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。
2026-06-08 18:37:22 +08:00
parent c6c60c4866
commit 4cd01deafb
10 changed files with 100 additions and 24 deletions
--- a/wasm-port/docs/compatibility-validation.md
+++ b/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
-`boat-xyzbc.ngc` demo files into the Emscripten filesystem, then validates the
-WASM C ABI/SDK path for vendored LinuxCNC `REMAP` parsing, vendored LinuxCNC
-tool-table loading from the machine INI, O-word remap execution, `M68`/`M66`
-HAL synchronization, and file `open()`/`read()`/`execute()` completion
-without JavaScript M-code or kinematics semantics. The same Node smoke writes
+`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc`, `boat-xyzac.ngc`,
+`boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` demo files into the Emscripten
+filesystem, then validates the WASM C ABI/SDK path for vendored LinuxCNC
+`REMAP` parsing, vendored LinuxCNC tool-table loading from the machine INI,
+O-word remap execution, `M68`/`M66` HAL synchronization, and file
+`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
-the browser WASM filesystem and verifies `runFiveAxisRemapFile()` for both
-sample machines through the exported LinuxCNC remap/tool-table/file execution
-path.
+files, including the larger `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and
+`impeller-7bl-xyzac.ngc` demos, into the browser WASM filesystem and verifies
+`runFiveAxisRemapFile()` for both sample machines through the exported
+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. |
--- a/wasm-port/docs/porting-steps-standalone.md
+++ b/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
-   execution paths.
+   `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` through
+   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
-   kinematics semantics.
+   `boat-xyzbc.ngc`, plus `impeller-7bl-xyzac.ngc` through the SDK C ABI
+   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
-   after the boat demos are stable in native, Node WASM, browser, and UI
-   remap paths.
+2. Evaluate additional vendored LinuxCNC five-axis sample machines and demos
+   after the TRT boat and impeller demos are stable in native, Node WASM,
+   browser, and UI remap paths.

 Involved LinuxCNC source:

--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_asset_probe.cpp
+++ b/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;
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp
+++ b/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;
--- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp
+++ b/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;
--- a/wasm-port/runtime/ui/ini-panel/app.js
+++ b/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_WASM_DIR}/demos/boat-xyzac.ngc`,
+    `${FIVEAXIS_TRT_SOURCE_PATH}/demos/impeller-7bl-xyzac.ngc`,
+    `${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 = `${FIVEAXIS_TRT_WASM_DIR}/demos/impeller-7bl-xyzac.ngc`;
    const result = interp.runFiveAxisRemapFile(programPath, iniPath);
    setField("fiveaxisRemap", "ok");
    setCanonicalEvents(result.trim());
--- a/wasm-port/tests/browser/ini_panel_smoke.html
+++ b/wasm-port/tests/browser/ini_panel_smoke.html
@@ -374,7 +374,8 @@ TOOL_TABLE = browser-tool.tbl
      if (
        !remapLog.includes("fiveaxis_ini_open=1") ||
        !remapLog.includes("fiveaxis_tool_table_load=0") ||
-        !remapLog.includes("fiveaxis_file_read_count=1927") ||
+        !remapLog.includes("fiveaxis_file_read_count=4558") ||
+        !remapLog.includes("fiveaxis_file_finish_count=2") ||
        !remapLog.includes("fiveaxis_hal_switchkins: rc=0 found=1 value=0") ||
        !remapLog.includes("fiveaxis_linuxcnc_remap_file_execute=1")
      ) {
--- a/wasm-port/tests/browser/interp_smoke.html
+++ b/wasm-port/tests/browser/interp_smoke.html
@@ -145,6 +145,11 @@
        `${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",
--- a/wasm-port/tests/native/verify_native_probes.sh
+++ b/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="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log"
--- a/wasm-port/tests/wasm/node/verify_interp_wasm.mjs
+++ b/wasm-port/tests/wasm/node/verify_interp_wasm.mjs
@@ -129,6 +129,10 @@ function writeFiveAxisTrtMachineFiles() {
    resolve(sourceDir, "demos/boat-xyzbc.ngc"),
    `${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(