From 68a0a2db22a860e1b20b843ba58e0134e39de4d3 Mon Sep 17 00:00:00 2001 From: wangdequan Date: Mon, 8 Jun 2026 17:38:46 +0800 Subject: [PATCH] =?UTF-8?q?=E6=8C=89=E8=A7=84=E5=88=92=E6=8C=81=E7=BB=AD?= =?UTF-8?q?=E5=B7=A5=E4=BD=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 结论：扩展 5axis native remap 执行验证，使用 vendored LinuxCNC demo 文件 xyzac_switchkins_test_1.ngc 和 xyzac_switchkins_test_3.ngc 走 open/read/execute 文件路径，并确认 remap 同步边界与 _hal[motion.switchkins-type] 最终状态。 --- wasm-port/docs/compatibility-validation.md | 2 +- .../linuxcnc_5axis_remap_execute_harness.cpp | 103 ++++++++++++++++++ .../tests/native/verify_native_probes.sh | 16 +++ 3 files changed, 120 insertions(+), 1 deletion(-) diff --git a/wasm-port/docs/compatibility-validation.md b/wasm-port/docs/compatibility-validation.md index 9044280..f3069cc 100644 --- a/wasm-port/docs/compatibility-validation.md +++ b/wasm-port/docs/compatibility-validation.md @@ -213,7 +213,7 @@ The validation fails if: | `linuxcnc_interp_init_harness` | Validates vendored LinuxCNC `Interp::init()` emits canonical initialization boundaries, reads metric/inch machine units, and synchronizes current/selected tool slots through standalone status adapters. | | `linuxcnc_indexer_harness` | Validates vendored LinuxCNC single-axis rotary indexer dispatch emits lock/unlock and motion boundaries through the standalone event sink. | | `linuxcnc_remap_hal_sync_harness` | Validates vendored LinuxCNC `M68`/`M66` execution can drive the standalone HAL adapter boundary used by 5-axis switchkins remap files, including `_hal[motion.switchkins-type]` readback. | -| `linuxcnc_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines. | +| `linuxcnc_5axis_remap_execute_harness` | Validates vendored LinuxCNC `REMAP` parsing plus NGC remap execution for the 5-axis `M429 -> M428 -> M430 -> M429` switchkins path in the `xyzac-trt` and `xyzbc-trt` sample machines, then runs vendored `xyzac_switchkins_test_1.ngc` and `xyzac_switchkins_test_3.ngc` through the LinuxCNC file `open/read/execute` path. | | `linuxcnc_tp_api_probe` | Validates vendored LinuxCNC trajectory planner calls for linear, arc, and queued motion paths. | | `linuxcnc_kinematics_probe` | Validates vendored LinuxCNC `trivkins.c` plus `kins_util.c` initialize and perform identity forward/inverse mapping through the standalone HAL/RTAPI boundary. | | `linuxcnc_5axis_kinematics_probe` | Validates vendored LinuxCNC `5axiskins.c` through `switchkins.c`, including 5-axis forward/inverse round-trip behavior and switching to identity kinematics. | diff --git a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp index bd4ad5a..610b539 100644 --- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp +++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp @@ -26,6 +26,12 @@ struct MachineCase { const char *ini_rel; }; +struct DemoCase { + const char *label; + const char *rel; + double expected_switchkins; +}; + std::filesystem::path vendor_path(const std::string &rel) { return std::filesystem::path(LINUXCNC_VENDOR_DIR) / rel; @@ -145,6 +151,84 @@ bool execute_step(Interp &interp, const std::string &label, const char *command, return ok; } +bool execute_demo_file(const MachineCase &machine, const DemoCase &demo) +{ + Interp interp; + initialize_interp(interp); + + const std::string label = std::string(machine.label) + "_" + demo.label; + bool ok = parse_machine_remaps(interp, machine); + + const auto file_path = vendor_path(demo.rel); + const int open_rc = interp.open(file_path.c_str()); + std::cout << label << "_file_open=" << open_rc << "\n"; + if (open_rc != INTERP_OK) { + print_bool(label + "_linuxcnc_demo_file_execute", false); + return false; + } + + int read_count = 0; + int execute_count = 0; + int finish_count = 0; + int final_rc = INTERP_OK; + bool reached_exit = false; + + while (read_count < 512 && execute_count < 512) { + const int read_rc = interp.read(); + if (read_rc == INTERP_ENDFILE) { + std::cout << label << "_file_read_eof=" << read_rc << "\n"; + final_rc = read_rc; + break; + } + + ++read_count; + std::cout << label << "_file_read_" << read_count << "=" << read_rc << "\n"; + if ((read_rc != INTERP_OK) && (read_rc != INTERP_EXECUTE_FINISH)) { + final_rc = read_rc; + ok = false; + break; + } + + int execute_rc = interp.execute(); + ++execute_count; + std::cout << label << "_file_execute_" << execute_count << "=" << execute_rc << "\n"; + final_rc = execute_rc; + if (execute_rc == INTERP_EXECUTE_FINISH) { + ++finish_count; + } + + if ((execute_rc != INTERP_OK) && (execute_rc != INTERP_EXIT)) { + if (execute_rc != INTERP_EXECUTE_FINISH) { + ok = false; + final_rc = execute_rc; + break; + } + } + if (execute_rc == INTERP_EXIT) { + reached_exit = true; + final_rc = execute_rc; + break; + } + } + + std::cout << label << "_file_read_count=" << read_count << "\n"; + std::cout << label << "_file_execute_count=" << execute_count << "\n"; + std::cout << label << "_file_finish_count=" << finish_count << "\n"; + std::cout << label << "_file_final_rc=" << final_rc << "\n"; + print_bool(label + "_file_reached_exit", reached_exit); + + ok &= reached_exit; + ok &= read_count > 0; + ok &= execute_count > 0; + ok &= read_count < 512; + ok &= execute_count < 512; + ok &= read_hal_named(interp, label, "_hal[motion.switchkins-type]", + demo.expected_switchkins); + + print_bool(label + "_linuxcnc_demo_file_execute", ok); + return ok; +} + bool check_machine(const MachineCase &machine) { Interp interp; @@ -181,6 +265,25 @@ int main() ok &= check_machine(machine); } + const DemoCase demos[] = { + { + "xyzac_switchkins_test_1", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/" + "xyzac_switchkins_test_1.ngc", + 0.0, + }, + { + "xyzac_switchkins_test_3", + "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/" + "xyzac_switchkins_test_3.ngc", + 0.0, + }, + }; + + for (const auto &demo : demos) { + ok &= execute_demo_file(cases[0], demo); + } + print_bool("fiveaxis_linuxcnc_remap_execute_path", ok); return ok ? 0 : 1; } diff --git a/wasm-port/tests/native/verify_native_probes.sh b/wasm-port/tests/native/verify_native_probes.sh index 6b81bda..9f77d1a 100755 --- a/wasm-port/tests/native/verify_native_probes.sh +++ b/wasm-port/tests/native/verify_native_probes.sh @@ -302,6 +302,22 @@ grep -Fq "xyzbc_trt_M428_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" grep -Fq "xyzbc_trt_M430_execute_0=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" grep -Fq "xyzbc_trt_M430_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" grep -Fq "xyzbc_trt_linuxcnc_remap_execute_path=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_read_count=248" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_execute_count=248" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_finish_count=9" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_1_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_read_count=86" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_execute_count=86" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_finish_count=3" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" +grep -Fq "xyzac_trt_xyzac_switchkins_test_3_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" grep -Fq "fiveaxis_linuxcnc_remap_execute_path=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT" NAMEDPARAM_STDOUT="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log"