按规划继续工作

结论：新增 rotary indexer 的 WASM 和浏览器验证，继续通过 vendored LinuxCNC 解释器路径覆盖运行边界。

wasm-port/docs/compatibility-validation.md

@@ -91,6 +91,9 @@ required LinuxCNC `_setup` state readback with the matching files in
 `Interp::synch()` through the WASM C ABI to validate the initialization
 canonical boundary, metric/inch machine-unit status edge, and current/selected
 tool slot status synchronization already covered by the native init harness.
+It also calls the vendored single-axis rotary indexer path through
+`Interp::execute()` to validate the `UNLOCK_ROTARY`/`LOCK_ROTARY` canonical
+runtime boundary already covered by the native indexer harness.
 It also writes selected G-code fixtures into the
 Emscripten filesystem through the SDK and runs them through LinuxCNC
 `Interp::open()`, `Interp::read()`, and `Interp::execute()` to validate the
@@ -142,7 +145,8 @@ named-parameter file path and negative interpreter fixtures with expected
 error text plus absent canonical motion output. It also validates vendored
 `Interp::init()` and `Interp::synch()` through the same SDK/C ABI path,
 including initialization canonical events, metric/inch machine units, and tool
-slot readback. It also uses real browser OPFS
+slot readback, and checks the vendored rotary-indexer `G0 A...` execution path
+for `UNLOCK_ROTARY`/`LOCK_ROTARY` boundary events. It also uses real browser OPFS
 storage plus the interpreter SDK to restore and save a LinuxCNC parameter file
 through vendored `Interp::restore_parameters()` and `Interp::save_parameters()`,
 and directly checks missing-file success plus out-of-order parameter-file
@@ -291,7 +295,9 @@ result before OPFS persistence writes the saved table text back. The same
 Node WASM and browser interpreter smokes now validate the exported
 `Interp::init()`/`Interp::synch()` probe for initialization canonical events,
 metric/inch `emcStatus` machine-unit conversion, and current/selected tool
-slot synchronization.
+slot synchronization. They also validate the exported rotary-indexer probe for
+vendored LinuxCNC `UNLOCK_ROTARY`/`LOCK_ROTARY` dispatch around a single-axis
+`G0 A...` move.
 OPFS validation covers the JavaScript host-boundary adapter, the INI browser
 smoke harness, the INI panel UI's machine-session load and G-code run buttons,
 the raw canonical-event display fed directly by LinuxCNC interpreter WASM

wasm-port/docs/drift-report.md

@@ -31,7 +31,7 @@ semantic rewrites:
 | Tool table storage | Vendored LinuxCNC `tooldata_common.cc` owns tool-table parsing and formatting; the standalone boundary only supplies the in-memory `tooldata_get()`/`tooldata_put()` callbacks, exposes load/save through the WASM C ABI, and forwards the host random-toolchanger flag to LinuxCNC `tooldata_init()`. |
 | Tool slot status | Standalone tool adapter state supplies `GET_EXTERNAL_TOOL_SLOT()` and `GET_EXTERNAL_SELECTED_TOOL_SLOT()` for vendored `Interp::synch()`; `linuxcnc_interp_init_harness` plus Node WASM and browser interpreter smokes guard current/selected slot synchronization. |
 | Interpreter state tags | LinuxCNC `UPDATE_TAG` callbacks are captured from the state tags packed by vendored interpreter code; standalone code does not derive modal state. |
-| Rotary indexer lock state | LinuxCNC `UNLOCK_ROTARY` and `LOCK_ROTARY` callbacks are captured from the vendored single-axis indexer path; standalone code does not implement rotary-indexing semantics. |
+| Rotary indexer lock state | LinuxCNC `UNLOCK_ROTARY` and `LOCK_ROTARY` callbacks are captured from the vendored single-axis indexer path; standalone code does not implement rotary-indexing semantics, and native, Node WASM, and browser interpreter smokes validate the same boundary events. |
 | File flush | LinuxCNC `FINISH` is captured as a canonical test event on the vendored `%`-delimited file-reading path. |
 | WASM parameter-file backup | LinuxCNC `save_parameters()` calls `link()` to create the `.bak` parameter-file backup; `runtime/core/linuxcnc_wrap/linuxcnc_wasm_posix_stubs.cpp` maps that WASM/MEMFS edge to a file copy so the vendored save path can run unchanged. |
 | Interpreter reset | LinuxCNC `ON_RESET` is captured as a canonical test event on the vendored interpreter reset/file-open path. |

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

@@ -45,7 +45,7 @@ Current validation is intentionally mechanical:
 | Ruckig C planner support | Selected `src/emc/tp/cruckig/*.c` and `*.h` files in the manifest | Copy unchanged | Used as LinuxCNC planner support code through vendored TP sources | Vendor byte sync, per-file source probes |
 | Posemath | `src/libnml/posemath/posemath.cc`, `_posemath.c`, `gomath.c`, `sincos.c`, and matching headers | Copy unchanged | `gomath.c` is compiled as C; `rtapi.h` shim is C/C++ compatible for this boundary | Vendor byte sync, per-file source probes, TP probe |
 | RS274 interpreter state and parser | `src/emc/rs274ngc/modal_state.*`, `interp_internal.*`, `interp_read.cc`, `interp_check.cc`, `interp_execute.cc`, `interp_find.cc`, `interp_array.cc`, `interp_queue.*`, `rs274ngc*`, `units.h` | Copy unchanged | Python/remap/runtime edges are isolated in standalone wrappers and shims; parser and execution logic remain LinuxCNC source | Vendor byte sync, per-file source probes, interpreter harness fixtures |
-| RS274 conversion semantics | `src/emc/rs274ngc/interp_convert.cc`, `interp_arc.cc`, `interp_inverse.cc`, `interp_cycles.cc`, `interp_g7x.cc`, `interp_o_word.cc`, `interp_write.cc` | Copy unchanged | Canonical calls are captured by standalone event sink functions; conversion behavior stays in vendored LinuxCNC files; feed-rate state is read back through the canonical runtime boundary during length-unit conversion | Vendor byte sync, per-file source probes, canonical fixture suite, no standalone `Interp::convert_g()` guard |
+| RS274 conversion semantics | `src/emc/rs274ngc/interp_convert.cc`, `interp_arc.cc`, `interp_inverse.cc`, `interp_cycles.cc`, `interp_g7x.cc`, `interp_o_word.cc`, `interp_write.cc` | Copy unchanged | Canonical calls are captured by standalone event sink functions; conversion behavior stays in vendored LinuxCNC files; feed-rate state is read back through the canonical runtime boundary during length-unit conversion; single-axis rotary indexer lock/unlock dispatch remains vendored LinuxCNC `issue_straight_index()` behavior | Vendor byte sync, per-file source probes, canonical fixture suite, no standalone `Interp::convert_g()` guard, `linuxcnc_indexer_harness`, `tests/wasm/node/verify_interp_wasm.sh` and `tests/browser/verify_interp_browser.sh` rotary-indexer assertions |
 | Named parameters and tool slot status | `src/emc/rs274ngc/interp_namedparams.cc`, related interpreter headers | Copy unchanged | `_ini[...]` and `_hal[...]` resolve through standalone INI/HAL adapters while lookup order stays LinuxCNC-derived; current/selected tool slot reads for vendored `Interp::synch()` come from the standalone tool adapter | Vendor byte sync, source probe, `linuxcnc_namedparam_harness`, `linuxcnc_interp_init_harness`, `tests/wasm/node/verify_interp_wasm.sh` and `tests/browser/verify_interp_browser.sh` `Interp::synch()` tool-slot assertions |
 | Tool table parsing and formatting | `src/emc/tooldata/tooldata_common.cc` | Copy unchanged plus standalone storage callbacks | Native file parsing/formatting stays in vendored LinuxCNC source; the standalone tool adapter supplies `tooldata_get()`/`tooldata_put()` storage and index lookup, the WASM boundary only selects the LinuxCNC non-random or random-toolchanger branch via `tooldata_init()`, and OPFS remains a host-side persistence boundary | Vendor byte sync, `linuxcnc_tooldata_common_source_probe`, `tests/wasm/node/verify_interp_wasm.sh` non-random/random load/save tool-table assertions |
 | Dynamic interpreter base | `src/emc/rs274ngc/interp_base.*` | Copy unchanged | `interp_base.cc` source probe uses standalone `EMC2_HOME` compile-time path boundary for LinuxCNC dynamic interpreter lookup | Vendor byte sync, `linuxcnc_interp_base_source_probe` |

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

@@ -92,6 +92,26 @@ void initialize_minimal_interp(Interp &interp)
     std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
 }
 
+void initialize_indexer_interp(Interp &interp)
+{
+    standalone::reset_hal_adapter();
+    standalone::reset_tool_adapter();
+
+    interp._setup.length_units = CANON_UNITS_MM;
+    interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.ijk_distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.feed_mode = FEED_MODE::UNITS_PER_MINUTE;
+    interp._setup.plane = CANON_PLANE::XY;
+    interp._setup.motion_mode = G_0;
+    interp._setup.percent_flag = false;
+    interp._setup.sequence_number = 1;
+    interp._setup.parameter_occurrence = 0;
+    interp._setup.num_spindles = 1;
+    interp._setup.a_indexer_jnum = 0;
+    interp._setup.parameters[5599] = 1.0;
+    std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
+}
+
 std::vector<std::string> split_program_lines(const char *program_text)
 {
     std::vector<std::string> lines;
@@ -447,6 +467,24 @@ char *lcinterp_probe_init_and_synch()
     return copy_result(output.str());
 }
 
+EMSCRIPTEN_KEEPALIVE
+char *lcinterp_probe_indexer()
+{
+    Interp interp;
+    standalone::reset_canon_events();
+    initialize_indexer_interp(interp);
+
+    std::ostringstream output;
+    const int rc = interp.execute("G0 A90\n");
+    output << "execute=" << rc << "\n";
+    output << "post_a=" << interp._setup.AA_current << "\n";
+    output << "canon_event_count=" << standalone::canon_events().size() << "\n";
+    for (const auto &event : standalone::canon_events()) {
+        output << "canon_event=" << event << "\n";
+    }
+    return copy_result(output.str());
+}
+
 EMSCRIPTEN_KEEPALIVE
 void lcinterp_free_string(char *value)
 {

wasm-port/runtime/sdk/src/linuxcnc-interp.js

@@ -99,5 +99,9 @@ export async function createLinuxCncInterpSdk(moduleOptions = {}) {
     probeInitAndSynch() {
       return callStringResult(mod, "lcinterp_probe_init_and_synch");
     },
+
+    probeIndexer() {
+      return callStringResult(mod, "lcinterp_probe_indexer");
+    },
   };
 }

wasm-port/tests/browser/interp_smoke.html

@@ -156,6 +156,22 @@
         ].join("\n"),
       );
 
+      verifyExpectedOutput(
+        "probe_indexer",
+        interp.probeIndexer(),
+        [
+          "execute=0",
+          "post_a=90",
+          "canon_event=SET_MOTION_CONTROL_MODE mode=2 tolerance=0",
+          "canon_event=UNLOCK_ROTARY line=1 joint=0",
+          "canon_event=STRAIGHT_TRAVERSE line=1 x=0 y=0 z=0 a=90 b=0 c=0 u=0 v=0 w=0",
+          "canon_event=LOCK_ROTARY line=1 joint=0",
+          "canon_event=SET_MOTION_CONTROL_MODE mode=1 tolerance=0",
+          "canon_event=SET_NAIVECAM_TOLERANCE tolerance=0",
+          "canon_event=UPDATE_TAG line=1",
+        ].join("\n"),
+      );
+
       for (const fixtureName of INTERP_BROWSER_MDI_FIXTURES) {
         const programText = await fetchText(`../fixtures/gcode/${fixtureName}.ngc`);
         const expectedText = await fetchText(`../fixtures/canon/${fixtureName}.events`);

wasm-port/tests/wasm/node/verify_interp_wasm.mjs

@@ -114,6 +114,22 @@ verifyExpectedOutput(
   ].join("\n"),
 );
 
+verifyExpectedOutput(
+  "probe_indexer",
+  interp.probeIndexer(),
+  [
+    "execute=0",
+    "post_a=90",
+    "canon_event=SET_MOTION_CONTROL_MODE mode=2 tolerance=0",
+    "canon_event=UNLOCK_ROTARY line=1 joint=0",
+    "canon_event=STRAIGHT_TRAVERSE line=1 x=0 y=0 z=0 a=90 b=0 c=0 u=0 v=0 w=0",
+    "canon_event=LOCK_ROTARY line=1 joint=0",
+    "canon_event=SET_MOTION_CONTROL_MODE mode=1 tolerance=0",
+    "canon_event=SET_NAIVECAM_TOLERANCE tolerance=0",
+    "canon_event=UPDATE_TAG line=1",
+  ].join("\n"),
+);
+
 for (const fixtureName of INTERP_MDI_FIXTURES) {
   const programText = readFileSync(
     resolve(rootDir, `tests/fixtures/gcode/${fixtureName}.ngc`),

wasm-port/tools/build_wasm_core.sh

@@ -96,5 +96,5 @@ link_wasm_module \
   -s STACK_SIZE=2MB \
   -s NO_EXIT_RUNTIME=1 \
   -s FORCE_FILESYSTEM=1 \
-  -s EXPORTED_FUNCTIONS='["_malloc","_free","_lcinterp_run_program","_lcinterp_run_program_with_ini","_lcinterp_run_file","_lcinterp_run_file_with_ini","_lcinterp_restore_parameters","_lcinterp_save_parameters","_lcinterp_load_tool_table","_lcinterp_load_tool_table_random","_lcinterp_save_tool_table","_lcinterp_probe_init_and_synch","_lcinterp_free_string"]' \
+  -s EXPORTED_FUNCTIONS='["_malloc","_free","_lcinterp_run_program","_lcinterp_run_program_with_ini","_lcinterp_run_file","_lcinterp_run_file_with_ini","_lcinterp_restore_parameters","_lcinterp_save_parameters","_lcinterp_load_tool_table","_lcinterp_load_tool_table_random","_lcinterp_save_tool_table","_lcinterp_probe_init_and_synch","_lcinterp_probe_indexer","_lcinterp_free_string"]' \
   -s EXPORTED_RUNTIME_METHODS='["FS","UTF8ToString","stringToUTF8","lengthBytesUTF8"]'