M67 E1 Q0.00"
+    M67 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M67 remapping post: motion aout0=0.00; hal a_out=0.00
+----Testing M68 analog output, immediate----
+cmd: "M68 E1 Q42.13"
+    M68 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M68 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M68 E1 Q-13.42"
+    M68 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M68 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M68 E1 Q0.00"
+    M68 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M68 remapping post: motion aout0=0.00; hal a_out=0.00
+
+**********  Testing ngc remaps
+----Testing M62/M63 digital output w/motion----
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+cmd: "M62 P1"
+    M62 remapping pre: motion dout0=0; hal d_out=0
+    M62 remapping post: motion dout0=1; hal d_out=1
+cmd: "M63 P1"
+    M63 remapping pre: motion dout0=1; hal d_out=1
+    M63 remapping post: motion dout0=0; hal d_out=0
+----Testing M64/M65 digital output, immediate----
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+cmd: "M64 P1"
+    M64 remapping pre: motion dout0=0; hal d_out=0
+    M64 remapping post: motion dout0=1; hal d_out=1
+cmd: "M65 P1"
+    M65 remapping pre: motion dout0=1; hal d_out=1
+    M65 remapping post: motion dout0=0; hal d_out=0
+----Testing M66 digital input----
+cmd: "M66 P1"; input: 1.0000
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+cmd: "M66 P1"; input: 0.0000
+    M66 remapping pre:  5399=1.000000; 100=1.000000; ain0=0.00; din0=1
+    M66 remapping post:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+----Testing M66 analog input----
+cmd: "M66 E1 L0"; input: 42.1300
+    M66 remapping pre:  5399=0.000000; 100=0.000000; ain0=0.00; din0=0
+    M66 remapping post:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+cmd: "M66 E1 L0"; input: -13.4200
+    M66 remapping pre:  5399=42.130000; 100=42.130000; ain0=42.13; din0=0
+    M66 remapping post:  5399=-13.420000; 100=-13.420000; ain0=-13.42; din0=0
+----Testing M67 analog output w/motion----
+cmd: "M67 E1 Q42.13"
+    M67 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M67 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M67 E1 Q-13.42"
+    M67 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M67 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M67 E1 Q0.00"
+    M67 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M67 remapping post: motion aout0=0.00; hal a_out=0.00
+----Testing M68 analog output, immediate----
+cmd: "M68 E1 Q42.13"
+    M68 remapping pre: motion aout0=0.00; hal a_out=0.00
+    M68 remapping post: motion aout0=42.13; hal a_out=42.13
+cmd: "M68 E1 Q-13.42"
+    M68 remapping pre: motion aout0=42.13; hal a_out=42.13
+    M68 remapping post: motion aout0=-13.42; hal a_out=-13.42
+cmd: "M68 E1 Q0.00"
+    M68 remapping pre: motion aout0=-13.42; hal a_out=-13.42
+    M68 remapping post: motion aout0=0.00; hal a_out=0.00
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_input_m66.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_input_m66.ngc
@@ -0,0 +1,13 @@
+o<io_input_M66> sub
+(debug,X io_input_M66 remapping pre:  5399=#5399)
+o<analog_or_digital> if [EXISTS[#<e>]]
+    ; analog input
+    M66 E0 L0
+o<analog_or_digital> else
+    ; digital input
+    M66 P0 L0
+o<analog_or_digital> endif
+; Result should be available here after M66; save it for test to check
+#100 = #5399
+(debug,X io_input_M66 remapping post:  5399=#5399)
+o<io_input_M66> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m62.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m62.ngc
@@ -0,0 +1,5 @@
+o<io_output_M62> sub
+(debug,X io_output_M62 remapping pre:  5399=#5399)
+M62 P0
+(debug,X io_output_M62 remapping post:  5399=#5399)
+o<io_output_M62> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m63.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m63.ngc
@@ -0,0 +1,3 @@
+o<io_output_M63> sub
+M63 P0
+o<io_output_M63> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m64.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m64.ngc
@@ -0,0 +1,3 @@
+o<io_output_M64> sub
+M64 P0
+o<io_output_M64> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m65.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m65.ngc
@@ -0,0 +1,3 @@
+o<io_output_M65> sub
+M65 P0
+o<io_output_M65> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m67.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m67.ngc
@@ -0,0 +1,3 @@
+o<io_output_M67> sub
+M67 E0 Q#<Q>
+o<io_output_M67> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m68.ngc
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/io_output_m68.ngc
@@ -0,0 +1,3 @@
+o<io_output_M68> sub
+M68 E0 Q#<Q>
+o<io_output_M68> endsub
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/test-ngc.ini
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/test-ngc.ini
@@ -0,0 +1,129 @@
+# This config file was created 2017-05-10 09:59:22.679734 by the update_ini script
+# The original config files may be found in the /home/jepler/src/linuxcnc/master/tests/remap/remap-io/test-ngc.old directory
+
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+
+DEBUG = 0x0
+
+[DISPLAY]
+DISPLAY = ./test-ui.py
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = .
+REMAP= M62 modalgroup=5 argspec=P ngc=io_output_m62
+REMAP= M63 modalgroup=5 argspec=P ngc=io_output_m63
+REMAP= M64 modalgroup=5 argspec=P ngc=io_output_m64
+REMAP= M65 modalgroup=5 argspec=P ngc=io_output_m65
+REMAP= M66 modalgroup=5 argspec=pelq ngc=io_input_m66
+REMAP= M67 modalgroup=5 argspec=EQ ngc=io_output_m67
+REMAP= M68 modalgroup=5 argspec=EQ ngc=io_output_m68
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 4.0
+BASE_PERIOD = 0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim.hal
+
+[HALUI]
+#No Content
+[TRAJ]
+
+NO_FORCE_HOMING=1
+AXES =                  3
+COORDINATES =           X Y Z
+HOME =                  0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY =      1.2
+MAX_LINEAR_VELOCITY =   4
+
+[EMCIO]
+TOOL_TABLE = simpockets.tbl
+TOOL_CHANGE_QUILL_UP = 1
+RANDOM_TOOLCHANGER = 0
+
+
+
+[KINS]
+KINEMATICS = trivkins
+#This is a best-guess at the number of joints, it should be checked
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_0]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Y]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_1]
+
+TYPE =             LINEAR
+HOME =             0.000
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[AXIS_Z]
+MIN_LIMIT = -40.0
+MAX_LIMIT = 40.0
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 1000.0
+
+[JOINT_2]
+
+TYPE =             LINEAR
+HOME =             0.0
+MAX_VELOCITY =     4
+MAX_ACCELERATION = 1000.0
+BACKLASH =         0.000
+INPUT_SCALE =      4000
+OUTPUT_SCALE =     1.000
+MIN_LIMIT =        -40.0
+MAX_LIMIT =        40.0
+FERROR =           0.050
+MIN_FERROR =       0.010
+
+[PYTHON]
+
+TOPLEVEL= toplevel.py
+PATH_PREPEND= .
--- a/wasm-port/vendor/linuxcnc/tests/remap/remap-io/test.sh
+++ b/wasm-port/vendor/linuxcnc/tests/remap/remap-io/test.sh
@@ -0,0 +1,13 @@
+#!/bin/bash -e
+export PYTHONUNBUFFERED=1
+do_test() {
+    INI="$1"
+    linuxcnc -r "$INI" | grep -i m6
+}
+
+echo "**********  Testing python remaps"
+do_test test-py.ini
+echo
+echo "**********  Testing ngc remaps"
+do_test test-ngc.ini
+