按建议，继续下一步工作
结论：已将 LinuxCNC TP 源码纳入 wasm-port 的可复现 vendor 清单和 native probe 构建，新增真实 tpCreate/tpAddLine/tpRunCycle 线性运动验证，并通过 native probes 全量验证。
This commit is contained in:
62
wasm-port/vendor/linuxcnc/src/emc/kinematics/cubic.h
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wasm-port/vendor/linuxcnc/src/emc/kinematics/cubic.h
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/********************************************************************
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* Description: cubic.h
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* Cubic polynomial interpolation code
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*
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* Derived from a work by Fred Proctor & Will Shackleford
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*
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* Author:
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* License: GPL Version 2
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* System: Linux
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*
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* Copyright (c) 2004 All rights reserved.
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********************************************************************/
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#ifndef CUBIC_H
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#define CUBIC_H
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/*
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Coefficients of a cubic polynomial,
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a * x^3 + b * x^2 + c * x + d
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*/
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typedef struct {
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double a;
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double b;
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double c;
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double d;
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} CUBIC_COEFF;
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typedef struct {
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int configured;
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double segmentTime;
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int interpolationRate;
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double interpolationTime;
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double interpolationIncrement;
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double x0, x1, x2, x3;
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double wp0, wp1;
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double velp0, velp1;
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int filled;
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int needNextPoint;
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CUBIC_COEFF coeff;
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} CUBIC_STRUCT;
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extern int cubicInit(CUBIC_STRUCT * ci);
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extern int cubicSetSegmentTime(CUBIC_STRUCT * ci, double time);
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extern double cubicGetSegmentTime(CUBIC_STRUCT * ci);
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extern int cubicSetInterpolationRate(CUBIC_STRUCT * ci, int rate);
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extern int cubicGetInterpolationRate(CUBIC_STRUCT * ci);
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extern int cubicAddPoint(CUBIC_STRUCT * ci, double point);
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extern int cubicOffset(CUBIC_STRUCT * ci, double offset);
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extern double cubicGetInterpolationIncrement(CUBIC_STRUCT * ci);
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extern CUBIC_COEFF cubicGetCubicCoeff(CUBIC_STRUCT * ci);
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extern int cubicFilled(CUBIC_STRUCT * ci);
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extern double cubicInterpolate(CUBIC_STRUCT * ci, double *x, /* same as
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return val
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*/
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double *v, /* velocity */
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double *a, /* accel */
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double *j); /* jerk */
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extern int cubicNeedNextPoint(CUBIC_STRUCT * ci);
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extern int cubicDrain(CUBIC_STRUCT * ci);
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#endif /* CUBIC_H */
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215
wasm-port/vendor/linuxcnc/src/emc/kinematics/kinematics.h
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215
wasm-port/vendor/linuxcnc/src/emc/kinematics/kinematics.h
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/********************************************************************
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* Description: kinematics.h
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*
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* Derived from a work by Fred Proctor & Will Shackleford
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*
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* Author:
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* License: GPL Version 2
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* System: Linux
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*
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* Copyright (c) 2004 All rights reserved.
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*
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* Last change:
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********************************************************************/
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#ifndef __LINUXCNC_KINEMATICS_H
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#define __LINUXCNC_KINEMATICS_H
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#include "emcpos.h" /* EmcPose */
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#include "rtapi_bool.h"
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/*
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The type of kinematics used.
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KINEMATICS_IDENTITY means that the joints and world coordinates are the
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same, as for slideway machines (XYZ milling machines). The EMC will allow
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changing from joint to world mode and vice versa. Also, the EMC will set
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the actual world position to be the actual joint positions (not commanded)
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by calling the forward kinematics each trajectory cycle.
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KINEMATICS_FORWARD_ONLY means that only the forward kinematics exist.
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Since the EMC requires at least the inverse kinematics, this should simply
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terminate the EMC.
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KINEMATICS_INVERSE_ONLY means that only the inverse kinematics exist.
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The forwards won't be called, and the EMC will only allow changing from
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joint to world mode at the home position.
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KINEMATICS_BOTH means that both the forward and inverse kins are defined.
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Like KINEMATICS_IDENTITY, the EMC will allow changing between world and
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joint modes. However, the kins are assumed to be somewhat expensive
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computationally, and the forwards won't be called at the trajectory rate
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to compute actual world coordinates from actual joint values.
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*/
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typedef enum {
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KINEMATICS_IDENTITY = 1,/* forward=inverse, both well-behaved */
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KINEMATICS_FORWARD_ONLY,/* forward but no inverse */
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KINEMATICS_INVERSE_ONLY,/* inverse but no forward */
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KINEMATICS_BOTH /* forward and inverse both */
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} KINEMATICS_TYPE;
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/* the forward flags are passed to the forward kinematics so that they
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can resolve ambiguities in the world coordinates for a given joint set,
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e.g., for hexpods, this would be platform-below-base, platform-above-base.
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The flags are also passed to the inverse kinematics and are set by them,
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which is how they are changed from their initial value. For example, for
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hexapods you could do a coordinated move that brings the platform up from
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below the base to above the base. The forward flags would be set to
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indicate this. */
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typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
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/* the inverse flags are passed to the inverse kinematics so that they
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can resolve ambiguities in the joint angles for a given world coordinate,
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e.g., for robots, this would be elbow-up, elbow-down, etc.
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The flags are also passed to the forward kinematics and are set by them,
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which is how they are changed from their initial value. For example, for
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robots you could do a joint move that brings the elbow from a down
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configuration to an up configuration. The inverse flags would be set to
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indicate this. */
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typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
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/* the forward kinematics take joint values and determine world coordinates,
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given forward kinematics flags to resolve any ambiguities. The inverse
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flags are set to indicate their value appropriate to the joint values
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passed in. */
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extern int kinematicsForward(const double *joint,
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struct EmcPose * world,
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const KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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/* the inverse kinematics take world coordinates and determine joint values,
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given the inverse kinematics flags to resolve any ambiguities. The forward
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flags are set to indicate their value appropriate to the world coordinates
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passed in. */
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extern int kinematicsInverse(const struct EmcPose * world,
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double *joint,
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const KINEMATICS_INVERSE_FLAGS * iflags,
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KINEMATICS_FORWARD_FLAGS * fflags);
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/* the home kinematics function sets all its arguments to their proper
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values at the known home position. When called, these should be set,
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when known, to initial values, e.g., from an INI file. If the home
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kinematics can accept arbitrary starting points, these initial values
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should be used.
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*/
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extern int kinematicsHome(struct EmcPose * world,
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double *joint,
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KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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extern KINEMATICS_TYPE kinematicsType(void);
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/* parameters for use with switchkins.c */
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typedef struct kinematics_parms {
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char* sparm; // module string parameter passed to kins
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char* kinsname; // must agree with module(file) name
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char* halprefix; // for hal pin hames
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char* required_coordinates;
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int max_joints;
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int allow_duplicates;
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int fwd_iterates_mask; // identify kins types that use iterative
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// forward kinematics (typ: genhex)
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// bitmask: 0x0 none
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// bitmask: 0x1 bit0: switchkins_type==0
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// bitmask: 0x2 bit1: switchkins_type==1
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// bitmask: 0x4 bit2: switchkins_type==2
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int gui_kinstype; // may be reqd for parallel kins with vismach
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// to select switchkins_type for gui pins
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} kparms;
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/* map letters in a coordinates string to joint numbers
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** sequentially. Axis indices are 0:x,1:y,...,etc
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** Example: coordinates=XYZYAC
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** Result: axis_idx_for_jno[0] = 0 ==> X
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** axis_idx_for_jno[1] = 1 ==> Y
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** axis_idx_for_jno[2] = 2 ==> Z
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** axis_idx_for_jno[3] = 1 ==> Y (duplicate allowed)
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** axis_idx_for_jno[4] = 1 ==> A
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** axis_idx_for_jno[5] = 1 ==> C
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*/
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extern int map_coordinates_to_jnumbers(const char *coordinates,
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const int max_joints,
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const int allow_duplicates,
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int axis_idx_for_jno[]);
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extern int mapped_joints_to_position(const int max_joints,
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const double* joints,
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EmcPose* pose);
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extern int position_to_mapped_joints(const int max_joints,
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const EmcPose* pos,
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double* joints);
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extern int identityKinematicsSetup(const int comp_id,
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const char* coordinates,
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kparms* ksetup_parms);
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extern int identityKinematicsForward(const double *joint,
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struct EmcPose * world,
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const KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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extern int identityKinematicsInverse(const struct EmcPose * world,
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double *joint,
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const KINEMATICS_INVERSE_FLAGS * iflags,
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KINEMATICS_FORWARD_FLAGS * fflags);
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extern int kinematicsSwitchable(void);
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extern int kinematicsSwitch(int switchkins_type);
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//NOTE: switchable kinematics may require Interp::Synch
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// before/after invoking kinematicsSwitch()
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// A convenient command to synch is: M66 E0 L0
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#define KINS_NOT_SWITCHABLE \
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extern int kinematicsSwitchable() {return 0;} \
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extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0;} \
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EXPORT_SYMBOL(kinematicsSwitchable); \
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EXPORT_SYMBOL(kinematicsSwitch);
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// support for template for user-defined switchkins_type==2
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extern int userkKinematicsSetup(const int comp_id,
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const char* coordinates,
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kparms* ksetup_parms);
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extern int userkKinematicsForward(const double *joint,
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struct EmcPose * world,
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const KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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extern int userkKinematicsInverse(const struct EmcPose * world,
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double *joint,
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const KINEMATICS_INVERSE_FLAGS * iflags,
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KINEMATICS_FORWARD_FLAGS * fflags);
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#endif
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//*********************************************************************
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// xyzac,xyzbc;
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extern int trtKinematicsSetup(const int comp_id,
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const char* coordinates,
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kparms* ksetup_parms);
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extern int xyzacKinematicsForward(const double *joints,
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EmcPose * pos,
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const KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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extern int xyzacKinematicsInverse(const EmcPose * pos,
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double *joints,
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const KINEMATICS_INVERSE_FLAGS * iflags,
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KINEMATICS_FORWARD_FLAGS * fflags);
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extern int xyzbcKinematicsForward(const double *joints,
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EmcPose * pos,
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const KINEMATICS_FORWARD_FLAGS * fflags,
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KINEMATICS_INVERSE_FLAGS * iflags);
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extern int xyzbcKinematicsInverse(const EmcPose * pos,
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double *joints,
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const KINEMATICS_INVERSE_FLAGS * iflags,
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KINEMATICS_FORWARD_FLAGS * fflags);
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//*********************************************************************
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