按规划持续工作
结论：新增 5axis native remap 执行验证，使用 vendored LinuxCNC REMAP/NGC 路径执行 xyzac-trt 与 xyzbc-trt 的 M429 -> M428 -> M430 -> M429，并确认 _hal[motion.switchkins-type] 随 LinuxCNC M68/M66 流程正确读回。
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#define private public
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#include "emc/rs274ngc/rs274ngc_interp.hh"
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#undef private
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#include <cmath>
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#include <cstring>
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#include <filesystem>
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#include <iostream>
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#include <string>
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#include <vector>
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#include "canon_event_sink.hh"
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#include "emc/ini/inifile.hh"
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#include "emc/rs274ngc/interp_internal.hh"
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#include "linuxcnc_hal_adapter.hh"
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#include "linuxcnc_tool_adapter.hh"
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#ifndef LINUXCNC_VENDOR_DIR
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#error "LINUXCNC_VENDOR_DIR must point at wasm-port/vendor/linuxcnc"
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#endif
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namespace {
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struct MachineCase {
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const char *label;
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const char *ini_rel;
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};
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std::filesystem::path vendor_path(const std::string &rel)
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{
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return std::filesystem::path(LINUXCNC_VENDOR_DIR) / rel;
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}
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void print_bool(const std::string &name, bool value)
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{
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std::cout << name << "=" << (value ? 1 : 0) << "\n";
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}
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void seed_switchkins_hal()
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{
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standalone::reset_hal_adapter();
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hal_data_u switchkins{};
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switchkins.f = 0.0;
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standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.switchkins-type",
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HAL_FLOAT, switchkins);
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standalone::set_hal_value(standalone::HalValueKind::Pin, "motion.analog-out-03",
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HAL_FLOAT, switchkins);
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standalone::link_hal_pin_alias("motion.analog-out-03", "motion.switchkins-type");
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}
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void initialize_interp(Interp &interp)
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{
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seed_switchkins_hal();
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standalone::reset_tool_adapter();
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standalone::reset_canon_events();
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interp._setup.length_units = CANON_UNITS_MM;
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interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
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interp._setup.ijk_distance_mode = DISTANCE_MODE::ABSOLUTE;
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interp._setup.feed_mode = FEED_MODE::UNITS_PER_MINUTE;
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interp._setup.plane = CANON_PLANE::XY;
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interp._setup.motion_mode = G_0;
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interp._setup.percent_flag = false;
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interp._setup.sequence_number = 0;
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interp._setup.parameter_occurrence = 0;
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interp._setup.num_spindles = 1;
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interp._setup.feature_set = FEATURE_INI_VARS | FEATURE_HAL_PIN_VARS;
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interp._setup.parameter_g73_peck_clearance = 1.0;
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interp._setup.parameter_g83_peck_clearance = 1.0;
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interp._setup.parameters[5599] = 1.0;
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std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
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interp.init_named_parameters();
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}
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bool read_hal_named(Interp &interp, const std::string &label, const char *name, double expected)
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{
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int status = 0;
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double value = 0.0;
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const int rc = interp.find_named_param(name, &status, &value);
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std::cout << label << "_" << name << ": rc=" << rc << " found=" << status
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<< " value=" << value << "\n";
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return rc == INTERP_OK && status == 1 && std::fabs(value - expected) < 0.000001;
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}
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bool parse_machine_remaps(Interp &interp, const MachineCase &machine)
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{
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const auto ini_path = vendor_path(machine.ini_rel);
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const auto machine_dir = ini_path.parent_path();
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const auto remap_dir = machine_dir / "remap_subs";
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linuxcnc::IniFile ini(ini_path.string());
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const bool opened = static_cast<bool>(ini);
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print_bool(std::string(machine.label) + "_ini_open", opened);
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if (!opened) {
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return false;
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}
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std::snprintf(interp._setup.program_prefix, sizeof(interp._setup.program_prefix), "%s",
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machine_dir.c_str());
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interp._setup.subroutines[0] = strstore(remap_dir.c_str());
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bool ok = true;
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int remap_count = 0;
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int line_number = 0;
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while (auto remap = ini.findString(++remap_count, "REMAP", "RS274NGC")) {
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line_number = ini.lineOf(remap_count, "REMAP", "RS274NGC").second;
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const int rc = interp.parse_remap(remap->c_str(), line_number);
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std::cout << machine.label << "_parse_remap_" << remap_count << "=" << rc << "\n";
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ok &= rc == INTERP_OK;
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}
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remap_count -= 1;
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std::cout << machine.label << "_parsed_remap_count=" << remap_count << "\n";
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ok &= remap_count == 3;
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print_bool(std::string(machine.label) + "_remaps_ready", ok);
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return ok;
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}
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std::string command_label(const char *command)
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{
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std::string value = command ? command : "";
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while (!value.empty() && (value.back() == '\n' || value.back() == '\r')) {
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value.pop_back();
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}
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return value;
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}
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bool execute_step(Interp &interp, const std::string &label, const char *command, double expected)
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{
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const std::string step = command_label(command);
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int rc = interp.execute(command);
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std::cout << label << "_" << step << "_execute_0=" << rc << "\n";
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int finish_count = 0;
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while (rc == INTERP_EXECUTE_FINISH && finish_count < 8) {
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++finish_count;
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rc = interp.execute();
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std::cout << label << "_" << step << "_execute_" << finish_count << "=" << rc << "\n";
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}
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std::cout << label << "_" << step << "_execute_finish_count=" << finish_count << "\n";
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bool ok = rc == INTERP_OK;
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ok &= read_hal_named(interp, label, "_hal[motion.switchkins-type]", expected);
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return ok;
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}
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bool check_machine(const MachineCase &machine)
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{
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Interp interp;
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initialize_interp(interp);
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bool ok = parse_machine_remaps(interp, machine);
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ok &= read_hal_named(interp, machine.label, "_hal[motion.switchkins-type]", 0.0);
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ok &= execute_step(interp, machine.label, "M429\n", 0.0);
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ok &= execute_step(interp, machine.label, "M428\n", 1.0);
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ok &= execute_step(interp, machine.label, "M430\n", 2.0);
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ok &= execute_step(interp, machine.label, "M429\n", 0.0);
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print_bool(std::string(machine.label) + "_linuxcnc_remap_execute_path", ok);
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return ok;
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}
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} // namespace
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int main()
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{
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const MachineCase cases[] = {
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{
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"xyzac_trt",
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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},
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{
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"xyzbc_trt",
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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},
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};
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bool ok = true;
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for (const auto &machine : cases) {
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ok &= check_machine(machine);
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}
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print_bool("fiveaxis_linuxcnc_remap_execute_path", ok);
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return ok ? 0 : 1;
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}
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