wangdequan/cnc_wams
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结论：继续按 LinuxCNC 源码直接复用路线推进，新增 SCARA 运动学源码的 vendored 同步、switchkins native 探针、source probe 覆盖和复用文档，并通过 native 验证。
This commit is contained in:
wangdequan
2026-06-07 20:16:32 +08:00
parent d9296eb5e0
commit 42f1acd34a
6 changed files with 394 additions and 3 deletions
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15
wasm-port/tests/native/verify_native_probes.sh
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@@ -103,6 +103,8 @@ check_exitcode linuxcnc_scorbot_kinematics_probe
check_exitcode linuxcnc_scorbot_kinematics_probe.run
check_exitcode linuxcnc_tripod_kinematics_probe
check_exitcode linuxcnc_tripod_kinematics_probe.run
check_exitcode linuxcnc_scara_kinematics_probe
check_exitcode linuxcnc_scara_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -159,6 +161,7 @@ check_exitcode linuxcnc_lineardeltakins_source_probe
check_exitcode linuxcnc_rotarydeltakins_source_probe
check_exitcode linuxcnc_scorbot_kins_source_probe
check_exitcode linuxcnc_tripodkins_source_probe
check_exitcode linuxcnc_scarakins_source_probe
check_exitcode linuxcnc_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -357,6 +360,18 @@ grep -Fq "tripod_inverse_below_flags=1" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_forward_below=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_roundtrip_below_xyz=1" "$TRIPOD_KINEMATICS_STDOUT"
SCARA_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_scara_kinematics_probe.run.stdout.log"
grep -Fq "scara_init=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_type=4" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_switchable=1" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_forward=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_forward_iflags=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_inverse=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_roundtrip_joints=1" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_switch_identity=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_identity_forward=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_identity_near=1" "$SCARA_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"