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结论：已将 LinuxCNC TRT xyzac/xyzbc 运动学源码纳入 vendored manifest、native probe 和文档验证链，完整 native 验证通过。
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wangdequan
2026-06-07 19:21:54 +08:00
parent 1b2f95b3d1
commit e634adfa56
13 changed files with 804 additions and 15 deletions
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10
wasm-port/docs/compatibility-validation.md
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@@ -54,6 +54,8 @@ The validation fails if:
| `linuxcnc_tp_api_probe` | Validates vendored LinuxCNC trajectory planner calls for linear, arc, and queued motion paths. |
| `linuxcnc_kinematics_probe` | Validates vendored LinuxCNC `trivkins.c` plus `kins_util.c` initialize and perform identity forward/inverse mapping through the standalone HAL/RTAPI boundary. |
| `linuxcnc_5axis_kinematics_probe` | Validates vendored LinuxCNC `5axiskins.c` through `switchkins.c`, including 5-axis forward/inverse round-trip behavior and switching to identity kinematics. |
| `linuxcnc_xyzac_trt_kinematics_probe` | Validates vendored LinuxCNC XYZAC TRT kinematics through `switchkins.c`, including forward/inverse round-trip behavior and switching to identity kinematics. |
| `linuxcnc_xyzbc_trt_kinematics_probe` | Validates vendored LinuxCNC XYZBC TRT kinematics through `switchkins.c`, including forward/inverse round-trip behavior and switching to identity kinematics. |
## Fixture Coverage
@@ -96,7 +98,7 @@ The current fixture expectations validate standalone behavior against the
vendored LinuxCNC source path. They do not yet run a side-by-side native
LinuxCNC executable comparison for each fixture.
The kinematics probes currently cover LinuxCNC identity/trivial kinematics and
the switchable `5axiskins` XYZBCW bridge-mill model. TRT `xyzac`/`xyzbc`,
serial, delta, SCARA, and other machine-specific kinematics still need
dedicated baselines.
The kinematics probes currently cover LinuxCNC identity/trivial kinematics,
the switchable `5axiskins` XYZBCW bridge-mill model, and the TRT `xyzac`/`xyzbc`
table-rotary models. Serial, delta, SCARA, and other machine-specific
kinematics still need dedicated baselines.