按规划持续工作

结论：已将 vendored LinuxCNC bridge-mill 5axisgui.ngc 纳入五轴 remap/tool-table/file 执行 baseline，native、Node WASM 和 browser 均通过同源验证；bridgemill 按 LinuxCNC REMAP 方向验证，未实现自有 M 码或运动学语义。
2026-06-08 18:55:18 +08:00
parent 1a584786fc
commit bf07b78b4f
6 changed files with 165 additions and 17 deletions
--- a/wasm-port/docs/compatibility-validation.md
+++ b/wasm-port/docs/compatibility-validation.md
@@ -113,6 +113,8 @@ file execution path. It also writes the vendored LinuxCNC `xyzac-trt` and
 `boat-xyzbc.ngc`, and `impeller-7bl-xyzac.ngc` demo files into the Emscripten
 filesystem. It also writes the vendored LinuxCNC `xyzab-tdr` table-dual-rotary
 INI, tool table, `remap_subs/*.ngc`, and `xyzab-tdr-demo.ngc` into the
+Emscripten filesystem. It also writes the vendored LinuxCNC bridge-mill
+`5axis.ini`, tool table, `remap_subs/*.ngc`, and `5axisgui.ngc` into the
 Emscripten filesystem. These checks validate the WASM C ABI/SDK path for
 vendored LinuxCNC `REMAP` parsing, vendored LinuxCNC tool-table loading from
 the machine INI, O-word remap execution, `M68`/`M66` HAL synchronization, and
@@ -204,10 +206,11 @@ LinuxCNC `xyzac-trt`/`xyzbc-trt` INI, remap subroutines, and switchkins demo
 files, including the larger `boat-xyzac.ngc`, `boat-xyzbc.ngc`, and
 `impeller-7bl-xyzac.ngc` demos, into the browser WASM filesystem. It also
 writes vendored LinuxCNC `xyzab-tdr` machine files and `xyzab-tdr-demo.ngc`
-into the browser WASM filesystem. The browser smoke verifies
-`runFiveAxisRemapFile()` for the table-rotary-tilting and table-dual-rotary
-sample machines through the exported LinuxCNC remap/tool-table/file execution
-path.
+into the browser WASM filesystem. It also writes vendored LinuxCNC bridge-mill
+machine files and `5axisgui.ngc` into the browser WASM filesystem. The browser
+smoke verifies `runFiveAxisRemapFile()` for the table-rotary-tilting,
+table-dual-rotary, and bridge-mill sample machines through the exported
+LinuxCNC remap/tool-table/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
@@ -237,7 +240,7 @@ 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, plus the two-remap `M429 -> M428 -> M429` path in the `xyzab-tdr` sample machine. It loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and `xyzab-tdr-demo.ngc` through the LinuxCNC file `open/read/execute` path. |
+| `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, the two-remap `M429 -> M428 -> M429` path in the `xyzab-tdr` sample machine, and the bridge-mill `M429 -> M428 -> M430 -> M429` path where M428 selects the default bridge-mill kinematics. It loads vendored machine tool tables through LinuxCNC `tooldata_load()`, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`, `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, `xyzab-tdr-demo.ngc`, and `5axisgui.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. |
--- a/wasm-port/docs/porting-steps-standalone.md
+++ b/wasm-port/docs/porting-steps-standalone.md
@@ -803,17 +803,21 @@ Current five-axis switchkins status:
   `M66` synchronization through the standalone HAL adapter boundary.
 6. `linuxcnc_5axis_remap_execute_harness` executes the `xyzac-trt` and
   `xyzbc-trt` switchkins `M429 -> M428 -> M430 -> M429` paths plus the
-   `xyzab-tdr` two-remap `M429 -> M428 -> M429` path, loads vendored machine
-   tool tables through LinuxCNC `tooldata_load()`, and runs vendored
-   `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
+   `xyzab-tdr` two-remap `M429 -> M428 -> M429` path and the bridge-mill
+   `M429 -> M428 -> M430 -> M429` path where M428 selects default
+   bridge-mill kinematics, loads vendored machine tool tables through
+   LinuxCNC `tooldata_load()`, and runs vendored `xyzac_switchkins.ngc`,
+   `xyzbc_switchkins.ngc`,
   `xyzac_switchkins_test_1.ngc`, `xyzac_switchkins_test_3.ngc`,
   `boat-xyzac.ngc`, `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and
-   `xyzab-tdr-demo.ngc` through LinuxCNC remap/file execution paths.
+   `xyzab-tdr-demo.ngc`, plus bridge-mill `5axisgui.ngc` through LinuxCNC
+   remap/file execution paths.
 7. The WASM interpreter core now links vendored `interp_remap.cc` plus the
   Python-only runtime edge stub, and the Node WASM smoke runs vendored
   `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `boat-xyzac.ngc`, and
-   `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, and `xyzab-tdr-demo.ngc`
-   through the SDK C ABI without JavaScript M-code or kinematics semantics.
+   `boat-xyzbc.ngc`, `impeller-7bl-xyzac.ngc`, `xyzab-tdr-demo.ngc`, and
+   `5axisgui.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.
@@ -823,8 +827,8 @@ Next work:
 1. Continue broadening five-axis fixture coverage through the same
   source-backed execution boundary.
 2. Evaluate additional vendored LinuxCNC five-axis sample machines and demos
-   after the TRT boat/impeller and TDR demo paths are stable in native, Node
-   WASM, browser, and UI remap paths.
+   after the TRT boat/impeller, TDR demo, and bridge-mill demo paths are
+   stable in native, Node WASM, browser, and UI remap paths.

 Involved LinuxCNC source:

--- 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
@@ -27,6 +27,9 @@ struct MachineCase {
    const char *ini_rel;
    int expected_remaps;
    bool has_m430;
+    double m428_switchkins;
+    double m429_switchkins;
+    double m430_switchkins;
 };

 struct DemoCase {
@@ -281,12 +284,12 @@ bool check_machine(const MachineCase &machine)

    bool ok = parse_machine_remaps(interp, machine);
    ok &= read_hal_named(interp, machine.label, "_hal[motion.switchkins-type]", 0.0);
-    ok &= execute_step(interp, machine.label, "M429\n", 0.0);
-    ok &= execute_step(interp, machine.label, "M428\n", 1.0);
+    ok &= execute_step(interp, machine.label, "M429\n", machine.m429_switchkins);
+    ok &= execute_step(interp, machine.label, "M428\n", machine.m428_switchkins);
    if (machine.has_m430) {
-        ok &= execute_step(interp, machine.label, "M430\n", 2.0);
+        ok &= execute_step(interp, machine.label, "M430\n", machine.m430_switchkins);
    }
-    ok &= execute_step(interp, machine.label, "M429\n", 0.0);
+    ok &= execute_step(interp, machine.label, "M429\n", machine.m429_switchkins);

    print_bool(std::string(machine.label) + "_linuxcnc_remap_execute_path", ok);
    return ok;
@@ -302,18 +305,36 @@ int main()
            "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
            3,
            true,
+            1.0,
+            0.0,
+            2.0,
        },
        {
            "xyzbc_trt",
            "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
            3,
            true,
+            1.0,
+            0.0,
+            2.0,
        },
        {
            "xyzab_tdr",
            "configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini",
            2,
            false,
+            1.0,
+            0.0,
+            0.0,
+        },
+        {
+            "bridgemill",
+            "configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
+            3,
+            true,
+            0.0,
+            1.0,
+            2.0,
        },
    };

@@ -371,6 +392,11 @@ int main()
            "xyzab-tdr-demo.ngc",
            1.0,
        },
+        {
+            "bridgemill_5axisgui",
+            "configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc",
+            0.0,
+        },
    };

    ok &= execute_demo_file(cases[0], demos[0]);
@@ -381,6 +407,7 @@ int main()
    ok &= execute_demo_file(cases[1], demos[5]);
    ok &= execute_demo_file(cases[0], demos[6]);
    ok &= execute_demo_file(cases[2], demos[7]);
+    ok &= execute_demo_file(cases[3], demos[8]);

    print_bool("fiveaxis_linuxcnc_remap_execute_path", ok);
    return ok ? 0 : 1;
--- a/wasm-port/tests/browser/interp_smoke.html
+++ b/wasm-port/tests/browser/interp_smoke.html
@@ -178,6 +178,26 @@
      return wasmDir;
    }

+    async function writeFiveAxisBridgeMillMachineFiles(interp) {
+      const sourceDir =
+        "../../vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill";
+      const wasmDir = "/work/browser-fiveaxis/bridgemill";
+      const remapFiles = ["428remap.ngc", "429remap.ngc", "430remap.ngc"];
+
+      await writeFetchedTextFile(interp, `${sourceDir}/5axis.ini`, `${wasmDir}/5axis.ini`);
+      await writeFetchedTextFile(interp, `${sourceDir}/5axis.tbl`, `${wasmDir}/5axis.tbl`);
+      for (const filename of remapFiles) {
+        await writeFetchedTextFile(
+          interp,
+          `${sourceDir}/remap_subs/${filename}`,
+          `${wasmDir}/remap_subs/${filename}`,
+        );
+      }
+      await writeFetchedTextFile(interp, `${sourceDir}/5axisgui.ngc`, `${wasmDir}/5axisgui.ngc`);
+
+      return wasmDir;
+    }
+
    async function verifyRejects(fixtureName, operation, expectedPattern) {
      try {
        await operation();
@@ -528,6 +548,31 @@
          "fiveaxis_linuxcnc_remap_file_execute=1",
        ].join("\n"),
      );
+      const fiveAxisBridgeMillDir = await writeFiveAxisBridgeMillMachineFiles(interp);
+      verifyExpectedOutput(
+        "browser_fiveaxis_bridgemill_5axisgui",
+        interp.runFiveAxisRemapFile(
+          `${fiveAxisBridgeMillDir}/5axisgui.ngc`,
+          `${fiveAxisBridgeMillDir}/5axis.ini`,
+        ),
+        [
+          "fiveaxis_ini_open=1",
+          "fiveaxis_tool_table_load=0",
+          "fiveaxis_parse_remap_1=0",
+          "fiveaxis_parse_remap_2=0",
+          "fiveaxis_parse_remap_3=0",
+          "fiveaxis_parsed_remap_count=3",
+          "fiveaxis_remaps_ready=1",
+          "fiveaxis_file_open=0",
+          "fiveaxis_file_read_count=2197",
+          "fiveaxis_file_execute_count=2197",
+          "fiveaxis_file_finish_count=137",
+          "fiveaxis_file_final_rc=1",
+          "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",
--- a/wasm-port/tests/native/verify_native_probes.sh
+++ b/wasm-port/tests/native/verify_native_probes.sh
@@ -310,6 +310,19 @@ grep -Fq "xyzab_tdr_M429_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzab_tdr_M428_execute_0=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzab_tdr_M428_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzab_tdr_linuxcnc_remap_execute_path=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_ini_open=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_parsed_remap_count=3" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_remaps_ready=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M429_execute_0=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M429_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill__hal[motion.switchkins-type]: rc=0 found=1 value=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M428_execute_0=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M428_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M430_execute_0=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_M430_execute_1=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill__hal[motion.switchkins-type]: rc=0 found=1 value=2" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_linuxcnc_remap_execute_path=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzac_trt_xyzac_switchkins_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzac_trt_xyzac_switchkins_file_read_count=620" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzac_trt_xyzac_switchkins_file_execute_count=620" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
@@ -374,6 +387,14 @@ grep -Fq "xyzab_tdr_xyzab_tdr_demo_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STD
 grep -Fq "xyzab_tdr_xyzab_tdr_demo_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzab_tdr_xyzab_tdr_demo__hal[motion.switchkins-type]: rc=0 found=1 value=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
 grep -Fq "xyzab_tdr_xyzab_tdr_demo_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_read_count=2197" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_execute_count=2197" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_finish_count=137" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
+grep -Fq "bridgemill_bridgemill_5axisgui_linuxcnc_demo_file_execute=1" "$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"
--- a/wasm-port/tests/wasm/node/verify_interp_wasm.mjs
+++ b/wasm-port/tests/wasm/node/verify_interp_wasm.mjs
@@ -162,6 +162,28 @@ function writeFiveAxisTdrMachineFiles() {
  return wasmDir;
 }

+function writeFiveAxisBridgeMillMachineFiles() {
+  const sourceDir = resolve(
+    rootDir,
+    "vendor/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill",
+  );
+  const wasmDir = "/work/fiveaxis/bridgemill";
+
+  writeVendorTextFile(resolve(sourceDir, "5axis.ini"), `${wasmDir}/5axis.ini`);
+  writeVendorTextFile(resolve(sourceDir, "5axis.tbl"), `${wasmDir}/5axis.tbl`);
+  for (const filename of readdirSync(resolve(sourceDir, "remap_subs"))) {
+    if (filename.endsWith(".ngc")) {
+      writeVendorTextFile(
+        resolve(sourceDir, "remap_subs", filename),
+        `${wasmDir}/remap_subs/${filename}`,
+      );
+    }
+  }
+  writeVendorTextFile(resolve(sourceDir, "5axisgui.ngc"), `${wasmDir}/5axisgui.ngc`);
+
+  return wasmDir;
+}
+
 const namedParamIniPath = "/work/namedparams.ini";
 interp.writeTextFile(
  namedParamIniPath,
@@ -519,6 +541,32 @@ verifyExpectedOutput(
  ].join("\n"),
 );

+const fiveAxisBridgeMillDir = writeFiveAxisBridgeMillMachineFiles();
+verifyExpectedOutput(
+  "fiveaxis_bridgemill_5axisgui_wasm",
+  interp.runFiveAxisRemapFile(
+    `${fiveAxisBridgeMillDir}/5axisgui.ngc`,
+    `${fiveAxisBridgeMillDir}/5axis.ini`,
+  ),
+  [
+    "fiveaxis_ini_open=1",
+    "fiveaxis_tool_table_load=0",
+    "fiveaxis_parse_remap_1=0",
+    "fiveaxis_parse_remap_2=0",
+    "fiveaxis_parse_remap_3=0",
+    "fiveaxis_parsed_remap_count=3",
+    "fiveaxis_remaps_ready=1",
+    "fiveaxis_file_open=0",
+    "fiveaxis_file_read_count=2197",
+    "fiveaxis_file_execute_count=2197",
+    "fiveaxis_file_finish_count=137",
+    "fiveaxis_file_final_rc=1",
+    "fiveaxis_file_reached_exit=1",
+    "fiveaxis_hal_switchkins: rc=0 found=1 value=0",
+    "fiveaxis_linuxcnc_remap_file_execute=1",
+  ].join("\n"),
+);
+
 const parameterFilePath = "/work/rs274ngc.var";
 interp.writeTextFile(
  parameterFilePath,