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。
2026-06-08 15:33:05 +08:00
parent 19687c3268
commit 5df62ad60a
61 changed files with 12160 additions and 4 deletions
--- 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.
--- 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

--- 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.
--- 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
--- 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
@@ -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;
+}
--- 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 <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(); }
--- a/wasm-port/runtime/core/shims/linuxcnc_remap_compile_compat.hh
+++ b/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
--- 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;
--- 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"
--- 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" \
--- 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
--- 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
@@ -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
--- 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
@@ -0,0 +1,4 @@
+T10  P10  Z10  D10
+T11  P11  Z11  D10
+T100 P100 Z100 D10
+T150 P150 Z150 D10
--- 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
@@ -0,0 +1,128 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>[" 0:BRIDGE ", "1:IDENTITY", " 2:USERK  "]</legends>
+      <font>("DejaVu Sans Mono",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"Brigemill"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"Identity  "</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk  "</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+  <vbox>
+  <labelframe text="Joints values">
+    <font>("Helvetica",14)</font>
+    <hbox>
+     <label>
+        <text>"0: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint0"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"1: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint1"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"2: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint2"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"3: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint3"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"4: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint4"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"5: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint5"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+    <hbox>
+     <label>
+        <text>"6: "</text>
+        <font>("Helvetica",14)</font>
+     </label>
+     <number>
+        <halpin>"joint6"</halpin>
+        <font>("Helvetica",14)</font>
+        <format>"4.4f"</format>
+       </number>
+    </hbox>
+  </labelframe>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+</pyvcp>
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -0,0 +1,53 @@
+        #<r>  =   60 ; sphere radius
+  #<rdelta>   =    5 ; safe distance
+#<drilldepth> =   -5
+    #<zstart> =    0
+    #<bctmax> =    8
+    #<cctmax> =   16
+    #<toolno> =  100
+    #<frate>  = 1000
+
+#<bct>    = 0
+#<cct>    = 0
+#<cdelta> = [360/#<cctmax>]
+#<bdelta> = [90/#<bctmax>]
+
+g49
+t#<toolno>m6g43
+
+g53 g0 x0y0z#<zstart>b0c0 w0
+g10l20 p0 x0 y0 z[#<r>+#<rdelta>] b0 c0 w0
+g0 z0
+f#<frate>
+o100 while [#<bct> lt #<bctmax>]
+       #<b> = [#<bct>*#<bdelta>]
+       #<rnow> = [[#<r>+#<rdelta>]*[cos[#<b>]]]
+       #<x> = [#<rnow>]
+       #<y> = 0
+       #<z> = [-#<rnow>]
+       g0 x#<x> y#<y>
+       m66e0l0 ; force sync
+       g0 z#<z>
+       g0b[-90+#<b>]
+       #<cct> = 0
+o200   while [#<cct> lt #<cctmax>]
+o210      if [[#<bct> mod 2] eq 0]
+              #<c> = [#<cct> * #<cdelta>]
+o210      else
+              #<c> = [360 - [1+ #<cct>] * #<cdelta>]
+o210      endif
+          #<x> = [#<rnow>*[cos[#<c>]]]
+          #<y> = [#<rnow>*[sin[#<c>]]]
+          g0 x#<x> y#<y> z#<z>  c#<c>
+          f#<frate>
+          g1 w[ #<drilldepth> - #<rdelta>]
+          g0 w0
+          m66e0l0 ;force sync
+          #<cct> = [#<cct>+1]
+o200   endwhile
+       #<bct> = [#<bct>+1]
+o100 endwhile
+
+g0x0y0z0b0c0w0
+g53 g0 x0y0z0
+m2
--- a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/README
+++ 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
--- 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
@@ -0,0 +1,24 @@
+;M428 by remap: select kinstype=0 genhexkins
+o<428remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,24 @@
+;M429 by remap: select kinstype==1 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 1
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,24 @@
+;M430 by remap: select kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -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
+***********************************************
--- 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
@@ -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
--- 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
@@ -0,0 +1,24 @@
+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,24 @@
+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -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
+
--- 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
@@ -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
--- 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
@@ -0,0 +1,4 @@
+T1  P1  D1
+T2  P2  Z30  D3
+T3  P3  Z40  D4
+T4  P4  Z50  D5
--- 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
@@ -0,0 +1,119 @@
+5161	0.000000
+5162	0.000000
+5163	0.000000
+5164	0.000000
+5165	0.000000
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+5387	0.000000
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+5390	0.000000
--- a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak
+++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.var.bak
@@ -0,0 +1,119 @@
+5161	0.000000
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+5164	0.000000
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+5216	0.000000
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+5222	-50.000000
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--- a/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml
+++ b/wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml
@@ -0,0 +1,325 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <multilabel>
+      <legends>["0:IDENTITY", "1: XYZAB  ", "2: USERK  "]</legends>
+      <font>("Helvetica",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"IDENTITY"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"TCP:XYZAB"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+<!-- create a space to the next element -->
+  <vbox>
+    <hbox>
+    <label>
+       <text>" "</text>
+       <font>("Helvetica",4)</font>
+    </label>
+    </hbox>
+  </vbox>
+
+  <vbox>
+  <labelframe text="Joint position">
+    <font>("Helvetica",14)</font>
+    <hbox>
+        <vbox>
+            <hbox>
+            <label>
+               <text>"0: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint0"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+           </hbox>
+           <hbox>
+            <label>
+               <text>"1: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint1"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+           </hbox>
+           <hbox>
+            <label>
+               <text>"2: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint2"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+            </hbox>
+        </vbox>
+        <vbox>
+            <label>
+               <text>"              "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+        </vbox>
+        <vbox>
+            <hbox>
+            <label>
+               <text>"3: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint3"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+           </hbox>
+           <hbox>
+            <label>
+               <text>"4: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint4"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+           </hbox>
+           <hbox>
+            <label>
+               <text>"5: "</text>
+               <font>("Helvetica",10)</font>
+            </label>
+            <number>
+               <halpin>"joint5"</halpin>
+               <font>("Helvetica",10)</font>
+               <format>"4.4f"</format>
+              </number>
+            </hbox>
+        </vbox>
+     </hbox>
+  </labelframe>
+  </vbox>
+<!-- create a space to the next element -->
+  <vbox>
+    <hbox>
+    <label>
+       <text>" "</text>
+       <font>("Helvetica",4)</font>
+    </label>
+    </hbox>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+<!-- create a space to the next element -->
+  <vbox>
+    <hbox>
+    <label>
+       <text>" "</text>
+       <font>("Helvetica",4)</font>
+    </label>
+    </hbox>
+  </vbox>
+
+  <vbox>
+  <labelframe text="Rotary Assembly Offset">
+    <font>("Helvetica",14)</font>
+    <hbox>
+    <label>
+       <text>"x-offset:   "</text>
+       <font>("Helvetica",10)</font>
+    </label>
+    <scale>
+        <font>("Helvetica",10)</font>
+        <width>"15"</width>
+        <halpin>"x-offset"</halpin>
+        <resolution>1</resolution>
+        <orient>HORIZONTAL</orient>
+        <initval>-20</initval>
+        <min_>-50</min_>
+        <max_>50</max_>
+    </scale>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"z-offset:   "</text>
+       <font>("Helvetica",10)</font>
+    </label>
+    <scale>
+        <font>("Helvetica",10)</font>
+        <width>"15"</width>
+        <halpin>"z-offset"</halpin>
+        <resolution>1</resolution>
+        <orient>HORIZONTAL</orient>
+        <initval>-10</initval>
+        <min_>-50</min_>
+        <max_>50</max_>
+    </scale>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>" "</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"Use hover + mouse wheel to change values"</text>
+       <font>("Helvetica",6)</font>
+    </label>
+    </hbox>
+  </labelframe>
+  </vbox>
+<!-- create a space to the next element -->
+  <vbox>
+    <hbox>
+    <label>
+       <text>" "</text>
+       <font>("Helvetica",4)</font>
+    </label>
+    </hbox>
+  </vbox>
+
+  <vbox>
+  <labelframe text="Rotation Point Offset">
+    <font>("Helvetica",14)</font>
+    <hbox>
+    <label>
+       <text>" This should demonstrate that TCP kinematics\n require the 'rot-point' settings (yellow)\n to match the physical location\n of the rotation-point (red)."</text>
+       <font>("Helvetica",8)</font>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>" "</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>"Physical location of rotation-point in the model\n in absolute machine coordinates:"</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>" x:  -50\n y:  -50\n z: -100"</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>" "</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>"these are also the correct 'rot-point' settings\n for this model"</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"x-rot-point:   "</text>
+       <font>("Helvetica",10)</font>
+    </label>
+    <scale>
+        <font>("Helvetica",10)</font>
+        <width>"15"</width>
+        <halpin>"x-rot-point"</halpin>
+        <resolution>1</resolution>
+        <orient>HORIZONTAL</orient>
+        <initval>-50</initval>
+        <min_>-55</min_>
+        <max_>-45</max_>
+    </scale>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"y-rot-point:   "</text>
+       <font>("Helvetica",10)</font>
+    </label>
+    <scale>
+        <font>("Helvetica",10)</font>
+        <width>"15"</width>
+        <halpin>"y-rot-point"</halpin>
+        <resolution>1</resolution>
+        <orient>HORIZONTAL</orient>
+        <initval>-50</initval>
+        <min_>-55</min_>
+        <max_>-45</max_>
+    </scale>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"z-rot-point:   "</text>
+       <font>("Helvetica",10)</font>
+    </label>
+    <scale>
+        <font>("Helvetica",10)</font>
+        <width>"15"</width>
+        <halpin>"z-rot-point"</halpin>
+        <resolution>1</resolution>
+        <orient>HORIZONTAL</orient>
+        <initval>-100</initval>
+        <min_>-105</min_>
+        <max_>-95</max_>
+    </scale>
+    </hbox>
+    <hbox>
+    <label>
+       <font>("Helvetica",8)</font>
+       <text>" "</text>
+    </label>
+    </hbox>
+    <hbox>
+    <label>
+       <text>"Use hover + mouse wheel to change values"</text>
+       <font>("Helvetica",6)</font>
+    </label>
+    </hbox>
+  </labelframe>
+  </vbox>
+<!-- create a space to the next element -->
+  <vbox>
+    <hbox>
+    <label>
+       <text>" "</text>
+       <font>("Helvetica",4)</font>
+    </label>
+    </hbox>
+  </vbox>
+  <vbox>
+    <hbox>
+    <label>
+       <text>" FOR PROPER TOOL-PATH PREVIEW \n RELOAD AND RESTART THE\n GCODE AFTER STARTUP AND\n AFTER CHANGING OFFSETS!"</text>
+       <font>("Helvetica",9)</font>
+    </label>
+    </hbox>
+  </vbox>
+
+</pyvcp>
--- 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
@@ -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
--- 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
@@ -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
+***********************************************
--- 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
--- 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
--- 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
--- 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
@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzac_switchkins_sub> call [10] [5]  [10][1000][3][20][0][45][20]
+m2
--- 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
@@ -0,0 +1,39 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429
+G0 X0 Y0 Z0 A0 C0
+G0 C90 X10 Y0
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X0 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+
+M429
+G1 F#<FRATE> Z0
+G0 C90 X10 Y30
+G1 F#<FRATE> Z2
+
+M428
+G1 F#<FRATE> Z0
+
+M429
+G1 F#<FRATE> Z2
+G0 C90 X30 Y10
+G1 F#<FRATE> Z0
+
+M428
+G1 F#<FRATE> Z2
+M429
+G1 F#<FRATE> Z0
+
+G0 X0 Y0 Z0 A0 C0
+M2
--- 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
@@ -0,0 +1,49 @@
+; for debugging, use mdi to set global #<_switchkins_debug>=1
+
+#<FRATE>=1000
+M429 ;Trivkins
+G64 P0.01
+S1500 M3
+G0 X0 Y0 Z5 A0 C0
+G1 F#<FRATE> Z0
+G1 X20 Y0 F#<FRATE>
+
+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
--- 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
@@ -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
--- 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
@@ -0,0 +1,3 @@
+;                            zmax zmin r   frate n  a   b  c   dist
+o<xyzbc_switchkins_sub> call [10] [5]  [10][1000][3][0][20][45][20]
+m2
--- 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
@@ -0,0 +1,24 @@
+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,24 @@
+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,24 @@
+;M430 by remap: kinstype==2 userk kins
+o<430remap>sub
+  #<kinstype> = 2
+  #<SWITCHKINS_PIN> = 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#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (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
--- 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
@@ -0,0 +1,42 @@
+(info: tests for values of [xyz]-rot-point)
+o<centering>sub
+#<xstart> = #1 (=-2.5)
+#<ystart> = #2 (=-2.5)
+  #<xlen> = #3 (= 5)
+  #<ylen> = #4 (= 5)
+#<zfinal> = #5 (=60)
+     #<n> = #6 (=12)
+     #<f> = #7 (=1000 feed)
+#<angle> = 0
+#<delta_angle> = [360/#<n>]
+
+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#<xstart> y#<ystart> z0 c0
+M428 ;tcp
+
+g61
+o10 while [#<angle> le 360]
+     g1 f#<f>
+     #<angle> = [#<angle> + #<delta_angle>]
+     g0 c#<angle>
+     g1 x[#<xstart> + #<xlen>]
+     g1 y[#<ystart> + #<ylen>]
+     g1 x[#<xstart> + 0      ]
+     g1 y[#<ystart> + 0      ]
+o10 endwhile
+
+
+M429 ;Identity kinematics
+g0 x0 y0 z#<zfinal> c0
+o<centering>endsub
--- 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
@@ -0,0 +1,22 @@
+; helix using switchkins (xyzac) a,c angles
+o<helix_ac>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=45)
+      #<b> = #7 (=0 NA)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+  M428                            ;XYZAC
+  g0a#<a>c#<c>                    ;exercise a,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> a0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZAC
+o<helix_ac>endsub
--- 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
@@ -0,0 +1,22 @@
+; helix using switchkins (xyzbc) b,c angles
+o<helix_bc>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10)
+  #<frate> = #4 (=1000)
+      #<n> = #5 (=3)
+      #<a> = #6 (=0 NA)
+      #<b> = #7 (=45)
+      #<c> = #8 (=20)
+
+  M429                            ;Identity kinematics
+  g0 x[#<_x> - #<r>]              ;adjust for radius
+  g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+  M428                            ;XYZBC
+  g0b#<b>c#<c>                    ;exercise b,c
+  f#<frate> g2i#<r>z#<zmin> p#<n> ;helix
+  M429                            ;Identity kinematics
+  g0 x0 y0 z#<zmax> b0 c0         ;return to start
+  g0 x[#<_x> + #<r>]              ;adjust restore
+  M428                            ;XYZBC
+o<helix_bc>endsub
--- 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
@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles A,C)
+o<xyzac_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=30 A angle)
+      #<b> = #7 (=0  B angle NA)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> a0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> a0 c0
+g10l20p0 x0y0 z#<zmax> a0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_ac> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzac_switchkins_sub>endsub
--- 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
@@ -0,0 +1,47 @@
+; ngcgui-compatible subroutine
+(info: helix in each quadrant at angles B,C)
+o<xyzbc_switchkins_sub>sub
+   #<zmax> = #1 (=10)
+   #<zmin> = #2 (= 5)
+      #<r> = #3 (=10 radius)
+  #<frate> = #4 (=1000 feedrate)
+      #<n> = #5 (=3  n circles)
+      #<a> = #6 (=0  A angle NA)
+      #<b> = #7 (=30 B angle)
+      #<c> = #8 (=45 C angle)
+   #<dist> = #9 (=20 distance)
+
+; quadrant I
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0    ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> b0 c0    ;new g54
+g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant II
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y+#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant III
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x-#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+; quadrant IV
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> b0 c0
+g10l20p0 x0y0 z#<zmax> b0 c0
+g0 x+#<dist> y-#<dist> z#<zmax>
+o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]
+
+;final position
+M429                            ;Identity kinematics
+g53 g0   x0y0 z#<zmax> ;MACHINE coordinates
+g10l20p0 x0y0 z#<zmax> ;new g54
+
+o<xyzbc_switchkins_sub>endsub
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -0,0 +1,45 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>["0:IDENTITY", "1: XYZAC  ", "2: USERK  "]</legends>
+      <font>("Helvetica",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"IDENTITY"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"TCP:XYZAC"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk  "</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+</pyvcp>
--- 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
@@ -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
--- 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
@@ -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
--- 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
@@ -0,0 +1,2 @@
+T1 P1 D1
+T2 P2 Z10 D8
--- 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
@@ -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
--- 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
@@ -0,0 +1,45 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <label>
+      <text>"SWITCHKINS"</text>
+      <relief>RIDGE</relief>
+      <bd>3</bd>
+    </label>
+    <multilabel>
+      <legends>["0:IDENTITY", "1: XYZBC  ", "2: USERK  "]</legends>
+      <font>("Helvetica",16)</font>
+      <bg>"black"</bg>
+      <fg>"yellow"</fg>
+    </multilabel>
+    <button>
+      <halpin>"type0-button"</halpin>
+      <text>"IDENTITY"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type1-button"</halpin>
+      <text>"TCP:XYZBC"</text>
+      <bd>3</bd>
+    </button>
+    <button>
+      <halpin>"type2-button"</halpin>
+      <text>"userk"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+  <vbox>
+    <relief>"ridge"</relief>
+    <bd>5</bd>
+    <button>
+      <halpin>"vismach-clear"</halpin>
+      <text>"vismach-clear"</text>
+      <bd>3</bd>
+    </button>
+  </vbox>
+
+</pyvcp>
--- a/wasm-port/vendor/linuxcnc/src/emc/rs274ngc/interp_remap.cc
+++ 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 <boost/python/list.hpp>
+namespace bp = boost::python;
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include "rs274ngc.hh"
+#include "rs274ngc_return.hh"
+#include "rs274ngc_interp.hh"
+#include "interp_internal.hh"
+#include <rtapi_string.h>
+
+#include <string>
+#include <string_view>
+
+
+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 '=<value>: %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=<function>' or 'ngc=<basename>' : %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=<int> 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=<int> 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=<int> 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=<int> 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;
+}