按规划持续工作

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。
2026-06-08 17:05:24 +08:00
parent 3a58f1e495
commit 42da16214d
7 changed files with 207 additions and 0 deletions
--- a/wasm-port/docs/compatibility-validation.md
+++ b/wasm-port/docs/compatibility-validation.md
@@ -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. |
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.cpp
+++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.cpp
@@ -3,6 +3,7 @@
 #include <cstdarg>
 #include <cstdio>
 #include <new>
+#include <sstream>
 #include <string>
 #include <unordered_map>
 #include <vector>
@@ -52,6 +53,12 @@ std::unordered_map<std::string, HalEntry> &values_for(standalone::HalValueKind k
    return pins();
 }

+std::unordered_map<std::string, std::vector<std::string>> &pin_aliases()
+{
+    static std::unordered_map<std::string, std::vector<std::string>> values;
+    return values;
+}
+
 int lookup_hal_value(const char *name, std::unordered_map<std::string, HalEntry> &values,
                     hal_type_t *type, hal_data_u **ptr, bool *connected)
 {
@@ -81,6 +88,7 @@ void reset_hal_adapter()
    pins().clear();
    signals().clear();
    params().clear();
+    pin_aliases().clear();
 }

 void set_hal_value(HalValueKind kind, const char *name, hal_type_t type, hal_data_u value,
@@ -89,6 +97,39 @@ void set_hal_value(HalValueKind kind, const char *name, hal_type_t type, hal_dat
    values_for(kind)[name] = HalEntry{type, value, connected};
 }

+void link_hal_pin_alias(const char *source, const char *alias)
+{
+    if (!source || !alias) {
+        return;
+    }
+    pin_aliases()[source].push_back(alias);
+}
+
+void sync_motion_analog_output(int index, double value)
+{
+    hal_data_u analog{};
+    analog.f = value;
+
+    std::ostringstream out_name;
+    out_name << "motion.analog-out-" << index;
+    set_hal_value(HalValueKind::Pin, out_name.str().c_str(), HAL_FLOAT, analog);
+
+    std::ostringstream padded_out_name;
+    padded_out_name << "motion.analog-out-0" << index;
+    set_hal_value(HalValueKind::Pin, padded_out_name.str().c_str(), HAL_FLOAT, analog);
+
+    const std::string names[] = {out_name.str(), padded_out_name.str()};
+    for (const auto &name : names) {
+        auto aliases = pin_aliases().find(name);
+        if (aliases == pin_aliases().end()) {
+            continue;
+        }
+        for (const auto &alias : aliases->second) {
+            set_hal_value(HalValueKind::Pin, alias.c_str(), HAL_FLOAT, analog);
+        }
+    }
+}
+
 }  // namespace standalone

 int hal_init(const char *)
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.hh
+++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.hh
@@ -13,5 +13,7 @@ enum class HalValueKind {
 void reset_hal_adapter();
 void set_hal_value(HalValueKind kind, const char *name, hal_type_t type, hal_data_u value,
                   bool connected = true);
+void link_hal_pin_alias(const char *source, const char *alias);
+void sync_motion_analog_output(int index, double value);

 }  // namespace standalone
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_runtime.cpp
+++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_runtime.cpp
@@ -12,6 +12,7 @@

 #include "emc/rs274ngc/rs274ngc_return.hh"
 #include "canon_event_sink.hh"
+#include "linuxcnc_hal_adapter.hh"
 #include "linuxcnc_tool_adapter.hh"
 #include "nml_intf/emc.hh"

@@ -381,6 +382,7 @@ void SET_AUX_OUTPUT_VALUE(int index, double value)
    std::ostringstream oss;
    oss << "SET_AUX_OUTPUT_VALUE index=" << index << " value=" << value;
    standalone::push_canon_event(oss.str());
+    standalone::sync_motion_analog_output(index, value);
 }
 int WAIT(int index, int input_type, int wait_type, double timeout)
 {
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_remap_hal_sync_harness.cpp
+++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_remap_hal_sync_harness.cpp
@@ -0,0 +1,117 @@
+#define private public
+#include "emc/rs274ngc/rs274ngc_interp.hh"
+#undef private
+
+#include <cmath>
+#include <cstring>
+#include <iostream>
+#include <string>
+
+#include "canon_event_sink.hh"
+#include "linuxcnc_hal_adapter.hh"
+#include "linuxcnc_tool_adapter.hh"
+
+namespace {
+
+void print_bool(const std::string &name, bool value)
+{
+    std::cout << name << "=" << (value ? 1 : 0) << "\n";
+}
+
+void seed_switchkins_hal()
+{
+    standalone::reset_hal_adapter();
+
+    hal_data_u switchkins{};
+    switchkins.f = 0.0;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.switchkins-type",
+                              HAL_FLOAT, switchkins);
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.analog-out-03",
+                              HAL_FLOAT, switchkins);
+    standalone::link_hal_pin_alias("motion.analog-out-03", "motion.switchkins-type");
+}
+
+void initialize_interp(Interp &interp)
+{
+    seed_switchkins_hal();
+    standalone::reset_tool_adapter();
+    standalone::reset_canon_events();
+
+    interp._setup.length_units = CANON_UNITS_MM;
+    interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.ijk_distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.feed_mode = FEED_MODE::UNITS_PER_MINUTE;
+    interp._setup.plane = CANON_PLANE::XY;
+    interp._setup.motion_mode = G_0;
+    interp._setup.percent_flag = false;
+    interp._setup.sequence_number = 0;
+    interp._setup.parameter_occurrence = 0;
+    interp._setup.num_spindles = 1;
+    interp._setup.feature_set = FEATURE_INI_VARS | FEATURE_HAL_PIN_VARS;
+    interp._setup.parameter_g73_peck_clearance = 1.0;
+    interp._setup.parameter_g83_peck_clearance = 1.0;
+    interp._setup.parameters[5599] = 1.0;
+    std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
+    interp.init_named_parameters();
+}
+
+bool read_hal_named(Interp &interp, const char *name, double expected)
+{
+    int status = 0;
+    double value = 0.0;
+    const int rc = interp.find_named_param(name, &status, &value);
+    std::cout << name << ": rc=" << rc << " found=" << status << " value=" << value << "\n";
+    return rc == INTERP_OK && status == 1 && std::fabs(value - expected) < 0.000001;
+}
+
+bool has_event(const std::string &needle)
+{
+    for (const auto &event : standalone::canon_events()) {
+        if (event.find(needle) != std::string::npos) {
+            return true;
+        }
+    }
+    return false;
+}
+
+}  // namespace
+
+int main()
+{
+    Interp interp;
+    initialize_interp(interp);
+
+    bool ok = true;
+    ok &= read_hal_named(interp, "_hal[motion.switchkins-type]", 0.0);
+
+    const int m68_to_tcp_rc = interp.execute("M68 E3 Q1\n");
+    std::cout << "m68_to_tcp=" << m68_to_tcp_rc << "\n";
+    ok &= m68_to_tcp_rc == INTERP_OK;
+    ok &= read_hal_named(interp, "_hal[motion.switchkins-type]", 1.0);
+    ok &= read_hal_named(interp, "_hal[motion.analog-out-03]", 1.0);
+
+    const int m66_sync_rc = interp.execute("M66 E0 L0\n");
+    std::cout << "m66_sync=" << m66_sync_rc << "\n";
+    std::cout << "m66_input_flag=" << interp._setup.input_flag << "\n";
+    std::cout << "m66_input_index=" << interp._setup.input_index << "\n";
+    std::cout << "m66_input_digital=" << interp._setup.input_digital << "\n";
+    ok &= m66_sync_rc == INTERP_EXECUTE_FINISH;
+    ok &= interp._setup.input_flag;
+    ok &= interp._setup.input_index == 0;
+    ok &= !interp._setup.input_digital;
+
+    const int m68_to_identity_rc = interp.execute("M68 E3 Q0\n");
+    std::cout << "m68_to_identity=" << m68_to_identity_rc << "\n";
+    ok &= m68_to_identity_rc == INTERP_OK;
+    ok &= read_hal_named(interp, "_hal[motion.switchkins-type]", 0.0);
+
+    print_bool("canon_has_m68_tcp", has_event("SET_AUX_OUTPUT_VALUE index=3 value=1"));
+    print_bool("canon_has_m66_sync", has_event("WAIT index=0 input_type=0 wait_type=0"));
+    print_bool("canon_has_m68_identity", has_event("SET_AUX_OUTPUT_VALUE index=3 value=0"));
+    ok &= has_event("SET_AUX_OUTPUT_VALUE index=3 value=1");
+    ok &= has_event("WAIT index=0 input_type=0 wait_type=0");
+    ok &= has_event("SET_AUX_OUTPUT_VALUE index=3 value=0");
+
+    print_bool("fiveaxis_remap_hal_sync_boundary", ok);
+    return ok ? 0 : 1;
+}
--- a/wasm-port/tests/native/verify_native_probes.sh
+++ b/wasm-port/tests/native/verify_native_probes.sh
@@ -161,6 +161,8 @@ check_exitcode linuxcnc_interp_init_harness
 check_exitcode linuxcnc_interp_init_harness.run
 check_exitcode linuxcnc_remap_parse_harness
 check_exitcode linuxcnc_remap_parse_harness.run
+check_exitcode linuxcnc_remap_hal_sync_harness
+check_exitcode linuxcnc_remap_hal_sync_harness.run
 check_exitcode linuxcnc_indexer_harness
 check_exitcode linuxcnc_indexer_harness.run
 check_exitcode linuxcnc_rs274_compile_probe
@@ -264,6 +266,21 @@ grep -Fq "xyzbc_trt_M430_ngc=1" "$REMAP_PARSE_STDOUT"
 grep -Fq "xyzbc_trt_linuxcnc_ngc_remaps_parsed=1" "$REMAP_PARSE_STDOUT"
 grep -Fq "fiveaxis_linuxcnc_remap_parse_path=1" "$REMAP_PARSE_STDOUT"

+REMAP_HAL_SYNC_STDOUT="$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.stdout.log"
+grep -Fq "_hal[motion.switchkins-type]: rc=0 found=1 value=0" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m68_to_tcp=0" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "_hal[motion.switchkins-type]: rc=0 found=1 value=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "_hal[motion.analog-out-03]: rc=0 found=1 value=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m66_sync=2" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m66_input_flag=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m66_input_index=0" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m66_input_digital=0" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "m68_to_identity=0" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "canon_has_m68_tcp=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "canon_has_m66_sync=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "canon_has_m68_identity=1" "$REMAP_HAL_SYNC_STDOUT"
+grep -Fq "fiveaxis_remap_hal_sync_boundary=1" "$REMAP_HAL_SYNC_STDOUT"
+
 NAMEDPARAM_STDOUT="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log"
 grep -Fq "init_named_parameters=0" "$NAMEDPARAM_STDOUT"
 grep -Fq "global_named_count=57" "$NAMEDPARAM_STDOUT"
--- a/wasm-port/tools/build_native_probes.sh
+++ b/wasm-port/tools/build_native_probes.sh
@@ -697,6 +697,11 @@ REMAP_PARSE_SOURCES=(
  "$WRAP_DIR/linuxcnc_remap_parse_harness.cpp"
 )

+REMAP_HAL_SYNC_SOURCES=(
+  "${INTERP_CORE_SOURCES[@]}"
+  "$WRAP_DIR/linuxcnc_remap_hal_sync_harness.cpp"
+)
+
 build_binary_target \
  linuxcnc_ini_probe \
  "$BUILD_DIR/linuxcnc_ini_probe" \
@@ -1282,6 +1287,28 @@ else
    "$BUILD_DIR/linuxcnc_remap_parse_harness.run.stderr.log"
 fi

+build_binary_target \
+  linuxcnc_remap_hal_sync_harness \
+  "$BUILD_DIR/linuxcnc_remap_hal_sync_harness" \
+  REMAP_RUNTIME_FLAGS \
+  REMAP_HAL_SYNC_SOURCES \
+  MINIMAL_LINK_FLAGS
+
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_remap_hal_sync_harness.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_remap_hal_sync_harness" \
+    >"$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.stderr.log"
+  REMAP_HAL_SYNC_RUN_RC=$?
+  set -e
+  echo "$REMAP_HAL_SYNC_RUN_RC" > "$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_remap_hal_sync_harness.run.stderr.log"
+fi
+
 build_binary_target \
  linuxcnc_indexer_harness \
  "$BUILD_DIR/linuxcnc_indexer_harness" \