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按推荐建议，继续执行

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结论：继续按 LinuxCNC 源码直接复用路线推进，新增 corexy、rotate、rose、max 四个运动学源码的 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 19:44:25 +08:00
parent e634adfa56
commit d936e9f10c
12 changed files with 1008 additions and 1 deletions
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44
wasm-port/tests/native/verify_native_probes.sh
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@@ -87,6 +87,14 @@ check_exitcode linuxcnc_xyzac_trt_kinematics_probe
check_exitcode linuxcnc_xyzac_trt_kinematics_probe.run
check_exitcode linuxcnc_xyzbc_trt_kinematics_probe
check_exitcode linuxcnc_xyzbc_trt_kinematics_probe.run
check_exitcode linuxcnc_corexy_kinematics_probe
check_exitcode linuxcnc_corexy_kinematics_probe.run
check_exitcode linuxcnc_rotate_kinematics_probe
check_exitcode linuxcnc_rotate_kinematics_probe.run
check_exitcode linuxcnc_rose_kinematics_probe
check_exitcode linuxcnc_rose_kinematics_probe.run
check_exitcode linuxcnc_max_kinematics_probe
check_exitcode linuxcnc_max_kinematics_probe.run
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -135,6 +143,10 @@ check_exitcode linuxcnc_5axiskins_source_probe
check_exitcode linuxcnc_trtfuncs_source_probe
check_exitcode linuxcnc_xyzac_trt_kins_source_probe
check_exitcode linuxcnc_xyzbc_trt_kins_source_probe
check_exitcode linuxcnc_corexykins_source_probe
check_exitcode linuxcnc_rotatekins_source_probe
check_exitcode linuxcnc_rosekins_source_probe
check_exitcode linuxcnc_maxkins_source_probe
check_exitcode linuxcnc_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -263,6 +275,38 @@ grep -Fq "xyzbc_trt_switch_identity=0" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_identity_forward=0" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_identity_near=1" "$XYZBC_TRT_KINEMATICS_STDOUT"
COREXY_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_corexy_kinematics_probe.run.stdout.log"
grep -Fq "corexy_init=0" "$COREXY_KINEMATICS_STDOUT"
grep -Fq "corexy_type=4" "$COREXY_KINEMATICS_STDOUT"
grep -Fq "corexy_switchable=0" "$COREXY_KINEMATICS_STDOUT"
grep -Fq "corexy_forward=0" "$COREXY_KINEMATICS_STDOUT"
grep -Fq "corexy_inverse=0" "$COREXY_KINEMATICS_STDOUT"
grep -Fq "corexy_roundtrip_joints=1" "$COREXY_KINEMATICS_STDOUT"
ROTATE_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_rotate_kinematics_probe.run.stdout.log"
grep -Fq "rotate_init=0" "$ROTATE_KINEMATICS_STDOUT"
grep -Fq "rotate_type=4" "$ROTATE_KINEMATICS_STDOUT"
grep -Fq "rotate_switchable=0" "$ROTATE_KINEMATICS_STDOUT"
grep -Fq "rotate_forward=0" "$ROTATE_KINEMATICS_STDOUT"
grep -Fq "rotate_inverse=0" "$ROTATE_KINEMATICS_STDOUT"
grep -Fq "rotate_roundtrip_joints=1" "$ROTATE_KINEMATICS_STDOUT"
ROSE_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_rose_kinematics_probe.run.stdout.log"
grep -Fq "rose_init=0" "$ROSE_KINEMATICS_STDOUT"
grep -Fq "rose_type=4" "$ROSE_KINEMATICS_STDOUT"
grep -Fq "rose_switchable=0" "$ROSE_KINEMATICS_STDOUT"
grep -Fq "rose_forward=0" "$ROSE_KINEMATICS_STDOUT"
grep -Fq "rose_inverse=0" "$ROSE_KINEMATICS_STDOUT"
grep -Fq "rose_roundtrip_joints=1" "$ROSE_KINEMATICS_STDOUT"
MAX_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_max_kinematics_probe.run.stdout.log"
grep -Fq "max_init=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_type=4" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_switchable=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_forward=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_inverse=0" "$MAX_KINEMATICS_STDOUT"
grep -Fq "max_roundtrip_joints=1" "$MAX_KINEMATICS_STDOUT"
check_fixture_output() {
local fixture="$1"
local expected="$2"