按规划持续工作

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/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_asset_probe.cpp

@@ -0,0 +1,235 @@
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <string>
+#include <vector>
+
+#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<char>(input),
+        std::istreambuf_iterator<char>());
+}
+
+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 &section,
+    const std::string &tag,
+    const std::string &expected)
+{
+    const auto actual = ini.findString(tag, section);
+    std::cout << label << "_" << section << "." << tag << "="
+              << (actual ? *actual : "<missing>") << "\n";
+    const bool ok = actual && *actual == expected;
+    print_bool(label + "_" + section + "." + tag + "_ok", ok);
+    return ok;
+}
+
+bool check_remap_entry(
+    const std::vector<std::string> &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, "#<kinstype> = " + expected_kinstype) &&
+        contains(text, "#<SWITCHKINS_PIN> = 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<bool>(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;
+}

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 <typename T>
     explicit object(const T &) {}
 
+    template <typename T>
+    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(); }

wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh

@@ -0,0 +1,7 @@
+#pragma once
+
+#include <cwctype>
+
+#ifndef towlower
+#define towlower std::towlower
+#endif

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;