按规划持续工作

结论：已将 vendored LinuxCNC impeller-7bl-xyzac.ngc 纳入五轴 TRT remap/tool-table/file 执行 baseline，native、Node WASM、browser 和 UI 均通过同源验证，未实现自有 M428/M429/M430 或运动学语义。

wasm-port/docs/compatibility-validation.md

@@ -109,12 +109,13 @@ Emscripten filesystem through the SDK and runs them through LinuxCNC
 `Interp::open()`, `Interp::read()`, and `Interp::execute()` to validate the
 file execution path. It also writes the vendored LinuxCNC `xyzac-trt` and
 `xyzbc-trt` table-rotary-tilting sample machine INI, `remap_subs/*.ngc`, and
-`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc` plus `boat-xyzac.ngc` and
+`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc`, `boat-xyzac.ngc`,
-`boat-xyzbc.ngc` demo files into the Emscripten filesystem, then validates the
+`boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` demo files into the Emscripten
-WASM C ABI/SDK path for vendored LinuxCNC `REMAP` parsing, vendored LinuxCNC
+filesystem, then validates the WASM C ABI/SDK path for vendored LinuxCNC
-tool-table loading from the machine INI, O-word remap execution, `M68`/`M66`
+`REMAP` parsing, vendored LinuxCNC tool-table loading from the machine INI,
-HAL synchronization, and file `open()`/`read()`/`execute()` completion
+O-word remap execution, `M68`/`M66` HAL synchronization, and file
-without JavaScript M-code or kinematics semantics. The same Node smoke writes
+`open()`/`read()`/`execute()` completion without JavaScript M-code or
+kinematics semantics. The same Node smoke writes
 LinuxCNC-format parameter files into the Emscripten filesystem and validates
 vendored `Interp::restore_parameters()` and `Interp::save_parameters()`,
 including the saved parameter values, missing required numeric parameter
@@ -197,10 +198,10 @@ override INI-derived names before OPFS text is copied into the LinuxCNC-backed
 WASM filesystem, and that absent INI file-name values use the default OPFS
 parameter/tool-table paths in a real browser session. It also writes vendored
 LinuxCNC `xyzac-trt`/`xyzbc-trt` INI, remap subroutines, and switchkins demo
-files, including the larger `boat-xyzac.ngc` and `boat-xyzbc.ngc` demos, into
+files, including the larger `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and
-the browser WASM filesystem and verifies `runFiveAxisRemapFile()` for both
+`impeller-7bl-xyzac.ngc` demos, into the browser WASM filesystem and verifies
-sample machines through the exported LinuxCNC remap/tool-table/file execution
+`runFiveAxisRemapFile()` for both sample machines through the exported
-path.
+LinuxCNC remap/tool-table/file execution path.
 
 The aggregate host smoke script builds the INI, interpreter-core, and
 trajectory-planner WASM artifacts once, then runs the Node WASM smokes, the
@@ -230,7 +231,7 @@ The validation fails if:
 | `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_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines, loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, and `boat-xyzbc.ngc` through the LinuxCNC file `open/read/execute` path. |
+| `linuxcnc_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines, loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` through the LinuxCNC file `open/read/execute` path. |
 | `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. |

wasm-port/docs/porting-steps-standalone.md

@@ -806,13 +806,13 @@ Current five-axis switchkins status:
    vendored machine tool tables through LinuxCNC `tooldata_load()`, and runs
    vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
    `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`,
-   `boat-xyzac.ngc`, and `boat-xyzbc.ngc` through LinuxCNC remap/file
+   `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` through
-   execution paths.
+   LinuxCNC remap/file execution paths.
 7. The WASM interpreter core now links vendored `interp_remap.cc` plus the
    Python-only runtime edge stub, and the Node WASM smoke runs vendored
    `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `boat-xyzac.ngc`, and
-   `boat-xyzbc.ngc` through the SDK C ABI without JavaScript M-code or
+   `boat-xyzbc.ngc`, plus `impeller-7bl-xyzac.ngc` through the SDK C ABI
-   kinematics semantics.
+   without JavaScript M-code or kinematics semantics.
 8. Browser smoke and the INI panel UI now expose the same validated 5-axis
    remap execution path by copying vendored LinuxCNC sample-machine files into
    the interpreter WASM filesystem and calling the SDK C ABI.
@@ -821,9 +821,9 @@ Next work:
 
 1. Continue broadening five-axis fixture coverage through the same
    source-backed execution boundary.
-2. Evaluate remaining larger vendored LinuxCNC TRT demos such as impeller
+2. Evaluate additional vendored LinuxCNC five-axis sample machines and demos
-   after the boat demos are stable in native, Node WASM, browser, and UI
+   after the TRT boat and impeller demos are stable in native, Node WASM,
-   remap paths.
+   browser, and UI remap paths.
 
 Involved LinuxCNC source:
 

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_asset_probe.cpp

@@ -229,6 +229,12 @@ int main()
         "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
         true,
         true);
+    ok &= check_text_mcodes(
+        "xyzac_trt_impeller",
+        "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/"
+        "impeller-7bl-xyzac.ngc",
+        true,
+        true);
 
     print_bool("fiveaxis_remap_assets_from_linuxcnc", ok);
     return ok ? 0 : 1;

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp

@@ -53,7 +53,7 @@ void print_interp_error(Interp &interp, const std::string &label, int rc)
     std::cout << label << "_blocktext=" << interp._setup.blocktext << "\n";
 }
 
-constexpr int kMaxDemoFileSteps = 4096;
+constexpr int kMaxDemoFileSteps = 8192;
 
 void seed_switchkins_hal()
 {
@@ -328,6 +328,12 @@ int main()
             "boat-xyzbc.ngc",
             0.0,
         },
+        {
+            "impeller_7bl_xyzac",
+            "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/"
+            "impeller-7bl-xyzac.ngc",
+            0.0,
+        },
     };
 
     ok &= execute_demo_file(cases[0], demos[0]);
@@ -336,6 +342,7 @@ int main()
     ok &= execute_demo_file(cases[0], demos[3]);
     ok &= execute_demo_file(cases[0], demos[4]);
     ok &= execute_demo_file(cases[1], demos[5]);
+    ok &= execute_demo_file(cases[0], demos[6]);
 
     print_bool("fiveaxis_linuxcnc_remap_execute_path", ok);
     return ok ? 0 : 1;

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp

@@ -485,7 +485,7 @@ char *lcinterp_run_fiveaxis_remap_file(const char *path, const char *ini_path)
         return copy_result(output.str());
     }
 
-    constexpr int max_file_steps = 4096;
+    constexpr int max_file_steps = 8192;
     int file_read_count = 0;
     int file_execute_count = 0;
     int file_finish_count = 0;

wasm-port/runtime/ui/ini-panel/app.js

@@ -179,8 +179,8 @@ async function writeFiveAxisTrtMachineFiles(interp) {
   }
   await writeFetchedTextFile(
     interp,
-    `${FIVEAXIS_TRT_SOURCE_PATH}/demos/boat-xyzac.ngc`,
+    `${FIVEAXIS_TRT_SOURCE_PATH}/demos/impeller-7bl-xyzac.ngc`,
-    `${FIVEAXIS_TRT_WASM_DIR}/demos/boat-xyzac.ngc`,
+    `${FIVEAXIS_TRT_WASM_DIR}/demos/impeller-7bl-xyzac.ngc`,
   );
 }
 
@@ -311,7 +311,7 @@ document.getElementById("run-fiveaxis-remap").addEventListener("click", async ()
     const interp = requireInterpSdk();
     await writeFiveAxisTrtMachineFiles(interp);
     const iniPath = `${FIVEAXIS_TRT_WASM_DIR}/xyzac-trt.ini`;
-    const programPath = `${FIVEAXIS_TRT_WASM_DIR}/demos/boat-xyzac.ngc`;
+    const programPath = `${FIVEAXIS_TRT_WASM_DIR}/demos/impeller-7bl-xyzac.ngc`;
     const result = interp.runFiveAxisRemapFile(programPath, iniPath);
     setField("fiveaxisRemap", "ok");
     setCanonicalEvents(result.trim());

wasm-port/tests/browser/ini_panel_smoke.html

@@ -374,7 +374,8 @@ TOOL_TABLE = browser-tool.tbl
       if (
         !remapLog.includes("fiveaxis_ini_open=1") ||
         !remapLog.includes("fiveaxis_tool_table_load=0") ||
-        !remapLog.includes("fiveaxis_file_read_count=1927") ||
+        !remapLog.includes("fiveaxis_file_read_count=4558") ||
+        !remapLog.includes("fiveaxis_file_finish_count=2") ||
         !remapLog.includes("fiveaxis_hal_switchkins: rc=0 found=1 value=0") ||
         !remapLog.includes("fiveaxis_linuxcnc_remap_file_execute=1")
       ) {

wasm-port/tests/browser/interp_smoke.html

@@ -145,6 +145,11 @@
         `${sourceDir}/demos/boat-xyzbc.ngc`,
         `${wasmDir}/demos/boat-xyzbc.ngc`,
       );
+      await writeFetchedTextFile(
+        interp,
+        `${sourceDir}/demos/impeller-7bl-xyzac.ngc`,
+        `${wasmDir}/demos/impeller-7bl-xyzac.ngc`,
+      );
 
       return wasmDir;
     }
@@ -453,6 +458,28 @@
           "fiveaxis_linuxcnc_remap_file_execute=1",
         ].join("\n"),
       );
+      verifyExpectedOutput(
+        "browser_fiveaxis_impeller_7bl_xyzac",
+        interp.runFiveAxisRemapFile(
+          `${fiveAxisTrtDir}/demos/impeller-7bl-xyzac.ngc`,
+          `${fiveAxisTrtDir}/xyzac-trt.ini`,
+        ),
+        [
+          "fiveaxis_ini_open=1",
+          "fiveaxis_tool_table_load=0",
+          "fiveaxis_parse_remap_1=0",
+          "fiveaxis_parse_remap_2=0",
+          "fiveaxis_parse_remap_3=0",
+          "fiveaxis_file_open=0",
+          "fiveaxis_file_read_count=4558",
+          "fiveaxis_file_execute_count=4558",
+          "fiveaxis_file_finish_count=2",
+          "fiveaxis_file_final_rc=1",
+          "fiveaxis_file_reached_exit=1",
+          "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+          "fiveaxis_linuxcnc_remap_file_execute=1",
+        ].join("\n"),
+      );
 
       verifyExpectedOutput(
         "restore_parameters_missing_file",

wasm-port/tests/native/verify_native_probes.sh

@@ -350,6 +350,14 @@ grep -Fq "xyzbc_trt_boat_xyzbc_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzbc_trt_boat_xyzbc_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzbc_trt_boat_xyzbc__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzbc_trt_boat_xyzbc_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_read_count=4558" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_execute_count=4558" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_finish_count=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "xyzac_trt_impeller_7bl_xyzac_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "fiveaxis_linuxcnc_remap_execute_path=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 
 NAMEDPARAM_STDOUT="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log"

wasm-port/tests/wasm/node/verify_interp_wasm.mjs

@@ -129,6 +129,10 @@ function writeFiveAxisTrtMachineFiles() {
     resolve(sourceDir, "demos/boat-xyzbc.ngc"),
     `${wasmDir}/demos/boat-xyzbc.ngc`,
   );
+  writeVendorTextFile(
+    resolve(sourceDir, "demos/impeller-7bl-xyzac.ngc"),
+    `${wasmDir}/demos/impeller-7bl-xyzac.ngc`,
+  );
 
   return wasmDir;
 }
@@ -442,6 +446,28 @@ verifyExpectedOutput(
     "fiveaxis_linuxcnc_remap_file_execute=1",
   ].join("\n"),
 );
+verifyExpectedOutput(
+  "fiveaxis_impeller_7bl_xyzac_wasm",
+  interp.runFiveAxisRemapFile(
+    `${fiveAxisTrtDir}/demos/impeller-7bl-xyzac.ngc`,
+    `${fiveAxisTrtDir}/xyzac-trt.ini`,
+  ),
+  [
+    "fiveaxis_ini_open=1",
+    "fiveaxis_tool_table_load=0",
+    "fiveaxis_parse_remap_1=0",
+    "fiveaxis_parse_remap_2=0",
+    "fiveaxis_parse_remap_3=0",
+    "fiveaxis_file_open=0",
+    "fiveaxis_file_read_count=4558",
+    "fiveaxis_file_execute_count=4558",
+    "fiveaxis_file_finish_count=2",
+    "fiveaxis_file_final_rc=1",
+    "fiveaxis_file_reached_exit=1",
+    "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+    "fiveaxis_linuxcnc_remap_file_execute=1",
+  ].join("\n"),
+);
 
 const parameterFilePath = "/work/rs274ngc.var";
 interp.writeTextFile(