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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。
This commit is contained in:
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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29
wasm-port/tests/native/verify_native_probes.sh
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@@ -83,6 +83,10 @@ check_exitcode linuxcnc_kinematics_probe
check_exitcode linuxcnc_kinematics_probe.run
check_exitcode linuxcnc_5axis_kinematics_probe
check_exitcode linuxcnc_5axis_kinematics_probe.run
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
for name in \
linuxcnc_tp_tp_source_probe \
linuxcnc_tp_tc_source_probe \
@@ -128,6 +132,9 @@ check_exitcode linuxcnc_trivkins_source_probe
check_exitcode linuxcnc_switchkins_source_probe
check_exitcode linuxcnc_userkfuncs_source_probe
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_interp_convert_source_probe
check_exitcode linuxcnc_interp_read_source_probe
check_exitcode linuxcnc_interp_check_source_probe
@@ -234,6 +241,28 @@ grep -Fq "fiveaxis_switch_identity=0" "$FIVEAXIS_KINEMATICS_STDOUT"
grep -Fq "fiveaxis_identity_forward=0" "$FIVEAXIS_KINEMATICS_STDOUT"
grep -Fq "fiveaxis_identity_near=1" "$FIVEAXIS_KINEMATICS_STDOUT"
XYZAC_TRT_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_xyzac_trt_kinematics_probe.run.stdout.log"
grep -Fq "xyzac_trt_init=0" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_type=4" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_switchable=1" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_forward=0" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_inverse=0" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_roundtrip_joints=1" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_switch_identity=0" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_identity_forward=0" "$XYZAC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzac_trt_identity_near=1" "$XYZAC_TRT_KINEMATICS_STDOUT"
XYZBC_TRT_KINEMATICS_STDOUT="$BUILD_DIR/linuxcnc_xyzbc_trt_kinematics_probe.run.stdout.log"
grep -Fq "xyzbc_trt_init=0" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_type=4" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_switchable=1" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_forward=0" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_inverse=0" "$XYZBC_TRT_KINEMATICS_STDOUT"
grep -Fq "xyzbc_trt_roundtrip_joints=1" "$XYZBC_TRT_KINEMATICS_STDOUT"
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"
check_fixture_output() {
local fixture="$1"
local expected="$2"