wangdequan/cnc_wams
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结论：继续按 LinuxCNC 源码直接复用路线推进，新增 tripod 运动学源码的 vendored 同步、native 探针、source probe 覆盖和复用文档，并通过 native 验证。
This commit is contained in:
wangdequan
2026-06-07 20:05:51 +08:00
parent 01495ee26b
commit d9296eb5e0
6 changed files with 515 additions and 3 deletions
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16
wasm-port/tests/native/verify_native_probes.sh
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@@ -101,6 +101,8 @@ check_exitcode linuxcnc_rotarydelta_kinematics_probe
check_exitcode linuxcnc_rotarydelta_kinematics_probe.run
check_exitcode linuxcnc_scorbot_kinematics_probe
check_exitcode linuxcnc_scorbot_kinematics_probe.run
check_exitcode linuxcnc_tripod_kinematics_probe
check_exitcode linuxcnc_tripod_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -156,6 +158,7 @@ check_exitcode linuxcnc_maxkins_source_probe
check_exitcode linuxcnc_lineardeltakins_source_probe
check_exitcode linuxcnc_rotarydeltakins_source_probe
check_exitcode linuxcnc_scorbot_kins_source_probe
check_exitcode linuxcnc_tripodkins_source_probe
check_exitcode linuxcnc_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -341,6 +344,19 @@ grep -Fq "scorbot_inverse=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_roundtrip_forward=0" "$SCORBOT_KINEMATICS_STDOUT"
grep -Fq "scorbot_roundtrip_pose=1" "$SCORBOT_KINEMATICS_STDOUT"
TRIPOD_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_tripod_kinematics_probe.run.stdout.log"
grep -Fq "tripod_init=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_type=4" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_switchable=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_inverse=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_inverse_flags=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_forward=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_roundtrip_xyz=1" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_inverse_below=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_inverse_below_flags=1" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_forward_below=0" "$TRIPOD_KINEMATICS_STDOUT"
grep -Fq "tripod_roundtrip_below_xyz=1" "$TRIPOD_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"