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/docs/compatibility-validation.md

@@ -158,7 +158,12 @@ snapshot filename/envelope, machine file, G-code text round trip, and G-code
 filename path-model rejection. It also verifies that the INI panel UI exposes
 LinuxCNC-backed `[RS274NGC]PARAMETER_FILE` and `[EMCIO]TOOL_TABLE` query
 results, plus the default OPFS parameter-file and tool-table mappings used
-when a machine session is copied into the interpreter WASM filesystem.
+when a machine session is copied into the interpreter WASM filesystem. It also
+clicks the INI panel's 5-axis remap demo action and verifies that the UI
+copies vendored LinuxCNC `xyzac-trt` machine/remap/demo files into the
+interpreter WASM filesystem, calls the LinuxCNC-backed SDK remap execution
+path, and displays the resulting `fiveaxis_*` status lines without JavaScript
+M-code or kinematics semantics.
 
 The browser interpreter smoke script serves `wasm-port/` over localhost and
 runs Chromium headless against a test page that loads the interpreter-core
@@ -189,7 +194,11 @@ path model after the names are parsed by the LinuxCNC-backed INI WASM SDK. It
 also verifies that explicit session parameter/tool-table file-name options
 override INI-derived names before OPFS text is copied into the LinuxCNC-backed
 WASM filesystem, and that absent INI file-name values use the default OPFS
-parameter/tool-table paths in a real browser session.
+parameter/tool-table paths in a real browser session. It also writes vendored
+LinuxCNC `xyzac-trt`/`xyzbc-trt` INI, remap subroutines, and switchkins demo
+files into the browser WASM filesystem and verifies `runFiveAxisRemapFile()`
+for both sample machines through the exported LinuxCNC remap/file execution
+path.
 
 The aggregate host smoke script builds the INI, interpreter-core, and
 trajectory-planner WASM artifacts once, then runs the Node WASM smokes, the
@@ -247,8 +256,8 @@ The validation fails if:
 | `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()`. |
 | `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. |
 | `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. |
-| `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. |
+| `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. |
-| `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. |
+| `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. |
 | `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. |
 
 ## Fixture Coverage

wasm-port/docs/porting-steps-standalone.md

@@ -810,13 +810,16 @@ Current five-axis switchkins status:
    Python-only runtime edge stub, and the Node WASM smoke runs vendored
    `xyzac_switchkins.ngc` and `xyzbc_switchkins.ngc` through the SDK C ABI
    without JavaScript M-code or kinematics semantics.
+8. Browser smoke and the INI panel UI now expose the same validated 5-axis
+   remap execution path by copying vendored LinuxCNC sample-machine files into
+   the interpreter WASM filesystem and calling the SDK C ABI.
 
 Next work:
 
-1. Add browser smoke/UI exposure for the validated switchkins/remap status
+1. Continue broadening five-axis fixture coverage after the native, Node WASM,
-   without adding JavaScript CNC semantics.
+   browser, and UI remap paths are stable.
-2. Continue broadening five-axis fixture coverage after the browser path is
+2. Evaluate larger vendored LinuxCNC TRT demos such as boat/impeller through
-   stable.
+   the same source-backed execution boundary.
 
 Involved LinuxCNC source:
 

wasm-port/docs/source-reuse-map.md

@@ -40,7 +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 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` |
+| 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` |
 | 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` |
@@ -74,10 +74,11 @@ Current validation is intentionally mechanical:
   dual-rotary, and table-rotary-tilting LinuxCNC sample machines. NGC remap
   descriptors for the TRT sample machines are parsed through vendored
   `Interp::parse_remap()` and `find_ngc_file()` by
-  `linuxcnc_remap_parse_harness`; native and WASM Node validation execute the
+  `linuxcnc_remap_parse_harness`; native, WASM Node, browser interpreter, and
-  selected TRT switchkins demo files through vendored LinuxCNC O-word remap
+  INI panel UI validation execute the selected TRT switchkins demo files
-  dispatch, file `open()`/`read()`/`execute()`, and the standalone HAL adapter
+  through vendored LinuxCNC O-word remap dispatch, file
-  boundary for `M68`/`M66` plus `_hal[motion.switchkins-type]` readback.
+  `open()`/`read()`/`execute()`, and the standalone HAL adapter boundary for
+  `M68`/`M66` plus `_hal[motion.switchkins-type]` readback.
 - 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

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>

wasm-port/tests/browser/ini_panel_smoke.html

@@ -360,6 +360,26 @@ TOOL_TABLE = browser-tool.tbl
         "UI canonical event count",
       );
 
+      uiDocument.getElementById("run-fiveaxis-remap").click();
+      await waitFor(
+        () => uiDocument.getElementById("log")?.textContent.includes("Ran LinuxCNC 5-axis"),
+        "5-axis remap run",
+      );
+      assertEqual(
+        uiDocument.getElementById("field-fiveaxis-remap").textContent,
+        "ok",
+        "UI 5-axis remap status",
+      );
+      const remapLog = uiDocument.getElementById("log").textContent;
+      if (
+        !remapLog.includes("fiveaxis_ini_open=1") ||
+        !remapLog.includes("fiveaxis_file_read_count=620") ||
+        !remapLog.includes("fiveaxis_hal_switchkins: rc=0 found=1 value=0") ||
+        !remapLog.includes("fiveaxis_linuxcnc_remap_file_execute=1")
+      ) {
+        throw new Error(`UI 5-axis remap run missing LinuxCNC result: ${remapLog}`);
+      }
+
       status.textContent = "browser_ini_opfs_smoke=ok";
     } catch (error) {
       status.textContent = `browser_ini_opfs_smoke=fail ${error.stack || error.message}`;

wasm-port/tests/browser/interp_smoke.html

@@ -93,6 +93,50 @@
       }
     }
 
+    async function writeFetchedTextFile(interp, sourcePath, wasmPath) {
+      interp.writeTextFile(wasmPath, await fetchText(sourcePath));
+    }
+
+    async function writeFiveAxisTrtMachineFiles(interp) {
+      const sourceDir =
+        "../../vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting";
+      const wasmDir = "/work/browser-fiveaxis/table-rotary-tilting";
+      const remapFiles = [
+        "428remap.ngc",
+        "429remap.ngc",
+        "430remap.ngc",
+        "centering.ngc",
+        "helix_ac.ngc",
+        "helix_bc.ngc",
+        "xyzac_switchkins_sub.ngc",
+        "xyzbc_switchkins_sub.ngc",
+      ];
+
+      await writeFetchedTextFile(interp, `${sourceDir}/xyzac-trt.ini`, `${wasmDir}/xyzac-trt.ini`);
+      await writeFetchedTextFile(interp, `${sourceDir}/xyzbc-trt.ini`, `${wasmDir}/xyzbc-trt.ini`);
+
+      for (const filename of remapFiles) {
+        await writeFetchedTextFile(
+          interp,
+          `${sourceDir}/remap_subs/${filename}`,
+          `${wasmDir}/remap_subs/${filename}`,
+        );
+      }
+
+      await writeFetchedTextFile(
+        interp,
+        `${sourceDir}/demos/xyzac_switchkins.ngc`,
+        `${wasmDir}/demos/xyzac_switchkins.ngc`,
+      );
+      await writeFetchedTextFile(
+        interp,
+        `${sourceDir}/demos/xyzbc_switchkins.ngc`,
+        `${wasmDir}/demos/xyzbc_switchkins.ngc`,
+      );
+
+      return wasmDir;
+    }
+
     async function verifyRejects(fixtureName, operation, expectedPattern) {
       try {
         await operation();
@@ -310,6 +354,48 @@
         baselineIniExpectedText,
       );
 
+      const fiveAxisTrtDir = await writeFiveAxisTrtMachineFiles(interp);
+      verifyExpectedOutput(
+        "browser_fiveaxis_xyzac_switchkins",
+        interp.runFiveAxisRemapFile(
+          `${fiveAxisTrtDir}/demos/xyzac_switchkins.ngc`,
+          `${fiveAxisTrtDir}/xyzac-trt.ini`,
+        ),
+        [
+          "fiveaxis_ini_open=1",
+          "fiveaxis_parse_remap_1=0",
+          "fiveaxis_parse_remap_2=0",
+          "fiveaxis_parse_remap_3=0",
+          "fiveaxis_file_open=0",
+          "fiveaxis_file_read_count=620",
+          "fiveaxis_file_execute_count=620",
+          "fiveaxis_file_finish_count=21",
+          "fiveaxis_file_reached_exit=1",
+          "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+          "fiveaxis_linuxcnc_remap_file_execute=1",
+        ].join("\n"),
+      );
+      verifyExpectedOutput(
+        "browser_fiveaxis_xyzbc_switchkins",
+        interp.runFiveAxisRemapFile(
+          `${fiveAxisTrtDir}/demos/xyzbc_switchkins.ngc`,
+          `${fiveAxisTrtDir}/xyzbc-trt.ini`,
+        ),
+        [
+          "fiveaxis_ini_open=1",
+          "fiveaxis_parse_remap_1=0",
+          "fiveaxis_parse_remap_2=0",
+          "fiveaxis_parse_remap_3=0",
+          "fiveaxis_file_open=0",
+          "fiveaxis_file_read_count=620",
+          "fiveaxis_file_execute_count=620",
+          "fiveaxis_file_finish_count=21",
+          "fiveaxis_file_reached_exit=1",
+          "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+          "fiveaxis_linuxcnc_remap_file_execute=1",
+        ].join("\n"),
+      );
+
       verifyExpectedOutput(
         "restore_parameters_missing_file",
         interp.restoreParameters("/work/browser-missing.var"),