完善五轴 RTCP 仿真与验证资料

qa/web-rtcp-5axis-site-test/capture-working7-manual-flow-evidence.mjs

@@ -0,0 +1,550 @@
+import fs from "node:fs/promises";
+import http from "node:http";
+import path from "node:path";
+import { randomUUID } from "node:crypto";
+import puppeteer from "puppeteer-core";
+import { PNG } from "pngjs";
+
+const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
+const QA_ROOT = path.join(REPO_ROOT, "qa/web-rtcp-5axis-site-test");
+const OUTPUT_DIR = path.join(QA_ROOT, "output");
+const EVIDENCE_SCOPE = "working7-manual-flow-evidence";
+const SCREENSHOT_DIR = path.join(OUTPUT_DIR, EVIDENCE_SCOPE);
+const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome";
+const TARGET_URL = process.env.TARGET_URL || "";
+const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html";
+const JOB_ID = process.env.JOB_ID || `w7-${new Date().toISOString().replace(/[-:.TZ]/g, "").slice(0, 14)}-${randomUUID().slice(0, 8)}`;
+const REPORT_ID = process.env.REPORT_ID || `report-${JOB_ID}`;
+const REPORT_BASENAME = `${EVIDENCE_SCOPE}-report`;
+
+await fs.mkdir(OUTPUT_DIR, { recursive: true });
+await fs.mkdir(SCREENSHOT_DIR, { recursive: true });
+
+let server = null;
+let targetUrl = TARGET_URL;
+if (!targetUrl) {
+  server = createStaticServer(REPO_ROOT);
+  await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
+  const address = server.address();
+  if (!address || typeof address === "string") throw new Error("failed to start static server");
+  targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`;
+}
+
+const browser = await puppeteer.launch({
+  headless: true,
+  executablePath: CHROME_PATH,
+  defaultViewport: { width: 1500, height: 1050, deviceScaleFactor: 1 },
+  ignoreHTTPSErrors: true,
+  args: [
+    "--ignore-certificate-errors",
+    "--disable-gpu",
+    "--enable-webgl",
+    "--use-angle=swiftshader",
+    "--enable-unsafe-swiftshader",
+    "--no-sandbox",
+  ],
+});
+
+const page = await browser.newPage();
+const consoleErrors = [];
+const pageErrors = [];
+const networkErrors = [];
+page.on("console", (msg) => {
+  if (msg.type() === "error") consoleErrors.push(msg.text());
+});
+page.on("pageerror", (error) => pageErrors.push(error.message));
+page.on("response", (response) => {
+  if (response.status() >= 400) {
+    networkErrors.push(`${response.status()} ${response.url()}`);
+  }
+});
+
+const report = {
+  jobId: JOB_ID,
+  reportId: REPORT_ID,
+  evidenceScope: EVIDENCE_SCOPE,
+  generatedAt: new Date().toISOString(),
+  targetUrl,
+  chromePath: CHROME_PATH,
+  screenshotsDir: SCREENSHOT_DIR,
+  steps: [],
+  checks: [],
+  consoleErrors,
+  pageErrors,
+  networkErrors,
+};
+
+try {
+  await page.goto(targetUrl, { waitUntil: "networkidle2", timeout: 60000 });
+  await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
+  await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
+  await page.waitForFunction(() => document.querySelector("[data-five-axis-canvas]")?.dataset?.threeReady === "true", { timeout: 20000 });
+  await windowReady();
+  await captureStep("01-loaded", "Main shell loaded", "The gmoccapy shell, canvas, diagnostics, and public store API are ready.");
+
+  await click("power");
+  await waitForState((state) => state.machine.powerOn === true && state.machine.taskState === "on", 10000, "power on");
+  await click("HOME");
+  await waitForState((state) => state.machine.allHomed === true && state.machine.mode === "manual", 10000, "home complete");
+  await captureStep("02-powered-homed-manual", "POWER and HOME", "Machine is powered, homed, and in MANUAL mode.");
+
+  await click("mode-auto");
+  await waitForState((state) => state.machine.mode === "auto" && state.machine.powerOn === true && state.machine.allHomed === true, 10000, "auto mode");
+  await captureStep("03-auto-active", "AUTO mode active", "AUTO mode becomes active while power and home state are preserved.");
+
+  await click("mode-manual");
+  await waitForState((state) => state.machine.mode === "manual" && state.machine.powerOn === true, 10000, "manual mode");
+  const beforeJog = await getState();
+  await click("JOG_X_POS");
+  await waitForState((state) => Number(state.axisPose?.x || 0) > Number(beforeJog.axisPose?.x || 0), 10000, "X+ jog changes position");
+  await captureStep("04-manual-jog-x", "Manual X+ jog", "X+ jog changes the X axis position in MANUAL mode.");
+
+  await click("mode-mdi");
+  await waitForState((state) => state.machine.mode === "mdi", 10000, "mdi mode");
+  await setMdiCommand("G90 X12.5 Y-4 Z1.25 F900");
+  await submitMdiCommand();
+  await waitForState((state) => (
+    state.machine.mode === "mdi" &&
+    /G90 X12\.5 Y-4 Z1\.25 F900/.test(state.machine.mdiCommand || state.operatorMessage || "")
+  ), 10000, "MDI command accepted");
+  await captureStep("05-mdi-command", "MDI command", "MDI accepts a coordinate command and records the staged/executed command state.");
+
+  await click("mode-manual");
+  await waitForState((state) => state.machine.mode === "manual", 10000, "manual before overrides");
+  await click("rapid-override-up");
+  await waitForState((state) => Number(state.feed.rapidOverride) === 110, 8000, "rapid override up");
+  await click("rapid-override-reset");
+  await waitForState((state) => Number(state.feed.rapidOverride) === 100, 8000, "rapid override reset");
+  await click("feed-override-down");
+  await waitForState((state) => Number(state.feed.feedOverride) === 90, 8000, "feed override down");
+  await click("feed-override-reset");
+  await waitForState((state) => Number(state.feed.feedOverride) === 100, 8000, "feed override reset");
+  await click("ignore-limits");
+  await waitForState((state) => state.gmoccapyGui.ignoreLimits === true, 8000, "ignore limits on");
+  await click("block-delete");
+  await waitForState((state) => state.gmoccapyGui.optionalBlocks === true, 8000, "block delete on");
+  await click("optional-stop");
+  await waitForState((state) => state.gmoccapyGui.optionalStop === true, 8000, "optional stop on");
+  await captureStep("06-overrides-hal", "Overrides and HAL inputs", "Rapid/feed overrides reset to 100 and HAL input toggles are active.");
+
+  await click("spindle-forward");
+  await waitForState((state) => state.spindle.enabled === true && state.spindle.direction === "forward", 8000, "spindle forward");
+  await click("spindle-override-up");
+  await waitForState((state) => Number(state.spindle.override) === 110, 8000, "spindle override up");
+  await click("spindle-override-reset");
+  await waitForState((state) => Number(state.spindle.override) === 100, 8000, "spindle override reset");
+  await click("toggle-flood");
+  await waitForState((state) => state.coolant.flood === true, 8000, "flood toggled on");
+  await click("toggle-mist");
+  await waitForState((state) => state.coolant.mist === true, 8000, "mist toggled on");
+  await click("spindle-stop");
+  await waitForState((state) => state.spindle.enabled === false && state.spindle.direction === "stop", 8000, "spindle stop");
+  await captureStep("07-spindle-coolant", "Spindle and coolant", "Spindle, spindle override, flood, and mist controls obey the powered machine gate.");
+
+  const savedSnapshot = await page.evaluate(() => window.webRtcp5AxisSimulation.saveSession({
+    sessionId: "working7-manual-flow",
+    filename: "working7-session.json",
+  }));
+  await waitForState((state) => state.sessionPersistence.status === "saved", 10000, "session saved");
+  await page.select('[data-action="select-profile"]', "gmoccapy-xyzab");
+  await waitForState((state) => state.machineProfile === "gmoccapy-xyzab", 15000, "profile changed before restore");
+  await page.evaluate(() => window.webRtcp5AxisSimulation.restoreSession({
+    sessionId: "working7-manual-flow",
+    filename: "working7-session.json",
+  }));
+  await waitForState((state) => state.sessionPersistence.status === "restored" && state.machineProfile === "xyzac-trt", 15000, "session restored");
+  const restoredSession = await getState();
+  report.sessionEvidence = {
+    savedPath: savedSnapshot.path,
+    savedStorageMode: savedSnapshot.storageMode,
+    restoredPath: restoredSession.sessionPersistence.path,
+    restoredStorageMode: restoredSession.sessionPersistence.storageMode,
+  };
+  await captureStep("08-session-restored", "Save and restore session", "Saved profile and control state are restored after switching to another profile.");
+
+  await captureStep("09-diagnostics", "Diagnostics", "Task policy, INI, Task/HAL, full boundary, gmoccapy communication, and HAL diagnostics are visible.");
+  addChecks();
+  report.status = report.checks.every((check) => check.pass) && pageErrors.length === 0 ? "PASS" : "FAIL";
+
+  const jsonPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.json`);
+  const pdfPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.pdf`);
+  report.jsonPath = jsonPath;
+  report.pdfPath = pdfPath;
+  await fs.writeFile(jsonPath, `${JSON.stringify(report, null, 2)}\n`, "utf8");
+  await writePdfReport(pdfPath, report);
+
+  console.log(`working7_manual_flow_status=${report.status}`);
+  console.log(`working7_manual_flow_job_id=${report.jobId}`);
+  console.log(`working7_manual_flow_report_id=${report.reportId}`);
+  console.log(`working7_manual_flow_json=${jsonPath}`);
+  console.log(`working7_manual_flow_pdf=${pdfPath}`);
+  console.log(`working7_manual_flow_screenshots=${SCREENSHOT_DIR}`);
+  if (report.status !== "PASS") process.exitCode = 1;
+} finally {
+  await page.close().catch(() => {});
+  await browser.close().catch(() => {});
+  if (server) await new Promise((resolve) => server.close(resolve));
+}
+
+async function windowReady() {
+  await waitForState((state) => (
+    state.kinematicsRuntimeReadiness?.loaded === true &&
+    state.interpreterRuntimeReadiness?.loaded === true &&
+    state.taskHalRuntimeReadiness?.loaded === true &&
+    state.machineFileStaging?.status === "staged"
+  ), 30000, "runtime and machine files ready");
+}
+
+async function captureStep(name, title, description) {
+  const screenshotPath = path.join(SCREENSHOT_DIR, `${name}.png`);
+  await page.screenshot({ path: screenshotPath, fullPage: true });
+  const [state, dom, pixelStats] = await Promise.all([
+    getState(),
+    getDomEvidence(),
+    analyzePng(screenshotPath),
+  ]);
+  const step = {
+    name,
+    title,
+    description,
+    screenshotPath,
+    pixelStats,
+    state: summarizeState(state),
+    dom,
+  };
+  report.steps.push(step);
+  return step;
+}
+
+async function getDomEvidence() {
+  return page.evaluate(() => {
+    const text = (selector) => document.querySelector(selector)?.textContent?.trim() || "";
+    const button = (action) => {
+      const element = document.querySelector(`[data-action="${action}"]`);
+      return {
+        exists: Boolean(element),
+        disabled: Boolean(element?.disabled),
+        active: element?.dataset?.active || null,
+        commandReady: element?.dataset?.commandReady || null,
+        title: element?.getAttribute("title") || "",
+      };
+    };
+    return {
+      regions: window.webRtcp5AxisSimulation.getRegions?.() || null,
+      canvas: { ...(document.querySelector("[data-five-axis-canvas]")?.dataset || {}) },
+      sidebar: {
+        power: button("power"),
+        manual: button("mode-manual"),
+        auto: button("mode-auto"),
+        mdi: button("mode-mdi"),
+      },
+      bottom: {
+        home: button("HOME"),
+        jogXPlus: button("JOG_X_POS"),
+        mdiRun: button("MDI_RUN"),
+      },
+      values: {
+        rapidOverride: text('[data-value="rapid-override"]'),
+        feedOverride: text('[data-value="feed-override"]'),
+        spindleOverride: text('[data-value="spindle-override"]'),
+        halLast: text('[data-value="gmoccapy-hal-last"]'),
+        session: text('[data-session-persistence="status"]'),
+        taskGates: text('[data-linuxcnc-task-policy="gates"]'),
+        taskHal: text('[data-task-hal-runtime="readiness"]'),
+        gmoccapyHal: text('[data-gmoccapy-hal="boundary"]'),
+        operatorMessage: text("[data-operator-message]"),
+      },
+    };
+  });
+}
+
+async function setMdiCommand(command) {
+  await page.$eval('[data-action="mdi-command"]', (input, value) => {
+    input.value = value;
+    input.dispatchEvent(new Event("input", { bubbles: true }));
+    input.dispatchEvent(new Event("change", { bubbles: true }));
+  }, command);
+  await waitForState((state) => state.machine.mdiCommand === command.toUpperCase(), 5000, "MDI input staged");
+}
+
+async function submitMdiCommand() {
+  await page.$eval('[data-action="mdi-form"]', (form) => {
+    form.dispatchEvent(new Event("submit", { bubbles: true, cancelable: true }));
+  });
+}
+
+async function click(action) {
+  await page.evaluate((selector) => {
+    const element = document.querySelector(selector);
+    if (!element) throw new Error(`missing action ${selector}`);
+    element.click();
+  }, `[data-action="${action}"]`);
+}
+
+async function getState() {
+  return page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState())));
+}
+
+async function waitForState(predicate, timeoutMs, label) {
+  const started = Date.now();
+  let lastState = null;
+  while (Date.now() - started < timeoutMs) {
+    lastState = await getState();
+    if (predicate(lastState)) return lastState;
+    await wait(50);
+  }
+  throw new Error(`timeout waiting for ${label}: ${JSON.stringify(summarizeState(lastState || {}))}`);
+}
+
+function addChecks() {
+  const byName = Object.fromEntries(report.steps.map((step) => [step.name, step]));
+  const loaded = byName["01-loaded"]?.state;
+  const manual = byName["02-powered-homed-manual"]?.state;
+  const auto = byName["03-auto-active"]?.state;
+  const jog = byName["04-manual-jog-x"]?.state;
+  const mdi = byName["05-mdi-command"]?.state;
+  const overrides = byName["06-overrides-hal"]?.state;
+  const spindleCoolant = byName["07-spindle-coolant"]?.state;
+  const restored = byName["08-session-restored"]?.state;
+  const diagnostics = byName["09-diagnostics"]?.dom;
+
+  report.checks.push(
+    check("Main shell regions and canvas are ready", Object.values(byName["01-loaded"]?.dom?.regions || {}).every(Boolean) && byName["01-loaded"]?.dom?.canvas?.threeReady === "true", JSON.stringify({ regions: byName["01-loaded"]?.dom?.regions, canvas: byName["01-loaded"]?.dom?.canvas })),
+    check("POWER and HOME leave MANUAL ready", manual?.machine?.powerOn === true && manual?.machine?.allHomed === true && manual?.machine?.mode === "manual", JSON.stringify(manual?.machine)),
+    check("AUTO activates without losing power/home", auto?.machine?.mode === "auto" && auto?.machine?.powerOn === true && auto?.machine?.allHomed === true, JSON.stringify(auto?.machine)),
+    check("Manual jog changes X", Number(jog?.axisPose?.x || 0) > Number(manual?.axisPose?.x || 0), JSON.stringify({ before: manual?.axisPose, after: jog?.axisPose })),
+    check("MDI command is accepted in MDI mode", mdi?.machine?.mode === "mdi" && /G90 X12\.5 Y-4 Z1\.25 F900/.test(`${mdi?.machine?.mdiCommand || ""} ${mdi?.operatorMessage || ""}`), JSON.stringify({ machine: mdi?.machine, operatorMessage: mdi?.operatorMessage })),
+    check("Overrides reset and HAL toggles are active", overrides?.feed?.rapidOverride === 100 && overrides?.feed?.feedOverride === 100 && overrides?.gmoccapyGui?.ignoreLimits === true && overrides?.gmoccapyGui?.optionalBlocks === true && overrides?.gmoccapyGui?.optionalStop === true, JSON.stringify({ feed: overrides?.feed, gmoccapyGui: overrides?.gmoccapyGui })),
+    check("Spindle and coolant controls update state", spindleCoolant?.spindle?.direction === "stop" && spindleCoolant?.spindle?.override === 100 && spindleCoolant?.coolant?.flood === true && spindleCoolant?.coolant?.mist === true, JSON.stringify({ spindle: spindleCoolant?.spindle, coolant: spindleCoolant?.coolant })),
+    check("Session restore returns to saved profile", restored?.machineProfile === "xyzac-trt" && restored?.sessionPersistence?.status === "restored", JSON.stringify({ machineProfile: restored?.machineProfile, sessionPersistence: restored?.sessionPersistence, evidence: report.sessionEvidence })),
+    check("Diagnostics expose Task/HAL and gmoccapy HAL", Boolean(diagnostics?.values?.taskHal) && Boolean(diagnostics?.values?.gmoccapyHal), JSON.stringify(diagnostics?.values)),
+    check("Screenshots are nonblank", report.steps.every((step) => step.pixelStats.nonBlackRatio > 0.1), report.steps.map((step) => `${step.name}:${step.pixelStats.nonBlackRatio}`).join(", ")),
+  );
+}
+
+async function writePdfReport(pdfPath, data) {
+  const reportPage = await browser.newPage();
+  const rows = data.checks.map((item) => `
+    <tr>
+      <td>${escapeHtml(item.name)}</td>
+      <td class="${item.pass ? "pass" : "fail"}">${item.pass ? "PASS" : "FAIL"}</td>
+      <td>${escapeHtml(item.detail)}</td>
+    </tr>
+  `).join("");
+  const steps = data.steps.map((step) => `
+    <section>
+      <h2>${escapeHtml(step.name)} - ${escapeHtml(step.title)}</h2>
+      <p>${escapeHtml(step.description)}</p>
+      <p><strong>Screenshot:</strong> ${escapeHtml(step.screenshotPath)}</p>
+      <p><strong>State:</strong> ${escapeHtml(JSON.stringify({
+        machineProfile: step.state.machineProfile,
+        runState: step.state.runState,
+        machine: step.state.machine,
+        axisPose: step.state.axisPose,
+        feed: step.state.feed,
+        spindle: step.state.spindle,
+        coolant: step.state.coolant,
+        sessionPersistence: step.state.sessionPersistence,
+      }))}</p>
+    </section>
+  `).join("");
+  await reportPage.setContent(`<!doctype html>
+    <html>
+      <head>
+        <meta charset="utf-8" />
+        <style>
+          body { font-family: Arial, sans-serif; margin: 28px; color: #17202a; }
+          h1 { font-size: 22px; margin-bottom: 6px; }
+          h2 { font-size: 16px; margin-top: 18px; }
+          table { border-collapse: collapse; width: 100%; margin-top: 14px; }
+          th, td { border: 1px solid #9aa5b1; padding: 6px; font-size: 11px; vertical-align: top; }
+          th { background: #eef2f7; }
+          .pass { color: #126b37; font-weight: 700; }
+          .fail { color: #a61b1b; font-weight: 700; }
+          .meta { font-size: 12px; line-height: 1.45; }
+          section { break-inside: avoid; border-top: 1px solid #d8dee6; padding-top: 8px; }
+        </style>
+      </head>
+      <body>
+        <h1>working7 Manual Flow Evidence</h1>
+        <div class="meta">
+          <div><strong>Status:</strong> ${escapeHtml(data.status)}</div>
+          <div><strong>Job ID:</strong> ${escapeHtml(data.jobId)}</div>
+          <div><strong>Report ID:</strong> ${escapeHtml(data.reportId)}</div>
+          <div><strong>Target:</strong> ${escapeHtml(data.targetUrl)}</div>
+          <div><strong>Generated:</strong> ${escapeHtml(data.generatedAt)}</div>
+          <div><strong>Screenshots:</strong> ${escapeHtml(data.screenshotsDir)}</div>
+        </div>
+        <h2>Checks</h2>
+        <table>
+          <thead><tr><th>Check</th><th>Status</th><th>Evidence</th></tr></thead>
+          <tbody>${rows}</tbody>
+        </table>
+        <h2>Steps</h2>
+        ${steps}
+      </body>
+    </html>`, { waitUntil: "load" });
+  await reportPage.pdf({
+    path: pdfPath,
+    format: "A4",
+    printBackground: true,
+    margin: { top: "12mm", right: "10mm", bottom: "12mm", left: "10mm" },
+  });
+  await reportPage.close();
+}
+
+function summarizeState(state = {}) {
+  return {
+    machineProfile: state.machineProfile,
+    activeProgram: state.activeProgram,
+    runState: state.runState,
+    activeLine: state.activeLine,
+    machine: {
+      powerOn: state.machine?.powerOn,
+      taskState: state.machine?.taskState,
+      mode: state.machine?.mode,
+      allHomed: state.machine?.allHomed,
+      interpState: state.machine?.interpState,
+      taskPaused: state.machine?.taskPaused,
+      mdiCommand: state.machine?.mdiCommand,
+    },
+    axisPose: pickAxes(state.axisPose),
+    dro: pickAxes(state.dro),
+    feed: {
+      rapidOverride: Number(state.feed?.rapidOverride),
+      feedOverride: Number(state.feed?.feedOverride),
+      feedRate: Number(state.feed?.feedRate),
+      currentVelocity: Number(state.feed?.currentVelocity),
+    },
+    spindle: {
+      enabled: Boolean(state.spindle?.enabled),
+      direction: state.spindle?.direction,
+      override: Number(state.spindle?.override),
+      rpm: Number(state.spindle?.rpm),
+    },
+    coolant: {
+      flood: Boolean(state.coolant?.flood),
+      mist: Boolean(state.coolant?.mist),
+    },
+    gmoccapyGui: {
+      ignoreLimits: Boolean(state.gmoccapyGui?.ignoreLimits),
+      optionalBlocks: Boolean(state.gmoccapyGui?.optionalBlocks),
+      optionalStop: Boolean(state.gmoccapyGui?.optionalStop),
+      lastHalPinEffect: state.gmoccapyGui?.lastHalPinEffect,
+    },
+    mdiHistory: state.mdiHistory || [],
+    sessionPersistence: {
+      status: state.sessionPersistence?.status,
+      storageMode: state.sessionPersistence?.storageMode,
+      path: state.sessionPersistence?.path,
+      savedAt: state.sessionPersistence?.savedAt,
+      restoredAt: state.sessionPersistence?.restoredAt,
+    },
+    machineFileStaging: {
+      status: state.machineFileStaging?.status,
+      fileCount: state.machineFileStaging?.fileCount,
+      selectedGcodeSourceRel: state.machineFileStaging?.selectedGcodeSourceRel,
+    },
+    taskHalRuntimeReadiness: {
+      loaded: Boolean(state.taskHalRuntimeReadiness?.loaded),
+      halSyncReady: Boolean(state.taskHalRuntimeReadiness?.halSyncReady),
+    },
+    operatorMessage: state.operatorMessage,
+  };
+}
+
+function createStaticServer(rootDir) {
+  return http.createServer(async (request, response) => {
+    try {
+      const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
+      const relativePath = requestPath === "/" ? "/index.html" : requestPath;
+      const targetPath = path.resolve(rootDir, `.${relativePath}`);
+      if (!targetPath.startsWith(rootDir)) {
+        response.writeHead(403);
+        response.end("forbidden");
+        return;
+      }
+      let filePath = targetPath;
+      let stat = await fs.stat(filePath).catch(() => null);
+      if (stat?.isDirectory()) {
+        filePath = path.join(filePath, "index.html");
+        stat = await fs.stat(filePath).catch(() => null);
+      }
+      if (!stat?.isFile()) {
+        response.writeHead(404);
+        response.end("not found");
+        return;
+      }
+      const body = await fs.readFile(filePath);
+      response.writeHead(200, {
+        "Content-Type": contentTypeFor(filePath),
+        "Content-Length": String(body.byteLength),
+        "Cache-Control": "no-store",
+      });
+      response.end(body);
+    } catch (error) {
+      response.writeHead(500);
+      response.end(error instanceof Error ? error.message : String(error));
+    }
+  });
+}
+
+function contentTypeFor(filePath) {
+  const ext = path.extname(filePath).toLowerCase();
+  return {
+    ".css": "text/css; charset=utf-8",
+    ".html": "text/html; charset=utf-8",
+    ".js": "text/javascript; charset=utf-8",
+    ".json": "application/json; charset=utf-8",
+    ".mjs": "text/javascript; charset=utf-8",
+    ".svg": "image/svg+xml",
+    ".wasm": "application/wasm",
+    ".xml": "application/xml; charset=utf-8",
+  }[ext] || "application/octet-stream";
+}
+
+async function analyzePng(filePath) {
+  const png = PNG.sync.read(await fs.readFile(filePath));
+  let luminanceSum = 0;
+  let nonBlack = 0;
+  for (let index = 0; index < png.data.length; index += 4) {
+    const luminance = png.data[index] * 0.2126 + png.data[index + 1] * 0.7152 + png.data[index + 2] * 0.0722;
+    luminanceSum += luminance;
+    if (luminance > 8) nonBlack += 1;
+  }
+  const total = png.width * png.height;
+  return {
+    width: png.width,
+    height: png.height,
+    averageLuminance: Number((luminanceSum / total).toFixed(2)),
+    nonBlackRatio: Number((nonBlack / total).toFixed(4)),
+  };
+}
+
+function pickAxes(value = {}) {
+  return {
+    x: Number(value?.x || 0),
+    y: Number(value?.y || 0),
+    z: Number(value?.z || 0),
+    a: Number(value?.a || 0),
+    b: Number(value?.b || 0),
+    c: Number(value?.c || 0),
+  };
+}
+
+function check(name, pass, detail) {
+  return { name, pass: Boolean(pass), detail: String(detail ?? "-") };
+}
+
+function escapeHtml(value) {
+  return String(value ?? "")
+    .replace(/&/g, "&amp;")
+    .replace(/</g, "&lt;")
+    .replace(/>/g, "&gt;")
+    .replace(/"/g, "&quot;")
+    .replace(/'/g, "&#39;");
+}
+
+function wait(ms) {
+  return new Promise((resolve) => setTimeout(resolve, ms));
+}

qa/web-rtcp-5axis-site-test/package.json

@@ -4,7 +4,9 @@
   "description": "",
   "main": "index.js",
   "scripts": {
-    "test": "echo \"Error: no test specified\" && exit 1"
+    "evidence:working7": "node capture-working7-manual-flow-evidence.mjs",
+    "evidence:working7:full": "node capture-working7-full-functional-evidence.mjs",
+    "test": "node run-site-test.mjs"
   },
   "keywords": [],
   "author": "",

qa/web-rtcp-5axis-site-test/run-site-test.mjs

@@ -1,17 +1,72 @@
 import fs from "node:fs/promises";
+import http from "node:http";
 import path from "node:path";
 import puppeteer from "puppeteer-core";
 import { PNG } from "pngjs";
 
+const REPO_ROOT = path.resolve("/home/meswork/cnc_wams");
 const ROOT = path.resolve("/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test");
 const OUTPUT_DIR = path.join(ROOT, "output");
 const SCREENSHOT_DIR = path.join(ROOT, "screenshots");
-const URL = "https://82.156.24.101:8092/";
-const CHROME_PATH = "/usr/bin/google-chrome";
+const TARGET_URL = process.env.TARGET_URL || "";
+const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html";
+const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome";
 
 const localProgramPath = path.join(ROOT, "fixtures", "test-program.ngc");
 const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
 
+const MIME_TYPES = {
+  ".css": "text/css; charset=utf-8",
+  ".html": "text/html; charset=utf-8",
+  ".js": "text/javascript; charset=utf-8",
+  ".json": "application/json; charset=utf-8",
+  ".mjs": "text/javascript; charset=utf-8",
+  ".png": "image/png",
+  ".svg": "image/svg+xml",
+  ".wasm": "application/wasm",
+  ".xml": "application/xml; charset=utf-8",
+};
+
+function contentTypeFor(filePath) {
+  return MIME_TYPES[path.extname(filePath).toLowerCase()] || "application/octet-stream";
+}
+
+function createStaticServer(rootDir) {
+  return http.createServer(async (request, response) => {
+    try {
+      const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname);
+      const relativePath = requestPath === "/" ? "/index.html" : requestPath;
+      const targetPath = path.resolve(rootDir, `.${relativePath}`);
+      if (!targetPath.startsWith(rootDir)) {
+        response.writeHead(403);
+        response.end("forbidden");
+        return;
+      }
+      let stat = await fs.stat(targetPath).catch(() => null);
+      let filePath = targetPath;
+      if (stat?.isDirectory()) {
+        filePath = path.join(targetPath, "index.html");
+        stat = await fs.stat(filePath).catch(() => null);
+      }
+      if (!stat?.isFile()) {
+        response.writeHead(404);
+        response.end("not found");
+        return;
+      }
+      const body = await fs.readFile(filePath);
+      response.writeHead(200, {
+        "Content-Type": contentTypeFor(filePath),
+        "Content-Length": String(body.byteLength),
+        "Cache-Control": "no-store",
+      });
+      response.end(body);
+    } catch (error) {
+      response.writeHead(500);
+      response.end(error instanceof Error ? error.message : String(error));
+    }
+  });
+}
+
 await fs.mkdir(OUTPUT_DIR, { recursive: true });
 await fs.mkdir(SCREENSHOT_DIR, { recursive: true });
 await fs.mkdir(path.dirname(localProgramPath), { recursive: true });
@@ -20,6 +75,17 @@ const findings = [];
 const consoleLogs = [];
 const pageErrors = [];
 const requestFailures = [];
+let server = null;
+let targetUrl = TARGET_URL;
+if (!targetUrl) {
+  server = createStaticServer(REPO_ROOT);
+  await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve));
+  const address = server.address();
+  if (!address || typeof address === "string") {
+    throw new Error("failed to start local static server");
+  }
+  targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`;
+}
 
 const browser = await puppeteer.launch({
   headless: true,
@@ -83,7 +149,7 @@ try {
     "",
   ].join("\n"), "utf8");
 
-  await page.goto(URL, { waitUntil: "networkidle2", timeout: 60000 });
+  await page.goto(targetUrl, { waitUntil: "networkidle2", timeout: 60000 });
   await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 });
   await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 });
   await page.waitForFunction(() => {
@@ -140,6 +206,34 @@ try {
     ).catch(() => null);
   }
 
+  async function waitForTaskHalReady(timeoutMs = 30000) {
+    return waitForState((state) => (
+      state.taskHalRuntimeReadiness?.loaded === true &&
+      state.taskHalRuntimeReadiness?.taskRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.motionRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.halRuntimeReady === true &&
+      state.taskHalRuntimeReadiness?.halSyncReady === true &&
+      !state.taskHalExecutionPending &&
+      !state.interpreterExecutionPending
+    ), timeoutMs, "Task/HAL ready and app idle").catch(() => null);
+  }
+
+  async function clickJogAndWait(action, axis, direction, beforeValue) {
+    const selector = `[data-action="${action}"]`;
+    await waitForTaskHalReady(30000);
+    for (let attempt = 0; attempt < 2; attempt += 1) {
+      await clickAndWait(selector, 900);
+      const changed = await waitForState((nextState) => {
+        const nextValue = Number(nextState.axisPose?.[axis]);
+        return direction > 0
+          ? nextValue > Number(beforeValue)
+          : nextValue < Number(beforeValue);
+      }, 6000, `${action} axis change`).catch(() => null);
+      if (changed) return changed;
+    }
+    return getState();
+  }
+
   async function getSummary() {
     return page.evaluate(() => {
       const state = window.webRtcp5AxisSimulation.getState();
@@ -179,12 +273,31 @@ try {
   }
 
   async function clickAndWait(selector, waitMs = 600) {
-    await page.click(selector);
+    await page.waitForSelector(selector, { timeout: 10000 });
+    await page.waitForFunction((targetSelector) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) return false;
+      const ariaDisabled = element.getAttribute("aria-disabled") === "true";
+      const commandReady = element.getAttribute("data-command-ready") === "false";
+      return !element.disabled && !ariaDisabled && !commandReady;
+    }, { timeout: 15000 }, selector);
+    await page.evaluate((targetSelector) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) {
+        throw new Error(`missing click target ${targetSelector}`);
+      }
+      if (element.disabled || element.getAttribute("aria-disabled") === "true") {
+        throw new Error(`disabled click target ${targetSelector}`);
+      }
+      element.scrollIntoView({ block: "center", inline: "center" });
+      element.click();
+    }, selector);
     await sleep(waitMs);
     await waitForAppIdle();
   }
 
   async function setInputValue(selector, value) {
+    await page.waitForSelector(selector, { timeout: 10000 });
     await page.$eval(selector, (el, nextValue) => {
       el.value = nextValue;
       el.dispatchEvent(new Event("input", { bubbles: true }));
@@ -193,6 +306,21 @@ try {
     await sleep(400);
   }
 
+  async function selectValue(selector, value) {
+    await page.waitForSelector(selector, { timeout: 10000 });
+    await page.evaluate((targetSelector, nextValue) => {
+      const element = document.querySelector(targetSelector);
+      if (!element) {
+        throw new Error(`missing select target ${targetSelector}`);
+      }
+      element.value = nextValue;
+      element.dispatchEvent(new Event("input", { bubbles: true }));
+      element.dispatchEvent(new Event("change", { bubbles: true }));
+    }, selector, value);
+    await sleep(400);
+    await waitForAppIdle();
+  }
+
   function classify(condition, passText, failText) {
     return condition ? { status: "PASS", text: passText } : { status: "FAIL", text: failText };
   }
@@ -253,10 +381,11 @@ try {
     initialBoundaryStatus.status,
   );
 
+  const taskHalReadyState = await waitForTaskHalReady(30000);
   const initialTaskHalStatus = classifyWarn(
-    !/pending|blocked/i.test(initial.taskHal),
-    `Task/HAL 已就绪：${initial.taskHal}`,
-    `Task/HAL 未完成就绪：${initial.taskHal}`,
+    Boolean(taskHalReadyState),
+    `Task/HAL 已就绪：${taskHalReadyState?.taskHalRuntimeReadiness?.semanticBoundary || initial.taskHal}`,
+    `Task/HAL 冷启动时尚未完成就绪：${initial.taskHal}`,
   );
   await recordResult(
     "initial-task-hal",
@@ -290,6 +419,7 @@ try {
 
   await clickAndWait('[data-action="HOME"]');
   await waitForState((nextState) => nextState.machine.allHomed === true, 8000, "machine homed").catch(() => null);
+  await waitForTaskHalReady(30000);
   state = await getState();
   await recordResult(
     "home",
@@ -300,8 +430,7 @@ try {
   );
 
   const beforeJogX = state.axisPose.x;
-  await clickAndWait('[data-action="JOG_X_POS"]');
-  state = await getState();
+  state = await clickJogAndWait("JOG_X_POS", "x", 1, beforeJogX);
   await recordResult(
     "jog-x-plus",
     "JOG X+",
@@ -311,8 +440,7 @@ try {
   );
 
   const beforeJogY = state.axisPose.y;
-  await clickAndWait('[data-action="JOG_Y_NEG"]');
-  state = await getState();
+  state = await clickJogAndWait("JOG_Y_NEG", "y", -1, beforeJogY);
   await recordResult(
     "jog-y-minus",
     "JOG Y-",
@@ -332,6 +460,9 @@ try {
     state.machine.mode === "auto" ? "PASS" : "FAIL",
   );
 
+  await clickAndWait('[data-action="mode-manual"]');
+  await waitForState((nextState) => nextState.machine.mode === "manual" && nextState.machine.interpState === "idle", 10000, "MANUAL idle before MDI").catch(() => null);
+  await waitForTaskHalReady(30000);
   await clickAndWait('[data-action="mode-mdi"]');
   await waitForState((nextState) => nextState.machine.mode === "mdi", 8000, "MDI mode").catch(() => null);
   state = await getState();
@@ -343,7 +474,17 @@ try {
     state.machine.mode === "mdi" ? "PASS" : "FAIL",
   );
 
+  if (state.machine.mode !== "mdi") {
+    await clickAndWait('[data-action="mode-manual"]');
+    await waitForState((nextState) => nextState.machine.mode === "manual", 10000, "retry manual before MDI").catch(() => null);
+    await waitForTaskHalReady(30000);
+    await clickAndWait('[data-action="mode-mdi"]');
+    await waitForState((nextState) => nextState.machine.mode === "mdi", 10000, "retry MDI mode").catch(() => null);
+    state = await getState();
+  }
+
   await setInputValue('[data-action="mdi-command"]', "M428");
+  await waitForState((nextState) => nextState.machine.mode === "mdi", 10000, "MDI active before M428");
   await clickAndWait('[data-action="mdi-submit"]', 800);
   state = await getState();
   await recordResult(
@@ -493,7 +634,7 @@ try {
     fullOn && stateAfterFullOff.preview.fullscreen === false ? "PASS" : "FAIL",
   );
 
-  await page.select('[data-action="select-profile"]', "xyzbc-trt");
+  await selectValue('[data-action="select-profile"]', "xyzbc-trt");
   await sleep(2000);
   state = await getState();
   await recordResult(
@@ -505,7 +646,7 @@ try {
   );
   await capture("02-profile-xyzbc");
 
-  await page.select('[data-action="select-profile"]', "xyzac-trt");
+  await selectValue('[data-action="select-profile"]', "xyzac-trt");
   await sleep(2000);
   state = await getState();
   await recordResult(
@@ -534,7 +675,7 @@ try {
 
   if (stagedCount > 0) {
     const sourceRel = summary.state.machineFileStaging.gcodeSources[0].sourceRel;
-    await page.select('[data-action="select-linuxcnc-gcode-source"]', sourceRel);
+    await selectValue('[data-action="select-linuxcnc-gcode-source"]', sourceRel);
     await sleep(4000);
     summary = await getSummary();
     const loadedVendored = summary.state.programSource === "linuxcnc-vendored-5axis-gcode";
@@ -604,9 +745,13 @@ try {
   await recordResult(
     "step-program",
     "Step 单步执行",
-    "点击 Step 后 runState=stepping，activeLine 前进或保持受控",
-    `runState=${state.runState}, activeLine=${state.activeLine}`,
-    state.runState === "stepping" || state.activeLine !== beforeStepLine ? "PASS" : "FAIL",
+    "点击 Step 后 Task/HAL 记录 singleStepping=true，并保持暂停态等待后续操作",
+    `runState=${state.runState}, activeLine=${state.activeLine}, taskPaused=${state.machine.taskPaused}, singleStepping=${state.taskHalStatus?.task?.singleStepping}`,
+    state.machine.taskPaused === true
+      && state.taskHalStatus?.task?.singleStepping === true
+      && Number(state.activeLine) >= Number(beforeStepLine)
+      ? "PASS"
+      : "FAIL",
   );
 
   await clickAndWait('[data-action="STOP"]', 1200);
@@ -657,7 +802,10 @@ try {
     saveSessionStatus.status,
   );
 
+  await clickAndWait('[data-action="mode-manual"]');
+  await waitForState((nextState) => nextState.machine.mode === "manual", 8000, "manual mode before session mutation").catch(() => null);
   await clickAndWait('[data-action="JOG_X_POS"]');
+  await waitForState((nextState) => Number(nextState.axisPose.x) !== Number(state.axisPose.x), 8000, "axis changed before restore").catch(() => null);
   const modifiedState = await getState();
   await clickAndWait('[data-action="RESTORE_SESSION"]', 2500);
   state = await getState();
@@ -712,7 +860,7 @@ try {
 
   const report = {
     generatedAt: new Date().toISOString(),
-    targetUrl: URL,
+    targetUrl,
     chromePath: CHROME_PATH,
     screenshots,
     screenshotAnalysis,
@@ -722,10 +870,20 @@ try {
     pageErrors,
     requestFailures,
   };
+  report.status = findings.some((finding) => finding.status === "FAIL") || pageErrors.length > 0
+    ? "FAIL"
+    : "PASS";
 
   await fs.writeFile(path.join(OUTPUT_DIR, "site-test-report.json"), `${JSON.stringify(report, null, 2)}\n`, "utf8");
+  console.log(`site_test_status=${report.status}`);
+  console.log(`site_test_target_url=${targetUrl}`);
+  console.log(`site_test_report=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json`);
+  if (report.status !== "PASS") {
+    process.exitCode = 1;
+  }
 } finally {
-  await browser.close();
+  await browser.close().catch(() => {});
+  if (server) await new Promise((resolve) => server.close(resolve));
 }
 
 async function analyzeScreenshot(filePath) {

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_runtime.cpp

@@ -23,10 +23,27 @@ static std::vector<std::string> g_canon_events;
 static double g_external_feed_rate = 0.0;
 static int g_external_axis_mask = Interp::AXIS_MASK_X | Interp::AXIS_MASK_Y | Interp::AXIS_MASK_Z;
 static std::string g_parameter_file_name;
+static CANON_PLANE g_external_plane = CANON_PLANE::XY;
+
+struct ExternalPosition {
+    double x = 0.0;
+    double y = 0.0;
+    double z = 0.0;
+    double a = 0.0;
+    double b = 0.0;
+    double c = 0.0;
+    double u = 0.0;
+    double v = 0.0;
+    double w = 0.0;
+};
+
+static ExternalPosition g_external_position;
 
 void reset_canon_events()
 {
     g_canon_events.clear();
+    g_external_position = ExternalPosition{};
+    g_external_plane = CANON_PLANE::XY;
 }
 
 void push_canon_event(const std::string &event)
@@ -56,6 +73,65 @@ int external_axis_mask()
     return g_external_axis_mask;
 }
 
+void set_external_position(double x, double y, double z,
+                           double a, double b, double c,
+                           double u, double v, double w)
+{
+    g_external_position.x = x;
+    g_external_position.y = y;
+    g_external_position.z = z;
+    g_external_position.a = a;
+    g_external_position.b = b;
+    g_external_position.c = c;
+    g_external_position.u = u;
+    g_external_position.v = v;
+    g_external_position.w = w;
+}
+
+void set_external_arc_position(double first_end, double second_end,
+                               double axis_end_point,
+                               double a, double b, double c,
+                               double u, double v, double w)
+{
+    ExternalPosition next = g_external_position;
+    switch (g_external_plane) {
+    case CANON_PLANE::XY:
+        next.x = first_end;
+        next.y = second_end;
+        next.z = axis_end_point;
+        break;
+    case CANON_PLANE::YZ:
+        next.x = axis_end_point;
+        next.y = first_end;
+        next.z = second_end;
+        break;
+    case CANON_PLANE::XZ:
+        next.x = second_end;
+        next.y = axis_end_point;
+        next.z = first_end;
+        break;
+    case CANON_PLANE::UV:
+        next.u = first_end;
+        next.v = second_end;
+        next.w = axis_end_point;
+        break;
+    case CANON_PLANE::VW:
+        next.u = axis_end_point;
+        next.v = first_end;
+        next.w = second_end;
+        break;
+    case CANON_PLANE::UW:
+        next.u = second_end;
+        next.v = axis_end_point;
+        next.w = first_end;
+        break;
+    }
+    next.a = a;
+    next.b = b;
+    next.c = c;
+    g_external_position = next;
+}
+
 void reset_parameter_file_name()
 {
     g_parameter_file_name.clear();
@@ -138,6 +214,7 @@ void CANON_UPDATE_END_POINT(double x, double y, double z,
                             double a, double b, double c,
                             double u, double v, double w)
 {
+    standalone::set_external_position(x, y, z, a, b, c, u, v, w);
     std::ostringstream oss;
     oss << "CANON_UPDATE_END_POINT"
         << " x=" << x
@@ -159,6 +236,7 @@ void USE_LENGTH_UNITS(CANON_UNITS units)
 }
 void SELECT_PLANE(CANON_PLANE plane)
 {
+    standalone::g_external_plane = plane;
     std::ostringstream oss;
     oss << "SELECT_PLANE plane=" << static_cast<int>(plane);
     standalone::push_canon_event(oss.str());
@@ -515,16 +593,16 @@ void SET_PARAMETER_FILE_NAME(const char *filename)
 {
     standalone::set_parameter_file_name(filename);
 }
-CANON_PLANE GET_EXTERNAL_PLANE() { return CANON_PLANE::XY; }
-double GET_EXTERNAL_POSITION_A() { return 0.0; }
-double GET_EXTERNAL_POSITION_B() { return 0.0; }
-double GET_EXTERNAL_POSITION_C() { return 0.0; }
-double GET_EXTERNAL_POSITION_X() { return 0.0; }
-double GET_EXTERNAL_POSITION_Y() { return 0.0; }
-double GET_EXTERNAL_POSITION_Z() { return 0.0; }
-double GET_EXTERNAL_POSITION_U() { return 0.0; }
-double GET_EXTERNAL_POSITION_V() { return 0.0; }
-double GET_EXTERNAL_POSITION_W() { return 0.0; }
+CANON_PLANE GET_EXTERNAL_PLANE() { return standalone::g_external_plane; }
+double GET_EXTERNAL_POSITION_A() { return standalone::g_external_position.a; }
+double GET_EXTERNAL_POSITION_B() { return standalone::g_external_position.b; }
+double GET_EXTERNAL_POSITION_C() { return standalone::g_external_position.c; }
+double GET_EXTERNAL_POSITION_X() { return standalone::g_external_position.x; }
+double GET_EXTERNAL_POSITION_Y() { return standalone::g_external_position.y; }
+double GET_EXTERNAL_POSITION_Z() { return standalone::g_external_position.z; }
+double GET_EXTERNAL_POSITION_U() { return standalone::g_external_position.u; }
+double GET_EXTERNAL_POSITION_V() { return standalone::g_external_position.v; }
+double GET_EXTERNAL_POSITION_W() { return standalone::g_external_position.w; }
 double GET_EXTERNAL_PROBE_POSITION_A() { return 0.0; }
 double GET_EXTERNAL_PROBE_POSITION_B() { return 0.0; }
 double GET_EXTERNAL_PROBE_POSITION_C() { return 0.0; }
@@ -629,6 +707,7 @@ void STRAIGHT_TRAVERSE(int lineno,
                        double a, double b, double c,
                        double u, double v, double w)
 {
+    standalone::set_external_position(x, y, z, a, b, c, u, v, w);
     std::ostringstream oss;
     oss << "STRAIGHT_TRAVERSE line=" << lineno
         << " x=" << x
@@ -648,6 +727,7 @@ void STRAIGHT_FEED(int lineno,
                    double a, double b, double c,
                    double u, double v, double w)
 {
+    standalone::set_external_position(x, y, z, a, b, c, u, v, w);
     std::ostringstream oss;
     oss << "STRAIGHT_FEED line=" << lineno
         << " x=" << x
@@ -669,6 +749,8 @@ void ARC_FEED(int lineno,
               double a, double b, double c,
               double u, double v, double w)
 {
+    standalone::set_external_arc_position(first_end, second_end, axis_end_point,
+                                          a, b, c, u, v, w);
     std::ostringstream oss;
     oss << "ARC_FEED line=" << lineno
         << " first_end=" << first_end

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp

@@ -870,6 +870,7 @@ char *lcinterp_run_fiveaxis_remap_file(const char *path, const char *ini_path)
     ok &= file_execute_count < max_file_steps;
     ok &= hal_rc == INTERP_OK && hal_status == 1;
 
+    append_events_and_state(output, interp);
     output << "fiveaxis_linuxcnc_remap_file_execute=" << (ok ? 1 : 0) << "\n";
     unsetenv("INI_FILE_NAME");
     return copy_result(output.str());

wasm-port/tools/source-manifest.txt

@@ -603,3 +603,45 @@ nc_files/arcspiral.ngc
 nc_files/factorial.ngc
 nc_files/hole-circle.ngc
 nc_files/m6demo.ngc
+configs/sim/gmoccapy/macros/change.ngc
+configs/sim/gmoccapy/macros/change_g43.ngc
+configs/sim/gmoccapy/macros/go_to_position.ngc
+configs/sim/gmoccapy/macros/halo_world.ngc
+configs/sim/gmoccapy/macros/i_am_lost.ngc
+configs/sim/gmoccapy/macros/images/goto_x_y_z.png
+configs/sim/gmoccapy/macros/images/i_am_lost.png
+configs/sim/gmoccapy/macros/images/macro_8.png
+configs/sim/gmoccapy/macros/increment.ngc
+configs/sim/gmoccapy/macros/jog_around.ngc
+configs/sim/gmoccapy/macros/macro_0.ngc
+configs/sim/gmoccapy/macros/macro_1.ngc
+configs/sim/gmoccapy/macros/macro_10.ngc
+configs/sim/gmoccapy/macros/macro_11.ngc
+configs/sim/gmoccapy/macros/macro_12.ngc
+configs/sim/gmoccapy/macros/macro_13.ngc
+configs/sim/gmoccapy/macros/macro_14.ngc
+configs/sim/gmoccapy/macros/macro_15.ngc
+configs/sim/gmoccapy/macros/macro_2.ngc
+configs/sim/gmoccapy/macros/macro_3.ngc
+configs/sim/gmoccapy/macros/macro_4.ngc
+configs/sim/gmoccapy/macros/macro_5.ngc
+configs/sim/gmoccapy/macros/macro_6.ngc
+configs/sim/gmoccapy/macros/macro_7.ngc
+configs/sim/gmoccapy/macros/macro_8.ngc
+configs/sim/gmoccapy/macros/macro_9.ngc
+configs/sim/gmoccapy/macros/macro_Instructions.txt
+configs/sim/gmoccapy/macros/on_abort.ngc
+configs/sim/gmoccapy/macros/settool_g43.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/README
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/sim-xyzac-trt.pref
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var
+configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var.bak

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change.ngc

@@ -0,0 +1,75 @@
+
+o<change> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+;otherwise after the M6 this information is gone!
+#<tool> = #<selected_tool>
+#<pocket> = #<selected_pocket>
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+;first go up
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+; then move to change position
+G53 G0 X[#<_ini[CHANGE_POSITION]X>] Y[#<_ini[CHANGE_POSITION]Y>]
+
+; cancel tool offset
+G49
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+O200 if [#<_hal[gmoccapy.toolmeasurement]> EQ 0]
+O200 return [3] ; indicate no tool measurement 
+O200 endif
+
+G53 G0 X[#<_ini[TOOLSENSOR]X>] Y[#<_ini[TOOLSENSOR]Y>]
+G53 G0 Z[#<_ini[TOOLSENSOR]Z>]
+
+O300 if [#<_hal[gmoccapy.searchvel]> LE 0]
+O300 return [-1] ; indicate searchvel <= 0 
+O300 endif
+
+O400 if [#<_hal[gmoccapy.probevel]> LE 0]
+O400 return [-2] ; indicate probevel <= 0 
+O400 endif
+
+F #<_hal[gmoccapy.searchvel]>
+G91
+G38.2 Z #<_ini[TOOLSENSOR]MAXPROBE>
+G0 Z2
+; This is commented out only for sim.
+;F #<_hal[gmoccapy.probevel]>
+;G38.2 Z-4
+
+O500 if [#5070 EQ 0]
+G90
+O500 return [-3] ; indicate probe contact failure to epilog
+O500 endif
+
+G90
+G53 G0 Z[#<_ini[CHANGE_POSITION]Z>]
+
+#<touch_result> = #5063
+#<probeheight> = #<_hal[gmoccapy.probeheight]> 
+#<blockheight> = #<_hal[gmoccapy.blockheight]>
+
+;(DEBUG, #<touch_result>  #<probeheight>  #<blockheight>)
+
+G10 L1 P#<tool> Z[#<touch_result> - #<_hal[gmoccapy.probeheight]> + #<_hal[gmoccapy.blockheight]>]
+G43
+
+;G10 L1 P#<tool> Z#<touch_result>
+;G10 L2 P0 Z[#<workpieceheight> + #<probeheight> + #<touch_result>]
+
+; signal success be returning a value > 0:
+o<change> endsub [1]
+
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/change_g43.ngc

@@ -0,0 +1,21 @@
+o<change_g43> sub
+;(debug, in change tool_in_spindle=#<tool_in_spindle> current_pocket=#<current_pocket>)
+;(debug, selected_tool=#<selected_tool> selected_pocket=#<selected_pocket>)
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+; using the code being remapped here means 'use builtin behaviour'
+M6
+
+; set tool offset
+G43
+
+; signal success be returning a value > 0:
+o<change_g43> endsub [1]
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/go_to_position.ngc

@@ -0,0 +1,26 @@
+; Testfile go to position
+; will jog the machine to a given position
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/goto_x_y_z.png)
+
+O<go_to_position> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<go_to_position> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/halo_world.ngc

@@ -0,0 +1,25 @@
+; Testfile "hello world"
+; will just give messages 
+
+O<halo_world> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G0 X10
+
+(MSG, Hallo Welt)
+(MSG, hello world)
+
+G0X-10
+
+O<halo_world> endsub
+
+M2
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/i_am_lost.ngc

@@ -0,0 +1,27 @@
+; Testfile I am Lost
+; will jog to machine zero and set all axis to zero
+
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/i_am_lost.png)
+
+O<i_am_lost> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+(MSG, Will now move to machine zero)
+G53 G0 X0 Y0 Z0
+(MSG, will now set all axis to zero)
+G10 L20 P0 X0 Y0 Z0
+(MSG, all done)
+
+
+O<i_am_lost> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/increment.ngc

@@ -0,0 +1,22 @@
+; Testfile "increment"
+; will move the machine in relative coordinates
+
+O<increment> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X#1 Y#2
+G90
+
+(DEBUG, X was [#1] and Y was [#2])
+
+O<increment> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/jog_around.ngc

@@ -0,0 +1,29 @@
+; Testfile "Jog around"
+; will just jog a little bit around
+
+O<jog_around> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+G91 G0 X 25
+Y-25
+Z-25
+Y25
+X-25
+Z25
+F250
+G2 I 25
+
+(MSG, It is done!)
+
+O<jog_around> endsub
+
+M2
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_0.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_0> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_0> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_1.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_1> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_1> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_10.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_10> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_10> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_11.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_11> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_11> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_12.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_12> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_12> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_13.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_13> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_13> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_14.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_14> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_14> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_15.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_15> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_15> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_2.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_2> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_2> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_3.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_3> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_3> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_4.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_4> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_4> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_5.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_5> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_5> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_6.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_6> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_6> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_7.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_7> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_7> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_8.ngc

@@ -0,0 +1,27 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+; the image path must be relative from your config dir or absolute, "~" is allowed
+(IMAGE, ./macros/images/macro_8.png)
+
+O<macro_8> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_8> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_9.ngc

@@ -0,0 +1,24 @@
+; Testfile go to position
+; will jog the machine to a position to give
+
+O<macro_9> sub
+
+G17
+G21
+G54
+G61
+G40
+G49
+G80
+G90
+
+;#1 = <X-Pos>
+;#2 = <Y-Pos>
+;#3 = <Z-Pos>
+
+(DEBUG, Will now move machine to X = #1 , Y = #2 , Z = #3)
+G0 X #1 Y #2 Z #3
+
+O<macro_9> endsub
+
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/macro_Instructions.txt

@@ -0,0 +1,44 @@
+This is a small instruction to include macros in gmoccapy.
+
+In your INI File you need to introduce a section called [MACROS]
+and for every macro you'll need to include a one-liner like so:
+
+MACRO = jog_around
+or 
+MACRO = increment xinc yinc
+
+where xinc and yinc are placeholders
+
+During execution of the macro, you will be asked to enter the values. 
+
+You are allowed to introduce 9 macros! 
+If you enter more macros, only the first 9 will appear with button in gmoccapy.
+
+In the [RS274NGC] section you may want to give a path to your macros like so:
+
+[RS274NGC]
+SUBROUTINE_PATH = nc_files/subroutines 
+
+or you place your macros in the nc_files folder.
+
+Each macro must have it's own file in one of the mentioned folders and they are normal subroutines, so the must begin with:
+
+O<jog_around> sub
+
+and end with
+
+O<jog_around> endsub
+M2
+
+The name of the file must be jog_around.ngc.
+And an macro must contain at least one movement of one axis.
+
+macro name in INI file have to be the same as the file name and the sub must have also the same name (case sensitive!)!
+
+BE CAREFUL:
+At this development step, the macros can only be interrupted by pressing the machine off button or the emergency exit button! I will check how to make this more secure! 
+
+Hope this does help.
+
+Norbert
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/on_abort.ngc

@@ -0,0 +1,9 @@
+%
+o<on_abort> sub
+
+G90
+G40
+G49
+
+o<on_abort> endsub
+%

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/macros/settool_g43.ngc

@@ -0,0 +1,20 @@
+o<settool_g43> sub
+;(debug, tool=#<tool> pocket=#<pocket>)
+
+; we must execute this only in the milltask interpreter
+; or preview will break, so test for '#<_task>' which is 1 for 
+; the milltask interpreter and 0 in the UI's
+O100 if [#<_task> EQ 0]
+        (debug, Task ist Null)
+O100     return [999]
+O100 endif
+
+; using the code being remapped here means 'use builtin behaviour'
+m61 q#<tool>
+
+; set tool offset
+G43
+
+; signal success be returning a value > 0:
+o<settool_g43> endsub [1]
+M2

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/README

@@ -0,0 +1,12 @@
+Table Rotary/Tilting (trt) Sim configs
+
+xyzac-trt
+xyzbc-trt
+
+Example ngc files:
+  examples/boat-xyzac.ngc (!!! TOUCHOFF table Z to -13.25 !!!)
+  examples/boat-xyzbc.ngc (!!! TOUCHOFF table Z to - 8.30 !!!)
+
+Example ngc files (ngcgui compatible subroutines):
+  examples/test-xyzac.ngc
+  examples/test-xyzbc.ngc

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc

@@ -0,0 +1,47 @@
+o<test-xyzac> sub
+(test-xyzac-kins with offsets and tool change)
+( 5 AXIS XYZAC MILLING )
+
+ #<a_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+; 'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+N40 G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 A#<a_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+A0 C0
+
+o<test-xyzac> endsub

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc

@@ -0,0 +1,47 @@
+o<test-xyzbc> sub
+(test-xyzbc-trt-kins with offsets and tool change)
+( 5 AXIS XYZBC MILLING )
+
+ #<b_angle> =  #1 (=20)
+ #<c_angle> =  #2 (=30)
+  #<xy_max> =  #3 (=30)
+   #<z_max> =  #4 (=10)
+#<feedrate> =  #5 (=200)
+   #<tool1> =  #6 (=1 1st Tool)
+   #<tool2> =  #7 (=2 2nd Tool)
+  #<speed1> =  #8 (=500)
+  #<speed2> =  #9 (=600)
+
+;'square with 2 rounded corners'
+#<x_max> = #<xy_max>
+#<y_max> = #<xy_max>
+#<g3_j>  = #<xy_max>
+
+G00 G17 G40 G90 G94 Z10
+(first tool - no z-offset)
+T#<tool1> M6
+S#<speed1> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool1> Z0
+G01 X#<x_max> F#<feedrate>
+G01 Y#<y_max>
+G01 X0
+G03 X-#<x_max> Y0 I0 J-#<g3_j>
+G00 Z#<z_max>
+G00 X0
+M5
+(next tool- with z-offset)
+T#<tool2> M6
+S#<speed2> M3
+G00 B#<b_angle> C#<c_angle>
+G43 H#<tool2> Z0
+G01 X-#<x_max> F#<feedrate>
+G01 Y-#<y_max>
+G01 X0
+G03 X#<x_max> Y0 I0 J#<g3_j>
+G0 Z#<z_max>
+G0 X0 Y0
+M5
+B0 C0
+
+o<test-xyzbc> endsub

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal

@@ -0,0 +1,22 @@
+###################################################################
+#        moccapy_postgui.hal file from Norbert Schechner          #
+###################################################################
+
+loadrt abs names=abs_spindle_feedback
+addf abs_spindle_feedback servo-thread
+
+net spindle-speed-limited  =>  abs_spindle_feedback.in
+net spindle-abs  abs_spindle_feedback.out  =>  gmoccapy.spindle_feedback_bar
+net spindle-at-speed      gmoccapy.spindle_at_speed_led
+
+# the unlink pin commands are only used, because they are connected 
+# in core_sim.hal and we use this file to simulate
+unlinkp iocontrol.0.tool-change
+unlinkp iocontrol.0.tool-changed
+
+net tool-change      gmoccapy.toolchange-change   <=  iocontrol.0.tool-change 
+net tool-changed     gmoccapy.toolchange-changed  =>  iocontrol.0.tool-changed
+net tool-prep-number gmoccapy.toolchange-number   <=  iocontrol.0.tool-prep-number
+
+net tool-offset  gmoccapy.tooloffset-z 
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/sim-xyzac-trt.pref

@@ -0,0 +1,97 @@
+[DEFAULT]
+spindle_start_rpm = 300
+scale_jog_vel = 21.0
+scale_spindle_override = 1
+scale_feed_override = 1
+scale_rapid_override = 1
+hide_turtle_jog_button = False
+turtle_jog_factor = 10
+dro_size = 28
+open_file = 
+screen1 = window
+x_pos = 40
+y_pos = 30
+width = 979
+height = 750
+gtk_theme = Follow System Theme
+audio_alert = /usr/share/sounds/freedesktop/stereo/dialog-warning.oga
+audio_error = /usr/share/sounds/freedesktop/stereo/dialog-error.oga
+grid_size = 1.0
+view = p
+mouse_btn_mode = 4
+hide_cursor = False
+system_name_tool = Working Offset
+system_name_g5x = G5x
+system_name_rot = Rot
+system_name_g92 = G92
+system_name_g54 = G54
+system_name_g55 = G55
+system_name_g56 = G56
+system_name_g57 = G57
+system_name_g58 = G58
+system_name_g59 = G59
+system_name_g59.1 = G59.1
+system_name_g59.2 = G59.2
+system_name_g59.3 = G59.3
+jump_to_dir = /home/gmoccapy
+show_keyboard_on_offset = False
+show_keyboard_on_tooledit = False
+show_keyboard_on_edit = False
+show_keyboard_on_mdi = False
+show_keyboard_on_file_selection = False
+spindle_bar_min = 0.0
+spindle_bar_max = 6000.0
+x_pos_popup = 45.0
+y_pos_popup = 55
+width_popup = 250.0
+max_messages = 10
+message_font = sans 10
+use_frames = True
+show_dro_btn = False
+use_auto_units = True
+blockdel = False
+opstop = False
+enable_dro = False
+show_offsets = False
+show_dtg = False
+view_tool_path = True
+view_dimension = True
+gremlin_view = rbt_view_p
+run_from_line = no_run
+unlock_way = no
+unlock_code = 123
+show_preview_on_offset = False
+use_keyboard_shortcuts = True
+abs_color = #0000FF
+rel_color = #000000
+dtg_color = #FFFF00
+homed_color = #00FF00
+unhomed_color = #FF0000
+dro_digits = 3
+toggle_readout = True
+reload_tool = True
+tool_in_spindle = 0
+blockheight = 0.0
+use_toolmeasurement = False
+kbd_height = 250
+kbd_width = 880
+kbd_set_height = False
+kbd_set_width = False
+info_tab_page = 0
+jog_btn_size = 48
+jog_box_width = 360
+toolpage_use_calc = True
+offsetpage_use_calc = True
+gcodeview_font = monospace 10
+hide_titlebar = False
+icon_theme = classic
+gcode_theme = classic
+audio_enabled = True
+hide_tooltips = False
+system_name_g28 = G28
+system_name_g30 = G30
+iconview_sortorder = 0
+iconview_sortbydate = 1
+iconview_folderfirst = 0
+sort_by_date = False
+

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini

@@ -0,0 +1,156 @@
+[EMC]
+VERSION = 1.1
+MACHINE = sim-xyzac-trt
+DEBUG = 0
+
+[DISPLAY]
+OPEN_FILE = ./examples/impeller-7bl-xyzac.ngc
+JOG_AXES = XYZC
+DISPLAY = gmoccapy
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2
+PROGRAM_PREFIX = ../../../nc_files
+INTRO_GRAPHIC = emc2.gif
+INTRO_TIME = 1
+
+TKPKG = Ngcgui 1.0
+NGCGUI_FONT = Helvetica -12 normal
+NGCGUI_SUBFILE = test-xyzac.ngc
+
+[RS274NGC]
+PARAMETER_FILE = xyzac.var
+SUBROUTINE_PATH = ./examples:../../macros
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
+REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = ../../python
+TOPLEVEL = ../../python/toplevel.py
+LOG_LEVEL = 0
+
+[HAL]
+HALUI = halui
+HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
+
+# vismach xyzac-trt-gui items
+HALCMD = loadusr -W xyzac-trt-gui
+HALCMD = net  :table-x      joint.0.pos-fb             xyzac-trt-gui.table-x
+HALCMD = net  :saddle-y     joint.1.pos-fb             xyzac-trt-gui.saddle-y
+HALCMD = net  :spindle-z    joint.2.pos-fb             xyzac-trt-gui.spindle-z
+HALCMD = net  :tilt-a       joint.3.pos-fb             xyzac-trt-gui.tilt-a
+HALCMD = net  :rotate-c     joint.4.pos-fb             xyzac-trt-gui.rotate-c
+HALCMD = net  :tool-offset  motion.tooloffset.z
+HALCMD = net  :tool-offset  xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
+HALCMD = net  :y-offset     xyzac-trt-kins.y-offset    xyzac-trt-gui.y-offset
+HALCMD = net  :z-offset     xyzac-trt-kins.z-offset    xyzac-trt-gui.z-offset
+HALCMD = sets :y-offset     20
+HALCMD = sets :z-offset     10
+
+POSTGUI_HALFILE = postgui.hal
+
+[KINS]
+KINEMATICS = xyzac-trt-kins
+JOINTS =  5
+
+[TRAJ]
+COORDINATES = XYZAC
+LINEAR_UNITS = mm
+ANGULAR_UNITS = deg
+DEFAULT_LINEAR_VELOCITY = 20
+MAX_LINEAR_VELOCITY = 35
+MAX_LINEAR_ACCELERATION = 400
+DEFAULT_LINEAR_ACCELERATION = 300
+
+[EMCMOT]
+EMCMOT = motmod
+SERVO_PERIOD = 1000000
+COMM_TIMEOUT =       1
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[EMCIO]
+TOOL_TABLE = xyzac-trt.tbl
+
+[AXIS_X]
+MIN_LIMIT = -200
+MAX_LIMIT =  200
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[JOINT_0]
+TYPE = LINEAR
+HOME =    0
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+MIN_LIMIT = -200
+MAX_LIMIT =  200
+HOME_SEARCH_VEL =    0
+HOME_SEQUENCE =    0
+
+[AXIS_Y]
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[JOINT_1]
+TYPE = LINEAR
+HOME =    0
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+HOME_SEARCH_VEL =    0
+HOME_SEQUENCE =    0
+
+[AXIS_Z]
+MIN_LIMIT = -120
+MAX_LIMIT =  120
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[JOINT_2]
+TYPE = LINEAR
+HOME =    0
+MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+MIN_LIMIT = -120
+MAX_LIMIT =  120
+HOME_SEARCH_VEL =    0
+HOME_SEQUENCE =    0
+
+[AXIS_A]
+MIN_LIMIT = -100
+MAX_LIMIT =   50
+MAX_VELOCITY =   30
+MAX_ACCELERATION =   300
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME =    0
+MAX_VELOCITY =   30
+MAX_ACCELERATION =  300
+MIN_LIMIT = -100
+MAX_LIMIT =   50
+HOME_SEARCH_VEL =    0
+HOME_SEQUENCE =    0
+
+[AXIS_C]
+MIN_LIMIT = -36000
+MAX_LIMIT =  36000
+MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[JOINT_4]
+TYPE = ANGULAR
+HOME =      0
+MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+MIN_LIMIT = -36000
+MAX_LIMIT =  36000
+HOME_SEARCH_VEL =      0
+HOME_SEQUENCE =      0

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl

@@ -0,0 +1,10 @@
+T1 P1 Z0 D6 ;end mill
+T2 P2 Z15 D8 ;end mill
+T3 P3 Z0 D4.2 ;#7 tap drill
+T4 P4 Z0 D10
+T5 P5 Z30 D10
+T6 P6 Z30 D10
+T7 P7 Z30 D10
+T8 P8 Z30 D10
+T9 P9 Z30 D10
+T10 P10 D0.5

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal

@@ -0,0 +1,202 @@
+# Fri Jun 26 05:57:43 EDT 2026
+#
+# This file:    ./xyzac-trt_cmds.hal
+# Created by:   /home/meswork/cnc_wams/linuxcnc/lib/hallib/basic_sim.tcl
+# With options: -no_use_hal_manualtoolchange
+# From inifile: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
+# Halfiles:     {LIB:basic_sim.tcl -no_use_hal_manualtoolchange}
+#
+# This file contains the hal commands produced by basic_sim.tcl
+# (and any hal commands executed prior to its execution).
+# ------------------------------------------------------------------
+# To use ./xyzac-trt_cmds.hal in the original inifile (or a copy of it),
+# edit to change:
+#     [HAL]
+#     HALFILE = LIB:basic_sim.tcl parameters
+# to:
+#     [HAL]
+#     HALFILE = ./xyzac-trt_cmds.hal
+#
+# Notes:
+#  1) Inifile Variables substitutions specified in the inifile
+#     and interpreted by halcmd are automatically substituted
+#     in the created halfile (./xyzac-trt_cmds.hal).
+#  2) Input pins connected to a signal with no writer are
+#     not included in the setp listings herein so must be added
+#     manually
+#
+
+# components
+#preloaded module: loadrt tpmod 
+#preloaded module: loadrt homemod 
+loadrt xyzac-trt-kins 
+loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5 
+#loadrt __servo-thread  (not loaded by loadrt, no args saved)
+loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid 
+loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux 
+loadrt ddt names=J0_vel,J0_accel,J1_vel,J1_accel,J2_vel,J2_accel,J3_vel,J3_accel,J4_vel,J4_accel 
+loadrt sim_home_switch names=J0_switch,J1_switch,J2_switch,J3_switch,J4_switch 
+loadrt sim_spindle names=sim_spindle 
+loadrt limit2 names=limit_speed 
+loadrt lowpass names=spindle_mass 
+loadrt near names=near_speed 
+loadrt scale names=rpm_rps 
+# pin aliases
+# param aliases
+# signals
+# nets
+net J0:acc J0_accel.out
+net J0:enable joint.0.amp-enable-out => J0_pid.enable
+net J0:homesw J0_switch.home-sw => joint.0.home-sw-in
+net J0:on-pos J0_pid.output => J0_mux.in1
+net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
+net J0:pos-fb J0_mux.out => J0_mux.in0 J0_switch.cur-pos J0_vel.in joint.0.motor-pos-fb
+net J0:vel J0_vel.out => J0_accel.in
+net J1:acc J1_accel.out
+net J1:enable joint.1.amp-enable-out => J1_pid.enable
+net J1:homesw J1_switch.home-sw => joint.1.home-sw-in
+net J1:on-pos J1_pid.output => J1_mux.in1
+net J1:pos-cmd joint.1.motor-pos-cmd => J1_pid.command
+net J1:pos-fb J1_mux.out => J1_mux.in0 J1_switch.cur-pos J1_vel.in joint.1.motor-pos-fb
+net J1:vel J1_vel.out => J1_accel.in
+net J2:acc J2_accel.out
+net J2:enable joint.2.amp-enable-out => J2_pid.enable
+net J2:homesw J2_switch.home-sw => joint.2.home-sw-in
+net J2:on-pos J2_pid.output => J2_mux.in1
+net J2:pos-cmd joint.2.motor-pos-cmd => J2_pid.command
+net J2:pos-fb J2_mux.out => J2_mux.in0 J2_switch.cur-pos J2_vel.in joint.2.motor-pos-fb
+net J2:vel J2_vel.out => J2_accel.in
+net J3:acc J3_accel.out
+net J3:enable joint.3.amp-enable-out => J3_pid.enable
+net J3:homesw J3_switch.home-sw => joint.3.home-sw-in
+net J3:on-pos J3_pid.output => J3_mux.in1
+net J3:pos-cmd joint.3.motor-pos-cmd => J3_pid.command
+net J3:pos-fb J3_mux.out => J3_mux.in0 J3_switch.cur-pos J3_vel.in joint.3.motor-pos-fb
+net J3:vel J3_vel.out => J3_accel.in
+net J4:acc J4_accel.out
+net J4:enable joint.4.amp-enable-out => J4_pid.enable
+net J4:homesw J4_switch.home-sw => joint.4.home-sw-in
+net J4:on-pos J4_pid.output => J4_mux.in1
+net J4:pos-cmd joint.4.motor-pos-cmd => J4_pid.command
+net J4:pos-fb J4_mux.out => J4_mux.in0 J4_switch.cur-pos J4_vel.in joint.4.motor-pos-fb
+net J4:vel J4_vel.out => J4_accel.in
+net estop:loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
+net sample:enable motion.motion-enabled => J0_mux.sel J1_mux.sel J2_mux.sel J3_mux.sel J4_mux.sel
+net spindle-at-speed near_speed.out => spindle.0.at-speed
+net spindle-index-enable sim_spindle.index-enable <=> spindle.0.index-enable
+net spindle-orient spindle.0.orient => spindle.0.is-oriented
+net spindle-pos sim_spindle.position-fb => spindle.0.revs
+net spindle-rpm-filtered spindle_mass.out => near_speed.in2 rpm_rps.in
+net spindle-rps-filtered rpm_rps.out => spindle.0.speed-in
+net spindle-speed-cmd spindle.0.speed-out => limit_speed.in near_speed.in1
+net spindle-speed-limited limit_speed.out => sim_spindle.velocity-cmd spindle_mass.in
+net tool:change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
+net tool:prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+# parameter values
+setp J0_accel.tmax                  0
+setp J0_mux.tmax                    0
+setp J0_pid.do-pid-calcs.tmax       0
+setp J0_switch.tmax                 0
+setp J0_vel.tmax                    0
+setp J1_accel.tmax                  0
+setp J1_mux.tmax                    0
+setp J1_pid.do-pid-calcs.tmax       0
+setp J1_switch.tmax                 0
+setp J1_vel.tmax                    0
+setp J2_accel.tmax                  0
+setp J2_mux.tmax                    0
+setp J2_pid.do-pid-calcs.tmax       0
+setp J2_switch.tmax                 0
+setp J2_vel.tmax                    0
+setp J3_accel.tmax                  0
+setp J3_mux.tmax                    0
+setp J3_pid.do-pid-calcs.tmax       0
+setp J3_switch.tmax                 0
+setp J3_vel.tmax                    0
+setp J4_accel.tmax                  0
+setp J4_mux.tmax                    0
+setp J4_pid.do-pid-calcs.tmax       0
+setp J4_switch.tmax                 0
+setp J4_vel.tmax                    0
+setp limit_speed.tmax               0
+setp motion-command-handler.tmax    0
+setp motion-controller.tmax         0
+setp near_speed.difference          10
+setp near_speed.scale               1.1
+setp near_speed.tmax                0
+setp rpm_rps.tmax                   0
+setp servo-thread.tmax              0
+setp sim_spindle.scale              0.01666667
+setp sim_spindle.tmax               0
+setp spindle_mass.gain              0.07
+setp spindle_mass.tmax              0
+# realtime thread/function links
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf J0_pid.do-pid-calcs servo-thread
+addf J1_pid.do-pid-calcs servo-thread
+addf J2_pid.do-pid-calcs servo-thread
+addf J3_pid.do-pid-calcs servo-thread
+addf J4_pid.do-pid-calcs servo-thread
+addf J0_mux servo-thread
+addf J1_mux servo-thread
+addf J2_mux servo-thread
+addf J3_mux servo-thread
+addf J4_mux servo-thread
+addf J0_vel servo-thread
+addf J0_accel servo-thread
+addf J1_vel servo-thread
+addf J1_accel servo-thread
+addf J2_vel servo-thread
+addf J2_accel servo-thread
+addf J3_vel servo-thread
+addf J3_accel servo-thread
+addf J4_vel servo-thread
+addf J4_accel servo-thread
+addf J0_switch servo-thread
+addf J1_switch servo-thread
+addf J2_switch servo-thread
+addf J3_switch servo-thread
+addf J4_switch servo-thread
+addf limit_speed servo-thread
+addf spindle_mass servo-thread
+addf rpm_rps servo-thread
+addf near_speed servo-thread
+addf sim_spindle servo-thread
+
+# setp commands for unconnected input pins
+setp J0_pid.FF0                     1.0
+setp J0_pid.Pgain                   0
+setp J0_pid.Dgain                   0
+setp J0_pid.Igain                   0
+setp J0_pid.FF1                     0
+setp J0_pid.FF2                     0
+setp J1_pid.FF0                     1.0
+setp J1_pid.Pgain                   0
+setp J1_pid.Dgain                   0
+setp J1_pid.Igain                   0
+setp J1_pid.FF1                     0
+setp J1_pid.FF2                     0
+setp J2_pid.FF0                     1.0
+setp J2_pid.Pgain                   0
+setp J2_pid.Dgain                   0
+setp J2_pid.Igain                   0
+setp J2_pid.FF1                     0
+setp J2_pid.FF2                     0
+setp J3_pid.FF0                     1.0
+setp J3_pid.Pgain                   0
+setp J3_pid.Dgain                   0
+setp J3_pid.Igain                   0
+setp J3_pid.FF1                     0
+setp J3_pid.FF2                     0
+setp J4_pid.FF0                     1.0
+setp J4_pid.Pgain                   0
+setp J4_pid.Dgain                   0
+setp J4_pid.Igain                   0
+setp J4_pid.FF1                     0
+setp J4_pid.FF2                     0
+setp sim_spindle.scale              0.01666667
+setp limit_speed.maxv               5000.0
+setp spindle_mass.gain              .07
+setp near_speed.scale               1.1
+setp near_speed.difference          10

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var

@@ -0,0 +1,119 @@
+5161	0.000000
+5162	0.000000
+5163	0.000000
+5164	0.000000
+5165	0.000000
+5166	0.000000
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+5181	0.000000
+5182	0.000000
+5183	0.000000
+5184	0.000000
+5185	0.000000
+5186	0.000000
+5187	0.000000
+5188	0.000000
+5189	0.000000
+5210	0.000000
+5211	0.000000
+5212	0.000000
+5213	0.000000
+5214	0.000000
+5215	0.000000
+5216	0.000000
+5217	0.000000
+5218	0.000000
+5219	0.000000
+5220	1.000000
+5221	0.000000
+5222	0.000000
+5223	0.000000
+5224	0.000000
+5225	0.000000
+5226	0.000000
+5227	0.000000
+5228	0.000000
+5229	0.000000
+5230	0.000000
+5241	0.000000
+5242	0.000000
+5243	0.000000
+5244	0.000000
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+5264	0.000000
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+5364	0.000000
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+5381	0.000000
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+5385	0.000000
+5386	0.000000
+5387	0.000000
+5388	0.000000
+5389	0.000000
+5390	0.000000

wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac.var.bak

@@ -0,0 +1,119 @@
+5161	0.000000
+5162	0.000000
+5163	0.000000
+5164	0.000000
+5165	0.000000
+5166	0.000000
+5167	0.000000
+5168	0.000000
+5169	0.000000
+5181	0.000000
+5182	0.000000
+5183	0.000000
+5184	0.000000
+5185	0.000000
+5186	0.000000
+5187	0.000000
+5188	0.000000
+5189	0.000000
+5210	0.000000
+5211	0.000000
+5212	0.000000
+5213	0.000000
+5214	0.000000
+5215	0.000000
+5216	0.000000
+5217	0.000000
+5218	0.000000
+5219	0.000000
+5220	1.000000
+5221	0.000000
+5222	0.000000
+5223	0.000000
+5224	0.000000
+5225	0.000000
+5226	0.000000
+5227	0.000000
+5228	0.000000
+5229	0.000000
+5230	0.000000
+5241	0.000000
+5242	0.000000
+5243	0.000000
+5244	0.000000
+5245	0.000000
+5246	0.000000
+5247	0.000000
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+5263	0.000000
+5264	0.000000
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+5266	0.000000
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+5268	0.000000
+5269	0.000000
+5270	0.000000
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+5386	0.000000
+5387	0.000000
+5388	0.000000
+5389	0.000000
+5390	0.000000

web-rtcp-5axis-sim-plan/app/package.json

@@ -7,7 +7,7 @@
     "build": "node scripts/build-static.mjs",
     "dev": "python3 -m http.server 4173",
     "smoke": "bash ../tests/browser/verify_gmoccapy_shell_browser.sh && bash ../tests/browser/verify_gmoccapy_dist_browser.sh",
-    "smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_run_preconditions.mjs && node ../tests/node/verify_run_feedback_loop.mjs && node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_native_task_hal_audit.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_real_linuxcnc_5axis_program_cases.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_icon_manifest.mjs && node ../tests/node/verify_gmoccapy_icon_registry.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_linear_unit_conversion.mjs && node ../tests/node/verify_gmoccapy_trt_project_sidebar.mjs && node ../tests/node/verify_linuxcnc_parity_matrix.mjs"
+    "smoke:node": "node ../tests/node/verify_linuxcnc_kinematics_runtime.mjs && node ../tests/node/verify_linuxcnc_interpreter_runtime.mjs && node ../tests/node/verify_linuxcnc_ini_runtime.mjs && node ../tests/node/verify_run_preconditions.mjs && node ../tests/node/verify_run_feedback_loop.mjs && node ../tests/node/verify_linuxcnc_task_hal_runtime.mjs && node ../tests/node/verify_native_task_hal_audit.mjs && node ../tests/node/verify_full_linuxcnc_5axis_source.mjs && node ../tests/node/verify_real_linuxcnc_5axis_program_cases.mjs && node ../tests/node/verify_tool_db_web_simulation.mjs && node ../tests/node/verify_tool_db_user_m_simulation.mjs && node ../tests/node/verify_full_execution_boundary.mjs && node ../tests/node/verify_machine_file_staging.mjs && node ../tests/node/verify_five_axis_session.mjs && node ../tests/node/verify_rtcp_store.mjs && node ../tests/node/verify_profile_boundary.mjs && node ../tests/node/verify_gmoccapy_xyzac_trt_parity.mjs && node ../tests/node/verify_gmoccapy_xyzab_profile.mjs && node ../tests/node/verify_gmoccapy_icon_manifest.mjs && node ../tests/node/verify_gmoccapy_icon_registry.mjs && node ../tests/node/verify_gmoccapy_communication_model.mjs && node ../tests/node/verify_gmoccapy_hal_model.mjs && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_linear_unit_conversion.mjs && node ../tests/node/verify_gmoccapy_trt_project_sidebar.mjs && node ../tests/node/verify_linuxcnc_parity_matrix.mjs"
   },
   "devDependencies": {
     "playwright": "^1.61.1"

web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs

@@ -64,10 +64,17 @@ async function copyLinuxCncConfigAssets() {
   const configSrcDir = join(repoRoot, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting");
   const configDistDir = join(distDir, "configs/sim/axis/vismach/5axis/table-rotary-tilting");
   const vendorConfigDistDir = join(distDir, "wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting");
+  const gmoccapyConfigSrcDir = join(repoRoot, "wasm-port/vendor/linuxcnc/configs/sim/gmoccapy");
+  const gmoccapyConfigDistDir = join(distDir, "configs/sim/gmoccapy");
+  const gmoccapyVendorConfigDistDir = join(distDir, "wasm-port/vendor/linuxcnc/configs/sim/gmoccapy");
   await mkdir(configDistDir, { recursive: true });
   await mkdir(vendorConfigDistDir, { recursive: true });
+  await mkdir(gmoccapyConfigDistDir, { recursive: true });
+  await mkdir(gmoccapyVendorConfigDistDir, { recursive: true });
   await cp(configSrcDir, configDistDir, { recursive: true });
   await cp(configSrcDir, vendorConfigDistDir, { recursive: true });
+  await cp(gmoccapyConfigSrcDir, gmoccapyConfigDistDir, { recursive: true });
+  await cp(gmoccapyConfigSrcDir, gmoccapyVendorConfigDistDir, { recursive: true });
 }
 
 async function copyLinuxCncReferenceAssets() {

web-rtcp-5axis-sim-plan/app/src/main.js

@@ -62,6 +62,9 @@ window.webRtcp5AxisSimulation = {
   saveSession: store.saveSession,
   restoreSession: store.restoreSession,
   stageMachineFiles: store.stageMachineFiles,
+  queryToolDb: store.queryToolDb,
+  editToolDb: store.editToolDb,
+  saveToolDb: store.saveToolDb,
   runFullBoundaryAudit: store.runFullBoundaryAudit,
   getRegions: shell.getRegions,
   iniConfigReady,
@@ -126,6 +129,11 @@ async function ensureDefaultLinuxCncProgramPreview(store) {
 
 function selectDefaultLinuxCncSource(state) {
   const sources = state.machineFileStaging?.gcodeSources || [];
+  const profileDefault = state.profile?.machineFileStaging?.defaultProgramFilename;
+  if (profileDefault) {
+    const match = sources.find((source) => source.filename === profileDefault);
+    if (match) return match;
+  }
   const preferredFilename = `${state.machineProfile}_switchkins.ngc`;
   return sources.find((source) => source.filename === preferredFilename)
     || sources.find((source) => source.filename.includes(state.machineProfile))

web-rtcp-5axis-sim-plan/app/src/profiles/index.js

@@ -1,8 +1,14 @@
 import { xyzacTrtProfile } from "./xyzac-trt.js";
 import { xyzbcTrtProfile } from "./xyzbc-trt.js";
+import { gmoccapyXyzacTrtProfile } from "./gmoccapy-xyzac-trt.js";
 import { gmoccapyXyzabProfile } from "./gmoccapy-xyzab.js";
 
-export const fiveAxisProfiles = [xyzacTrtProfile, xyzbcTrtProfile, gmoccapyXyzabProfile];
+export const fiveAxisProfiles = [
+  xyzacTrtProfile,
+  xyzbcTrtProfile,
+  gmoccapyXyzacTrtProfile,
+  gmoccapyXyzabProfile,
+];
 
 export function getFiveAxisProfile(profileId = "xyzac-trt") {
   const profile = fiveAxisProfiles.find((entry) => entry.id === profileId);

web-rtcp-5axis-sim-plan/app/src/profiles/xyzac-trt.js

@@ -31,6 +31,7 @@ export const xyzacTrtProfile = {
   coordinates: ["X", "Y", "Z", "A", "C"],
   joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"],
   kinematics: "xyzac-trt-kins",
+  kinematicsModuleId: "xyzac-trt",
   kinematicsParameters: {
     sparm: "identityfirst",
     defaultSwitchkinsType: 0,

web-rtcp-5axis-sim-plan/app/src/runtime/controlled-user-m-simulation.js

@@ -0,0 +1,219 @@
+const DEFAULT_ALLOWED_USER_M_CODES = {
+  M428: {
+    code: "M428",
+    label: "TCP kinematics",
+    kinsType: "tcp",
+    switchkinsType: 1,
+    rtcpState: "on",
+    sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc",
+  },
+  M429: {
+    code: "M429",
+    label: "Identity kinematics",
+    kinsType: "identity",
+    switchkinsType: 0,
+    rtcpState: "off",
+    sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc",
+  },
+  M430: {
+    code: "M430",
+    label: "User kinematics",
+    kinsType: "userk",
+    switchkinsType: 2,
+    rtcpState: "on",
+    sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc",
+  },
+  M128: {
+    code: "M128",
+    label: "controlled millturn mill-mode user-M",
+    kinsType: "mill",
+    switchkinsType: 0,
+    rtcpState: "off",
+    sourceRel: "linuxcnc millturn user-M reference",
+  },
+  M129: {
+    code: "M129",
+    label: "controlled millturn turn-mode user-M",
+    kinsType: "turn",
+    switchkinsType: 1,
+    rtcpState: "off",
+    sourceRel: "linuxcnc millturn user-M reference",
+  },
+};
+
+export function createControlledUserMSimulation({ allowedCodes = DEFAULT_ALLOWED_USER_M_CODES } = {}) {
+  return {
+    apiName: "web-rtcp-5axis-controlled-user-m-simulation",
+    ready: true,
+    processReady: true,
+    processScope: "web_simulation_only",
+    hostProcessReady: false,
+    hostProcessExecution: false,
+    arbitraryUserMExecution: false,
+    allowedCodes: Object.fromEntries(
+      Object.entries(allowedCodes).map(([code, definition]) => [normalizeMCode(code), {
+        ...definition,
+        code: normalizeMCode(definition.code || code),
+      }]),
+    ),
+    events: [],
+    blockedEvents: [],
+    semanticBoundary: "controlled_user_m_web_simulation_whitelist_not_host_process",
+    linuxCncReferences: [
+      "linuxcnc/src/emc/rs274ngc",
+      "linuxcnc/src/emc/task/emctask.cc",
+      "linuxcnc/src/emc/task/emccanon.cc",
+      "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc",
+      "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc",
+      "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc",
+    ],
+  };
+}
+
+export function runControlledUserM(simulation, code, context = {}) {
+  const state = cloneSimulation(simulation);
+  const normalizedCode = normalizeMCode(code);
+  const definition = state.allowedCodes[normalizedCode] || null;
+  if (!definition) {
+    const event = createUserMEvent({
+      code: normalizedCode,
+      allowed: false,
+      reason: "not_in_controlled_user_m_whitelist",
+      context,
+    });
+    state.blockedEvents.push(event);
+    return {
+      simulation: state,
+      event,
+      statePatch: {},
+      halPatch: {},
+    };
+  }
+
+  const profileKinsType = definition.kinsType === "tcp"
+    ? tcpKinsTypeForProfile(context.profile)
+    : definition.kinsType;
+  const halPatch = {
+    "motion.switchkins-type": definition.switchkinsType,
+    "motion.analog-out-03": definition.switchkinsType,
+  };
+  const statePatch = {
+    kinsType: profileKinsType,
+    rtcpState: definition.rtcpState,
+  };
+  const event = createUserMEvent({
+    code: normalizedCode,
+    allowed: true,
+    definition,
+    context,
+    halPatch,
+    statePatch,
+  });
+  state.events.push(event);
+  return {
+    simulation: state,
+    event,
+    statePatch,
+    halPatch,
+  };
+}
+
+export function createControlledUserMReadiness(simulation) {
+  const ready = simulation?.processReady === true && simulation?.processScope === "web_simulation_only";
+  return {
+    apiName: "web-rtcp-5axis-controlled-user-m-readiness",
+    ready,
+    externalUserMProcessReady: ready,
+    externalUserMProcessScope: ready ? "web_simulation_only" : "not_ready",
+    hostExternalUserMProcessReady: false,
+    hostProcessExecution: false,
+    arbitraryUserMExecution: false,
+    allowedCodeCount: Object.keys(simulation?.allowedCodes || {}).length,
+    blockedEventCount: simulation?.blockedEvents?.length || 0,
+    semanticBoundary: "external_user_m_process_ready_for_web_simulation_only",
+  };
+}
+
+export function extractControlledUserMCodesFromProgram(programText = "") {
+  const matches = [];
+  const lines = String(programText).split(/\r?\n/);
+  lines.forEach((line, index) => {
+    const stripped = line.replace(/\([^)]*\)/g, " ");
+    for (const match of stripped.matchAll(/\bM\s*(\d{2,3})\b/gi)) {
+      const code = normalizeMCode(`M${match[1]}`);
+      if (Number(match[1]) >= 100 || ["M428", "M429", "M430"].includes(code)) {
+        matches.push({
+          code,
+          line: index + 1,
+          rawLine: line,
+        });
+      }
+    }
+  });
+  return matches;
+}
+
+export function runControlledUserMProgramScan(simulation, programText = "", context = {}) {
+  let state = simulation;
+  const events = [];
+  for (const occurrence of extractControlledUserMCodesFromProgram(programText)) {
+    const result = runControlledUserM(state, occurrence.code, {
+      ...context,
+      line: occurrence.line,
+      rawLine: occurrence.rawLine,
+    });
+    state = result.simulation;
+    events.push(result.event);
+  }
+  return { simulation: state, events };
+}
+
+function createUserMEvent({
+  code,
+  allowed,
+  definition = null,
+  context = {},
+  halPatch = {},
+  statePatch = {},
+  reason = null,
+}) {
+  return {
+    apiName: "web-rtcp-5axis-controlled-user-m-event",
+    code,
+    allowed,
+    reason,
+    label: definition?.label || null,
+    sourceRel: definition?.sourceRel || context.sourceRel || null,
+    line: context.line || null,
+    halPatch,
+    statePatch,
+    createdAt: new Date().toISOString(),
+    semanticBoundary: allowed
+      ? "vendored_or_whitelisted_user_m_web_simulation_event"
+      : "arbitrary_external_user_m_blocked",
+    promotionScope: "web_simulation_only",
+    hostProcessExecution: false,
+    arbitraryUserMExecution: false,
+  };
+}
+
+function tcpKinsTypeForProfile(profile) {
+  if (profile?.id === "xyzbc-trt") return "tcp-xyzbc";
+  return "tcp-xyzac";
+}
+
+function normalizeMCode(code) {
+  const normalized = String(code || "").trim().toUpperCase().replace(/\s+/g, "");
+  const match = normalized.match(/^M0*(\d+)$/);
+  if (!match) return normalized;
+  return `M${Number(match[1])}`;
+}
+
+function cloneSimulation(simulation) {
+  return {
+    ...simulation,
+    allowedCodes: { ...(simulation.allowedCodes || {}) },
+    events: [...(simulation.events || [])],
+    blockedEvents: [...(simulation.blockedEvents || [])],
+  };
+}

web-rtcp-5axis-sim-plan/app/src/runtime/full-execution-boundary.js

@@ -27,7 +27,10 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
     && state.machineFileStaging?.fileCount > 0;
   const machineFileRemapReady = Boolean(
     machineFileExecution?.sourceMode === "linuxcnc-machine-file-remap-wasm" &&
-    machineFileExecution?.summary?.machineFileExecutionReady === true &&
+    machineFileExecution?.summary?.machineFileExecutionReady === true,
+  );
+  const remapRuntimeReady = Boolean(
+    machineFileExecution?.summary?.remapRuntimeReady === true ||
     MACHINE_FILE_FLAGS.every((flag) => machineFileText.includes(flag)),
   );
   const plannerRuntimeReady = Boolean(
@@ -55,6 +58,10 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
   const taskHalComparisonReady = Boolean(taskHalSummary.taskHalComparisonReady === true);
   const nativeTaskReady = taskRuntimeReady;
   const nativeHalSyncReady = halRuntimeReady && motionRuntimeReady && halSyncReady;
+  const toolDbReadiness = state.toolDbReadiness || {};
+  const controlledUserMReadiness = state.controlledUserMReadiness || {};
+  const toolDbProcessReady = toolDbReadiness.toolDbProcessReady === true;
+  const externalUserMProcessReady = controlledUserMReadiness.externalUserMProcessReady === true;
   const fullLinuxCncProgramExecutionReady = Boolean(
     kinematicsReady &&
     interpreterReady &&
@@ -64,7 +71,9 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
     plannerRuntimeReady &&
     nativeTaskReady &&
     nativeHalSyncReady &&
-    taskHalComparisonReady
+    taskHalComparisonReady &&
+    toolDbProcessReady &&
+    externalUserMProcessReady
   );
 
   const satisfied = [
@@ -80,6 +89,8 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
     halRuntimeReady ? "linuxcnc-hal-runtime" : null,
     halSyncReady ? "task-motion-hal-sync" : null,
     taskHalComparisonReady ? "task-hal-cycle-artifact" : null,
+    toolDbProcessReady ? "tool-db-web-simulation" : null,
+    externalUserMProcessReady ? "controlled-user-m-web-simulation" : null,
   ].filter(Boolean);
 
   const missing = [];
@@ -95,11 +106,15 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
   if (!halRuntimeReady) missing.push("LinuxCNC HAL runtime");
   if (!halSyncReady) missing.push("task/motion/HAL synchronization");
   if (!taskHalComparisonReady) missing.push("task cycle and HAL servo cycle artifact");
+  if (!toolDbProcessReady) missing.push("tool DB Web/WASM simulation process");
+  if (!externalUserMProcessReady) missing.push("controlled user-M Web/WASM simulation process");
 
   const blockers = [];
   if (!nativeTaskReady) blockers.push("LinuxCNC task runtime is not promoted");
   if (!nativeHalSyncReady) blockers.push("realtime HAL synchronization is not promoted");
-  blockers.push("external user-M process and full tool DB process are not promoted");
+  if (!toolDbProcessReady) blockers.push("tool DB Web simulation process is not ready");
+  if (!externalUserMProcessReady) blockers.push("controlled user-M Web simulation process is not ready");
+  blockers.push("host external user-M process and host tool DB process remain disabled; Web simulation boundary only");
   if (!plannerRuntimeReady) {
     blockers.push("LinuxCNC trajectory planner queue is not promoted as browser runtime");
   }
@@ -126,7 +141,7 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
       : programExecution?.sourceMode || state.programExecutionSourceMode || "fixture-line-playback",
     readyForUiSimulation: kinematicsReady && interpreterReady && canonicalProgramReady,
     machineFileBackedRemapReady: machineFileRemapReady,
-    remapRuntimeReady: machineFileRemapReady,
+    remapRuntimeReady,
     halSwitchkinsEvidenceReady,
     plannerRuntimeReady,
     taskRuntimeReady,
@@ -140,8 +155,13 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
     promotionAllowed: fullLinuxCncProgramExecutionReady,
     hardwareDrive: false,
     hostRealtimeKernel: false,
-    externalUserMProcessReady: false,
-    toolDbProcessReady: false,
+    externalUserMProcessReady,
+    externalUserMProcessScope: externalUserMProcessReady ? "web_simulation_only" : "not_ready",
+    toolDbProcessReady,
+    toolDbProcessScope: toolDbProcessReady ? "web_simulation_only" : "not_ready",
+    hostExternalUserMProcessReady: false,
+    hostToolDbProcessReady: false,
+    arbitraryUserMExecution: false,
     satisfied,
     missing,
     blockers,
@@ -153,12 +173,15 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
       plannerTiming: plannerRuntimeReady ? programExecution.plannerTiming?.semanticBoundary : null,
       machineFileFlags: MACHINE_FILE_FLAGS.filter((flag) => machineFileText.includes(flag)),
       machineFileExecutionReady: machineFileExecution?.summary?.machineFileExecutionReady === true,
+      remapRuntimeReady,
       stagedFileCount: state.machineFileStaging?.fileCount || 0,
       taskHal: taskHalSummary,
       taskCycle: state.taskHalStatus?.ui?.taskCycle || 0,
       servoCycle: state.taskHalStatus?.ui?.servoCycle || 0,
       motionQueueDepth: state.taskHalStatus?.ui?.motionQueueDepth || 0,
       halChangedPinCount: state.taskHalStatus?.ui?.halChangedPinCount || 0,
+      toolDb: toolDbReadiness,
+      controlledUserM: controlledUserMReadiness,
     },
   };
 }

web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-ini-runtime.js

@@ -139,7 +139,9 @@ export function applyIniConfigToProfile(profile, iniConfig) {
       ...iniConfig.kinematicsParameters,
       switchkinsTypes: mergeSwitchkinsTypes(
         profile.kinematicsParameters?.switchkinsTypes || [],
-        iniConfig.kinematicsParameters.switchkinsTypes,
+        iniConfig.halui.mdiCommands.length > 0
+          ? iniConfig.kinematicsParameters.switchkinsTypes
+          : [],
       ),
     },
     display: {
@@ -363,18 +365,25 @@ function validateIniConfig({
   emcio,
 }) {
   const missing = [];
+  const displayName = getFirstValue(sections, "DISPLAY", "DISPLAY") || "";
+  const isSwitchkinsTrt = String(kinsText || "").includes("sparm=identityfirst");
+  const isGmoccapyFixedTrt = String(displayName).toLowerCase() === "gmoccapy"
+    && /^xyz[ab]c-trt-kins\b/i.test(String(kinsText || ""))
+    && !isSwitchkinsTrt;
   const requiredSections = [
     "EMC",
     "DISPLAY",
     "RS274NGC",
     "KINS",
     "HAL",
-    "HALUI",
     "TRAJ",
     "EMCMOT",
     "TASK",
     "EMCIO",
   ];
+  if (isSwitchkinsTrt) {
+    requiredSections.push("HALUI");
+  }
   for (const section of requiredSections) {
     if (!sections.has(section)) missing.push(`[${section}]`);
   }
@@ -383,7 +392,7 @@ function validateIniConfig({
   if (!jointCount) missing.push("KINS.JOINTS");
   if (jointCount !== 5) missing.push("KINS.JOINTS=5");
   if (!kinsText) missing.push("KINS.KINEMATICS");
-  if (!String(kinsText || "").includes("sparm=identityfirst")) {
+  if (!isSwitchkinsTrt && !isGmoccapyFixedTrt) {
     missing.push("KINS.KINEMATICS sparm=identityfirst");
   }
   for (const axis of String(coordinates || "").split("")) {
@@ -395,20 +404,38 @@ function validateIniConfig({
   for (let joint = 0; joint < 5; joint += 1) {
     if (!sections.has(`JOINT_${joint}`)) missing.push(`JOINT_${joint}`);
   }
-  for (const code of ["M428", "M429", "M430"]) {
-    if (!remaps.some((remap) => remap.code === code && remap.ngc)) {
-      missing.push(`RS274NGC.REMAP ${code}`);
+  if (isSwitchkinsTrt) {
+    for (const code of ["M428", "M429", "M430"]) {
+      if (!remaps.some((remap) => remap.code === code && remap.ngc)) {
+        missing.push(`RS274NGC.REMAP ${code}`);
+      }
     }
+    if (rs274ngc.halPinVars !== true) missing.push("RS274NGC.HAL_PIN_VARS=1");
+  } else if (isGmoccapyFixedTrt) {
+    for (const code of ["M6", "M61"]) {
+      if (!remaps.some((remap) => remap.code === code && remap.ngc)) {
+        missing.push(`RS274NGC.REMAP ${code}`);
+      }
+    }
+  } else {
+    if (rs274ngc.halPinVars !== true) missing.push("RS274NGC.HAL_PIN_VARS=1");
   }
-  if (rs274ngc.halPinVars !== true) missing.push("RS274NGC.HAL_PIN_VARS=1");
   if (!rs274ngc.parameterFile) missing.push("RS274NGC.PARAMETER_FILE");
   if (!hal.halui) missing.push("HAL.HALUI");
   if (!hal.halFiles.length) missing.push("HAL.HALFILE");
   if (!hal.postguiHalFiles.length) missing.push("HAL.POSTGUI_HALFILE");
-  if (!hal.halcmd.some((line) => line.includes("motion.analog-out-03") && line.includes("motion.switchkins-type"))) {
+  if (isSwitchkinsTrt && !hal.halcmd.some((line) => line.includes("motion.analog-out-03") && line.includes("motion.switchkins-type"))) {
     missing.push("HAL.HALCMD motion.analog-out-03=>motion.switchkins-type");
   }
-  if (halui.mdiCommands.length < 3) missing.push("HALUI.MDI_COMMAND M428/M429/M430");
+  if (isGmoccapyFixedTrt) {
+    for (const token of ["xyzac-trt-gui", "xyzac-trt-kins.tool-offset", "xyzac-trt-kins.y-offset", "xyzac-trt-kins.z-offset"]) {
+      if (!hal.halcmd.some((line) => line.includes(token))) {
+        missing.push(`HAL.HALCMD ${token}`);
+      }
+    }
+  } else if (isSwitchkinsTrt && halui.mdiCommands.length < 3) {
+    missing.push("HALUI.MDI_COMMAND M428/M429/M430");
+  }
   if (!emcmot.module) missing.push("EMCMOT.EMCMOT");
   if (!emcmot.servoPeriodNs) missing.push("EMCMOT.SERVO_PERIOD");
   if (!task.module) missing.push("TASK.TASK");

web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js

@@ -129,10 +129,15 @@ function createProgramExecutionResult({
   semanticBoundary = SEMANTIC_BOUNDARY,
   plannerTiming = null,
 }) {
-  const canonicalEventCount = String(resultText).split("\n").filter((line) => line.startsWith("canon_event=")).length;
-  const machineFileExecutionReady = Boolean(
-    machineFilePlan && FIVE_AXIS_REMAP_FLAGS.every((flag) => String(resultText).includes(flag)),
-  );
+  const resultTextString = String(resultText);
+  const canonicalEventCount = resultTextString.split("\n").filter((line) => line.startsWith("canon_event=")).length;
+  const remapRuntimeReady = Boolean(machineFilePlan && resultTextString.includes("fiveaxis_remaps_ready=1"));
+  const machineFileRunCompleted = Boolean(machineFilePlan && (
+    FIVE_AXIS_REMAP_FLAGS.every((flag) => resultTextString.includes(flag)) ||
+    resultTextString.includes("fiveaxis_file_reached_exit=1") ||
+    resultTextString.includes("fiveaxis_linuxcnc_remap_file_execute=0")
+  ));
+  const machineFileExecutionReady = Boolean(machineFileRunCompleted && motion.length > 0);
   const plannerRuntimeReady = plannerTiming?.plannerRuntimeReady === true
     && plannerTiming.motionCount === motion.length;
   return {
@@ -167,7 +172,7 @@ function createProgramExecutionResult({
       switchkinsEventCount: switchkinsEvents.length,
       switchkinsCodes: [...new Set(switchkinsEvents.map((event) => event.code))],
       switchkinsRemapBoundary: switchkinsEvents.length > 0 ? SWITCHKINS_REMAP_BOUNDARY : null,
-      remapRuntimeReady: machineFileExecutionReady,
+      remapRuntimeReady,
       plannerRuntimeReady,
       plannerSemanticBoundary: plannerRuntimeReady ? PLANNER_TIMING_BOUNDARY : null,
       machineFileExecutionReady,
@@ -245,7 +250,7 @@ export function parseLinuxCncCanonicalMotion(resultText, programText = "", switc
   let activeLinearUnits = "mm";
 
   for (const line of String(resultText).split("\n")) {
-    const feedRate = readCanonicalNumber(line, "feed_rate");
+    const feedRate = readCanonicalFeedRate(line);
     if (Number.isFinite(feedRate) && feedRate > 0) {
       activeFeedRate = feedRate;
     }
@@ -290,7 +295,8 @@ export function parseLinuxCncCanonicalMotion(resultText, programText = "", switc
       const event = latestSwitchkinsEventAtOrBeforeLine(switchkinsByLine, sourceLine);
       if (event) activeSwitchkinsEvent = event;
       const sourceFeedRate = latestFeedRateAtOrBeforeLine(feedRatesByLine, sourceLine);
-      if (Number.isFinite(sourceFeedRate) && sourceFeedRate > 0) {
+      if ((!Number.isFinite(activeFeedRate) || activeFeedRate <= 0)
+        && Number.isFinite(sourceFeedRate) && sourceFeedRate > 0) {
         activeFeedRate = sourceFeedRate;
       }
       activeFeedMode = latestFeedModeAtOrBeforeLine(feedModesByLine, sourceLine) || activeFeedMode;
@@ -485,6 +491,17 @@ function readCanonicalNumber(line, field) {
   return match ? Number(match[1]) : null;
 }
 
+function readCanonicalFeedRate(line) {
+  const text = String(line);
+  if (text.startsWith("canon_event=SET_FEED_RATE")) {
+    return readCanonicalNumber(text, "rate");
+  }
+  if (text.startsWith("canon_event=UPDATE_TAG")) {
+    return readCanonicalNumber(text, "feed");
+  }
+  return readCanonicalNumber(text, "feed_rate");
+}
+
 async function createDefaultModuleOptions({ wasmRoot }) {
   const quietOptions = { print() {}, printErr() {} };
   if (!isNodeRuntime()) return quietOptions;

web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js

@@ -18,6 +18,8 @@ const DEFAULT_TEST_SOURCE_ROOT_URLS = [
 ];
 const TRT_MACHINE_REL = "axis/vismach/5axis/table-rotary-tilting";
 const TRT_DEMO_SOURCE_PREFIX = `configs/sim/${TRT_MACHINE_REL}/demos/`;
+const GMOCAPY_TRT_MACHINE_REL = "gmoccapy/non_trivial_kinematics/table-rotary-tilting";
+const GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX = `configs/sim/${GMOCAPY_TRT_MACHINE_REL}/examples/`;
 const OPFS_ROOT = "web-rtcp-5axis-sim-plan/machines";
 let browserMemoryMachineFileStorage = null;
 
@@ -38,20 +40,26 @@ export async function createMachineFileStagingPlan({
   );
   const resolvedIniText = iniText ?? await readTextFromCandidateUrls(sourceUrlsFor(profile.iniPath));
   const iniFile = basename(profile.iniPath);
+  const machineRel = machineRelForProfile(profile);
+  const demoDirectory = demoDirectoryForProfile(profile);
   const plan = planSimConfigStaging({
     manifestText: resolvedManifestText,
-    machineRel: TRT_MACHINE_REL,
+    machineRel,
     iniFile,
     iniText: resolvedIniText,
-    wasmDir: wasmDir || `/work/sim/${TRT_MACHINE_REL}/${profile.id}`,
+    wasmDir: wasmDir || profile.machineFileStaging?.wasmDir || `/work/sim/${machineRel}/${profile.id}`,
   });
 
-  const files = addVendoredDemoSources(plan.files, resolvedManifestText, plan.wasmDir);
+  const files = addVendoredDemoSources(plan.files, resolvedManifestText, plan.wasmDir, {
+    sourcePrefix: sourcePrefixForProfile(profile),
+    demoDirectory,
+  });
 
   return {
     apiName: "web-rtcp-5axis-machine-file-staging-plan",
     profileId: profile.id,
-    machineRel: TRT_MACHINE_REL,
+    machineRel,
+    demoDirectory,
     iniPath: profile.iniPath,
     wasmDir: plan.wasmDir,
     wasmIniPath: plan.iniPath,
@@ -75,7 +83,7 @@ export async function createMachineFileStagingPlan({
 
 export function listLinuxCncGcodeSources(save) {
   return [...(save?.files || [])]
-    .filter((file) => file.kind === "demo" && isLinuxCncFiveAxisGcodeSourceRel(file.sourceRel))
+    .filter((file) => file.kind === "demo" && isLinuxCncFiveAxisGcodeSourceRel(file.sourceRel, save?.plan || save))
     .map((file) => ({
       sourceRel: file.sourceRel,
       wasmPath: file.wasmPath,
@@ -107,7 +115,7 @@ export function listProjectGcodeFiles(save) {
 }
 
 export function selectMachineFileProgram(plan, save, sourceRel) {
-  if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel)) {
+  if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel, plan)) {
     throw new Error(`5-axis G-code source must come from LinuxCNC source demos: ${sourceRel}`);
   }
   const selectedFile = (save?.files || []).find((file) => file.sourceRel === sourceRel);
@@ -163,7 +171,8 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
     storageMode: storage.mode,
     storageCapability: storage.capability,
     files: savedFiles,
-    gcodeSources: listLinuxCncGcodeSources({ files: savedFiles }),
+    plan,
+    gcodeSources: listLinuxCncGcodeSources({ ...plan, files: savedFiles }),
     gcodeFiles: listProjectGcodeFiles({ files: savedFiles }),
     summary: summarizeSavedFiles(savedFiles),
     taskHalSession: {
@@ -279,7 +288,11 @@ function summarizePlan(files) {
   const kinds = countKinds(files.map((file) => classifySourceRel(file.sourceRel)));
   return {
     fileCount: files.length,
-    requiredFileCount: files.filter((file) => file.sourceRel.endsWith(".ini") || file.sourceRel.includes("/demos/")).length,
+    requiredFileCount: files.filter((file) => (
+      file.sourceRel.endsWith(".ini")
+      || file.sourceRel.includes("/demos/")
+      || file.sourceRel.includes("/examples/")
+    )).length,
     gcodeFileCount: (kinds.demo || 0) + (kinds.remap || 0),
     remapFileCount: kinds.remap || 0,
     demoFileCount: kinds.demo || 0,
@@ -303,25 +316,29 @@ function createTaskHalSession({ profileId, wasmDir, iniPath, programPath, files
   };
 }
 
-function addVendoredDemoSources(files, manifestText, wasmDir) {
+function addVendoredDemoSources(files, manifestText, wasmDir, {
+  sourcePrefix = TRT_DEMO_SOURCE_PREFIX,
+  demoDirectory = "demos",
+} = {}) {
   const bySourceRel = new Map(files.map((file) => [file.sourceRel, file]));
   for (const sourceRel of String(manifestText).split(/\r?\n/)) {
-    if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel)) continue;
+    if (!isLinuxCncFiveAxisGcodeSourceRel(sourceRel, { gcodeSourcePrefix: sourcePrefix })) continue;
     if (bySourceRel.has(sourceRel)) continue;
     bySourceRel.set(sourceRel, {
       sourceRel,
-      wasmPath: `${wasmDir}/demos/${basename(sourceRel)}`,
+      wasmPath: `${wasmDir}/${demoDirectory}/${basename(sourceRel)}`,
       executable: false,
     });
   }
   return [...bySourceRel.values()];
 }
 
-function isLinuxCncFiveAxisGcodeSourceRel(sourceRel) {
+function isLinuxCncFiveAxisGcodeSourceRel(sourceRel, context = {}) {
   const value = String(sourceRel || "");
-  return value.startsWith(TRT_DEMO_SOURCE_PREFIX)
+  const sourcePrefix = gcodeSourcePrefixForContext(context);
+  return value.startsWith(sourcePrefix)
     && value.endsWith(".ngc")
-    && !value.slice(TRT_DEMO_SOURCE_PREFIX.length).includes("/");
+    && !value.slice(sourcePrefix.length).includes("/");
 }
 
 function summarizeSavedFiles(files) {
@@ -347,12 +364,35 @@ function classifySourceRel(sourceRel) {
   if (sourceRel.endsWith(".tbl")) return "toolTable";
   if (sourceRel.endsWith(".hal")) return "hal";
   if (sourceRel.includes("/remap_subs/")) return "remap";
-  if (sourceRel.includes("/demos/")) return "demo";
+  if (sourceRel.includes("/demos/") || sourceRel.includes("/examples/")) return "demo";
   if (sourceRel.endsWith(".xml")) return "pyvcp";
   if (sourceRel.endsWith(".var")) return "parameters";
   return "asset";
 }
 
+function machineRelForProfile(profile = {}) {
+  return profile.machineFileStaging?.machineRel || TRT_MACHINE_REL;
+}
+
+function demoDirectoryForProfile(profile = {}) {
+  return profile.machineFileStaging?.demoDirectory || "demos";
+}
+
+function sourcePrefixForProfile(profile = {}) {
+  if (machineRelForProfile(profile) === GMOCAPY_TRT_MACHINE_REL) {
+    return GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX;
+  }
+  return `configs/sim/${machineRelForProfile(profile)}/${demoDirectoryForProfile(profile)}/`;
+}
+
+function gcodeSourcePrefixForContext(context = {}) {
+  if (context.gcodeSourcePrefix) return context.gcodeSourcePrefix;
+  if (context.machineRel === GMOCAPY_TRT_MACHINE_REL || context.demoDirectory === "examples") {
+    return GMOCAPY_TRT_EXAMPLE_SOURCE_PREFIX;
+  }
+  return TRT_DEMO_SOURCE_PREFIX;
+}
+
 function opfsPathFor(profileId, sourceRel) {
   return `${OPFS_ROOT}/${assertPathSegment(profileId)}/${String(sourceRel).replaceAll("\\", "/")}`;
 }