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结论：接通 LinuxCNC M68/M66 到 standalone HAL adapter 的同步边界，新增 native remap/HAL 验证，确认 5axis switchkins remap 所需的 _hal[motion.switchkins-type] 读回路径可用。
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wangdequan
2026-06-08 17:05:24 +08:00
parent 3a58f1e495
commit 42da16214d
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wasm-port/docs/compatibility-validation.md
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@@ -212,6 +212,7 @@ The validation fails if:
| `linuxcnc_parameter_file_harness` | Validates LinuxCNC parameter file restore/save behavior and required/read-only parameter handling. |
| `linuxcnc_interp_init_harness` | Validates vendored LinuxCNC `Interp::init()` emits canonical initialization boundaries, reads metric/inch machine units, and synchronizes current/selected tool slots through standalone status adapters. |
| `linuxcnc_indexer_harness` | Validates vendored LinuxCNC single-axis rotary indexer dispatch emits lock/unlock and motion boundaries through the standalone event sink. |
| `linuxcnc_remap_hal_sync_harness` | Validates vendored LinuxCNC `M68`/`M66` execution can drive the standalone HAL adapter boundary used by 5-axis switchkins remap files, including `_hal[motion.switchkins-type]` readback. |
| `linuxcnc_tp_api_probe` | Validates vendored LinuxCNC trajectory planner calls for linear, arc, and queued motion paths. |
| `linuxcnc_kinematics_probe` | Validates vendored LinuxCNC `trivkins.c` plus `kins_util.c` initialize and perform identity forward/inverse mapping through the standalone HAL/RTAPI boundary. |
| `linuxcnc_5axis_kinematics_probe` | Validates vendored LinuxCNC `5axiskins.c` through `switchkins.c`, including 5-axis forward/inverse round-trip behavior and switching to identity kinematics. |