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 PUMA 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 20:28:01 +08:00
parent 42f1acd34a
commit 578c159802
7 changed files with 595 additions and 2 deletions
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15
wasm-port/tests/native/verify_native_probes.sh
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@@ -105,6 +105,8 @@ 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
check_exitcode linuxcnc_puma_kinematics_probe
check_exitcode linuxcnc_puma_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -162,6 +164,7 @@ 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_pumakins_source_probe
check_exitcode linuxcnc_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -372,6 +375,18 @@ grep -Fq "scara_switch_identity=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_identity_forward=0" "$SCARA_KINEMATICS_STDOUT"
grep -Fq "scara_identity_near=1" "$SCARA_KINEMATICS_STDOUT"
PUMA_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_puma_kinematics_probe.run.stdout.log"
grep -Fq "puma_init=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_type=4" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_switchable=1" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_forward=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_inverse=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_roundtrip_forward=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_roundtrip_pose=1" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_switch_identity=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_identity_forward=0" "$PUMA_KINEMATICS_STDOUT"
grep -Fq "puma_identity_near=1" "$PUMA_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"