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。

wasm-port/runtime/sdk/README.md

@@ -39,6 +39,7 @@ vendored LinuxCNC RS274NGC sources and exposes:
 - `runProgramWithIni(programText, iniPath)`
 - `runFile(path)`
 - `runFileWithIni(path, iniPath)`
+- `runFiveAxisRemapFile(path, iniPath)`
 - `restoreParameters(path)`
 - `saveParameters(path, values)`
 - `loadToolTable(path, options)`
@@ -49,3 +50,8 @@ vendored LinuxCNC RS274NGC sources and exposes:
 `loadToolTable()` accepts `{ randomToolChanger: true }` to select the
 LinuxCNC random-toolchanger branch before calling vendored
 `tooldata_load()`. The SDK only forwards that runtime boundary flag.
+
+`runFiveAxisRemapFile()` is a narrow host boundary for vendored LinuxCNC
+sample-machine remap validation. Callers provide INI/remap/demo files in the
+WASM filesystem; the C ABI runs vendored LinuxCNC `REMAP`, O-word, file
+execution, and HAL adapter paths.

wasm-port/runtime/ui/ini-panel/app.js

@@ -20,6 +20,19 @@ import {
 
 const SAMPLE_PATH =
   "../../../vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini";
+const FIVEAXIS_TRT_SOURCE_PATH =
+  "../../../vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting";
+const FIVEAXIS_TRT_WASM_DIR = "/work/ui-fiveaxis/table-rotary-tilting";
+const FIVEAXIS_REMAP_FILES = [
+  "428remap.ngc",
+  "429remap.ngc",
+  "430remap.ngc",
+  "centering.ngc",
+  "helix_ac.ngc",
+  "helix_bc.ngc",
+  "xyzac_switchkins_sub.ngc",
+  "xyzbc_switchkins_sub.ngc",
+];
 const MACHINE_ID = "xyzab-tdr";
 const MACHINE_PATHS = machineFilePaths(MACHINE_ID);
 const OPFS_FILE = MACHINE_PATHS.ini;
@@ -68,6 +81,7 @@ const fields = {
   sessionToolTable: document.getElementById("field-session-tool-table"),
   sessionGcode: document.getElementById("field-session-gcode"),
   runStatus: document.getElementById("field-run-status"),
+  fiveaxisRemap: document.getElementById("field-fiveaxis-remap"),
 };
 
 let iniSdk = null;
@@ -133,6 +147,38 @@ async function loadSample() {
   setLog("Loaded LinuxCNC sample INI into the standalone editor.");
 }
 
+async function fetchTextFile(path) {
+  const response = await fetch(path);
+  if (!response.ok) {
+    throw new Error(`Cannot fetch ${path} (${response.status})`);
+  }
+  return response.text();
+}
+
+async function writeFetchedTextFile(interp, sourcePath, wasmPath) {
+  interp.writeTextFile(wasmPath, await fetchTextFile(sourcePath));
+}
+
+async function writeFiveAxisTrtMachineFiles(interp) {
+  await writeFetchedTextFile(
+    interp,
+    `${FIVEAXIS_TRT_SOURCE_PATH}/xyzac-trt.ini`,
+    `${FIVEAXIS_TRT_WASM_DIR}/xyzac-trt.ini`,
+  );
+  for (const filename of FIVEAXIS_REMAP_FILES) {
+    await writeFetchedTextFile(
+      interp,
+      `${FIVEAXIS_TRT_SOURCE_PATH}/remap_subs/${filename}`,
+      `${FIVEAXIS_TRT_WASM_DIR}/remap_subs/${filename}`,
+    );
+  }
+  await writeFetchedTextFile(
+    interp,
+    `${FIVEAXIS_TRT_SOURCE_PATH}/demos/xyzac_switchkins.ngc`,
+    `${FIVEAXIS_TRT_WASM_DIR}/demos/xyzac_switchkins.ngc`,
+  );
+}
+
 async function boot() {
   try {
     iniSdk = await createLinuxCncIniSdk();
@@ -255,6 +301,30 @@ document.getElementById("run-gcode").addEventListener("click", async () => {
   }
 });
 
+document.getElementById("run-fiveaxis-remap").addEventListener("click", async () => {
+  try {
+    const interp = requireInterpSdk();
+    await writeFiveAxisTrtMachineFiles(interp);
+    const iniPath = `${FIVEAXIS_TRT_WASM_DIR}/xyzac-trt.ini`;
+    const programPath = `${FIVEAXIS_TRT_WASM_DIR}/demos/xyzac_switchkins.ngc`;
+    const result = interp.runFiveAxisRemapFile(programPath, iniPath);
+    setField("fiveaxisRemap", "ok");
+    setCanonicalEvents(result.trim());
+    setLog(
+      [
+        "Ran LinuxCNC 5-axis switchkins remap demo through interpreter WASM.",
+        `Program: ${programPath}`,
+        `INI: ${iniPath}`,
+        result.trim(),
+      ].join("\n"),
+    );
+  } catch (error) {
+    setField("fiveaxisRemap", "failed");
+    setCanonicalEvents("");
+    setLog(`5-axis remap run failed: ${error.message}`, true);
+  }
+});
+
 document.getElementById("load-opfs").addEventListener("click", async () => {
   try {
     editor.value = await loadTextFile(OPFS_FILE);

wasm-port/runtime/ui/ini-panel/index.html

@@ -180,6 +180,7 @@
           <button id="query" class="secondary">Query LinuxCNC Fields</button>
           <button id="load-session" class="secondary">Load Machine Session</button>
           <button id="run-gcode" class="secondary">Run G-code</button>
+          <button id="run-fiveaxis-remap" class="secondary">Run 5-Axis Remap</button>
         </div>
         <textarea id="ini-editor" spellcheck="false"></textarea>
       </section>
@@ -221,6 +222,8 @@
           <dd id="field-session-gcode">-</dd>
           <dt>Run Status</dt>
           <dd id="field-run-status">-</dd>
+          <dt>5-Axis Remap</dt>
+          <dd id="field-fiveaxis-remap">-</dd>
         </dl>
 
         <div class="log" id="log"></div>