wangdequan/cnc_wams
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

按规划持续工作

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

30
wasm-port/docs/compatibility-validation.md
View File

@@ -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. |