按规划持续工作
结论：浏览器 interpreter smoke 和 INI panel UI 已接入 vendored LinuxCNC 五轴 switchkins remap 执行路径，只复制 LinuxCNC sample machine 文件到 WASM FS 并调用 SDK C ABI；host 聚合 smoke 通过，未新增 JavaScript M428/M429/M430 或运动学语义。
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@@ -158,7 +158,12 @@ snapshot filename/envelope, machine file, G-code text round trip, and G-code
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filename path-model rejection. It also verifies that the INI panel UI exposes
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LinuxCNC-backed `[RS274NGC]PARAMETER_FILE` and `[EMCIO]TOOL_TABLE` query
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results, plus the default OPFS parameter-file and tool-table mappings used
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when a machine session is copied into the interpreter WASM filesystem.
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when a machine session is copied into the interpreter WASM filesystem. It also
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clicks the INI panel's 5-axis remap demo action and verifies that the UI
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copies vendored LinuxCNC `xyzac-trt` machine/remap/demo files into the
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interpreter WASM filesystem, calls the LinuxCNC-backed SDK remap execution
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path, and displays the resulting `fiveaxis_*` status lines without JavaScript
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M-code or kinematics semantics.
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The browser interpreter smoke script serves `wasm-port/` over localhost and
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runs Chromium headless against a test page that loads the interpreter-core
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@@ -189,7 +194,11 @@ path model after the names are parsed by the LinuxCNC-backed INI WASM SDK. It
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also verifies that explicit session parameter/tool-table file-name options
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override INI-derived names before OPFS text is copied into the LinuxCNC-backed
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WASM filesystem, and that absent INI file-name values use the default OPFS
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parameter/tool-table paths in a real browser session.
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parameter/tool-table paths in a real browser session. It also writes vendored
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LinuxCNC `xyzac-trt`/`xyzbc-trt` INI, remap subroutines, and switchkins demo
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files into the browser WASM filesystem and verifies `runFiveAxisRemapFile()`
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for both sample machines through the exported LinuxCNC remap/file execution
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path.
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The aggregate host smoke script builds the INI, interpreter-core, and
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trajectory-planner WASM artifacts once, then runs the Node WASM smokes, the
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@@ -247,8 +256,8 @@ The validation fails if:
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| `tests/wasm/node/verify_interp_wasm.sh` | Validates the interpreter-core WASM module can be built from vendored LinuxCNC interpreter/remap source, loaded through the interpreter JS SDK, run the first fixture group through `Interp::execute()` and selected file fixtures through `Interp::open()`/`read()`/`execute()`, match the native canonical event plus required state readback fixtures, run vendored `xyzac-trt`/`xyzbc-trt` switchkins remap demo files through the WASM C ABI/SDK path, and run parameter-file restore/save through vendored LinuxCNC `Interp::restore_parameters()` and `Interp::save_parameters()`. |
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| `tests/wasm/node/verify_tp_wasm.sh` | Validates a standalone trajectory-planner WASM module can be built from vendored LinuxCNC TP/TC/Ruckig support source, loaded in Node, and run the same linear, arc, and queued-line planner probe paths covered by the native TP harness. |
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| `tests/opfs/node/verify_file_service.sh` | Validates the host-owned OPFS text-file adapter, path model, session snapshot store including custom filenames and envelope/path rejection paths, machine file store, G-code text store including filename rejection paths, OPFS-to-WASM parameter/tool-table bridges, and grouped machine-session loading without moving file persistence, parameter semantics, or tool-table semantics into the WASM core. |
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| `tests/browser/verify_ini_panel_browser.sh` | Validates the INI SDK, INI/interpreter WASM module loading, LinuxCNC-backed INI machine-session file-name string lookup, OPFS text-file round trip, generic session snapshot round trip plus custom filename and envelope/path rejection paths, machine file text round trip, G-code text round trip plus filename rejection paths, and the INI panel UI's machine-session load with default OPFS parameter/tool-table file mapping, G-code run, and canonical-event display paths in a real browser runtime. |
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| `tests/browser/verify_interp_browser.sh` | Validates the interpreter-core WASM module loads through the interpreter JS SDK in a real browser runtime and runs selected positive and negative canonical fixtures through vendored LinuxCNC `Interp::execute()` plus `Interp::open()`/`read()`/`execute()` via the exported C ABI, including direct browser SDK and OPFS-backed parameter-file restore/save plus non-random/random tool-table load/save through vendored LinuxCNC source. |
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| `tests/browser/verify_ini_panel_browser.sh` | Validates the INI SDK, INI/interpreter WASM module loading, LinuxCNC-backed INI machine-session file-name string lookup, OPFS text-file round trip, generic session snapshot round trip plus custom filename and envelope/path rejection paths, machine file text round trip, G-code text round trip plus filename rejection paths, and the INI panel UI's machine-session load with default OPFS parameter/tool-table file mapping, G-code run, canonical-event display paths, and 5-axis remap demo action in a real browser runtime. |
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| `tests/browser/verify_interp_browser.sh` | Validates the interpreter-core WASM module loads through the interpreter JS SDK in a real browser runtime and runs selected positive and negative canonical fixtures through vendored LinuxCNC `Interp::execute()` plus `Interp::open()`/`read()`/`execute()` via the exported C ABI, including direct browser SDK and OPFS-backed parameter-file restore/save, non-random/random tool-table load/save through vendored LinuxCNC source, and vendored `xyzac-trt`/`xyzbc-trt` switchkins remap demo execution. |
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| `tests/host/verify_host_smokes.sh` | Runs the current host-side Node, WASM interpreter-core, WASM trajectory-planner, OPFS, and browser smoke validation with shared WASM builds. |
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## Fixture Coverage
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@@ -810,13 +810,16 @@ Current five-axis switchkins status:
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Python-only runtime edge stub, and the Node WASM smoke runs vendored
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`xyzac_switchkins.ngc` and `xyzbc_switchkins.ngc` through the SDK C ABI
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without JavaScript M-code or kinematics semantics.
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8. Browser smoke and the INI panel UI now expose the same validated 5-axis
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remap execution path by copying vendored LinuxCNC sample-machine files into
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the interpreter WASM filesystem and calling the SDK C ABI.
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Next work:
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1. Add browser smoke/UI exposure for the validated switchkins/remap status
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without adding JavaScript CNC semantics.
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2. Continue broadening five-axis fixture coverage after the browser path is
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stable.
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1. Continue broadening five-axis fixture coverage after the native, Node WASM,
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browser, and UI remap paths are stable.
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2. Evaluate larger vendored LinuxCNC TRT demos such as boat/impeller through
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the same source-backed execution boundary.
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Involved LinuxCNC source:
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@@ -40,7 +40,7 @@ Current validation is intentionally mechanical:
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| 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` |
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| 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` |
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| 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` |
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| 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 plus `src/emc/rs274ngc/interp_remap.cc` | 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 remap descriptor parsing routes through vendored `Interp::parse_remap()` and `find_ngc_file()`, and NGC remap/file execution routes through vendored LinuxCNC O-word and `open()`/`read()`/`execute()` paths while HAL synchronization stays a runtime adapter boundary | Vendor byte sync, `linuxcnc_5axis_remap_asset_probe`, `linuxcnc_remap_parse_harness`, `linuxcnc_remap_hal_sync_harness`, `linuxcnc_5axis_remap_execute_harness`, browser INI panel sample loaded from vendored `xyzab-tdr.ini` |
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| 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 plus `src/emc/rs274ngc/interp_remap.cc` | 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 remap descriptor parsing routes through vendored `Interp::parse_remap()` and `find_ngc_file()`, and NGC remap/file execution routes through vendored LinuxCNC O-word and `open()`/`read()`/`execute()` paths while HAL synchronization stays a runtime adapter boundary | Vendor byte sync, `linuxcnc_5axis_remap_asset_probe`, `linuxcnc_remap_parse_harness`, `linuxcnc_remap_hal_sync_harness`, `linuxcnc_5axis_remap_execute_harness`, `tests/wasm/node/verify_interp_wasm.sh`, `tests/browser/verify_interp_browser.sh`, `tests/browser/verify_ini_panel_browser.sh` |
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| 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` |
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| 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` |
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| 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` |
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@@ -74,10 +74,11 @@ Current validation is intentionally mechanical:
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dual-rotary, and table-rotary-tilting LinuxCNC sample machines. NGC remap
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descriptors for the TRT sample machines are parsed through vendored
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`Interp::parse_remap()` and `find_ngc_file()` by
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`linuxcnc_remap_parse_harness`; native and WASM Node validation execute the
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selected TRT switchkins demo files through vendored LinuxCNC O-word remap
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dispatch, file `open()`/`read()`/`execute()`, and the standalone HAL adapter
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boundary for `M68`/`M66` plus `_hal[motion.switchkins-type]` readback.
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`linuxcnc_remap_parse_harness`; native, WASM Node, browser interpreter, and
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INI panel UI validation execute the selected TRT switchkins demo files
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through vendored LinuxCNC O-word remap dispatch, file
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`open()`/`read()`/`execute()`, and the standalone HAL adapter boundary for
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`M68`/`M66` plus `_hal[motion.switchkins-type]` readback.
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- Cutter compensation positive motion and negative interpreter paths are
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fixture-covered through vendored `interp_convert.cc` and `interp_queue.cc`.
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- Browser/WASM C ABI and JS SDK layers are now present for the INI parser, the
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