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结论：五轴 TRT boat demo 已通过 LinuxCNC vendored remap/tool-table/file 执行路径纳入 native、Node WASM、browser 和 UI 验证，未在 JS 或自有代码中实现 M428/M429/M430 或运动学语义。
This commit is contained in:
wangdequan
2026-06-08 18:30:09 +08:00
parent 7cdfc458f9
commit c6c60c4866
9 changed files with 206 additions and 28 deletions
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30
wasm-port/docs/compatibility-validation.md
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@@ -109,15 +109,16 @@ Emscripten filesystem through the SDK and runs them through LinuxCNC
`Interp::open()`, `Interp::read()`, and `Interp::execute()` to validate the
file execution path. It also writes the vendored LinuxCNC `xyzac-trt` and
`xyzbc-trt` table-rotary-tilting sample machine INI, `remap_subs/*.ngc`, and
`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc` demo files into the Emscripten
filesystem, then validates the WASM C ABI/SDK path for vendored LinuxCNC
`REMAP` parsing, O-word remap execution, `M68`/`M66` HAL synchronization, and
file `open()`/`read()`/`execute()` completion without JavaScript M-code or
kinematics semantics. The same Node smoke writes LinuxCNC-format parameter
files into the Emscripten filesystem and validates vendored
`Interp::restore_parameters()` and `Interp::save_parameters()`, including the
saved parameter values, missing required numeric parameter defaulting, and the
`.bak` backup file boundary. It also writes the
`xyzac_switchkins.ngc`/`xyzbc_switchkins.ngc` plus `boat-xyzac.ngc` and
`boat-xyzbc.ngc` demo files into the Emscripten filesystem, then validates 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 file `open()`/`read()`/`execute()` completion
without JavaScript M-code or kinematics semantics. The same Node smoke writes
LinuxCNC-format parameter files into the Emscripten filesystem and validates
vendored `Interp::restore_parameters()` and `Interp::save_parameters()`,
including the saved parameter values, missing required numeric parameter
defaulting, and the `.bak` backup file boundary. It also writes the
negative G-code fixtures into the Emscripten filesystem and verifies their
LinuxCNC-produced error text through the `Interp::open()`/`read()`/`execute()`
file path.
@@ -162,8 +163,8 @@ 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.
path for the vendored `boat-xyzac.ngc` demo, 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
@@ -196,8 +197,9 @@ 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. 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
files, including the larger `boat-xyzac.ngc` and `boat-xyzbc.ngc` demos, into
the browser WASM filesystem and verifies `runFiveAxisRemapFile()` for both
sample machines through the exported LinuxCNC remap/tool-table/file execution
path.
The aggregate host smoke script builds the INI, interpreter-core, and
@@ -228,7 +230,7 @@ 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, then runs vendored `xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `xyzac_switchkins_test_1.ngc`, and `xyzac_switchkins_test_3.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, 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`, and `boat-xyzbc.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. |

24
wasm-port/docs/porting-steps-standalone.md
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@@ -802,24 +802,28 @@ Current five-axis switchkins status:
5. `linuxcnc_remap_hal_sync_harness` validates vendored LinuxCNC `M68` and
`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 vendored
`xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`,
`xyzac_switchkins_test_1.ngc`, and `xyzac_switchkins_test_3.ngc` through
LinuxCNC remap/file execution paths.
`xyzbc-trt` switchkins `M429 -> M428 -> M430 -> M429` paths, 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`, and `boat-xyzbc.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` and `xyzbc_switchkins.ngc` through the SDK C ABI
without JavaScript M-code or kinematics semantics.
`xyzac_switchkins.ngc`, `xyzbc_switchkins.ngc`, `boat-xyzac.ngc`, and
`boat-xyzbc.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. Continue broadening five-axis fixture coverage after the native, Node WASM,
browser, and UI remap paths are stable.
2. Evaluate larger vendored LinuxCNC TRT demos such as boat/impeller through
the same source-backed execution boundary.
1. Continue broadening five-axis fixture coverage through the same
source-backed execution boundary.
2. Evaluate remaining larger vendored LinuxCNC TRT demos such as impeller
after the boat demos are stable in native, Node WASM, browser, and UI
remap paths.
Involved LinuxCNC source:

25
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_5axis_remap_execute_harness.cpp
View File

@@ -14,6 +14,7 @@
#include "emc/rs274ngc/interp_internal.hh"
#include "linuxcnc_hal_adapter.hh"
#include "linuxcnc_tool_adapter.hh"
#include "tooldata.hh"
#ifndef LINUXCNC_VENDOR_DIR
#error "LINUXCNC_VENDOR_DIR must point at wasm-port/vendor/linuxcnc"
@@ -119,6 +120,16 @@ bool parse_machine_remaps(Interp &interp, const MachineCase &machine)
interp._setup.subroutines[0] = strstore(remap_dir.c_str());
bool ok = true;
if (auto tool_table = ini.findString("TOOL_TABLE", "EMCIO")) {
const auto tool_path = machine_dir / *tool_table;
tooldata_init(false);
tooldata_set_db(DB_NOTUSED);
const int tool_rc = tooldata_load(tool_path.c_str());
std::cout << machine.label << "_tool_table_load=" << tool_rc << "\n";
ok &= tool_rc == 0;
ok &= interp.load_tool_table() == INTERP_OK;
}
int remap_count = 0;
int line_number = 0;
while (auto remap = ini.findString(++remap_count, "REMAP", "RS274NGC")) {
@@ -305,12 +316,26 @@ int main()
"xyzac_switchkins_test_3.ngc",
0.0,
},
{
"boat_xyzac",
"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/"
"boat-xyzac.ngc",
0.0,
},
{
"boat_xyzbc",
"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/"
"boat-xyzbc.ngc",
0.0,
},
};
ok &= execute_demo_file(cases[0], demos[0]);
ok &= execute_demo_file(cases[1], demos[1]);
ok &= execute_demo_file(cases[0], demos[2]);
ok &= execute_demo_file(cases[0], demos[3]);
ok &= execute_demo_file(cases[0], demos[4]);
ok &= execute_demo_file(cases[1], demos[5]);
print_bool("fiveaxis_linuxcnc_remap_execute_path", ok);
return ok ? 0 : 1;

10
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp
View File

@@ -287,6 +287,16 @@ bool parse_machine_remaps(Interp &interp, std::ostringstream &output, const char
interp._setup.subroutines[0] = strstore(remap_dir.c_str());
bool ok = true;
if (auto tool_table = ini.findString("TOOL_TABLE", "EMCIO")) {
const std::string tool_path = machine_dir + "/" + *tool_table;
tooldata_init(false);
tooldata_set_db(DB_NOTUSED);
const int tool_rc = tooldata_load(tool_path.c_str());
output << "fiveaxis_tool_table_load=" << tool_rc << "\n";
ok &= tool_rc == 0;
ok &= interp.load_tool_table() == INTERP_OK;
}
int remap_count = 0;
while (auto remap = ini.findString(++remap_count, "REMAP", "RS274NGC")) {
const int line_number = ini.lineOf(remap_count, "REMAP", "RS274NGC").second;

11
wasm-port/runtime/ui/ini-panel/app.js
View File

@@ -165,6 +165,11 @@ async function writeFiveAxisTrtMachineFiles(interp) {
`${FIVEAXIS_TRT_SOURCE_PATH}/xyzac-trt.ini`,
`${FIVEAXIS_TRT_WASM_DIR}/xyzac-trt.ini`,
);
await writeFetchedTextFile(
interp,
`${FIVEAXIS_TRT_SOURCE_PATH}/xyzac-trt.tbl`,
`${FIVEAXIS_TRT_WASM_DIR}/xyzac-trt.tbl`,
);
for (const filename of FIVEAXIS_REMAP_FILES) {
await writeFetchedTextFile(
interp,
@@ -174,8 +179,8 @@ async function writeFiveAxisTrtMachineFiles(interp) {
}
await writeFetchedTextFile(
interp,
`${FIVEAXIS_TRT_SOURCE_PATH}/demos/xyzac_switchkins.ngc`,
`${FIVEAXIS_TRT_WASM_DIR}/demos/xyzac_switchkins.ngc`,
`${FIVEAXIS_TRT_SOURCE_PATH}/demos/boat-xyzac.ngc`,
`${FIVEAXIS_TRT_WASM_DIR}/demos/boat-xyzac.ngc`,
);
}
@@ -306,7 +311,7 @@ document.getElementById("run-fiveaxis-remap").addEventListener("click", async ()
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 programPath = `${FIVEAXIS_TRT_WASM_DIR}/demos/boat-xyzac.ngc`;
const result = interp.runFiveAxisRemapFile(programPath, iniPath);
setField("fiveaxisRemap", "ok");
setCanonicalEvents(result.trim());

3
wasm-port/tests/browser/ini_panel_smoke.html
View File

@@ -373,7 +373,8 @@ TOOL_TABLE = browser-tool.tbl
const remapLog = uiDocument.getElementById("log").textContent;
if (
!remapLog.includes("fiveaxis_ini_open=1") ||
!remapLog.includes("fiveaxis_file_read_count=620") ||
!remapLog.includes("fiveaxis_tool_table_load=0") ||
!remapLog.includes("fiveaxis_file_read_count=1927") ||
!remapLog.includes("fiveaxis_hal_switchkins: rc=0 found=1 value=0") ||
!remapLog.includes("fiveaxis_linuxcnc_remap_file_execute=1")
) {

58
wasm-port/tests/browser/interp_smoke.html
View File

@@ -114,6 +114,8 @@
await writeFetchedTextFile(interp, `${sourceDir}/xyzac-trt.ini`, `${wasmDir}/xyzac-trt.ini`);
await writeFetchedTextFile(interp, `${sourceDir}/xyzbc-trt.ini`, `${wasmDir}/xyzbc-trt.ini`);
await writeFetchedTextFile(interp, `${sourceDir}/xyzac-trt.tbl`, `${wasmDir}/xyzac-trt.tbl`);
await writeFetchedTextFile(interp, `${sourceDir}/xyzbc-trt.tbl`, `${wasmDir}/xyzbc-trt.tbl`);
for (const filename of remapFiles) {
await writeFetchedTextFile(
@@ -133,6 +135,16 @@
`${sourceDir}/demos/xyzbc_switchkins.ngc`,
`${wasmDir}/demos/xyzbc_switchkins.ngc`,
);
await writeFetchedTextFile(
interp,
`${sourceDir}/demos/boat-xyzac.ngc`,
`${wasmDir}/demos/boat-xyzac.ngc`,
);
await writeFetchedTextFile(
interp,
`${sourceDir}/demos/boat-xyzbc.ngc`,
`${wasmDir}/demos/boat-xyzbc.ngc`,
);
return wasmDir;
}
@@ -363,6 +375,7 @@
),
[
"fiveaxis_ini_open=1",
"fiveaxis_tool_table_load=0",
"fiveaxis_parse_remap_1=0",
"fiveaxis_parse_remap_2=0",
"fiveaxis_parse_remap_3=0",
@@ -383,6 +396,7 @@
),
[
"fiveaxis_ini_open=1",
"fiveaxis_tool_table_load=0",
"fiveaxis_parse_remap_1=0",
"fiveaxis_parse_remap_2=0",
"fiveaxis_parse_remap_3=0",
@@ -395,6 +409,50 @@
"fiveaxis_linuxcnc_remap_file_execute=1",
].join("\n"),
);
verifyExpectedOutput(
"browser_fiveaxis_boat_xyzac",
interp.runFiveAxisRemapFile(
`${fiveAxisTrtDir}/demos/boat-xyzac.ngc`,
`${fiveAxisTrtDir}/xyzac-trt.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_file_open=0",
"fiveaxis_file_read_count=1927",
"fiveaxis_file_execute_count=1927",
"fiveaxis_file_finish_count=3",
"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(
"browser_fiveaxis_boat_xyzbc",
interp.runFiveAxisRemapFile(
`${fiveAxisTrtDir}/demos/boat-xyzbc.ngc`,
`${fiveAxisTrtDir}/xyzbc-trt.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_file_open=0",
"fiveaxis_file_read_count=1913",
"fiveaxis_file_execute_count=1913",
"fiveaxis_file_finish_count=3",
"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",

16
wasm-port/tests/native/verify_native_probes.sh
View File

@@ -334,6 +334,22 @@ grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_final_rc=1" "$FIVEAXIS_REMAP_EX
grep -Fq "xyzac_trt_xyzac_switchkins_test_3_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_xyzac_switchkins_test_3__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_xyzac_switchkins_test_3_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_read_count=1927" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_execute_count=1927" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_finish_count=3" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzac_trt_boat_xyzac_linuxcnc_demo_file_execute=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_open=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_read_count=1913" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_execute_count=1913" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_finish_count=3" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_final_rc=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_file_reached_exit=1" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc__hal[motion.switchkins-type]: rc=0 found=1 value=0" "$FIVEAXIS_REMAP_EXECUTE_STDOUT"
grep -Fq "xyzbc_trt_boat_xyzbc_linuxcnc_demo_file_execute=1" "$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"

57
wasm-port/tests/wasm/node/verify_interp_wasm.mjs
View File

@@ -101,6 +101,8 @@ function writeFiveAxisTrtMachineFiles() {
writeVendorTextFile(resolve(sourceDir, "xyzac-trt.ini"), `${wasmDir}/xyzac-trt.ini`);
writeVendorTextFile(resolve(sourceDir, "xyzbc-trt.ini"), `${wasmDir}/xyzbc-trt.ini`);
writeVendorTextFile(resolve(sourceDir, "xyzac-trt.tbl"), `${wasmDir}/xyzac-trt.tbl`);
writeVendorTextFile(resolve(sourceDir, "xyzbc-trt.tbl"), `${wasmDir}/xyzbc-trt.tbl`);
for (const filename of readdirSync(resolve(sourceDir, "remap_subs"))) {
if (filename.endsWith(".ngc")) {
@@ -119,6 +121,14 @@ function writeFiveAxisTrtMachineFiles() {
resolve(sourceDir, "demos/xyzbc_switchkins.ngc"),
`${wasmDir}/demos/xyzbc_switchkins.ngc`,
);
writeVendorTextFile(
resolve(sourceDir, "demos/boat-xyzac.ngc"),
`${wasmDir}/demos/boat-xyzac.ngc`,
);
writeVendorTextFile(
resolve(sourceDir, "demos/boat-xyzbc.ngc"),
`${wasmDir}/demos/boat-xyzbc.ngc`,
);
return wasmDir;
}
@@ -347,6 +357,7 @@ verifyExpectedOutput(
),
[
"fiveaxis_ini_open=1",
"fiveaxis_tool_table_load=0",
"fiveaxis_parse_remap_1=0",
"fiveaxis_parse_remap_2=0",
"fiveaxis_parse_remap_3=0",
@@ -370,6 +381,7 @@ verifyExpectedOutput(
),
[
"fiveaxis_ini_open=1",
"fiveaxis_tool_table_load=0",
"fiveaxis_parse_remap_1=0",
"fiveaxis_parse_remap_2=0",
"fiveaxis_parse_remap_3=0",
@@ -386,6 +398,51 @@ verifyExpectedOutput(
].join("\n"),
);
verifyExpectedOutput(
"fiveaxis_boat_xyzac_wasm",
interp.runFiveAxisRemapFile(
`${fiveAxisTrtDir}/demos/boat-xyzac.ngc`,
`${fiveAxisTrtDir}/xyzac-trt.ini`,
),
[
"fiveaxis_ini_open=1",
"fiveaxis_tool_table_load=0",
"fiveaxis_parse_remap_1=0",
"fiveaxis_parse_remap_2=0",
"fiveaxis_parse_remap_3=0",
"fiveaxis_file_open=0",
"fiveaxis_file_read_count=1927",
"fiveaxis_file_execute_count=1927",
"fiveaxis_file_finish_count=3",
"fiveaxis_file_final_rc=1",
"fiveaxis_file_reached_exit=1",
"fiveaxis_hal_switchkins: rc=0 found=1 value=0",
"fiveaxis_linuxcnc_remap_file_execute=1",
].join("\n"),
);
verifyExpectedOutput(
"fiveaxis_boat_xyzbc_wasm",
interp.runFiveAxisRemapFile(
`${fiveAxisTrtDir}/demos/boat-xyzbc.ngc`,
`${fiveAxisTrtDir}/xyzbc-trt.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_file_open=0",
"fiveaxis_file_read_count=1913",
"fiveaxis_file_execute_count=1913",
"fiveaxis_file_finish_count=3",
"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,