提交 xyzbc-trt 界面与验证更新

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/runtime/sdk/src/linuxcnc-interp.js

@@ -0,0 +1,228 @@
+import createLinuxCncInterpModule from "../../../build/wasm/core/linuxcnc_interp.js";
+import { createVirtualHalWasmBridgeSnapshot } from "./linuxcnc-hal.js";
+
+function allocCString(mod, value) {
+  const bytes = mod.lengthBytesUTF8(value) + 1;
+  const ptr = mod._malloc(bytes);
+  mod.stringToUTF8(value, ptr, bytes);
+  return ptr;
+}
+
+function ensureParentPath(mod, path) {
+  const parts = path.split("/").filter(Boolean);
+  let current = "";
+  for (const part of parts.slice(0, -1)) {
+    current += `/${part}`;
+    try {
+      mod.FS.mkdir(current);
+    } catch {
+      // Directory already exists.
+    }
+  }
+}
+
+function copyResultString(mod, resultPtr, functionName) {
+  if (!resultPtr) {
+    throw new Error(`${functionName} returned null`);
+  }
+  return mod.UTF8ToString(resultPtr);
+}
+
+function callStringResult(mod, functionName, ...values) {
+  const ptrs = values.map((value) => allocCString(mod, value));
+  let resultPtr = 0;
+  try {
+    resultPtr = mod[`_${functionName}`](...ptrs);
+    return copyResultString(mod, resultPtr, functionName);
+  } finally {
+    if (resultPtr) {
+      mod._lcinterp_free_string(resultPtr);
+    }
+    for (const ptr of ptrs) {
+      mod._free(ptr);
+    }
+  }
+}
+
+function requireWasmFunction(mod, functionName) {
+  const fn = mod[`_${functionName}`];
+  if (typeof fn !== "function") {
+    throw new Error(`linuxcnc interpreter WASM missing ${functionName}; rebuild wasm-port/tools/build_wasm_core.sh`);
+  }
+  return fn;
+}
+
+function callVoidWithStringsAndNumbers(mod, functionName, strings, numbers = []) {
+  const fn = requireWasmFunction(mod, functionName);
+  const ptrs = strings.map((value) => allocCString(mod, value));
+  try {
+    return fn(...ptrs, ...numbers);
+  } finally {
+    for (const ptr of ptrs) {
+      mod._free(ptr);
+    }
+  }
+}
+
+export async function createLinuxCncInterpSdk(moduleOptions = {}) {
+  const mod = await createLinuxCncInterpModule(moduleOptions);
+
+  return {
+    module: mod,
+
+    hasWasmFunction(functionName) {
+      return typeof mod[`_${functionName}`] === "function";
+    },
+
+    writeTextFile(path, text) {
+      ensureParentPath(mod, path);
+      mod.FS.writeFile(path, text, { encoding: "utf8" });
+    },
+
+    readTextFile(path) {
+      return mod.FS.readFile(path, { encoding: "utf8" });
+    },
+
+    runSimConfigProgram({
+      iniPath,
+      programPath,
+      files = [],
+      executionMode = "fileWithIni",
+    }) {
+      for (const file of files) {
+        ensureParentPath(mod, file.path);
+        mod.FS.writeFile(file.path, file.text, { encoding: "utf8" });
+        if (file.executable) {
+          mod.FS.chmod(file.path, 0o755);
+        }
+      }
+
+      if (executionMode === "fiveAxisRemap") {
+        return callStringResult(
+          mod,
+          "lcinterp_run_fiveaxis_remap_file",
+          programPath,
+          iniPath,
+        );
+      }
+      if (executionMode === "fileWithIni") {
+        return callStringResult(mod, "lcinterp_run_file_with_ini", programPath, iniPath);
+      }
+      throw new Error(`unsupported sim config execution mode: ${executionMode}`);
+    },
+
+    runProgram(programText) {
+      return callStringResult(mod, "lcinterp_run_program", programText);
+    },
+
+    runProgramWithIni(programText, iniPath) {
+      return callStringResult(mod, "lcinterp_run_program_with_ini", programText, iniPath);
+    },
+
+    runFile(path) {
+      return callStringResult(mod, "lcinterp_run_file", path);
+    },
+
+    runFileWithIni(path, iniPath) {
+      return callStringResult(mod, "lcinterp_run_file_with_ini", path, iniPath);
+    },
+
+    runFileWithIniContinueOnError(path, iniPath) {
+      return callStringResult(
+        mod,
+        "lcinterp_run_file_with_ini_continue_on_error",
+        path,
+        iniPath,
+      );
+    },
+
+    runFiveAxisRemapFile(path, iniPath) {
+      return callStringResult(mod, "lcinterp_run_fiveaxis_remap_file", path, iniPath);
+    },
+
+    runRemapFile(path, iniPath) {
+      return callStringResult(mod, "lcinterp_run_remap_file", path, iniPath);
+    },
+
+    runRemapFileContinueOnError(path, iniPath) {
+      return callStringResult(mod, "lcinterp_run_remap_file_continue_on_error", path, iniPath);
+    },
+
+    runRemapIoMdiSequence(iniPath) {
+      return callStringResult(mod, "lcinterp_run_remap_io_mdi_sequence", iniPath);
+    },
+
+    restoreParameters(path) {
+      return callStringResult(mod, "lcinterp_restore_parameters", path);
+    },
+
+    saveParameters(path, values) {
+      const assignments = Object.entries(values)
+        .map(([parameter, value]) => `${parameter} ${value}`)
+        .join("\n");
+      return callStringResult(mod, "lcinterp_save_parameters", path, assignments);
+    },
+
+    loadToolTable(path, options = {}) {
+      const functionName = options.randomToolChanger
+        ? "lcinterp_load_tool_table_random"
+        : "lcinterp_load_tool_table";
+      return callStringResult(mod, functionName, path);
+    },
+
+    saveToolTable(path) {
+      return callStringResult(mod, "lcinterp_save_tool_table", path);
+    },
+
+    probeInitAndSynch() {
+      return callStringResult(mod, "lcinterp_probe_init_and_synch");
+    },
+
+    probeIndexer() {
+      return callStringResult(mod, "lcinterp_probe_indexer");
+    },
+
+    probeNamedParameters(iniPath) {
+      return callStringResult(mod, "lcinterp_probe_named_parameters", iniPath);
+    },
+
+    resetHal() {
+      requireWasmFunction(mod, "lcinterp_hal_reset")();
+    },
+
+    setHalValue({ kind = "pin", name, type = "HAL_FLOAT", value = 0, connected = true }) {
+      if (!name) {
+        throw new Error("setHalValue requires a HAL name");
+      }
+      return callVoidWithStringsAndNumbers(
+        mod,
+        "lcinterp_hal_set_value",
+        [kind, name, type],
+        [Number(value) || 0, connected === false ? 0 : 1],
+      );
+    },
+
+    applyVirtualHalSnapshot(snapshot, options = {}) {
+      if (options.reset !== false) {
+        this.resetHal();
+      }
+      for (const value of snapshot?.values ?? []) {
+        this.setHalValue(value);
+      }
+      return {
+        apiName: "linuxcnc-wasm-hal-apply-result",
+        applied: snapshot?.values?.length ?? 0,
+        reset: options.reset !== false,
+        source: snapshot?.source ?? "unknown",
+      };
+    },
+
+    applyVirtualHalState(halState, options = {}) {
+      return this.applyVirtualHalSnapshot(createVirtualHalWasmBridgeSnapshot(halState), options);
+    },
+
+    probeHalNamed(name) {
+      return callStringResult(mod, "lcinterp_probe_hal_named", name);
+    },
+  };
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/runtime/sdk/src/linuxcnc-kinematics.js

@@ -0,0 +1,206 @@
+import createLinuxCncTrivkinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_trivkins_kinematics.js";
+import createLinuxCnc5axiskinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_5axiskins_kinematics.js";
+import createLinuxCncXyzacTrtKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.js";
+import createLinuxCncXyzbcTrtKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js";
+import createLinuxCncCorexyKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_corexy_kinematics.js";
+import createLinuxCncRotateKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rotate_kinematics.js";
+import createLinuxCncRoseKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rose_kinematics.js";
+import createLinuxCncMaxKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_max_kinematics.js";
+import createLinuxCncLineardeltaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_lineardelta_kinematics.js";
+import createLinuxCncRotarydeltaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rotarydelta_kinematics.js";
+import createLinuxCncScorbotKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_scorbot_kinematics.js";
+import createLinuxCncTripodKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_tripod_kinematics.js";
+import createLinuxCncScaraKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_scara_kinematics.js";
+import createLinuxCncPumaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_puma_kinematics.js";
+import createLinuxCncGenserKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_genser_kinematics.js";
+import createLinuxCncGenhexKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_genhex_kinematics.js";
+import createLinuxCncPentakinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_pentakins_kinematics.js";
+
+export const LINUXCNC_KINEMATICS_MODULES = [
+  { id: "trivkins", wasmFile: "linuxcnc_trivkins_kinematics.wasm", factory: createLinuxCncTrivkinsKinematicsModule },
+  { id: "5axiskins", wasmFile: "linuxcnc_5axiskins_kinematics.wasm", factory: createLinuxCnc5axiskinsKinematicsModule },
+  { id: "xyzac-trt", wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm", factory: createLinuxCncXyzacTrtKinematicsModule },
+  { id: "xyzbc-trt", wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm", factory: createLinuxCncXyzbcTrtKinematicsModule },
+  { id: "corexy", wasmFile: "linuxcnc_corexy_kinematics.wasm", factory: createLinuxCncCorexyKinematicsModule },
+  { id: "rotate", wasmFile: "linuxcnc_rotate_kinematics.wasm", factory: createLinuxCncRotateKinematicsModule },
+  { id: "rose", wasmFile: "linuxcnc_rose_kinematics.wasm", factory: createLinuxCncRoseKinematicsModule },
+  { id: "max", wasmFile: "linuxcnc_max_kinematics.wasm", factory: createLinuxCncMaxKinematicsModule },
+  { id: "lineardelta", wasmFile: "linuxcnc_lineardelta_kinematics.wasm", factory: createLinuxCncLineardeltaKinematicsModule },
+  { id: "rotarydelta", wasmFile: "linuxcnc_rotarydelta_kinematics.wasm", factory: createLinuxCncRotarydeltaKinematicsModule },
+  { id: "scorbot", wasmFile: "linuxcnc_scorbot_kinematics.wasm", factory: createLinuxCncScorbotKinematicsModule },
+  { id: "tripod", wasmFile: "linuxcnc_tripod_kinematics.wasm", factory: createLinuxCncTripodKinematicsModule },
+  { id: "scara", wasmFile: "linuxcnc_scara_kinematics.wasm", factory: createLinuxCncScaraKinematicsModule },
+  { id: "puma", wasmFile: "linuxcnc_puma_kinematics.wasm", factory: createLinuxCncPumaKinematicsModule },
+  { id: "genser", wasmFile: "linuxcnc_genser_kinematics.wasm", factory: createLinuxCncGenserKinematicsModule },
+  { id: "genhex", wasmFile: "linuxcnc_genhex_kinematics.wasm", factory: createLinuxCncGenhexKinematicsModule },
+  { id: "pentakins", wasmFile: "linuxcnc_pentakins_kinematics.wasm", factory: createLinuxCncPentakinsKinematicsModule },
+];
+
+const MODULES_BY_ID = new Map(LINUXCNC_KINEMATICS_MODULES.map((entry) => [entry.id, entry]));
+
+function requireWasmFunction(mod, functionName) {
+  const fn = mod[`_${functionName}`];
+  if (typeof fn !== "function") {
+    throw new Error(`linuxcnc kinematics WASM missing ${functionName}; rebuild wasm-port/tools/build_kinematics_wasm.sh`);
+  }
+  return fn;
+}
+
+function writeDoubleArray(mod, values) {
+  const bytes = values.length * 8;
+  const ptr = mod._malloc(bytes);
+  mod.HEAPF64.set(values, ptr / 8);
+  return ptr;
+}
+
+function readDoubleArray(mod, ptr, length) {
+  return Array.from(mod.HEAPF64.subarray(ptr / 8, ptr / 8 + length));
+}
+
+function poseValuesFromObject(pose = {}) {
+  return [
+    Number(pose.x ?? pose.tran?.x ?? 0),
+    Number(pose.y ?? pose.tran?.y ?? 0),
+    Number(pose.z ?? pose.tran?.z ?? 0),
+    Number(pose.a ?? 0),
+    Number(pose.b ?? 0),
+    Number(pose.c ?? 0),
+    Number(pose.u ?? 0),
+    Number(pose.v ?? 0),
+    Number(pose.w ?? 0),
+  ];
+}
+
+function poseObjectFromValues(values) {
+  return {
+    x: values[0],
+    y: values[1],
+    z: values[2],
+    a: values[3],
+    b: values[4],
+    c: values[5],
+    u: values[6],
+    v: values[7],
+    w: values[8],
+  };
+}
+
+export function supportedLinuxCncKinematicsModules() {
+  return LINUXCNC_KINEMATICS_MODULES.map((entry) => entry.id);
+}
+
+export function linuxCncKinematicsWasmFile(moduleId) {
+  return MODULES_BY_ID.get(moduleId)?.wasmFile || null;
+}
+
+export async function createLinuxCncKinematicsSdk({
+  moduleId = "xyzac-trt",
+  moduleOptions = {},
+} = {}) {
+  const entry = MODULES_BY_ID.get(moduleId);
+  if (!entry) {
+    throw new Error(`unsupported LinuxCNC kinematics module: ${moduleId}`);
+  }
+
+  const mod = await entry.factory(moduleOptions);
+  requireWasmFunction(mod, "lckins_init")();
+
+  return {
+    apiName: "linuxcnc-kinematics-wasm-sdk",
+    moduleId,
+    module: mod,
+    wasmFile: entry.wasmFile,
+
+    hasWasmFunction(functionName) {
+      return typeof mod[`_${functionName}`] === "function";
+    },
+
+    type() {
+      return requireWasmFunction(mod, "lckins_type")();
+    },
+
+    switchable() {
+      return requireWasmFunction(mod, "lckins_switchable")();
+    },
+
+    switchKinematics(switchkinsType) {
+      return requireWasmFunction(mod, "lckins_switch")(Number(switchkinsType) || 0);
+    },
+
+    forward(joints, options = {}) {
+      const jointValues = Array.from(joints, Number);
+      const jointsPtr = writeDoubleArray(mod, jointValues);
+      const posePtr = writeDoubleArray(mod, poseValuesFromObject(options.seedPose));
+      const fflagsPtr = mod._malloc(8);
+      const iflagsPtr = mod._malloc(8);
+      mod.HEAPU32[fflagsPtr / 4] = 0;
+      mod.HEAPU32[iflagsPtr / 4] = 0;
+      try {
+        const rc = requireWasmFunction(mod, "lckins_forward")(
+          jointsPtr,
+          jointValues.length,
+          posePtr,
+          fflagsPtr,
+          iflagsPtr,
+        );
+        return {
+          rc,
+          pose: poseObjectFromValues(readDoubleArray(mod, posePtr, 9)),
+          fflags: mod.HEAPU32[fflagsPtr / 4],
+          iflags: mod.HEAPU32[iflagsPtr / 4],
+        };
+      } finally {
+        mod._free(jointsPtr);
+        mod._free(posePtr);
+        mod._free(fflagsPtr);
+        mod._free(iflagsPtr);
+      }
+    },
+
+    inverse(pose, jointCount = 5, options = {}) {
+      const posePtr = writeDoubleArray(mod, poseValuesFromObject(pose));
+      const jointsPtr = mod._malloc(jointCount * 8);
+      const iflagsPtr = mod._malloc(8);
+      const fflagsPtr = mod._malloc(8);
+      const seedJoints = Array.isArray(options.seedJoints)
+        ? options.seedJoints.map(Number)
+        : [];
+      mod.HEAPF64.fill(0, jointsPtr / 8, jointsPtr / 8 + jointCount);
+      mod.HEAPF64.set(seedJoints.slice(0, jointCount), jointsPtr / 8);
+      mod.HEAPU32[iflagsPtr / 4] = 0;
+      mod.HEAPU32[fflagsPtr / 4] = 0;
+      try {
+        const rc = requireWasmFunction(mod, "lckins_inverse")(
+          posePtr,
+          jointsPtr,
+          jointCount,
+          iflagsPtr,
+          fflagsPtr,
+        );
+        return {
+          rc,
+          joints: readDoubleArray(mod, jointsPtr, jointCount),
+          iflags: mod.HEAPU32[iflagsPtr / 4],
+          fflags: mod.HEAPU32[fflagsPtr / 4],
+        };
+      } finally {
+        mod._free(posePtr);
+        mod._free(jointsPtr);
+        mod._free(iflagsPtr);
+        mod._free(fflagsPtr);
+      }
+    },
+
+    runProbe() {
+      const resultPtr = requireWasmFunction(mod, "lckins_run_probe")();
+      if (!resultPtr) {
+        throw new Error("lckins_run_probe returned null");
+      }
+      try {
+        return mod.UTF8ToString(resultPtr);
+      } finally {
+        requireWasmFunction(mod, "lckins_free_string")(resultPtr);
+      }
+    },
+  };
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/runtime/sdk/src/linuxcnc-task-hal.js

@@ -0,0 +1,132 @@
+import createLinuxCncTaskHalModule from "../../../build/wasm/task-hal/linuxcnc_task_hal.js";
+
+const SEMANTIC_BOUNDARY = "linuxcnc_task_motion_hal_wasm_phase4_minimal";
+
+function allocCString(mod, value) {
+  const text = String(value ?? "");
+  const bytes = mod.lengthBytesUTF8(text) + 1;
+  const ptr = mod._malloc(bytes);
+  mod.stringToUTF8(text, ptr, bytes);
+  return ptr;
+}
+
+function withCString(mod, value, fn) {
+  const ptr = allocCString(mod, value);
+  try {
+    return fn(ptr);
+  } finally {
+    mod._free(ptr);
+  }
+}
+
+function requireWasmFunction(mod, functionName) {
+  const fn = mod[`_${functionName}`];
+  if (typeof fn !== "function") {
+    throw new Error(`linuxcnc task/HAL WASM missing ${functionName}; rebuild wasm-port/tools/build_task_hal_wasm.sh`);
+  }
+  return fn;
+}
+
+function readJson(mod, functionName) {
+  const fn = requireWasmFunction(mod, functionName);
+  let bytes = 131072;
+  for (let attempt = 0; attempt < 2; attempt += 1) {
+    const ptr = mod._malloc(bytes);
+    try {
+      const rc = fn(ptr, bytes);
+      if (rc === 0) {
+        return JSON.parse(mod.UTF8ToString(ptr));
+      }
+      if (rc > bytes) {
+        bytes = rc;
+        continue;
+      }
+      throw new Error(`${functionName} failed with rc=${rc}`);
+    } finally {
+      mod._free(ptr);
+    }
+  }
+  throw new Error(`${functionName} output exceeded buffer`);
+}
+
+function callWithJson(mod, functionName, payload) {
+  const fn = requireWasmFunction(mod, functionName);
+  return withCString(mod, JSON.stringify(payload ?? {}), (ptr) => fn(ptr));
+}
+
+export async function createLinuxCncTaskHalSdk(moduleOptions = {}) {
+  const mod = await createLinuxCncTaskHalModule(moduleOptions);
+
+  return {
+    apiName: "linuxcnc-task-hal-wasm-sdk",
+    semanticBoundary: SEMANTIC_BOUNDARY,
+    module: mod,
+
+    readiness() {
+      return {
+        apiName: "linuxcnc-task-hal-wasm-sdk-readiness",
+        loaded: true,
+        semanticBoundary: SEMANTIC_BOUNDARY,
+        taskRuntimeReady: typeof mod._lctask_init_session === "function",
+        motionRuntimeReady: typeof mod._lcmot_step_servo === "function",
+        halRuntimeReady: typeof mod._lchal_get_snapshot_json === "function",
+        nativeTaskReady: false,
+        nativeHalSyncReady: false,
+      };
+    },
+
+    initSession(session = {}) {
+      const rc = callWithJson(mod, "lctask_init_session", session);
+      if (rc !== 0) {
+        throw new Error(`lctask_init_session failed with rc=${rc}`);
+      }
+      return rc;
+    },
+
+    stageFile(path, text) {
+      return withCString(mod, path, (pathPtr) =>
+        withCString(mod, text, (textPtr) =>
+          requireWasmFunction(mod, "lctask_stage_file")(pathPtr, textPtr),
+        ),
+      );
+    },
+
+    openProgram(path) {
+      return withCString(mod, path, (pathPtr) =>
+        requireWasmFunction(mod, "lctask_open_program")(pathPtr),
+      );
+    },
+
+    loadProgramMotionPlan(plan) {
+      return callWithJson(mod, "lctask_load_program_motion_plan_json", plan);
+    },
+
+    sendCommand(command) {
+      return callWithJson(mod, "lctask_send_command_json", command);
+    },
+
+    runCycles({
+      taskPeriodNs = 10000000,
+      servoPeriodNs = 1000000,
+      taskCycles = 1,
+    } = {}) {
+      return requireWasmFunction(mod, "lctask_run_cycles")(
+        Number(taskPeriodNs) || 10000000,
+        Number(servoPeriodNs) || 1000000,
+        Number(taskCycles) || 0,
+      );
+    },
+
+    readStatus() {
+      return readJson(mod, "lctask_read_status_json");
+    },
+
+    readEvents() {
+      return readJson(mod, "lctask_read_events_json");
+    },
+
+    resetSession() {
+      return requireWasmFunction(mod, "lctask_reset_session")();
+    },
+  };
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/runtime/sdk/src/linuxcnc-tp.js

@@ -0,0 +1,228 @@
+import createLinuxCncTpModule from "../../../build/wasm/tp/linuxcnc_tp.js";
+
+const SEMANTIC_BOUNDARY = "linuxcnc_tp_queue_runtime_timing_from_canonical_motion";
+
+function allocCString(mod, value) {
+  const bytes = mod.lengthBytesUTF8(value) + 1;
+  const ptr = mod._malloc(bytes);
+  mod.stringToUTF8(value, ptr, bytes);
+  return ptr;
+}
+
+function callTiming(mod, payload) {
+  const inputPtr = allocCString(mod, JSON.stringify(payload));
+  let resultPtr = 0;
+  try {
+    resultPtr = mod._lctp_run_canonical_motion_timing(inputPtr);
+    if (!resultPtr) {
+      throw new Error("lctp_run_canonical_motion_timing returned null");
+    }
+    const text = mod.UTF8ToString(resultPtr);
+    const result = JSON.parse(text);
+    if (result.ok !== true) {
+      throw new Error(result.error || "LinuxCNC TP queue timing failed");
+    }
+    return result;
+  } finally {
+    if (resultPtr) mod._lctp_free_string(resultPtr);
+    mod._free(inputPtr);
+  }
+}
+
+export async function createLinuxCncTpSdk(moduleOptions = {}) {
+  const mod = await createLinuxCncTpModule(moduleOptions);
+
+  return {
+    apiName: "linuxcnc-tp-wasm-sdk",
+    semanticBoundary: SEMANTIC_BOUNDARY,
+    module: mod,
+
+    readiness() {
+      return {
+        apiName: "linuxcnc-tp-wasm-sdk-readiness",
+        loaded: true,
+        semanticBoundary: SEMANTIC_BOUNDARY,
+        runCanonicalMotionTimingReady: typeof mod._lctp_run_canonical_motion_timing === "function",
+      };
+    },
+
+    runCanonicalMotionTiming({ motion = [], options = {} } = {}) {
+      const result = callTiming(mod, {
+        ...options,
+        motion: motion.map((event, index) => ({
+          index,
+          line: Number.isFinite(Number(event.line)) ? Number(event.line) : -1,
+          type: event.type,
+          feedRate: Number.isFinite(Number(event.feedRate)) ? Number(event.feedRate) : 0,
+          x: numberOrZero(event.axes?.x),
+          y: numberOrZero(event.axes?.y),
+          z: numberOrZero(event.axes?.z),
+          a: numberOrZero(event.axes?.a),
+          b: numberOrZero(event.axes?.b),
+          c: numberOrZero(event.axes?.c),
+          u: numberOrZero(event.axes?.u),
+          v: numberOrZero(event.axes?.v),
+          w: numberOrZero(event.axes?.w),
+          plane: numberOrZero(event.axes?.arc?.plane),
+          centerFirst: numberOrZero(event.axes?.arc?.centerFirst),
+          centerSecond: numberOrZero(event.axes?.arc?.centerSecond),
+          rotation: numberOrZero(event.axes?.arc?.rotation),
+          axisEndPoint: numberOrZero(event.axes?.arc?.axisEndPoint),
+        })),
+      });
+      return normalizeTimingResult(result, motion);
+    },
+  };
+}
+
+function normalizeTimingResult(result, motion) {
+  const rawSegmentsByIndex = new Map((result.segments || []).map((segment) => [segment.index, segment]));
+  let elapsedSeconds = 0;
+  const segments = motion.map((event, index) => {
+    const raw = rawSegmentsByIndex.get(index);
+    const durationSeconds = Math.max(Number(raw?.durationSeconds) || 0, 0);
+    elapsedSeconds += durationSeconds;
+    return {
+      index,
+      line: event.line ?? null,
+      type: event.type,
+      motionClass: event.type === "STRAIGHT_TRAVERSE" ? "rapid" : "feed",
+      durationSeconds,
+      elapsedSeconds,
+      currentVelocity: Number(raw?.velocity) || 0,
+      velocityMmPerMin: (Number(raw?.velocity) || 0) * 60,
+      queueDepth: Number(raw?.queueDepth) || 0,
+      activeDepth: Number(raw?.activeDepth) || 0,
+      cycles: Number(raw?.cycles) || 0,
+      axes: event.axes || {},
+      runtimeAxes: axesFromRuntimeRecord(raw, event.axes || {}),
+      tp: raw || null,
+    };
+  });
+  const rawSamples = Array.isArray(result.samples) && result.samples.length > 0
+    ? result.samples
+    : synthesizeSamplesFromSegments(result.segments || []);
+  const samples = normalizeSamples(rawSamples);
+
+  const feedSeconds = segments
+    .filter((segment) => segment.motionClass === "feed")
+    .reduce((total, segment) => total + segment.durationSeconds, 0);
+  const rapidSeconds = segments
+    .filter((segment) => segment.motionClass === "rapid")
+    .reduce((total, segment) => total + segment.durationSeconds, 0);
+
+  return {
+    apiName: "web-rtcp-5axis-linuxcnc-tp-program-timing",
+    semanticBoundary: SEMANTIC_BOUNDARY,
+    sourceBasis: "LinuxCNC interpreter canonical motion events queued through LinuxCNC src/emc/tp WASM",
+    plannerRuntimeReady: result.ok === true
+      && result.addFailures === 0
+      && result.tpDone === 1
+      && segments.length === motion.length,
+    sampleCount: Number(result.sampleCount) || samples.length,
+    samples,
+    totalSeconds: elapsedSeconds,
+    totalMinutes: elapsedSeconds / 60,
+    feedSeconds,
+    rapidSeconds,
+    motionCount: motion.length,
+    emittedMotionCount: result.emittedMotionCount || 0,
+    acceptedMotionCount: result.acceptedMotionCount || 0,
+    totalCycles: result.totalCycles || 0,
+    cycleTime: result.cycleTime || 0.001,
+    addFailures: result.addFailures || 0,
+    tpDone: result.tpDone === 1,
+    finalQueueDepth: result.finalQueueDepth || 0,
+    segments,
+    raw: result,
+  };
+}
+
+function normalizeSamples(samples) {
+  return samples.map((sample, index) => ({
+    sampleIndex: Number(sample.sampleIndex ?? index),
+    cycle: Number(sample.cycle) || 0,
+    timeSeconds: Number(sample.timeSeconds) || 0,
+    motionIndex: Number(sample.motionIndex) || 0,
+    line: Number.isFinite(Number(sample.line)) ? Number(sample.line) : null,
+    type: sample.type || "-",
+    axes: {
+      x: numberOrZero(sample.x),
+      y: numberOrZero(sample.y),
+      z: numberOrZero(sample.z),
+      a: numberOrZero(sample.a),
+      b: numberOrZero(sample.b),
+      c: numberOrZero(sample.c),
+      u: numberOrZero(sample.u),
+      v: numberOrZero(sample.v),
+      w: numberOrZero(sample.w),
+    },
+    currentVelocity: numberOrZero(sample.currentVelocity),
+    currentVelocityMmPerMin: numberOrZero(sample.currentVelocity) * 60,
+    requestedVelocity: numberOrZero(sample.requestedVelocity),
+    requestedVelocityMmPerMin: numberOrZero(sample.requestedVelocity) * 60,
+    distanceToGo: numberOrZero(sample.distanceToGo),
+    dtg: {
+      x: numberOrZero(sample.dtgX),
+      y: numberOrZero(sample.dtgY),
+      z: numberOrZero(sample.dtgZ),
+    },
+    queueDepth: Number(sample.queueDepth) || 0,
+    activeDepth: Number(sample.activeDepth) || 0,
+  }));
+}
+
+function synthesizeSamplesFromSegments(segments) {
+  return segments.map((segment, index) => ({
+    sampleIndex: index,
+    cycle: Number(segment.cycles) || 0,
+    timeSeconds: Number(segment.elapsedSeconds) || 0,
+    motionIndex: Number(segment.index) || index,
+    line: segment.line,
+    type: segment.type,
+    x: segment.x,
+    y: segment.y,
+    z: segment.z,
+    a: segment.a,
+    b: segment.b,
+    c: segment.c,
+    u: segment.u,
+    v: segment.v,
+    w: segment.w,
+    currentVelocity: segment.velocity,
+    requestedVelocity: segment.velocity,
+    distanceToGo: segment.distanceToGo ?? 0,
+    dtgX: segment.dtgX ?? 0,
+    dtgY: segment.dtgY ?? 0,
+    dtgZ: segment.dtgZ ?? 0,
+    queueDepth: segment.queueDepth,
+    activeDepth: segment.activeDepth,
+  }));
+}
+
+function axesFromRuntimeRecord(record, fallback = {}) {
+  return {
+    x: numberOrFallback(record?.x, fallback.x, 0),
+    y: numberOrFallback(record?.y, fallback.y, 0),
+    z: numberOrFallback(record?.z, fallback.z, 0),
+    a: numberOrFallback(record?.a, fallback.a, 0),
+    b: numberOrFallback(record?.b, fallback.b, 0),
+    c: numberOrFallback(record?.c, fallback.c, 0),
+    u: numberOrFallback(record?.u, fallback.u, 0),
+    v: numberOrFallback(record?.v, fallback.v, 0),
+    w: numberOrFallback(record?.w, fallback.w, 0),
+  };
+}
+
+function numberOrFallback(...values) {
+  for (const value of values) {
+    const number = Number(value);
+    if (Number.isFinite(number)) return number;
+  }
+  return 0;
+}
+
+function numberOrZero(value) {
+  const number = Number(value);
+  return Number.isFinite(number) ? number : 0;
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/runtime/sdk/src/sim-config-staging.js

@@ -0,0 +1,486 @@
+function cleanManifest(manifestText) {
+  return manifestText
+    .split("\n")
+    .map((line) => line.trim())
+    .filter((line) => line && !line.startsWith("#"));
+}
+
+function normalizeRel(path) {
+  const parts = [];
+  for (const part of path.split("/")) {
+    if (!part || part === ".") {
+      continue;
+    }
+    if (part === "..") {
+      parts.pop();
+      continue;
+    }
+    parts.push(part);
+  }
+  return parts.join("/");
+}
+
+function dirname(path) {
+  const clean = normalizeRel(path);
+  const index = clean.lastIndexOf("/");
+  return index === -1 ? "" : clean.slice(0, index);
+}
+
+function basename(path) {
+  const clean = normalizeRel(path);
+  const index = clean.lastIndexOf("/");
+  return index === -1 ? clean : clean.slice(index + 1);
+}
+
+function stripIniComment(line) {
+  const hash = line.indexOf("#");
+  const semicolon = line.indexOf(";");
+  const indexes = [hash, semicolon].filter((index) => index >= 0);
+  if (indexes.length === 0) {
+    return line;
+  }
+  return line.slice(0, Math.min(...indexes));
+}
+
+function parseIni(iniText) {
+  const values = new Map();
+  let section = "";
+  for (const rawLine of iniText.split("\n")) {
+    const sectionMatch = rawLine.match(/^\s*\[([^\]]+)\]/);
+    if (sectionMatch) {
+      section = sectionMatch[1].trim().toUpperCase();
+      continue;
+    }
+
+    const line = stripIniComment(rawLine);
+    const equals = line.indexOf("=");
+    if (equals === -1 || !section) {
+      continue;
+    }
+    const key = line.slice(0, equals).trim().toUpperCase();
+    const value = line.slice(equals + 1).trim();
+    if (!key || !value) {
+      continue;
+    }
+    const mapKey = `${section}.${key}`;
+    const existing = values.get(mapKey) ?? [];
+    existing.push(value);
+    values.set(mapKey, existing);
+  }
+  return values;
+}
+
+function firstIniValue(values, section, key) {
+  return values.get(`${section.toUpperCase()}.${key.toUpperCase()}`)?.[0] ?? null;
+}
+
+function allIniValues(values, section, key) {
+  return values.get(`${section.toUpperCase()}.${key.toUpperCase()}`) ?? [];
+}
+
+function splitSearchPath(value) {
+  return value.split(":").map((entry) => entry.trim()).filter(Boolean);
+}
+
+function sourceRelFor(machineRel, path) {
+  return normalizeRel(`configs/sim/${machineRel}/${path}`);
+}
+
+function targetPathFor(wasmDir, targetRel) {
+  return `${wasmDir}/${normalizeRel(targetRel)}`;
+}
+
+function isUserMCodePath(path) {
+  return /^M1\d\d$/i.test(basename(path));
+}
+
+function isSubroutinePath(path) {
+  return path.toLowerCase().endsWith(".ngc");
+}
+
+function findUpwardByBasename(manifestSet, sourceDir, fileName, searchRootRel) {
+  let current = sourceDir;
+  while (!searchRootRel || current === searchRootRel || current.startsWith(`${searchRootRel}/`)) {
+    const candidate = normalizeRel(`${current}/${fileName}`);
+    if (manifestSet.has(candidate)) {
+      return candidate;
+    }
+    if (!current || current === searchRootRel) {
+      break;
+    }
+    current = dirname(current);
+  }
+  return null;
+}
+
+function sourceForReference(manifestSet, sourceDir, reference, searchRootRel) {
+  if (!reference || reference.startsWith("/")) {
+    return null;
+  }
+  const sourceRel = normalizeRel(`${sourceDir}/${reference}`);
+  if (manifestSet.has(sourceRel)) {
+    return sourceRel;
+  }
+  return findUpwardByBasename(manifestSet, sourceDir, basename(reference), searchRootRel);
+}
+
+function addPlannedFile(plan, manifestSet, sourceRel, targetRel, options = {}) {
+  if (!sourceRel || !manifestSet.has(sourceRel)) {
+    if (options.required) {
+      throw new Error(`missing vendored sim-config file: ${sourceRel}`);
+    }
+    return;
+  }
+
+  const existing = plan.get(sourceRel);
+  const executable = options.executable || isUserMCodePath(sourceRel);
+  if (existing) {
+    existing.executable ||= executable;
+    return;
+  }
+
+  plan.set(sourceRel, {
+    sourceRel,
+    wasmPath: targetPathFor(options.wasmDir, targetRel),
+    path: targetPathFor(options.wasmDir, targetRel),
+    executable,
+  });
+}
+
+function addDirectoryFiles(plan, manifestEntries, manifestSet, sourceDir, targetDir, predicate, options) {
+  const prefix = sourceDir ? `${sourceDir}/` : "";
+  for (const sourceRel of manifestEntries) {
+    if (!sourceRel.startsWith(prefix)) {
+      continue;
+    }
+    const childRel = sourceRel.slice(prefix.length);
+    if (childRel.includes("/") || !predicate(sourceRel)) {
+      continue;
+    }
+    addPlannedFile(plan, manifestSet, sourceRel, normalizeRel(`${targetDir}/${childRel}`), options);
+  }
+}
+
+function remapNgcNames(iniValues) {
+  const names = [];
+  for (const remap of allIniValues(iniValues, "RS274NGC", "REMAP")) {
+    const match = remap.match(/(?:^|\s)ngc=([^\s]+)/i);
+    if (match) {
+      names.push(`${match[1]}.ngc`);
+    }
+  }
+  return names;
+}
+
+function sectionValues(iniValues, section) {
+  const prefix = `${section.toUpperCase()}.`;
+  const values = [];
+  for (const [key, entries] of iniValues.entries()) {
+    if (!key.startsWith(prefix)) {
+      continue;
+    }
+    for (const value of entries) {
+      values.push({ key: key.slice(prefix.length), value });
+    }
+  }
+  return values;
+}
+
+function valuesMatching(iniValues, section, keys) {
+  const wanted = new Set(keys.map((key) => key.toUpperCase()));
+  return sectionValues(iniValues, section)
+    .filter((entry) => wanted.has(entry.key))
+    .map((entry) => entry.value);
+}
+
+function looksLikePythonReference(value) {
+  return /(^|\s|=|:)["']?[^"'\s]*\.py(["'\s]|$)/i.test(value);
+}
+
+function userMCodesInText(text) {
+  const codes = new Set();
+  for (const match of text.matchAll(/(?<![A-Za-z0-9_])M\s*(1\d\d)(?![0-9])/gi)) {
+    codes.add(`M${match[1]}`);
+  }
+  return [...codes].sort();
+}
+
+function vendoredUserMCodes({
+  manifestEntries,
+  sourceDir,
+  normalizedSearchRoot,
+  userMPathValues,
+}) {
+  const manifestSet = new Set(manifestEntries);
+  const executableCodes = new Set();
+  for (const dirEntry of userMPathValues.flatMap(splitSearchPath)) {
+    if (dirEntry.startsWith("/")) {
+      continue;
+    }
+    const sourceUserMDir = normalizeRel(`${sourceDir}/${dirEntry}`);
+    const prefix = sourceUserMDir ? `${sourceUserMDir}/` : "";
+    for (const sourceRel of manifestEntries) {
+      if (
+        sourceRel.startsWith(prefix) &&
+        !sourceRel.slice(prefix.length).includes("/") &&
+        isUserMCodePath(sourceRel)
+      ) {
+        executableCodes.add(basename(sourceRel).toUpperCase());
+      }
+    }
+  }
+
+  for (const dirEntry of userMPathValues.flatMap(splitSearchPath)) {
+    if (dirEntry.startsWith("/")) {
+      continue;
+    }
+    const sourceUserMDir = normalizeRel(`${sourceDir}/${dirEntry}`);
+    for (let code = 100; code <= 199; code += 1) {
+      const candidate = findUpwardByBasename(
+        manifestSet,
+        sourceUserMDir,
+        `M${code}`,
+        normalizedSearchRoot,
+      );
+      if (candidate) {
+        executableCodes.add(`M${code}`);
+      }
+    }
+  }
+
+  return [...executableCodes].sort();
+}
+
+export function analyzeIniRuntimeBoundaries({
+  manifestText = "",
+  sourceRootRel,
+  sourceSearchRootRel = sourceRootRel,
+  iniFile = "",
+  iniText,
+  executionTexts = [],
+}) {
+  const manifestEntries = cleanManifest(manifestText);
+  const iniValues = parseIni(iniText);
+  const normalizedSourceRoot = normalizeRel(sourceRootRel);
+  const normalizedSearchRoot = normalizeRel(sourceSearchRootRel);
+  const sourceDir = normalizeRel(`${normalizedSourceRoot}/${dirname(iniFile)}`);
+  const userMPathValues = allIniValues(iniValues, "RS274NGC", "USER_M_PATH");
+  const halValues = valuesMatching(iniValues, "HAL", [
+    "HALFILE",
+    "HALCMD",
+    "POSTGUI_HALFILE",
+    "HALUI",
+  ]);
+  const displayValues = valuesMatching(iniValues, "DISPLAY", [
+    "DISPLAY",
+    "PYVCP",
+    "GLADEVCP",
+    "EMBED_TAB_COMMAND",
+  ]);
+  const halUiMdiCommands = allIniValues(iniValues, "HALUI", "MDI_COMMAND");
+  const dbProgram = firstIniValue(iniValues, "EMCIO", "DB_PROGRAM");
+  const remapValues = allIniValues(iniValues, "RS274NGC", "REMAP");
+  const pythonRemapReferences = [
+    ...sectionValues(iniValues, "PYTHON").map((entry) => entry.value),
+    ...remapValues.filter((value) => /(?:^|\s)python=/i.test(value)),
+  ];
+  const pythonUiReferences = [
+    ...displayValues.filter(looksLikePythonReference),
+    ...(dbProgram && looksLikePythonReference(dbProgram) ? [dbProgram] : []),
+  ];
+  const pythonReferences = [...pythonRemapReferences, ...pythonUiReferences];
+  const vendoredUserMCodeList = vendoredUserMCodes({
+    manifestEntries,
+    sourceDir,
+    normalizedSearchRoot,
+    userMPathValues,
+  });
+  const vendoredUserMCodeSet = new Set(vendoredUserMCodeList);
+  const hasUserMPath = userMPathValues.length > 0;
+  const executionUserMCodes = [...new Set(executionTexts.flatMap(userMCodesInText))].sort();
+  const unstagedExecutionUserMCodes = executionUserMCodes
+    .filter((code) => !vendoredUserMCodeSet.has(code));
+  const hasExternalUserMUse = hasUserMPath && unstagedExecutionUserMCodes.length > 0;
+
+  const dependencies = [];
+  if (dbProgram) {
+    dependencies.push("tool_database_process");
+  }
+  if (halValues.length > 0) {
+    dependencies.push("hal_process");
+  }
+  if (displayValues.some((value) => !/^axis$/i.test(value))) {
+    dependencies.push("ui_process");
+  }
+  if (halUiMdiCommands.length > 0) {
+    dependencies.push("halui_mdi_process");
+  }
+  if (pythonReferences.length > 0) {
+    dependencies.push("python_runtime");
+  }
+  if (hasExternalUserMUse) {
+    dependencies.push("external_user_m_process");
+  }
+
+  let recommendedBlockedKind = "-";
+  if (dbProgram && dbProgram !== "./db_nonran.py") {
+    recommendedBlockedKind = "L4-TOOL-DB";
+  } else if (hasExternalUserMUse) {
+    recommendedBlockedKind = "L4-USER-M-PROCESS";
+  } else if (pythonRemapReferences.length > 0) {
+    recommendedBlockedKind = "L4-PYTHON-REMAP";
+  }
+
+  return {
+    dependencies: [...new Set(dependencies)].sort(),
+    recommendedBlockedKind,
+    toolDatabaseProgram: dbProgram ?? "",
+    halRuntime: {
+      values: halValues,
+      requiresProcess: halValues.length > 0,
+    },
+    uiRuntime: {
+      values: displayValues,
+      requiresProcess: displayValues.some((value) => !/^axis$/i.test(value)),
+    },
+    haluiRuntime: {
+      mdiCommands: halUiMdiCommands,
+      requiresProcess: halUiMdiCommands.length > 0,
+    },
+    userMRuntime: {
+      paths: userMPathValues,
+      vendoredExecutableCount: vendoredUserMCodeList.length,
+      executionCodes: executionUserMCodes,
+      unstagedExecutionCodes: unstagedExecutionUserMCodes,
+      requiresExternalProcess: hasExternalUserMUse,
+    },
+    pythonRuntime: {
+      references: pythonReferences,
+      remapReferences: pythonRemapReferences,
+      uiReferences: pythonUiReferences,
+      requiresProcess: pythonReferences.length > 0,
+    },
+  };
+}
+
+export function planSimConfigStaging({
+  manifestText,
+  machineRel,
+  iniFile,
+  iniText,
+  programFile = null,
+  wasmDir = `/work/sim/${machineRel}`,
+}) {
+  return planIniFileContextStaging({
+    manifestText,
+    sourceRootRel: `configs/sim/${machineRel}`,
+    sourceSearchRootRel: "configs/sim",
+    iniFile,
+    iniText,
+    programFile,
+    wasmDir,
+  });
+}
+
+export function planIniFileContextStaging({
+  manifestText,
+  sourceRootRel,
+  iniFile,
+  iniText,
+  programFile = null,
+  wasmDir,
+  sourceSearchRootRel = sourceRootRel,
+}) {
+  const manifestEntries = cleanManifest(manifestText);
+  const manifestSet = new Set(manifestEntries);
+  const iniValues = parseIni(iniText);
+  const plan = new Map();
+  const normalizedSourceRoot = normalizeRel(sourceRootRel);
+  const normalizedSearchRoot = normalizeRel(sourceSearchRootRel);
+  const sourceDir = normalizeRel(`${normalizedSourceRoot}/${dirname(iniFile)}`);
+  const iniSourceRel = normalizeRel(`${normalizedSourceRoot}/${iniFile}`);
+  const programReference = programFile ?? firstIniValue(iniValues, "DISPLAY", "OPEN_FILE");
+
+  addPlannedFile(plan, manifestSet, iniSourceRel, iniFile, { wasmDir, required: true });
+  if (programReference) {
+    const programSourceRel = sourceForReference(
+      manifestSet,
+      sourceDir,
+      programReference,
+      normalizedSearchRoot,
+    );
+    addPlannedFile(plan, manifestSet, programSourceRel, programReference, {
+      wasmDir,
+      required: true,
+    });
+  }
+
+  for (const [section, key] of [
+    ["EMCIO", "TOOL_TABLE"],
+    ["RS274NGC", "PARAMETER_FILE"],
+  ]) {
+    const reference = firstIniValue(iniValues, section, key);
+    if (!reference) {
+      continue;
+    }
+    const sourceRel = sourceForReference(manifestSet, sourceDir, reference, normalizedSearchRoot);
+    addPlannedFile(plan, manifestSet, sourceRel, reference, { wasmDir });
+  }
+
+  const subroutineDirs = allIniValues(iniValues, "RS274NGC", "SUBROUTINE_PATH")
+    .flatMap(splitSearchPath);
+  for (const dirEntry of subroutineDirs) {
+    if (dirEntry.startsWith("/")) {
+      continue;
+    }
+    const sourceSubdir = normalizeRel(`${sourceDir}/${dirEntry}`);
+    const targetSubdir = normalizeRel(dirEntry);
+    addDirectoryFiles(
+      plan,
+      manifestEntries,
+      manifestSet,
+      sourceSubdir,
+      targetSubdir,
+      isSubroutinePath,
+      { wasmDir },
+    );
+  }
+
+  for (const dirEntry of allIniValues(iniValues, "RS274NGC", "USER_M_PATH").flatMap(splitSearchPath)) {
+    if (dirEntry.startsWith("/")) {
+      continue;
+    }
+    const sourceUserMDir = normalizeRel(`${sourceDir}/${dirEntry}`);
+    const targetUserMDir = normalizeRel(dirEntry);
+    addDirectoryFiles(
+      plan,
+      manifestEntries,
+      manifestSet,
+      sourceUserMDir,
+      targetUserMDir,
+      isUserMCodePath,
+      { wasmDir, executable: true },
+    );
+  }
+
+  for (const remapName of remapNgcNames(iniValues)) {
+    for (const dirEntry of subroutineDirs) {
+      const sourceRel = sourceForReference(
+        manifestSet,
+        normalizeRel(`${sourceDir}/${dirEntry}`),
+        remapName,
+        normalizedSearchRoot,
+      );
+      addPlannedFile(plan, manifestSet, sourceRel, normalizeRel(`${dirEntry}/${remapName}`), {
+        wasmDir,
+      });
+    }
+  }
+
+  return {
+    wasmDir,
+    iniPath: targetPathFor(wasmDir, iniFile),
+    programPath: programReference ? targetPathFor(wasmDir, programReference) : null,
+    files: [...plan.values()],
+  };
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/tools/source-manifest.txt

@@ -0,0 +1,648 @@
+src/emc/ini/inifile.cc
+src/emc/ini/inifile.h
+src/emc/ini/inifile.hh
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+tests/interp/iniparam/expected
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+tests/interp/iniparam/test.sh
+tests/interp/iniparam-failassign/README
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+tests/interp/iniparam-failassign/test.ngc
+tests/interp/iniparam-failassign/test.sh
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+tests/interp/m19/test.sh
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+tests/interp/magic_comments/param_format_printing/test.ngc
+tests/interp/magic_comments/param_format_printing/test.sh
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+tests/interp/sub-call-from-sub/test.ngc
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+tests/interp/sequence-number/expected
+tests/interp/sequence-number/rm400.ngc
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+tests/interp/sequence-number/test.ngc
+tests/interp/sequence-number/test.sh
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+tests/interp/nested-sub-in-file-error/test.ini
+tests/interp/nested-sub-in-file-error/test.ngc
+tests/interp/nested-sub-in-file-error/test.sh
+tests/interp/oword-unwind/README
+tests/interp/oword-unwind/expected
+tests/interp/oword-unwind/fail.ngc
+tests/interp/oword-unwind/test.ini
+tests/interp/oword-unwind/test.ngc
+tests/interp/oword-unwind/test.sh
+tests/interp/abort-hot-comment/README
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+tests/interp/abort-hot-comment/test.ini
+tests/interp/abort-hot-comment/test.ngc
+tests/interp/abort-hot-comment/test.sh
+configs/sim/axis/sim.tbl
+configs/sim/axis/external_offsets/M111
+configs/sim/axis/external_offsets/circles.ngc
+configs/sim/axis/external_offsets/dyn_demo.ngc
+configs/sim/axis/external_offsets/dynamic_offsets.ini
+configs/sim/axis/external_offsets/eoffset.tbl
+configs/sim/axis/external_offsets/eoffsets.ini
+configs/sim/axis/external_offsets/eoffsets.ngc
+configs/sim/axis/external_offsets/jwp_z.ini
+configs/sim/axis/external_offsets/jwp_z.ngc
+configs/sim/axis/external_offsets/opa.ini
+configs/sim/axis/external_offsets/opa_demo.ngc
+configs/sim/axis/db_demo/base.ngc
+configs/sim/axis/db_demo/db_nonran.ini
+configs/sim/axis/foam/axis_foam.ini
+configs/sim/axis/foam/foam.ngc
+configs/sim/axis/gladevcp/gladevcp_panel.ini
+configs/sim/axis/gladevcp/probe.ngc
+configs/sim/axis/gladevcp/sim.tbl
+configs/sim/axis/geometry/M110
+configs/sim/axis/geometry/xyzc.ini
+configs/sim/axis/geometry/xyzc.ngc
+configs/sim/axis/rose_engine/rcone.ngc
+configs/sim/axis/rose_engine/rcone_demo.ngc
+configs/sim/axis/rose_engine/rose_engine.ini
+configs/sim/axis/vismach/5axis/bridgemill/5axis.ini
+configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl
+configs/sim/axis/vismach/5axis/bridgemill/5axis.xml
+configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal
+configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal
+configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc
+configs/sim/axis/vismach/5axis/bridgemill/README
+configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc
+configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc
+configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc
+configs/sim/axis/vismach/melfa-sim/example.ngc
+configs/sim/axis/vismach/melfa-sim/melfa.ini
+configs/sim/axis/vismach/melfa-sim/melfa.tbl
+configs/sim/axis/vismach/melfa-sim/remap_subs/428remap.ngc
+configs/sim/axis/vismach/melfa-sim/remap_subs/429remap.ngc
+configs/sim/axis/vismach/melfa-sim/remap_subs/430remap.ngc
+configs/sim/axis/vismach/millturn/example.ngc
+configs/sim/axis/vismach/millturn/millturn.ini
+configs/sim/axis/vismach/millturn/millturn.tbl
+configs/sim/axis/vismach/millturn/remap_subs/428remap.ngc
+configs/sim/axis/vismach/millturn/remap_subs/429remap.ngc
+configs/sim/axis/vismach/puma/puma.ini
+configs/sim/axis/vismach/puma/puma.tbl
+configs/sim/axis/vismach/puma/puma_cube.ini
+configs/sim/axis/vismach/puma/puma_cube.ngc
+configs/sim/axis/vismach/puma/puma_seam_weld.ngc
+configs/sim/axis/vismach/puma/remap_subs/428remap.ngc
+configs/sim/axis/vismach/puma/remap_subs/429remap.ngc
+configs/sim/axis/vismach/puma/remap_subs/430remap.ngc
+configs/sim/axis/vismach/5axis/table-dual-rotary/README
+configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc
+configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc
+configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml
+configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal
+configs/sim/axis/vismach/5axis/table-rotary-tilting/README
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc
+configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow
+configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
+configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var
+configs/sim/qtdragon/qtdragon_multi_joint/on_abort.ngc
+configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini
+configs/sim/qtdragon/qtdragon_multi_joint/tool.tbl
+configs/sim/qtdragon/qtdragon_xyz/on_abort.ngc
+configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini
+configs/sim/qtdragon/qtdragon_xyz/tool.tbl
+configs/sim/qtdragon/qtdragon_xyz45/on_abort.ngc
+configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini
+configs/sim/qtdragon/qtdragon_xyz45/tool.tbl
+configs/sim/qtdragon_hd/qtdragon_hd_xyz/on_abort.ngc
+configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_vertical.ini
+configs/sim/qtdragon_hd/qtdragon_hd_xyz/tool.tbl
+configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/on_abort.ngc
+configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini
+configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/tool.tbl
+configs/sim/qtvcp_screens/qtdragon/on_abort.ngc
+configs/sim/qtvcp_screens/qtdragon/qtdragon_mpg.ini
+configs/sim/qtvcp_screens/qtdragon/tool.tbl
+configs/sim/woodpecker/on_abort.ngc
+configs/sim/woodpecker/tool.tbl
+configs/sim/woodpecker/woodpecker.ini
+nc_files/3D_Chips.ngc
+nc_files/arcspiral.ngc
+nc_files/factorial.ngc
+nc_files/hole-circle.ngc
+nc_files/m6demo.ngc
+configs/sim/gmoccapy/macros/change.ngc
+configs/sim/gmoccapy/macros/change_g43.ngc
+configs/sim/gmoccapy/macros/go_to_position.ngc
+configs/sim/gmoccapy/macros/halo_world.ngc
+configs/sim/gmoccapy/macros/i_am_lost.ngc
+configs/sim/gmoccapy/macros/images/goto_x_y_z.png
+configs/sim/gmoccapy/macros/images/i_am_lost.png
+configs/sim/gmoccapy/macros/images/macro_8.png
+configs/sim/gmoccapy/macros/increment.ngc
+configs/sim/gmoccapy/macros/jog_around.ngc
+configs/sim/gmoccapy/macros/macro_0.ngc
+configs/sim/gmoccapy/macros/macro_1.ngc
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+configs/sim/gmoccapy/macros/macro_4.ngc
+configs/sim/gmoccapy/macros/macro_5.ngc
+configs/sim/gmoccapy/macros/macro_6.ngc
+configs/sim/gmoccapy/macros/macro_7.ngc
+configs/sim/gmoccapy/macros/macro_8.ngc
+configs/sim/gmoccapy/macros/macro_9.ngc
+configs/sim/gmoccapy/macros/macro_Instructions.txt
+configs/sim/gmoccapy/macros/on_abort.ngc
+configs/sim/gmoccapy/macros/settool_g43.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/README
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/sim-xyzac-trt.pref
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var.bak

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/README

@@ -0,0 +1,32 @@
+Switchable Table Rotary/Tilting (trt) Sim configs
+
+xyzac-trt-switchkins
+xyzbc-trt-switchkins
+
+Demonstrations:
+  demos/xyzac_switchkins.ngc
+  demos/xyzac_switchkins_test_1.ngc
+  demos/xyzac_switchkins_test_2.ngc
+  demos/xyzac_switchkins_test_3.ngc
+  demos/boat-xyzac.ngc
+  demos/impeller-7bl-xyzac.ngc
+
+  demos/xyzbc_switchkins.ngc
+  demos/boat-xyzbc.ngc
+
+***********************************************
+Note: IMPORTANT ini file requirements:
+
+[HAL]
+HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type
+
+[RS274NGC]
+SUBROUTINE_PATH = ./remap_subs
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+
+[HALUI]
+MDI_COMMAND = M429
+MDI_COMMAND = M428
+MDI_COMMAND = M430
+***********************************************

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc

@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzac_switchkins_sub> call [10] [5]  [10][1000][3][20][0][45][20]
+m2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc

@@ -0,0 +1,39 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429
+G0 X0 Y0 Z0 A0 C0
+G0 C90 X10 Y0
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X0 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+
+M429
+G1 F#<FRATE> Z0
+G0 C90 X10 Y30
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X30 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+M429
+G1 F#<FRATE> Z0
+
+G0 X0 Y0 Z0 A0 C0
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc

@@ -0,0 +1,49 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429 ;Trivkins
+G64 P0.01
+S1500 M3
+G0 X0 Y0 Z5 A0 C0
+G1 F#<FRATE> Z0
+G1 X20 Y0 F#<FRATE>
+
+M428 ;XYZAC
+G1 C90
+G1 X20
+G1 Y20
+G1 X0
+G1 Y0
+G1 A20
+G1 X-20
+G1 Y-20
+G1 X0
+G1 Y0
+
+(-------)
+G1 C45
+G1 X-15
+G1 Y15
+G1 X0
+G1 Y0
+G1 Y-15
+G1 X15
+G1 Y0
+G1 X0
+
+(-------)
+G1 C90 X15
+G1 C180 Y15
+G1 C270 X0
+G1 C360 Y0
+G1 C0
+G1 C-90 X-15
+G1 C-180 Y-15
+G1 C-270 X0
+G1 C-360 Y0
+G1 Z5
+
+M429 ;Trivkins
+
+G1 X0 Y0 Z1 A0 C0
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc

@@ -0,0 +1,15 @@
+;# enable optional stop for m1
+m429 ;trivkins
+G0 X0 Y0 Z0 A0 C0
+G0 C90 X10 Y0
+G1 F1000 Z2
+(debug,A expect: 10   0 2) m1
+(debug,B expect: 10   0 2) m1
+m428 ;tcp
+(debug,C expect:  0 -10 2) m1
+g1f1000 z0
+(debug,D expect:  0 -10 0) m1
+(debug,E expect:  0 -10 0) m1
+m429 ;trivkins
+(debug,F expect: 10 0 0)
+m2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc

@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzbc_switchkins_sub> call [10] [5]  [10][1000][3][0][20][45][20]
+m2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc

@@ -0,0 +1,24 @@
+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc

@@ -0,0 +1,24 @@
+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc

@@ -0,0 +1,24 @@
+;M430 by remap: kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M430:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<430remap>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc

@@ -0,0 +1,42 @@
+(info: tests for values of [xyz]-rot-point)
+o<centering>sub
+#<xstart> = #1 (=-2.5)
+#<ystart> = #2 (=-2.5)
+  #<xlen> = #3 (= 5)
+  #<ylen> = #4 (= 5)
+#<zfinal> = #5 (=60)
+     #<n> = #6 (=12)
+     #<f> = #7 (=1000 feed)
+#<angle> = 0
+#<delta_angle> = [360/#<n>]
+
+o1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]]
+     (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>)
+     (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>)
+     (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
+o1 endif
+o2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]]
+     (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>)
+     (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>)
+     (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)
+o2 endif
+
+M429 ;Identity kinematics
+g0 x#<xstart> y#<ystart> z0 c0
+M428 ;tcp
+
+g61
+o10 while [#<angle> le 360]
+     g1 f#<f>
+     #<angle> = [#<angle> + #<delta_angle>]
+     g0 c#<angle>
+     g1 x[#<xstart> + #<xlen>]
+     g1 y[#<ystart> + #<ylen>]
+     g1 x[#<xstart> + 0      ]
+     g1 y[#<ystart> + 0      ]
+o10 endwhile
+
+
+M429 ;Identity kinematics
+g0 x0 y0 z#<zfinal> c0
+o<centering>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc

@@ -0,0 +1,22 @@
+; helix using switchkins (xyzac) a,c angles
+o<helix_ac>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=45)
+      #<b> = #7 (=0 NA)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+  M428                            ;XYZAC
+  g0a#<a>c#<c>                    ;exercise a,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> a0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZAC
+o<helix_ac>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc

@@ -0,0 +1,22 @@
+; helix using switchkins (xyzbc) b,c angles
+o<helix_bc>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=0 NA)
+      #<b> = #7 (=45)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+  M428                            ;XYZBC
+  g0b#<b>c#<c>                    ;exercise b,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> b0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZBC
+o<helix_bc>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc

@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles A,C)
+o<xyzac_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=30 A angle)
+      #<b> = #7 (=0  B angle NA)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzac_switchkins_sub>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc

@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles B,C)
+o<xyzbc_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=0  A angle NA)
+      #<b> = #7 (=30 B angle)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzbc_switchkins_sub>endsub

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow

@@ -0,0 +1,29 @@
+pin+motion.analog-out-03
+pin+motion.switchkins-type
+
+pin+joint.0.pos-cmd
+pin+joint.1.pos-cmd
+pin+joint.2.pos-cmd
+pin+joint.3.pos-cmd
+pin+joint.4.pos-cmd
+
+pin+axis.x.pos-cmd
+pin+axis.y.pos-cmd
+pin+axis.z.pos-cmd
+pin+axis.a.pos-cmd
+pin+axis.b.pos-cmd
+pin+axis.c.pos-cmd
+
+pin+pyvcp.tcpkins-button
+pin+pyvcp.identitykins-button
+pin+pyvcp.vismach-clear
+
+pin+kinstype-0
+pin+kinstype-1
+
+pin+halui.mdi-command-00
+pin+halui.mdi-command-01
+
+pin+kinstype.is-0
+pin+kinstype.is-1
+pin+kinstype.is-2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal

@@ -0,0 +1,12 @@
+# switchkins pyvcp connections for:
+# xyzac-trt-kins.ini,xyzbc-trt-kins.ini
+
+net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
+net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
+net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2
+
+net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear
+
+net :type0-button  <= pyvcp.type0-button  => halui.mdi-command-00
+net :type1-button  <= pyvcp.type1-button  => halui.mdi-command-01
+net :type2-button  <= pyvcp.type2-button  => halui.mdi-command-02

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini

@@ -0,0 +1,182 @@
+[APPLICATIONS]
+# uncomment to enable:
+#APP = halshow --fformat %.5f switchkins.halshow
+
+[EMC]
+VERSION = 1.1
+MACHINE = sim-xyzac-trt-kins (switchkins)
+
+[DISPLAY]
+            GEOMETRY = XYZ-A
+           OPEN_FILE = ./demos/xyzac_switchkins.ngc
+               PYVCP = ./xyzac-trt.xml
+            JOG_AXES = XYZC
+             DISPLAY = axis
+MAX_ANGULAR_VELOCITY =  360
+ MAX_LINEAR_VELOCITY = 1000
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 2
+      PROGRAM_PREFIX = ../../nc_files
+       INTRO_GRAPHIC = emc2.gif
+          INTRO_TIME = 1
+             #EDITOR = geany
+         TOOL_EDITOR = tooledit z diam
+
+               TKPKG = Ngcgui 1.0
+         NGCGUI_FONT = Helvetica -12 normal
+      NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
+      NGCGUI_SUBFILE = centering.ngc
+
+[RS274NGC]
+SUBROUTINE_PATH = ./remap_subs
+   HAL_PIN_VARS = 1
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+          REMAP = M430  modalgroup=10  ngc=430remap
+ PARAMETER_FILE = xyzac.var
+
+[KINS]
+#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
+#      default switchkins-type == 0 is xyzac-trt-kins
+#      here    switchkins-type == 0 is identity kins
+KINEMATICS = xyzac-trt-kins sparm=identityfirst
+    JOINTS = 5
+
+[HAL]
+          HALUI = halui
+        HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = switchkins_postgui.hal
+
+# net for control of motion.switchkins-type
+HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
+
+# vismach xyzac-trt-gui items
+HALCMD = loadusr -W xyzac-trt-gui
+HALCMD = net  :table-x      joint.0.pos-fb             xyzac-trt-gui.table-x
+HALCMD = net  :saddle-y     joint.1.pos-fb             xyzac-trt-gui.saddle-y
+HALCMD = net  :spindle-z    joint.2.pos-fb             xyzac-trt-gui.spindle-z
+HALCMD = net  :tilt-a       joint.3.pos-fb             xyzac-trt-gui.tilt-a
+HALCMD = net  :rotate-c     joint.4.pos-fb             xyzac-trt-gui.rotate-c
+HALCMD = net  :tool-offset  motion.tooloffset.z
+HALCMD = net  :tool-offset  xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
+HALCMD = net  :y-offset     xyzac-trt-kins.y-offset    xyzac-trt-gui.y-offset
+HALCMD = net  :z-offset     xyzac-trt-kins.z-offset    xyzac-trt-gui.z-offset
+HALCMD = sets :y-offset     20
+HALCMD = sets :z-offset     10
+
+# not currently supported by xyzac-trt-gui:
+HALCMD = setp xyzac-trt-kins.x-rot-point 0
+HALCMD = setp xyzac-trt-kins.y-rot-point 0
+HALCMD = setp xyzac-trt-kins.z-rot-point 0
+HALCMD = setp xyzac-trt-kins.conventional-directions 0
+
+[HALUI]
+# NOTE: kinstype==0 is identity kins because sparm=identityfirst
+# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
+# M428:xyzac    kins (motion.switchkins-type==1)
+# M430:userk    kins (motion.switchkins-type==2)
+MDI_COMMAND = M429
+MDI_COMMAND = M428
+MDI_COMMAND = M430
+
+[TRAJ]
+                COORDINATES = XYZAC
+               LINEAR_UNITS = mm
+              ANGULAR_UNITS = deg
+    DEFAULT_LINEAR_VELOCITY = 20
+        MAX_LINEAR_VELOCITY = 35
+    MAX_LINEAR_ACCELERATION = 400
+DEFAULT_LINEAR_ACCELERATION = 300
+
+[EMCMOT]
+      EMCMOT = motmod
+SERVO_PERIOD = 1000000
+COMM_TIMEOUT =       1
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.010
+
+[EMCIO]
+TOOL_TABLE = xyzac-trt.tbl
+
+[AXIS_X]
+       MIN_LIMIT = -200
+       MAX_LIMIT =  200
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Y]
+       MIN_LIMIT = -100
+       MAX_LIMIT =  100
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Z]
+       MIN_LIMIT = -120
+       MAX_LIMIT =  120
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_A]
+       MIN_LIMIT = -100
+       MAX_LIMIT =   50
+    MAX_VELOCITY =   30
+MAX_ACCELERATION =   300
+
+[AXIS_C]
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -200
+         MAX_LIMIT =  200
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -100
+         MAX_LIMIT =  100
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_2]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -120
+         MAX_LIMIT =  120
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_3]
+            TYPE = ANGULAR
+            HOME =    0
+    MAX_VELOCITY =   30
+MAX_ACCELERATION =  300
+       MIN_LIMIT = -100
+       MAX_LIMIT =   50
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_4]
+            TYPE = ANGULAR
+            HOME =      0
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+ HOME_SEARCH_VEL =      0
+   HOME_SEQUENCE =      0

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl

@@ -0,0 +1,10 @@
+T1 P1 Z0 D1 ;end mill
+T2 P2 Z15 D8 ;end mill
+T3 P3 Z0 D4.2 ;#7 tap drill
+T4 P4 Z0 D10
+T5 P5 Z30 D10
+T6 P6 Z30 D10
+T7 P7 Z30 D10
+T8 P8 Z30 D10
+T9 P9 Z30 D10
+T10 P10 D0.5

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt

@@ -0,0 +1,37 @@
+xyzac-trt-kins (switchkins)
+
+Uses remapped user m codes for kins switch:
+
+  M429: Identity Kinematics
+  M428: XYZAC (TCP)
+  M430: userk Kinematics
+
+A hal net is required to connect the
+analog out pin N, Example (for N=3):
+
+  net :kinstype-select <= motion.analog-out-03
+  net :kinstype-select => motion.switchkins-type
+
+Hal Input pins:
+  xyzac-trt-kins.y-offset
+  xyzac-trt-kins.z-offset
+
+Y and Z offsets are the offsets from the center
+of rotation of the A axis relative to the center
+of rotation of the C axis.
+
+Hal Input pins:
+  xyzac-trt-kins.x-rot-point
+  xyzac-trt-kins.y-rot-point
+  xyzac-trt-kins.z-rot-point
+
+X, Y and Z rot-point pins represent the
+offsets of the center of rotation of the C axis
+relative to the machine absolute zero
+
+Hal Input pins:
+  xyzac-trt-kins.conventional-directions
+
+Pin conventional-directions is false by default. If true,
+axis directions follow the conventions as defined
+at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml

@@ -0,0 +1,45 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>["0:IDENTITY", "1: XYZAC  ", "2: USERK  "]</legends>
+      <font>("Helvetica",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"IDENTITY"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"TCP:XYZAC"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk  "</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+</pyvcp>

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal

@@ -0,0 +1,207 @@
+# Sat Jun 06 15:43:11 CST 2026
+#
+# This file:    ./xyzac-trt_cmds.hal
+# Created by:   /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
+# With options: 
+# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
+# Halfiles:     LIB:basic_sim.tcl
+#
+# This file contains the hal commands produced by basic_sim.tcl
+# (and any hal commands executed prior to its execution).
+# ------------------------------------------------------------------
+# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it),
+# edit to change:
+#     [HAL]
+#     HALFILE = LIB:basic_sim.tcl parameters
+# to:
+#     [HAL]
+#     HALFILE = ./xyzac-trt_cmds.hal
+#
+# Notes:
+#  1) Inifile Variables substitutions specified in the inifile
+#     and interpreted by halcmd are automatically substituted
+#     in the created halfile (./xyzac-trt_cmds.hal).
+#  2) Input pins connected to a signal with no writer are
+#     not included in the setp listings herein so must be added
+#     manually
+#
+
+# user space components
+loadusr -W hal_manualtoolchange
+
+# components
+#preloaded module: loadrt tpmod 
+#preloaded module: loadrt homemod 
+loadrt xyzac-trt-kins sparm=identityfirst 
+loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5 
+#loadrt __servo-thread  (not loaded by loadrt, no args saved)
+loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid 
+loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux 
+loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel 
+loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch 
+loadrt sim_spindle names=sim_spindle 
+loadrt limit2 names=limit_speed 
+loadrt lowpass names=spindle_mass 
+loadrt near names=near_speed 
+loadrt scale names=rpm_rps 
+# pin aliases
+# param aliases
+# signals
+# nets
+net J0:acc J0_accel.out
+net J0:enable joint.0.amp-enable-out => J0_pid.enable
+net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
+net J0:on-pos J0_pid.output => J0_mux.in1
+net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
+net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
+net J0:vel J0_vel.out => J0_accel.in
+net J1:acc J1_accel.out
+net J1:enable joint.1.amp-enable-out => J1_pid.enable
+net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
+net J1:on-pos J1_pid.output => J1_mux.in1
+net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
+net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
+net J1:vel J1_vel.out => J1_accel.in
+net J2:acc J2_accel.out
+net J2:enable joint.2.amp-enable-out => J2_pid.enable
+net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
+net J2:on-pos J2_pid.output => J2_mux.in1
+net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
+net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
+net J2:vel J2_vel.out => J2_accel.in
+net J3:acc J3_accel.out
+net J3:enable joint.3.amp-enable-out => J3_pid.enable
+net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
+net J3:on-pos J3_pid.output => J3_mux.in1
+net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
+net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
+net J3:vel J3_vel.out => J3_accel.in
+net J4:acc J4_accel.out
+net J4:enable joint.4.amp-enable-out => J4_pid.enable
+net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
+net J4:on-pos J4_pid.output => J4_mux.in1
+net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
+net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
+net J4:vel J4_vel.out => J4_accel.in
+net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
+net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
+net spindle-at-speed near_speed.out => spindle.0.at-speed
+net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
+net spindle-orient spindle.0.orient => spindle.0.is-oriented
+net spindle-pos sim_spindle.position-fb => spindle.0.revs
+net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
+net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
+net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
+net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
+net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change
+net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed
+net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
+# parameter values
+setp J0_accel.tmax                  0
+setp J0_mux.tmax                    0
+setp J0_pid.do-pid-calcs.tmax       0
+setp J0_switch.tmax                 0
+setp J0_vel.tmax                    0
+setp J1_accel.tmax                  0
+setp J1_mux.tmax                    0
+setp J1_pid.do-pid-calcs.tmax       0
+setp J1_switch.tmax                 0
+setp J1_vel.tmax                    0
+setp J2_accel.tmax                  0
+setp J2_mux.tmax                    0
+setp J2_pid.do-pid-calcs.tmax       0
+setp J2_switch.tmax                 0
+setp J2_vel.tmax                    0
+setp J3_accel.tmax                  0
+setp J3_mux.tmax                    0
+setp J3_pid.do-pid-calcs.tmax       0
+setp J3_switch.tmax                 0
+setp J3_vel.tmax                    0
+setp J4_accel.tmax                  0
+setp J4_mux.tmax                    0
+setp J4_pid.do-pid-calcs.tmax       0
+setp J4_switch.tmax                 0
+setp J4_vel.tmax                    0
+setp limit_speed.tmax               0
+setp motion-command-handler.tmax    0
+setp motion-controller.tmax         0
+setp near_speed.difference          10
+setp near_speed.scale               1.1
+setp near_speed.tmax                0
+setp rpm_rps.tmax                   0
+setp servo-thread.tmax              0
+setp sim_spindle.scale              0.01666667
+setp sim_spindle.tmax               0
+setp spindle_mass.gain              0.07
+setp spindle_mass.tmax              0
+# realtime thread/function links
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf J0_pid.do-pid-calcs servo-thread
+addf J1_pid.do-pid-calcs servo-thread
+addf J2_pid.do-pid-calcs servo-thread
+addf J3_pid.do-pid-calcs servo-thread
+addf J4_pid.do-pid-calcs servo-thread
+addf J0_mux servo-thread
+addf J1_mux servo-thread
+addf J2_mux servo-thread
+addf J3_mux servo-thread
+addf J4_mux servo-thread
+addf J0_vel servo-thread
+addf J0_accel servo-thread
+addf J1_vel servo-thread
+addf J1_accel servo-thread
+addf J2_vel servo-thread
+addf J2_accel servo-thread
+addf J3_vel servo-thread
+addf J3_accel servo-thread
+addf J4_vel servo-thread
+addf J4_accel servo-thread
+addf J0_switch servo-thread
+addf J1_switch servo-thread
+addf J2_switch servo-thread
+addf J3_switch servo-thread
+addf J4_switch servo-thread
+addf limit_speed servo-thread
+addf spindle_mass servo-thread
+addf rpm_rps servo-thread
+addf near_speed servo-thread
+addf sim_spindle servo-thread
+
+# setp commands for unconnected input pins
+setp J0_pid.FF0                     1.0
+setp J0_pid.Pgain                   0
+setp J0_pid.Dgain                   0
+setp J0_pid.Igain                   0
+setp J0_pid.FF1                     0
+setp J0_pid.FF2                     0
+setp J1_pid.FF0                     1.0
+setp J1_pid.Pgain                   0
+setp J1_pid.Dgain                   0
+setp J1_pid.Igain                   0
+setp J1_pid.FF1                     0
+setp J1_pid.FF2                     0
+setp J2_pid.FF0                     1.0
+setp J2_pid.Pgain                   0
+setp J2_pid.Dgain                   0
+setp J2_pid.Igain                   0
+setp J2_pid.FF1                     0
+setp J2_pid.FF2                     0
+setp J3_pid.FF0                     1.0
+setp J3_pid.Pgain                   0
+setp J3_pid.Dgain                   0
+setp J3_pid.Igain                   0
+setp J3_pid.FF1                     0
+setp J3_pid.FF2                     0
+setp J4_pid.FF0                     1.0
+setp J4_pid.Pgain                   0
+setp J4_pid.Dgain                   0
+setp J4_pid.Igain                   0
+setp J4_pid.FF1                     0
+setp J4_pid.FF2                     0
+setp sim_spindle.scale              0.01666667
+setp limit_speed.maxv               5000.0
+setp spindle_mass.gain              .07
+setp near_speed.scale               1.1
+setp near_speed.difference          10

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini

@@ -0,0 +1,182 @@
+[APPLICATIONS]
+# uncomment to enable:
+#APP = halshow --fformat %.5f switchkins.halshow
+
+[EMC]
+VERSION = 1.1
+MACHINE = sim-xyzbc-trt-kins (switchkins)
+
+[DISPLAY]
+            GEOMETRY = XYZB
+           OPEN_FILE = ./demos/xyzbc_switchkins.ngc
+               PYVCP = ./xyzbc-trt.xml
+            JOG_AXES = XYZC
+             DISPLAY = axis
+MAX_ANGULAR_VELOCITY =  360
+ MAX_LINEAR_VELOCITY = 1000
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 2
+      PROGRAM_PREFIX = ../../nc_files
+       INTRO_GRAPHIC = emc2.gif
+          INTRO_TIME = 1
+             #EDITOR = geany
+         TOOL_EDITOR = tooledit z diam
+
+               TKPKG = Ngcgui 1.0
+         NGCGUI_FONT = Helvetica -12 normal
+      NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc
+      NGCGUI_SUBFILE = centering.ngc
+
+[RS274NGC]
+SUBROUTINE_PATH = ./remap_subs
+   HAL_PIN_VARS = 1
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+          REMAP = M430  modalgroup=10  ngc=430remap
+ PARAMETER_FILE = xyzbc.var
+
+[KINS]
+#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
+#      default switchkins-type == 0 is xyzbc-trt-kins
+#      here    switchkins-type == 0 is identity kins
+KINEMATICS = xyzbc-trt-kins sparm=identityfirst
+    JOINTS = 5
+
+[HAL]
+          HALUI = halui
+        HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = switchkins_postgui.hal
+
+# net for control of motion.switchkins-type
+HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
+
+# vismach xyzbc-trt-gui items
+HALCMD = loadusr -W xyzbc-trt-gui
+HALCMD = net  :table-x      joint.0.pos-fb             xyzbc-trt-gui.table-x
+HALCMD = net  :saddle-y     joint.1.pos-fb             xyzbc-trt-gui.saddle-y
+HALCMD = net  :spindle-z    joint.2.pos-fb             xyzbc-trt-gui.spindle-z
+HALCMD = net  :tilt-b       joint.3.pos-fb             xyzbc-trt-gui.tilt-b
+HALCMD = net  :rotate-c     joint.4.pos-fb             xyzbc-trt-gui.rotate-c
+HALCMD = net  :tool-offset  motion.tooloffset.z
+HALCMD = net  :tool-offset  xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
+HALCMD = net  :x-offset     xyzbc-trt-kins.x-offset    xyzbc-trt-gui.x-offset
+HALCMD = net  :z-offset     xyzbc-trt-kins.z-offset    xyzbc-trt-gui.z-offset
+HALCMD = sets :x-offset     -20
+HALCMD = sets :z-offset     -15
+
+# not currently supported by xyzbc-trt-gui:
+HALCMD = setp xyzbc-trt-kins.x-rot-point 0
+HALCMD = setp xyzbc-trt-kins.y-rot-point 0
+HALCMD = setp xyzbc-trt-kins.z-rot-point 0
+HALCMD = setp xyzbc-trt-kins.conventional-directions 0
+
+[HALUI]
+# NOTE: kinstype==0 is identity kins because sparm=identityfirst
+# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
+# M428:xyzbc    kins (motion.switchkins-type==1)
+# M430:userk    kins (motion.switchkins-type==2)
+MDI_COMMAND = M429
+MDI_COMMAND = M428
+MDI_COMMAND = M430
+
+[TRAJ]
+                COORDINATES = XYZBC
+               LINEAR_UNITS = mm
+              ANGULAR_UNITS = deg
+    DEFAULT_LINEAR_VELOCITY = 20
+        MAX_LINEAR_VELOCITY = 35
+    MAX_LINEAR_ACCELERATION = 400
+DEFAULT_LINEAR_ACCELERATION = 300
+
+[EMCMOT]
+      EMCMOT = motmod
+SERVO_PERIOD = 1000000
+COMM_TIMEOUT =       1
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.010
+
+[EMCIO]
+TOOL_TABLE = xyzbc-trt.tbl
+
+[AXIS_X]
+       MIN_LIMIT = -200
+       MAX_LIMIT =  200
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Y]
+       MIN_LIMIT = -100
+       MAX_LIMIT =  100
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Z]
+       MIN_LIMIT = -120
+       MAX_LIMIT =  120
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_B]
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[AXIS_C]
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -200
+         MAX_LIMIT =  200
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -100
+         MAX_LIMIT =  100
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_2]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -120
+         MAX_LIMIT =  120
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_3]
+            TYPE = ANGULAR
+            HOME =    0
+    MAX_VELOCITY =   30
+MAX_ACCELERATION =  300
+       MIN_LIMIT = -100
+       MAX_LIMIT =   50
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_4]
+            TYPE = ANGULAR
+            HOME =      0
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+ HOME_SEARCH_VEL =      0
+   HOME_SEQUENCE =      0

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl

@@ -0,0 +1,2 @@
+T1 P1 D1
+T2 P2 Z10 D8

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt

@@ -0,0 +1,37 @@
+xyzbc-trt-kins (switchkins)
+
+Uses remapped user m codes for kins switch:
+
+  M429: Identity Kinematics
+  M428: XYZBC (TCP)
+  M430: userk Kinematics
+
+A hal net is required to connect the
+analog out pin N, Example (for N=3):
+
+  net :kinstype-select <= motion.analog-out-03
+  net :kinstype-select => motion.switchkins-type
+
+Hal Input pins:
+  xyzbc-trt-kins.x-offset
+  xyzbc-trt-kins.z-offset
+
+X and Z offsets are the offsets from the center
+of rotation of the B axis relative to the center
+of rotation of the C axis.
+
+Hal Input pins:
+  xyzbc-trt-kins.x-rot-point
+  xyzbc-trt-kins.y-rot-point
+  xyzbc-trt-kins.z-rot-point
+
+X, Y and Z rot-point pins represent the
+offsets of the center of rotation of the C axis
+relative to the machine absolute zero
+
+Hal Input pins:
+  xyzbc-trt-kins.conventional-directions
+
+Pin conventional-directions is false by default. If true,
+axis directions follow the conventions as defined
+at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml

@@ -0,0 +1,45 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>["0:IDENTITY", "1: XYZBC  ", "2: USERK  "]</legends>
+      <font>("Helvetica",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"IDENTITY"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"TCP:XYZBC"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+</pyvcp>

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var

@@ -0,0 +1,119 @@
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+5387	0.000000
+5388	0.000000
+5389	0.000000
+5390	0.000000

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change.ngc

@@ -0,0 +1,75 @@
+
+o<change> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+;otherwise after the M6 this information is gone!
+#<tool> = #<selected_tool>
+#<pocket> = #<selected_pocket>
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+;first go up
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+; then move to change position
+G53 G0 X[#<_ini[CHANGE_POSITION]X>] Y[#<_ini[CHANGE_POSITION]Y>]
+
+; cancel tool offset
+G49
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+O200 if [#<_hal[gmoccapy.toolmeasurement]> EQ 0]
+O200 return [3] ; indicate no tool measurement 
+O200 endif
+
+G53 G0 X[#<_ini[TOOLSENSOR]X>] Y[#<_ini[TOOLSENSOR]Y>]
+G53 G0 Z[#<_ini[TOOLSENSOR]Z>]
+
+O300 if [#<_hal[gmoccapy.searchvel]> LE 0]
+O300 return [-1] ; indicate searchvel <= 0 
+O300 endif
+
+O400 if [#<_hal[gmoccapy.probevel]> LE 0]
+O400 return [-2] ; indicate probevel <= 0 
+O400 endif
+
+F #<_hal[gmoccapy.searchvel]>
+G91
+G38.2 Z #<_ini[TOOLSENSOR]MAXPROBE>
+G0 Z2
+; This is commented out only for sim.
+;F #<_hal[gmoccapy.probevel]>
+;G38.2 Z-4
+
+O500 if [#5070 EQ 0]
+G90
+O500 return [-3] ; indicate probe contact failure to epilog
+O500 endif
+
+G90
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+
+#<touch_result> = #5063
+#<probeheight> = #<_hal[gmoccapy.probeheight]> 
+#<blockheight> = #<_hal[gmoccapy.blockheight]>
+
+;(DEBUG, #<touch_result>  #<probeheight>  #<blockheight>)
+
+G10 L1 P#<tool> Z[#<touch_result> - #<_hal[gmoccapy.probeheight]> + #<_hal[gmoccapy.blockheight]>]
+G43
+
+;G10 L1 P#<tool> Z#<touch_result>
+;G10 L2 P0 Z[#<workpieceheight> + #<probeheight> + #<touch_result>]
+
+; signal success be returning a value > 0:
+o<change> endsub [1]
+
+

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change_g43.ngc

@@ -0,0 +1,21 @@
+o<change_g43> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+; set tool offset
+G43
+
+; signal success be returning a value > 0:
+o<change_g43> endsub [1]
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/go_to_position.ngc

@@ -0,0 +1,26 @@
+; Testfile go to position
+; will jog the machine to a given position
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/goto_x_y_z.png)
+
+O<go_to_position> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<go_to_position> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/halo_world.ngc

@@ -0,0 +1,25 @@
+; Testfile "hello world"
+; will just give messages 
+
+O<halo_world> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G0 X10
+
+(MSG, Hallo Welt)
+(MSG, hello world)
+
+G0X-10
+
+O<halo_world> endsub
+
+M2
+

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/i_am_lost.ngc

@@ -0,0 +1,27 @@
+; Testfile I am Lost
+; will jog to machine zero and set all axis to zero
+
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/i_am_lost.png)
+
+O<i_am_lost> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+(MSG, Will now move to machine zero)
+G53 G0 X0 Y0 Z0
+(MSG, will now set all axis to zero)
+G10 L20 P0 X0 Y0 Z0
+(MSG, all done)
+
+
+O<i_am_lost> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/increment.ngc

@@ -0,0 +1,22 @@
+; Testfile "increment"
+; will move the machine in relative coordinates
+
+O<increment> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X#1 Y#2
+G90
+
+(DEBUG, X was [#1] and Y was [#2])
+
+O<increment> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/jog_around.ngc

@@ -0,0 +1,29 @@
+; Testfile "Jog around"
+; will just jog a little bit around
+
+O<jog_around> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X 25
+Y-25
+Z-25
+Y25
+X-25
+Z25
+F250
+G2 I 25
+
+(MSG, It is done!)
+
+O<jog_around> endsub
+
+M2
+

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_0.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_0> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_0> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_1.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_1> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_1> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_10.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_10> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_10> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_11.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_11> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_11> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_12.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_12> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_12> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_13.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_13> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_13> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_14.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_14> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_14> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_15.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_15> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_15> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_2.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_2> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_2> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_3.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_3> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_3> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_4.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_4> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_4> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_5.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_5> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_5> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_6.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_6> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_6> endsub
+
+M2

web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_7.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_7> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_7> endsub
+
+M2