From 5df62ad60ac4edaa81fb681b3eb362afbad544b1 Mon Sep 17 00:00:00 2001 From: wangdequan Date: Mon, 8 Jun 2026 15:33:05 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8C=89=E8=A7=84=E5=88=92=E6=8C=81=E7=BB=AD?= =?UTF-8?q?=E5=B7=A5=E4=BD=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 结论：已纳入 LinuxCNC 五轴 switchkins M428/M429/M430 来源资产，补齐 remap source probe 与 native 验证闭环，未新增自写 CNC 语义。 --- wasm-port/docs/compatibility-validation.md | 8 + wasm-port/docs/porting-steps-standalone.md | 27 + wasm-port/docs/scope-and-baseline.md | 6 +- wasm-port/docs/source-reuse-map.md | 8 +- .../linuxcnc_5axis_remap_asset_probe.cpp | 235 + .../core/shims/boost/python/object_fwd.hpp | 4 + .../shims/linuxcnc_remap_compile_compat.hh | 7 + wasm-port/runtime/ui/ini-panel/app.js | 2 +- .../tests/native/verify_native_probes.sh | 29 + wasm-port/tools/build_native_probes.sh | 44 + wasm-port/tools/source-manifest.txt | 50 + .../axis/vismach/5axis/bridgemill/5axis.ini | 202 + .../axis/vismach/5axis/bridgemill/5axis.tbl | 4 + .../axis/vismach/5axis/bridgemill/5axis.xml | 128 + .../5axis/bridgemill/5axis_postgui.hal | 17 + .../vismach/5axis/bridgemill/5axisgui.hal | 32 + .../vismach/5axis/bridgemill/5axisgui.ngc | 53 + .../sim/axis/vismach/5axis/bridgemill/README | 38 + .../5axis/bridgemill/remap_subs/428remap.ngc | 24 + .../5axis/bridgemill/remap_subs/429remap.ngc | 24 + .../5axis/bridgemill/remap_subs/430remap.ngc | 24 + .../vismach/5axis/table-dual-rotary/README | 42 + .../demos/xyzab-tdr-demo.ngc | 49 + .../table-dual-rotary/remap_subs/428remap.ngc | 24 + .../table-dual-rotary/remap_subs/429remap.ngc | 24 + .../table-dual-rotary/xyzab-tdr-postgui.hal | 23 + .../5axis/table-dual-rotary/xyzab-tdr.ini | 183 + .../5axis/table-dual-rotary/xyzab-tdr.tbl | 4 + .../5axis/table-dual-rotary/xyzab-tdr.var | 119 + .../5axis/table-dual-rotary/xyzab-tdr.var.bak | 119 + .../5axis/table-dual-rotary/xyzab-tdr.xml | 325 ++ .../table-dual-rotary/xyzab-tdr_cmds.hal | 207 + .../vismach/5axis/table-rotary-tilting/README | 32 + .../table-rotary-tilting/demos/boat-xyzac.ngc | 1881 +++++++ .../table-rotary-tilting/demos/boat-xyzbc.ngc | 1867 +++++++ .../demos/impeller-7bl-xyzac.ngc | 4510 +++++++++++++++++ .../demos/xyzac_switchkins.ngc | 3 + .../demos/xyzac_switchkins_test_1.ngc | 39 + .../demos/xyzac_switchkins_test_2.ngc | 49 + .../demos/xyzac_switchkins_test_3.ngc | 15 + .../demos/xyzbc_switchkins.ngc | 3 + .../remap_subs/428remap.ngc | 24 + .../remap_subs/429remap.ngc | 24 + .../remap_subs/430remap.ngc | 24 + .../remap_subs/centering.ngc | 42 + .../remap_subs/helix_ac.ngc | 22 + .../remap_subs/helix_bc.ngc | 22 + .../remap_subs/xyzac_switchkins_sub.ngc | 47 + .../remap_subs/xyzbc_switchkins_sub.ngc | 47 + .../table-rotary-tilting/switchkins.halshow | 29 + .../switchkins_postgui.hal | 12 + .../5axis/table-rotary-tilting/xyzac-trt.ini | 182 + .../5axis/table-rotary-tilting/xyzac-trt.tbl | 10 + .../5axis/table-rotary-tilting/xyzac-trt.txt | 37 + .../5axis/table-rotary-tilting/xyzac-trt.xml | 45 + .../table-rotary-tilting/xyzac-trt_cmds.hal | 207 + .../5axis/table-rotary-tilting/xyzbc-trt.ini | 182 + .../5axis/table-rotary-tilting/xyzbc-trt.tbl | 2 + .../5axis/table-rotary-tilting/xyzbc-trt.txt | 37 + .../5axis/table-rotary-tilting/xyzbc-trt.xml | 45 + .../linuxcnc/src/emc/rs274ngc/interp_remap.cc | 640 +++ 61 files changed, 12160 insertions(+), 4 deletions(-) create mode 100644 wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_asset_probe.cpp create mode 100644 wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.xml create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/README create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/README create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt create mode 100644 wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml create mode 100644 wasm-port/vendor/linuxcnc/src/emc/rs274ngc/interp_remap.cc diff --git a/wasm-port/docs/compatibility-validation.md b/wasm-port/docs/compatibility-validation.md index f7bd154..4f136f6 100644 --- a/wasm-port/docs/compatibility-validation.md +++ b/wasm-port/docs/compatibility-validation.md @@ -587,3 +587,11 @@ switchable `5axiskins` XYZBCW bridge-mill model, TRT `xyzac`/`xyzbc` table-rotary models, CoreXY, rotated-axis, rose, max, linear-delta, rotary-delta, Scorbot, tripod, SCARA, PUMA, generic serial, generic hexapod, and pentapod models. + +`linuxcnc_5axis_remap_asset_probe` pins the LinuxCNC sample-machine assets +that define five-axis switchkins `M428`, `M429`, and `M430`: bridge-mill, +dual-rotary, and table-rotary-tilting INI files, `remap_subs/*.ngc`, HAL +switchkins links, tool tables, and demo programs. It verifies that these +commands remain LinuxCNC `REMAP` entries backed by LinuxCNC NGC subroutines +using `M68`, `M66`, and `_hal[motion.switchkins-type]`; it does not implement +the remap execution path. diff --git a/wasm-port/docs/porting-steps-standalone.md b/wasm-port/docs/porting-steps-standalone.md index 4ddf733..85d2aff 100644 --- a/wasm-port/docs/porting-steps-standalone.md +++ b/wasm-port/docs/porting-steps-standalone.md @@ -783,6 +783,30 @@ Steps: - planner outputs - forward/inverse kinematics - 5-axis world/joint transforms + - LinuxCNC five-axis `M428`/`M429`/`M430` remap assets and switchkins + machine configuration links + +Current five-axis switchkins status: + +1. Vendored LinuxCNC `5axiskins`, `xyzac-trt-kins`, and `xyzbc-trt-kins` + sources are compiled and probed natively. +2. Vendored LinuxCNC sample machine assets now cover bridge-mill, + table-dual-rotary, and table-rotary-tilting INI/HAL/tool/demo/remap + files. +3. `M428`, `M429`, and `M430` remain LinuxCNC `REMAP` entries backed by + vendored LinuxCNC NGC subroutines; do not replace them with standalone + M-code handlers. + +Next work: + +1. Route vendored LinuxCNC remap lookup/execution through the standalone + interpreter harness for NGC remaps. +2. Connect the standalone HAL adapter so LinuxCNC `M68`/`M66` remap + synchronization updates and reads `_hal[motion.switchkins-type]`. +3. Add a native machine-session harness for `xyzac-trt` and `xyzbc-trt` + programs that switch `M429 -> M428 -> M429`. +4. Export the validated switchkins/remap status through the WASM SDK and INI + panel without adding JavaScript CNC semantics. Involved LinuxCNC source: @@ -796,6 +820,9 @@ Involved LinuxCNC source: - `src/hal/components/xyzab_tdr_kins.comp` - `src/hal/components/xyzacb_trsrn.comp` - `src/hal/components/xyzbca_trsrn.comp` +- `configs/sim/axis/vismach/5axis/bridgemill/*` +- `configs/sim/axis/vismach/5axis/table-dual-rotary/*` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/*` ## Phase 10: Build the Standalone WASM Program diff --git a/wasm-port/docs/scope-and-baseline.md b/wasm-port/docs/scope-and-baseline.md index 7c665cb..6992eeb 100644 --- a/wasm-port/docs/scope-and-baseline.md +++ b/wasm-port/docs/scope-and-baseline.md @@ -70,5 +70,7 @@ The native baseline compares those negative fixtures with upstream Machine baseline is still limited to standalone interpreter, trajectory planner, LinuxCNC identity/trivial kinematics, LinuxCNC `5axiskins` XYZBCW -bridge-mill probing, and LinuxCNC TRT `xyzac`/`xyzbc` probing. Additional -non-trivial kinematics and fuller machine baselines remain future work. +bridge-mill probing, LinuxCNC TRT `xyzac`/`xyzbc` probing, and vendored +LinuxCNC five-axis sample machine assets for `M428`, `M429`, and `M430` +switchkins remaps. Full standalone execution of those remaps still needs the +LinuxCNC remap runtime and HAL synchronization boundary connected. diff --git a/wasm-port/docs/source-reuse-map.md b/wasm-port/docs/source-reuse-map.md index 99ed2db..75489f9 100644 --- a/wasm-port/docs/source-reuse-map.md +++ b/wasm-port/docs/source-reuse-map.md @@ -40,6 +40,7 @@ Current validation is intentionally mechanical: | Identity/trivial kinematics | `src/emc/kinematics/kinematics.h`, `cubic.h`, `kins_util.c`, `trivkins.c` | Copy unchanged | HAL component lifecycle and RTAPI module metadata are replaced by standalone shims; forward/inverse mapping behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_kinematics_probe` | | Switchable 5-axis bridge kinematics | `src/emc/kinematics/5axiskins.c`, `switchkins.c`, `switchkins.h`, `userkfuncs.c`, plus `src/rtapi/rtapi_ctype.h` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; switchable 5-axis forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_5axis_kinematics_probe` | | TRT table-rotary kinematics | `src/emc/kinematics/trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c` | Copy unchanged | HAL pin allocation and switchkins lifecycle stay runtime boundaries; XYZAC/XYZBC TRT forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_xyzac_trt_kinematics_probe`, `linuxcnc_xyzbc_trt_kinematics_probe` | +| Five-axis switchkins machine configs and M428/M429/M430 remaps | `configs/sim/axis/vismach/5axis/bridgemill/*`, `table-dual-rotary/*`, and `table-rotary-tilting/*` selected INI, HAL, tool-table, XML, demo, and `remap_subs/*.ngc` files | Copy unchanged | `M428`, `M429`, and `M430` remain LinuxCNC `REMAP` entries that call LinuxCNC NGC subroutines using `M68`, `M66`, `_hal[motion.switchkins-type]`, and the INI/HAL `motion.analog-out-03 => motion.switchkins-type` link; standalone execution of these remaps still requires the interpreter remap runtime and HAL synchronization edge to be connected | Vendor byte sync, `linuxcnc_5axis_remap_asset_probe`, browser INI panel sample loaded from vendored `xyzab-tdr.ini` | | Additional non-switchable kinematics | `src/emc/kinematics/corexykins.c`, `rotatekins.c`, `rosekins.c`, `maxkins.c`, `lineardeltakins.c`, `lineardeltakins-common.h`, `rotarydeltakins.c`, `rotarydeltakins-common.h`, `scorbot-kins.c`, `tripodkins.c`, `scarakins.c`, `pumakins.c`, `pumakins.h`, `genhexkins.c`, `genhexkins.h`, `genserfuncs.c`, `genserkins.c`, `genserkins.h`, `ugenserkins.c`, `pentakins.c`, `pentakins.h`, `cubic.c` | Copy unchanged | HAL pin allocation, HAL parameter allocation, HAL component lifecycle, RTAPI module metadata, Go math C/C++ linkage, switchkins iterative-forward warmup, and userspace test-program process entry remain standalone runtime edges; forward/inverse behavior remains LinuxCNC source where the module exposes it | Vendor byte sync, per-file source probes, `linuxcnc_corexy_kinematics_probe`, `linuxcnc_rotate_kinematics_probe`, `linuxcnc_rose_kinematics_probe`, `linuxcnc_max_kinematics_probe`, `linuxcnc_lineardelta_kinematics_probe`, `linuxcnc_rotarydelta_kinematics_probe`, `linuxcnc_scorbot_kinematics_probe`, `linuxcnc_tripod_kinematics_probe`, `linuxcnc_scara_kinematics_probe`, `linuxcnc_puma_kinematics_probe`, `linuxcnc_genser_kinematics_probe`, `linuxcnc_genhex_kinematics_probe`, `linuxcnc_pentakins_kinematics_probe` | | Trajectory planner | `src/emc/tp/tp.c`, `tc.c`, `tcq.c`, `spherical_arc.c`, `blendmath.c`, `sp_scurve.c`, `ruckig_wrapper.c`, plus matching `*.h` files | Copy unchanged | Native realtime scheduling and motion process state are replaced by standalone probe setup; the WASM TP probe uses the same deterministic status/config boundary and calls vendored TP APIs through a narrow C ABI | Vendor byte sync, per-file source probes, `linuxcnc_tp_api_probe`, `tests/wasm/node/verify_tp_wasm.sh` | | Ruckig C planner support | Selected `src/emc/tp/cruckig/*.c` and `*.h` files in the manifest | Copy unchanged | Used as LinuxCNC planner support code through vendored TP sources | Vendor byte sync, per-file source probes, `tests/wasm/node/verify_tp_wasm.sh` | @@ -58,7 +59,7 @@ Current validation is intentionally mechanical: | RTAPI | `rtapi_*.h`, TP, posemath, motion headers | Minimal standalone shim in `runtime/core/shims/rtapi.h` | | NML transport | `emc.hh`, motion/NML type headers | Transport is not ported; only the status/type edges needed by vendored compute code are exposed through standalone shims and probes | | HAL runtime | named parameter lookup, kinematics component lifecycle, and runtime status edges | Standalone HAL adapter under `runtime/core/linuxcnc_wrap/` | -| Python/remap | `rs274ngc_pre.cc`, `interp_o_word.cc`, remap hooks | Stubbed at runtime boundary; no Python CNC semantics are reimplemented | +| Python/remap | `rs274ngc_pre.cc`, `interp_o_word.cc`, remap hooks, selected LinuxCNC `configs/sim/axis/vismach/5axis/*/remap_subs/*.ngc` files | Stubbed at runtime boundary today; five-axis M428/M429/M430 source assets are vendored unchanged, and the next runtime step is to route LinuxCNC NGC remap execution plus HAL pin synchronization through standalone adapters without reimplementing the remap semantics | | Canonical machine actions | `interp_convert.cc`, `interp_execute.cc`, `interp_queue.cc` | Captured by standalone canonical event sink functions for regression fixtures | | Realtime scheduling | TP and motion headers | Not ported; native TP probes seed deterministic status/config state | | GUI | None used as implementation | Native LinuxCNC GUI remains reference-only | @@ -69,6 +70,11 @@ Current validation is intentionally mechanical: source-probe level. Serial `genserkins`, hexapod `genhexkins`, and pentapod `pentakins` have native runtime baselines; full runtime machine baselines for userspace genser flows are not yet established. +- Five-axis M428/M429/M430 source assets are now vendored for bridge-mill, + dual-rotary, and table-rotary-tilting LinuxCNC sample machines. Full + standalone execution still needs LinuxCNC remap dispatch, the `M68`/`M66` + synchronization path, and `_hal[motion.switchkins-type]` readback connected + through the standalone HAL boundary. - Cutter compensation positive motion and negative interpreter paths are fixture-covered through vendored `interp_convert.cc` and `interp_queue.cc`. - Browser/WASM C ABI and JS SDK layers are now present for the INI parser, the diff --git 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 new file mode 100644 index 0000000..3aab30e --- /dev/null +++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_asset_probe.cpp @@ -0,0 +1,235 @@ +#include +#include +#include +#include +#include + +#include "emc/ini/inifile.hh" + +#ifndef LINUXCNC_VENDOR_DIR +#error "LINUXCNC_VENDOR_DIR must point at wasm-port/vendor/linuxcnc" +#endif + +namespace { + +struct MachineCase { + const char *label; + const char *ini_rel; + const char *machine; + const char *kinematics; + const char *coordinates; + const char *joints; + const char *parameter_file; + const char *tool_table; + bool expects_m430; +}; + +std::string vendor_path(const std::string &rel) +{ + return std::string(LINUXCNC_VENDOR_DIR) + "/" + rel; +} + +std::string read_text(const std::string &path) +{ + std::ifstream input(path); + return std::string( + std::istreambuf_iterator(input), + std::istreambuf_iterator()); +} + +bool contains(const std::string &text, const std::string &needle) +{ + return text.find(needle) != std::string::npos; +} + +void print_bool(const std::string &name, bool value) +{ + std::cout << name << "=" << (value ? 1 : 0) << "\n"; +} + +bool check_string( + const linuxcnc::IniFile &ini, + const std::string &label, + const std::string §ion, + const std::string &tag, + const std::string &expected) +{ + const auto actual = ini.findString(tag, section); + std::cout << label << "_" << section << "." << tag << "=" + << (actual ? *actual : "") << "\n"; + const bool ok = actual && *actual == expected; + print_bool(label + "_" + section + "." + tag + "_ok", ok); + return ok; +} + +bool check_remap_entry( + const std::vector &remaps, + const std::string &label, + const std::string &mcode, + const std::string &ngc) +{ + const std::string mcode_needle = "REMAP = " + mcode; + const std::string ngc_needle = "ngc=" + ngc; + bool ok = false; + for (const auto &remap : remaps) { + if (contains(remap, mcode) && contains(remap, ngc_needle)) { + ok = true; + } + } + print_bool(label + "_remap_" + mcode + "_" + ngc, ok); + (void)mcode_needle; + return ok; +} + +bool check_remap_file( + const std::string &label, + const std::string &dir_rel, + const std::string &mcode, + const std::string &expected_kinstype) +{ + const std::string path = vendor_path(dir_rel + "/remap_subs/" + mcode.substr(1) + "remap.ngc"); + const std::string text = read_text(path); + const bool ok = + contains(text, "o<" + mcode.substr(1) + "remap>sub") && + contains(text, "# = " + expected_kinstype) && + contains(text, "# = 3") && + contains(text, "#<_hal[motion.switchkins-type]>") && + contains(text, "M68") && + contains(text, "M66") && + contains(text, "o<" + mcode.substr(1) + "remap>endsub"); + print_bool(label + "_" + mcode + "_remap_file_from_linuxcnc", ok); + return ok; +} + +bool check_text_mcodes( + const std::string &label, + const std::string &rel, + bool expects_m428, + bool expects_m429) +{ + const std::string text = read_text(vendor_path(rel)); + const bool ok = + (!expects_m428 || contains(text, "M428")) && + (!expects_m429 || contains(text, "M429")); + print_bool(label + "_switch_mcodes_from_linuxcnc", ok); + return ok; +} + +bool check_machine(const MachineCase &machine) +{ + bool ok = true; + const std::string ini_path = vendor_path(machine.ini_rel); + linuxcnc::IniFile ini(ini_path); + const bool opened = static_cast(ini); + print_bool(std::string(machine.label) + "_ini_open", opened); + if (!opened) { + return false; + } + + ok &= check_string(ini, machine.label, "EMC", "MACHINE", machine.machine); + ok &= check_string(ini, machine.label, "KINS", "KINEMATICS", machine.kinematics); + ok &= check_string(ini, machine.label, "TRAJ", "COORDINATES", machine.coordinates); + ok &= check_string(ini, machine.label, "KINS", "JOINTS", machine.joints); + ok &= check_string(ini, machine.label, "RS274NGC", "SUBROUTINE_PATH", "./remap_subs"); + ok &= check_string(ini, machine.label, "RS274NGC", "PARAMETER_FILE", machine.parameter_file); + ok &= check_string(ini, machine.label, "EMCIO", "TOOL_TABLE", machine.tool_table); + + const auto remaps = ini.findStringAll("REMAP", "RS274NGC"); + std::cout << machine.label << "_remap_count=" << remaps.size() << "\n"; + ok &= check_remap_entry(remaps, machine.label, "M428", "428remap"); + ok &= check_remap_entry(remaps, machine.label, "M429", "429remap"); + if (machine.expects_m430) { + ok &= check_remap_entry(remaps, machine.label, "M430", "430remap"); + } + + const std::string ini_text = read_text(ini_path); + const bool has_switchkins_halcmd = + contains(ini_text, "motion.analog-out-03 => motion.switchkins-type"); + ok &= has_switchkins_halcmd; + print_bool(std::string(machine.label) + "_halcmd_switchkins_from_linuxcnc", has_switchkins_halcmd); + + const std::string dir_rel = std::string(machine.ini_rel).substr( + 0, + std::string(machine.ini_rel).find_last_of('/')); + return ok && check_remap_file(machine.label, dir_rel, "M428", + std::string(machine.label) == "bridgemill" ? "0" : "1") && + check_remap_file(machine.label, dir_rel, "M429", + std::string(machine.label) == "bridgemill" ? "1" : "0") && + (!machine.expects_m430 || check_remap_file(machine.label, dir_rel, "M430", "2")); +} + +} // namespace + +int main() +{ + const MachineCase cases[] = { + { + "bridgemill", + "configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", + "Sim-5Axis Bridge Mill (xyzbcw)", + "5axiskins coordinates=xyzbcwy", + "XYZBCWY", + "7", + "5axis.var", + "5axis.tbl", + true, + }, + { + "xyzab_tdr", + "configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "sim-xyzab-tdr-kins (switchkins)", + "xyzab_tdr_kins", + "XYZAB", + "5", + "xyzab-tdr.var", + "xyzab-tdr.tbl", + false, + }, + { + "xyzac_trt", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sim-xyzac-trt-kins (switchkins)", + "xyzac-trt-kins sparm=identityfirst", + "XYZAC", + "5", + "xyzac.var", + "xyzac-trt.tbl", + true, + }, + { + "xyzbc_trt", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "sim-xyzbc-trt-kins (switchkins)", + "xyzbc-trt-kins sparm=identityfirst", + "XYZBC", + "5", + "xyzbc.var", + "xyzbc-trt.tbl", + true, + }, + }; + + bool ok = true; + for (const auto &machine : cases) { + ok &= check_machine(machine); + } + + ok &= check_text_mcodes( + "xyzab_tdr", + "configs/sim/axis/vismach/5axis/table-dual-rotary/README", + true, + true); + ok &= check_text_mcodes( + "xyzac_trt", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + true, + true); + ok &= check_text_mcodes( + "xyzbc_trt", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + true, + true); + + print_bool("fiveaxis_remap_assets_from_linuxcnc", ok); + return ok ? 0 : 1; +} diff --git a/wasm-port/runtime/core/shims/boost/python/object_fwd.hpp b/wasm-port/runtime/core/shims/boost/python/object_fwd.hpp index cc43aca..249ee79 100644 --- a/wasm-port/runtime/core/shims/boost/python/object_fwd.hpp +++ b/wasm-port/runtime/core/shims/boost/python/object_fwd.hpp @@ -14,6 +14,7 @@ typedef _object PyObject; inline int PyCallable_Check(PyObject *) { return 0; } inline int PyErr_ExceptionMatches(PyObject *) { return 0; } inline void PyErr_Clear() {} +inline void PyErr_Print() {} inline int PyUnicode_Check(PyObject *) { return 0; } inline int PyLong_Check(PyObject *) { return 0; } inline int PyFloat_Check(PyObject *) { return 0; } @@ -36,6 +37,9 @@ public: template explicit object(const T &) {} + template + object &operator=(const T &) { return *this; } + object attr(const char *) const { return object(); } object operator[](const char *) const { return object(); } object operator[](const std::string &) const { return object(); } diff --git a/wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh b/wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh new file mode 100644 index 0000000..535732a --- /dev/null +++ b/wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh @@ -0,0 +1,7 @@ +#pragma once + +#include + +#ifndef towlower +#define towlower std::towlower +#endif diff --git a/wasm-port/runtime/ui/ini-panel/app.js b/wasm-port/runtime/ui/ini-panel/app.js index 221cce6..868c3b5 100644 --- a/wasm-port/runtime/ui/ini-panel/app.js +++ b/wasm-port/runtime/ui/ini-panel/app.js @@ -19,7 +19,7 @@ import { } from "../../opfs/linuxcnc-machine-session-bridge.js"; const SAMPLE_PATH = - "../../../linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini"; + "../../../vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini"; const MACHINE_ID = "xyzab-tdr"; const MACHINE_PATHS = machineFilePaths(MACHINE_ID); const OPFS_FILE = MACHINE_PATHS.ini; diff --git a/wasm-port/tests/native/verify_native_probes.sh b/wasm-port/tests/native/verify_native_probes.sh index 72fd3e0..68aad5f 100755 --- a/wasm-port/tests/native/verify_native_probes.sh +++ b/wasm-port/tests/native/verify_native_probes.sh @@ -80,6 +80,8 @@ check_exitcode linuxcnc_interp_state_probe check_exitcode linuxcnc_emc_status_probe check_exitcode linuxcnc_emc_status_probe.run check_exitcode linuxcnc_inifile_source_probe +check_exitcode linuxcnc_5axis_remap_asset_probe +check_exitcode linuxcnc_5axis_remap_asset_probe.run check_exitcode linuxcnc_tp_api_probe check_exitcode linuxcnc_tp_api_probe.run check_exitcode linuxcnc_kinematics_probe @@ -200,6 +202,7 @@ check_exitcode linuxcnc_interp_find_source_probe check_exitcode linuxcnc_interp_namedparams_source_probe check_exitcode linuxcnc_interp_write_source_probe check_exitcode linuxcnc_interp_o_word_source_probe +check_exitcode linuxcnc_interp_remap_source_probe check_exitcode linuxcnc_rs274ngc_pre_source_probe check_exitcode linuxcnc_interp_base_source_probe check_exitcode linuxcnc_gomath_source_probe @@ -212,6 +215,32 @@ grep -Fq "emc_status_default_machine_units_mm=1" "$EMC_STATUS_STDOUT" grep -Fq "emc_status_inch_machine_units_visible=1" "$EMC_STATUS_STDOUT" grep -Fq "emc_status_mm_machine_units_visible=1" "$EMC_STATUS_STDOUT" +FIVEAXIS_REMAP_ASSET_STDOUT="$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.stdout.log" +grep -Fq "bridgemill_ini_open=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_remap_M428_428remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_remap_M429_429remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_remap_M430_430remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_M428_remap_file_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_M429_remap_file_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "bridgemill_M430_remap_file_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_ini_open=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_remap_M428_428remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_remap_M429_429remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_M428_remap_file_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_M429_remap_file_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzac_trt_ini_open=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzac_trt_remap_M428_428remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzac_trt_remap_M429_429remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzac_trt_remap_M430_430remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzbc_trt_ini_open=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzbc_trt_remap_M428_428remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzbc_trt_remap_M429_429remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzbc_trt_remap_M430_430remap=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzab_tdr_switch_mcodes_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzac_trt_switch_mcodes_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "xyzbc_trt_switch_mcodes_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" +grep -Fq "fiveaxis_remap_assets_from_linuxcnc=1" "$FIVEAXIS_REMAP_ASSET_STDOUT" + NAMEDPARAM_STDOUT="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log" grep -Fq "init_named_parameters=0" "$NAMEDPARAM_STDOUT" grep -Fq "global_named_count=57" "$NAMEDPARAM_STDOUT" diff --git a/wasm-port/tools/build_native_probes.sh b/wasm-port/tools/build_native_probes.sh index d8896f2..f5836bc 100755 --- a/wasm-port/tools/build_native_probes.sh +++ b/wasm-port/tools/build_native_probes.sh @@ -40,6 +40,16 @@ COMMON_INI_FLAGS=( -I"$VENDOR_DIR/src/emc/ini" ) +REMAP_SOURCE_FLAGS=( + "${COMMON_INI_FLAGS[@]}" + -include "$SHIM_DIR/linuxcnc_remap_compile_compat.hh" +) + +VENDOR_ASSET_FLAGS=( + "${COMMON_INI_FLAGS[@]}" + -DLINUXCNC_VENDOR_DIR=\"$VENDOR_DIR\" +) + MINIMAL_FLAGS=( "${COMMON_INI_FLAGS[@]}" -ffunction-sections @@ -338,6 +348,11 @@ INI_PROBE_SOURCES=( "$WRAP_DIR/linuxcnc_ini_probe.cpp" ) +FIVEAXIS_REMAP_ASSET_PROBE_SOURCES=( + "$VENDOR_DIR/src/emc/ini/inifile.cc" + "$WRAP_DIR/linuxcnc_5axis_remap_asset_probe.cpp" +) + STATE_PROBE_SOURCES=( "$WRAP_DIR/linuxcnc_interp_state_probe.cpp" ) @@ -654,6 +669,29 @@ build_binary_target \ NO_LINK_FLAGS \ -lfmt +build_binary_target \ + linuxcnc_5axis_remap_asset_probe \ + "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe" \ + VENDOR_ASSET_FLAGS \ + FIVEAXIS_REMAP_ASSET_PROBE_SOURCES \ + NO_LINK_FLAGS \ + -lfmt + +if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.exitcode")" == "0" ]]; then + set +e + "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe" \ + >"$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.stdout.log" \ + 2>"$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.stderr.log" + FIVEAXIS_REMAP_ASSET_RUN_RC=$? + set -e + echo "$FIVEAXIS_REMAP_ASSET_RUN_RC" > "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.exitcode" +else + rm -f \ + "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.exitcode" \ + "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.stdout.log" \ + "$BUILD_DIR/linuxcnc_5axis_remap_asset_probe.run.stderr.log" +fi + build_object_target \ linuxcnc_inifile_source_probe \ "$BUILD_DIR/linuxcnc_inifile_source_probe.o" \ @@ -1454,6 +1492,12 @@ build_object_target \ "$VENDOR_DIR/src/emc/rs274ngc/interp_o_word.cc" \ COMMON_INI_FLAGS +build_object_target \ + linuxcnc_interp_remap_source_probe \ + "$BUILD_DIR/linuxcnc_interp_remap_source_probe.o" \ + "$VENDOR_DIR/src/emc/rs274ngc/interp_remap.cc" \ + REMAP_SOURCE_FLAGS + build_object_target \ linuxcnc_rs274ngc_pre_source_probe \ "$BUILD_DIR/linuxcnc_rs274ngc_pre_source_probe.o" \ diff --git a/wasm-port/tools/source-manifest.txt b/wasm-port/tools/source-manifest.txt index 1ab761c..9ad391d 100644 --- a/wasm-port/tools/source-manifest.txt +++ b/wasm-port/tools/source-manifest.txt @@ -146,6 +146,56 @@ src/emc/rs274ngc/interp_execute.cc src/emc/rs274ngc/interp_find.cc src/emc/rs274ngc/interp_inverse.cc src/emc/rs274ngc/interp_o_word.cc +src/emc/rs274ngc/interp_remap.cc src/emc/rs274ngc/interp_convert.cc src/emc/rs274ngc/interp_cycles.cc src/emc/rs274ngc/interp_g7x.cc +configs/sim/axis/vismach/5axis/bridgemill/5axis.ini +configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl +configs/sim/axis/vismach/5axis/bridgemill/5axis.xml +configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal +configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal +configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc +configs/sim/axis/vismach/5axis/bridgemill/README +configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc +configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc +configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc +configs/sim/axis/vismach/5axis/table-dual-rotary/README +configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc +configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc +configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml +configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal +configs/sim/axis/vismach/5axis/table-rotary-tilting/README +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc +configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow +configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt +configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini new file mode 100644 index 0000000..a09a526 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini @@ -0,0 +1,202 @@ +[EMC] +VERSION = 1.1 +MACHINE = Sim-5Axis Bridge Mill (xyzbcw) + DEBUG = 0 + +[DISPLAY] + GEOMETRY = XYZCBW + OPEN_FILE = ./5axisgui.ngc + INCREMENTS = 10 mm, 1 mm, .1 mm + JOG_AXES = XYZC + GEOMETRY = XYZCBW + DISPLAY = axis + CYCLE_TIME = 0.200 + POSITION_OFFSET = RELATIVE +POSITION_FEEDBACK = ACTUAL +MAX_FEED_OVERRIDE = 2.0 + PROGRAM_PREFIX = ../../nc_files/ + INTRO_GRAPHIC = linuxcnc.gif + INTRO_TIME = 5 + TOOL_EDITOR = tooledit z diam + #EDITOR = geany + PYVCP = 5axis.xml + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + HAL_PIN_VARS = 1 + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + REMAP = M430 modalgroup=10 ngc=430remap +PARAMETER_FILE = 5axis.var + +[EMCMOT] + EMCMOT = motmod +COMM_TIMEOUT = 1.0 +SERVO_PERIOD = 1000000 + +[TASK] + TASK = milltask +CYCLE_TIME = 0.010 + +[HAL] + HALUI = halui +HALFILE = LIB:basic_sim.tcl +HALFILE = 5axisgui.hal +HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type +POSTGUI_HALFILE = 5axis_postgui.hal + +[HALUI] +# M428:bridgemill (kinstype==0 startupDEFAULT) +# M429:identity kins (kinstype==1) +# M430:userk kins (kinstype==2) +MDI_COMMAND = M428 +MDI_COMMAND = M429 +MDI_COMMAND = M430 + +[TRAJ] + COORDINATES = XYZBCWY + LINEAR_UNITS = mm + ANGULAR_UNITS = degree +MAX_ANGULAR_VELOCITY = 360.0 +DEFAULT_LINEAR_VELOCITY = 200.0 +MAX_LINEAR_VELOCITY = 346.0 +MAX_LINEAR_ACCELERATION = 800.0 +DEFAULT_LINEAR_ACCELERATION = 800.0 +MAX_ANGULAR_VELOCITY = 360 + +[EMCIO] +TOOL_TABLE = 5axis.tbl + +[KINS] +# Note: Supported coordinates are XYZBCW but the W coordinate +# motion is incorporated into the X,Y,Z axes. +# Use of the W coordinate requires a joint (5) +# in order to allow display of W values. +# Use immediate homing for this joint (JOINT_5) +# Note: 5axiskins is misnomer +# (xyzbcw uses 6 joints) +# (xyzbcwy uses 7 joints) + +# xyzbcw +# type0:5axiskins, type1:identity, type2:userk +# x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5 +# JOINTS = 6 +# KINEMATICS = 5axiskins + +# illustraed below is complex example with duplicate +# coord letters for y, 7 joints total): +# type0:5axiskins, type1:identity, type2:userk +# x:joint0 +# y:joint1 AND joint6 +# z:joint2 +# b:joint3 +# c:joint4 +# w:joint5 + JOINTS = 7 + KINEMATICS = 5axiskins coordinates=xyzbcwy + +[AXIS_X] + MIN_LIMIT = -500 + MAX_LIMIT = 500 + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + +[AXIS_Y] + MIN_LIMIT = -500 + MAX_LIMIT = 500 + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + +[AXIS_Z] + MIN_LIMIT = -500 + MAX_LIMIT = 100 + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + +# B is one-to-one to JOINT_3 +[AXIS_B] + MIN_LIMIT = -120 + MAX_LIMIT = 120 + MAX_VELOCITY = 60 +MAX_ACCELERATION = 200 + +# C is one-to-one to JOINT_4 +[AXIS_C] + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + MAX_VELOCITY = 60 +MAX_ACCELERATION = 200 + +# W motion is incorporated in Z motion +# but a joint (JOINT_5) must be configured +# to support display of W values +[AXIS_W] + MIN_LIMIT = -100 + MAX_LIMIT = 500 + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + +[JOINT_0] + TYPE = LINEAR + MAX_VELOCITY = 200 + MAX_ACCELERATION = 800 + MIN_LIMIT = -500 + MAX_LIMIT = 500 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_1] + TYPE = LINEAR + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + MIN_LIMIT = -500 + MAX_LIMIT = 500 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = -1 + +# joints 1 and 6 used for y +[JOINT_6] + TYPE = LINEAR + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + MIN_LIMIT = -500 + MAX_LIMIT = 500 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = -1 + +[JOINT_2] + TYPE = LINEAR + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + MIN_LIMIT = -500 + MAX_LIMIT = 100 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_3] + TYPE = ANGULAR + MAX_VELOCITY = 60 +MAX_ACCELERATION = 200 + MIN_LIMIT = -120 + MAX_LIMIT = 120 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_4] + TYPE = ANGULAR + MAX_VELOCITY = 60 +MAX_ACCELERATION = 200 + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +# immediate homing for JOINT_5 (w coordinate) +[JOINT_5] + TYPE = LINEAR + MIN_LIMIT = -100 + MAX_LIMIT = 500 + MAX_VELOCITY = 200 +MAX_ACCELERATION = 800 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl new file mode 100644 index 0000000..80e531e --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.tbl @@ -0,0 +1,4 @@ +T10 P10 Z10 D10 +T11 P11 Z11 D10 +T100 P100 Z100 D10 +T150 P150 Z150 D10 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.xml b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.xml new file mode 100644 index 0000000..fa81e53 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.xml @@ -0,0 +1,128 @@ + + + + + "ridge" + 5 + + + [" 0:BRIDGE ", "1:IDENTITY", " 2:USERK "] + ("DejaVu Sans Mono",16) + "black" + "yellow" + + + + + + + + + ("Helvetica",14) + + + + "joint0" + ("Helvetica",14) + "4.4f" + + + + + + "joint1" + ("Helvetica",14) + "4.4f" + + + + + + "joint2" + ("Helvetica",14) + "4.4f" + + + + + + "joint3" + ("Helvetica",14) + "4.4f" + + + + + + "joint4" + ("Helvetica",14) + "4.4f" + + + + + + "joint5" + ("Helvetica",14) + "4.4f" + + + + + + "joint6" + ("Helvetica",14) + "4.4f" + + + + + + + "ridge" + 5 + + + + diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal new file mode 100644 index 0000000..c86ee9e --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal @@ -0,0 +1,17 @@ +net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0 +net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1 +net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2 + +net :type0-button <= pyvcp.type0-button => halui.mdi-command-00 +net :type1-button <= pyvcp.type1-button => halui.mdi-command-01 +net :type2-button <= pyvcp.type2-button => halui.mdi-command-02 + +net :jx => pyvcp.joint0 +net :jy => pyvcp.joint1 +net :jz => pyvcp.joint2 +net :jb => pyvcp.joint3 +net :jc => pyvcp.joint4 +net :jw => pyvcp.joint5 +net :jy2 => pyvcp.joint6 + +net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal new file mode 100644 index 0000000..d86238d --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal @@ -0,0 +1,32 @@ +loadusr -W 5axisgui +# to set different pivot_len, use: +# 'loadusr -W 5axisgui pivot_len=value' + +net :jx joint.0.pos-fb 5axisgui.jx +net :jy joint.1.pos-fb 5axisgui.jy +net :jz joint.2.pos-fb 5axisgui.jz +net :jb joint.3.pos-fb 5axisgui.jb +net :jc joint.4.pos-fb 5axisgui.jc +net :jw joint.5.pos-fb +net :jy2 joint.6.pos-fb + +# Note: no joint or motor connections are used +# for the w coordinate + +# compute pivot-length needed for 5axiskins +# according to gui pivot_len and tool z offset +loadrt sum2 names=pivotsum +addf pivotsum servo-thread + +net :gui-pivot-len <= 5axisgui.pivot_len +net :gui-pivot-len => pivotsum.in0 + +net :tool-len <= motion.tooloffset.z +net :tool-len => pivotsum.in1 +net :tool-len => 5axisgui.tool_length + +net :pivot-len <= pivotsum.out +net :pivot-len => 5axiskins.pivot-length + +net :tool-diam <= halui.tool.diameter +net :tool-diam => 5axisgui.tool_diam diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc new file mode 100644 index 0000000..7b2c5a8 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc @@ -0,0 +1,53 @@ + # = 60 ; sphere radius + # = 5 ; safe distance +# = -5 + # = 0 + # = 8 + # = 16 + # = 100 + # = 1000 + +# = 0 +# = 0 +# = [360/#] +# = [90/#] + +g49 +t#m6g43 + +g53 g0 x0y0z#b0c0 w0 +g10l20 p0 x0 y0 z[#+#] b0 c0 w0 +g0 z0 +f# +o100 while [# lt #] + # = [#*#] + # = [[#+#]*[cos[#]]] + # = [#] + # = 0 + # = [-#] + g0 x# y# + m66e0l0 ; force sync + g0 z# + g0b[-90+#] + # = 0 +o200 while [# lt #] +o210 if [[# mod 2] eq 0] + # = [# * #] +o210 else + # = [360 - [1+ #] * #] +o210 endif + # = [#*[cos[#]]] + # = [#*[sin[#]]] + g0 x# y# z# c# + f# + g1 w[ # - #] + g0 w0 + m66e0l0 ;force sync + # = [#+1] +o200 endwhile + # = [#+1] +o100 endwhile + +g0x0y0z0b0c0w0 +g53 g0 x0y0z0 +m2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README new file mode 100644 index 0000000..2adf559 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README @@ -0,0 +1,38 @@ +This is a simulation of an XYZBCWY 5 axis bridge mill. + +Example demo: + + 1) $ linuxcnc 5axis.ini + 2) F1 ---------- Estop off + F2 ---------- Machine on + CTRL-HOME --- home all + F5 ---------- MDI tab + 3) orient vismach gui as required + 4) g0w10 ; retract w + 5) g43h100 ; tool offset (100) + 6) g0b45 ; tilt 45 deg wrt z + 7) g0c30 ; rotate 30 deg in xy + 8) g0w-10 ; simulate drill + 9) g0w10 ; retract drill +10) etc + +Note: Motion for the W coordinate is incorporated +into the motions of the joints used for X,Y,Z +motion but a corresponding joint.5 is needed to +correctly display W values. + +The joint.5.motor-pos-cmd should be looped to the +joint.5.motor-pos-fb and joint.5 should use immediate +homimg (HOME_SEARCH_VEL = 0). + +The 5axis.ini illustrates how to use multiple (2) +joints for the axis y coordinate. + +Configuration for XYZBCWY (7 joints total) +J0: X +J1: Y +J2: Z +J3: B +J4: C +J5: W +J6: Y diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc new file mode 100644 index 0000000..4ab3aaf --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: select kinstype=0 genhexkins +o<428remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc new file mode 100644 index 0000000..54726d3 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: select kinstype==1 Identity kinematics +o<429remap>sub + # = 1 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc new file mode 100644 index 0000000..7586236 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc @@ -0,0 +1,24 @@ +;M430 by remap: select kinstype==2 userk kins +o<430remap>sub + # = 2 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M430:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<430remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/README b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/README new file mode 100644 index 0000000..0a9f113 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/README @@ -0,0 +1,42 @@ +Switchable Table Dual Rotary (tdr) Sim config + +xyzab-tdr (switchable kinematics) + + +Demonstrations: + +For a demonstration of XYZAB_TCP kinematics the user can run the preloaded demo gcode with the default offsets. + +In the right hand panel of the axis gui sliders are provided to + +- change the geometrical (x,z)-offsets as measured from the rotation-point of the A/B rotary-assembly to the + face center of the rotary A table. The offsets are visibly adjusted in the vismach simulation and represented by a red indicator + for the x-offset and a blue indicator for the z-offset. + +- see the effects of misconfiguring the (x,y,z)-rot-point values used in the kinematics. These values represent the + physical position of the rotary-assembly in the machine as measured from the machine home position to the rotation-point + of the assembly. The rotation-point is identical to the intersection of the two rotational axes A and B when the (x,z)-offsets + are zero. When (x,z)-offsets are applied the rotation-point stays on the rotational B axis. The 'rot-point' as set by + these values as well as the true rotation-point of the rotary-assembly are indicated in the vismach simulation by a yellow cross + and a red sphere respectively. + +NOTE: +For proper tool-path preview RELOAD THE CGODE after startup and after changing offset values. + + + +*********************************************** +Note: IMPORTANT ini file requirements: + +[HAL] +HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + +[HALUI] +MDI_COMMAND = M429 +MDI_COMMAND = M428 +*********************************************** diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc new file mode 100644 index 0000000..76b2f4c --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc @@ -0,0 +1,49 @@ +; -- RELOAD GCODE FOR PROPER TOOL-PATH PREVIEW -- +g21 g90 g49 g54 +; switch to identity mode +m429 +; clear g54 +g10 l2 p0 x0 y0 z0 a0 b0 +; go to machine origin +g53 g0 x0 y0 z0 a0 b0 +; set g54 for face center of rotary +g10 l20 p0 x-[#<_hal[xyzab_tdr_kins.x-rot-point]>+#<_hal[xyzab_tdr_kins.x-offset]>] y-#<_hal[xyzab_tdr_kins.x-rot-point]> z-[#<_hal[xyzab_tdr_kins.z-rot-point]>+#<_hal[xyzab_tdr_kins.z-offset]>] a0 b0 +; load a tool +M61 Q2 G43 H2 +; switch to tcp mode +m428 +g0 b30 +; go to face center of rotary a +g0 x0 y0 z0 +; show basic tcp functionality +g0 x30 a180 +g0 x0 a0 +g0 b100 +g0 y-50 +g0 a90 +g0 b120 +g0 y0 +g0 a0 b30 +g0 x1 +; start with square +f1000 +g0 y-30 z-30 +g1 z30 +g1 a45 +g1 y30 +g1 a90 b45 +g1 z-30 +g1 a180 b100 +g1 y30 +g1 a90 b120 +g1 y-30 +g1 a0 b30 +g0 x5 +g1 y-30 z-30 a90 +g1 z30 a45 b60 +g1 y30 a90 b90 +g1 z-30 a135 b120 +g1 y-30 a0 b30 +; go to machine origin +g53 g0 x0 y0 z0 a0 b0 +m2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc new file mode 100644 index 0000000..46e2d01 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst) +o<428remap>sub + # = 1 ; xyzac,xyzbc + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc new file mode 100644 index 0000000..3fa610c --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: kinstype==0 Identity kinematics +o<429remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal new file mode 100644 index 0000000..ac96e95 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal @@ -0,0 +1,23 @@ +# switchkins pyvcp connections for: +# xyzab-tdr-kins.ini + +net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0 +net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1 + +net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear + +net :type0-button <= pyvcp.type0-button => halui.mdi-command-00 +net :type1-button <= pyvcp.type1-button => halui.mdi-command-01 + +net :axis-x => pyvcp.joint0 +net :axis-y => pyvcp.joint1 +net :axis-z => pyvcp.joint2 +net :rotary-a => pyvcp.joint3 +net :rotary-b => pyvcp.joint4 + +net :x-offset => pyvcp.x-offset-f +net :z-offset => pyvcp.z-offset-f +net :x-rot-point => pyvcp.x-rot-point-f +net :y-rot-point => pyvcp.y-rot-point-f +net :z-rot-point => pyvcp.z-rot-point-f + diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini new file mode 100644 index 0000000..75eb952 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini @@ -0,0 +1,183 @@ +[EMC] +VERSION = 1.1 +MACHINE = sim-xyzab-tdr-kins (switchkins) + +[DISPLAY] + GEOMETRY = XYZA-B + OPEN_FILE = ./demos/xyzab-tdr-demo.ngc + PYVCP = ./xyzab-tdr.xml + DISPLAY = axis +MAX_ANGULAR_VELOCITY = 360 + MAX_LINEAR_VELOCITY = 1000 + POSITION_OFFSET = RELATIVE + POSITION_FEEDBACK = ACTUAL + MAX_FEED_OVERRIDE = 2 + PROGRAM_PREFIX = ../../nc_files + INTRO_GRAPHIC = emc2.gif + INTRO_TIME = 1 + TOOL_EDITOR = tooledit z diam + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + PARAMETER_FILE = xyzab-tdr.var + +[KINS] +#NOTE: +# switchkins-type == 0 is identity kins +# switchkins-type == 1 is xyzab-tdr-kins + +KINEMATICS = xyzab_tdr_kins + JOINTS = 5 + +[HAL] + HALUI = halui + HALFILE = LIB:basic_sim.tcl +POSTGUI_HALFILE = xyzab-tdr-postgui.hal + +# net for control of motion.switchkins-type +HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type + +# Values '(x,z)-offsets' for geometric offset of the rotary-assembly and the +# values '(x,y,z)-rot-point' that describe the position of the +# rotation-point of the rotary-assembly can be changed using the sliders +# in the axis-gui. +# Default values (initval) and ranges (min,max) are set +# in the corresponding 'scale' sections in the file 'xyzab-tdr.xml' + +# vismach xyzab-tdr-gui items +HALCMD = loadusr -W xyzab-tdr-gui +HALCMD = net :axis-x joint.0.pos-fb xyzab-tdr-gui.axis-x +HALCMD = net :axis-y joint.1.pos-fb xyzab-tdr-gui.axis-y +HALCMD = net :axis-z joint.2.pos-fb xyzab-tdr-gui.axis-z +HALCMD = net :rotary-a joint.3.pos-fb xyzab-tdr-gui.rotary-a +HALCMD = net :rotary-b joint.4.pos-fb xyzab-tdr-gui.rotary-b +HALCMD = net :tool-offset motion.tooloffset.z xyzab-tdr-gui.tool_length +HALCMD = net :tool-diam halui.tool.diameter xyzab-tdr-gui.tool_diameter +HALCMD = net :x-offset xyzab-tdr-gui.x_offset +HALCMD = net :z-offset xyzab-tdr-gui.z_offset +HALCMD = net :x-rot-point xyzab-tdr-gui.x-rot-point +HALCMD = net :y-rot-point xyzab-tdr-gui.y-rot-point +HALCMD = net :z-rot-point xyzab-tdr-gui.z-rot-point + +# xyzab_tdr_kins items +HALCMD = net :tool-offset xyzab_tdr_kins.tool-offset-z +HALCMD = net :x-offset xyzab_tdr_kins.x-offset +HALCMD = net :z-offset xyzab_tdr_kins.z-offset +HALCMD = net :x-rot-point xyzab_tdr_kins.x-rot-point +HALCMD = net :y-rot-point xyzab_tdr_kins.y-rot-point +HALCMD = net :z-rot-point xyzab_tdr_kins.z-rot-point + +# This is only used to preset the vismach model to the default values as set +# in the xml scale widgets +# These will be overwritten by the values in the xml +HALCMD = sets :x-offset -20 +HALCMD = sets :z-offset -10 + +[HALUI] +# M429:identity kins (motion.switchkins-type==0 startupDEFAULT) +# M428:xyzab-tdr kins (motion.switchkins-type==1) +MDI_COMMAND = M429 +MDI_COMMAND = M428 + +[TRAJ] + COORDINATES = XYZAB + LINEAR_UNITS = mm + ANGULAR_UNITS = deg + DEFAULT_LINEAR_VELOCITY = 20 + MAX_LINEAR_VELOCITY = 35 + MAX_LINEAR_ACCELERATION = 400 +DEFAULT_LINEAR_ACCELERATION = 300 + +[EMCMOT] + EMCMOT = motmod +SERVO_PERIOD = 1000000 +COMM_TIMEOUT = 1 + +[TASK] + TASK = milltask +CYCLE_TIME = 0.010 + +[EMCIO] +TOOL_TABLE = xyzab-tdr.tbl + +[AXIS_X] + MIN_LIMIT = -200 + MAX_LIMIT = 200 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Y] + MIN_LIMIT = -200 + MAX_LIMIT = 200 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Z] + MIN_LIMIT = -300 + MAX_LIMIT = 300 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_A] + MIN_LIMIT = -3600 + MAX_LIMIT = 3600 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[AXIS_B] + MIN_LIMIT = -180 + MAX_LIMIT = 180 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[JOINT_0] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -200 + MAX_LIMIT = 200 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_1] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -200 + MAX_LIMIT = 200 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_2] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -300 + MAX_LIMIT = 300 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_3] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -3600 + MAX_LIMIT = 3600 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_4] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -180 + MAX_LIMIT = 180 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl new file mode 100644 index 0000000..3ed6a21 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.tbl @@ -0,0 +1,4 @@ +T1 P1 D1 +T2 P2 Z30 D3 +T3 P3 Z40 D4 +T4 P4 Z50 D5 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var new file mode 100644 index 0000000..65941a2 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var @@ -0,0 +1,119 @@ +5161 0.000000 +5162 0.000000 +5163 0.000000 +5164 0.000000 +5165 0.000000 +5166 0.000000 +5167 0.000000 +5168 0.000000 +5169 0.000000 +5181 0.000000 +5182 0.000000 +5183 0.000000 +5184 0.000000 +5185 0.000000 +5186 0.000000 +5187 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b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml @@ -0,0 +1,325 @@ + + + + + "ridge" + 5 + + ["0:IDENTITY", "1: XYZAB ", "2: USERK "] + ("Helvetica",16) + "black" + "yellow" + + + + + + + + + + + + + + + ("Helvetica",14) + + + + + + "joint0" + ("Helvetica",10) + "4.4f" + + + + + + "joint1" + ("Helvetica",10) + "4.4f" + + + + + + "joint2" + ("Helvetica",10) + "4.4f" + + + + + + + + + + + "joint3" + ("Helvetica",10) + "4.4f" + + + + + + "joint4" + ("Helvetica",10) + "4.4f" + + + + + + "joint5" + ("Helvetica",10) + "4.4f" + + + + + + + + + + + + + + + "ridge" + 5 + + + + + + + + + + + + ("Helvetica",14) + + + + ("Helvetica",10) + "15" + "x-offset" + 1 + HORIZONTAL + -20 + -50 + 50 + + + + + + ("Helvetica",10) + "15" + "z-offset" + 1 + HORIZONTAL + -10 + -50 + 50 + + + + + + + + + + + + + + + + + + + + ("Helvetica",14) + + + + + + + + + + + + + + + + + + + + + + ("Helvetica",10) + "15" + "x-rot-point" + 1 + HORIZONTAL + -50 + -55 + -45 + + + + + + ("Helvetica",10) + "15" + "y-rot-point" + 1 + HORIZONTAL + -50 + -55 + -45 + + + + + + ("Helvetica",10) + "15" + "z-rot-point" + 1 + HORIZONTAL + -100 + -105 + -95 + + + + + + + + + + + + + + + + + + + + + + + diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal new file mode 100644 index 0000000..70f8650 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr_cmds.hal @@ -0,0 +1,207 @@ +# Sat Jun 06 15:59:10 CST 2026 +# +# This file: ./xyzab-tdr_cmds.hal +# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl +# With options: +# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini +# Halfiles: LIB:basic_sim.tcl +# +# This file contains the hal commands produced by basic_sim.tcl +# (and any hal commands executed prior to its execution). +# ------------------------------------------------------------------ +# To use ./xyzab-tdr_cmds.hal in the original inifile (or a copy of it), +# edit to change: +# [HAL] +# HALFILE = LIB:basic_sim.tcl parameters +# to: +# [HAL] +# HALFILE = ./xyzab-tdr_cmds.hal +# +# Notes: +# 1) Inifile Variables substitutions specified in the inifile +# and interpreted by halcmd are automatically substituted +# in the created halfile (./xyzab-tdr_cmds.hal). +# 2) Input pins connected to a signal with no writer are +# not included in the setp listings herein so must be added +# manually +# + +# user space components +loadusr -W hal_manualtoolchange + +# components +#preloaded module: loadrt tpmod +#preloaded module: loadrt homemod +loadrt xyzab_tdr_kins +loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5 +#loadrt __servo-thread (not loaded by loadrt, no args saved) +loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid +loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux +loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel +loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch +loadrt sim_spindle names=sim_spindle +loadrt limit2 names=limit_speed +loadrt lowpass names=spindle_mass +loadrt near names=near_speed +loadrt scale names=rpm_rps +# pin aliases +# param aliases +# signals +# nets +net J0:acc J0_accel.out +net J0:enable joint.0.amp-enable-out => J0_pid.enable +net J0:homesw J0_switch.home-sw => joint.0.home-sw-in +net J0:on-pos J0_pid.output => J0_mux.in1 +net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command +net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb +net J0:vel J0_vel.out => J0_accel.in +net J1:acc J1_accel.out +net J1:enable joint.1.amp-enable-out => J1_pid.enable +net J1:homesw J1_switch.home-sw => joint.1.home-sw-in +net J1:on-pos J1_pid.output => J1_mux.in1 +net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command +net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb +net J1:vel J1_vel.out => J1_accel.in +net J2:acc J2_accel.out +net J2:enable joint.2.amp-enable-out => J2_pid.enable +net J2:homesw J2_switch.home-sw => joint.2.home-sw-in +net J2:on-pos J2_pid.output => J2_mux.in1 +net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command +net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb +net J2:vel J2_vel.out => J2_accel.in +net J3:acc J3_accel.out +net J3:enable joint.3.amp-enable-out => J3_pid.enable +net J3:homesw J3_switch.home-sw => joint.3.home-sw-in +net J3:on-pos J3_pid.output => J3_mux.in1 +net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command +net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb +net J3:vel J3_vel.out => J3_accel.in +net J4:acc J4_accel.out +net J4:enable joint.4.amp-enable-out => J4_pid.enable +net J4:homesw J4_switch.home-sw => joint.4.home-sw-in +net J4:on-pos J4_pid.output => J4_mux.in1 +net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command +net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb +net J4:vel J4_vel.out => J4_accel.in +net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in +net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel +net spindle-at-speed near_speed.out => spindle.0.at-speed +net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable +net spindle-orient spindle.0.orient => spindle.0.is-oriented +net spindle-pos sim_spindle.position-fb => spindle.0.revs +net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in +net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in +net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1 +net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in +net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change +net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed +net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared +net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number +# parameter values +setp J0_accel.tmax 0 +setp J0_mux.tmax 0 +setp J0_pid.do-pid-calcs.tmax 0 +setp J0_switch.tmax 0 +setp J0_vel.tmax 0 +setp J1_accel.tmax 0 +setp J1_mux.tmax 0 +setp J1_pid.do-pid-calcs.tmax 0 +setp J1_switch.tmax 0 +setp J1_vel.tmax 0 +setp J2_accel.tmax 0 +setp J2_mux.tmax 0 +setp J2_pid.do-pid-calcs.tmax 0 +setp J2_switch.tmax 0 +setp J2_vel.tmax 0 +setp J3_accel.tmax 0 +setp J3_mux.tmax 0 +setp J3_pid.do-pid-calcs.tmax 0 +setp J3_switch.tmax 0 +setp J3_vel.tmax 0 +setp J4_accel.tmax 0 +setp J4_mux.tmax 0 +setp J4_pid.do-pid-calcs.tmax 0 +setp J4_switch.tmax 0 +setp J4_vel.tmax 0 +setp limit_speed.tmax 0 +setp motion-command-handler.tmax 0 +setp motion-controller.tmax 0 +setp near_speed.difference 10 +setp near_speed.scale 1.1 +setp near_speed.tmax 0 +setp rpm_rps.tmax 0 +setp servo-thread.tmax 0 +setp sim_spindle.scale 0.01666667 +setp sim_spindle.tmax 0 +setp spindle_mass.gain 0.07 +setp spindle_mass.tmax 0 +# realtime thread/function links +addf motion-command-handler servo-thread +addf motion-controller servo-thread +addf J0_pid.do-pid-calcs servo-thread +addf J1_pid.do-pid-calcs servo-thread +addf J2_pid.do-pid-calcs servo-thread +addf J3_pid.do-pid-calcs servo-thread +addf J4_pid.do-pid-calcs servo-thread +addf J0_mux servo-thread +addf J1_mux servo-thread +addf J2_mux servo-thread +addf J3_mux servo-thread +addf J4_mux servo-thread +addf J0_vel servo-thread +addf J0_accel servo-thread +addf J1_vel servo-thread +addf J1_accel servo-thread +addf J2_vel servo-thread +addf J2_accel servo-thread +addf J3_vel servo-thread +addf J3_accel servo-thread +addf J4_vel servo-thread +addf J4_accel servo-thread +addf J0_switch servo-thread +addf J1_switch servo-thread +addf J2_switch servo-thread +addf J3_switch servo-thread +addf J4_switch servo-thread +addf limit_speed servo-thread +addf spindle_mass servo-thread +addf rpm_rps servo-thread +addf near_speed servo-thread +addf sim_spindle servo-thread + +# setp commands for unconnected input pins +setp J0_pid.FF0 1.0 +setp J0_pid.Pgain 0 +setp J0_pid.Dgain 0 +setp J0_pid.Igain 0 +setp J0_pid.FF1 0 +setp J0_pid.FF2 0 +setp J1_pid.FF0 1.0 +setp J1_pid.Pgain 0 +setp J1_pid.Dgain 0 +setp J1_pid.Igain 0 +setp J1_pid.FF1 0 +setp J1_pid.FF2 0 +setp J2_pid.FF0 1.0 +setp J2_pid.Pgain 0 +setp J2_pid.Dgain 0 +setp J2_pid.Igain 0 +setp J2_pid.FF1 0 +setp J2_pid.FF2 0 +setp J3_pid.FF0 1.0 +setp J3_pid.Pgain 0 +setp J3_pid.Dgain 0 +setp J3_pid.Igain 0 +setp J3_pid.FF1 0 +setp J3_pid.FF2 0 +setp J4_pid.FF0 1.0 +setp J4_pid.Pgain 0 +setp J4_pid.Dgain 0 +setp J4_pid.Igain 0 +setp J4_pid.FF1 0 +setp J4_pid.FF2 0 +setp sim_spindle.scale 0.01666667 +setp limit_speed.maxv 5000.0 +setp spindle_mass.gain .07 +setp near_speed.scale 1.1 +setp near_speed.difference 10 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/README b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/README new file mode 100644 index 0000000..4166a10 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/README @@ -0,0 +1,32 @@ +Switchable Table Rotary/Tilting (trt) Sim configs + +xyzac-trt-switchkins +xyzbc-trt-switchkins + +Demonstrations: + demos/xyzac_switchkins.ngc + demos/xyzac_switchkins_test_1.ngc + demos/xyzac_switchkins_test_2.ngc + demos/xyzac_switchkins_test_3.ngc + demos/boat-xyzac.ngc + demos/impeller-7bl-xyzac.ngc + + demos/xyzbc_switchkins.ngc + demos/boat-xyzbc.ngc + +*********************************************** +Note: IMPORTANT ini file requirements: + +[HAL] +HALCMD = net :kinstype-select <= motion.analog-out-0N => motion.switchkins-type + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + +[HALUI] +MDI_COMMAND = M429 +MDI_COMMAND = M428 +MDI_COMMAND = M430 +*********************************************** diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc new file mode 100644 index 0000000..77eeaea --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc @@ -0,0 +1,1881 @@ +% +M428 ;TCP:xyzac +(!!! Touch Off: Table = -13.25 == Z max neg extent !!!) +(BOAT-XYZAC) +( 11/20/2011 19:50:48 ) +( FC HERMLE 5 AXIS MILLING ) + +( OPERATION= ROUGH7 Z LEVEL SRF_MILL1 ) +( TOOL: T1 = 10.0 dia. ENDMILLM1000:REG ) +G00 G17 G40 G90 G94 +Z5 +T1 M6 +G54 X-49.65 Y-23.015 A0. C0. S630 M03 +G00 Z5.0 M08 +Z3.0 +G01 Z-6.625 F300.0 +X-49.375 F600.0 +X-15.268 +X-16.626 Y-22.711 +X-20.108 Y-21.7 +X-22.255 Y-20.925 +X-25.036 Y-19.685 +X-49.662 +Y-16.355 +X-31.172 +X-34.919 Y-13.877 +X-36.057 Y-13.025 +X-49.662 +Y-9.695 +X-40.427 +X-44.365 Y-6.498 +X-49.662 +Y3.492 +X-43.134 +X-39.14 Y6.724 +X-38.83 Y6.955 +X-49.662 +Y10.285 +X-34.295 +X-30.697 Y12.666 +X-29.005 Y13.615 +X-49.662 +Y16.945 +X-22.119 +X-20.848 Y17.446 +X-16.626 Y18.719 +X-13.812 Y19.346 +X-9.591 Y20.015 +X-6.955 Y20.275 +X-48.713 +G02 X-44.662 Y22.345 I4.051 J-2.931 +G01 X40.959 +G02 X45.01 Y20.275 I0. J-5.0 +G01 X5.29 +X10.109 Y19.934 +X15.737 Y19.258 +X22.773 Y18.136 +X28.999 Y16.945 +X45.959 +Y13.615 +X39.599 +X39.658 Y13.571 +X40.983 Y12.071 +X41.833 Y10.664 +X42.003 Y10.285 +X45.959 +Y6.955 +X43.169 +X43.63 Y5.036 +X43.87 Y3.492 +X45.959 +Y0.162 +X44.111 +X44.158 Y-2.0 +X44.132 Y-3.168 +X45.959 +Y-6.498 +X44.022 +X43.634 Y-9.036 +X43.475 Y-9.695 +X45.959 +Y-13.025 +X42.547 +X42.467 Y-13.257 +X41.833 Y-14.664 +X41.065 Y-15.952 +X40.717 Y-16.355 +X45.959 +Y-19.685 +X35.537 +X35.437 Y-19.714 +X25.587 Y-21.634 +X17.321 Y-23.015 +X45.672 +G00 Z5.0 +X-15.268 +Z3.0 +G01 Z-6.625 F300.0 +X-16.626 Y-22.711 F600.0 +X-20.108 Y-21.7 +X-22.255 Y-20.925 +X-26.476 Y-19.043 +X-30.697 Y-16.668 +X-34.919 Y-13.877 +X-39.506 Y-10.443 +X-44.769 Y-6.171 +X-46.064 Y-4.814 +X-46.714 Y-3.407 +X-46.912 Y-2.0 +X-46.714 Y-0.593 +X-46.176 Y0.637 +X-44.769 Y2.169 +X-39.14 Y6.724 +X-34.919 Y9.873 +X-30.697 Y12.666 +X-26.476 Y15.034 +X-23.779 Y16.292 +X-20.848 Y17.446 +X-16.626 Y18.719 +X-13.812 Y19.346 +X-9.591 Y20.015 +X-6.777 Y20.293 +X-2.555 Y20.492 +X3.073 Y20.432 +X10.109 Y19.934 +X15.737 Y19.258 +X22.773 Y18.136 +X35.437 Y15.715 +X36.844 Y15.297 +X38.251 Y14.618 +X39.658 Y13.571 +X40.983 Y12.071 +X41.833 Y10.664 +X42.472 Y9.238 +X42.954 Y7.85 +X43.63 Y5.036 +X44.067 Y2.221 +X44.158 Y-2.0 +X44.064 Y-6.221 +X43.634 Y-9.036 +X42.954 Y-11.85 +X42.467 Y-13.257 +X41.833 Y-14.664 +X41.065 Y-15.952 +X39.747 Y-17.478 +X38.251 Y-18.62 +X36.844 Y-19.297 +X35.437 Y-19.714 +X25.587 Y-21.634 +X16.77 Y-23.107 +X12.923 Y-23.626 +X5.887 Y-24.282 +X0.259 Y-24.505 +X-5.369 Y-24.384 +X-9.591 Y-24.014 +X-13.812 Y-23.34 +X-15.268 Y-23.015 +G00 Z5.0 +X-49.65 +Z-3.625 +G01 Z-13.25 F300.0 +X-49.375 F600.0 +X-21.669 +X-22.255 Y-22.828 +X-26.476 Y-21.015 +X-29.045 Y-19.685 +X-49.662 +Y-16.355 +X-34.394 +X-36.326 Y-15.058 +X-39.029 Y-13.025 +X-49.662 +Y-9.828 +X-43.064 +G00 Z5.0 +X46.234 Y-6.537 +Z-3.625 +G01 Z-13.25 F300.0 +X45.959 F600.0 +X45.432 Y-10.443 +X44.691 Y-13.257 +X43.879 Y-15.339 +X42.594 Y-17.478 +X41.412 Y-18.885 +X39.68 Y-20.292 +X38.251 Y-21.072 +X36.844 Y-21.582 +X35.437 Y-21.936 +X29.361 Y-23.015 +X45.672 +X45.886 Y-22.192 +X45.959 Y-21.345 +Y-19.685 +X40.428 +X41.412 Y-18.885 +X42.594 Y-17.478 +X43.269 Y-16.355 +X45.959 +Y-13.025 +X44.752 +X45.432 Y-10.443 +X45.515 Y-9.828 +X45.959 +G00 Z5.0 +X-49.969 Y-1.968 +Z-3.625 +G01 Z-13.25 F300.0 +X-49.942 Y-1.964 F600.0 +X-49.758 Y-2.012 +X-49.662 Y-2.175 +X-49.489 Y-3.407 +X-48.839 Y-4.814 +X-47.583 Y-6.139 +X-40.547 Y-11.883 +X-36.326 Y-15.058 +X-32.105 Y-17.892 +X-29.29 Y-19.558 +X-26.476 Y-21.015 +X-22.255 Y-22.828 +X-18.033 Y-24.175 +X-13.812 Y-25.143 +X-9.591 Y-25.805 +X-6.777 Y-26.09 +X-1.148 Y-26.323 +X4.48 Y-26.217 +X8.811 Y-25.921 +X15.737 Y-25.184 +X24.18 Y-23.935 +X35.437 Y-21.936 +X36.844 Y-21.582 +X38.251 Y-21.072 +X39.68 Y-20.292 +X41.412 Y-18.885 +X42.594 Y-17.478 +X43.879 Y-15.339 +X44.691 Y-13.257 +X45.432 Y-10.443 +X45.959 Y-6.537 +G00 Z5.0 +X-49.937 Y4.702 +Z-3.625 +G01 Z-13.25 F300.0 +X-49.662 F600.0 +X-44.469 +X-42.354 Y6.443 +X-40.136 Y8.165 +X-49.662 +Y11.495 +X-35.643 +X-33.512 Y12.987 +X-30.494 Y14.825 +X-49.662 +Y17.345 +X-49.646 Y17.751 +X-49.596 Y18.155 +X-23.822 +X-22.255 Y18.828 +X-19.441 Y19.769 +X-15.219 Y20.868 +X-11.776 Y21.485 +X-47.465 +G02 X-44.662 Y22.345 I2.803 J-4.14 +G01 X40.959 +G02 X43.762 Y21.485 I0. 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Y0. A0 C0 +M429 ;Restore Trivkins +M30 +% diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc new file mode 100644 index 0000000..f4b9cc2 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc @@ -0,0 +1,1867 @@ +% +M428 ;TCP:xyzbc +(!!! Touch Off: Table = -8.3 == Z max neg extent !!!) +(BOAT-5X) +( FC HERMLE 5 AXIS XYZBC MILLING ) + +( OPERATION= FINISH1 FLOWLINE SRF_MILL1 ) +( TOOL: T1 = 10.0 dia. 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B0 C0 +M429 ;Restore Trivkins +M30 +% diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc new file mode 100644 index 0000000..b9f6969 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc @@ -0,0 +1,4510 @@ +( Impeller 5-axis 12/24/2011) +( This is preceded by cutting the external "conical" shape on a lathe) +( This is only a demo - roughing out in soft non-metal material) +M428 ;TCP:xyzac +G93 +S600 M3 +( --- Operation 1 ) +G0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930 +G0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930 +G1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318 +G1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159 +G1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159 +G1 X 6.307 Y -12.804 Z 25.552 A -71.093 C 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-43.933 C -321.779 +G0 X -33.957 Y 4.877 Z 29.123 A -43.988 C -324.979 +G0 X -35.094 Y 5.540 Z 27.618 A -44.133 C -328.167 +G0 X -36.162 Y 6.191 Z 26.058 A -44.366 C -331.334 +G0 X -37.158 Y 6.830 Z 24.446 A -44.685 C -334.470 +G0 X -38.082 Y 7.455 Z 22.786 A -45.089 C -337.565 +G0 X -38.930 Y 8.066 Z 21.081 A -45.576 C -340.614 +G0 X -39.701 Y 8.661 Z 19.335 A -46.142 C -343.608 +G0 X -40.394 Y 9.238 Z 17.550 A -46.785 C -346.542 +G0 X -36.124 Y 8.262 Z 15.695 A -46.785 C -346.542 +G0 X -33.071 Y 21.020 Z 3.370 A -46.785 C -346.542 +G1 X -32.732 Y 22.437 Z 2.001 A -46.785 C -346.542 F 318 +G1 X -30.990 Y 19.127 Z 3.910 A -46.785 C -346.542 F 159 +G1 X -30.424 Y 17.939 Z 4.625 A -46.795 C -346.609 F 159 +G1 X -29.849 Y 16.751 Z 5.368 A -46.805 C -346.677 F 159 +G1 X -29.276 Y 15.586 Z 6.121 A -46.813 C -346.744 F 159 +G1 X -28.703 Y 14.439 Z 6.890 A -46.820 C -346.810 F 159 +G1 X -28.130 Y 13.304 Z 7.676 A -46.825 C -346.876 F 159 +G1 X -27.617 Y 12.311 Z 8.385 A -46.829 C -346.935 F 159 +G1 X -26.902 Y 10.956 Z 9.383 A -46.833 C -347.016 F 159 +G1 X -26.304 Y 9.855 Z 10.221 A -46.835 C -347.083 F 159 +G1 X -25.706 Y 8.779 Z 11.065 A -46.835 C -347.149 F 159 +G1 X -25.100 Y 7.722 Z 11.920 A -46.835 C -347.215 F 159 +G1 X -24.479 Y 6.674 Z 12.791 A -46.833 C -347.282 F 159 +G1 X -23.850 Y 5.648 Z 13.671 A -46.830 C -347.350 F 159 +G1 X -23.203 Y 4.639 Z 14.564 A -46.826 C -347.418 F 159 +G1 X -22.514 Y 3.610 Z 15.505 A -46.820 C -347.490 F 159 +G1 X -21.865 Y 2.684 Z 16.382 A -46.813 C -347.556 F 159 +G1 X -21.405 Y 2.051 Z 16.998 A -46.807 C -347.603 F 159 +G1 X -20.693 Y 1.119 Z 17.936 A -46.798 C -347.674 F 159 +G1 X -20.213 Y 0.517 Z 18.562 A -46.791 C -347.722 F 159 +G1 X -19.475 Y -0.362 Z 19.509 A -46.779 C -347.794 F 159 +G1 X -18.711 Y -1.216 Z 20.474 A -46.765 C -347.868 F 159 +G1 X -18.120 Y -1.841 Z 21.212 A -46.753 C -347.924 F 159 +G1 X -17.519 Y -2.443 Z 21.952 A -46.740 C -347.981 F 159 +G1 X -16.981 Y -2.956 Z 22.610 A -46.728 C -348.031 F 159 +G1 X -16.432 Y -3.452 Z 23.273 A -46.715 C -348.082 F 159 +G1 X -15.877 Y -3.932 Z 23.942 A -46.700 C -348.133 F 159 +G1 X -15.314 Y -4.392 Z 24.614 A -46.686 C -348.184 F 159 +G1 X -14.741 Y -4.830 Z 25.289 A -46.670 C -348.236 F 159 +G1 X -14.155 Y -5.247 Z 25.970 A -46.652 C -348.288 F 159 +G1 X -13.508 Y -5.665 Z 26.706 A -46.633 C -348.345 F 159 +G1 X -13.157 Y -5.875 Z 27.099 A -46.622 C -348.375 F 159 +G1 X -10.038 Y -7.518 Z 30.357 A -46.622 C -348.375 F 159 +G1 X -10.331 Y -8.942 Z 31.731 A -46.621 C -348.375 F 318 +G0 X -12.045 Y -17.274 Z 39.769 A -46.622 C -348.375 +G0 X -13.618 Y -18.124 Z 38.873 A -45.997 C -351.324 +G0 X -15.164 Y -18.938 Z 37.900 A -45.450 C -354.332 +G0 X -16.680 Y -19.714 Z 36.853 A -44.983 C -357.393 +G0 X -18.163 Y -20.452 Z 35.733 A -44.600 C -360.499 +G0 X -19.610 Y -21.149 Z 34.542 A -44.301 C -363.643 +G0 X -21.019 Y -21.804 Z 33.283 A -44.090 C -366.816 +G0 X -22.386 Y -22.417 Z 31.959 A -43.967 C -370.008 +G0 X -23.708 Y -22.985 Z 30.571 A -43.933 C -373.209 +G0 X -24.984 Y -23.508 Z 29.123 A -43.989 C -376.409 +G0 X -26.211 Y -23.984 Z 27.618 A -44.133 C -379.597 +G0 X -27.386 Y -24.413 Z 26.058 A -44.366 C -382.764 +G0 X -28.507 Y -24.794 Z 24.446 A -44.685 C -385.900 +G0 X -29.571 Y -25.126 Z 22.786 A -45.089 C -388.995 +G0 X -30.578 Y -25.408 Z 21.081 A -45.576 C -392.044 +G0 X -31.523 Y -25.640 Z 19.335 A -46.142 C -395.038 +G0 X -32.407 Y -25.822 Z 17.550 A -46.785 C -397.972 +G0 X -28.982 Y -23.092 Z 15.695 A -46.785 C -397.972 +G0 X -37.053 Y -12.751 Z 3.370 A -46.785 C -397.972 +G1 X -37.950 Y -11.602 Z 2.001 A -46.785 C -397.972 F 318 +G1 X -34.275 Y -12.304 Z 3.910 A -46.785 C -397.972 F 159 +G1 X -32.993 Y -12.602 Z 4.625 A -46.795 C -398.039 F 159 +G1 X -31.706 Y -12.894 Z 5.368 A -46.805 C -398.107 F 159 +G1 X -30.439 Y -13.172 Z 6.121 A -46.813 C -398.174 F 159 +G1 X -29.184 Y -13.439 Z 6.890 A -46.820 C -398.240 F 159 +G1 X -27.940 Y -13.698 Z 7.676 A -46.825 C -398.306 F 159 +G1 X -26.844 Y -13.917 Z 8.385 A -46.829 C -398.365 F 159 +G1 X -25.339 Y -14.203 Z 9.383 A -46.833 C -398.446 F 159 +G1 X -24.104 Y -14.421 Z 10.221 A -46.835 C -398.513 F 159 +G1 X -22.891 Y -14.624 Z 11.065 A -46.835 C -398.579 F 159 +G1 X -21.686 Y -14.810 Z 11.920 A -46.835 C -398.645 F 159 +G1 X -20.480 Y -14.978 Z 12.791 A -46.833 C -398.712 F 159 +G1 X -19.286 Y -15.126 Z 13.671 A -46.830 C -398.780 F 159 +G1 X -18.093 Y -15.249 Z 14.564 A -46.826 C -398.848 F 159 +G1 X -16.859 Y -15.352 Z 15.505 A -46.820 C -398.920 F 159 +G1 X -15.731 Y -15.422 Z 16.382 A -46.813 C -398.986 F 159 +G1 X -14.949 Y -15.457 Z 16.998 A -46.807 C -399.033 F 159 +G1 X -13.776 Y -15.481 Z 17.936 A -46.798 C -399.104 F 159 +G1 X -13.006 Y -15.481 Z 18.562 A -46.791 C -399.152 F 159 +G1 X -11.859 Y -15.452 Z 19.509 A -46.779 C -399.224 F 159 +G1 X -10.715 Y -15.388 Z 20.474 A -46.765 C -399.298 F 159 +G1 X -9.858 Y -15.315 Z 21.212 A -46.753 C -399.354 F 159 +G1 X -9.013 Y -15.221 Z 21.952 A -46.740 C -399.411 F 159 +G1 X -8.276 Y -15.120 Z 22.610 A -46.728 C -399.461 F 159 +G1 X -7.546 Y -14.999 Z 23.273 A -46.715 C -399.512 F 159 +G1 X -6.824 Y -14.865 Z 23.942 A -46.700 C -399.563 F 159 +G1 X -6.114 Y -14.711 Z 24.614 A -46.686 C -399.614 F 159 +G1 X -5.414 Y -14.536 Z 25.289 A -46.670 C -399.666 F 159 +G1 X -4.723 Y -14.338 Z 25.970 A -46.652 C -399.718 F 159 +G1 X -3.992 Y -14.093 Z 26.706 A -46.633 C -399.775 F 159 +G1 X -3.609 Y -13.949 Z 27.099 A -46.622 C -399.805 F 159 +G1 X -0.380 Y -12.535 Z 30.357 A -46.622 C -399.805 F 159 +G1 X 0.550 Y -13.652 Z 31.731 A -46.622 C -399.805 F 318 +G0 X 5.996 Y -20.187 Z 39.769 A -46.622 C -399.805 +M5 +G0 A 0 C 0 +G0 X 0 Y 0 Z40 +( Rmax 45.44 Zmin -2.65 Zmax 39.77 ) +( Amin -74.49 Amax 0.00 ) +( Cmin -399.81 Cmax 0.00 ) +M429 ;Restore Trivkins +M30 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc new file mode 100644 index 0000000..e17dea4 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc @@ -0,0 +1,3 @@ +; zmax zmin r frate n a b c dist +o call [10] [5] [10][1000][3][20][0][45][20] +m2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc new file mode 100644 index 0000000..3b43fd3 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc @@ -0,0 +1,39 @@ +; for debugging, use mdi to set global #<_switchkins_debug>=1 + +#=1000 +M429 +G0 X0 Y0 Z0 A0 C0 +G0 C90 X10 Y0 +G1 F# Z2 + +M428 +G1 F# Z0 + +M429 +G1 F# Z2 +G0 C90 X0 Y10 +G1 F# Z0 + +M428 +G1 F# Z2 + +M429 +G1 F# Z0 +G0 C90 X10 Y30 +G1 F# Z2 + +M428 +G1 F# Z0 + +M429 +G1 F# Z2 +G0 C90 X30 Y10 +G1 F# Z0 + +M428 +G1 F# Z2 +M429 +G1 F# Z0 + +G0 X0 Y0 Z0 A0 C0 +M2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc new file mode 100644 index 0000000..934934f --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc @@ -0,0 +1,49 @@ +; for debugging, use mdi to set global #<_switchkins_debug>=1 + +#=1000 +M429 ;Trivkins +G64 P0.01 +S1500 M3 +G0 X0 Y0 Z5 A0 C0 +G1 F# Z0 +G1 X20 Y0 F# + +M428 ;XYZAC +G1 C90 +G1 X20 +G1 Y20 +G1 X0 +G1 Y0 +G1 A20 +G1 X-20 +G1 Y-20 +G1 X0 +G1 Y0 + +(-------) +G1 C45 +G1 X-15 +G1 Y15 +G1 X0 +G1 Y0 +G1 Y-15 +G1 X15 +G1 Y0 +G1 X0 + +(-------) +G1 C90 X15 +G1 C180 Y15 +G1 C270 X0 +G1 C360 Y0 +G1 C0 +G1 C-90 X-15 +G1 C-180 Y-15 +G1 C-270 X0 +G1 C-360 Y0 +G1 Z5 + +M429 ;Trivkins + +G1 X0 Y0 Z1 A0 C0 +M2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc new file mode 100644 index 0000000..a5c8005 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc @@ -0,0 +1,15 @@ +;# enable optional stop for m1 +m429 ;trivkins +G0 X0 Y0 Z0 A0 C0 +G0 C90 X10 Y0 +G1 F1000 Z2 +(debug,A expect: 10 0 2) m1 +(debug,B expect: 10 0 2) m1 +m428 ;tcp +(debug,C expect: 0 -10 2) m1 +g1f1000 z0 +(debug,D expect: 0 -10 0) m1 +(debug,E expect: 0 -10 0) m1 +m429 ;trivkins +(debug,F expect: 10 0 0) +m2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc new file mode 100644 index 0000000..f3c77f0 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc @@ -0,0 +1,3 @@ +; zmax zmin r frate n a b c dist +o call [10] [5] [10][1000][3][0][20][45][20] +m2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc new file mode 100644 index 0000000..46e2d01 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst) +o<428remap>sub + # = 1 ; xyzac,xyzbc + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc new file mode 100644 index 0000000..3fa610c --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: kinstype==0 Identity kinematics +o<429remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc new file mode 100644 index 0000000..65a8222 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc @@ -0,0 +1,24 @@ +;M430 by remap: kinstype==2 userk kins +o<430remap>sub + # = 2 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M430:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<430remap>endsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc new file mode 100644 index 0000000..3607c27 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc @@ -0,0 +1,42 @@ +(info: tests for values of [xyz]-rot-point) +osub +# = #1 (=-2.5) +# = #2 (=-2.5) + # = #3 (= 5) + # = #4 (= 5) +# = #5 (=60) + # = #6 (=12) + # = #7 (=1000 feed) +# = 0 +# = [360/#] + +o1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]] + (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>) + (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>) + (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>) +o1 endif +o2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]] + (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>) + (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>) + (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>) +o2 endif + +M429 ;Identity kinematics +g0 x# y# z0 c0 +M428 ;tcp + +g61 +o10 while [# le 360] + g1 f# + # = [# + #] + g0 c# + g1 x[# + #] + g1 y[# + #] + g1 x[# + 0 ] + g1 y[# + 0 ] +o10 endwhile + + +M429 ;Identity kinematics +g0 x0 y0 z# c0 +oendsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc new file mode 100644 index 0000000..3f47084 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc @@ -0,0 +1,22 @@ +; helix using switchkins (xyzac) a,c angles +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10) + # = #4 (=1000) + # = #5 (=3) + # = #6 (=45) + # = #7 (=0 NA) + # = #8 (=20) + + M429 ;Identity kinematics + g0 x[#<_x> - #] ;adjust for radius + g10l20p0 x0y0 z# a0 c0 ;new g54 + M428 ;XYZAC + g0a#c# ;exercise a,c + f# g2i#z# p# ;helix + M429 ;Identity kinematics + g0 x0 y0 z# a0 c0 ;return to start + g0 x[#<_x> + #] ;adjust restore + M428 ;XYZAC +oendsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc new file mode 100644 index 0000000..6e9261d --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc @@ -0,0 +1,22 @@ +; helix using switchkins (xyzbc) b,c angles +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10) + # = #4 (=1000) + # = #5 (=3) + # = #6 (=0 NA) + # = #7 (=45) + # = #8 (=20) + + M429 ;Identity kinematics + g0 x[#<_x> - #] ;adjust for radius + g10l20p0 x0y0 z# b0 c0 ;new g54 + M428 ;XYZBC + g0b#c# ;exercise b,c + f# g2i#z# p# ;helix + M429 ;Identity kinematics + g0 x0 y0 z# b0 c0 ;return to start + g0 x[#<_x> + #] ;adjust restore + M428 ;XYZBC +oendsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc new file mode 100644 index 0000000..771fedb --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc @@ -0,0 +1,47 @@ +; ngcgui-compatible subroutine +(info: helix in each quadrant at angles A,C) +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10 radius) + # = #4 (=1000 feedrate) + # = #5 (=3 n circles) + # = #6 (=30 A angle) + # = #7 (=0 B angle NA) + # = #8 (=45 C angle) + # = #9 (=20 distance) + +; quadrant I +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 ;MACHINE coordinates +g10l20p0 x0y0 z# a0 c0 ;new g54 +g0 x+# y+# z# ;move to pattern center position +o call [#][#][#][#][#][#][#][#] + +; quadrant II +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x-# y+# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant III +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x-# y-# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant IV +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x+# y-# z# +o call [#][#][#][#][#][#][#][#] + +;final position +M429 ;Identity kinematics +g53 g0 x0y0 z# ;MACHINE coordinates +g10l20p0 x0y0 z# ;new g54 + +oendsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc new file mode 100644 index 0000000..3e92c5f --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc @@ -0,0 +1,47 @@ +; ngcgui-compatible subroutine +(info: helix in each quadrant at angles B,C) +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10 radius) + # = #4 (=1000 feedrate) + # = #5 (=3 n circles) + # = #6 (=0 A angle NA) + # = #7 (=30 B angle) + # = #8 (=45 C angle) + # = #9 (=20 distance) + +; quadrant I +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 ;MACHINE coordinates +g10l20p0 x0y0 z# b0 c0 ;new g54 +g0 x+# y+# z# ;move to pattern center position +o call [#][#][#][#][#][#][#][#] + +; quadrant II +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x-# y+# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant III +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x-# y-# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant IV +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x+# y-# z# +o call [#][#][#][#][#][#][#][#] + +;final position +M429 ;Identity kinematics +g53 g0 x0y0 z# ;MACHINE coordinates +g10l20p0 x0y0 z# ;new g54 + +oendsub diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow new file mode 100644 index 0000000..ede94bd --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins.halshow @@ -0,0 +1,29 @@ +pin+motion.analog-out-03 +pin+motion.switchkins-type + +pin+joint.0.pos-cmd +pin+joint.1.pos-cmd +pin+joint.2.pos-cmd +pin+joint.3.pos-cmd +pin+joint.4.pos-cmd + +pin+axis.x.pos-cmd +pin+axis.y.pos-cmd +pin+axis.z.pos-cmd +pin+axis.a.pos-cmd +pin+axis.b.pos-cmd +pin+axis.c.pos-cmd + +pin+pyvcp.tcpkins-button +pin+pyvcp.identitykins-button +pin+pyvcp.vismach-clear + +pin+kinstype-0 +pin+kinstype-1 + +pin+halui.mdi-command-00 +pin+halui.mdi-command-01 + +pin+kinstype.is-0 +pin+kinstype.is-1 +pin+kinstype.is-2 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal new file mode 100644 index 0000000..85c64e1 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal @@ -0,0 +1,12 @@ +# switchkins pyvcp connections for: +# xyzac-trt-kins.ini,xyzbc-trt-kins.ini + +net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0 +net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1 +net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2 + +net :vismach-clear <= pyvcp.vismach-clear => vismach.plotclear + +net :type0-button <= pyvcp.type0-button => halui.mdi-command-00 +net :type1-button <= pyvcp.type1-button => halui.mdi-command-01 +net :type2-button <= pyvcp.type2-button => halui.mdi-command-02 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini new file mode 100644 index 0000000..6f78ca8 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini @@ -0,0 +1,182 @@ +[APPLICATIONS] +# uncomment to enable: +#APP = halshow --fformat %.5f switchkins.halshow + +[EMC] +VERSION = 1.1 +MACHINE = sim-xyzac-trt-kins (switchkins) + +[DISPLAY] + GEOMETRY = XYZ-A + OPEN_FILE = ./demos/xyzac_switchkins.ngc + PYVCP = ./xyzac-trt.xml + JOG_AXES = XYZC + DISPLAY = axis +MAX_ANGULAR_VELOCITY = 360 + MAX_LINEAR_VELOCITY = 1000 + POSITION_OFFSET = RELATIVE + POSITION_FEEDBACK = ACTUAL + MAX_FEED_OVERRIDE = 2 + PROGRAM_PREFIX = ../../nc_files + INTRO_GRAPHIC = emc2.gif + INTRO_TIME = 1 + #EDITOR = geany + TOOL_EDITOR = tooledit z diam + + TKPKG = Ngcgui 1.0 + NGCGUI_FONT = Helvetica -12 normal + NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc + NGCGUI_SUBFILE = centering.ngc + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + HAL_PIN_VARS = 1 + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + REMAP = M430 modalgroup=10 ngc=430remap + PARAMETER_FILE = xyzac.var + +[KINS] +#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!! +# default switchkins-type == 0 is xyzac-trt-kins +# here switchkins-type == 0 is identity kins +KINEMATICS = xyzac-trt-kins sparm=identityfirst + JOINTS = 5 + +[HAL] + HALUI = halui + HALFILE = LIB:basic_sim.tcl +POSTGUI_HALFILE = switchkins_postgui.hal + +# net for control of motion.switchkins-type +HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type + +# vismach xyzac-trt-gui items +HALCMD = loadusr -W xyzac-trt-gui +HALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x +HALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y +HALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z +HALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a +HALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c +HALCMD = net :tool-offset motion.tooloffset.z +HALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset +HALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset +HALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset +HALCMD = sets :y-offset 20 +HALCMD = sets :z-offset 10 + +# not currently supported by xyzac-trt-gui: +HALCMD = setp xyzac-trt-kins.x-rot-point 0 +HALCMD = setp xyzac-trt-kins.y-rot-point 0 +HALCMD = setp xyzac-trt-kins.z-rot-point 0 +HALCMD = setp xyzac-trt-kins.conventional-directions 0 + +[HALUI] +# NOTE: kinstype==0 is identity kins because sparm=identityfirst +# M429:identity kins (motion.switchkins-type==0 startupDEFAULT) +# M428:xyzac kins (motion.switchkins-type==1) +# M430:userk kins (motion.switchkins-type==2) +MDI_COMMAND = M429 +MDI_COMMAND = M428 +MDI_COMMAND = M430 + +[TRAJ] + COORDINATES = XYZAC + LINEAR_UNITS = mm + ANGULAR_UNITS = deg + DEFAULT_LINEAR_VELOCITY = 20 + MAX_LINEAR_VELOCITY = 35 + MAX_LINEAR_ACCELERATION = 400 +DEFAULT_LINEAR_ACCELERATION = 300 + +[EMCMOT] + EMCMOT = motmod +SERVO_PERIOD = 1000000 +COMM_TIMEOUT = 1 + +[TASK] + TASK = milltask +CYCLE_TIME = 0.010 + +[EMCIO] +TOOL_TABLE = xyzac-trt.tbl + +[AXIS_X] + MIN_LIMIT = -200 + MAX_LIMIT = 200 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Y] + MIN_LIMIT = -100 + MAX_LIMIT = 100 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Z] + MIN_LIMIT = -120 + MAX_LIMIT = 120 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_A] + MIN_LIMIT = -100 + MAX_LIMIT = 50 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[AXIS_C] + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[JOINT_0] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -200 + MAX_LIMIT = 200 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_1] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -100 + MAX_LIMIT = 100 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_2] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -120 + MAX_LIMIT = 120 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_3] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -100 + MAX_LIMIT = 50 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_4] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl new file mode 100644 index 0000000..4958b84 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl @@ -0,0 +1,10 @@ +T1 P1 Z0 D1 ;end mill +T2 P2 Z15 D8 ;end mill +T3 P3 Z0 D4.2 ;#7 tap drill +T4 P4 Z0 D10 +T5 P5 Z30 D10 +T6 P6 Z30 D10 +T7 P7 Z30 D10 +T8 P8 Z30 D10 +T9 P9 Z30 D10 +T10 P10 D0.5 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt new file mode 100644 index 0000000..acdbdeb --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt @@ -0,0 +1,37 @@ +xyzac-trt-kins (switchkins) + +Uses remapped user m codes for kins switch: + + M429: Identity Kinematics + M428: XYZAC (TCP) + M430: userk Kinematics + +A hal net is required to connect the +analog out pin N, Example (for N=3): + + net :kinstype-select <= motion.analog-out-03 + net :kinstype-select => motion.switchkins-type + +Hal Input pins: + xyzac-trt-kins.y-offset + xyzac-trt-kins.z-offset + +Y and Z offsets are the offsets from the center +of rotation of the A axis relative to the center +of rotation of the C axis. + +Hal Input pins: + xyzac-trt-kins.x-rot-point + xyzac-trt-kins.y-rot-point + xyzac-trt-kins.z-rot-point + +X, Y and Z rot-point pins represent the +offsets of the center of rotation of the C axis +relative to the machine absolute zero + +Hal Input pins: + xyzac-trt-kins.conventional-directions + +Pin conventional-directions is false by default. If true, +axis directions follow the conventions as defined +at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes \ No newline at end of file diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml new file mode 100644 index 0000000..793613b --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml @@ -0,0 +1,45 @@ + + + + + "ridge" + 5 + + + ["0:IDENTITY", "1: XYZAC ", "2: USERK "] + ("Helvetica",16) + "black" + "yellow" + + + + + + + + "ridge" + 5 + + + + diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal new file mode 100644 index 0000000..6a5ff04 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal @@ -0,0 +1,207 @@ +# Sat Jun 06 15:43:11 CST 2026 +# +# This file: ./xyzac-trt_cmds.hal +# Created by: /home/cnc/桌面/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl +# With options: +# From inifile: /home/cnc/桌面/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +# Halfiles: LIB:basic_sim.tcl +# +# This file contains the hal commands produced by basic_sim.tcl +# (and any hal commands executed prior to its execution). +# ------------------------------------------------------------------ +# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it), +# edit to change: +# [HAL] +# HALFILE = LIB:basic_sim.tcl parameters +# to: +# [HAL] +# HALFILE = ./xyzac-trt_cmds.hal +# +# Notes: +# 1) Inifile Variables substitutions specified in the inifile +# and interpreted by halcmd are automatically substituted +# in the created halfile (./xyzac-trt_cmds.hal). +# 2) Input pins connected to a signal with no writer are +# not included in the setp listings herein so must be added +# manually +# + +# user space components +loadusr -W hal_manualtoolchange + +# components +#preloaded module: loadrt tpmod +#preloaded module: loadrt homemod +loadrt xyzac-trt-kins sparm=identityfirst +loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5 +#loadrt __servo-thread (not loaded by loadrt, no args saved) +loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid +loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux +loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel +loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch +loadrt sim_spindle names=sim_spindle +loadrt limit2 names=limit_speed +loadrt lowpass names=spindle_mass +loadrt near names=near_speed +loadrt scale names=rpm_rps +# pin aliases +# param aliases +# signals +# nets +net J0:acc J0_accel.out +net J0:enable joint.0.amp-enable-out => J0_pid.enable +net J0:homesw J0_switch.home-sw => joint.0.home-sw-in +net J0:on-pos J0_pid.output => J0_mux.in1 +net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command +net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb +net J0:vel J0_vel.out => J0_accel.in +net J1:acc J1_accel.out +net J1:enable joint.1.amp-enable-out => J1_pid.enable +net J1:homesw J1_switch.home-sw => joint.1.home-sw-in +net J1:on-pos J1_pid.output => J1_mux.in1 +net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command +net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb +net J1:vel J1_vel.out => J1_accel.in +net J2:acc J2_accel.out +net J2:enable joint.2.amp-enable-out => J2_pid.enable +net J2:homesw J2_switch.home-sw => joint.2.home-sw-in +net J2:on-pos J2_pid.output => J2_mux.in1 +net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command +net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb +net J2:vel J2_vel.out => J2_accel.in +net J3:acc J3_accel.out +net J3:enable joint.3.amp-enable-out => J3_pid.enable +net J3:homesw J3_switch.home-sw => joint.3.home-sw-in +net J3:on-pos J3_pid.output => J3_mux.in1 +net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command +net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb +net J3:vel J3_vel.out => J3_accel.in +net J4:acc J4_accel.out +net J4:enable joint.4.amp-enable-out => J4_pid.enable +net J4:homesw J4_switch.home-sw => joint.4.home-sw-in +net J4:on-pos J4_pid.output => J4_mux.in1 +net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command +net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb +net J4:vel J4_vel.out => J4_accel.in +net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in +net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel +net spindle-at-speed near_speed.out => spindle.0.at-speed +net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable +net spindle-orient spindle.0.orient => spindle.0.is-oriented +net spindle-pos sim_spindle.position-fb => spindle.0.revs +net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in +net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in +net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1 +net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in +net tool:change iocontrol.0.tool-change => hal_manualtoolchange.change +net tool:changed hal_manualtoolchange.changed => iocontrol.0.tool-changed +net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared +net tool:prep-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number +# parameter values +setp J0_accel.tmax 0 +setp J0_mux.tmax 0 +setp J0_pid.do-pid-calcs.tmax 0 +setp J0_switch.tmax 0 +setp J0_vel.tmax 0 +setp J1_accel.tmax 0 +setp J1_mux.tmax 0 +setp J1_pid.do-pid-calcs.tmax 0 +setp J1_switch.tmax 0 +setp J1_vel.tmax 0 +setp J2_accel.tmax 0 +setp J2_mux.tmax 0 +setp J2_pid.do-pid-calcs.tmax 0 +setp J2_switch.tmax 0 +setp J2_vel.tmax 0 +setp J3_accel.tmax 0 +setp J3_mux.tmax 0 +setp J3_pid.do-pid-calcs.tmax 0 +setp J3_switch.tmax 0 +setp J3_vel.tmax 0 +setp J4_accel.tmax 0 +setp J4_mux.tmax 0 +setp J4_pid.do-pid-calcs.tmax 0 +setp J4_switch.tmax 0 +setp J4_vel.tmax 0 +setp limit_speed.tmax 0 +setp motion-command-handler.tmax 0 +setp motion-controller.tmax 0 +setp near_speed.difference 10 +setp near_speed.scale 1.1 +setp near_speed.tmax 0 +setp rpm_rps.tmax 0 +setp servo-thread.tmax 0 +setp sim_spindle.scale 0.01666667 +setp sim_spindle.tmax 0 +setp spindle_mass.gain 0.07 +setp spindle_mass.tmax 0 +# realtime thread/function links +addf motion-command-handler servo-thread +addf motion-controller servo-thread +addf J0_pid.do-pid-calcs servo-thread +addf J1_pid.do-pid-calcs servo-thread +addf J2_pid.do-pid-calcs servo-thread +addf J3_pid.do-pid-calcs servo-thread +addf J4_pid.do-pid-calcs servo-thread +addf J0_mux servo-thread +addf J1_mux servo-thread +addf J2_mux servo-thread +addf J3_mux servo-thread +addf J4_mux servo-thread +addf J0_vel servo-thread +addf J0_accel servo-thread +addf J1_vel servo-thread +addf J1_accel servo-thread +addf J2_vel servo-thread +addf J2_accel servo-thread +addf J3_vel servo-thread +addf J3_accel servo-thread +addf J4_vel servo-thread +addf J4_accel servo-thread +addf J0_switch servo-thread +addf J1_switch servo-thread +addf J2_switch servo-thread +addf J3_switch servo-thread +addf J4_switch servo-thread +addf limit_speed servo-thread +addf spindle_mass servo-thread +addf rpm_rps servo-thread +addf near_speed servo-thread +addf sim_spindle servo-thread + +# setp commands for unconnected input pins +setp J0_pid.FF0 1.0 +setp J0_pid.Pgain 0 +setp J0_pid.Dgain 0 +setp J0_pid.Igain 0 +setp J0_pid.FF1 0 +setp J0_pid.FF2 0 +setp J1_pid.FF0 1.0 +setp J1_pid.Pgain 0 +setp J1_pid.Dgain 0 +setp J1_pid.Igain 0 +setp J1_pid.FF1 0 +setp J1_pid.FF2 0 +setp J2_pid.FF0 1.0 +setp J2_pid.Pgain 0 +setp J2_pid.Dgain 0 +setp J2_pid.Igain 0 +setp J2_pid.FF1 0 +setp J2_pid.FF2 0 +setp J3_pid.FF0 1.0 +setp J3_pid.Pgain 0 +setp J3_pid.Dgain 0 +setp J3_pid.Igain 0 +setp J3_pid.FF1 0 +setp J3_pid.FF2 0 +setp J4_pid.FF0 1.0 +setp J4_pid.Pgain 0 +setp J4_pid.Dgain 0 +setp J4_pid.Igain 0 +setp J4_pid.FF1 0 +setp J4_pid.FF2 0 +setp sim_spindle.scale 0.01666667 +setp limit_speed.maxv 5000.0 +setp spindle_mass.gain .07 +setp near_speed.scale 1.1 +setp near_speed.difference 10 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini new file mode 100644 index 0000000..690b56e --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini @@ -0,0 +1,182 @@ +[APPLICATIONS] +# uncomment to enable: +#APP = halshow --fformat %.5f switchkins.halshow + +[EMC] +VERSION = 1.1 +MACHINE = sim-xyzbc-trt-kins (switchkins) + +[DISPLAY] + GEOMETRY = XYZB + OPEN_FILE = ./demos/xyzbc_switchkins.ngc + PYVCP = ./xyzbc-trt.xml + JOG_AXES = XYZC + DISPLAY = axis +MAX_ANGULAR_VELOCITY = 360 + MAX_LINEAR_VELOCITY = 1000 + POSITION_OFFSET = RELATIVE + POSITION_FEEDBACK = ACTUAL + MAX_FEED_OVERRIDE = 2 + PROGRAM_PREFIX = ../../nc_files + INTRO_GRAPHIC = emc2.gif + INTRO_TIME = 1 + #EDITOR = geany + TOOL_EDITOR = tooledit z diam + + TKPKG = Ngcgui 1.0 + NGCGUI_FONT = Helvetica -12 normal + NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc + NGCGUI_SUBFILE = centering.ngc + +[RS274NGC] +SUBROUTINE_PATH = ./remap_subs + HAL_PIN_VARS = 1 + REMAP = M428 modalgroup=10 ngc=428remap + REMAP = M429 modalgroup=10 ngc=429remap + REMAP = M430 modalgroup=10 ngc=430remap + PARAMETER_FILE = xyzbc.var + +[KINS] +#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!! +# default switchkins-type == 0 is xyzbc-trt-kins +# here switchkins-type == 0 is identity kins +KINEMATICS = xyzbc-trt-kins sparm=identityfirst + JOINTS = 5 + +[HAL] + HALUI = halui + HALFILE = LIB:basic_sim.tcl +POSTGUI_HALFILE = switchkins_postgui.hal + +# net for control of motion.switchkins-type +HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type + +# vismach xyzbc-trt-gui items +HALCMD = loadusr -W xyzbc-trt-gui +HALCMD = net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x +HALCMD = net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y +HALCMD = net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z +HALCMD = net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b +HALCMD = net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c +HALCMD = net :tool-offset motion.tooloffset.z +HALCMD = net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset +HALCMD = net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset +HALCMD = net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset +HALCMD = sets :x-offset -20 +HALCMD = sets :z-offset -15 + +# not currently supported by xyzbc-trt-gui: +HALCMD = setp xyzbc-trt-kins.x-rot-point 0 +HALCMD = setp xyzbc-trt-kins.y-rot-point 0 +HALCMD = setp xyzbc-trt-kins.z-rot-point 0 +HALCMD = setp xyzbc-trt-kins.conventional-directions 0 + +[HALUI] +# NOTE: kinstype==0 is identity kins because sparm=identityfirst +# M429:identity kins (motion.switchkins-type==0 startupDEFAULT) +# M428:xyzbc kins (motion.switchkins-type==1) +# M430:userk kins (motion.switchkins-type==2) +MDI_COMMAND = M429 +MDI_COMMAND = M428 +MDI_COMMAND = M430 + +[TRAJ] + COORDINATES = XYZBC + LINEAR_UNITS = mm + ANGULAR_UNITS = deg + DEFAULT_LINEAR_VELOCITY = 20 + MAX_LINEAR_VELOCITY = 35 + MAX_LINEAR_ACCELERATION = 400 +DEFAULT_LINEAR_ACCELERATION = 300 + +[EMCMOT] + EMCMOT = motmod +SERVO_PERIOD = 1000000 +COMM_TIMEOUT = 1 + +[TASK] + TASK = milltask +CYCLE_TIME = 0.010 + +[EMCIO] +TOOL_TABLE = xyzbc-trt.tbl + +[AXIS_X] + MIN_LIMIT = -200 + MAX_LIMIT = 200 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Y] + MIN_LIMIT = -100 + MAX_LIMIT = 100 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_Z] + MIN_LIMIT = -120 + MAX_LIMIT = 120 + MAX_VELOCITY = 20 +MAX_ACCELERATION = 300 + +[AXIS_B] + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[AXIS_C] + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + +[JOINT_0] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -200 + MAX_LIMIT = 200 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_1] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -100 + MAX_LIMIT = 100 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_2] + TYPE = LINEAR + HOME = 0 + MAX_VELOCITY = 20 + MAX_ACCELERATION = 300 + MIN_LIMIT = -120 + MAX_LIMIT = 120 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_3] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -100 + MAX_LIMIT = 50 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 + +[JOINT_4] + TYPE = ANGULAR + HOME = 0 + MAX_VELOCITY = 30 +MAX_ACCELERATION = 300 + MIN_LIMIT = -36000 + MAX_LIMIT = 36000 + HOME_SEARCH_VEL = 0 + HOME_SEQUENCE = 0 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl new file mode 100644 index 0000000..e2aabf8 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl @@ -0,0 +1,2 @@ +T1 P1 D1 +T2 P2 Z10 D8 diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt new file mode 100644 index 0000000..4641cf6 --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt @@ -0,0 +1,37 @@ +xyzbc-trt-kins (switchkins) + +Uses remapped user m codes for kins switch: + + M429: Identity Kinematics + M428: XYZBC (TCP) + M430: userk Kinematics + +A hal net is required to connect the +analog out pin N, Example (for N=3): + + net :kinstype-select <= motion.analog-out-03 + net :kinstype-select => motion.switchkins-type + +Hal Input pins: + xyzbc-trt-kins.x-offset + xyzbc-trt-kins.z-offset + +X and Z offsets are the offsets from the center +of rotation of the B axis relative to the center +of rotation of the C axis. + +Hal Input pins: + xyzbc-trt-kins.x-rot-point + xyzbc-trt-kins.y-rot-point + xyzbc-trt-kins.z-rot-point + +X, Y and Z rot-point pins represent the +offsets of the center of rotation of the C axis +relative to the machine absolute zero + +Hal Input pins: + xyzbc-trt-kins.conventional-directions + +Pin conventional-directions is false by default. If true, +axis directions follow the conventions as defined +at https://linuxcnc.org/docs/html/gcode/machining-center.html#_rotational_axes \ No newline at end of file diff --git a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml new file mode 100644 index 0000000..a51cdad --- /dev/null +++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml @@ -0,0 +1,45 @@ + + + + + "ridge" + 5 + + + ["0:IDENTITY", "1: XYZBC ", "2: USERK "] + ("Helvetica",16) + "black" + "yellow" + + + + + + + + "ridge" + 5 + + + + diff --git a/wasm-port/vendor/linuxcnc/src/emc/rs274ngc/interp_remap.cc b/wasm-port/vendor/linuxcnc/src/emc/rs274ngc/interp_remap.cc new file mode 100644 index 0000000..c33df5a --- /dev/null +++ b/wasm-port/vendor/linuxcnc/src/emc/rs274ngc/interp_remap.cc @@ -0,0 +1,640 @@ +/******************************************************************** + * Description: interp_remap.cc + * + * Remapping support + * + * Author: Michael Haberler + * License: GPL Version 2 + * System: Linux + * + * Copyright (c) 2011 All rights reserved. + * + ********************************************************************/ +#ifndef _GNU_SOURCE +#define _GNU_SOURCE +#endif +#define BOOST_PYTHON_MAX_ARITY 4 +#include "pythonplugin/python_plugin.hh" +#include "interp_python.hh" +#include +namespace bp = boost::python; + +#include +#include +#include +#include +#include +#include +#include +#include "rs274ngc.hh" +#include "rs274ngc_return.hh" +#include "rs274ngc_interp.hh" +#include "interp_internal.hh" +#include + +#include +#include + + +bool Interp::is_m_code_remappable(int m_code) +{ + // this is overdue for a bitset + return ((m_code > 199 && m_code < 1000) || + (m_code > 0 && m_code < 100 && ems[m_code] == -1) || + m_code == 0 || + m_code == 1 || + m_code == 6 || + m_code == 7 || + m_code == 8 || + m_code == 9 || + m_code == 60 || + m_code == 61 || + m_code == 62 || + m_code == 63 || + m_code == 64 || + m_code == 65 || + m_code == 66 || + m_code == 67 || + m_code == 68); +} + +bool Interp::is_any_m_code_remapped(block_pointer block, setup_pointer settings) +{ + for (const int m_mode : block->m_modes) { + if (m_mode == -1) + continue; + if (is_m_code_remappable(m_mode) && settings->m_remapped[m_mode]) + return true; + } + return false; +} + +bool Interp::is_user_defined_m_code(block_pointer block, setup_pointer settings, int m_group) +{ + const int m_code = block->m_modes[m_group]; + if (m_code < 0) return false; + + return (is_m_code_remappable(m_code) && settings->m_remapped[m_code]); +} + +bool Interp::is_g_code_remappable(int g_code) +{ return g_code > 0 && g_code < 1000 && gees[g_code] == -1; } + +bool Interp::is_user_defined_g_code(int g_code) +{ return is_g_code_remappable(g_code) && _setup.g_remapped[g_code]; } + +bool Interp::remap_in_progress(const char *code) +{ + remap_pointer rp = remapping(code); + if (rp == NULL) + return false; + for (int i = _setup.remap_level; i > 0; i--) { + if (_setup.blocks[i].executing_remap == rp) { + // printf("---------------- remap_in_progress(%s): TRUE level=%d\n",code,i); + return true; + } + } + // printf("---------------- remap_in_progress(%s): FALSE\n",code); + return false; +} + + +int Interp::convert_remapped_code(block_pointer /*block*/, + setup_pointer settings, + int phase, + char letter, + int number) +{ + remap_pointer remap; + char key[2]; + int status; + block_pointer cblock; + bp::list plist; + char cmd[LINELEN]; + + if (number == -1) + logRemap("convert_remapped_code '%c'", letter); + else + logRemap("convert_remapped_code '%c%d'", letter, number); + + switch (toupper(letter)) { + case 'M': + remap = settings->m_remapped[number]; + break; + case 'G': + remap = settings->g_remapped[number]; + break; + default: + key[0] = letter; + key[1] = '\0'; + remap = remapping((const char *)key); + } + CHKS((remap == NULL), "BUG: convert_remapped_code: no remapping"); + + // remapped handlers may use Python code to + // setup environment before, and finish work after doing theirs. + // That's what prolog and epilog functions are for. + // These are described in the remap descriptor as read from INI. + + // Since a remap is always executed in the context of a controlling block, + // this block now contains fields which hold dynamic remap information, like + // the breadcrumbs execution trail. + // Some of these fields are initialized here - + // conceptually the block stack is also a 'remap frame stack'. + + // the O_call code will pick up the static descriptor and + // dynamic information through the block and call any prolog + // function before passing control to the actual handler procedure. + + // On the corresponding O_endsub/O_return, any epilog function + // will be executed, doing any work not doable in an NGC file. + + // Note that even Python-remapped execution is pulled through the + // oword mechanism - so no duplication of handler calling code + // is needed. + + snprintf(cmd, sizeof(cmd),"O <%s> call ", REMAP_FUNC(remap)); + + // the controlling block holds all dynamic remap information. + cblock = &CONTROLLING_BLOCK(*settings); + cblock->executing_remap = remap; // the current descriptor + cblock->param_cnt = 0; + + if (remap->argspec && (strchr(remap->argspec, '@') != NULL)) { + // append a positional argument list instead of local variables + // if user specified '@' + // named local params are dealt with in execute_call() when + // the new call frame is fully established + CHP(add_parameters(settings, cblock, &cmd[strlen(cmd)])); + } + + if ((_setup.debugmask & EMC_DEBUG_REMAP) && + (_setup.loggingLevel > 2)) { + logRemap("convert_remapped_code(%s)", cmd); + } + + // good to go, pass to o-word call handling mechanism + status = read(cmd); + block_pointer eblock = &EXECUTING_BLOCK(*settings); + eblock->call_type = CT_REMAP; + CHKS(status != INTERP_OK, + "convert_remapped_code: initial read returned %s", + interp_status(status)); + return(- phase); +} + + +// add_parameters - a built-in prolog function +// +// handles argspec and extracts required and optional items from the +// controlling block. +// +// if preparing for an NGC file, add local variables to +// the current oword subroutine call frame +// +// if posargs == NULL: +// add the named parameters as local variables to the current call frame +// if posargs != NULL: +// create a positional argument list as per argspec order +// instead of adding local variables +// +// also, generate a kwargs style dictionary of required and optional items +// in case a Python prolog is called +// +// 1. add all required and present optional words. +// 2. error on missing but required words. +// 4. handle '>' as to require a positive feed. +// 5. handle '^' as to require a positive speed. +// 6. handle 'N' as to add the line number. +// +// return INTERP_ERROR and propagate appropriate message if any errors so far +// else return INTERP_OK +// +// handling '@' (positional params) is dealt with in the calling procedure + +int Interp::add_parameters(setup_pointer settings, + block_pointer cblock, + char *posarglist) +{ + const char *code; + block_pointer block; + std::string missing, optional, required; + std::string msg; + std::string tail; + bool errored = false; + bool interp_error = false; + remap_pointer rptr = cblock->executing_remap; + context_pointer active_frame = &settings->sub_context[settings->call_level]; + + if (!rptr) { + ERS("BUG: add_parameters: remap_frame: executing_remap == NULL "); + } + code = rptr->name; + + // if any Python handlers are present, create a kwargs dict + bool pydict = rptr->remap_py || rptr->prolog_func || rptr->epilog_func; + + //argspec = rptr->argspec; + CHKS((rptr->argspec == NULL),"BUG: add_parameters: argspec = NULL"); + + std::string_view argspec = rptr->argspec; + for (auto s : argspec) { + if (isupper(s) && required.find_first_of(s) == std::string::npos) { + required += tolower(s); + } + if (islower(s) && optional.find_first_of(s) == std::string::npos) { + optional += s; + } + if ((s == '>' || s == '^' || s == 'N' || s == 'n') + && required.find_first_of(s) == std::string::npos) { + required += s; + } + } + block = &CONTROLLING_BLOCK((*settings)); + + logNP("add_parameters code=%s argspec=%s call_level=%d r=%s o=%s pydict=%d\n", + code, + argspec.data(), + settings->call_level, + required.c_str(), + optional.c_str(), + pydict); + + auto STORE + { + [&](const char* name, double value) -> void { + if (pydict) { + try { + active_frame->pystuff.impl->kwargs[name] = value; + } + catch (const bp::error_already_set&) { + PyErr_Print(); + PyErr_Clear(); + ERM("add parameters: can't add '%s' to args", name); + interp_error = true; + return; + } + } + if (posarglist) { + char actual[LINELEN]; + snprintf(actual, sizeof(actual), "[%.4lf]", value); + strcat(posarglist, actual); + cblock->param_cnt++; + } + else { + add_named_param(name, 0); + store_named_param(settings, name, value, 0); + } + } + }; + + auto PARAM + { + [&](char spec, const char* name, bool flag, double value) -> void { + if (flag) { + if (required.find_first_of(spec) != std::string::npos + || optional.find_first_of(spec) != std::string::npos) { + STORE(name, value); + } + } + else { + if (required.find_first_of(spec) != std::string::npos) { + missing += spec; + errored = true; + } + } + } + }; + + // step through argspec in order so positional args are built + // in the correct order + for (auto s: argspec) { + switch (tolower(s)) { + case 'a' : PARAM('a',"a",block->a_flag,block->a_number); break; + case 'b' : PARAM('b',"b",block->b_flag,block->b_number); break; + case 'c' : PARAM('c',"c",block->c_flag,block->c_number); break; + case 'd' : PARAM('d',"d",block->d_flag,block->d_number_float); break; + case 'e' : PARAM('e',"e",block->e_flag,block->e_number); break; + case 'f' : PARAM('f',"f",block->f_flag,block->f_number); break; + case 'h' : PARAM('h',"h",block->h_flag,(double) block->h_number); break; + case 'i' : PARAM('i',"i",block->i_flag,block->i_number); break; + case 'j' : PARAM('j',"j",block->j_flag,block->j_number); break; + case 'k' : PARAM('k',"k",block->k_flag,block->k_number); break; + case 'l' : PARAM('l',"l",block->l_flag,(double) block->l_number); break; + case 'p' : PARAM('p',"p",block->p_flag,block->p_number); break; + case 'q' : PARAM('q',"q",block->q_flag,block->q_number); break; + case 'r' : PARAM('r',"r",block->r_flag,block->r_number); break; + case 's' : PARAM('s',"s",block->s_flag,block->s_number); break; + case 't' : PARAM('t',"t",block->t_flag, (double) block->t_number); break; + case 'u' : PARAM('u',"u",block->u_flag,block->u_number); break; + case 'v' : PARAM('v',"v",block->v_flag,block->v_number); break; + case 'w' : PARAM('w',"w",block->w_flag,block->w_number); break; + case 'x' : PARAM('x',"x",block->x_flag,block->x_number); break; + case 'y' : PARAM('y',"y",block->y_flag,block->y_number); break; + case 'z' : PARAM('z',"z",block->z_flag,block->z_number); break; + case '-' : break; // ignore - backwards compatibility + default: ; + } + if (interp_error) + return INTERP_ERROR; + } + + if (!missing.empty()) { + tail = " missing: "; + errored = true; + } + bool first = true; + for (auto s : missing) { + if (first) first = false; + else tail += ','; + tail += toupper(s); + } + // special cases: + // N...add line number + if (required.find_first_of('n') != std::string::npos || required.find_first_of('N') != std::string::npos) { + STORE("n", cblock->saved_line_number); + } + + // >...require positive feed + if (required.find_first_of('>') != std::string::npos) { + if (settings->feed_rate > 0.0) { + STORE("f", settings->feed_rate); + } + else { + tail += "F>0,"; + errored = true; + } + } + + // ^...require positive speed + // FIXME: How do we decide which spindle they want to use? (andypugh 17/7/16) + if (required.find_first_of('^') != std::string::npos) { + if (settings->speed[0] > 0.0) { + STORE("s", settings->speed[0]); + } + else { + tail += "S>0,"; + errored = true; + } + } + + if (errored) { + ERS("user-defined %s:%s", code, tail.c_str()); + } + return INTERP_OK; +} + + +// this looks up a remapping by unnormalized code (like G88.1) +remap_pointer Interp::remapping(const char *code) +{ + remap_iterator n = _setup.remaps.find(code); + if (n != _setup.remaps.end()) + return &n->second; + else + return NULL; +} + +// parse options of the form: +// REMAP= M420 modalgroup=6 argspec=pq prolog=setnamedvars ngc=m43.ngc epilog=ignore_retvalue +// REMAP= M421 modalgroup=6 argspec=- prolog=setnamedvars python=m43func epilog=ignore_retvalue + +int Interp::parse_remap(const char *inistring, int lineno) +{ + + char iniline[LINELEN]; + char *argv[MAX_REMAPOPTS]; + int argc = 0; + const char *code; + remap r; + bool errored = false; + int g1 = 0, g2 = 0; + int mcode = -1; + int gcode = -1; + char *s; + + memset((void *)&r, 0, sizeof(remap)); + r.modal_group = -1; // mark as unset, required param for m/g + r.motion_code = INT_MIN; + rtapi_strxcpy(iniline, inistring); + // strip trailing comments + if ((s = strchr(iniline, '#')) != NULL) { + *s = '\0'; + } + char* saveptr; + s = strtok_r((char *) iniline, " \t", &saveptr); + + while( s != NULL && argc < MAX_REMAPOPTS - 1) { + argv[argc++] = s; + s = strtok_r( NULL, " \t", &saveptr); + } + if (argc == MAX_REMAPOPTS) { + Error("parse_remap: too many arguments (max %d)", MAX_REMAPOPTS); + goto fail; + } + argv[argc] = NULL; + code = strstore(argv[0]); + r.name = code; + + for (int i = 1; i < argc; i++) { + int kwlen = 0; + char *kw = argv[i]; + char *arg = strchr(argv[i],'='); + if (arg != NULL) { + kwlen = arg - argv[i]; + arg++; + if (!strlen(arg)) { // 'kw=' + Error("option '%s' - zero length value: %d:REMAP = %s", + kw,lineno,inistring); + errored = true; + continue; + } + } else { // 'kw' + Error("option '%s' - missing '=: %d:REMAP = %s", + kw,lineno,inistring); + errored = true; + continue;; + } + if (!strncasecmp(kw,"modalgroup",kwlen)) { + r.modal_group = atoi(arg); + continue; + } + if (!strncasecmp(kw,"argspec",kwlen)) { + size_t pos = strspn (arg, + "ABCDEFGHIJKLMNPQRSTUVWXYZabcdefghijklmnpqrstuvwxyz>^@"); + if (pos != strlen(arg)) { + Error("argspec: illegal word '%c' - %d:REMAP = %s", + arg[pos],lineno,inistring); + errored = true; + continue; + } + r.argspec = strstore(arg); + continue; + } + if (!strncasecmp(kw,"prolog",kwlen)) { + if (PYUSABLE) { + r.prolog_func = strstore(arg); + } else { + Error("Python plugin required for prolog=, but not available: %d:REMAP = %s", + lineno,inistring); + errored = true; + continue; + } + continue; + } + if (!strncasecmp(kw,"epilog",kwlen)) { + if (PYUSABLE) { + r.epilog_func = strstore(arg); + } else { + Error("Python plugin required for epilog=, but not available: %d:REMAP = %s", + lineno,inistring); + errored = true; + continue; + } + continue; + } + if (!strncasecmp(kw,"ngc",kwlen)) { + if (r.remap_py) { + Error("can\'t remap to an ngc file and a Python function: - %d:REMAP = %s", + lineno,inistring); + errored = true; + continue; + } + FILE *fp = find_ngc_file(&_setup,arg); + if (fp) { + r.remap_ngc = strstore(arg); + fclose(fp); + } else { + Error("INTERP_REMAP: NGC file not found: ngc=%s\nREMAP INI Line:%d = %s\n", + arg, lineno, inistring); + errored = true; + } + continue; + } + if (!strncasecmp(kw,"python",kwlen)) { + if (r.remap_ngc ) { + Error("can\'t remap to an ngc file and a Python function: - %d:REMAP = %s", + lineno,inistring); + errored = true; + continue; + } + if (!PYUSABLE) { + Error("iNTERP_REMAP: Python plugin required for python=, but not available:\nREMAP INI line:%d = %s\n", + lineno,inistring); + errored = true; + continue; + } + if (!is_pycallable(&_setup, REMAP_MODULE, arg)) { + Error("'%s' is not a Python callable function - %d:REMAP = %s", + arg,lineno,inistring); + errored = true; + continue; + } + r.remap_py = strstore(arg); + continue; + } + Error("unrecognized option '%*s' in %d:REMAP = %s", + kwlen,kw,lineno,inistring); + } + if (errored) { + goto fail; + } + + if (remapping(code)) { + Error("code '%s' already remapped : %d:REMAP = %s", + code,lineno,inistring); + goto fail; + } + + // it is an error not to define a remap function to call. + if ((r.remap_ngc == NULL) && (r.remap_py == NULL)) { + Error("code '%s' - no remap function given, use either 'python=' or 'ngc=' : %d:REMAP = %s", + code,lineno,inistring); + goto fail; + } + +#define CHECK(bad, fmt, ...) \ + do { \ + if (bad) { \ + Log(fmt, ## __VA_ARGS__); \ + goto fail; \ + } \ + } while(0) + + switch (towlower(*code)) { + + case 't': + case 's': + case 'f': + CHECK((strlen(code) > 1),"%d: %c remap - only single letter code allowed", lineno, *code); + CHECK((r.modal_group != -1), "%d: %c remap - modal group setting ignored - fixed sequencing", lineno, *code); + _setup.remaps[code] = r; + break; + + case 'm': + if (sscanf(code + 1, "%d", &mcode) != 1) { + Error("parsing M-code: expecting integer like 'M420', got '%s' : %d:REMAP = %s", + code,lineno,inistring); + goto fail; + } + if (r.modal_group == -1) { + Error("warning: code '%s' : no modalgroup= given, using default group %d : %d:REMAP = %s", + code, MCODE_DEFAULT_MODAL_GROUP,lineno,inistring); + r.modal_group = MCODE_DEFAULT_MODAL_GROUP; + } + if (!M_MODE_OK(r.modal_group)) { + Error("error: code '%s' : invalid modalgroup= given (currently valid: 4..10) : %d:REMAP = %s", + code,lineno,inistring); + goto fail; + } + _setup.remaps[code] = r; + _setup.m_remapped[mcode] = &_setup.remaps[code]; + break; + case 'g': + + // code may be G88.1 or so - normalize to use 'G881' instead + // (multiply by 10, no dots) + if (sscanf(code + 1, "%d.%d", &g1, &g2) == 2) { + gcode = g1 * 10 + g2; + } + if ( gcode == -1) { + if (sscanf(code + 1, "%d", &gcode) != 1) { + Error("code '%s' : can\'t parse G-code : %d:REMAP = %s", + code, lineno, inistring); + goto fail; + } + gcode *= 10; + } + r.motion_code = gcode; + if (r.modal_group == -1) { + Error("warning: code '%s' : no modalgroup= given, using default group %d : %d:REMAP = %s", + code, GCODE_DEFAULT_MODAL_GROUP, lineno, inistring); + r.modal_group = GCODE_DEFAULT_MODAL_GROUP; + } + if (!G_MODE_OK(r.modal_group)) { + Error("error: code '%s' : %s modalgroup= given : %d:REMAP = %s", + argv[0], + r.modal_group == -1 ? "no" : "invalid", + lineno, + inistring); + goto fail; + } + _setup.remaps[code] = r; + _setup.g_remapped[gcode] = &_setup.remaps[code]; + break; + + default: + // make sure the python plugin is in a usable state if needed + if ((r.prolog_func || r.remap_py || r.epilog_func) && + (!PYUSABLE)) { + fprintf(stderr, "fatal: REMAP requires the Python plugin, which did not initialize\n"); + break; + } + Log("REMAP BUG=%s %d:REMAP = %s", + code,lineno,inistring); + } + return INTERP_OK; + + fail: + return INTERP_ERROR; +}