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结论：五轴 switchkins remap native 执行路径已扩展到 vendored xyzac/xyzbc switchkins demo，验证仍通过 LinuxCNC REMAP/O-word/open/read/execute 路径和 HAL adapter 边界完成，未新增自写 M428/M429/M430 或运动学语义。
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wangdequan
2026-06-08 17:52:03 +08:00
parent 68a0a2db22
commit 567f72d35f
5 changed files with 66 additions and 19 deletions
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wasm-port/docs/compatibility-validation.md
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@@ -213,7 +213,7 @@ 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, then runs vendored `xyzac_switchkins_test_1.ngc` and `xyzac_switchkins_test_3.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, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, and `xyzac_switchkins_test_3.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. |