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。

wasm-port/AGENTS.md

@@ -13,6 +13,9 @@ This workspace is separate from the upstream LinuxCNC tree in
 Build a standalone CNC simulation system that:
 
 - reuses LinuxCNC source as the semantic source of truth;
+- derives the CNC simulation program primarily from the LinuxCNC source
+  program and strictly follows LinuxCNC behavior, structure, and semantics
+  unless a documented standalone runtime boundary requires adaptation;
 - compiles core CNC logic to WASM;
 - uses HTML + JavaScript for the frontend;
 - uses OPFS for browser persistence;
@@ -44,24 +47,28 @@ expanded into a separate implementation of G-code behavior.
 ## Engineering Rules
 
 1. Reuse LinuxCNC source before reimplementing any CNC logic.
-2. Do not add new project-authored CNC semantics when LinuxCNC source exists.
+2. Treat the LinuxCNC source program as the primary implementation source for
+   the CNC simulation program. Standalone code must strictly follow vendored
+   LinuxCNC behavior and may only adapt runtime edges such as filesystem, HAL,
+   IPC, process model, and browser integration.
+3. Do not add new project-authored CNC semantics when LinuxCNC source exists.
    Replace temporary wrapper behavior with direct calls into vendored LinuxCNC
    source, or with the narrowest shims needed to make those calls compile.
-3. Prefer wrappers, shims, and extraction scripts over invasive source edits.
+4. Prefer wrappers, shims, and extraction scripts over invasive source edits.
-4. Preserve LinuxCNC semantics for:
+5. Preserve LinuxCNC semantics for:
    - G-code execution;
    - modal state;
    - parameter and variable behavior;
    - kinematics;
    - planner behavior;
    - machine and controller state visible to software.
-5. Replace only the native runtime edges:
+6. Replace only the native runtime edges:
    - file IO;
    - process model;
    - HAL runtime;
    - IPC;
    - GUI.
-6. Frontend code must be implemented with web technology, not migrated from
+7. Frontend code must be implemented with web technology, not migrated from
    native GUI code.
 
 ## Required Layout

wasm-port/SKILL.md

@@ -9,6 +9,11 @@ LinuxCNC WASM Simulation Port
 This skill guides work inside `wasm-port/` for building a standalone
 LinuxCNC-based CNC simulation program.
 
+The CNC simulation program must be derived primarily from the LinuxCNC source
+program. Work in this port must strictly follow LinuxCNC behavior, structure,
+and semantics, except where a documented standalone runtime boundary requires
+an adapter.
+
 It is intended for tasks involving:
 
 - source extraction from upstream LinuxCNC;
@@ -33,12 +38,15 @@ Use this skill when the work involves any of the following:
 ## Core Principles
 
 1. Upstream LinuxCNC is the semantic source of truth.
-2. The standalone port is a separate program and separate workspace.
+2. The CNC simulation program is primarily sourced from LinuxCNC source code;
-3. Reuse comes before rewrite.
+   port-specific code must adapt LinuxCNC to standalone native/WASM execution,
-4. Native runtime dependencies are replaced at the edges, not copied whole.
+   not replace LinuxCNC CNC behavior.
-5. Machine state and controller-visible behavior are first-class compatibility
+3. The standalone port is a separate program and separate workspace.
+4. Reuse comes before rewrite.
+5. Native runtime dependencies are replaced at the edges, not copied whole.
+6. Machine state and controller-visible behavior are first-class compatibility
    targets, not optional nice-to-haves.
-6. Do not continue building a project-authored CNC program once the porting
+7. Do not continue building a project-authored CNC program once the porting
    harness runs; move behavior back to vendored LinuxCNC source functions.
 
 ## Source Reuse Priorities

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.cpp

@@ -0,0 +1,109 @@
+#include "linuxcnc_hal_adapter.hh"
+
+#include <string>
+#include <unordered_map>
+
+namespace {
+
+struct HalEntry {
+    hal_type_t type = HAL_TYPE_UNINITIALIZED;
+    hal_data_u value{};
+    bool connected = true;
+};
+
+std::unordered_map<std::string, HalEntry> &pins()
+{
+    static std::unordered_map<std::string, HalEntry> values;
+    return values;
+}
+
+std::unordered_map<std::string, HalEntry> &signals()
+{
+    static std::unordered_map<std::string, HalEntry> values;
+    return values;
+}
+
+std::unordered_map<std::string, HalEntry> &params()
+{
+    static std::unordered_map<std::string, HalEntry> values;
+    return values;
+}
+
+std::unordered_map<std::string, HalEntry> &values_for(standalone::HalValueKind kind)
+{
+    switch (kind) {
+    case standalone::HalValueKind::Pin:
+        return pins();
+    case standalone::HalValueKind::Signal:
+        return signals();
+    case standalone::HalValueKind::Param:
+        return params();
+    }
+    return pins();
+}
+
+int lookup_hal_value(const char *name, std::unordered_map<std::string, HalEntry> &values,
+                     hal_type_t *type, hal_data_u **ptr, bool *connected)
+{
+    if (!name || !type || !ptr) {
+        return -1;
+    }
+
+    auto it = values.find(name);
+    if (it == values.end()) {
+        return -1;
+    }
+
+    *type = it->second.type;
+    *ptr = &it->second.value;
+    if (connected) {
+        *connected = it->second.connected;
+    }
+    return 0;
+}
+
+}  // namespace
+
+namespace standalone {
+
+void reset_hal_adapter()
+{
+    pins().clear();
+    signals().clear();
+    params().clear();
+}
+
+void set_hal_value(HalValueKind kind, const char *name, hal_type_t type, hal_data_u value,
+                   bool connected)
+{
+    values_for(kind)[name] = HalEntry{type, value, connected};
+}
+
+}  // namespace standalone
+
+int hal_init(const char *)
+{
+    return 1;
+}
+
+int hal_ready(int)
+{
+    return 0;
+}
+
+int hal_get_pin_value_by_name(const char *name, hal_type_t *type, hal_data_u **ptr,
+                              bool *connected)
+{
+    return lookup_hal_value(name, pins(), type, ptr, connected);
+}
+
+int hal_get_signal_value_by_name(const char *name, hal_type_t *type, hal_data_u **ptr,
+                                 bool *connected)
+{
+    return lookup_hal_value(name, signals(), type, ptr, connected);
+}
+
+int hal_get_param_value_by_name(const char *name, hal_type_t *type, hal_data_u **ptr)
+{
+    return lookup_hal_value(name, params(), type, ptr, nullptr);
+}

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.hh

@@ -0,0 +1,17 @@
+#pragma once
+
+#include "hal.h"
+
+namespace standalone {
+
+enum class HalValueKind {
+    Pin,
+    Signal,
+    Param,
+};
+
+void reset_hal_adapter();
+void set_hal_value(HalValueKind kind, const char *name, hal_type_t type, hal_data_u value,
+                   bool connected = true);
+
+}  // namespace standalone

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_edge_stubs.cpp

@@ -0,0 +1,49 @@
+#include <string>
+
+#define private public
+#include "emc/rs274ngc/rs274ngc_interp.hh"
+#undef private
+
+#include "emc/rs274ngc/rs274ngc_return.hh"
+#include "interp_python.hh"
+#include "pythonplugin/python_plugin.hh"
+
+PythonPlugin *python_plugin = nullptr;
+int _task = 0;
+
+struct _inittab {
+    const char *name;
+    void *initfunc;
+};
+
+_inittab builtin_modules[] = {{nullptr, nullptr}};
+
+InterpBase::~InterpBase() {}
+
+PythonPlugin *PythonPlugin::instantiate(struct _inittab *)
+{
+    static PythonPlugin standalone_plugin;
+    python_plugin = &standalone_plugin;
+    return python_plugin;
+}
+
+std::string handle_pyerror()
+{
+    return {};
+}
+
+bool Interp::is_pycallable(setup_pointer, const char *, const char *) { return false; }
+bool Interp::is_user_defined_g_code(int) { return false; }
+bool Interp::is_any_m_code_remapped(block_pointer, setup_pointer) { return false; }
+bool Interp::is_user_defined_m_code(block_pointer, setup_pointer, int) { return false; }
+bool Interp::is_m_code_remappable(int) { return false; }
+bool Interp::is_g_code_remappable(int) { return false; }
+bool Interp::remap_in_progress(const char *) { return false; }
+remap_pointer Interp::remapping(const char *) { return nullptr; }
+remap_pointer Interp::remapping(const char, int) { return nullptr; }
+int Interp::parse_remap(const char *, int) { return INTERP_ERROR; }
+int Interp::convert_remapped_code(block_pointer, setup_pointer, int, char, int) { return INTERP_ERROR; }
+int Interp::add_parameters(setup_pointer, block_pointer, char *) { return INTERP_ERROR; }
+int Interp::pycall(setup_pointer, context_pointer, const char *, const char *, int) { return INTERP_ERROR; }
+int Interp::py_execute(const char *, bool) { return INTERP_ERROR; }
+int Interp::py_reload() { return INTERP_OK; }

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_harness.cpp

@@ -9,11 +9,67 @@
 #include <vector>
 
 #include "canon_event_sink.hh"
+#include "linuxcnc_hal_adapter.hh"
+#include "linuxcnc_tool_adapter.hh"
 
 namespace {
 
+void seed_hal_values()
+{
+    standalone::reset_hal_adapter();
+
+    hal_data_u pin_bit{};
+    pin_bit.b = true;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.pin-bit", HAL_BIT,
+                              pin_bit);
+
+    hal_data_u signal_float{};
+    signal_float.f = 98.25;
+    standalone::set_hal_value(standalone::HalValueKind::Signal, "standalone.signal-float",
+                              HAL_FLOAT, signal_float);
+
+    hal_data_u param_s32{};
+    param_s32.s = -17;
+    standalone::set_hal_value(standalone::HalValueKind::Param, "standalone.param-s32", HAL_S32,
+                              param_s32);
+
+    hal_data_u pin_u32{};
+    pin_u32.u = 123456789u;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.pin-u32", HAL_U32,
+                              pin_u32);
+
+    hal_data_u signal_s64{};
+    signal_s64.ls = -9000000000LL;
+    standalone::set_hal_value(standalone::HalValueKind::Signal, "standalone.signal-s64", HAL_S64,
+                              signal_s64);
+
+    hal_data_u param_u64{};
+    param_u64.lu = 9000000000ULL;
+    standalone::set_hal_value(standalone::HalValueKind::Param, "standalone.param-u64", HAL_U64,
+                              param_u64);
+
+    hal_data_u disconnected{};
+    disconnected.f = 12.5;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.disconnected-float",
+                              HAL_FLOAT, disconnected, false);
+}
+
+void seed_tool_values()
+{
+    standalone::reset_tool_adapter();
+
+    CANON_TOOL_TABLE tool = standalone::tool_entry_init();
+    tool.toolno = 2;
+    tool.pocketno = 2;
+    tool.offset.tran.z = 1.25;
+    tool.diameter = 0.25;
+    standalone::set_tool_entry(2, tool);
+}
+
 void initialize_minimal_interp(Interp &interp)
 {
+    seed_hal_values();
+    seed_tool_values();
     interp._setup.length_units = CANON_UNITS_MM;
     interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
     interp._setup.ijk_distance_mode = DISTANCE_MODE::ABSOLUTE;
@@ -23,6 +79,10 @@ void initialize_minimal_interp(Interp &interp)
     interp._setup.percent_flag = false;
     interp._setup.sequence_number = 0;
     interp._setup.parameter_occurrence = 0;
+    interp._setup.num_spindles = 1;
+    interp._setup.feature_set = FEATURE_INI_VARS | FEATURE_HAL_PIN_VARS;
+    interp._setup.parameters[5599] = 1.0;
+    interp.load_tool_table();
     std::memcpy(interp._readers, Interp::default_readers, sizeof(Interp::default_readers));
 }
 
@@ -80,6 +140,51 @@ int main(int argc, char **argv)
         interp._setup.sequence_number = static_cast<int>(idx + 1);
         const int execute_rc = interp.execute(program[idx].c_str());
         std::cout << "execute_line_" << (idx + 1) << "=" << execute_rc << "\n";
+        if (execute_rc > INTERP_MIN_ERROR) {
+            char error_buf[LINELEN] = {0};
+            interp.error_text(execute_rc, error_buf, sizeof(error_buf));
+            std::cout << "error_text=" << error_buf << "\n";
+        }
+    }
+
+    int file_open_rc = INTERP_FILE_NOT_OPEN;
+    int file_read_count = 0;
+    int file_execute_count = 0;
+    if (argc > 1) {
+        Interp file_interp;
+        initialize_minimal_interp(file_interp);
+        file_open_rc = file_interp.open(argv[1]);
+        if (file_open_rc == INTERP_OK) {
+            while (true) {
+                const int file_read_rc = file_interp.read();
+                if (file_read_rc == INTERP_ENDFILE) {
+                    std::cout << "file_read_eof=" << file_read_rc << "\n";
+                    break;
+                }
+                ++file_read_count;
+                std::cout << "file_read_" << file_read_count << "=" << file_read_rc << "\n";
+                if ((file_read_rc != INTERP_OK) && (file_read_rc != INTERP_EXECUTE_FINISH)) {
+                    break;
+                }
+
+                const int file_execute_rc = file_interp.execute();
+                ++file_execute_count;
+                std::cout << "file_execute_" << file_execute_count << "=" << file_execute_rc << "\n";
+                if (file_execute_rc > INTERP_MIN_ERROR) {
+                    char error_buf[LINELEN] = {0};
+                    file_interp.error_text(file_execute_rc, error_buf, sizeof(error_buf));
+                    std::cout << "file_error_text=" << error_buf << "\n";
+                }
+                if ((file_execute_rc != INTERP_OK) &&
+                    (file_execute_rc != INTERP_EXECUTE_FINISH) &&
+                    (file_execute_rc != INTERP_EXIT)) {
+                    break;
+                }
+                if (file_execute_rc == INTERP_EXIT) {
+                    break;
+                }
+            }
+        }
     }
 
     block block{};
@@ -90,6 +195,9 @@ int main(int argc, char **argv)
     }
 
     std::cout << "read_text=" << read_text_rc << "\n";
+    std::cout << "file_open=" << file_open_rc << "\n";
+    std::cout << "file_read_count=" << file_read_count << "\n";
+    std::cout << "file_execute_count=" << file_execute_count << "\n";
     std::cout << "raw_line=" << raw_line << "\n";
     std::cout << "cooked_line=" << cooked_line << "\n";
     std::cout << "line_length=" << length << "\n";
@@ -105,6 +213,16 @@ int main(int argc, char **argv)
     std::cout << "setup.parameter_5421=" << interp._setup.parameters[5421] << "\n";
     std::cout << "setup.parameter_5422=" << interp._setup.parameters[5422] << "\n";
     std::cout << "setup.feed_rate=" << interp._setup.feed_rate << "\n";
+    std::cout << "post_execute.plane=" << static_cast<int>(interp._setup.plane) << "\n";
+    std::cout << "post_execute.distance_mode=" << static_cast<int>(interp._setup.distance_mode) << "\n";
+    std::cout << "post_execute.feed_mode=" << static_cast<int>(interp._setup.feed_mode) << "\n";
+    std::cout << "post_execute.motion_mode=" << interp._setup.motion_mode << "\n";
+    std::cout << "post_execute.origin_index=" << interp._setup.origin_index << "\n";
+    std::cout << "post_execute.feed_override=" << interp._setup.feed_override << "\n";
+    std::cout << "post_execute.speed_override_0=" << interp._setup.speed_override[0] << "\n";
+    std::cout << "post_execute.spindle_turning_0=" << interp._setup.spindle_turning[0] << "\n";
+    std::cout << "post_execute.mist=" << interp._setup.mist << "\n";
+    std::cout << "post_execute.flood=" << interp._setup.flood << "\n";
     std::cout << "close_and_downcase=" << downcase_rc << "\n";
     std::cout << "normalized_line=" << line << "\n";
     std::cout << "init_block=" << init_block_rc << "\n";

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_minimal_runtime.cpp

@@ -12,8 +12,7 @@
 
 #include "emc/rs274ngc/rs274ngc_return.hh"
 #include "canon_event_sink.hh"
-
+#include "linuxcnc_tool_adapter.hh"
-PythonPlugin *python_plugin = nullptr;
 
 namespace standalone {
 
@@ -71,13 +70,45 @@ void STOP_SPEED_FEED_SYNCH() {}
 void RIGID_TAP(int, double, double, double, double) {}
 void STRAIGHT_PROBE(int, double, double, double, double, double, double, double, double, double, unsigned char) {}
 void STOP() {}
-void DWELL(double) {}
+void DWELL(double seconds)
-void SET_SPINDLE_MODE(int, double) {}
+{
+    std::ostringstream oss;
+    oss << "DWELL seconds=" << seconds;
+    standalone::push_canon_event(oss.str());
+}
+void SET_SPINDLE_MODE(int spindle, double css_max)
+{
+    std::ostringstream oss;
+    oss << "SET_SPINDLE_MODE spindle=" << spindle << " css_max=" << css_max;
+    standalone::push_canon_event(oss.str());
+}
 void SPINDLE_RETRACT_TRAVERSE() {}
-void START_SPINDLE_CLOCKWISE(int, int) {}
+void START_SPINDLE_CLOCKWISE(int spindle, int wait_for_at_speed)
-void START_SPINDLE_COUNTERCLOCKWISE(int, int) {}
+{
-void SET_SPINDLE_SPEED(int, double) {}
+    std::ostringstream oss;
-void STOP_SPINDLE_TURNING(int) {}
+    oss << "START_SPINDLE_CLOCKWISE spindle=" << spindle
+        << " wait_for_at_speed=" << wait_for_at_speed;
+    standalone::push_canon_event(oss.str());
+}
+void START_SPINDLE_COUNTERCLOCKWISE(int spindle, int wait_for_at_speed)
+{
+    std::ostringstream oss;
+    oss << "START_SPINDLE_COUNTERCLOCKWISE spindle=" << spindle
+        << " wait_for_at_speed=" << wait_for_at_speed;
+    standalone::push_canon_event(oss.str());
+}
+void SET_SPINDLE_SPEED(int spindle, double speed)
+{
+    std::ostringstream oss;
+    oss << "SET_SPINDLE_SPEED spindle=" << spindle << " speed=" << speed;
+    standalone::push_canon_event(oss.str());
+}
+void STOP_SPINDLE_TURNING(int spindle)
+{
+    std::ostringstream oss;
+    oss << "STOP_SPINDLE_TURNING spindle=" << spindle;
+    standalone::push_canon_event(oss.str());
+}
 void SPINDLE_RETRACT() {}
 void ORIENT_SPINDLE(int, double, int) {}
 void WAIT_SPINDLE_ORIENT_COMPLETE(int, double) {}
@@ -85,25 +116,65 @@ void LOCK_SPINDLE_Z() {}
 void USE_SPINDLE_FORCE() {}
 void USE_NO_SPINDLE_FORCE() {}
 void SET_TOOL_TABLE_ENTRY(int, int, const EmcPose &, double, double, double, int) {}
-void USE_TOOL_LENGTH_OFFSET(const EmcPose &) {}
+void USE_TOOL_LENGTH_OFFSET(const EmcPose &offset)
-void CHANGE_TOOL() {}
+{
-void SELECT_TOOL(int) {}
+    std::ostringstream oss;
-void CHANGE_TOOL_NUMBER(int) {}
+    oss << "USE_TOOL_LENGTH_OFFSET"
+        << " x=" << offset.tran.x
+        << " y=" << offset.tran.y
+        << " z=" << offset.tran.z
+        << " a=" << offset.a
+        << " b=" << offset.b
+        << " c=" << offset.c
+        << " u=" << offset.u
+        << " v=" << offset.v
+        << " w=" << offset.w;
+    standalone::push_canon_event(oss.str());
+}
+void CHANGE_TOOL()
+{
+    standalone::change_selected_tool();
+    standalone::push_canon_event("CHANGE_TOOL");
+}
+void SELECT_TOOL(int tool)
+{
+    standalone::select_tool(tool);
+    std::ostringstream oss;
+    oss << "SELECT_TOOL tool=" << tool;
+    standalone::push_canon_event(oss.str());
+}
+void CHANGE_TOOL_NUMBER(int pocket)
+{
+    standalone::change_tool_number(pocket);
+    std::ostringstream oss;
+    oss << "CHANGE_TOOL_NUMBER pocket=" << pocket;
+    standalone::push_canon_event(oss.str());
+}
 void RELOAD_TOOLDATA(void) {}
 void CLAMP_AXIS(CANON_AXIS) {}
-void DISABLE_ADAPTIVE_FEED() {}
+void DISABLE_ADAPTIVE_FEED() { standalone::push_canon_event("DISABLE_ADAPTIVE_FEED"); }
-void ENABLE_ADAPTIVE_FEED() {}
+void ENABLE_ADAPTIVE_FEED() { standalone::push_canon_event("ENABLE_ADAPTIVE_FEED"); }
-void DISABLE_FEED_OVERRIDE() {}
+void DISABLE_FEED_OVERRIDE() { standalone::push_canon_event("DISABLE_FEED_OVERRIDE"); }
-void ENABLE_FEED_OVERRIDE() {}
+void ENABLE_FEED_OVERRIDE() { standalone::push_canon_event("ENABLE_FEED_OVERRIDE"); }
-void DISABLE_SPEED_OVERRIDE(int) {}
+void DISABLE_SPEED_OVERRIDE(int spindle)
-void ENABLE_SPEED_OVERRIDE(int) {}
+{
-void DISABLE_FEED_HOLD() {}
+    std::ostringstream oss;
-void ENABLE_FEED_HOLD() {}
+    oss << "DISABLE_SPEED_OVERRIDE spindle=" << spindle;
-void FLOOD_OFF() {}
+    standalone::push_canon_event(oss.str());
-void FLOOD_ON() {}
+}
-void MIST_OFF() {}
+void ENABLE_SPEED_OVERRIDE(int spindle)
-void MIST_ON() {}
+{
-void PALLET_SHUTTLE() {}
+    std::ostringstream oss;
+    oss << "ENABLE_SPEED_OVERRIDE spindle=" << spindle;
+    standalone::push_canon_event(oss.str());
+}
+void DISABLE_FEED_HOLD() { standalone::push_canon_event("DISABLE_FEED_HOLD"); }
+void ENABLE_FEED_HOLD() { standalone::push_canon_event("ENABLE_FEED_HOLD"); }
+void FLOOD_OFF() { standalone::push_canon_event("FLOOD_OFF"); }
+void FLOOD_ON() { standalone::push_canon_event("FLOOD_ON"); }
+void MIST_OFF() { standalone::push_canon_event("MIST_OFF"); }
+void MIST_ON() { standalone::push_canon_event("MIST_ON"); }
+void PALLET_SHUTTLE() { standalone::push_canon_event("PALLET_SHUTTLE"); }
 void TURN_PROBE_OFF() {}
 void TURN_PROBE_ON() {}
 void UNCLAMP_AXIS(CANON_AXIS) {}
@@ -111,18 +182,57 @@ void NURB_KNOT_VECTOR() {}
 void NURB_CONTROL_POINT(int, double, double, double, double) {}
 void NURB_FEED(double, double) {}
 void SET_BLOCK_DELETE(bool) {}
-void OPTIONAL_PROGRAM_STOP() {}
+void OPTIONAL_PROGRAM_STOP() { standalone::push_canon_event("OPTIONAL_PROGRAM_STOP"); }
 void SET_OPTIONAL_PROGRAM_STOP(bool) {}
 bool GET_OPTIONAL_PROGRAM_STOP() { return false; }
-void PROGRAM_END() {}
+void PROGRAM_END() { standalone::push_canon_event("PROGRAM_END"); }
-void PROGRAM_STOP() {}
+void PROGRAM_STOP() { standalone::push_canon_event("PROGRAM_STOP"); }
-void SET_MOTION_OUTPUT_BIT(int) {}
+void SET_MOTION_OUTPUT_BIT(int index)
-void CLEAR_MOTION_OUTPUT_BIT(int) {}
+{
-void SET_AUX_OUTPUT_BIT(int) {}
+    std::ostringstream oss;
-void CLEAR_AUX_OUTPUT_BIT(int) {}
+    oss << "SET_MOTION_OUTPUT_BIT index=" << index;
-void SET_MOTION_OUTPUT_VALUE(int, double) {}
+    standalone::push_canon_event(oss.str());
-void SET_AUX_OUTPUT_VALUE(int, double) {}
+}
-int WAIT(int, int, int, double) { return 0; }
+void CLEAR_MOTION_OUTPUT_BIT(int index)
+{
+    std::ostringstream oss;
+    oss << "CLEAR_MOTION_OUTPUT_BIT index=" << index;
+    standalone::push_canon_event(oss.str());
+}
+void SET_AUX_OUTPUT_BIT(int index)
+{
+    std::ostringstream oss;
+    oss << "SET_AUX_OUTPUT_BIT index=" << index;
+    standalone::push_canon_event(oss.str());
+}
+void CLEAR_AUX_OUTPUT_BIT(int index)
+{
+    std::ostringstream oss;
+    oss << "CLEAR_AUX_OUTPUT_BIT index=" << index;
+    standalone::push_canon_event(oss.str());
+}
+void SET_MOTION_OUTPUT_VALUE(int index, double value)
+{
+    std::ostringstream oss;
+    oss << "SET_MOTION_OUTPUT_VALUE index=" << index << " value=" << value;
+    standalone::push_canon_event(oss.str());
+}
+void SET_AUX_OUTPUT_VALUE(int index, double value)
+{
+    std::ostringstream oss;
+    oss << "SET_AUX_OUTPUT_VALUE index=" << index << " value=" << value;
+    standalone::push_canon_event(oss.str());
+}
+int WAIT(int index, int input_type, int wait_type, double timeout)
+{
+    std::ostringstream oss;
+    oss << "WAIT index=" << index
+        << " input_type=" << input_type
+        << " wait_type=" << wait_type
+        << " timeout=" << timeout;
+    standalone::push_canon_event(oss.str());
+    return 0;
+}
 int UNLOCK_ROTARY(int, int) { return 0; }
 int LOCK_ROTARY(int, int) { return 0; }
 void UPDATE_TAG(const StateTag &) {}
@@ -144,7 +254,8 @@ void CANON_ERROR(const char *fmt, ...)
 
 double GET_EXTERNAL_FEED_RATE() { return 0.0; }
 int GET_EXTERNAL_FLOOD() { return 0; }
-double GET_EXTERNAL_LENGTH_UNITS() { return CANON_UNITS_MM; }
+CANON_UNITS GET_EXTERNAL_LENGTH_UNIT_TYPE() { return CANON_UNITS_MM; }
+double GET_EXTERNAL_LENGTH_UNITS() { return 1.0; }
 double GET_EXTERNAL_ANGLE_UNITS() { return 1.0; }
 int GET_EXTERNAL_MIST() { return 0; }
 CANON_MOTION_MODE GET_EXTERNAL_MOTION_CONTROL_MODE() { return CANON_EXACT_STOP; }
@@ -198,7 +309,12 @@ double GET_EXTERNAL_TOOL_LENGTH_VOFFSET() { return 0.0; }
 double GET_EXTERNAL_TOOL_LENGTH_WOFFSET() { return 0.0; }
 int GET_EXTERNAL_TOOL_SLOT() { return 0; }
 int GET_EXTERNAL_SELECTED_TOOL_SLOT() { return -1; }
-CANON_TOOL_TABLE GET_EXTERNAL_TOOL_TABLE(int) { return tooldata_entry_init(); }
+CANON_TOOL_TABLE GET_EXTERNAL_TOOL_TABLE(int index)
+{
+    CANON_TOOL_TABLE tool = standalone::tool_entry_init();
+    standalone::get_tool_entry(&tool, index);
+    return tool;
+}
 int GET_EXTERNAL_TC_FAULT() { return 0; }
 int GET_EXTERNAL_TC_REASON() { return 0; }
 double GET_EXTERNAL_TRAVERSE_RATE() { return 0.0; }
@@ -288,277 +404,3 @@ void SET_FEED_RATE(double rate)
     oss << "SET_FEED_RATE rate=" << rate;
     standalone::push_canon_event(oss.str());
 }
-
-InterpBase::~InterpBase() {}
-
-Interp::Interp()
-    : log_file(stderr),
-      _setup{}
-{
-    _setup.init_once = 1;
-    memset(_readers, 0, sizeof(_readers));
-}
-
-Interp::~Interp() {
-    if (log_file && log_file != stderr) {
-        fclose(log_file);
-    }
-    log_file = nullptr;
-}
-
-void Interp::doLog(unsigned int, const char *, int, const char *fmt, ...)
-{
-    va_list ap;
-    va_start(ap, fmt);
-    vfprintf(stderr, fmt, ap);
-    va_end(ap);
-}
-
-const char *Interp::interp_status(int status)
-{
-    static char statustext[64];
-    snprintf(statustext, sizeof(statustext), "%d", status);
-    return statustext;
-}
-
-const char *Interp::getSavedError()
-{
-    return "";
-}
-
-int Interp::setSavedError(const char *)
-{
-    return INTERP_OK;
-}
-
-void Interp::setError(const char *fmt, ...)
-{
-    va_list ap;
-    va_start(ap, fmt);
-    vfprintf(stderr, fmt, ap);
-    fputc('\n', stderr);
-    va_end(ap);
-}
-
-int Interp::unwind_call(int status, const char *, int, const char *)
-{
-    return status;
-}
-
-int Interp::close() { return INTERP_OK; }
-int Interp::execute(const char *command)
-{
-    int status = read(command);
-    if (status != INTERP_OK) {
-        if (status > INTERP_MIN_ERROR) {
-            unwind_call(status, __FILE__, __LINE__, __FUNCTION__);
-        }
-        return status;
-    }
-
-    if (_setup.line_length != 0) {
-        status = execute_block(&EXECUTING_BLOCK(_setup), &_setup);
-        if (status > INTERP_MIN_ERROR) {
-            unwind_call(status, __FILE__, __LINE__, __FUNCTION__);
-        }
-        return status;
-    }
-    return INTERP_OK;
-}
-
-int Interp::execute() { return execute(nullptr); }
-
-int Interp::execute(const char *command, int line_number)
-{
-    if (command && line_number) {
-        _setup.sequence_number = line_number;
-    }
-    int status = execute(command);
-    if ((_setup.call_level == 0) &&
-        (status == INTERP_EXECUTE_FINISH) &&
-        (_setup.mdi_interrupt)) {
-        _setup.mdi_interrupt = false;
-    }
-    return status;
-}
-int Interp::exit() { return INTERP_OK; }
-int Interp::init() { return INTERP_OK; }
-void Interp::set_loop_on_main_m99(bool state) { _setup.loop_on_main_m99 = state; }
-int Interp::open(const char *) { return INTERP_ERROR; }
-
-int Interp::read_inputs(setup_pointer)
-{
-    return INTERP_OK;
-}
-
-int Interp::_read(const char *command)
-{
-    int read_status = INTERP_OK;
-    block_pointer eblock = &EXECUTING_BLOCK(_setup);
-
-    if ((_setup.call_state > CS_NORMAL) &&
-        (eblock->call_type != CT_NGC_OWORD_SUB) &&
-        (eblock->call_type != CT_NGC_M98_SUB) &&
-        (eblock->call_type != CT_NONE) &&
-        ((eblock->o_type == O_call) ||
-         (eblock->o_type == M_98) ||
-         (eblock->o_type == O_return) ||
-         (eblock->o_type == O_endsub) ||
-         (eblock->o_type == M_99))) {
-        _setup.line_length = 0;
-        _setup.linetext[0] = 0;
-        return INTERP_OK;
-    }
-
-    _setup.call_state = CS_NORMAL;
-    if (read_inputs(&_setup) != INTERP_OK) {
-        return INTERP_ERROR;
-    }
-
-    if ((command == nullptr) && (_setup.file_pointer == nullptr)) {
-        return INTERP_FILE_NOT_OPEN;
-    }
-
-    _setup.parameters[5420] = _setup.current_x;
-    _setup.parameters[5421] = _setup.current_y;
-    _setup.parameters[5422] = _setup.current_z;
-    _setup.parameters[5423] = _setup.AA_current;
-    _setup.parameters[5424] = _setup.BB_current;
-    _setup.parameters[5425] = _setup.CC_current;
-    _setup.parameters[5426] = _setup.u_current;
-    _setup.parameters[5427] = _setup.v_current;
-    _setup.parameters[5428] = _setup.w_current;
-
-    if (_setup.file_pointer) {
-        EXECUTING_BLOCK(_setup).offset = ftell(_setup.file_pointer);
-    }
-
-    read_status = read_text(command, _setup.file_pointer, _setup.linetext,
-                            _setup.blocktext, &_setup.line_length);
-
-    if ((read_status == INTERP_EXECUTE_FINISH) || (read_status == INTERP_OK)) {
-        if (_setup.line_length != 0) {
-            if (parse_line(_setup.blocktext, &(EXECUTING_BLOCK(_setup)), &_setup) != INTERP_OK) {
-                return INTERP_ERROR;
-            }
-        } else {
-            if (EXECUTING_BLOCK(_setup).o_type != O_none) {
-                EXECUTING_BLOCK(_setup).o_type = 0;
-            }
-        }
-    } else if (read_status == INTERP_ENDFILE) {
-        if (_setup.skipping_o != nullptr) {
-            return INTERP_ERROR;
-        }
-    } else {
-        return read_status;
-    }
-
-    return read_status;
-}
-
-int Interp::read(const char *command)
-{
-    int status = _read(command);
-    if (status > INTERP_MIN_ERROR) {
-        unwind_call(status, __FILE__, __LINE__, __FUNCTION__);
-    }
-    return status;
-}
-
-int Interp::read()
-{
-    return read(nullptr);
-}
-
-int Interp::reset() { return INTERP_OK; }
-int Interp::synch() { return INTERP_OK; }
-void Interp::active_g_codes(int *codes) { std::memcpy(codes, _setup.active_g_codes, sizeof(_setup.active_g_codes)); }
-void Interp::active_m_codes(int *codes) { std::memcpy(codes, _setup.active_m_codes, sizeof(_setup.active_m_codes)); }
-void Interp::active_settings(double *settings) { std::memcpy(settings, _setup.active_settings, sizeof(_setup.active_settings)); }
-int Interp::active_modes(int *, int *, double *, StateTag const &) { return INTERP_ERROR; }
-void Interp::print_state_tag(StateTag const &) {}
-char *Interp::error_text(int, char *buf, size_t max_size)
-{
-    if (max_size) buf[0] = '\0';
-    return buf;
-}
-char *Interp::file_name(char *buf, size_t max_size)
-{
-    if (max_size) {
-        std::strncpy(buf, _setup.filename, max_size - 1);
-        buf[max_size - 1] = '\0';
-    }
-    return buf;
-}
-size_t Interp::line_length() { return static_cast<size_t>(_setup.line_length); }
-char *Interp::line_text(char *buf, size_t max_size)
-{
-    if (max_size) {
-        std::strncpy(buf, _setup.linetext, max_size - 1);
-        buf[max_size - 1] = '\0';
-    }
-    return buf;
-}
-int Interp::sequence_number() { return _setup.sequence_number; }
-char *Interp::stack_name(int idx, char *buf, size_t max_size)
-{
-    if (!max_size) return buf;
-    if (idx < 0 || idx >= STACK_LEN) {
-        buf[0] = '\0';
-        return buf;
-    }
-    std::strncpy(buf, _setup.stack[idx], max_size - 1);
-    buf[max_size - 1] = '\0';
-    return buf;
-}
-int Interp::ini_load(const char *) { return INTERP_OK; }
-int Interp::on_abort(int, const char *) { return INTERP_OK; }
-void Interp::set_loglevel(int level) { _setup.loggingLevel = level; }
-
-int Interp::find_remappings(block_pointer, setup_pointer) { return 0; }
-
-int Interp::load_tool_table() { return INTERP_OK; }
-int Interp::init_tool_parameters() { return INTERP_OK; }
-int Interp::default_tool_parameters() { return INTERP_OK; }
-int Interp::set_tool_parameters() { return INTERP_OK; }
-bool Interp::is_pycallable(setup_pointer, const char *, const char *) { return false; }
-bool Interp::is_user_defined_g_code(int) { return false; }
-bool Interp::is_any_m_code_remapped(block_pointer, setup_pointer) { return false; }
-bool Interp::is_user_defined_m_code(block_pointer, setup_pointer, int) { return false; }
-void Interp::loop_to_beginning(setup_pointer) {}
-int Interp::convert_control_functions(block_pointer, setup_pointer) { return INTERP_OK; }
-int Interp::convert_remapped_code(block_pointer, setup_pointer, int, char, int) { return INTERP_ERROR; }
-int Interp::py_execute(const char *, bool) { return INTERP_OK; }
-int Interp::py_reload() { return INTERP_OK; }
-
-const char *o_ops[] = {
-    "O_none", "O_sub", "O_endsub", "O_call", "O_do", "O_while", "O_if",
-    "O_elseif", "O_else", "O_endif", "O_break", "O_continue",
-    "O_endwhile", "O_return", "O_repeat", "O_endrepeat", "M_98", "M_99", "O_"
-};
-
-int Interp::read_named_parameter(char *, int *, double *double_ptr, double *, bool check_exists)
-{
-    if (check_exists) {
-        *double_ptr = 0.0;
-    }
-    return INTERP_ERROR;
-}
-
-int Interp::find_named_param(const char *, int *status, double *value)
-{
-    *status = 0;
-    *value = 0.0;
-    return INTERP_OK;
-}
-
-int Interp::store_named_param(setup_pointer, const char *, double, int)
-{
-    return INTERP_ERROR;
-}
-
-int Interp::add_named_param(const char *, int)
-{
-    return INTERP_OK;
-}

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_namedparam_harness.cpp

@@ -4,338 +4,104 @@
 
 #include <cstdlib>
 #include <iostream>
-#include <string>
 
-#include "config.h"
+#include "linuxcnc_hal_adapter.hh"
-#include "emc/ini/inifile.hh"
 
 namespace {
 
-enum predefined_named_parameters {
+void seed_hal_values()
-    NP_LINE,
+{
-    NP_MOTION_MODE,
+    standalone::reset_hal_adapter();
-    NP_PLANE,
-    NP_CCOMP,
-    NP_METRIC,
-    NP_IMPERIAL,
-    NP_ABSOLUTE,
-    NP_INCREMENTAL,
-    NP_INVERSE_TIME,
-    NP_UNITS_PER_MINUTE,
-    NP_UNITS_PER_REV,
-    NP_COORD_SYSTEM,
-    NP_TOOL_OFFSET,
-    NP_RETRACT_R_PLANE,
-    NP_RETRACT_OLD_Z,
-    NP_SPINDLE_RPM_MODE,
-    NP_SPINDLE_CSS_MODE,
-    NP_IJK_ABSOLUTE_MODE,
-    NP_LATHE_DIAMETER_MODE,
-    NP_LATHE_RADIUS_MODE,
-    NP_SPINDLE_ON,
-    NP_SPINDLE_CW,
-    NP_MIST,
-    NP_FLOOD,
-    NP_SPEED_OVERRIDE,
-    NP_FEED_OVERRIDE,
-    NP_ADAPTIVE_FEED,
-    NP_FEED_HOLD,
-    NP_FEED,
-    NP_RPM,
-    NP_CURRENT_TOOL,
-    NP_SELECTED_POCKET,
-    NP_CURRENT_POCKET,
-    NP_X,
-    NP_Y,
-    NP_Z,
-    NP_A,
-    NP_B,
-    NP_C,
-    NP_U,
-    NP_V,
-    NP_W,
-    NP_ABS_X,
-    NP_ABS_Y,
-    NP_ABS_Z,
-    NP_ABS_A,
-    NP_ABS_B,
-    NP_ABS_C,
-    NP_VALUE,
-    NP_CALL_LEVEL,
-    NP_REMAP_LEVEL,
-    NP_SELECTED_TOOL,
-    NP_VALUE_RETURNED,
-    NP_TASK,
-};
 
-struct NamedParamRuntime {
+    hal_data_u pin_bit{};
-    setup state;
+    pin_bit.b = true;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.pin-bit", HAL_BIT,
+                              pin_bit);
 
-    int fetch_ini_param(const char *nameBuf, int *status, double *value) {
+    hal_data_u signal_float{};
-        *status = 0;
+    signal_float.f = 98.25;
-        const int n = static_cast<int>(strlen(nameBuf));
+    standalone::set_hal_value(standalone::HalValueKind::Signal, "standalone.signal-float",
-        if (n < 8) {
+                              HAL_FLOAT, signal_float);
-            return INTERP_OK;
-        }
 
-        std::string sect = nameBuf + 5;
+    hal_data_u param_s32{};
-        for (auto &c : sect) {
+    param_s32.s = -17;
-            c = static_cast<char>(toupper(c));
+    standalone::set_hal_value(standalone::HalValueKind::Param, "standalone.param-s32", HAL_S32,
-        }
+                              param_s32);
-        const size_t i = sect.find(']');
-        if (i == std::string::npos) {
-            return INTERP_ERROR;
-        }
-        std::string var = sect.substr(i + 1);
-        sect.erase(i);
 
-        const char *iniFileName = getenv("INI_FILE_NAME");
+    hal_data_u pin_u32{};
-        if (!iniFileName) {
+    pin_u32.u = 123456789u;
-            return INTERP_OK;
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.pin-u32", HAL_U32,
-        }
+                              pin_u32);
-        linuxcnc::IniFile inifile(iniFileName);
-        if (!inifile) {
-            return INTERP_OK;
-        }
 
-        if (auto inival = inifile.findReal(var, sect)) {
+    hal_data_u signal_s64{};
-            *value = *inival;
+    signal_s64.ls = -9000000000LL;
-            *status = 1;
+    standalone::set_hal_value(standalone::HalValueKind::Signal, "standalone.signal-s64", HAL_S64,
-        }
+                              signal_s64);
-        return INTERP_OK;
-    }
 
-    int lookup_named_param(const char *nameBuf, double index, double *value) {
+    hal_data_u param_u64{};
-        const int cmd = round_to_int(index);
+    param_u64.lu = 9000000000ULL;
-        switch (cmd) {
+    standalone::set_hal_value(standalone::HalValueKind::Param, "standalone.param-u64", HAL_U64,
-        case NP_LINE:
+                              param_u64);
-            *value = state.sequence_number;
-            break;
-        case NP_MOTION_MODE:
-            *value = state.motion_mode;
-            break;
-        case NP_METRIC:
-            *value = (state.length_units == CANON_UNITS_MM);
-            break;
-        case NP_IMPERIAL:
-            *value = (state.length_units == CANON_UNITS_INCHES);
-            break;
-        case NP_ABSOLUTE:
-            *value = (state.distance_mode == DISTANCE_MODE::ABSOLUTE);
-            break;
-        case NP_INCREMENTAL:
-            *value = (state.distance_mode == DISTANCE_MODE::INCREMENTAL);
-            break;
-        case NP_FEED:
-            *value = state.feed_rate;
-            break;
-        case NP_RPM:
-            *value = state.speed[0];
-            break;
-        case NP_X:
-            *value = state.current_x;
-            break;
-        case NP_Y:
-            *value = state.current_y;
-            break;
-        case NP_Z:
-            *value = state.current_z;
-            break;
-        case NP_CURRENT_TOOL:
-            *value = state.parameters[interp_param_global::TOOL_NUMBER];
-            break;
-        case NP_CALL_LEVEL:
-            *value = state.call_level;
-            break;
-        default:
-            return INTERP_ERROR;
-        }
-        return INTERP_OK;
-    }
 
-    int find_named_param(const char *nameBuf, int *status, double *value) {
+    hal_data_u disconnected{};
-        const int level = (nameBuf[0] == '_') ? 0 : state.call_level;
+    disconnected.f = 12.5;
-        context_pointer frame = &state.sub_context[level];
+    standalone::set_hal_value(standalone::HalValueKind::Pin, "standalone.disconnected-float",
-        *status = 0;
+                              HAL_FLOAT, disconnected, false);
+}
 
-        auto pi = frame->named_params.find(nameBuf);
+void print_named_value(Interp &interp, const char *name)
-        if (pi == frame->named_params.end()) {
+{
-            int exists = 0;
-            double inivalue = 0.0;
-            if ((state.feature_set & FEATURE_INI_VARS) && (strncasecmp(nameBuf, "_ini[", 5) == 0)) {
-                fetch_ini_param(nameBuf, &exists, &inivalue);
-                if (exists) {
-                    *value = inivalue;
-                    *status = 1;
-                    parameter_value param;
-                    param.value = inivalue;
-                    param.attr = PA_GLOBAL | PA_READONLY | PA_FROM_INI;
-                    state.sub_context[0].named_params[strstore(nameBuf)] = param;
-                    return INTERP_OK;
-                }
-            }
-            *value = 0.0;
-            *status = 0;
-        } else {
-            parameter_pointer pv = &pi->second;
-            if (pv->attr & PA_USE_LOOKUP) {
-                if (lookup_named_param(nameBuf, pv->value, value) != INTERP_OK) {
-                    return INTERP_ERROR;
-                }
-                *status = 1;
-            } else {
-                *value = pv->value;
-                *status = 1;
-            }
-        }
-        return INTERP_OK;
-    }
-
-    int store_named_param(const char *nameBuf, double value, bool override_readonly) {
-        const int level = (nameBuf[0] == '_') ? 0 : state.call_level;
-        context_pointer frame = &state.sub_context[level];
-        auto pi = frame->named_params.find(nameBuf);
-        if (pi == frame->named_params.end()) {
-            return INTERP_ERROR;
-        }
-        parameter_pointer pv = &pi->second;
-        if ((pv->attr & PA_READONLY) && !override_readonly) {
-            return INTERP_ERROR;
-        }
-        pv->value = value;
-        pv->attr &= ~PA_UNSET;
-        return INTERP_OK;
-    }
-
-    int add_named_param(const char *nameBuf, int attr) {
-        int findStatus = 0;
-        double value = 0.0;
-        find_named_param(nameBuf, &findStatus, &value);
-        if (findStatus) {
-            return INTERP_OK;
-        }
-
-        int level = 0;
-        if (nameBuf[0] != '_') {
-            level = state.call_level;
-        } else {
-            level = 0;
-            attr |= PA_GLOBAL;
-        }
-        attr |= PA_UNSET;
-
-        parameter_value param;
-        param.value = 0.0;
-        param.attr = attr;
-        state.sub_context[level].named_params[strstore(nameBuf)] = param;
-        return INTERP_OK;
-    }
-
-    int init_readonly_param(const char *nameBuf, double value, int attr) {
-        if (add_named_param(nameBuf, PA_READONLY | attr) != INTERP_OK) {
-            return INTERP_ERROR;
-        }
-        if (store_named_param(nameBuf, value, true) != INTERP_OK) {
-            return INTERP_ERROR;
-        }
-        return INTERP_OK;
-    }
-
-    double inicheck() {
-        const char *filename = getenv("INI_FILE_NAME");
-        if (!filename) {
-            return -1.0;
-        }
-        linuxcnc::IniFile inifile(filename);
-        if (!inifile) {
-            return -1.0;
-        }
-        if (auto inistring = inifile.findString("LINEAR_UNITS", "TRAJ")) {
-            if ((strcasecmp("mm", inistring->c_str()) == 0) ||
-                (strcasecmp("metric", inistring->c_str()) == 0)) {
-                return 1.0;
-            }
-            return 0.0;
-        }
-        return -1.0;
-    }
-
-    int init_named_parameters() {
-        const char *pkgversion = PACKAGE_VERSION;
-        const char *version_major = "_vmajor";
-        const char *version_minor = "_vminor";
-        const char *metric_machine = "_metric_machine";
-        double vmajor = 0.0;
-        double vminor = 0.0;
-        double munits = 1.0;
-        sscanf(pkgversion, "%lf%lf", &vmajor, &vminor);
-
-        if (init_readonly_param(version_major, vmajor, 0) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param(version_minor, vminor, 0) != INTERP_OK) return INTERP_ERROR;
-
-        munits = inicheck();
-        if (init_readonly_param(metric_machine, munits, 0) != INTERP_OK) return INTERP_ERROR;
-
-        if (init_readonly_param("_line", NP_LINE, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_motion_mode", NP_MOTION_MODE, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_metric", NP_METRIC, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_imperial", NP_IMPERIAL, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_absolute", NP_ABSOLUTE, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_incremental", NP_INCREMENTAL, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_feed", NP_FEED, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_rpm", NP_RPM, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_x", NP_X, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_y", NP_Y, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_z", NP_Z, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_current_tool", NP_CURRENT_TOOL, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-        if (init_readonly_param("_call_level", NP_CALL_LEVEL, PA_USE_LOOKUP) != INTERP_OK) return INTERP_ERROR;
-
-        return INTERP_OK;
-    }
-};
-
-void print_named_value(NamedParamRuntime &runtime, const char *name) {
     int status = 0;
     double value = 0.0;
-    const int rc = runtime.find_named_param(name, &status, &value);
+    const int rc = interp.find_named_param(name, &status, &value);
     std::cout << name << ": rc=" << rc << " found=" << status << " value=" << value << "\n";
 }
 
 }  // namespace
 
-int main(int argc, char **argv) {
+int main(int argc, char **argv)
+{
     if (argc == 2) {
         setenv("INI_FILE_NAME", argv[1], 1);
     }
 
-    NamedParamRuntime runtime;
+    Interp interp;
-    runtime.state.feature_set = FEATURE_INI_VARS;
+    seed_hal_values();
-    runtime.state.length_units = CANON_UNITS_MM;
+    interp._setup.feature_set = FEATURE_INI_VARS | FEATURE_HAL_PIN_VARS;
-    runtime.state.distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.length_units = CANON_UNITS_MM;
-    runtime.state.motion_mode = G_1;
+    interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
-    runtime.state.feed_rate = 123.45;
+    interp._setup.motion_mode = G_1;
-    runtime.state.speed[0] = 678.9;
+    interp._setup.feed_rate = 123.45;
-    runtime.state.current_x = 1.25;
+    interp._setup.speed[0] = 678.9;
-    runtime.state.current_y = 2.5;
+    interp._setup.current_x = 1.25;
-    runtime.state.current_z = 3.75;
+    interp._setup.current_y = 2.5;
-    runtime.state.parameters[interp_param_global::TOOL_NUMBER] = 12.0;
+    interp._setup.current_z = 3.75;
+    interp._setup.parameters[interp_param_global::TOOL_NUMBER] = 12.0;
 
-    const int rc = runtime.init_named_parameters();
+    const int rc = interp.init_named_parameters();
     std::cout << "init_named_parameters=" << rc << "\n";
-    std::cout << "global_named_count=" << runtime.state.sub_context[0].named_params.size() << "\n";
+    std::cout << "global_named_count=" << interp._setup.sub_context[0].named_params.size() << "\n";
     std::cout << "required_parameter_first=" << interp_param_global::G28_X << "\n";
     std::cout << "readonly_tool_number_index=" << interp_param_global::TOOL_NUMBER << "\n";
 
-    print_named_value(runtime, "_vmajor");
+    print_named_value(interp, "_vmajor");
-    print_named_value(runtime, "_vminor");
+    print_named_value(interp, "_vminor");
-    print_named_value(runtime, "_metric_machine");
+    print_named_value(interp, "_metric_machine");
-    print_named_value(runtime, "_motion_mode");
+    print_named_value(interp, "_motion_mode");
-    print_named_value(runtime, "_metric");
+    print_named_value(interp, "_metric");
-    print_named_value(runtime, "_feed");
+    print_named_value(interp, "_feed");
-    print_named_value(runtime, "_rpm");
+    print_named_value(interp, "_rpm");
-    print_named_value(runtime, "_x");
+    print_named_value(interp, "_x");
-    print_named_value(runtime, "_current_tool");
+    print_named_value(interp, "_current_tool");
-    print_named_value(runtime, "_ini[traj]max_linear_velocity");
+    print_named_value(interp, "_ini[traj]max_linear_velocity");
+    print_named_value(interp, "_hal[standalone.pin-bit]");
+    print_named_value(interp, "_hal[standalone.signal-float]");
+    print_named_value(interp, "_hal[standalone.param-s32]");
+    print_named_value(interp, "_hal[standalone.pin-u32]");
+    print_named_value(interp, "_hal[standalone.signal-s64]");
+    print_named_value(interp, "_hal[standalone.param-u64]");
+    print_named_value(interp, "_hal[standalone.disconnected-float]");
+    print_named_value(interp, "_hal[standalone.missing]");
 
     return rc == INTERP_OK ? 0 : 1;
 }

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_parameter_file_harness.cpp

@@ -0,0 +1,128 @@
+#define private public
+#include "emc/rs274ngc/rs274ngc_interp.hh"
+#undef private
+
+#include <cstdlib>
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <string>
+#include <unistd.h>
+
+namespace {
+
+std::filesystem::path make_temp_dir()
+{
+    std::string pattern = "/tmp/linuxcnc-params-XXXXXX";
+    char *path = mkdtemp(pattern.data());
+    if (path == nullptr) {
+        std::perror("mkdtemp");
+        std::exit(2);
+    }
+    return path;
+}
+
+void write_file(const std::filesystem::path &path, const std::string &content)
+{
+    std::ofstream out(path);
+    if (!out) {
+        std::cerr << "failed to write " << path << "\n";
+        std::exit(2);
+    }
+    out << content;
+}
+
+std::string read_file(const std::filesystem::path &path)
+{
+    std::ifstream in(path);
+    if (!in) {
+        std::cerr << "failed to read " << path << "\n";
+        std::exit(2);
+    }
+    return std::string(std::istreambuf_iterator<char>(in),
+                       std::istreambuf_iterator<char>());
+}
+
+bool contains(const std::string &haystack, const std::string &needle)
+{
+    return haystack.find(needle) != std::string::npos;
+}
+
+void print_error_text(Interp &interp, const char *prefix, int status)
+{
+    char error_buf[LINELEN] = {0};
+    interp.error_text(status, error_buf, sizeof(error_buf));
+    std::cout << prefix << error_buf << "\n";
+}
+
+}  // namespace
+
+int main()
+{
+    const auto temp_dir = make_temp_dir();
+    const auto parameter_file = temp_dir / "rs274ngc.var";
+    const auto out_of_order_file = temp_dir / "out-of-order.var";
+    const auto missing_required_file = temp_dir / "missing-required.var";
+    const auto missing_file = temp_dir / "does-not-exist.var";
+
+    write_file(parameter_file,
+               "5161 10.5\n"
+               "5162 20.25\n"
+               "5220 1\n"
+               "5221 2.25\n"
+               "5399 44\n"
+               "<_named_param> 123\n");
+
+    write_file(out_of_order_file,
+               "5220 1\n"
+               "5161 2\n");
+
+    write_file(missing_required_file,
+               "5161 3.5\n"
+               "5220 1\n");
+
+    Interp interp;
+    int rc = interp.restore_parameters(parameter_file.c_str());
+    std::cout << "restore_existing=" << rc << "\n";
+    std::cout << "parameter_5161=" << interp._setup.parameters[5161] << "\n";
+    std::cout << "parameter_5162=" << interp._setup.parameters[5162] << "\n";
+    std::cout << "parameter_5220=" << interp._setup.parameters[5220] << "\n";
+    std::cout << "parameter_5221=" << interp._setup.parameters[5221] << "\n";
+    std::cout << "parameter_5399=" << interp._setup.parameters[5399] << "\n";
+
+    rc = interp.restore_parameters(missing_file.c_str());
+    std::cout << "restore_missing_file=" << rc << "\n";
+
+    rc = interp.restore_parameters(out_of_order_file.c_str());
+    std::cout << "restore_out_of_order=" << rc << "\n";
+    if (rc > INTERP_MIN_ERROR) {
+        print_error_text(interp, "restore_out_of_order_error=", rc);
+    }
+
+    Interp missing_required_interp;
+    rc = missing_required_interp.restore_parameters(missing_required_file.c_str());
+    std::cout << "restore_missing_required=" << rc << "\n";
+    std::cout << "missing_required_5161=" << missing_required_interp._setup.parameters[5161] << "\n";
+    std::cout << "missing_required_5162=" << missing_required_interp._setup.parameters[5162] << "\n";
+
+    interp._setup.parameters[5161] = 12.34;
+    interp._setup.parameters[5162] = 56.78;
+    interp._setup.parameters[5220] = 1.0;
+    interp._setup.parameters[5221] = 9.87;
+    interp._setup.parameters[5399] = 66.6;
+
+    rc = interp.save_parameters(parameter_file.c_str(), interp._setup.parameters);
+    std::cout << "save_parameters=" << rc << "\n";
+
+    const std::string saved = read_file(parameter_file);
+    const std::string backup = read_file(parameter_file.string() + RS274NGC_PARAMETER_FILE_BACKUP_SUFFIX);
+    std::cout << "saved_has_5161=" << contains(saved, "5161\t12.340000") << "\n";
+    std::cout << "saved_has_5162=" << contains(saved, "5162\t56.780000") << "\n";
+    std::cout << "saved_has_5221=" << contains(saved, "5221\t9.870000") << "\n";
+    std::cout << "saved_has_5399=" << contains(saved, "5399\t66.600000") << "\n";
+    std::cout << "saved_has_named_param=" << contains(saved, "_named_param") << "\n";
+    std::cout << "backup_has_original_5161=" << contains(backup, "5161 10.5") << "\n";
+
+    std::filesystem::remove_all(temp_dir);
+    return 0;
+}

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_runtime_state_stubs.cpp

@@ -5,8 +5,7 @@
 #include <unordered_set>
 
 #include "emc/rs274ngc/interp_internal.hh"
-
+#include "interp_python.hh"
-struct pycontext_impl {};
 
 pycontext::pycontext() : impl(new pycontext_impl) {}
 pycontext::~pycontext() { delete impl; }
@@ -20,6 +19,7 @@ pycontext &pycontext::operator=(const pycontext &other) {
     return *this;
 }
 
+#ifndef LINUXCNC_STANDALONE_USE_RS274_PRE_STATE
 const char *strstore(const char *s)
 {
     static std::unordered_set<std::string> stringtable;
@@ -45,6 +45,7 @@ void context_struct::clear()
 {
     new (this) context_struct();
 }
+#endif
 
 setup::setup()
     : AA_axis_offset(0.0),

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tool_adapter.cpp

@@ -0,0 +1,101 @@
+#include "linuxcnc_tool_adapter.hh"
+
+#include <array>
+
+namespace {
+
+std::array<CANON_TOOL_TABLE, CANON_POCKETS_MAX> &tool_table()
+{
+    static std::array<CANON_TOOL_TABLE, CANON_POCKETS_MAX> tools{};
+    return tools;
+}
+
+int &selected_tool_index()
+{
+    static int index = -1;
+    return index;
+}
+
+CANON_TOOL_TABLE empty_tool()
+{
+    CANON_TOOL_TABLE tool{};
+    tool.toolno = 0;
+    tool.pocketno = 0;
+    return tool;
+}
+
+}  // namespace
+
+namespace standalone {
+
+void reset_tool_adapter()
+{
+    selected_tool_index() = -1;
+    auto &tools = tool_table();
+    for (int index = 0; index < CANON_POCKETS_MAX; ++index) {
+        tools[index] = empty_tool();
+        tools[index].pocketno = index;
+    }
+    tools[0].pocketno = 0;
+}
+
+void set_tool_entry(int index, const CANON_TOOL_TABLE &tool)
+{
+    if ((index < 0) || (index >= CANON_POCKETS_MAX)) {
+        return;
+    }
+    tool_table()[index] = tool;
+}
+
+CANON_TOOL_TABLE tool_entry_init()
+{
+    return empty_tool();
+}
+
+int find_tool_index_for_tool(int toolno)
+{
+    if (toolno == 0) {
+        return 0;
+    }
+
+    const auto &tools = tool_table();
+    for (int index = 0; index < CANON_POCKETS_MAX; ++index) {
+        if (tools[index].toolno == toolno) {
+            return index;
+        }
+    }
+    return -1;
+}
+
+int get_tool_entry(CANON_TOOL_TABLE *tool, int index)
+{
+    if ((tool == nullptr) || (index < 0) || (index >= CANON_POCKETS_MAX)) {
+        return -1;
+    }
+    *tool = tool_table()[index];
+    return 0;
+}
+
+void select_tool(int toolno)
+{
+    selected_tool_index() = find_tool_index_for_tool(toolno);
+}
+
+void change_tool_number(int index)
+{
+    if ((index < 0) || (index >= CANON_POCKETS_MAX)) {
+        return;
+    }
+
+    auto &tools = tool_table();
+    CANON_TOOL_TABLE spindle_tool = tools[index];
+    spindle_tool.pocketno = 0;
+    tools[0] = spindle_tool;
+}
+
+void change_selected_tool()
+{
+    change_tool_number(selected_tool_index());
+}
+
+}  // namespace standalone

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tool_adapter.hh

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "emc/nml_intf/emctool.h"
+
+namespace standalone {
+
+void reset_tool_adapter();
+void set_tool_entry(int index, const CANON_TOOL_TABLE &tool);
+CANON_TOOL_TABLE tool_entry_init();
+int find_tool_index_for_tool(int toolno);
+int get_tool_entry(CANON_TOOL_TABLE *tool, int index);
+void select_tool(int toolno);
+void change_selected_tool();
+void change_tool_number(int index);
+
+}  // namespace standalone

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_api_probe.cpp

@@ -0,0 +1,146 @@
+#include <iostream>
+
+#include "emc/motion/motion.h"
+#include "emc/nml_intf/motion_types.h"
+#include "emc/tp/tp.h"
+
+namespace {
+
+emcmot_status_t status{};
+emcmot_config_t config{};
+emcmot_joint_t joints[EMCMOT_MAX_JOINTS]{};
+
+void dio_write(int, char) {}
+void aio_write(int, double) {}
+void set_rotary_unlock(int, int) {}
+int get_rotary_unlock(int) { return 1; }
+
+double axis_vel_limit(int axis)
+{
+    return axis >= 0 && axis < EMCMOT_MAX_AXIS ? 10.0 : 0.0;
+}
+
+double axis_acc_limit(int axis)
+{
+    return axis >= 0 && axis < EMCMOT_MAX_AXIS ? 20.0 : 0.0;
+}
+
+void init_motion_state()
+{
+    config.numJoints = 3;
+    config.numSpindles = 1;
+    config.numDIO = 4;
+    config.numAIO = 4;
+    config.arcBlendOptDepth = 0;
+    config.arcBlendEnable = 0;
+    config.arcBlendFallbackEnable = 0;
+    config.arcBlendGapCycles = 4;
+    config.arcBlendRampFreq = 20.0;
+    config.arcBlendTangentKinkRatio = 0.1;
+    config.maxFeedScale = 1.0;
+
+    status.net_feed_scale = 1.0;
+    status.feed_scale = 1.0;
+    status.rapid_scale = 1.0;
+    status.enables_new = FS_ENABLED | SS_ENABLED;
+    status.enables_queued = status.enables_new;
+    status.spindle_status[0].at_speed = 1;
+    status.spindle_status[0].direction = 1;
+    status.spindleSync = 0;
+    status.jerk = 0.0;
+    status.planner_type = 0;
+
+    tpMotData(&status, &config);
+    tpMotFunctions(
+        dio_write,
+        aio_write,
+        set_rotary_unlock,
+        get_rotary_unlock,
+        axis_vel_limit,
+        axis_acc_limit);
+}
+
+void run_linear_probe()
+{
+    init_motion_state();
+
+    TP_STRUCT tp{};
+    EmcPose start{};
+    EmcPose end{};
+    struct state_tag_t tag {};
+
+    end.tran.x = 1.0;
+
+    const int create_rc = tpCreate(&tp, TP_DEFAULT_QUEUE_SIZE, 1);
+    const int set_cycle_rc = tpSetCycleTime(&tp, 0.001);
+    const int set_pos_rc = tpSetPos(&tp, &start);
+    const int set_vmax_rc = tpSetVmax(&tp, 1.0, 1.0);
+    const int set_vlimit_rc = tpSetVlimit(&tp, 1.0);
+    const int set_amax_rc = tpSetAmax(&tp, 10.0);
+    const int set_term_rc = tpSetTermCond(&tp, TC_TERM_COND_STOP, 0.0);
+    const int add_line_rc = tpAddLine(
+        &tp,
+        end,
+        EMC_MOTION_TYPE_FEED,
+        1.0,
+        1.0,
+        10.0,
+        100.0,
+        status.enables_new,
+        0,
+        -1,
+        tag);
+
+    int cycle_rc = 0;
+    int cycles = 0;
+    for (; cycles < 10000 && !tpIsDone(&tp); ++cycles) {
+        cycle_rc = tpRunCycle(&tp, 1000000);
+        if (cycle_rc < 0) {
+            break;
+        }
+    }
+
+    EmcPose final_pos{};
+    const int get_pos_rc = tpGetPos(&tp, &final_pos);
+
+    std::cout << "tp_create=" << create_rc << "\n";
+    std::cout << "tp_set_cycle_time=" << set_cycle_rc << "\n";
+    std::cout << "tp_set_pos=" << set_pos_rc << "\n";
+    std::cout << "tp_set_vmax=" << set_vmax_rc << "\n";
+    std::cout << "tp_set_vlimit=" << set_vlimit_rc << "\n";
+    std::cout << "tp_set_amax=" << set_amax_rc << "\n";
+    std::cout << "tp_set_term_cond=" << set_term_rc << "\n";
+    std::cout << "tp_add_line=" << add_line_rc << "\n";
+    std::cout << "tp_cycle_rc=" << cycle_rc << "\n";
+    std::cout << "tp_cycles=" << cycles << "\n";
+    std::cout << "tp_get_pos=" << get_pos_rc << "\n";
+    std::cout << "tp_done_after_line=" << tpIsDone(&tp) << "\n";
+    std::cout << "tp_queue_depth=" << tpQueueDepth(&tp) << "\n";
+    std::cout << "tp_final_pos="
+              << final_pos.tran.x << ","
+              << final_pos.tran.y << ","
+              << final_pos.tran.z << "\n";
+}
+
+} // namespace
+
+int main()
+{
+    TP_STRUCT tp{};
+    TC_STRUCT tc{};
+    EmcPose pose{};
+
+    pose.tran.x = 1.0;
+    pose.tran.y = 2.0;
+    pose.tran.z = 3.0;
+
+    std::cout << "sizeof_TP_STRUCT=" << sizeof(tp) << "\n";
+    std::cout << "sizeof_TC_STRUCT=" << sizeof(tc) << "\n";
+    std::cout << "tp_default_queue_size=" << TP_DEFAULT_QUEUE_SIZE << "\n";
+    std::cout << "tp_err_ok=" << TP_ERR_OK << "\n";
+    std::cout << "tc_linear=" << TC_LINEAR << "\n";
+    std::cout << "tc_circular=" << TC_CIRCULAR << "\n";
+    std::cout << "pose_xyz=" << pose.tran.x << "," << pose.tran.y << "," << pose.tran.z << "\n";
+    run_linear_probe();
+    return 0;
+}

wasm-port/runtime/core/shims/boost/python/dict.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/boost/python/extract.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/boost/python/import.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/boost/python/list.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/boost/python/object_fwd.hpp

@@ -1,9 +1,88 @@
 #pragma once
 
+#include <string>
+
+struct _typeobject {
+    const char *tp_name = "standalone-python-shim";
+};
+
+struct _object {
+    _typeobject *ob_type = nullptr;
+};
+typedef _object PyObject;
+
+inline int PyCallable_Check(PyObject *) { return 0; }
+inline int PyErr_ExceptionMatches(PyObject *) { return 0; }
+inline void PyErr_Clear() {}
+inline int PyUnicode_Check(PyObject *) { return 0; }
+inline int PyLong_Check(PyObject *) { return 0; }
+inline int PyFloat_Check(PyObject *) { return 0; }
+inline PyObject *PyObject_Str(PyObject *) { return nullptr; }
+inline void Py_XDECREF(PyObject *) {}
+inline const char *PyUnicode_AsUTF8(PyObject *) { return ""; }
+
+inline PyObject *PyExc_KeyError = nullptr;
+inline PyObject *Py_None = nullptr;
+
 namespace boost {
 namespace python {
 
-class object {};
+class error_already_set {};
+
+class object {
+public:
+    object() = default;
+
+    template <typename T>
+    explicit object(const T &) {}
+
+    object attr(const char *) const { return object(); }
+    object operator[](const char *) const { return object(); }
+    object operator[](const std::string &) const { return object(); }
+    object operator[](int) const { return object(); }
+    PyObject *ptr() const { return nullptr; }
+};
+
+class list : public object {
+public:
+    using object::object;
+    list() = default;
+    explicit list(const object &) {}
+
+    template <typename T>
+    void append(const T &) {}
+};
+
+class tuple : public object {
+public:
+    tuple() = default;
+    explicit tuple(const list &) {}
+};
+
+class dict : public object {
+public:
+    object keys() const { return object(); }
+};
+
+class scope {
+public:
+    explicit scope(const object &) {}
+    object attr(const char *) const { return object(); }
+};
+
+template <typename T>
+object import(const T &) { return object(); }
+
+template <typename T>
+class extract {
+public:
+    explicit extract(const object &) {}
+
+    operator T() const { return T(); }
+};
+
+inline int len(const object &) { return 0; }
+inline void handle_exception() {}
 
 }  // namespace python
 }  // namespace boost

wasm-port/runtime/core/shims/boost/python/scope.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/boost/python/tuple.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "boost/python/object_fwd.hpp"

wasm-port/runtime/core/shims/hal.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include <stdbool.h>
+
+#define HAL_NAME_LEN 64
+
+typedef enum {
+    HAL_TYPE_UNINITIALIZED = 0,
+    HAL_BIT,
+    HAL_FLOAT,
+    HAL_S32,
+    HAL_U32,
+    HAL_S64,
+    HAL_U64
+} hal_type_t;
+
+typedef union {
+    bool b;
+    double f;
+    int s;
+    unsigned int u;
+    long long ls;
+    unsigned long long lu;
+} hal_data_u;
+
+typedef bool hal_bit_t;
+typedef double hal_float_t;
+typedef int hal_s32_t;
+typedef unsigned int hal_u32_t;
+typedef long long hal_s64_t;
+typedef unsigned long long hal_u64_t;
+
+int hal_init(const char *);
+int hal_ready(int);
+int hal_get_pin_value_by_name(const char *, hal_type_t *, hal_data_u **, bool *);
+int hal_get_signal_value_by_name(const char *, hal_type_t *, hal_data_u **, bool *);
+int hal_get_param_value_by_name(const char *, hal_type_t *, hal_data_u **);

wasm-port/runtime/core/shims/interp_python.hh

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <string>
+
+#include "boost/python/object_fwd.hpp"
+
+struct pycontext_impl {
+    boost::python::object tupleargs;
+    boost::python::object kwargs;
+    int py_return_type = 0;
+    double py_returned_double = 0.0;
+    int py_returned_int = 0;
+    boost::python::object generator_next;
+};
+
+std::string handle_pyerror();

wasm-port/runtime/core/shims/pythonplugin/python_plugin.hh

@@ -2,12 +2,37 @@
 
 #include <string>
 
+#include "boost/python/object_fwd.hpp"
+
+enum pp_status {
+    PLUGIN_NO_SECTION = -1,
+    PLUGIN_OK = 0,
+    PLUGIN_NO_CALLABLE = 1,
+    PLUGIN_EXCEPTION = 2
+};
+
+std::string handle_pyerror();
+
 class PythonPlugin {
 public:
+    static PythonPlugin *instantiate(struct _inittab * = nullptr);
+    int configure(const char * = nullptr, const char * = nullptr) { return PLUGIN_NO_SECTION; }
+    bool is_callable(const char *, const char *) { return false; }
+    int call(const char *, const char *, boost::python::object, boost::python::object,
+             boost::python::object &) { return PLUGIN_NO_CALLABLE; }
+    int run_string(const char *, boost::python::object &, bool = false) { return PLUGIN_NO_CALLABLE; }
+    int call_method(boost::python::object, boost::python::object &) { return PLUGIN_NO_CALLABLE; }
+    int plugin_status() const { return PLUGIN_NO_SECTION; }
     bool usable() const { return false; }
-    int plugin_status() const { return 0; }
+    int initialize() { return PLUGIN_NO_SECTION; }
     const std::string &last_exception() const {
         static std::string empty;
         return empty;
     }
+    const std::string &last_errmsg() const {
+        static std::string empty;
+        return empty;
+    }
+
+    boost::python::object main_namespace;
 };

wasm-port/runtime/core/shims/rtapi.h

@@ -19,6 +19,10 @@
 #define RTAPI_NAME_LEN 31
 #endif
 
+#ifndef EXPORT_SYMBOL
+#define EXPORT_SYMBOL(symbol)
+#endif
+
 typedef enum {
     RTAPI_MSG_NONE = 0,
     RTAPI_MSG_ERR,

wasm-port/runtime/core/shims/tooldata/tooldata.hh

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "emc/nml_intf/emctool.h"
+#include "linuxcnc_tool_adapter.hh"
 
 enum {
     IDX_OK = 0,
@@ -8,22 +9,15 @@ enum {
 
 inline CANON_TOOL_TABLE tooldata_entry_init()
 {
-    CANON_TOOL_TABLE tool{};
+    return standalone::tool_entry_init();
-    tool.toolno = 0;
-    tool.pocketno = 0;
-    return tool;
 }
 
 inline int tooldata_find_index_for_tool(int toolno)
 {
-    return toolno == 0 ? 0 : -1;
+    return standalone::find_tool_index_for_tool(toolno);
 }
 
 inline int tooldata_get(CANON_TOOL_TABLE *tool, int index)
 {
-    if ((tool == nullptr) || (index != 0)) {
+    return standalone::get_tool_entry(tool, index) == 0 ? IDX_OK : -1;
-        return -1;
-    }
-    *tool = tooldata_entry_init();
-    return IDX_OK;
 }

wasm-port/tests/fixtures/canon/arc_semantics.events

@@ -0,0 +1,13 @@
+canon_event=STRAIGHT_TRAVERSE line=1 x=0 y=0 z=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=COMMENT: interpreter: IJK distance mode changed to incremental
+canon_event=SET_FEED_RATE rate=60
+canon_event=ARC_FEED line=3 first_end=1 second_end=1 first_axis=1 second_axis=0 rotation=-1 axis_end_point=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=COMMENT: interpreter: IJK distance mode changed to absolute
+canon_event=ARC_FEED line=5 first_end=0 second_end=0 first_axis=0 second_axis=1 rotation=1 axis_end_point=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=ARC_FEED line=6 first_end=1 second_end=0 first_axis=0.5 second_axis=-3.06162e-17 rotation=-1 axis_end_point=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=STRAIGHT_TRAVERSE line=7 x=0 y=0 z=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=ARC_FEED line=9 first_end=1 second_end=1 first_axis=0 second_axis=1 rotation=-1 axis_end_point=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=STRAIGHT_TRAVERSE line=10 x=0 y=0 z=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=ARC_FEED line=11 first_end=1 second_end=1 first_axis=0 second_axis=1 rotation=1 axis_end_point=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=STRAIGHT_TRAVERSE line=12 x=0 y=0 z=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=ARC_FEED line=13 first_end=1 second_end=0 first_axis=0.5 second_axis=0.866025 rotation=-1 axis_end_point=2 a=0 b=0 c=0 u=0 v=0 w=0

wasm-port/tests/fixtures/canon/canon_runtime_edges.events

@@ -0,0 +1,33 @@
+canon_event=SET_SPINDLE_SPEED spindle=0 speed=1200
+canon_event=START_SPINDLE_CLOCKWISE spindle=0 wait_for_at_speed=1
+canon_event=STOP_SPINDLE_TURNING spindle=0
+canon_event=SET_SPINDLE_SPEED spindle=0 speed=900
+canon_event=START_SPINDLE_COUNTERCLOCKWISE spindle=0 wait_for_at_speed=1
+canon_event=STOP_SPINDLE_TURNING spindle=0
+canon_event=MIST_ON
+canon_event=FLOOD_ON
+canon_event=MIST_OFF
+canon_event=FLOOD_OFF
+canon_event=DWELL seconds=0.25
+canon_event=ENABLE_FEED_OVERRIDE
+canon_event=ENABLE_SPEED_OVERRIDE spindle=0
+canon_event=DISABLE_FEED_OVERRIDE
+canon_event=ENABLE_FEED_OVERRIDE
+canon_event=DISABLE_SPEED_OVERRIDE spindle=0
+canon_event=ENABLE_SPEED_OVERRIDE spindle=0
+canon_event=DISABLE_ADAPTIVE_FEED
+canon_event=ENABLE_ADAPTIVE_FEED
+canon_event=DISABLE_FEED_HOLD
+canon_event=ENABLE_FEED_HOLD
+canon_event=SET_MOTION_OUTPUT_BIT index=3
+canon_event=CLEAR_MOTION_OUTPUT_BIT index=3
+canon_event=SET_AUX_OUTPUT_BIT index=4
+canon_event=CLEAR_AUX_OUTPUT_BIT index=4
+canon_event=SET_MOTION_OUTPUT_VALUE index=2 value=12.5
+canon_event=SET_AUX_OUTPUT_VALUE index=2 value=34.5
+canon_event=WAIT index=1 input_type=1 wait_type=0 timeout=0
+canon_event=PROGRAM_STOP
+canon_event=SET_FEED_RATE rate=0
+canon_event=STOP_SPINDLE_TURNING spindle=0
+canon_event=SET_SPINDLE_MODE spindle=0 css_max=0
+canon_event=PROGRAM_END

wasm-port/tests/fixtures/canon/namedparam_semantics.events

@@ -0,0 +1,7 @@
+canon_event=MESSAGE:  named global=42.5000
+canon_event=MESSAGE:  named local=7.2500
+canon_event=MESSAGE:  exists global=1 local=1 missing=0
+canon_event=MESSAGE:  ini velocity=35
+canon_event=MESSAGE:  hal pin=1 signal=98.2500 param=-17
+canon_event=MESSAGE:  hal u32=123456789 s64=-9000000000 u64=9000000000
+canon_event=MESSAGE:  hal disconnected=12.5000 missing_exists=0

wasm-port/tests/fixtures/canon/numbered_params.events

@@ -0,0 +1,3 @@
+canon_event=MESSAGE:  numbered p1=12.5000 p2=15.5000 exists1=1 exists5602=0
+canon_event=STRAIGHT_TRAVERSE line=6 x=2 y=3 z=4 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=MESSAGE:  numbered pos x=2.0000 y=3.0000 z=4.0000

wasm-port/tests/fixtures/canon/oword_subroutine.events

@@ -0,0 +1,3 @@
+STRAIGHT_TRAVERSE line=4 x=0 y=0 z=0
+SET_FEED_RATE rate=100
+STRAIGHT_FEED line=2 x=2 y=3 z=0

wasm-port/tests/fixtures/canon/program_end_modal_reset.events

@@ -0,0 +1,17 @@
+canon_event=STRAIGHT_FEED line=9
+canon_event=SET_FEED_RATE rate=0
+canon_event=STOP_SPINDLE_TURNING spindle=0
+canon_event=SET_SPINDLE_MODE spindle=0 css_max=0
+canon_event=MIST_OFF
+canon_event=FLOOD_OFF
+canon_event=PROGRAM_END
+post_execute.plane=1
+post_execute.distance_mode=0
+post_execute.feed_mode=0
+post_execute.motion_mode=10
+post_execute.origin_index=1
+post_execute.feed_override=1
+post_execute.speed_override_0=1
+post_execute.spindle_turning_0=1
+post_execute.mist=0
+post_execute.flood=0

wasm-port/tests/fixtures/canon/tool_semantics.events

@@ -0,0 +1,11 @@
+canon_event=SELECT_TOOL tool=2
+canon_event=MESSAGE:  tool selected=2 selected_pocket=2
+canon_event=STOP_SPINDLE_TURNING spindle=0
+canon_event=CHANGE_TOOL
+canon_event=MESSAGE:  tool after_m6 current_pocket=2 current_tool=2
+canon_event=USE_TOOL_LENGTH_OFFSET x=0 y=0 z=1.25 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=MESSAGE:  tool g43 offset=1 x=0.0000 y=0.0000 z=1.2500
+canon_event=USE_TOOL_LENGTH_OFFSET x=0 y=0 z=0 a=0 b=0 c=0 u=0 v=0 w=0
+canon_event=MESSAGE:  tool g49 offset=0 x=0.0000 y=0.0000 z=0.0000
+canon_event=CHANGE_TOOL_NUMBER pocket=0
+canon_event=MESSAGE:  tool after_m61 current_pocket=0 current_tool=2

wasm-port/tests/fixtures/canon_errors/arc_radius_mismatch.expected

@@ -0,0 +1,4 @@
+execute_line_1=0
+execute_line_2=5
+error_text=Radius to end of arc differs from radius to start
+absent=canon_event=ARC_FEED

wasm-port/tests/fixtures/canon_errors/arc_zero_radius.expected

@@ -0,0 +1,4 @@
+execute_line_1=0
+execute_line_2=5
+error_text=Zero-radius arc
+absent=canon_event=ARC_FEED

wasm-port/tests/fixtures/canon_errors/namedparam_readonly.expected

@@ -0,0 +1,2 @@
+execute_line_1=5
+error_text=Cannot assign to read-only parameter #<_feed>

wasm-port/tests/fixtures/canon_errors/numbered_param_readonly.expected

@@ -0,0 +1,2 @@
+execute_line_1=5
+error_text=Parameter is readonly

wasm-port/tests/fixtures/canon_errors/tool_length_offset_not_found.expected

@@ -0,0 +1,3 @@
+execute_line_1=5
+error_text=Requested tool 999 not found in the tool table
+absent=canon_event=USE_TOOL_LENGTH_OFFSET

wasm-port/tests/fixtures/canon_errors/tool_not_found.expected

@@ -0,0 +1,2 @@
+execute_line_1=5
+error_text=Requested tool 999 not found in the tool table

wasm-port/tests/fixtures/gcode/arc_semantics.ngc

@@ -0,0 +1,13 @@
+G90 G17 G0 X0 Y0 Z0
+G91.1
+G2 X1 Y1 I1 J0 F60
+G90.1
+G3 X0 Y0 I0 J1
+G2 X1 Y0 R0.5
+G18 G0 X0 Y0 Z0
+G91.1
+G2 X1 Z1 I1 K0
+G19 G0 X0 Y0 Z0
+G3 Y1 Z1 J0 K1
+G17 G0 X0 Y0 Z0
+G2 X1 Y0 Z2 R-1

wasm-port/tests/fixtures/gcode/canon_runtime_edges.ngc

@@ -0,0 +1,26 @@
+S1200 M3
+M5
+S900 M4
+M5
+M7
+M8
+M9
+G4 P0.25
+M48
+M50 P0
+M50 P1
+M51 P0
+M51 P1
+M52 P0
+M52 P1
+M53 P0
+M53 P1
+M62 P3
+M63 P3
+M64 P4
+M65 P4
+M67 E2 Q12.5
+M68 E2 Q34.5
+M66 P1 L0 Q0
+M0
+M2

wasm-port/tests/fixtures/gcode/namedparam_semantics.ngc

@@ -0,0 +1,21 @@
+#<_global_probe> = 42.5
+#<local_probe> = 7.25
+#<exists_global> = EXISTS[#<_global_probe>]
+#<exists_local> = EXISTS[#<local_probe>]
+#<exists_missing> = EXISTS[#<missing_probe>]
+#<ini_velocity> = #<_ini[traj]max_linear_velocity>
+#<hal_pin> = #<_hal[standalone.pin-bit]>
+#<hal_signal> = #<_hal[standalone.signal-float]>
+#<hal_param> = #<_hal[standalone.param-s32]>
+#<hal_u32> = #<_hal[standalone.pin-u32]>
+#<hal_s64> = #<_hal[standalone.signal-s64]>
+#<hal_u64> = #<_hal[standalone.param-u64]>
+#<hal_disconnected> = #<_hal[standalone.disconnected-float]>
+#<hal_missing_exists> = EXISTS[#<_hal[standalone.missing]>]
+(DEBUG, named global=%f#<_global_probe>)
+(DEBUG, named local=%f#<local_probe>)
+(DEBUG, exists global=%d#<exists_global> local=%d#<exists_local> missing=%d#<exists_missing>)
+(DEBUG, ini velocity=%d#<ini_velocity>)
+(DEBUG, hal pin=%d#<hal_pin> signal=%f#<hal_signal> param=%d#<hal_param>)
+(DEBUG, hal u32=%d#<hal_u32> s64=%.0f#<hal_s64> u64=%.0f#<hal_u64>)
+(DEBUG, hal disconnected=%f#<hal_disconnected> missing_exists=%d#<hal_missing_exists>)

wasm-port/tests/fixtures/gcode/numbered_params.ngc

@@ -0,0 +1,7 @@
+#1 = 12.5
+#2 = [#1 + 3]
+#3 = EXISTS[#1]
+#4 = EXISTS[#5602]
+(DEBUG, numbered p1=%f#1 p2=%f#2 exists1=%d#3 exists5602=%d#4)
+G90 G0 X2 Y3 Z4
+(DEBUG, numbered pos x=%f#5420 y=%f#5421 z=%f#5422)

wasm-port/tests/fixtures/gcode/oword_subroutine.ngc

@@ -0,0 +1,5 @@
+O<move> sub
+G1 X#1 Y#2 F100
+O<move> endsub
+G0 X0 Y0
+O<move> call [2] [3]

wasm-port/tests/fixtures/gcode/program_end_modal_reset.ngc

@@ -0,0 +1,10 @@
+G55
+G18
+G91
+G93
+M49
+S1200 M3
+M7
+M8
+G1 X1 Z1 F2
+M2

wasm-port/tests/fixtures/gcode/tool_semantics.ngc

@@ -0,0 +1,10 @@
+T2
+(DEBUG, tool selected=%d#<_selected_tool> selected_pocket=%d#<_selected_pocket>)
+M6
+(DEBUG, tool after_m6 current_pocket=%d#<_current_pocket> current_tool=%d#<_current_tool>)
+G43 H2
+(DEBUG, tool g43 offset=%d#<_tool_offset> x=%f#5401 y=%f#5402 z=%f#5403)
+G49
+(DEBUG, tool g49 offset=%d#<_tool_offset> x=%f#5401 y=%f#5402 z=%f#5403)
+M61 Q2
+(DEBUG, tool after_m61 current_pocket=%d#<_current_pocket> current_tool=%d#<_current_tool>)

wasm-port/tests/fixtures/gcode_errors/arc_radius_mismatch.ngc

@@ -0,0 +1,2 @@
+G90 G17 G0 X0 Y0
+G2 X1 Y1 I0.2 J0 F60

wasm-port/tests/fixtures/gcode_errors/arc_zero_radius.ngc

@@ -0,0 +1,2 @@
+G90 G17 G0 X0 Y0
+G2 X1 Y0 I0 J0 F60

wasm-port/tests/fixtures/gcode_errors/namedparam_readonly.ngc

@@ -0,0 +1 @@
+#<_feed> = 1

wasm-port/tests/fixtures/gcode_errors/numbered_param_readonly.ngc

@@ -0,0 +1 @@
+#5400 = 1

wasm-port/tests/fixtures/gcode_errors/tool_length_offset_not_found.ngc

@@ -0,0 +1 @@
+G43 H999

wasm-port/tests/fixtures/gcode_errors/tool_not_found.ngc

@@ -0,0 +1 @@
+T999

wasm-port/tests/fixtures/ini/namedparams.ini

@@ -0,0 +1,3 @@
+[TRAJ]
+LINEAR_UNITS = mm
+MAX_LINEAR_VELOCITY = 35

wasm-port/tests/native/verify_native_probes.sh

@@ -7,6 +7,7 @@ GCODE_FIXTURE_DIR="$ROOT_DIR/tests/fixtures/gcode"
 CANON_FIXTURE_DIR="$ROOT_DIR/tests/fixtures/canon"
 GCODE_ERROR_FIXTURE_DIR="$ROOT_DIR/tests/fixtures/gcode_errors"
 CANON_ERROR_FIXTURE_DIR="$ROOT_DIR/tests/fixtures/canon_errors"
+NAMEDPARAM_INI_FIXTURE="$ROOT_DIR/tests/fixtures/ini/namedparams.ini"
 
 "$ROOT_DIR/tools/build_native_probes.sh"
 
@@ -31,26 +32,95 @@ check_exitcode() {
 }
 
 check_exitcode linuxcnc_interp_state_probe
+check_exitcode linuxcnc_tp_api_probe
+check_exitcode linuxcnc_tp_api_probe.run
 check_exitcode linuxcnc_namedparam_harness
+check_exitcode linuxcnc_namedparam_harness.run
 check_exitcode linuxcnc_interp_minimal_harness
 check_exitcode linuxcnc_interp_minimal_harness.run
+check_exitcode linuxcnc_parameter_file_harness
+check_exitcode linuxcnc_parameter_file_harness.run
 check_exitcode linuxcnc_rs274_compile_probe
 check_exitcode linuxcnc_interp_convert_source_probe
 
+NAMEDPARAM_STDOUT="$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log"
+grep -Fq "init_named_parameters=0" "$NAMEDPARAM_STDOUT"
+grep -Fq "global_named_count=57" "$NAMEDPARAM_STDOUT"
+grep -Fq "_metric_machine: rc=0 found=1 value=1" "$NAMEDPARAM_STDOUT"
+grep -Fq "_motion_mode: rc=0 found=1 value=10" "$NAMEDPARAM_STDOUT"
+grep -Fq "_metric: rc=0 found=1 value=1" "$NAMEDPARAM_STDOUT"
+grep -Fq "_feed: rc=0 found=1 value=123.45" "$NAMEDPARAM_STDOUT"
+grep -Fq "_rpm: rc=0 found=1 value=678.9" "$NAMEDPARAM_STDOUT"
+grep -Fq "_x: rc=0 found=1 value=1.25" "$NAMEDPARAM_STDOUT"
+grep -Fq "_current_tool: rc=0 found=1 value=12" "$NAMEDPARAM_STDOUT"
+grep -Fq "_ini[traj]max_linear_velocity: rc=0 found=1 value=35" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.pin-bit]: rc=0 found=1 value=1" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.signal-float]: rc=0 found=1 value=98.25" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.param-s32]: rc=0 found=1 value=-17" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.pin-u32]: rc=0 found=1 value=1.23457e+08" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.signal-s64]: rc=0 found=1 value=-9e+09" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.param-u64]: rc=0 found=1 value=9e+09" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.disconnected-float]: rc=0 found=1 value=12.5" "$NAMEDPARAM_STDOUT"
+grep -Fq "_hal[standalone.missing]: rc=0 found=0 value=0" "$NAMEDPARAM_STDOUT"
+
+PARAMETER_FILE_STDOUT="$BUILD_DIR/linuxcnc_parameter_file_harness.run.stdout.log"
+grep -Fq "restore_existing=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "parameter_5161=10.5" "$PARAMETER_FILE_STDOUT"
+grep -Fq "parameter_5162=20.25" "$PARAMETER_FILE_STDOUT"
+grep -Fq "parameter_5220=1" "$PARAMETER_FILE_STDOUT"
+grep -Fq "parameter_5221=2.25" "$PARAMETER_FILE_STDOUT"
+grep -Fq "parameter_5399=44" "$PARAMETER_FILE_STDOUT"
+grep -Fq "restore_missing_file=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "restore_out_of_order=5" "$PARAMETER_FILE_STDOUT"
+grep -Fq "restore_out_of_order_error=Parameter file out of order" "$PARAMETER_FILE_STDOUT"
+grep -Fq "restore_missing_required=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "missing_required_5161=3.5" "$PARAMETER_FILE_STDOUT"
+grep -Fq "missing_required_5162=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "save_parameters=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "saved_has_5161=1" "$PARAMETER_FILE_STDOUT"
+grep -Fq "saved_has_5162=1" "$PARAMETER_FILE_STDOUT"
+grep -Fq "saved_has_5221=1" "$PARAMETER_FILE_STDOUT"
+grep -Fq "saved_has_5399=1" "$PARAMETER_FILE_STDOUT"
+grep -Fq "saved_has_named_param=0" "$PARAMETER_FILE_STDOUT"
+grep -Fq "backup_has_original_5161=1" "$PARAMETER_FILE_STDOUT"
+
+TP_API_STDOUT="$BUILD_DIR/linuxcnc_tp_api_probe.run.stdout.log"
+grep -Fq "tp_default_queue_size=32" "$TP_API_STDOUT"
+grep -Fq "tp_err_ok=0" "$TP_API_STDOUT"
+grep -Fq "tc_linear=1" "$TP_API_STDOUT"
+grep -Fq "tc_circular=2" "$TP_API_STDOUT"
+grep -Fq "pose_xyz=1,2,3" "$TP_API_STDOUT"
+grep -Fq "tp_create=0" "$TP_API_STDOUT"
+grep -Fq "tp_set_cycle_time=0" "$TP_API_STDOUT"
+grep -Fq "tp_add_line=0" "$TP_API_STDOUT"
+grep -Fq "tp_done_after_line=1" "$TP_API_STDOUT"
+grep -Fq "tp_final_pos=1,0,0" "$TP_API_STDOUT"
+
 check_fixture_output() {
   local fixture="$1"
   local expected="$2"
   local stdout_file="$3"
+  local require_mdi="${4:-1}"
 
   grep -Fq "read=0" "$stdout_file"
   grep -Fq "parse_line=0" "$stdout_file"
 
+  if [[ "$require_mdi" == "1" ]]; then
     local line_count
     line_count="$(grep -cv '^[[:space:]]*$' "$fixture")"
     local line_number
     for ((line_number = 1; line_number <= line_count; line_number += 1)); do
-    grep -Fq "execute_line_${line_number}=0" "$stdout_file"
+      if ! grep -Fq "execute_line_${line_number}=0" "$stdout_file" &&
+         ! grep -Fq "execute_line_${line_number}=1" "$stdout_file" &&
+         ! grep -Fq "execute_line_${line_number}=2" "$stdout_file"; then
+        echo "missing successful execute status for line $line_number in $stdout_file" >&2
+        exit 1
+      fi
     done
+  else
+    grep -Fq "file_open=0" "$stdout_file"
+    grep -Fq "file_execute_1=0" "$stdout_file"
+  fi
 
   while IFS= read -r expected_event; do
     [[ -z "$expected_event" ]] && continue
@@ -74,10 +144,14 @@ for fixture in "$GCODE_FIXTURE_DIR"/*.ngc; do
 
   stdout_file="$BUILD_DIR/linuxcnc_interp_minimal_harness.$name.stdout.log"
   stderr_file="$BUILD_DIR/linuxcnc_interp_minimal_harness.$name.stderr.log"
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness" "$fixture" \
+  INI_FILE_NAME="$NAMEDPARAM_INI_FIXTURE" "$BUILD_DIR/linuxcnc_interp_minimal_harness" "$fixture" \
     >"$stdout_file" \
     2>"$stderr_file"
-  check_fixture_output "$fixture" "$expected" "$stdout_file"
+  require_mdi=1
+  if [[ "$name" == "oword_subroutine" ]]; then
+    require_mdi=0
+  fi
+  check_fixture_output "$fixture" "$expected" "$stdout_file" "$require_mdi"
 done
 
 for fixture in "$GCODE_ERROR_FIXTURE_DIR"/*.ngc; do
@@ -90,7 +164,7 @@ for fixture in "$GCODE_ERROR_FIXTURE_DIR"/*.ngc; do
 
   stdout_file="$BUILD_DIR/linuxcnc_interp_minimal_harness.$name.stdout.log"
   stderr_file="$BUILD_DIR/linuxcnc_interp_minimal_harness.$name.stderr.log"
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness" "$fixture" \
+  INI_FILE_NAME="$NAMEDPARAM_INI_FIXTURE" "$BUILD_DIR/linuxcnc_interp_minimal_harness" "$fixture" \
     >"$stdout_file" \
     2>"$stderr_file"
 
@@ -103,7 +177,7 @@ for fixture in "$GCODE_ERROR_FIXTURE_DIR"/*.ngc; do
         exit 1
       fi
     elif [[ "$expected_line" == error_text=* ]]; then
-      grep -Fq "${expected_line#error_text=}" "$stderr_file"
+      grep -Fq "$expected_line" "$stdout_file"
     else
       grep -Fq "$expected_line" "$stdout_file"
     fi

wasm-port/tools/build_native_probes.sh

@@ -8,141 +8,408 @@ WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
 SHIM_DIR="$ROOT_DIR/runtime/core/shims"
 INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
 MINIMAL_GCODE_FIXTURE="$ROOT_DIR/tests/fixtures/gcode/minimal_linear.ngc"
+NAMEDPARAM_INI_FIXTURE="$ROOT_DIR/tests/fixtures/ini/namedparams.ini"
+CXX="${CXX:-g++}"
 
 mkdir -p "$BUILD_DIR"
 
-rm -f \
+COMMON_FLAGS=(
+  -std=c++20
+  -O2
+  -D_GNU_SOURCE
+  -DM_PI=3.14159265358979323846
+  -DOBJECT_FWD_DWA2002724_HPP
+  -I"$WRAP_DIR"
+  -I"$SHIM_DIR"
+  -I"$INCLUDE_DIR"
+  -I"$VENDOR_DIR/src"
+  -I"$VENDOR_DIR/src/rtapi"
+  -I"$VENDOR_DIR/src/emc"
+  -I"$VENDOR_DIR/src/emc/nml_intf"
+  -I"$VENDOR_DIR/src/emc/motion"
+  -I"$VENDOR_DIR/src/emc/tp"
+  -I"$VENDOR_DIR/src/emc/kinematics"
+  -I"$VENDOR_DIR/src/libnml/posemath"
+)
+
+COMMON_INI_FLAGS=(
+  "${COMMON_FLAGS[@]}"
+  -I"$VENDOR_DIR/src/emc/ini"
+)
+
+MINIMAL_FLAGS=(
+  "${COMMON_INI_FLAGS[@]}"
+  -ffunction-sections
+  -fdata-sections
+  -DUNIT_TEST
+  -DLINUXCNC_STANDALONE_USE_RS274_PRE_STATE
+)
+
+MINIMAL_LINK_FLAGS=(
+  -Wl,--gc-sections
+)
+
+TP_FLAGS=(
+  "${COMMON_FLAGS[@]}"
+  -fpermissive
+)
+
+write_command_file() {
+  local file="$1"
+  shift
+  printf '%q\n' "$@" > "$file"
+}
+
+command_matches() {
+  local file="$1"
+  shift
+
+  local tmp
+  tmp="$(mktemp)"
+  write_command_file "$tmp" "$@"
+  if [[ -f "$file" ]] && cmp -s "$tmp" "$file"; then
+    rm -f "$tmp"
+    return 0
+  fi
+  rm -f "$tmp"
+  return 1
+}
+
+depfile_newer_than() {
+  local depfile="$1"
+  local output="$2"
+
+  [[ -f "$depfile" ]] || return 0
+  local deps
+  deps="$(tr '\\\n' '  ' < "$depfile" | sed -e 's/^[^:]*://')"
+  local dep
+  for dep in $deps; do
+    if [[ -f "$dep" && "$dep" -nt "$output" ]]; then
+      return 0
+    fi
+  done
+  return 1
+}
+
+object_needs_rebuild() {
+  local obj="$1"
+  local depfile="$2"
+  local cmdfile="$3"
+  shift 3
+
+  [[ -f "$obj" ]] || return 0
+  command_matches "$cmdfile" "$@" || return 0
+  depfile_newer_than "$depfile" "$obj" && return 0
+  return 1
+}
+
+compile_object() {
+  local target="$1"
+  local source="$2"
+  local obj="$3"
+  shift 3
+
+  local stdout_log="$BUILD_DIR/$target.stdout.log"
+  local stderr_log="$BUILD_DIR/$target.stderr.log"
+  local depfile="$obj.d"
+  local cmdfile="$obj.cmd"
+  local cmd=("$CXX" "$@" -MMD -MP -MF "$depfile" -c "$source" -o "$obj")
+
+  mkdir -p "$(dirname "$obj")"
+  if ! object_needs_rebuild "$obj" "$depfile" "$cmdfile" "${cmd[@]}"; then
+    printf 'up to date: %s\n' "$source" >> "$stdout_log"
+    return 0
+  fi
+
+  printf 'compile: %s\n' "$source" >> "$stdout_log"
+  if "${cmd[@]}" >> "$stdout_log" 2>> "$stderr_log"; then
+    write_command_file "$cmdfile" "${cmd[@]}"
+    return 0
+  fi
+  return 1
+}
+
+link_needs_rebuild() {
+  local output="$1"
+  local cmdfile="$2"
+  shift 2
+
+  [[ -f "$output" ]] || return 0
+  command_matches "$cmdfile" "$@" || return 0
+
+  local arg
+  for arg in "$@"; do
+    if [[ -f "$arg" && "$arg" -nt "$output" ]]; then
+      return 0
+    fi
+  done
+  return 1
+}
+
+link_binary() {
+  local target="$1"
+  local output="$2"
+  shift 2
+
+  local stdout_log="$BUILD_DIR/$target.stdout.log"
+  local stderr_log="$BUILD_DIR/$target.stderr.log"
+  local cmdfile="$output.cmd"
+  local cmd=("$CXX" "$@" -o "$output")
+
+  if ! link_needs_rebuild "$output" "$cmdfile" "${cmd[@]}"; then
+    printf 'up to date: %s\n' "$output" >> "$stdout_log"
+    return 0
+  fi
+
+  printf 'link: %s\n' "$output" >> "$stdout_log"
+  if "${cmd[@]}" >> "$stdout_log" 2>> "$stderr_log"; then
+    write_command_file "$cmdfile" "${cmd[@]}"
+    return 0
+  fi
+  return 1
+}
+
+compile_target_objects() {
+  local target="$1"
+  local flags_name="$2"
+  local sources_name="$3"
+  local objs_name="$4"
+
+  local -n flags="$flags_name"
+  local -n sources="$sources_name"
+  local -n objs="$objs_name"
+  local obj_dir="$BUILD_DIR/obj/$target"
+  local status=0
+
+  objs=()
+  local source
+  for source in "${sources[@]}"; do
+    local base
+    base="$(basename "$source")"
+    local obj="$obj_dir/${base%.*}.o"
+    objs+=("$obj")
+    if ! compile_object "$target" "$source" "$obj" "${flags[@]}"; then
+      status=1
+    fi
+  done
+
+  return "$status"
+}
+
+build_binary_target() {
+  local target="$1"
+  local output="$2"
+  local flags_name="$3"
+  local sources_name="$4"
+  local link_flags_name="$5"
+  shift 5
+
+  local stdout_log="$BUILD_DIR/$target.stdout.log"
+  local stderr_log="$BUILD_DIR/$target.stderr.log"
+  : > "$stdout_log"
+  : > "$stderr_log"
+
+  local target_objs=()
+  local status=0
+  if ! compile_target_objects "$target" "$flags_name" "$sources_name" target_objs; then
+    status=1
+  fi
+
+  if [[ "$status" -eq 0 ]]; then
+    local -n link_flags="$link_flags_name"
+    if ! link_binary "$target" "$output" "${link_flags[@]}" "${target_objs[@]}" "$@"; then
+      status=1
+    fi
+  fi
+
+  echo "$status" > "$BUILD_DIR/$target.exitcode"
+  return "$status"
+}
+
+build_object_target() {
+  local target="$1"
+  local output="$2"
+  local source="$3"
+  local flags_name="$4"
+
+  local stdout_log="$BUILD_DIR/$target.stdout.log"
+  local stderr_log="$BUILD_DIR/$target.stderr.log"
+  : > "$stdout_log"
+  : > "$stderr_log"
+
+  local -n flags="$flags_name"
+  local status=0
+  if ! compile_object "$target" "$source" "$output" "${flags[@]}"; then
+    status=1
+  fi
+
+  echo "$status" > "$BUILD_DIR/$target.exitcode"
+  return "$status"
+}
+
+NO_LINK_FLAGS=()
+
+INI_PROBE_SOURCES=(
+  "$VENDOR_DIR/src/emc/ini/inifile.cc"
+  "$WRAP_DIR/linuxcnc_ini_probe.cpp"
+)
+
+STATE_PROBE_SOURCES=(
+  "$WRAP_DIR/linuxcnc_interp_state_probe.cpp"
+)
+
+TP_API_PROBE_SOURCES=(
+  "$WRAP_DIR/linuxcnc_tp_api_probe.cpp"
+)
+
+TP_CORE_SOURCES=(
+  "$VENDOR_DIR/src/emc/tp/tp.c"
+  "$VENDOR_DIR/src/emc/tp/tc.c"
+  "$VENDOR_DIR/src/emc/tp/tcq.c"
+  "$VENDOR_DIR/src/emc/tp/spherical_arc.c"
+  "$VENDOR_DIR/src/emc/tp/blendmath.c"
+  "$VENDOR_DIR/src/emc/tp/sp_scurve.c"
+  "$VENDOR_DIR/src/emc/tp/ruckig_wrapper.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/block.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/brake.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/calculator.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/cruckig.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/input_parameter.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/output_parameter.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/profile.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/roots.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/trajectory.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_first_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_first_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_second_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_second_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_third_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/position_third_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_second_step2.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step1.c"
+  "$VENDOR_DIR/src/emc/tp/cruckig/velocity_third_step2.c"
+  "$VENDOR_DIR/src/emc/nml_intf/emcpose.c"
+  "$VENDOR_DIR/src/libnml/posemath/posemath.cc"
+  "$VENDOR_DIR/src/libnml/posemath/_posemath.c"
+  "$VENDOR_DIR/src/libnml/posemath/sincos.c"
+)
+
+TP_RUNTIME_PROBE_SOURCES=(
+  "${TP_CORE_SOURCES[@]}"
+  "$WRAP_DIR/linuxcnc_tp_api_probe.cpp"
+)
+
+INTERP_CORE_SOURCES=(
+  "$VENDOR_DIR/src/emc/rs274ngc/modal_state.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_array.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_internal.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_read.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_check.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_arc.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_inverse.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_execute.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_convert.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_cycles.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_g7x.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_queue.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_find.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_namedparams.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_write.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_o_word.cc"
+  "$VENDOR_DIR/src/emc/rs274ngc/rs274ngc_pre.cc"
+  "$WRAP_DIR/linuxcnc_hal_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_interp_edge_stubs.cpp"
+  "$WRAP_DIR/linuxcnc_runtime_state_stubs.cpp"
+  "$WRAP_DIR/linuxcnc_tool_adapter.cpp"
+  "$WRAP_DIR/linuxcnc_interp_minimal_runtime.cpp"
+  "$VENDOR_DIR/src/emc/ini/inifile.cc"
+)
+
+NAMEDPARAM_SOURCES=(
+  "${INTERP_CORE_SOURCES[@]}"
+  "$WRAP_DIR/linuxcnc_namedparam_harness.cpp"
+)
+
+MINIMAL_SOURCES=(
+  "${INTERP_CORE_SOURCES[@]}"
+  "$WRAP_DIR/linuxcnc_interp_minimal_harness.cpp"
+)
+
+PARAMETER_FILE_SOURCES=(
+  "${INTERP_CORE_SOURCES[@]}"
+  "$WRAP_DIR/linuxcnc_parameter_file_harness.cpp"
+)
+
+build_binary_target \
+  linuxcnc_ini_probe \
   "$BUILD_DIR/linuxcnc_ini_probe" \
+  COMMON_FLAGS \
+  INI_PROBE_SOURCES \
+  NO_LINK_FLAGS \
+  -lfmt
+
+build_binary_target \
+  linuxcnc_interp_state_probe \
   "$BUILD_DIR/linuxcnc_interp_state_probe" \
-  "$BUILD_DIR/linuxcnc_interp_state_probe.exitcode" \
+  COMMON_FLAGS \
-  "$BUILD_DIR/linuxcnc_interp_state_probe.stdout.log" \
+  STATE_PROBE_SOURCES \
-  "$BUILD_DIR/linuxcnc_interp_state_probe.stderr.log" \
+  NO_LINK_FLAGS
+
+build_binary_target \
+  linuxcnc_tp_api_probe \
+  "$BUILD_DIR/linuxcnc_tp_api_probe" \
+  TP_FLAGS \
+  TP_RUNTIME_PROBE_SOURCES \
+  NO_LINK_FLAGS
+
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_tp_api_probe.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_tp_api_probe" \
+    >"$BUILD_DIR/linuxcnc_tp_api_probe.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_tp_api_probe.run.stderr.log"
+  TP_API_RUN_RC=$?
+  set -e
+  echo "$TP_API_RUN_RC" > "$BUILD_DIR/linuxcnc_tp_api_probe.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_tp_api_probe.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_tp_api_probe.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_tp_api_probe.run.stderr.log"
+fi
+
+build_binary_target \
+  linuxcnc_namedparam_harness \
   "$BUILD_DIR/linuxcnc_namedparam_harness" \
-  "$BUILD_DIR/linuxcnc_namedparam_harness.exitcode" \
+  MINIMAL_FLAGS \
-  "$BUILD_DIR/linuxcnc_namedparam_harness.stdout.log" \
+  NAMEDPARAM_SOURCES \
-  "$BUILD_DIR/linuxcnc_namedparam_harness.stderr.log" \
+  MINIMAL_LINK_FLAGS \
+  -lfmt
+
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_namedparam_harness.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_namedparam_harness" "$NAMEDPARAM_INI_FIXTURE" \
+    >"$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_namedparam_harness.run.stderr.log"
+  NAMEDPARAM_RUN_RC=$?
+  set -e
+  echo "$NAMEDPARAM_RUN_RC" > "$BUILD_DIR/linuxcnc_namedparam_harness.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_namedparam_harness.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_namedparam_harness.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_namedparam_harness.run.stderr.log"
+fi
+
+build_binary_target \
+  linuxcnc_interp_minimal_harness \
   "$BUILD_DIR/linuxcnc_interp_minimal_harness" \
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.exitcode" \
+  MINIMAL_FLAGS \
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.stdout.log" \
+  MINIMAL_SOURCES \
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.stderr.log" \
+  MINIMAL_LINK_FLAGS \
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.exitcode" \
+  -lfmt
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.stdout.log" \
-  "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.stderr.log" \
-  "$BUILD_DIR/linuxcnc_rs274_compile_probe.o" \
-  "$BUILD_DIR/linuxcnc_rs274_compile_probe.exitcode" \
-  "$BUILD_DIR/linuxcnc_rs274_compile_probe.stdout.log" \
-  "$BUILD_DIR/linuxcnc_rs274_compile_probe.stderr.log" \
-  "$BUILD_DIR/linuxcnc_interp_convert_source_probe.o" \
-  "$BUILD_DIR/linuxcnc_interp_convert_source_probe.exitcode" \
-  "$BUILD_DIR/linuxcnc_interp_convert_source_probe.stdout.log" \
-  "$BUILD_DIR/linuxcnc_interp_convert_source_probe.stderr.log"
 
-g++ -std=c++20 -O2 \
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_interp_minimal_harness.exitcode")" == "0" ]]; then
-  -D_GNU_SOURCE \
-  -DM_PI=3.14159265358979323846 \
-  -DOBJECT_FWD_DWA2002724_HPP \
-  -I"$SHIM_DIR" \
-  -I"$INCLUDE_DIR" \
-  -I"$VENDOR_DIR/src" \
-  -I"$VENDOR_DIR/src/rtapi" \
-  -I"$VENDOR_DIR/src/emc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  "$VENDOR_DIR/src/emc/ini/inifile.cc" \
-  "$WRAP_DIR/linuxcnc_ini_probe.cpp" \
-  -lfmt \
-  -o "$BUILD_DIR/linuxcnc_ini_probe"
-
-set +e
-g++ -std=c++20 -O2 \
-  -D_GNU_SOURCE \
-  -DM_PI=3.14159265358979323846 \
-  -DOBJECT_FWD_DWA2002724_HPP \
-  -I"$SHIM_DIR" \
-  -I"$INCLUDE_DIR" \
-  -I"$VENDOR_DIR/src" \
-  -I"$VENDOR_DIR/src/rtapi" \
-  -I"$VENDOR_DIR/src/emc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  "$WRAP_DIR/linuxcnc_interp_state_probe.cpp" \
-  -o "$BUILD_DIR/linuxcnc_interp_state_probe" \
-  >"$BUILD_DIR/linuxcnc_interp_state_probe.stdout.log" \
-  2>"$BUILD_DIR/linuxcnc_interp_state_probe.stderr.log"
-STATE_RC=$?
-set -e
-
-echo "$STATE_RC" > "$BUILD_DIR/linuxcnc_interp_state_probe.exitcode"
-
-set +e
-g++ -std=c++20 -O2 \
-  -D_GNU_SOURCE \
-  -DM_PI=3.14159265358979323846 \
-  -DOBJECT_FWD_DWA2002724_HPP \
-  -I"$SHIM_DIR" \
-  -I"$INCLUDE_DIR" \
-  -I"$VENDOR_DIR/src" \
-  -I"$VENDOR_DIR/src/rtapi" \
-  -I"$VENDOR_DIR/src/emc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  "$VENDOR_DIR/src/emc/rs274ngc/modal_state.cc" \
-  "$WRAP_DIR/linuxcnc_runtime_state_stubs.cpp" \
-  "$WRAP_DIR/linuxcnc_namedparam_harness.cpp" \
-  "$VENDOR_DIR/src/emc/ini/inifile.cc" \
-  -lfmt \
-  -o "$BUILD_DIR/linuxcnc_namedparam_harness" \
-  >"$BUILD_DIR/linuxcnc_namedparam_harness.stdout.log" \
-  2>"$BUILD_DIR/linuxcnc_namedparam_harness.stderr.log"
-NAMEDPARAM_RC=$?
-set -e
-
-echo "$NAMEDPARAM_RC" > "$BUILD_DIR/linuxcnc_namedparam_harness.exitcode"
-
-set +e
-g++ -std=c++20 -O2 -ffunction-sections -fdata-sections \
-  -Wl,--gc-sections \
-  -D_GNU_SOURCE \
-  -DM_PI=3.14159265358979323846 \
-  -DOBJECT_FWD_DWA2002724_HPP \
-  -I"$SHIM_DIR" \
-  -I"$INCLUDE_DIR" \
-  -I"$VENDOR_DIR/src" \
-  -I"$VENDOR_DIR/src/rtapi" \
-  -I"$VENDOR_DIR/src/emc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  "$VENDOR_DIR/src/emc/rs274ngc/modal_state.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_array.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_internal.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_read.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_check.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_arc.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_inverse.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_execute.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_convert.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_cycles.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_g7x.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_queue.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_find.cc" \
-  "$VENDOR_DIR/src/emc/rs274ngc/interp_write.cc" \
-  "$WRAP_DIR/linuxcnc_runtime_state_stubs.cpp" \
-  "$WRAP_DIR/linuxcnc_interp_minimal_runtime.cpp" \
-  "$WRAP_DIR/linuxcnc_interp_minimal_harness.cpp" \
-  -lfmt \
-  -o "$BUILD_DIR/linuxcnc_interp_minimal_harness" \
-  >"$BUILD_DIR/linuxcnc_interp_minimal_harness.stdout.log" \
-  2>"$BUILD_DIR/linuxcnc_interp_minimal_harness.stderr.log"
-INTERP_MIN_RC=$?
-set -e
-
-echo "$INTERP_MIN_RC" > "$BUILD_DIR/linuxcnc_interp_minimal_harness.exitcode"
-
-if [[ "$INTERP_MIN_RC" -eq 0 ]]; then
   set +e
   "$BUILD_DIR/linuxcnc_interp_minimal_harness" "$MINIMAL_GCODE_FIXTURE" \
     >"$BUILD_DIR/linuxcnc_interp_minimal_harness.run.stdout.log" \
@@ -150,49 +417,46 @@ if [[ "$INTERP_MIN_RC" -eq 0 ]]; then
   INTERP_MIN_RUN_RC=$?
   set -e
   echo "$INTERP_MIN_RUN_RC" > "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_interp_minimal_harness.run.stderr.log"
 fi
 
-set +e
+build_binary_target \
-g++ -std=c++20 -O2 \
+  linuxcnc_parameter_file_harness \
-  -D_GNU_SOURCE \
+  "$BUILD_DIR/linuxcnc_parameter_file_harness" \
-  -DM_PI=3.14159265358979323846 \
+  MINIMAL_FLAGS \
-  -DOBJECT_FWD_DWA2002724_HPP \
+  PARAMETER_FILE_SOURCES \
-  -I"$SHIM_DIR" \
+  MINIMAL_LINK_FLAGS \
-  -I"$INCLUDE_DIR" \
+  -lfmt
-  -I"$VENDOR_DIR/src" \
-  -I"$VENDOR_DIR/src/rtapi" \
-  -I"$VENDOR_DIR/src/emc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  -c "$WRAP_DIR/linuxcnc_rs274_compile_probe.cpp" \
-  -o "$BUILD_DIR/linuxcnc_rs274_compile_probe.o" \
-  >"$BUILD_DIR/linuxcnc_rs274_compile_probe.stdout.log" \
-  2>"$BUILD_DIR/linuxcnc_rs274_compile_probe.stderr.log"
-RS274_RC=$?
-set -e
 
-echo "$RS274_RC" > "$BUILD_DIR/linuxcnc_rs274_compile_probe.exitcode"
+if [[ "$(tr -d '[:space:]' < "$BUILD_DIR/linuxcnc_parameter_file_harness.exitcode")" == "0" ]]; then
+  set +e
+  "$BUILD_DIR/linuxcnc_parameter_file_harness" \
+    >"$BUILD_DIR/linuxcnc_parameter_file_harness.run.stdout.log" \
+    2>"$BUILD_DIR/linuxcnc_parameter_file_harness.run.stderr.log"
+  PARAMETER_FILE_RUN_RC=$?
+  set -e
+  echo "$PARAMETER_FILE_RUN_RC" > "$BUILD_DIR/linuxcnc_parameter_file_harness.run.exitcode"
+else
+  rm -f \
+    "$BUILD_DIR/linuxcnc_parameter_file_harness.run.exitcode" \
+    "$BUILD_DIR/linuxcnc_parameter_file_harness.run.stdout.log" \
+    "$BUILD_DIR/linuxcnc_parameter_file_harness.run.stderr.log"
+fi
 
-set +e
+build_object_target \
-g++ -std=c++20 -O2 \
+  linuxcnc_rs274_compile_probe \
-  -D_GNU_SOURCE \
+  "$BUILD_DIR/linuxcnc_rs274_compile_probe.o" \
-  -DM_PI=3.14159265358979323846 \
+  "$WRAP_DIR/linuxcnc_rs274_compile_probe.cpp" \
-  -DOBJECT_FWD_DWA2002724_HPP \
+  COMMON_FLAGS
-  -I"$SHIM_DIR" \
+
-  -I"$INCLUDE_DIR" \
+build_object_target \
-  -I"$VENDOR_DIR/src" \
+  linuxcnc_interp_convert_source_probe \
-  -I"$VENDOR_DIR/src/rtapi" \
+  "$BUILD_DIR/linuxcnc_interp_convert_source_probe.o" \
-  -I"$VENDOR_DIR/src/emc" \
+  "$VENDOR_DIR/src/emc/rs274ngc/interp_convert.cc" \
-  -I"$VENDOR_DIR/src/emc/nml_intf" \
+  COMMON_FLAGS
-  -I"$VENDOR_DIR/src/emc/motion" \
-  -I"$VENDOR_DIR/src/libnml/posemath" \
-  -c "$VENDOR_DIR/src/emc/rs274ngc/interp_convert.cc" \
-  -o "$BUILD_DIR/linuxcnc_interp_convert_source_probe.o" \
-  >"$BUILD_DIR/linuxcnc_interp_convert_source_probe.stdout.log" \
-  2>"$BUILD_DIR/linuxcnc_interp_convert_source_probe.stderr.log"
-CONVERT_SOURCE_RC=$?
-set -e
 
-echo "$CONVERT_SOURCE_RC" > "$BUILD_DIR/linuxcnc_interp_convert_source_probe.exitcode"
 echo "native probes complete"

wasm-port/tools/source-manifest.txt

@@ -2,12 +2,18 @@ src/emc/ini/inifile.cc
 src/emc/ini/inifile.h
 src/emc/ini/inifile.hh
 src/rtapi/rtapi_stdint.h
+src/rtapi/rtapi_bool.h
+src/rtapi/rtapi_limits.h
+src/rtapi/rtapi_atomic.h
+src/rtapi/rtapi_slab.h
 src/rtapi/rtapi_string.h
 src/rtapi/rtapi_gfp.h
 src/rtapi/rtapi_math.h
 src/rtapi/rtapi_byteorder.h
 src/emc/nml_intf/emcpos.h
 src/emc/nml_intf/emcpose.h
+src/emc/nml_intf/emcpose.c
+src/emc/nml_intf/motion_types.h
 src/emc/linuxcnc.h
 src/emc/nml_intf/canon.hh
 src/emc/nml_intf/canon_position.hh
@@ -17,11 +23,71 @@ src/emc/nml_intf/debugflags.h
 src/emc/nml_intf/interp_return.hh
 src/emc/motion/state_tag.h
 src/emc/motion/emcmotcfg.h
+src/emc/motion/simple_tp.h
+src/emc/motion/motion.h
+src/emc/motion/mot_priv.h
+src/emc/motion/axis.h
+src/emc/kinematics/kinematics.h
+src/emc/kinematics/cubic.h
+src/emc/tp/tp.h
+src/emc/tp/tp_types.h
+src/emc/tp/tc.h
+src/emc/tp/tc_types.h
+src/emc/tp/tcq.h
+src/emc/tp/spherical_arc.h
+src/emc/tp/blendmath.h
+src/emc/tp/sp_scurve.h
+src/emc/tp/ruckig_wrapper.h
+src/emc/tp/tp_debug.h
+src/emc/tp/tp.c
+src/emc/tp/tc.c
+src/emc/tp/tcq.c
+src/emc/tp/spherical_arc.c
+src/emc/tp/blendmath.c
+src/emc/tp/sp_scurve.c
+src/emc/tp/ruckig_wrapper.c
+src/emc/tp/cruckig/block.h
+src/emc/tp/cruckig/brake.h
+src/emc/tp/cruckig/calculator.h
+src/emc/tp/cruckig/cruckig.h
+src/emc/tp/cruckig/cruckig_internal.h
+src/emc/tp/cruckig/input_parameter.h
+src/emc/tp/cruckig/output_parameter.h
+src/emc/tp/cruckig/position.h
+src/emc/tp/cruckig/profile.h
+src/emc/tp/cruckig/result.h
+src/emc/tp/cruckig/roots.h
+src/emc/tp/cruckig/trajectory.h
+src/emc/tp/cruckig/utils.h
+src/emc/tp/cruckig/velocity.h
+src/emc/tp/cruckig/block.c
+src/emc/tp/cruckig/brake.c
+src/emc/tp/cruckig/calculator.c
+src/emc/tp/cruckig/cruckig.c
+src/emc/tp/cruckig/input_parameter.c
+src/emc/tp/cruckig/output_parameter.c
+src/emc/tp/cruckig/profile.c
+src/emc/tp/cruckig/roots.c
+src/emc/tp/cruckig/trajectory.c
+src/emc/tp/cruckig/position_first_step1.c
+src/emc/tp/cruckig/position_first_step2.c
+src/emc/tp/cruckig/position_second_step1.c
+src/emc/tp/cruckig/position_second_step2.c
+src/emc/tp/cruckig/position_third_step1.c
+src/emc/tp/cruckig/position_third_step2.c
+src/emc/tp/cruckig/velocity_second_step1.c
+src/emc/tp/cruckig/velocity_second_step2.c
+src/emc/tp/cruckig/velocity_third_step1.c
+src/emc/tp/cruckig/velocity_third_step2.c
 src/emc/rs274ngc/modal_state.hh
 src/emc/rs274ngc/modal_state.cc
 src/libnml/posemath/posemath.h
+src/libnml/posemath/posemath.cc
+src/libnml/posemath/_posemath.c
+src/libnml/posemath/gomath.c
 src/libnml/posemath/gomath.h
 src/libnml/posemath/gotypes.h
+src/libnml/posemath/sincos.c
 src/libnml/posemath/sincos.h
 src/emc/rs274ngc/interp_parameter_def.hh
 src/emc/rs274ngc/interp_array.cc

wasm-port/vendor/linuxcnc/src/emc/kinematics/cubic.h

@@ -0,0 +1,62 @@
+/********************************************************************
+* Description: cubic.h
+*   Cubic polynomial interpolation code
+*
+*   Derived from a work by Fred Proctor & Will Shackleford
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*    
+* Copyright (c) 2004 All rights reserved.
+********************************************************************/
+#ifndef CUBIC_H
+#define CUBIC_H
+
+/*
+   Coefficients of a cubic polynomial,
+
+   a * x^3 + b * x^2 + c * x + d
+*/
+
+typedef struct {
+    double a;
+    double b;
+    double c;
+    double d;
+} CUBIC_COEFF;
+
+typedef struct {
+    int configured;
+    double segmentTime;
+    int interpolationRate;
+    double interpolationTime;
+    double interpolationIncrement;
+    double x0, x1, x2, x3;
+    double wp0, wp1;
+    double velp0, velp1;
+    int filled;
+    int needNextPoint;
+    CUBIC_COEFF coeff;
+} CUBIC_STRUCT;
+
+extern int cubicInit(CUBIC_STRUCT * ci);
+extern int cubicSetSegmentTime(CUBIC_STRUCT * ci, double time);
+extern double cubicGetSegmentTime(CUBIC_STRUCT * ci);
+extern int cubicSetInterpolationRate(CUBIC_STRUCT * ci, int rate);
+extern int cubicGetInterpolationRate(CUBIC_STRUCT * ci);
+extern int cubicAddPoint(CUBIC_STRUCT * ci, double point);
+extern int cubicOffset(CUBIC_STRUCT * ci, double offset);
+extern double cubicGetInterpolationIncrement(CUBIC_STRUCT * ci);
+extern CUBIC_COEFF cubicGetCubicCoeff(CUBIC_STRUCT * ci);
+extern int cubicFilled(CUBIC_STRUCT * ci);
+extern double cubicInterpolate(CUBIC_STRUCT * ci, double *x,	/* same as
+								   return val 
+								 */
+			       double *v,	/* velocity */
+			       double *a,	/* accel */
+			       double *j);	/* jerk */
+extern int cubicNeedNextPoint(CUBIC_STRUCT * ci);
+extern int cubicDrain(CUBIC_STRUCT * ci);
+
+#endif				/* CUBIC_H */

wasm-port/vendor/linuxcnc/src/emc/kinematics/kinematics.h

@@ -0,0 +1,215 @@
+/********************************************************************
+* Description: kinematics.h
+*
+*   Derived from a work by Fred Proctor & Will Shackleford
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*    
+* Copyright (c) 2004 All rights reserved.
+*
+* Last change:
+********************************************************************/
+
+#ifndef __LINUXCNC_KINEMATICS_H
+#define __LINUXCNC_KINEMATICS_H
+
+#include "emcpos.h" /* EmcPose */
+#include "rtapi_bool.h"
+
+/*
+  The type of kinematics used.
+  
+  KINEMATICS_IDENTITY means that the joints and world coordinates are the
+  same, as for slideway machines (XYZ milling machines). The EMC will allow
+  changing from joint to world mode and vice versa. Also, the EMC will set
+  the actual world position to be the actual joint positions (not commanded)
+  by calling the forward kinematics each trajectory cycle.
+
+  KINEMATICS_FORWARD_ONLY means that only the forward kinematics exist.
+  Since the EMC requires at least the inverse kinematics, this should simply
+  terminate the EMC.
+
+  KINEMATICS_INVERSE_ONLY means that only the inverse kinematics exist.
+  The forwards won't be called, and the EMC will only allow changing from
+  joint to world mode at the home position.
+
+  KINEMATICS_BOTH means that both the forward and inverse kins are defined.
+  Like KINEMATICS_IDENTITY, the EMC will allow changing between world and
+  joint modes. However, the kins are assumed to be somewhat expensive
+  computationally, and the forwards won't be called at the trajectory rate
+  to compute actual world coordinates from actual joint values.
+*/
+
+typedef enum {
+    KINEMATICS_IDENTITY = 1,/* forward=inverse, both well-behaved */
+    KINEMATICS_FORWARD_ONLY,/* forward but no inverse */
+    KINEMATICS_INVERSE_ONLY,/* inverse but no forward */
+    KINEMATICS_BOTH         /* forward and inverse both */
+} KINEMATICS_TYPE;
+
+/* the forward flags are passed to the forward kinematics so that they
+   can resolve ambiguities in the world coordinates for a given joint set,
+   e.g., for hexpods, this would be platform-below-base, platform-above-base.
+
+   The flags are also passed to the inverse kinematics and are set by them,
+   which is how they are changed from their initial value. For example, for
+   hexapods you could do a coordinated move that brings the platform up from
+   below the base to above the base. The forward flags would be set to
+   indicate this. */
+typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
+
+/* the inverse flags are passed to the inverse kinematics so that they
+   can resolve ambiguities in the joint angles for a given world coordinate,
+   e.g., for robots, this would be elbow-up, elbow-down, etc.
+
+   The flags are also passed to the forward kinematics and are set by them,
+   which is how they are changed from their initial value. For example, for
+   robots you could do a joint move that brings the elbow from a down
+   configuration to an up configuration. The inverse flags would be set to
+   indicate this. */
+typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
+
+/* the forward kinematics take joint values and determine world coordinates,
+   given forward kinematics flags to resolve any ambiguities. The inverse
+   flags are set to indicate their value appropriate to the joint values
+   passed in. */
+extern int kinematicsForward(const double *joint,
+                             struct EmcPose * world,
+                             const KINEMATICS_FORWARD_FLAGS * fflags,
+                             KINEMATICS_INVERSE_FLAGS * iflags);
+
+/* the inverse kinematics take world coordinates and determine joint values,
+   given the inverse kinematics flags to resolve any ambiguities. The forward
+   flags are set to indicate their value appropriate to the world coordinates
+   passed in. */
+extern int kinematicsInverse(const struct EmcPose * world,
+                             double *joint,
+                             const KINEMATICS_INVERSE_FLAGS * iflags,
+                             KINEMATICS_FORWARD_FLAGS * fflags);
+
+/* the home kinematics function sets all its arguments to their proper
+   values at the known home position. When called, these should be set,
+   when known, to initial values, e.g., from an INI file. If the home
+   kinematics can accept arbitrary starting points, these initial values
+   should be used.
+*/
+extern int kinematicsHome(struct EmcPose * world,
+                          double *joint,
+                          KINEMATICS_FORWARD_FLAGS * fflags,
+                          KINEMATICS_INVERSE_FLAGS * iflags);
+
+extern KINEMATICS_TYPE kinematicsType(void);
+
+/* parameters for use with switchkins.c */
+typedef struct kinematics_parms {
+  char* sparm;     // module string parameter passed to kins
+  char* kinsname;  // must agree with module(file) name
+  char* halprefix; // for hal pin hames
+  char* required_coordinates;
+  int   max_joints;
+  int   allow_duplicates;
+  int   fwd_iterates_mask; // identify kins types that use iterative
+                           // forward kinematics (typ: genhex)
+                           // bitmask: 0x0 none
+                           // bitmask: 0x1 bit0: switchkins_type==0
+                           // bitmask: 0x2 bit1: switchkins_type==1
+                           // bitmask: 0x4 bit2: switchkins_type==2
+  int   gui_kinstype; // may be reqd for parallel kins with vismach
+                      // to select switchkins_type for gui pins
+} kparms;
+
+/* map letters in a coordinates string to joint numbers
+** sequentially.  Axis indices are 0:x,1:y,...,etc
+** Example: coordinates=XYZYAC
+** Result:  axis_idx_for_jno[0] = 0 ==> X
+**          axis_idx_for_jno[1] = 1 ==> Y
+**          axis_idx_for_jno[2] = 2 ==> Z
+**          axis_idx_for_jno[3] = 1 ==> Y (duplicate allowed)
+**          axis_idx_for_jno[4] = 1 ==> A
+**          axis_idx_for_jno[5] = 1 ==> C
+*/
+extern int map_coordinates_to_jnumbers(const char *coordinates,
+                                       const int  max_joints,
+                                       const int  allow_duplicates,
+                                             int  axis_idx_for_jno[]);
+
+extern int mapped_joints_to_position(const int max_joints,
+                                     const double* joints,
+                                     EmcPose*  pose);
+
+extern int position_to_mapped_joints(const int max_joints,
+                                     const EmcPose* pos,
+                                     double* joints);
+
+extern int identityKinematicsSetup(const int   comp_id,
+                                   const char* coordinates,
+                                   kparms*     ksetup_parms);
+
+extern int identityKinematicsForward(const double *joint,
+                                     struct EmcPose * world,
+                                     const KINEMATICS_FORWARD_FLAGS * fflags,
+                                     KINEMATICS_INVERSE_FLAGS * iflags);
+
+extern int identityKinematicsInverse(const struct EmcPose * world,
+                                     double *joint,
+                                     const KINEMATICS_INVERSE_FLAGS * iflags,
+                                     KINEMATICS_FORWARD_FLAGS * fflags);
+
+extern int kinematicsSwitchable(void);
+extern int kinematicsSwitch(int switchkins_type);
+//NOTE: switchable kinematics may require Interp::Synch
+//      before/after invoking kinematicsSwitch()
+//      A convenient command to synch is: M66 E0 L0
+
+#define KINS_NOT_SWITCHABLE \
+extern int kinematicsSwitchable() {return 0;} \
+extern int kinematicsSwitch(int switchkins_type) { (void)switchkins_type; return 0;} \
+EXPORT_SYMBOL(kinematicsSwitchable); \
+EXPORT_SYMBOL(kinematicsSwitch);
+
+
+// support for template for user-defined switchkins_type==2
+extern int userkKinematicsSetup(const int   comp_id,
+                                const char* coordinates,
+                                kparms*     ksetup_parms);
+
+extern int userkKinematicsForward(const double *joint,
+                                  struct EmcPose * world,
+                                  const KINEMATICS_FORWARD_FLAGS * fflags,
+                                  KINEMATICS_INVERSE_FLAGS * iflags);
+
+extern int userkKinematicsInverse(const struct EmcPose * world,
+                                  double *joint,
+                                  const KINEMATICS_INVERSE_FLAGS * iflags,
+                                  KINEMATICS_FORWARD_FLAGS * fflags);
+#endif
+//*********************************************************************
+// xyzac,xyzbc;
+extern int trtKinematicsSetup(const int   comp_id,
+                              const char* coordinates,
+                              kparms*     ksetup_parms);
+
+extern int xyzacKinematicsForward(const double *joints,
+                                  EmcPose * pos,
+                                  const KINEMATICS_FORWARD_FLAGS * fflags,
+                                  KINEMATICS_INVERSE_FLAGS * iflags);
+
+extern int xyzacKinematicsInverse(const EmcPose * pos,
+                                  double *joints,
+                                  const KINEMATICS_INVERSE_FLAGS * iflags,
+                                  KINEMATICS_FORWARD_FLAGS * fflags);
+
+
+extern int xyzbcKinematicsForward(const double *joints,
+                                  EmcPose * pos,
+                                  const KINEMATICS_FORWARD_FLAGS * fflags,
+                                  KINEMATICS_INVERSE_FLAGS * iflags);
+
+extern int xyzbcKinematicsInverse(const EmcPose * pos,
+                                  double *joints,
+                                  const KINEMATICS_INVERSE_FLAGS * iflags,
+                                  KINEMATICS_FORWARD_FLAGS * fflags);
+
+//*********************************************************************

wasm-port/vendor/linuxcnc/src/emc/motion/axis.h

@@ -0,0 +1,60 @@
+
+#ifndef AXIS_H
+#define AXIS_H
+
+#include <rtapi_bool.h>
+#include <hal.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void axis_init_all(void);
+void axis_initialize_external_offsets(void);
+int axis_init_hal_io(int mot_comp_id);
+
+void axis_handle_jogwheels(bool motion_teleop_flag, bool motion_enable_flag, bool homing_is_active);
+bool axis_plan_external_offsets(double servo_period, bool motion_enable_flag, bool all_homed);
+void axis_check_constraints(double pos[], int failing_axes[]);
+
+void axis_jog_cont(int axis_num, double vel, long servo_period);
+void axis_jog_incr(int axis_num, double offset, double vel, long servo_period);
+void axis_jog_abs(int axis_num, double offset, double vel);
+bool axis_jog_abort_all(bool immediate);
+bool axis_jog_abort(int axis_num, bool immediate);
+bool axis_jog_is_active(void);
+
+void axis_output_to_hal(double *pcmd_p[]);
+
+void axis_set_max_pos_limit(int axis_num, double maxLimit);
+void axis_set_min_pos_limit(int axis_num, double minLimit);
+void axis_set_vel_limit(int axis_num, double vel);
+void axis_set_acc_limit(int axis_num, double acc);
+void axis_set_jerk_limit(int axis_num, double jerk);
+void axis_set_ext_offset_vel_limit(int axis_num, double ext_offset_vel);
+void axis_set_ext_offset_acc_limit(int axis_num, double ext_offset_acc);
+void axis_set_locking_joint(int axis_num, int joint);
+
+double axis_get_min_pos_limit(int axis_num);
+double axis_get_max_pos_limit(int axis_num);
+double axis_get_vel_limit(int axis_num);
+double axis_get_acc_limit(int axis_num);
+int axis_get_locking_joint(int axis_num);
+double axis_get_compound_velocity(void);
+double axis_get_ext_offset_curr_pos(int axis_num);
+
+double axis_get_teleop_vel_cmd(int axis_num);
+
+void axis_sync_teleop_tp_to_carte_pos(int extfactor, double *pcmd_p[]);
+void axis_sync_carte_pos_to_teleop_tp(int extfactor, double *pcmd_p[]);
+void axis_apply_ext_offsets_to_carte_pos(int extfactor, double *pcmd_p[]);
+
+int axis_update_coord_with_bound(double *pcmd_p[], double servo_period);
+
+int axis_calc_motion(double servo_period);
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* AXIS_H */

wasm-port/vendor/linuxcnc/src/emc/motion/mot_priv.h

@@ -0,0 +1,355 @@
+/*******************************************************************
+* Description: mot_priv.h
+*   Macros and declarations local to the realtime sources.
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*
+* Copyright (c) 2004 All rights reserved.
+********************************************************************/
+#ifndef MOT_PRIV_H
+#define MOT_PRIV_H
+
+/***********************************************************************
+*                       TYPEDEFS, ENUMS, ETC.                          *
+************************************************************************/
+
+/* First we define structures for data shared with the HAL */
+
+/* HAL visible data notations:
+   RPA:  read only parameter
+   WPA:  write only parameter
+   WRPA: read/write parameter
+   RPI:  read only pin
+   WPI:  write only pin
+   WRPI: read/write pin
+*/
+
+/* joint data */
+#include <hal.h>
+#include "../motion/motion.h"
+
+typedef struct {
+    // creating a lot of pins for spindle control to be very flexible
+    // the user needs only a subset of these
+
+    // simplest way of spindle control (output start/stop)
+    hal_bit_t *spindle_on;  /* spindle spin output */
+
+    // same thing for 2 directions
+    hal_bit_t *spindle_forward; /* spindle spin-forward output */
+    hal_bit_t *spindle_reverse; /* spindle spin-reverse output */
+
+    // simple velocity control (as long as the output is active the spindle
+    //                          should accelerate/decelerate
+    hal_bit_t *spindle_incr_speed;  /* spindle spin-increase output */
+    hal_bit_t *spindle_decr_speed;  /* spindle spin-decrease output */
+
+    // simple output for brake
+    hal_bit_t *spindle_brake;   /* spindle brake output */
+
+    // output of a prescribed speed (to hook-up to a velocity controller)
+    hal_float_t *spindle_speed_out; /* spindle speed output */
+    hal_float_t *spindle_speed_out_rps; /* spindle speed output */
+    hal_float_t *spindle_speed_out_abs; /* spindle speed output absolute*/
+    hal_float_t *spindle_speed_out_rps_abs; /* spindle speed output absolute*/
+    hal_float_t *spindle_speed_cmd_rps; /* spindle speed command without SO applied */
+    hal_float_t *spindle_speed_in;  /* spindle speed measured */
+    hal_bit_t *spindle_index_enable; /* spindle inde I/O pin */
+    hal_bit_t *spindle_inhibit;
+    hal_float_t *spindle_revs;
+    hal_bit_t *spindle_is_atspeed;
+    hal_bit_t *spindle_amp_fault;
+
+    // spindle orient
+    hal_float_t *spindle_orient_angle;  /* out: desired spindle angle, degrees */
+    hal_s32_t   *spindle_orient_mode;   /* out: 0: least travel; 1: cw; 2: ccw */
+    hal_bit_t   *spindle_orient;    /* out: signal orient in progress */
+    hal_bit_t   *spindle_locked;    /* out: signal orient complete, spindle locked */
+    hal_bit_t   *spindle_is_oriented;   /* in: orientation completed */
+    hal_s32_t   *spindle_orient_fault;  /* in: error code of failed operation */
+
+} spindle_hal_t;
+
+typedef struct {
+    hal_float_t *coarse_pos_cmd;/* RPI: commanded position, w/o comp */
+    hal_float_t *joint_vel_cmd;	/* RPI: commanded velocity, w/o comp */
+    hal_float_t *joint_acc_cmd;	/* RPI: commanded acceleration, w/o comp */
+    hal_float_t *joint_jerk_cmd;/* RPI: commanded jerk, w/o comp */
+    hal_float_t *backlash_corr;	/* RPI: correction for backlash */
+    hal_float_t *backlash_filt;	/* RPI: filtered backlash correction */
+    hal_float_t *backlash_vel;	/* RPI: backlash speed variable */
+    hal_float_t *motor_offset;	/* RPI: motor offset, for checking homing stability */
+    hal_float_t *motor_pos_cmd;	/* WPI: commanded position, with comp */
+    hal_float_t *motor_pos_fb;	/* RPI: position feedback, with comp */
+    hal_float_t *joint_pos_cmd;	/* WPI: commanded position w/o comp, not ofs */
+    hal_float_t *joint_pos_fb;	/* RPI: position feedback, w/o comp */
+    hal_float_t *f_error;	/* RPI: following error */
+    hal_float_t *f_error_lim;	/* RPI: following error limit */
+
+    hal_float_t *free_pos_cmd;	/* RPI: free traj planner pos cmd */
+    hal_float_t *free_vel_lim;	/* RPI: free traj planner vel limit */
+    hal_bit_t *free_tp_enable;	/* RPI: free traj planner is running */
+    hal_bit_t *kb_jjog_active;   /* RPI: executing keyboard jog */
+    hal_bit_t *wheel_jjog_active;/* RPI: executing handwheel jog */
+
+    hal_bit_t *active;		/* RPI: joint is active, whatever that means */
+    hal_bit_t *in_position;	/* RPI: joint is in position */
+    hal_bit_t *error;		/* RPI: joint has an error */
+    hal_bit_t *phl;		/* RPI: joint is at positive hard limit */
+    hal_bit_t *nhl;		/* RPI: joint is at negative hard limit */
+    hal_bit_t *f_errored;	/* RPI: joint had too much following error */
+    hal_bit_t *faulted;		/* RPI: joint amp faulted */
+    hal_bit_t *pos_lim_sw;	/* RPI: positive limit switch input */
+    hal_bit_t *neg_lim_sw;	/* RPI: negative limit switch input */
+    hal_bit_t *amp_fault;	/* RPI: amp fault input */
+    hal_bit_t *amp_enable;	/* WPI: amp enable output */
+
+    hal_bit_t *unlock;          /* WPI: command that axis should unlock for rotation */
+    hal_bit_t *is_unlocked;     /* RPI: axis is currently unlocked */
+
+    hal_s32_t   *jjog_counts;	/* WPI: jogwheel position input */
+    hal_bit_t   *jjog_enable;	/* RPI: enable jogwheel */
+    hal_float_t *jjog_scale;	/* RPI: distance to jog on each count */
+    hal_float_t *jjog_accel_fraction;	/* RPI: to limit wheel jog accel */
+    hal_bit_t   *jjog_vel_mode;	/* RPI: true for "velocity mode" jogwheel */
+} joint_hal_t;
+
+typedef struct {
+    hal_float_t *posthome_cmd; //  IN pin extrajoint
+} extrajoint_hal_t;
+
+/* machine data */
+
+typedef struct {
+    hal_bit_t *probe_input;	/* RPI: probe switch input */
+    hal_bit_t *enable;		/* RPI: motion inhibit input */
+    hal_float_t *adaptive_feed;	/* RPI: adaptive feedrate, 0.0 to 1.0 */
+    hal_bit_t *feed_hold;	/* RPI: set TRUE to stop motion maskable with g53 P1*/
+    hal_bit_t *feed_inhibit;	/* RPI: set TRUE to stop motion (non maskable)*/
+    hal_bit_t *homing_inhibit;	/* RPI: set TRUE to inhibit homing*/
+    hal_bit_t *jog_inhibit;	/* RPI: set TRUE to inhibit jogging*/
+    hal_bit_t *jog_stop;	/* RPI: set TRUE to stop jogging following accel values*/
+    hal_bit_t *jog_stop_immediate;	/* RPI: set TRUE to stop jogging immediately*/
+    hal_bit_t *jog_is_active;	/* RPI: TRUE if active jogging*/
+    hal_bit_t *tp_reverse;	/* Set true if trajectory planner is running in reverse*/
+    hal_bit_t *motion_enabled;	/* RPI: motion enable for all joints */
+    hal_bit_t *is_all_homed;	/* RPI: TRUE if all active joints is homed */
+    hal_bit_t *in_position;	/* RPI: all joints are in position */
+    hal_bit_t *coord_mode;	/* RPA: TRUE if coord, FALSE if free */
+    hal_bit_t *teleop_mode;	/* RPA: TRUE if teleop mode */
+    hal_bit_t *coord_error;	/* RPA: TRUE if coord mode error */
+    hal_bit_t *on_soft_limit;	/* RPA: TRUE if outside a limit */
+
+    hal_s32_t *program_line;    /* RPA: program line causing current motion */
+    hal_s32_t *motion_type;	/* RPA: type (feed/rapid) of currently commanded motion */
+    hal_float_t *current_vel;   /* RPI: velocity magnitude in machine units */
+    hal_float_t *requested_vel;   /* RPI: requested velocity magnitude in machine units */
+    hal_float_t *distance_to_go;/* RPI: distance to go in current move*/
+
+    hal_bit_t debug_bit_0;	/* RPA: generic param, for debugging */
+    hal_bit_t debug_bit_1;	/* RPA: generic param, for debugging */
+    hal_float_t debug_float_0;	/* RPA: generic param, for debugging */
+    hal_float_t debug_float_1;	/* RPA: generic param, for debugging */
+    hal_float_t debug_float_2;	/* RPA: generic param, for debugging */
+    hal_float_t debug_float_3;	/* RPA: generic param, for debugging */
+    hal_s32_t debug_s32_0;	/* RPA: generic param, for debugging */
+    hal_s32_t debug_s32_1;	/* RPA: generic param, for debugging */
+
+    hal_bit_t *synch_do[EMCMOT_MAX_DIO]; /* WPI array: output pins for motion synched IO */
+    hal_bit_t *synch_di[EMCMOT_MAX_DIO]; /* RPI array: input pins for motion synched IO */
+    hal_float_t *analog_input[EMCMOT_MAX_AIO]; /* RPI array: input pins for analog Inputs */
+    hal_float_t *analog_output[EMCMOT_MAX_AIO]; /* RPI array: output pins for analog Inputs */
+    hal_bit_t *misc_error[EMCMOT_MAX_MISC_ERROR]; /* RPI array: output pins for misc error Inputs */
+
+    // FIXME - debug only, remove later
+    hal_float_t traj_pos_out;	/* RPA: traj internals, for debugging */
+    hal_float_t traj_vel_out;	/* RPA: traj internals, for debugging */
+    hal_u32_t traj_active_tc;	/* RPA: traj internals, for debugging */
+    hal_float_t tc_pos[4];	/* RPA: traj internals, for debugging */
+    hal_float_t tc_vel[4];	/* RPA: traj internals, for debugging */
+    hal_float_t tc_acc[4];	/* RPA: traj internals, for debugging */
+
+    // realtime overrun detection
+    hal_u32_t   *last_period;	/* pin: last period in clocks */
+    hal_float_t *last_period_ns;	/* pin: last period in nanoseconds */
+
+    hal_float_t *tooloffset_x;
+    hal_float_t *tooloffset_y;
+    hal_float_t *tooloffset_z;
+    hal_float_t *tooloffset_a;
+    hal_float_t *tooloffset_b;
+    hal_float_t *tooloffset_c;
+    hal_float_t *tooloffset_u;
+    hal_float_t *tooloffset_v;
+    hal_float_t *tooloffset_w;
+
+    spindle_hal_t spindle[EMCMOT_MAX_SPINDLES];     /*spindle data */
+    joint_hal_t joint[EMCMOT_MAX_JOINTS];	/* data for each joint */
+    extrajoint_hal_t ejoint[EMCMOT_MAX_EXTRAJOINTS]; /* data for each extrajoint */
+
+    hal_bit_t   *eoffset_active; /* ext offsets active */
+    hal_bit_t   *eoffset_limited; /* ext offsets exceed limit */
+
+    hal_float_t *feed_upm; /* feed G-code units per minute*/
+    hal_float_t *feed_inches_per_minute; /* feed inches per minute*/
+    hal_float_t *feed_inches_per_second; /* feed inches per second*/
+    hal_float_t *feed_mm_per_minute; /* feed mm per minute*/
+    hal_float_t *feed_mm_per_second; /* feed mm per second*/
+
+    hal_float_t *switchkins_type;
+    /* Interp State Pins */
+    hal_s32_t   *interp_line_number;
+    hal_s32_t   *interp_motion_type;
+    hal_float_t *interp_feedrate;
+
+    /* New Geometric Metadata Pins */
+    hal_float_t *interp_arc_radius;
+    hal_float_t *interp_arc_center_x;
+    hal_float_t *interp_arc_center_y;
+    hal_float_t *interp_arc_center_z;
+    hal_float_t *interp_straight_heading;
+    hal_float_t *interp_normal_heading;
+    hal_bit_t   *iscircle;
+} emcmot_hal_data_t;
+
+/***********************************************************************
+*                   GLOBAL VARIABLE DECLARATIONS                       *
+************************************************************************/
+
+/* pointer to emcmot_hal_data_t struct in HAL shmem, with all HAL data */
+extern emcmot_hal_data_t *emcmot_hal_data;
+
+/* pointer to array of joint structs with all joint data */
+/* the actual array may be in shared memory or in kernel space, as
+   determined by the init code in motion.c */
+extern emcmot_joint_t joints[EMCMOT_MAX_JOINTS];
+
+/* Variable defs */
+extern KINEMATICS_FORWARD_FLAGS fflags;
+extern KINEMATICS_INVERSE_FLAGS iflags;
+/* these variable have the 1/servo cycle time */
+
+/* Struct pointers */
+extern struct emcmot_struct_t *emcmotStruct;
+extern struct emcmot_command_t *emcmotCommand;
+extern struct emcmot_status_t *emcmotStatus;
+extern struct emcmot_config_t *emcmotConfig;
+extern struct emcmot_internal_t *emcmotInternal;
+extern struct emcmot_error_t *emcmotError;
+
+/***********************************************************************
+*                    PUBLIC FUNCTION PROTOTYPES                        *
+************************************************************************/
+
+/* function definitions */
+extern void emcmotCommandHandler(void *arg, long period);
+extern void emcmotController(void *arg, long period);
+extern void emcmotSetCycleTime(unsigned long nsec);
+
+/* these are related to synchronized I/O */
+extern void emcmotDioWrite(int index, char value);
+extern void emcmotAioWrite(int index, double value);
+
+extern void emcmotSetRotaryUnlock(int axis, int unlock);
+extern int emcmotGetRotaryIsUnlocked(int axis);
+
+//
+// Try to change the Motion mode to Teleop.
+//
+// This function can be called at any time.  Returns without changing
+// mode if Teleop is not currently allowed.  This code doesn't actually
+// make the transition, it just sets a flag requesting the transition.
+// The real transition to Teleop mode is done in emcmotController().
+//
+void switch_to_teleop_mode(void);
+
+/* recalculates jog limits */
+extern void refresh_jog_limits(emcmot_joint_t *joint,int joint_num);
+/* handles 'homed' flags, see command.c for details */
+extern void clearHomes(int joint_num);
+
+extern void emcmot_config_change(void);
+extern void reportError(const char *fmt, ...) __attribute__((format(printf,1,2))); /* Use the rtapi_print call */
+
+
+int joint_is_lockable(int joint_num);
+
+#define ALL_JOINTS emcmotConfig->numJoints
+// number of kinematics-only joints:
+#define NO_OF_KINS_JOINTS (ALL_JOINTS - emcmotConfig->numExtraJoints)
+#define IS_EXTRA_JOINT(jno) (jno >= NO_OF_KINS_JOINTS)
+// 0-based Joint numbering:
+// kinematic-only jno.s: [0                 ... (NO_OF_KINS_JOINTS -1) ]
+// extrajoint     jno.s: [NO_OF_KINS_JOINTS ... (ALL_JOINTS  -1) ]
+
+ /* rtapi_get_time() returns a nanosecond value. In time, we should use a u64
+    value for all calcs and only do the conversion to seconds when it is
+    really needed. */
+#define etime() (((double) rtapi_get_time()) / 1.0e9)
+
+/* macros for reading, writing bit flags */
+
+/* motion flags */
+
+#define GET_MOTION_ERROR_FLAG() (emcmotStatus->motionFlag & EMCMOT_MOTION_ERROR_BIT ? 1 : 0)
+
+#define SET_MOTION_ERROR_FLAG(fl) if (fl) emcmotStatus->motionFlag |= EMCMOT_MOTION_ERROR_BIT; else emcmotStatus->motionFlag &= ~EMCMOT_MOTION_ERROR_BIT;
+
+#define GET_MOTION_COORD_FLAG() (emcmotStatus->motionFlag & EMCMOT_MOTION_COORD_BIT ? 1 : 0)
+
+#define SET_MOTION_COORD_FLAG(fl) if (fl) emcmotStatus->motionFlag |= EMCMOT_MOTION_COORD_BIT; else emcmotStatus->motionFlag &= ~EMCMOT_MOTION_COORD_BIT;
+
+#define GET_MOTION_TELEOP_FLAG() (emcmotStatus->motionFlag & EMCMOT_MOTION_TELEOP_BIT ? 1 : 0)
+
+#define SET_MOTION_TELEOP_FLAG(fl) if (fl) emcmotStatus->motionFlag |= EMCMOT_MOTION_TELEOP_BIT; else emcmotStatus->motionFlag &= ~EMCMOT_MOTION_TELEOP_BIT;
+
+#define GET_MOTION_INPOS_FLAG() (emcmotStatus->motionFlag & EMCMOT_MOTION_INPOS_BIT ? 1 : 0)
+
+#define SET_MOTION_INPOS_FLAG(fl) if (fl) emcmotStatus->motionFlag |= EMCMOT_MOTION_INPOS_BIT; else emcmotStatus->motionFlag &= ~EMCMOT_MOTION_INPOS_BIT;
+
+#define GET_MOTION_ENABLE_FLAG() (emcmotStatus->motionFlag & EMCMOT_MOTION_ENABLE_BIT ? 1 : 0)
+
+#define SET_MOTION_ENABLE_FLAG(fl) if (fl) emcmotStatus->motionFlag |= EMCMOT_MOTION_ENABLE_BIT; else emcmotStatus->motionFlag &= ~EMCMOT_MOTION_ENABLE_BIT;
+
+#define GET_TRAJ_PLANNER_TYPE() (emcmotStatus->planner_type)
+
+#define SET_TRAK_PLANNER_TYPE(tp) (emcmotStatus->planner_type = tp)
+
+/* joint flags */
+
+#define GET_JOINT_ENABLE_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_ENABLE_BIT ? 1 : 0)
+
+#define SET_JOINT_ENABLE_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_ENABLE_BIT; else (joint)->flag &= ~EMCMOT_JOINT_ENABLE_BIT;
+
+#define SET_JOINT_ACTIVE_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_ACTIVE_BIT; else (joint)->flag &= ~EMCMOT_JOINT_ACTIVE_BIT;
+
+#define SET_JOINT_INPOS_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_INPOS_BIT; else (joint)->flag &= ~EMCMOT_JOINT_INPOS_BIT;
+
+#define GET_JOINT_ERROR_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_ERROR_BIT ? 1 : 0)
+
+#define SET_JOINT_ERROR_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_ERROR_BIT; else (joint)->flag &= ~EMCMOT_JOINT_ERROR_BIT;
+
+#define GET_JOINT_PHL_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_MAX_HARD_LIMIT_BIT ? 1 : 0)
+
+#define SET_JOINT_PHL_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_MAX_HARD_LIMIT_BIT; else (joint)->flag &= ~EMCMOT_JOINT_MAX_HARD_LIMIT_BIT;
+
+#define GET_JOINT_NHL_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_MIN_HARD_LIMIT_BIT ? 1 : 0)
+
+#define SET_JOINT_NHL_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_MIN_HARD_LIMIT_BIT; else (joint)->flag &= ~EMCMOT_JOINT_MIN_HARD_LIMIT_BIT;
+
+
+#define GET_JOINT_FERROR_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_FERROR_BIT ? 1 : 0)
+
+#define SET_JOINT_FERROR_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_FERROR_BIT; else (joint)->flag &= ~EMCMOT_JOINT_FERROR_BIT;
+
+#define GET_JOINT_FAULT_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_FAULT_BIT ? 1 : 0)
+
+#define SET_JOINT_FAULT_FLAG(joint,fl) if (fl) (joint)->flag |= EMCMOT_JOINT_FAULT_BIT; else (joint)->flag &= ~EMCMOT_JOINT_FAULT_BIT;
+
+#if defined(__KERNEL__)
+#define HAVE_CPU_KHZ
+#endif
+
+#endif /* MOT_PRIV_H */

wasm-port/vendor/linuxcnc/src/emc/motion/motion.h

@@ -0,0 +1,780 @@
+/********************************************************************
+* Description: motion.h
+*   Data structures used throughout emc2.
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*
+* Copyright (c) 2004 All rights reserved
+********************************************************************/
+
+/* jmk says: This file is a mess! */
+
+/*
+
+Misc ramblings:
+
+The terms axis and joint are used inconsistently throughout EMC.
+For all new code, the usages are as follows:
+
+    axis - one of the nine degrees of freedom, x, y, z, a, b, c, u, v, w
+	these refer to axes in Cartesian space, which may or
+	may not match up with joints (see below). On Cartesian
+	machines they do match up, but for hexapods, robots, and
+	other non-Cartesian machines they don't.
+    joint - one of the physical degrees of freedom of the machine
+	these might be linear (leadscrews) or rotary (rotary
+	tables, robot arm joints).  There can be any number of
+	joints.  The kinematics code is responsible for translating
+	from axis space to joint space and back.
+
+There are three main kinds of data needed by the motion controller
+
+1) data shared with higher level stuff - commands, status, etc.
+2) data that is local to the motion controller
+3) data shared with lower level stuff - hal pins
+
+In addition, some internal data (2) should be shared for trouble
+shooting purposes, even though it is "internal" to the motion
+controller.  Depending on the type of data, it can either be
+treated as type (1), and made available to the higher level
+code, or it can be treated as type (3), and made available to
+the hal, so that halscope can monitor it.
+
+This file should ONLY contain structures and declarations for
+type (1) items - those that are shared with higher level code.
+
+Type (2) items should be declared in mot_priv.h, along
+with type (3) items.
+
+In the interest of retaining my sanity, I'm not gonna attempt
+to move everything to its proper location yet....
+
+However, all new items will be defined in the proper place,
+and some existing items may be moved from one struct definition
+to another.
+
+*/
+
+#ifndef MOTION_H
+#define MOTION_H
+
+#include <rtapi_stdint.h>
+#include <stdarg.h>
+
+#include <rtapi_bool.h>
+#include <rtapi_limits.h>
+#include <posemath.h>		/* PmCartesian, PmPose, pmCartMag() */
+#include <emcpos.h>		/* EmcPose */
+#include "../kinematics/cubic.h"		/* CUBIC_STRUCT, CUBIC_COEFF */
+#include <emcmotcfg.h>		/* EMCMOT_MAX_JOINTS */
+#include <kinematics.h>
+
+#include "simple_tp.h"
+#include "state_tag.h"
+#include "../tp/tp_types.h"
+
+// define a special value to denote an invalid motion ID
+// NB: do not ever generate a motion id of  MOTION_INVALID_ID
+// this should be really be tested for in command.c
+
+#define MOTION_INVALID_ID INT_MIN
+#define MOTION_ID_VALID(x) ((x) != MOTION_INVALID_ID)
+
+#include <rtapi.h>		/* must precede rtapi_atomic.h in kernel mode */
+#include <rtapi_atomic.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* This enum lists all the possible commands */
+
+    typedef enum {
+	EMCMOT_ABORT = 1,	/* abort all motion */
+	EMCMOT_ENABLE,		/* enable servos for active joints */
+	EMCMOT_DISABLE,		/* disable servos for active joints */
+
+	EMCMOT_PAUSE,		/* pause motion */
+	EMCMOT_REVERSE,		/* run reverse motion */
+	EMCMOT_FORWARD,		/* run reverse motion */
+	EMCMOT_RESUME,		/* resume motion */
+	EMCMOT_STEP,		/* resume motion until id encountered */
+	EMCMOT_FREE,		/* set mode to free (joint) motion */
+	EMCMOT_COORD,		/* set mode to coordinated motion */
+	EMCMOT_TELEOP,		/* set mode to teleop */
+
+	EMCMOT_SPINDLE_SCALE,	/* set scale factor for spindle speed */
+	EMCMOT_SS_ENABLE,	/* enable/disable scaling the spindle speed */
+	EMCMOT_FEED_SCALE,	/* set scale factor for feedrate */
+	EMCMOT_RAPID_SCALE,	/* set scale factor for rapids */
+	EMCMOT_FS_ENABLE,	/* enable/disable scaling feedrate */
+	EMCMOT_FH_ENABLE,	/* enable/disable feed_hold */
+	EMCMOT_AF_ENABLE,	/* enable/disable adaptive feedrate */
+	EMCMOT_OVERRIDE_LIMITS,	/* temporarily ignore limits until jog done */
+
+	EMCMOT_SET_LINE,	/* queue up a linear move */
+	EMCMOT_SET_CIRCLE,	/* queue up a circular move */
+	EMCMOT_SET_TELEOP_VECTOR,	/* Move at a given velocity but in
+					   world cartesian coordinates, not
+					   in joint space like EMCMOT_JOG_* */
+	EMCMOT_CLEAR_PROBE_FLAGS,	/* clears probeTripped flag */
+	EMCMOT_PROBE,		/* go to pos, stop if probe trips, record
+				   trip pos */
+	EMCMOT_RIGID_TAP,	/* go to pos, with sync to spindle speed,
+				   then return to initial pos */
+
+	EMCMOT_SET_VEL,		/* set the velocity for subsequent moves */
+	EMCMOT_SET_VEL_LIMIT,	/* set the max vel for all moves (tooltip) */
+	EMCMOT_SET_ACC,		/* set the max accel for moves (tooltip) */
+	EMCMOT_SET_JERK,	/* set the max jerk for moves (tooltip) */
+	EMCMOT_SET_PLANNER_TYPE,	/* set planner type (0=trapezoidal, 1=S-curve) */
+	EMCMOT_SET_TERM_COND,	/* set termination condition (stop, blend) */
+	EMCMOT_SET_NUM_JOINTS,	/* set the number of joints */
+	EMCMOT_SET_NUM_SPINDLES, /* set the number of spindles */
+	EMCMOT_SET_WORLD_HOME,	/* set pose for world home */
+
+	EMCMOT_SET_DEBUG,       /* sets the debug level */
+	EMCMOT_SET_DOUT,        /* sets or unsets a DIO, this can be immediate or synched with motion */
+	EMCMOT_SET_AOUT,	/* sets or unsets a AIO, this can be immediate or synched with motion */
+        EMCMOT_SET_SPINDLESYNC, /* synchronize motion to spindle encoder */
+	EMCMOT_SPINDLE_ON,	/* start the spindle */
+	EMCMOT_SPINDLE_OFF,	/* stop the spindle */
+	EMCMOT_SPINDLE_INCREASE,	/* spindle faster */
+	EMCMOT_SPINDLE_DECREASE,	/* spindle slower */
+	EMCMOT_SPINDLE_BRAKE_ENGAGE,	/* engage the spindle brake */
+	EMCMOT_SPINDLE_BRAKE_RELEASE,	/* release the spindle brake */
+	EMCMOT_SPINDLE_ORIENT,          /* orient the spindle */
+        EMCMOT_SET_OFFSET, /* set tool offsets */
+        EMCMOT_SET_MAX_FEED_OVERRIDE,
+        EMCMOT_SETUP_ARC_BLENDS,
+
+	EMCMOT_SET_PROBE_ERR_INHIBIT,
+	EMCMOT_ENABLE_WATCHDOG,         /* enable watchdog sound, parport */
+	EMCMOT_DISABLE_WATCHDOG,        /* enable watchdog sound, parport */
+	EMCMOT_JOG_CONT,	/* continuous jog */
+	EMCMOT_JOG_INCR,	/* incremental jog */
+	EMCMOT_JOG_ABS,		/* absolute jog */
+
+	EMCMOT_JOG_ABORT,               /* abort one joint num or axis num */
+	EMCMOT_JOINT_ACTIVATE,          /* make joint active */
+	EMCMOT_JOINT_DEACTIVATE,        /* make joint inactive */
+	EMCMOT_JOINT_HOME,              /* home a joint or all joints */
+	EMCMOT_JOINT_UNHOME,            /* unhome a joint or all joints*/
+	EMCMOT_SET_JOINT_POSITION_LIMITS, /* set the joint position +/- limits */
+	EMCMOT_SET_JOINT_BACKLASH,      /* set the joint backlash */
+	EMCMOT_SET_JOINT_MIN_FERROR,    /* minimum following error, input units */
+	EMCMOT_SET_JOINT_MAX_FERROR,    /* maximum following error, input units */
+	EMCMOT_SET_JOINT_VEL_LIMIT,     /* set the max joint vel */
+	EMCMOT_SET_JOINT_ACC_LIMIT,     /* set the max joint accel */
+	EMCMOT_SET_JOINT_HOMING_PARAMS, /* sets joint homing parameters */
+	EMCMOT_SET_JOINT_JERK_LIMIT,        /* set the max joint jerk */
+	EMCMOT_UPDATE_JOINT_HOMING_PARAMS, /* updates some joint homing parameters */
+	EMCMOT_SET_JOINT_MOTOR_OFFSET,  /* set the offset between joint and motor */
+	EMCMOT_SET_JOINT_COMP,          /* set a compensation triplet for a joint (nominal, forw., rev.) */
+
+        EMCMOT_SET_AXIS_POSITION_LIMITS, /* set the axis position +/- limits */
+        EMCMOT_SET_AXIS_VEL_LIMIT,      /* set the max axis vel */
+        EMCMOT_SET_AXIS_ACC_LIMIT,      /* set the max axis acc */
+        EMCMOT_SET_AXIS_LOCKING_JOINT,  /* set the axis locking joint */
+	    EMCMOT_SET_AXIS_JERK_LIMIT,         /* set the max axis jerk */
+
+        EMCMOT_SET_SPINDLE_PARAMS, /* One command to set all spindle params */
+
+    } cmd_code_t;
+
+/* this enum lists the possible results of a command */
+
+    typedef enum {
+	EMCMOT_COMMAND_OK = 0,	/* cmd honored */
+	EMCMOT_COMMAND_UNKNOWN_COMMAND,	/* cmd not understood */
+	EMCMOT_COMMAND_INVALID_COMMAND,	/* cmd can't be handled now */
+	EMCMOT_COMMAND_INVALID_PARAMS,	/* bad cmd params */
+	EMCMOT_COMMAND_BAD_EXEC	/* error trying to initiate */
+    } cmd_status_t;
+
+/* termination conditions for queued motions */
+#define EMCMOT_TERM_COND_STOP 1
+#define EMCMOT_TERM_COND_BLEND 2
+#define EMCMOT_TERM_COND_TANGENT 3
+
+/*********************************
+       COMMAND STRUCTURE
+*********************************/
+
+/* This is the command structure.  There is one of these in shared
+   memory, and all commands from higher level code come thru it.
+*/
+    typedef struct emcmot_command_t {
+	cmd_code_t command;	/* command code (enum) */
+	int commandNum;		/* increment this for new command */
+	double motor_offset;    /* offset from joint to motor position */
+	double maxLimit;	/* pos value for position limit, output */
+	double minLimit;	/* neg value for position limit, output */
+	double min_pos_speed;     /* spindle minimum positive speed */
+	double max_neg_speed;     /* spindle maximum negative speed */
+	EmcPose pos;		/* line/circle endpt, or teleop vector */
+	PmCartesian center;	/* center for circle */
+	PmCartesian normal;	/* normal vec for circle */
+	int turn;		/* turns for circle or joint number for a locking indexer*/
+	double vel;		/* max velocity */
+        double ini_maxvel;      /* max velocity allowed by machine
+                                   constraints (the INI file) */
+        int motion_type;        /* this move is because of traverse, feed, arc, or toolchange */
+        double spindlesync;     /* user units per spindle revolution, 0 = no sync */
+	double acc;		/* max acceleration */
+	double jerk;			/* jerk for traj */
+    double ini_maxjerk;
+    int planner_type;	/* planner type: 0 = trapezoidal, 1 = S-curve */
+	double backlash;	/* amount of backlash */
+	int id;			/* id for motion */
+	int termCond;		/* termination condition */
+	double tolerance;	/* tolerance for path deviation in CONTINUOUS mode */
+	int joint;		/* which joint index to use for below */
+	int axis;		/* which axis index to use for below */
+	int spindle; 	/* which spindle to use */
+	double scale;		/* velocity scale or spindle_speed scale arg */
+	double offset;		/* input, output, or home offset arg */
+	double home;		/* joint home position */
+	double home_final_vel;	/* joint velocity for moving from OFFSET to HOME */
+	double search_vel;	/* home search velocity */
+	double latch_vel;	/* home latch velocity */
+	int flags;		/* homing config flags, other boolean args */
+	int home_sequence;      /* order in homing sequence */
+	int volatile_home;      /* joint should get unhomed when we get unhome -2
+                                   (generated by task upon estop, etc) */
+	double minFerror;	/* min following error */
+	double maxFerror;	/* max following error */
+	int wdWait;		/* cycle to wait before toggling wd */
+	int debug;		/* debug level, from DEBUG in INI file */
+	unsigned char now, out, start, end;	/* these are related to synched AOUT/DOUT. now=whether now or synched, out = which gets set, start=start value, end=end value */
+	unsigned char mode;	/* used for turning overrides etc. on/off */
+	double comp_nominal, comp_forward, comp_reverse; /* compensation triplet, nominal, forward, reverse */
+    unsigned char probe_type; /* ~1 = error if probe operation is unsuccessful (ngc default)
+                                 |1 = suppress error, report in # instead
+                                 ~2 = move until probe trips (ngc default)
+                                 |2 = move until probe clears */
+    int probe_jog_err_inhibit;  // setting to inhibit probe tripped while jogging error.
+    int probe_home_err_inhibit;  // setting to inhibit probe tripped while homeing error.
+    EmcPose tool_offset;        /* TLO */
+    double  orientation;    /* angle for spindle orient */
+    int state; /*spindle state  seems to just be 0 for off and 1 for on andypugh 2025-04-03*/
+    char    direction;      /* CANON_DIRECTION flag for spindle orient */
+    double  timeout;        /* of wait for spindle orient to complete */
+    unsigned char wait_for_spindle_at_speed; // EMCMOT_SPINDLE_ON now carries this, for next feed move
+    int arcBlendOptDepth;
+    int arcBlendEnable;
+    int arcBlendFallbackEnable;
+    int arcBlendGapCycles;
+    double arcBlendRampFreq;
+    double arcBlendTangentKinkRatio;
+    double maxFeedScale;
+    double ext_offset_vel;	/* velocity for an external axis offset */
+    double ext_offset_acc;	/* acceleration for an external axis offset */
+    struct state_tag_t tag;
+    } emcmot_command_t;
+
+/*! \todo FIXME - these packed bits might be replaced with chars
+   memory is cheap, and being able to access them without those
+   damn macros would be nice
+*/
+
+/* motion flag type */
+    typedef unsigned short EMCMOT_MOTION_FLAG;
+
+/*
+  motion status flag structure-- looks like:
+
+  MSB                             LSB
+  v---------------v------------------v
+  |   |   |   | T | CE | C | IP | EN |
+  ^---------------^------------------^
+
+  where:
+
+  EN is 1 if calculations are enabled, 0 if not
+  IP is 1 if all joints in position, 0 if not
+  C is 1 if coordinated mode, 0 if in free mode
+  CE is 1 if coordinated mode error, 0 if not
+  T is 1 if we are in teleop mode.
+  */
+
+/* bit masks */
+#define EMCMOT_MOTION_ENABLE_BIT      0x0001
+#define EMCMOT_MOTION_INPOS_BIT       0x0002
+#define EMCMOT_MOTION_COORD_BIT       0x0004
+#define EMCMOT_MOTION_ERROR_BIT       0x0008
+#define EMCMOT_MOTION_TELEOP_BIT      0x0010
+
+/* joint flag type */
+    typedef unsigned short EMCMOT_JOINT_FLAG;
+/*
+  joint status flag structure-- looks like:
+
+  MSB                                                          LSB
+  ----------v-----------------v--------------------v-------------------v
+  | AF | FE | AH | HD | H | HS | NHL | PHL | - | - | ER | IP | AC | EN |
+  ----------^-----------------^--------------------^-------------------^
+
+
+  x = unused
+
+  where:
+
+  EN  is 1 if joint amplifier is enabled, 0 if not
+  AC  is 1 if joint is active for calculations, 0 if not
+  IP  is 1 if joint is in position, 0 if not (free mode only)
+  ER  is 1 if joint has an error, 0 if not
+
+  PHL is 1 if joint is on maximum hardware limit, 0 if not
+  NHL is 1 if joint is on minimum hardware limit, 0 if not
+
+  HS  is 1 if joint home switch is tripped, 0 if not
+  H   is 1 if joint is homing, 0 if not
+  HD  is 1 if joint has been homed, 0 if not
+  AH  is 1 if joint is at home position, 0 if not
+
+  FE  is 1 if joint exceeded following error, 0 if not
+  AF  is 1 if amplifier is faulted, 0 if not
+
+Suggestion: Split this in to an Error and a Status flag register..
+             Then a simple test on each of the two flags can be performed
+             rather than testing each bit... Saving on a global per joint
+             fault and ready status flag.
+  */
+
+/* bit masks */
+#define EMCMOT_JOINT_ENABLE_BIT         0x0001
+#define EMCMOT_JOINT_ACTIVE_BIT         0x0002
+#define EMCMOT_JOINT_INPOS_BIT          0x0004
+#define EMCMOT_JOINT_ERROR_BIT          0x0008
+#define EMCMOT_JOINT_MAX_HARD_LIMIT_BIT 0x0010
+#define EMCMOT_JOINT_MIN_HARD_LIMIT_BIT 0x0020
+#define EMCMOT_JOINT_FERROR_BIT         0x0040
+#define EMCMOT_JOINT_FAULT_BIT          0x0080
+
+/*! \todo FIXME - the terms "teleop", "coord", and "free" are poorly
+   documented.  This is my feeble attempt to understand exactly
+   what they mean.
+
+   According to Fred, teleop is never used with machine tools,
+   although that may not be true for machines with non-trivial
+   kinematics.
+
+   "coord", or coordinated mode, means that all the joints are
+   synchronized, and move together as commanded by the higher
+   level code.  It is the normal mode when machining.  In
+   coordinated mode, commands are assumed to be in the cartesean
+   reference frame, and if the machine is non-cartesean, the
+   commands are translated by the kinematics to drive each
+   joint in joint space as needed.
+
+   "free" mode means commands are interpreted in joint space.
+   It is used for jogging individual joints, although
+   it does not preclude multiple joints moving at once (I think).
+   Homing is also done in free mode, in fact machines with
+   non-trivial kinematics must be homed before they can go
+   into either coord or teleop mode.
+
+   'teleop' is what you probably want if you are 'jogging'
+   a hexapod.  The jog commands as implemented by the motion
+   controller are joint jogs, which work in free mode.  But
+   if you want to jog a hexapod or similar machine along
+   one particular cartesean axis, you need to operate more
+   than one joint.  That's what 'teleop' is for.
+
+*/
+
+/* compensation structures */
+    typedef struct {
+	double nominal;		/* nominal (command) position */
+	float fwd_trim;		/* correction for forward movement */
+	float rev_trim;		/* correction for reverse movement */
+	float fwd_slope;	/* slopes between here and next pt */
+	float rev_slope;
+    } emcmot_comp_entry_t;
+
+
+#define EMCMOT_COMP_SIZE 256
+    typedef struct {
+	int entries;		/* number of entries in the array */
+	emcmot_comp_entry_t *entry;  /* current entry in array */
+	emcmot_comp_entry_t array[EMCMOT_COMP_SIZE+2];
+	/* +2 because array has -HUGE_VAL and +HUGE_VAL entries at the ends */
+    } emcmot_comp_t;
+
+/* motion controller states */
+
+    typedef enum {
+	EMCMOT_MOTION_DISABLED = 0,
+	EMCMOT_MOTION_FREE,
+	EMCMOT_MOTION_TELEOP,
+	EMCMOT_MOTION_COORD
+    } motion_state_t;
+
+
+    typedef enum {
+	EMCMOT_ORIENT_NONE = 0,
+	EMCMOT_ORIENT_COMPLETE,
+	EMCMOT_ORIENT_IN_PROGRESS,
+	EMCMOT_ORIENT_FAULTED,
+    } orient_state_t;
+
+/* flags for enabling spindle scaling, feed scaling,
+   adaptive feed, and feed hold */
+
+#define SS_ENABLED 0x01
+#define FS_ENABLED 0x02
+#define AF_ENABLED 0x04
+#define FH_ENABLED 0x08
+
+/* This structure contains all of the data associated with
+   a single joint.  Note that this structure does not need
+   to be in shared memory (but it can, if desired for debugging
+   reasons).  The portions of this structure that are considered
+   "status" and need to be made available to user space are
+   copied to a much smaller struct called emcmot_joint_status_t
+   which is located in shared memory.
+
+*/
+    typedef struct {
+
+	/* configuration info - changes rarely */
+	int type;		/* 0 = linear, 1 = rotary */
+	double max_pos_limit;	/* upper soft limit on joint pos */
+	double min_pos_limit;	/* lower soft limit on joint pos */
+	double max_jog_limit;	/* jog limits change when not homed */
+	double min_jog_limit;
+	double vel_limit;	/* upper limit of joint speed */
+	double acc_limit;	/* upper limit of joint accel */
+	double jerk_limit;	/* upper limit of joint jerk */
+	double min_ferror;	/* zero speed following error limit */
+	double max_ferror;	/* max speed following error limit */
+	double backlash;	/* amount of backlash */
+	emcmot_comp_t comp;	/* leadscrew correction data */
+
+	/* status info - changes regularly */
+	/* many of these need to be made available to higher levels */
+	/* they can either be copied to the status struct, or an array of
+	   joint structs can be made part of the status */
+	EMCMOT_JOINT_FLAG flag;	/* see above for bit details */
+	double coarse_pos;	/* trajectory point, before interp */
+	double pos_cmd;		/* commanded joint position */
+	double vel_cmd;		/* commanded joint velocity */
+	double acc_cmd;		/* commanded joint acceleration */
+	double jerk_cmd;	/* comanded joint jerk */
+	double backlash_corr;	/* correction for backlash */
+	double backlash_filt;	/* filtered backlash correction */
+	double backlash_vel;	/* backlash velocity variable */
+	double motor_pos_cmd;	/* commanded position, with comp */
+	double motor_pos_fb;	/* position feedback, with comp */
+	double pos_fb;		/* position feedback, comp removed */
+	double ferror;		/* following error */
+	double ferror_limit;	/* limit depends on speed */
+	double ferror_high_mark;	/* max following error */
+	simple_tp_t free_tp;	/* planner for free mode motion */
+	int kb_jjog_active;	/* non-zero during a keyboard jog */
+	int wheel_jjog_active;	/* non-zero during a wheel jog */
+
+	/* internal info - changes regularly, not usually accessed from user
+	   space */
+	CUBIC_STRUCT cubic;	/* cubic interpolator data */
+
+	int on_pos_limit;	/* non-zero if on limit */
+	int on_neg_limit;	/* non-zero if on limit */
+
+	double motor_offset;	/* diff between internal and motor pos, used
+				   to set position to zero during homing */
+	int old_jjog_counts;	/* prior value, used for deltas */
+	double big_vel;		/* used for "debouncing" velocity */
+    } emcmot_joint_t;
+
+/* This structure contains only the "status" data associated with
+   a joint.  "Status" data is that data that should be reported to
+   user space on a continuous basis.  An array of these structs is
+   part of the main status structure, and is filled in with data
+   copied from the emcmot_joint_t structs every servo period.
+
+   For now this struct contains more data than it really needs, but
+   paring it down will take time (and probably needs to be done one
+   or two items at a time, with much testing).  My main goal right
+   now is to get get the large joint struct out of status.
+
+*/
+    typedef struct {
+	EMCMOT_JOINT_FLAG flag;	/* see above for bit details */
+    bool homed;
+    bool homing;
+
+	double pos_cmd;		/* commanded joint position */
+	double pos_fb;		/* position feedback, comp removed */
+	double vel_cmd;         /* current velocity */
+	double acc_cmd;         /* current acceleration */
+	double ferror;		/* following error */
+	double ferror_high_mark;	/* max following error */
+
+/*! \todo FIXME - the following are not really "status", but taskintf.cc expects
+   them to be in the status structure.  I don't know how or if they are
+   used by the user space code.  Ideally they will be removed from here,
+   but each one will need to be investigated individually.
+*/
+	double backlash;	/* amount of backlash */
+	double max_pos_limit;	/* upper soft limit on joint pos */
+	double min_pos_limit;	/* lower soft limit on joint pos */
+	double min_ferror;	/* zero speed following error limit */
+	double max_ferror;	/* max speed following error limit */
+    } emcmot_joint_status_t;
+
+
+    typedef struct {
+	double speed;		// spindle speed in RPMs
+	double scale; 		// spindle override value
+	double net_scale;   // scale or zero if inhibited
+	double css_factor;
+	double xoffset;
+	int state;
+	int direction;		// 0 stopped, 1 forward, -1 reverse
+	int brake;		// 0 released, 1 engaged
+	int locked;             // spindle lock engaged after orient
+	int orient_fault;       // fault code from motion.spindle-orient-fault
+	int orient_state;       // orient_state_t
+	int spindle_index_enable;  /* hooked to a canon encoder index-enable */
+	double spindleRevs;     /* position of spindle in revolutions */
+	double spindleSpeedIn;  /* velocity of spindle in revolutions per minute */
+	int at_speed;
+	int fault; /* amplifier fault */
+	double max_pos_speed; /* spindle speed limits */
+	double min_pos_speed; /* signed values, so max_neg = 0 */
+	double max_neg_speed; /* and min_neg = -1e99 indicates no limit */
+	double min_neg_speed;
+	double home_angle;
+	double home_search_vel;
+	int home_sequence;
+	double increment;
+    } spindle_status_t;
+
+    typedef struct {
+	double teleop_vel_cmd;		/* commanded axis velocity */
+	double max_pos_limit;	/* upper soft limit on axis pos */
+	double min_pos_limit;	/* lower soft limit on axis pos */
+    } emcmot_axis_status_t;
+
+/*********************************
+        STATUS STRUCTURE
+*********************************/
+
+/* This is the status structure.  There is one of these in shared
+   memory, and it reports motion controller status to higher level
+   code in user space.  For the most part, this structure contains
+   higher level variables - low level stuff is made visible to the
+   HAL and troubleshooting, etc, is done using the HAL oscilloscope.
+*/
+
+/*! \todo FIXME - this struct is broken into two parts... at the top are
+   structure members that I understand, and that are needed for emc2.
+   Other structure members follow.  All the later ones need to be
+   evaluated - either they move up, or they go away.
+*/
+
+    typedef struct emcmot_status_t {
+	unsigned char head;	/* flag count for mutex detect */
+	/* these three are updated only when a new command is handled */
+	cmd_code_t commandEcho;	/* echo of input command */
+	int commandNumEcho;	/* echo of input command number */
+	cmd_status_t commandStatus;	/* result of most recent command */
+	/* these are config info, updated when a command changes them */
+	double feed_scale;	/* velocity scale factor for all motion but rapids */
+	double rapid_scale;	/* velocity scale factor for rapids */
+	unsigned char enables_new;	/* flags for FS, SS, etc */
+		/* the above set is the enables in effect for new moves */
+	/* the rest are updated every cycle */
+	double net_feed_scale;	/* net scale factor for all motion */
+	unsigned char enables_queued;	/* flags for FS, SS, etc */
+		/* the above set is the enables in effect for the
+		   currently executing move */
+	motion_state_t motion_state; /* operating state: FREE, COORD, etc. */
+	EMCMOT_MOTION_FLAG motionFlag;	/* see above for bit details */
+	EmcPose carte_pos_cmd;	/* commanded Cartesian position */
+	int carte_pos_cmd_ok;	/* non-zero if command is valid */
+	EmcPose carte_pos_fb;	/* actual Cartesian position */
+	int carte_pos_fb_ok;	/* non-zero if feedback is valid */
+	EmcPose world_home;	/* cartesean coords of home position */
+	emcmot_joint_status_t joint_status[EMCMOT_MAX_JOINTS];	/* all joint status data */
+    emcmot_axis_status_t axis_status[EMCMOT_MAX_AXIS];	/* all axis status data */
+    int spindleSync;    /* spindle used for synchronised moves. -1 = none */
+    spindle_status_t spindle_status[EMCMOT_MAX_SPINDLES]; /* all spindle data */
+
+
+	int on_soft_limit;	/* non-zero if any joint is on soft limit */
+
+	int probeVal;		/* debounced value of probe input */
+
+	int probeTripped;	/* Has the probe signal changed since start
+				   of probe command? */
+	int probing;		/* Currently looking for a probe signal? */
+        unsigned char probe_type;
+	EmcPose probedPos;	/* Axis positions stored as soon as possible
+				   after last probeTripped */
+
+
+	int synch_di[EMCMOT_MAX_DIO]; /* inputs to the motion controller, queried by G-code */
+	int synch_do[EMCMOT_MAX_DIO]; /* outputs to the motion controller, queried by G-code */
+	double analog_input[EMCMOT_MAX_AIO]; /* inputs to the motion controller, queried by G-code */
+	double analog_output[EMCMOT_MAX_AIO]; /* outputs to the motion controller, queried by G-code */
+	int misc_error[EMCMOT_MAX_MISC_ERROR]; /* Random Error pins*/
+	struct state_tag_t tag; /* Current interp state corresponding
+				   to motion line */
+
+/*! \todo FIXME - all structure members beyond this point are in limbo */
+
+	/* dynamic status-- changes every cycle */
+	uint64_t heartbeat;     /* Incremented every time the motion controller is done. */
+	int config_num;		/* incremented whenever configuration
+				   changed. */
+	int id;			/* id for executing motion */
+	int depth;		/* motion queue depth */
+	int activeDepth;	/* depth of active blend elements */
+	int queueFull;		/* Flag to indicate the tc queue is full */
+	int paused;		/* Flag to signal motion paused */
+	int overrideLimitMask;	/* non-zero means one or more limits ignored */
+				/* 1 << (joint-num*2) = ignore neg limit */
+				/* 2 << (joint-num*2) = ignore pos limit */
+    int reverse_run;
+
+	/* static status-- only changes upon input commands, e.g., config */
+	double vel;		/* scalar max vel */
+	double acc;		/* scalar max accel */
+	double jerk;		/* jerk for traj */
+    int planner_type;	/* planner type: 0 = trapezoidal, 1 = S-curve */
+
+	int motionType;
+	double distance_to_go;  /* in this move */
+	EmcPose dtg;
+	double current_vel;
+	double requested_vel;
+
+	/* S-curve motion state - for accurate jerk output */
+	double current_acc;     /* current path acceleration */
+	double current_jerk;    /* current path jerk (accurate value from TP) */
+	double decel_dist;      /* S-curve deceleration distance (dlen1) for debugging */
+	PmCartesian current_dir; /* current motion direction unit vector */
+
+	unsigned int tcqlen;
+	EmcPose tool_offset;
+	int atspeed_next_feed;  /* at next feed move, wait for spindle to be at speed  */
+	unsigned char tail;	/* flag count for mutex detect */
+	int external_offsets_applied;
+	EmcPose eoffset_pose;
+	int numExtraJoints;
+    int stepping;
+    bool jogging_active;
+    } emcmot_status_t;
+
+/*********************************
+        CONFIG STRUCTURE
+*********************************/
+
+/* This is the config structure.  This is currently in shared memory,
+   but I have no idea why... there are commands to set most of the
+   items in this structure.  It seems we should either put the struct
+   in private memory and manipulate it with commands, or we should
+   put it in shared memory and manipulate it directly - not both.
+   The structure contains static or rarely changed information that
+   describes the machine configuration.
+
+   later: I think I get it now - the struct is in shared memory so
+   user space can read the config at any time, but commands are used
+   to change the config so they only take effect when the realtime
+   code processes the command.
+*/
+
+/*! \todo FIXME - this struct is broken into two parts... at the top are
+   structure members that I understand, and that are needed for emc2.
+   Other structure members follow.  All the later ones need to be
+   evaluated - either they move up, or they go away.
+*/
+    typedef struct emcmot_config_t {
+	unsigned char head;	/* flag count for mutex detect */
+
+	int config_num;		/* Incremented everytime configuration
+				   changed, should match status.config_num */
+	int numJoints;		/* The number of total joints in the system (which
+				   must be between 1 and EMCMOT_MAX_JOINTS,
+				   inclusive). includes extra joints*/
+	int numExtraJoints;		/* The number of extra joints in the system (which
+				   must be between 1 and EMCMOT_MAX_EXTRAJOINTS,
+				   inclusive). */
+	int numSpindles; /* The number of spindles, 1 to EMCMOT_MAX_SPINDLES */
+
+	KINEMATICS_TYPE kinType;
+
+        int numDIO;             /* userdefined number of digital IO. default is 4. (EMCMOT_MAX_DIO=64),
+                                   but can be altered at motmod insmod time */
+
+        int numAIO;             /* userdefined number of analog IO. default is 4. (EMCMOT_MAX_AIO=16),
+                                   but can be altered at motmod insmod time */
+
+        int numMiscError;     /* userdefined number of Misc Errors. default is 0.
+                                  but can be altered at motmod insmod time */
+
+/*! \todo FIXME - all structure members beyond this point are in limbo */
+
+	double trajCycleTime;	/* the rate at which the trajectory loop
+				   runs.... (maybe) */
+	double servoCycleTime;	/* the rate of the servo loop - Not the same
+				   as the traj time */
+
+	int interpolationRate;	/* grep control.c for an explanation....
+				   approx line 50 */
+
+	double limitVel;	/* scalar upper limit on vel */
+	int debug;		/* copy of DEBUG, from INI file */
+	unsigned char tail;	/* flag count for mutex detect */
+        int arcBlendOptDepth;
+        int arcBlendEnable;
+        int arcBlendFallbackEnable;
+        int arcBlendGapCycles;
+        double arcBlendRampFreq;
+        double arcBlendTangentKinkRatio;
+        double maxFeedScale;
+        int inhibit_probe_jog_error;
+        int inhibit_probe_home_error;
+    } emcmot_config_t;
+
+/* error structure - lockfree MPSC ring buffer. See emcmotutil.c. */
+    typedef struct emcmot_error_t {
+	char error[EMCMOT_ERROR_NUM][EMCMOT_ERROR_LEN];
+	rtapi_atomic_ullong write_reserve;
+	rtapi_atomic_ullong write_commit;
+	rtapi_atomic_ullong read_seq;
+    } emcmot_error_t;
+
+
+typedef struct emcmot_internal_t {
+    unsigned char head; /* flag count for mutex detect */
+    unsigned char tail; /* flag count for mutex detect */
+    int split;          /* number of split command reads */
+    int enabling;       /* starts up disabled */
+    int coordinating;   /* starts up in free mode */
+    int teleoperating;  /* starts up in free mode */
+    int overriding;     /* non-zero means we've initiated an joint
+                           move while overriding limits */
+    TP_STRUCT coord_tp; /* coordinated mode planner */
+    int idForStep;      /* status id while stepping */
+    } emcmot_internal_t;
+
+/* error ring buffer access functions */
+    extern int emcmotErrorInit(emcmot_error_t * errlog);
+    extern int emcmotErrorPut(emcmot_error_t * errlog, const char *error);
+    extern int emcmotErrorPutfv(emcmot_error_t * errlog, const char *fmt, va_list ap);
+    extern int emcmotErrorPutf(emcmot_error_t * errlog, const char *fmt, ...);
+    extern int emcmotErrorGet(emcmot_error_t * errlog, char *error);
+
+#define GET_JOINT_ACTIVE_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_ACTIVE_BIT ? 1 : 0)
+#define GET_JOINT_INPOS_FLAG(joint) ((joint)->flag & EMCMOT_JOINT_INPOS_BIT ? 1 : 0)
+
+#ifdef __cplusplus
+}
+#endif
+#endif    /* MOTION_H */

wasm-port/vendor/linuxcnc/src/emc/motion/simple_tp.h

@@ -0,0 +1,107 @@
+/********************************************************************
+* Description: simple_tp.h
+*   A simple, single axis trajectory planner
+*
+* Author:
+* License: GPL Version 2
+* System: Linux
+*
+* Copyright (c) 2004 All rights reserved
+********************************************************************/
+
+/*  simple_tp.c and simple_tp.h define a simple, single axis trajectory
+    planner.  It is based on the "free mode trajectory planner" that was
+    originally written as part of EMC2's control.c, but the code has
+    been pulled out of control.c and given a somewhat object oriented
+    API to allow it to be used for both teleop and free mode.
+*/
+
+#ifndef SIMPLE_TP_H
+#define SIMPLE_TP_H
+
+// stopping criterion:
+#define TINY_DP(max_acc,period) (max_acc*period*period*0.001)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    typedef struct simple_tp_t {
+	double pos_cmd;		/* position command */
+	double max_vel;		/* velocity limit */
+	double max_acc;		/* acceleration limit */
+    double max_jerk;    /* jerk limit */
+	int enable;		/* if zero, motion stops ASAP */
+	double curr_pos;	/* current position */
+	double curr_vel;	/* current velocity */
+	int active;		/* non-zero if motion in progress */
+
+    double curr_acc;        /* current acceleration */
+    double curr_jerk;       /* current acceleration */
+    double last_move_length;       /* current acceleration */
+
+    double last_pos_cmd;
+
+    int use_trapezoid;
+    double curr_max_vel;
+    int total_n;
+    int curr_n;
+    int n0;
+    int n1;
+    int n2;
+    int n3;
+    int n4;
+    int n5;
+    int n6;
+    int fix_verr;
+    double verr;
+    double vc;
+    double ve;
+    double vm;
+    double jm;
+    double j2;
+    double j4;
+    double v1;
+    double v2;
+    double v3;
+    
+    double v5;
+    double v6;
+    double v7;
+
+    double a1;
+    double a2;
+    double a3;
+    
+    double a5;
+    double a6;
+    double a7;
+
+    double prograss;
+
+    int status;
+    } simple_tp_t;
+
+/* I could write a bunch of functions to read and write the first four
+   structure members, and to read the last three, but that seems silly.
+*/
+
+/* The update() function does all the work.  If 'enable' is true, it
+   computes a new value of 'curr_pos', which moves toward 'pos_cmd'
+   while obeying the 'max_vel' and 'max_accel' limits.  It also sets
+   'active' if movement is in progress, and clears it when motion
+   stops at the commanded position.  The command or either of the
+   limits can be changed at any time.  If 'enable' is false, it
+   ramps the velocity to zero, then clears 'active' and sets
+   'pos_cmd' to match 'curr_pos', to avoid motion the next time it
+   is enabled.  'period' is the period between calls, in seconds.
+*/
+
+extern void simple_tp_update(simple_tp_t *tp, double period);
+extern void simple_tp_update_normal(simple_tp_t *tp, double period);
+extern void simple_scurve_tp_update(simple_tp_t *tp, double period);
+
+#ifdef __cplusplus
+}
+#endif
+#endif	/* SIMPLE_TP_H */

wasm-port/vendor/linuxcnc/src/emc/nml_intf/emcpose.c

@@ -0,0 +1,304 @@
+/********************************************************************
+* Description: emcpose.c
+*
+*   Miscellaneous functions to handle EmcPose operations
+*   Derived from a work by Fred Proctor & Will Shackleford
+*
+* Author: Robert W. Ellenberg
+* License: GPL Version 2
+* System: Linux
+*    
+* Copyright (c) 2014 All rights reserved.
+*
+********************************************************************/
+
+#include "emcpose.h"
+#include <posemath.h>
+#include <rtapi_math.h>
+
+//#define EMCPOSE_PEDANTIC
+
+void emcPoseZero(EmcPose * const pos) {
+#ifdef EMCPOSE_PEDANTIC
+    if(!pos) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+    }
+#endif
+
+    pos->tran.x = 0.0;               
+    pos->tran.y = 0.0;               
+    pos->tran.z = 0.0;               
+    pos->a = 0.0;                    
+    pos->b = 0.0;                    
+    pos->c = 0.0;                    
+    pos->u = 0.0;                    
+    pos->v = 0.0;                    
+    pos->w = 0.0;
+}
+
+
+int emcPoseAdd(EmcPose const * const p1, EmcPose const * const p2, EmcPose * const out)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!p1 || !p2) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+    }
+#endif
+
+    pmCartCartAdd(&p1->tran, &p2->tran, &out->tran);
+    out->a = p1->a + p2->a;
+    out->b = p1->b + p2->b;
+    out->c = p1->c + p2->c;
+    out->u = p1->u + p2->u;
+    out->v = p1->v + p2->v;
+    out->w = p1->w + p2->w;
+    return EMCPOSE_ERR_OK;
+}
+
+int emcPoseSub(EmcPose const * const p1, EmcPose const * const p2, EmcPose * const out)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!p1 || !p2) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+    }
+#endif
+
+    pmCartCartSub(&p1->tran, &p2->tran, &out->tran);
+    out->a = p1->a - p2->a;
+    out->b = p1->b - p2->b;
+    out->c = p1->c - p2->c;
+    out->u = p1->u - p2->u;
+    out->v = p1->v - p2->v;
+    out->w = p1->w - p2->w;
+    return EMCPOSE_ERR_OK;
+
+}
+
+int emcPoseSelfAdd(EmcPose * const self, EmcPose const * const p2)
+{
+    return emcPoseAdd(self, p2, self);
+}
+
+int emcPoseSelfSub(EmcPose * const self, EmcPose const * const p2)
+{
+    return emcPoseSub(self, p2, self);
+}
+
+int emcPoseToPmCartesian(EmcPose const * const pose,
+        PmCartesian * const xyz, PmCartesian * const abc, PmCartesian * const uvw)
+{
+
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+    } 
+    if (!xyz | !abc || !uvw) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+#endif
+
+    //Direct copy of translation struct for xyz
+    *xyz = pose->tran;
+
+    //Convert ABCUVW axes into 2 pairs of 3D lines
+    abc->x = pose->a;
+    abc->y = pose->b;
+    abc->z = pose->c;
+
+    uvw->x = pose->u;
+    uvw->y = pose->v;
+    uvw->z = pose->w;
+    return EMCPOSE_ERR_OK;
+}
+
+
+/**
+ * Collect PmCartesian elements into 9D EmcPose structure.
+ */
+int pmCartesianToEmcPose(PmCartesian const * const xyz,
+        PmCartesian const * const abc, PmCartesian const * const uvw, EmcPose * const pose)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!xyz || !abc || !uvw) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+    //Direct copy of translation struct for xyz
+    pose->tran = *xyz;
+
+    pose->a = abc->x;
+    pose->b = abc->y;
+    pose->c = abc->z;
+
+    pose->u = uvw->x;
+    pose->v = uvw->y;
+    pose->w = uvw->z;
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseSetXYZ(PmCartesian const * const xyz, EmcPose * const pose)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!xyz) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    pose->tran.x = xyz->x;
+    pose->tran.y = xyz->y;
+    pose->tran.z = xyz->z;
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseSetABC(PmCartesian const * const abc, EmcPose * const pose)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!abc) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    pose->a = abc->x;
+    pose->b = abc->y;
+    pose->c = abc->z;
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseSetUVW(PmCartesian const * const uvw, EmcPose * const pose)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!uvw) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    pose->u = uvw->x;
+    pose->v = uvw->y;
+    pose->w = uvw->z;
+
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseGetXYZ(EmcPose const * const pose, PmCartesian * const xyz)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!xyz) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    xyz->x = pose->tran.x;
+    xyz->y = pose->tran.y;
+    xyz->z = pose->tran.z;
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseGetABC(EmcPose const * const pose, PmCartesian * const abc)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!abc) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    abc->x = pose->a;
+    abc->y = pose->b;
+    abc->z = pose->c;
+    return EMCPOSE_ERR_OK;
+}
+
+
+int emcPoseGetUVW(EmcPose const * const pose, PmCartesian * const uvw)
+{
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+    if (!uvw) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+   }
+#endif
+
+    uvw->x = pose->u;
+    uvw->y = pose->v;
+    uvw->z = pose->w;
+
+    return EMCPOSE_ERR_OK;
+}
+
+
+/**
+ * Find the magnitude of an EmcPose position, treating it like a single vector.
+ */
+int emcPoseMagnitude(EmcPose const * const pose, double * const out) {
+
+#ifdef EMCPOSE_PEDANTIC
+    if (!pose) {
+        return EMCPOSE_ERR_INPUT_MISSING;
+    }
+    if (!out) {
+        return EMCPOSE_ERR_OUTPUT_MISSING;
+    }
+#endif
+
+    double mag = 0.0;
+    mag += pmSq(pose->tran.x);
+    mag += pmSq(pose->tran.y);
+    mag += pmSq(pose->tran.z);
+    mag += pmSq(pose->a);
+    mag += pmSq(pose->b);
+    mag += pmSq(pose->c);
+    mag += pmSq(pose->u);
+    mag += pmSq(pose->v);
+    mag += pmSq(pose->w);
+    mag = pmSqrt(mag);
+
+    *out = mag;
+    return EMCPOSE_ERR_OK;
+}
+
+
+/**
+ * Return true for a numerically valid pose, or false for an invalid pose (or null pointer).
+ */
+int emcPoseValid(EmcPose const * const pose)
+{
+
+    if (!pose || 
+            isnan(pose->tran.x) ||
+            isnan(pose->tran.y) ||
+            isnan(pose->tran.z) ||
+            isnan(pose->a) ||
+            isnan(pose->b) ||
+            isnan(pose->c) ||
+            isnan(pose->u) ||
+            isnan(pose->v) ||
+            isnan(pose->w)) {
+        return 0;
+    } else {
+        return 1;
+    }
+}

wasm-port/vendor/linuxcnc/src/emc/nml_intf/motion_types.h

@@ -0,0 +1,25 @@
+#ifndef __LINUXCNC_MOTION_TYPES_H
+#define __LINUXCNC_MOTION_TYPES_H
+//    Copyright 2008, Chris Radek <chris@timeguy.com>
+//
+//    This program is free software; you can redistribute it and/or modify
+//    it under the terms of the GNU General Public License as published by
+//    the Free Software Foundation; either version 2 of the License, or
+//    (at your option) any later version.
+//
+//    This program is distributed in the hope that it will be useful,
+//    but WITHOUT ANY WARRANTY; without even the implied warranty of
+//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//    GNU General Public License for more details.
+//
+//    You should have received a copy of the GNU General Public License
+//    along with this program; if not, write to the Free Software
+//    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#define EMC_MOTION_TYPE_TRAVERSE 1
+#define EMC_MOTION_TYPE_FEED 2
+#define EMC_MOTION_TYPE_ARC 3
+#define EMC_MOTION_TYPE_TOOLCHANGE 4
+#define EMC_MOTION_TYPE_PROBING 5
+#define EMC_MOTION_TYPE_INDEXROTARY 6
+
+#endif

wasm-port/vendor/linuxcnc/src/emc/tp/blendmath.h

@@ -0,0 +1,281 @@
+/********************************************************************
+* Description: blendmath.h
+*   Circular arc blend math functions
+*
+* Author: Robert W. Ellenberg
+* License: GPL Version 2
+* System: Linux
+*    
+* Copyright (c) 2014 All rights reserved.
+*
+* Last change:
+********************************************************************/
+#ifndef BLENDMATH_H
+#define BLENDMATH_H
+
+#include <posemath.h>
+
+#include "tc_types.h"
+#include "sp_scurve.h"
+
+#define BLEND_ACC_RATIO_TANGENTIAL 0.5
+#define BLEND_ACC_RATIO_NORMAL (pmSqrt(1.0 - pmSq(BLEND_ACC_RATIO_TANGENTIAL)))
+#define BLEND_KINK_FACTOR 0.25
+
+typedef enum {
+    BLEND_NONE,
+    BLEND_LINE_LINE,
+    BLEND_LINE_ARC,
+    BLEND_ARC_LINE,
+    BLEND_ARC_ARC,
+} blend_type_t;
+
+/**
+ * 3D Input geometry for a spherical blend arc. 
+ * This structure contains all of the basic geometry in 3D for a blend arc.
+ */
+typedef struct {
+    PmCartesian u1;         /* unit vector along line 1 */
+    PmCartesian u2;         /* unit vector along line 2 */
+    PmCartesian P;          /* Intersection point */
+    PmCartesian normal;     /* normal unit vector to plane containing lines */
+    PmCartesian binormal;   /* binormal unit vector to plane containing lines */
+    PmCartesian u_tan1;     /* Actual tangent vector to 1 (used for arcs only) */
+    PmCartesian u_tan2;     /* Actual tangent vector to 2 (used for arcs only) */
+    PmCartesian center1;    /* Local approximation of center for arc 1 */
+    PmCartesian center2;    /* Local approximation of center for arc 2 */
+    double radius1;         /* Local approximation of radius */
+    double radius2;
+    double theta_tan;
+    double v_max1;          /* maximum velocity in direction u_tan1 */
+    double v_max2;          /* maximum velocity in direction u_tan2 */
+
+} BlendGeom3;
+
+/**
+ * 9D Input geometry for a spherical blend arc.
+ */
+#ifdef BLEND_9D
+typedef struct {
+//Not implemented yet
+} BlendGeom9;
+#endif 
+
+
+/**
+ * Blend arc parameters (abstracted).
+ * This structure holds blend arc parameters that have been abstracted from the
+ * physical geometry. This data is used to find the maximum radius given the
+ * constraints on the blend. By abstracting the parameters from the geometry,
+ * the same calculations can be used with any input geometry (lines, arcs, 6 or
+ * 9 dimensional lines). 
+ */
+typedef struct {
+    double tolerance;   /* Net blend tolerance (min of line 1 and 2) */
+    double L1;          /* Available part of line 1 to blend over */
+    double L2;          /* Available part of line 2 to blend over */
+    double v_req;       /* requested velocity for the blend arc */
+    double a_max;       /* max acceleration allowed for blend */
+
+    /* These fields are considered "output", and may be refactored into a
+     * separate structure in the future */
+    
+    double theta;       /* Intersection angle, half of angle between -u1 and u2 */
+    double phi;         /* supplement of intersection angle, angle between u1 and u2 */
+    double a_n_max;     /* max normal acceleration allowed */
+
+    double R_plan;      /* planned radius for blend arc */
+    double d_plan;      /* distance along each line to arc endpoints */
+
+    double v_goal;      /* desired velocity at max feed override */
+    double v_plan;      /* planned max velocity at max feed override */
+    double v_actual;    /* velocity at feedscale = 1.0 */
+    double s_arc;       /* arc length */
+    int consume;        /* Consume the previous segment */
+    double line_length;
+    //Arc specific stuff
+    int convex1;
+    int convex2;
+    double phi1_max;
+    double phi2_max;
+    
+} BlendParameters;
+
+
+/**
+ * Output geometry in 3D.
+ * Stores the three points representing a simple 3D spherical arc.
+ */
+typedef struct {
+    PmCartesian arc_start;      /* start point for blend arc */
+    PmCartesian arc_end;        /* end point for blend arc */
+    PmCartesian arc_center;     /* center point for blend arc */
+    double trim1;               /* length (line) or angle (arc) to cut from prev_tc */
+    double trim2;               /* length (line) or angle (arc) to cut from tc */
+} BlendPoints3;
+
+
+
+#ifdef BLEND_9D
+typedef struct {
+//Not implemented yet
+} BlendPoints9;
+#endif
+
+double findMaxTangentAngle(double v, double acc, double cycle_time);
+
+double findKinkAccel(double kink_angle, double v_plan, double cycle_time);
+
+double fsign(double f);
+
+int clip_min(double * const x, double min);
+
+int clip_max(double * const x, double max);
+
+double saturate(double x, double max);
+
+double bisaturate(double x, double max, double min);
+
+int sat_inplace(double * const x, double max);
+
+int checkTangentAngle(PmCircle const * const circ, SphericalArc const * const arc, BlendGeom3 const * const geom, BlendParameters const * const param, double cycle_time, int at_end);
+
+int findIntersectionAngle(PmCartesian const * const u1,
+        PmCartesian const * const u2, double * const theta);
+
+double pmCartMin(PmCartesian const * const in);
+
+int calculateInscribedDiameter(PmCartesian const * const normal,
+        PmCartesian const * const bounds, double * const diameter);
+
+int findAccelScale(PmCartesian const * const acc,
+        PmCartesian const * const bounds,
+        PmCartesian * const scale);
+
+int pmUnitCartsColinear(PmCartesian const * const u1,
+        PmCartesian const * const u2);
+
+int pmCartCartParallel(PmCartesian const * const u1,
+        PmCartesian const * const u2,
+        double tol);
+
+int pmCartCartAntiParallel(PmCartesian const * const u1,
+        PmCartesian const * const u2,
+        double tol);
+
+int pmCircLineCoplanar(PmCircle const * const circ,
+        PmCartLine const * const line, double tol);
+
+int blendCoplanarCheck(PmCartesian const * const normal,
+        PmCartesian const * const u1_tan,
+        PmCartesian const * const u2_tan,
+        double tol);
+
+int blendCalculateNormals3(BlendGeom3 * const geom);
+
+int blendComputeParameters(BlendParameters * const param);
+
+int blendCheckConsume(BlendParameters * const param,
+        BlendPoints3 const * const points,
+        TC_STRUCT const * const prev_tc, int gap_cycles);
+
+int blendFindPoints3(BlendPoints3 * const points, BlendGeom3 const * const geom,
+        BlendParameters const * const param);
+
+int blendGeom3Init(BlendGeom3 * const geom,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc);
+
+int blendParamKinematics(BlendGeom3 * const geom,
+        BlendParameters * const param,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc,
+        PmCartesian const * const acc_bound,
+        PmCartesian const * const vel_bound,
+        double maxFeedScale);
+
+int blendInit3FromLineLine(BlendGeom3 * const geom, BlendParameters * const param,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc,
+        PmCartesian const * const acc_bound,
+        PmCartesian const * const vel_bound,
+        double maxFeedScale);
+
+int blendInit3FromLineArc(BlendGeom3 * const geom, BlendParameters * const param,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc,
+        PmCartesian const * const acc_bound,
+        PmCartesian const * const vel_bound,
+        double maxFeedScale);
+
+int blendInit3FromArcLine(BlendGeom3 * const geom, BlendParameters * const param,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc,
+        PmCartesian const * const acc_bound,
+        PmCartesian const * const vel_bound,
+        double maxFeedScale);
+
+int blendInit3FromArcArc(BlendGeom3 * const geom, BlendParameters * const param,
+        TC_STRUCT const * const prev_tc,
+        TC_STRUCT const * const tc,
+        PmCartesian const * const acc_bound,
+        PmCartesian const * const vel_bound,
+        double maxFeedScale);
+
+int blendArcArcPostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
+        BlendParameters * const param, BlendGeom3 const * const geom,
+        PmCircle const * const circ1, PmCircle const * const circ2);
+
+int blendLineArcPostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
+        BlendParameters * const param, BlendGeom3 const * const geom,
+        PmCartLine const * const line1, PmCircle const * const circ2);
+
+int blendArcLinePostProcess(BlendPoints3 * const points, BlendPoints3 const * const points_in,
+        BlendParameters * const param, BlendGeom3 const * const geom,
+        PmCircle const * const circ1, PmCartLine const * const line2);
+
+int arcFromBlendPoints3(SphericalArc * const arc, BlendPoints3 const * const points,
+        BlendGeom3 const * const geom, BlendParameters const * const param);
+
+//Not implemented yet
+int blendGeom3Print(BlendGeom3 const * const geom);
+int blendParamPrint(BlendParameters const * const param);
+int blendPoints3Print(BlendPoints3 const * const points);
+
+double pmCartAbsMax(PmCartesian const * const v);
+
+int findSpiralArcLengthFit(PmCircle const * const circle,
+        SpiralArcLengthFit * const fit);
+int pmCircleAngleFromProgress(PmCircle const * const circle,
+        SpiralArcLengthFit const * const fit,
+        double progress,
+        double * const angle);
+double pmCircleEffectiveMinRadius(const PmCircle *circle);
+
+static inline double findVPeak(double a_t_max, double distance)
+{
+    return pmSqrt(a_t_max * distance);
+}
+
+
+static inline double findSCurveVPeak(double a_t_max, double j_t_max, double distance)
+{
+    // Parameter validation
+    if (a_t_max <= 0.0 || j_t_max <= 0.0 || distance <= 0.0) {
+        return 0.0;
+    }
+
+    double triangular_v = findVPeak(a_t_max, distance);
+
+    double req_v;
+    int result = findSCurveVSpeed(distance, a_t_max, j_t_max, &req_v);
+
+    // If the S-curve calculation fails, revert to the simpler triangular velocity calculation.
+    if (result != 1) {
+        return triangular_v;
+    }
+
+    // Take the smaller value between the S-curve velocity and the triangular velocity.
+    return fmin(req_v, triangular_v);
+}
+#endif

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/block.c

@@ -0,0 +1,138 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "block.h"
+
+static inline double cruckig_profile_total_duration(const CRuckigProfile *p) {
+    return p->t_sum[6] + p->brake.duration + p->accel.duration;
+}
+
+static void remove_profile(CRuckigProfile *valid_profiles, size_t *valid_profile_counter, size_t index) {
+    for (size_t i = index; i < *valid_profile_counter - 1; ++i) {
+        valid_profiles[i] = valid_profiles[i + 1];
+    }
+    *valid_profile_counter -= 1;
+}
+
+static void interval_from_profiles(CRuckigInterval *iv, const CRuckigProfile *profile_left, const CRuckigProfile *profile_right) {
+    const double left_duration = cruckig_profile_total_duration(profile_left);
+    const double right_duration = cruckig_profile_total_duration(profile_right);
+    if (left_duration < right_duration) {
+        iv->left = left_duration;
+        iv->right = right_duration;
+        iv->profile = *profile_right;
+    } else {
+        iv->left = right_duration;
+        iv->right = left_duration;
+        iv->profile = *profile_left;
+    }
+    iv->valid = true;
+}
+
+void cruckig_block_init(CRuckigBlock *block) {
+    cruckig_profile_init(&block->p_min);
+    block->t_min = 0.0;
+    block->a.valid = false;
+    block->b.valid = false;
+}
+
+void cruckig_block_set_min_profile(CRuckigBlock *block, const CRuckigProfile *profile) {
+    block->p_min = *profile;
+    block->t_min = cruckig_profile_total_duration(profile);
+    block->a.valid = false;
+    block->b.valid = false;
+}
+
+bool cruckig_block_calculate(CRuckigBlock *block, CRuckigProfile *valid_profiles,
+                     size_t valid_profile_counter, size_t max_profiles) {
+    (void)max_profiles;
+
+    if (valid_profile_counter == 1) {
+        cruckig_block_set_min_profile(block, &valid_profiles[0]);
+        return true;
+
+    } else if (valid_profile_counter == 2) {
+        if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[1].t_sum[6]) < 8 * DBL_EPSILON) {
+            cruckig_block_set_min_profile(block, &valid_profiles[0]);
+            return true;
+        }
+
+        /* numerical_robust = true */
+        {
+            const size_t idx_min = (valid_profiles[0].t_sum[6] < valid_profiles[1].t_sum[6]) ? 0 : 1;
+            const size_t idx_else_1 = (idx_min + 1) % 2;
+
+            cruckig_block_set_min_profile(block, &valid_profiles[idx_min]);
+            interval_from_profiles(&block->a, &valid_profiles[idx_min], &valid_profiles[idx_else_1]);
+            return true;
+        }
+
+    /* Only happens due to numerical issues */
+    } else if (valid_profile_counter == 4) {
+        /* Find "identical" profiles */
+        if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[1].t_sum[6]) < 32 * DBL_EPSILON && valid_profiles[0].direction != valid_profiles[1].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 1);
+        } else if (fabs(valid_profiles[2].t_sum[6] - valid_profiles[3].t_sum[6]) < 256 * DBL_EPSILON && valid_profiles[2].direction != valid_profiles[3].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 3);
+        } else if (fabs(valid_profiles[0].t_sum[6] - valid_profiles[3].t_sum[6]) < 256 * DBL_EPSILON && valid_profiles[0].direction != valid_profiles[3].direction) {
+            remove_profile(valid_profiles, &valid_profile_counter, 3);
+        } else {
+            return false;
+        }
+
+    } else if (valid_profile_counter % 2 == 0) {
+        return false;
+    }
+
+    /* Find index of fastest profile */
+    size_t idx_min = 0;
+    for (size_t i = 1; i < valid_profile_counter; ++i) {
+        if (valid_profiles[i].t_sum[6] < valid_profiles[idx_min].t_sum[6]) {
+            idx_min = i;
+        }
+    }
+
+    cruckig_block_set_min_profile(block, &valid_profiles[idx_min]);
+
+    if (valid_profile_counter == 3) {
+        const size_t idx_else_1 = (idx_min + 1) % 3;
+        const size_t idx_else_2 = (idx_min + 2) % 3;
+
+        interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_2]);
+        return true;
+
+    } else if (valid_profile_counter == 5) {
+        const size_t idx_else_1 = (idx_min + 1) % 5;
+        const size_t idx_else_2 = (idx_min + 2) % 5;
+        const size_t idx_else_3 = (idx_min + 3) % 5;
+        const size_t idx_else_4 = (idx_min + 4) % 5;
+
+        if (valid_profiles[idx_else_1].direction == valid_profiles[idx_else_2].direction) {
+            interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_2]);
+            interval_from_profiles(&block->b, &valid_profiles[idx_else_3], &valid_profiles[idx_else_4]);
+        } else {
+            interval_from_profiles(&block->a, &valid_profiles[idx_else_1], &valid_profiles[idx_else_4]);
+            interval_from_profiles(&block->b, &valid_profiles[idx_else_2], &valid_profiles[idx_else_3]);
+        }
+        return true;
+    }
+
+    return false;
+}
+
+/* cruckig_block_is_blocked is now inlined in block.h */
+
+const CRuckigProfile* cruckig_block_get_profile(const CRuckigBlock *block, double t) {
+    if (block->b.valid && t >= block->b.right) {
+        return &block->b.profile;
+    }
+    if (block->a.valid && t >= block->a.right) {
+        return &block->a.profile;
+    }
+    return &block->p_min;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/block.h

@@ -0,0 +1,43 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_BLOCK_H
+#define CRUCKIG_BLOCK_H
+
+#include "cruckig_internal.h"
+#include "profile.h"
+
+typedef struct {
+    double left, right;
+    CRuckigProfile profile;
+    bool valid;
+} CRuckigInterval;
+
+typedef struct {
+    CRuckigProfile p_min;
+    double t_min;
+    CRuckigInterval a;
+    CRuckigInterval b;
+} CRuckigBlock;
+
+void cruckig_block_init(CRuckigBlock *block);
+void cruckig_block_set_min_profile(CRuckigBlock *block, const CRuckigProfile *profile);
+
+/* Calculate block from valid profiles. Returns true if successful. */
+bool cruckig_block_calculate(CRuckigBlock *block, CRuckigProfile *valid_profiles,
+                     size_t valid_profile_counter, size_t max_profiles);
+
+/* Inlined for hot-path performance (called in tight synchronization loop) */
+CRUCKIG_FORCE_INLINE bool cruckig_block_is_blocked(const CRuckigBlock *block, double t) {
+    return (t < block->t_min)
+        || (block->a.valid && block->a.left < t && t < block->a.right)
+        || (block->b.valid && block->b.left < t && t < block->b.right);
+}
+
+const CRuckigProfile* cruckig_block_get_profile(const CRuckigBlock *block, double t);
+
+#endif /* CRUCKIG_BLOCK_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/brake.c

@@ -0,0 +1,201 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "brake.h"
+#include "utils.h"
+
+static const double brake_eps = 2.2e-14;
+
+void cruckig_brake_init(CRuckigBrakeProfile *bp) {
+    bp->duration = 0.0;
+    bp->t[0] = 0.0;
+    bp->t[1] = 0.0;
+    bp->j[0] = 0.0;
+    bp->j[1] = 0.0;
+    bp->a[0] = 0.0;
+    bp->a[1] = 0.0;
+    bp->v[0] = 0.0;
+    bp->v[1] = 0.0;
+    bp->p[0] = 0.0;
+    bp->p[1] = 0.0;
+}
+
+static inline double brake_v_at_t(double v0, double a0, double j, double t) {
+    return v0 + t * (a0 + j * t / 2);
+}
+
+static inline double brake_v_at_a_zero(double v0, double a0, double j) {
+    return v0 + (a0 * a0) / (2 * j);
+}
+
+static void acceleration_brake(CRuckigBrakeProfile *bp, double v0, double a0,
+                                double vMax, double vMin, double aMax, double aMin, double jMax);
+static void velocity_brake(CRuckigBrakeProfile *bp, double v0, double a0,
+                            double vMax, double vMin, double aMax, double aMin, double jMax);
+
+static void acceleration_brake(CRuckigBrakeProfile *bp, double v0, double a0,
+                                double vMax, double vMin, double aMax, double aMin, double jMax) {
+    bp->j[0] = -jMax;
+
+    const double t_to_a_max = (a0 - aMax) / jMax;
+    const double t_to_a_zero = a0 / jMax;
+
+    const double v_at_a_max = brake_v_at_t(v0, a0, -jMax, t_to_a_max);
+    const double v_at_a_zero_val = brake_v_at_t(v0, a0, -jMax, t_to_a_zero);
+
+    if ((v_at_a_zero_val > vMax && jMax > 0) || (v_at_a_zero_val < vMax && jMax < 0)) {
+        velocity_brake(bp, v0, a0, vMax, vMin, aMax, aMin, jMax);
+
+    } else if ((v_at_a_max < vMin && jMax > 0) || (v_at_a_max > vMin && jMax < 0)) {
+        const double t_to_v_min = -(v_at_a_max - vMin) / aMax;
+        const double t_to_v_max = -aMax / (2 * jMax) - (v_at_a_max - vMax) / aMax;
+
+        bp->t[0] = t_to_a_max + brake_eps;
+        {
+            double val = t_to_v_min < (t_to_v_max - brake_eps) ? t_to_v_min : (t_to_v_max - brake_eps);
+            bp->t[1] = val > 0.0 ? val : 0.0;
+        }
+
+    } else {
+        bp->t[0] = t_to_a_max + brake_eps;
+    }
+}
+
+static void velocity_brake(CRuckigBrakeProfile *bp, double v0, double a0,
+                            double vMax, double vMin, double aMax, double aMin, double jMax) {
+    (void)aMax;
+    bp->j[0] = -jMax;
+    const double t_to_a_min = (a0 - aMin) / jMax;
+    const double t_to_v_max = a0 / jMax + sqrt(a0 * a0 + 2 * jMax * (v0 - vMax)) / fabs(jMax);
+    const double t_to_v_min = a0 / jMax + sqrt(a0 * a0 / 2 + jMax * (v0 - vMin)) / fabs(jMax);
+    const double t_min_to_v_max = t_to_v_max < t_to_v_min ? t_to_v_max : t_to_v_min;
+
+    if (t_to_a_min < t_min_to_v_max) {
+        const double v_at_a_min = brake_v_at_t(v0, a0, -jMax, t_to_a_min);
+        const double t_to_v_max_with_constant = -(v_at_a_min - vMax) / aMin;
+        const double t_to_v_min_with_constant = aMin / (2 * jMax) - (v_at_a_min - vMin) / aMin;
+
+        bp->t[0] = (t_to_a_min - brake_eps) > 0.0 ? (t_to_a_min - brake_eps) : 0.0;
+        {
+            double val = t_to_v_max_with_constant < t_to_v_min_with_constant ? t_to_v_max_with_constant : t_to_v_min_with_constant;
+            bp->t[1] = val > 0.0 ? val : 0.0;
+        }
+
+    } else {
+        bp->t[0] = (t_min_to_v_max - brake_eps) > 0.0 ? (t_min_to_v_max - brake_eps) : 0.0;
+    }
+}
+
+void cruckig_brake_get_position_brake_trajectory(CRuckigBrakeProfile *bp, double v0, double a0,
+                                         double vMax, double vMin, double aMax, double aMin, double jMax) {
+    bp->t[0] = 0.0;
+    bp->t[1] = 0.0;
+    bp->j[0] = 0.0;
+    bp->j[1] = 0.0;
+
+    if (jMax == 0.0 || aMax == 0.0 || aMin == 0.0) {
+        return; /* Ignore braking for zero-limits */
+    }
+
+    if (a0 > aMax) {
+        acceleration_brake(bp, v0, a0, vMax, vMin, aMax, aMin, jMax);
+
+    } else if (a0 < aMin) {
+        acceleration_brake(bp, v0, a0, vMin, vMax, aMin, aMax, -jMax);
+
+    } else if ((v0 > vMax && brake_v_at_a_zero(v0, a0, -jMax) > vMin) || (a0 > 0 && brake_v_at_a_zero(v0, a0, jMax) > vMax)) {
+        velocity_brake(bp, v0, a0, vMax, vMin, aMax, aMin, jMax);
+
+    } else if ((v0 < vMin && brake_v_at_a_zero(v0, a0, jMax) < vMax) || (a0 < 0 && brake_v_at_a_zero(v0, a0, -jMax) < vMin)) {
+        velocity_brake(bp, v0, a0, vMin, vMax, aMin, aMax, -jMax);
+    }
+}
+
+void cruckig_brake_get_second_order_position_brake_trajectory(CRuckigBrakeProfile *bp, double v0,
+                                                      double vMax, double vMin, double aMax, double aMin) {
+    bp->t[0] = 0.0;
+    bp->t[1] = 0.0;
+    bp->j[0] = 0.0;
+    bp->j[1] = 0.0;
+    bp->a[0] = 0.0;
+    bp->a[1] = 0.0;
+
+    if (aMax == 0.0 || aMin == 0.0) {
+        return; /* Ignore braking for zero-limits */
+    }
+
+    if (v0 > vMax) {
+        bp->a[0] = aMin;
+        bp->t[0] = (vMax - v0) / aMin + brake_eps;
+
+    } else if (v0 < vMin) {
+        bp->a[0] = aMax;
+        bp->t[0] = (vMin - v0) / aMax + brake_eps;
+    }
+}
+
+void cruckig_brake_get_velocity_brake_trajectory(CRuckigBrakeProfile *bp, double a0,
+                                         double aMax, double aMin, double jMax) {
+    bp->t[0] = 0.0;
+    bp->t[1] = 0.0;
+    bp->j[0] = 0.0;
+    bp->j[1] = 0.0;
+
+    if (jMax == 0.0) {
+        return; /* Ignore braking for zero-limits */
+    }
+
+    if (a0 > aMax) {
+        bp->j[0] = -jMax;
+        bp->t[0] = (a0 - aMax) / jMax + brake_eps;
+
+    } else if (a0 < aMin) {
+        bp->j[0] = jMax;
+        bp->t[0] = -(a0 - aMin) / jMax + brake_eps;
+    }
+}
+
+void cruckig_brake_get_second_order_velocity_brake_trajectory(CRuckigBrakeProfile *bp) {
+    bp->t[0] = 0.0;
+    bp->t[1] = 0.0;
+    bp->j[0] = 0.0;
+    bp->j[1] = 0.0;
+}
+
+void cruckig_brake_finalize(CRuckigBrakeProfile *bp, double *ps, double *vs, double *as) {
+    if (bp->t[0] <= 0.0 && bp->t[1] <= 0.0) {
+        bp->duration = 0.0;
+        return;
+    }
+
+    bp->duration = bp->t[0];
+    bp->p[0] = *ps;
+    bp->v[0] = *vs;
+    bp->a[0] = *as;
+    cruckig_integrate(bp->t[0], *ps, *vs, *as, bp->j[0], ps, vs, as);
+
+    if (bp->t[1] > 0.0) {
+        bp->duration += bp->t[1];
+        bp->p[1] = *ps;
+        bp->v[1] = *vs;
+        bp->a[1] = *as;
+        cruckig_integrate(bp->t[1], *ps, *vs, *as, bp->j[1], ps, vs, as);
+    }
+}
+
+void cruckig_brake_finalize_second_order(CRuckigBrakeProfile *bp, double *ps, double *vs, double *as) {
+    if (bp->t[0] <= 0.0) {
+        bp->duration = 0.0;
+        return;
+    }
+
+    bp->duration = bp->t[0];
+    bp->p[0] = *ps;
+    bp->v[0] = *vs;
+    cruckig_integrate(bp->t[0], *ps, *vs, bp->a[0], 0.0, ps, vs, as);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/brake.h

@@ -0,0 +1,38 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_BRAKE_H
+#define CRUCKIG_BRAKE_H
+
+#include "cruckig_internal.h"
+
+/* Two-phase brake profile */
+typedef struct {
+    double duration;
+    double t[2];
+    double j[2];
+    double a[2];
+    double v[2];
+    double p[2];
+} CRuckigBrakeProfile;
+
+void cruckig_brake_init(CRuckigBrakeProfile *bp);
+
+/* Calculate brake trajectories */
+void cruckig_brake_get_position_brake_trajectory(CRuckigBrakeProfile *bp, double v0, double a0,
+                                         double vMax, double vMin, double aMax, double aMin, double jMax);
+void cruckig_brake_get_second_order_position_brake_trajectory(CRuckigBrakeProfile *bp, double v0,
+                                                      double vMax, double vMin, double aMax, double aMin);
+void cruckig_brake_get_velocity_brake_trajectory(CRuckigBrakeProfile *bp, double a0,
+                                         double aMax, double aMin, double jMax);
+void cruckig_brake_get_second_order_velocity_brake_trajectory(CRuckigBrakeProfile *bp);
+
+/* Finalize by integrating */
+void cruckig_brake_finalize(CRuckigBrakeProfile *bp, double *ps, double *vs, double *as);
+void cruckig_brake_finalize_second_order(CRuckigBrakeProfile *bp, double *ps, double *vs, double *as);
+
+#endif /* CRUCKIG_BRAKE_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/calculator.c

@@ -0,0 +1,950 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "calculator.h"
+#include "position.h"
+#include "velocity.h"
+#include "utils.h"
+
+
+static const double eps = DBL_EPSILON;
+
+CRuckigCalculator* cruckig_calculator_create(size_t dofs) {
+    CRuckigCalculator *calc = (CRuckigCalculator*)cruckig_calloc(1, sizeof(CRuckigCalculator));
+    if (!calc) return NULL;
+
+    calc->degrees_of_freedom = dofs;
+
+    calc->new_phase_control = (double*)cruckig_calloc(dofs, sizeof(double));
+    calc->pd = (double*)cruckig_calloc(dofs, sizeof(double));
+    calc->possible_t_syncs = (double*)cruckig_calloc(3 * dofs + 1, sizeof(double));
+    calc->idx = (size_t*)cruckig_calloc(3 * dofs + 1, sizeof(size_t));
+    calc->blocks = (CRuckigBlock*)cruckig_calloc(dofs, sizeof(CRuckigBlock));
+    calc->inp_min_velocity = (double*)cruckig_calloc(dofs, sizeof(double));
+    calc->inp_min_acceleration = (double*)cruckig_calloc(dofs, sizeof(double));
+    calc->inp_per_dof_control_interface = (CRuckigControlInterface*)cruckig_calloc(dofs, sizeof(CRuckigControlInterface));
+    calc->inp_per_dof_synchronization = (CRuckigSynchronization*)cruckig_calloc(dofs, sizeof(CRuckigSynchronization));
+    calc->segment_input = NULL; /* Created on demand for waypoint calculation */
+
+    if (!calc->new_phase_control || !calc->pd || !calc->possible_t_syncs ||
+        !calc->idx || !calc->blocks || !calc->inp_min_velocity ||
+        !calc->inp_min_acceleration || !calc->inp_per_dof_control_interface ||
+        !calc->inp_per_dof_synchronization) {
+        cruckig_calculator_destroy(calc);
+        return NULL;
+    }
+
+    for (size_t i = 0; i < dofs; ++i) {
+        cruckig_block_init(&calc->blocks[i]);
+    }
+
+    return calc;
+}
+
+void cruckig_calculator_destroy(CRuckigCalculator *calc) {
+    if (!calc) return;
+    cruckig_free(calc->new_phase_control);
+    cruckig_free(calc->pd);
+    cruckig_free(calc->possible_t_syncs);
+    cruckig_free(calc->idx);
+    cruckig_free(calc->blocks);
+    cruckig_free(calc->inp_min_velocity);
+    cruckig_free(calc->inp_min_acceleration);
+    cruckig_free(calc->inp_per_dof_control_interface);
+    cruckig_free(calc->inp_per_dof_synchronization);
+    cruckig_input_destroy(calc->segment_input);
+    cruckig_free(calc);
+}
+
+/* Is the trajectory (in principle) phase synchronizable? */
+static bool is_input_collinear(CRuckigCalculator *calc,
+                               const CRuckigInputParameter *inp,
+                               CRuckigDirection limiting_direction,
+                               size_t limiting_dof)
+{
+    const size_t dofs = calc->degrees_of_freedom;
+
+    /* Compute pd = target_position - current_position */
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        calc->pd[dof] = inp->target_position[dof] - inp->current_position[dof];
+    }
+
+    /* Find scale vector and scale DOF */
+    const double *scale_vector = NULL;
+    size_t scale_dof = 0;
+    bool scale_dof_found = false;
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        if (calc->inp_per_dof_synchronization[dof] != CRuckigSyncPhase) {
+            continue;
+        }
+
+        if (calc->inp_per_dof_control_interface[dof] == CRuckigPosition && fabs(calc->pd[dof]) > eps) {
+            scale_vector = calc->pd;
+            scale_dof = dof;
+            scale_dof_found = true;
+            break;
+        } else if (fabs(inp->current_velocity[dof]) > eps) {
+            scale_vector = inp->current_velocity;
+            scale_dof = dof;
+            scale_dof_found = true;
+            break;
+        } else if (fabs(inp->current_acceleration[dof]) > eps) {
+            scale_vector = inp->current_acceleration;
+            scale_dof = dof;
+            scale_dof_found = true;
+            break;
+        } else if (fabs(inp->target_velocity[dof]) > eps) {
+            scale_vector = inp->target_velocity;
+            scale_dof = dof;
+            scale_dof_found = true;
+            break;
+        } else if (fabs(inp->target_acceleration[dof]) > eps) {
+            scale_vector = inp->target_acceleration;
+            scale_dof = dof;
+            scale_dof_found = true;
+            break;
+        }
+    }
+
+    if (!scale_dof_found) {
+        return false;
+    }
+
+    const double scale = scale_vector[scale_dof];
+    const double pd_scale = calc->pd[scale_dof] / scale;
+    const double v0_scale = inp->current_velocity[scale_dof] / scale;
+    const double vf_scale = inp->target_velocity[scale_dof] / scale;
+    const double a0_scale = inp->current_acceleration[scale_dof] / scale;
+    const double af_scale = inp->target_acceleration[scale_dof] / scale;
+
+    const double scale_limiting = scale_vector[limiting_dof];
+    double control_limiting;
+    if (isinf(inp->max_jerk[limiting_dof])) {
+        control_limiting = (limiting_direction == DirectionUP)
+            ? inp->max_acceleration[limiting_dof]
+            : calc->inp_min_acceleration[limiting_dof];
+    } else {
+        control_limiting = (limiting_direction == DirectionUP)
+            ? inp->max_jerk[limiting_dof]
+            : -inp->max_jerk[limiting_dof];
+    }
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        if (calc->inp_per_dof_synchronization[dof] != CRuckigSyncPhase) {
+            continue;
+        }
+
+        const double current_scale = scale_vector[dof];
+        if (
+            (calc->inp_per_dof_control_interface[dof] == CRuckigPosition && fabs(calc->pd[dof] - pd_scale * current_scale) > eps)
+            || fabs(inp->current_velocity[dof] - v0_scale * current_scale) > eps
+            || fabs(inp->current_acceleration[dof] - a0_scale * current_scale) > eps
+            || fabs(inp->target_velocity[dof] - vf_scale * current_scale) > eps
+            || fabs(inp->target_acceleration[dof] - af_scale * current_scale) > eps
+        ) {
+            return false;
+        }
+
+        calc->new_phase_control[dof] = control_limiting * current_scale / scale_limiting;
+    }
+
+    return true;
+}
+
+/* Simple insertion sort for index array by values */
+static void sort_indices(size_t *idx_arr, const double *values, size_t count) {
+    for (size_t i = 1; i < count; ++i) {
+        size_t key = idx_arr[i];
+        double key_val = values[key];
+        size_t j = i;
+        while (j > 0 && values[idx_arr[j - 1]] > key_val) {
+            idx_arr[j] = idx_arr[j - 1];
+            --j;
+        }
+        idx_arr[j] = key;
+    }
+}
+
+/*
+ * synchronize: Find a valid synchronization time.
+ * Returns true if found; sets t_sync, limiting_dof, and updates profiles.
+ *
+ * has_t_min: whether t_min is valid
+ * t_min: minimum duration
+ * limiting_dof_out: set to the limiting DOF index; has_limiting_dof set to true/false
+ */
+static bool synchronize(CRuckigCalculator *calc,
+                        bool has_t_min, double t_min,
+                        double *t_sync,
+                        bool *has_limiting_dof, size_t *limiting_dof_out,
+                        CRuckigProfile *profiles,
+                        bool discrete_duration, double delta_time)
+{
+    const size_t dofs = calc->degrees_of_freedom;
+
+    /* Fill possible_t_syncs */
+    bool any_interval = false;
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        if (calc->inp_per_dof_synchronization[dof] == CRuckigSyncNone) {
+            calc->possible_t_syncs[dof] = 0.0;
+            calc->possible_t_syncs[dofs + dof] = INFINITY;
+            calc->possible_t_syncs[2 * dofs + dof] = INFINITY;
+            continue;
+        }
+
+        calc->possible_t_syncs[dof] = calc->blocks[dof].t_min;
+        calc->possible_t_syncs[dofs + dof] = calc->blocks[dof].a.valid
+            ? calc->blocks[dof].a.right : INFINITY;
+        calc->possible_t_syncs[2 * dofs + dof] = calc->blocks[dof].b.valid
+            ? calc->blocks[dof].b.right : INFINITY;
+        any_interval = any_interval || calc->blocks[dof].a.valid || calc->blocks[dof].b.valid;
+    }
+    calc->possible_t_syncs[3 * dofs] = has_t_min ? t_min : INFINITY;
+    any_interval = any_interval || has_t_min;
+
+    /* Discrete duration rounding */
+    if (discrete_duration) {
+        size_t count = 3 * dofs + 1;
+        for (size_t i = 0; i < count; ++i) {
+            if (isinf(calc->possible_t_syncs[i])) continue;
+            double remainder = fmod(calc->possible_t_syncs[i], delta_time);
+            if (remainder > eps) {
+                calc->possible_t_syncs[i] += delta_time - remainder;
+            }
+        }
+    }
+
+    /* Initialize and sort indices */
+    size_t idx_end_count = any_interval ? (3 * dofs + 1) : dofs;
+    for (size_t i = 0; i < idx_end_count; ++i) {
+        calc->idx[i] = i;
+    }
+    sort_indices(calc->idx, calc->possible_t_syncs, idx_end_count);
+
+    /* Start at dofs-1 (skip the dofs-1 smallest t_min values since we need ALL dofs at or past their t_min) */
+    size_t start_idx = (dofs >= 1) ? (dofs - 1) : 0;
+    for (size_t iter = start_idx; iter < idx_end_count; ++iter) {
+        size_t i = calc->idx[iter];
+        double possible_t_sync = calc->possible_t_syncs[i];
+
+        /* Check if any DOF is blocked */
+        bool is_blocked = false;
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            if (calc->inp_per_dof_synchronization[dof] == CRuckigSyncNone) {
+                continue;
+            }
+            if (cruckig_block_is_blocked(&calc->blocks[dof], possible_t_sync)) {
+                is_blocked = true;
+                break;
+            }
+        }
+
+        double t_min_or_zero = has_t_min ? t_min : 0.0;
+        if (is_blocked || possible_t_sync < t_min_or_zero || isinf(possible_t_sync)) {
+            continue;
+        }
+
+        *t_sync = possible_t_sync;
+
+        if (i == 3 * dofs) {
+            /* Optional t_min was the winning candidate */
+            *has_limiting_dof = false;
+            return true;
+        }
+
+        /* Determine which DOF and which block part */
+        size_t quot = i / dofs;
+        size_t rem = i % dofs;
+        *limiting_dof_out = rem;
+        *has_limiting_dof = true;
+
+        switch (quot) {
+            case 0:
+                profiles[rem] = calc->blocks[rem].p_min;
+                break;
+            case 1:
+                profiles[rem] = calc->blocks[rem].a.profile;
+                break;
+            case 2:
+                profiles[rem] = calc->blocks[rem].b.profile;
+                break;
+        }
+        return true;
+    }
+
+    return false;
+}
+
+CRUCKIG_HOT
+/*
+ * Find the optimal profile for a single DOF (Step 1).
+ * Separated to keep large Step1 structs (~3.6KB) off the main function's stack,
+ * which matters for the kernel's limited stack size.
+ */
+static bool find_profile_step1(
+    CRuckigCalculator *calc,
+    const CRuckigInputParameter *inp,
+    CRuckigProfile *p,
+    size_t dof)
+{
+    switch (calc->inp_per_dof_control_interface[dof]) {
+        case CRuckigPosition: {
+            if (!isinf(inp->max_jerk[dof])) {
+                CRuckigPositionThirdOrderStep1 *step1 = &calc->step1_workspace.pos3_step1;
+                cruckig_pos3_step1_init(step1,
+                    p->p[0], p->v[0], p->a[0], p->pf, p->vf, p->af,
+                    inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                    inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                    inp->max_jerk[dof]);
+                return cruckig_pos3_step1_get_profile(step1, p, &calc->blocks[dof]);
+            } else if (!isinf(inp->max_acceleration[dof])) {
+                CRuckigPositionSecondOrderStep1 *step1 = &calc->step1_workspace.pos2_step1;
+                cruckig_pos2_step1_init(step1,
+                    p->p[0], p->v[0], p->pf, p->vf,
+                    inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                    inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                return cruckig_pos2_step1_get_profile(step1, p, &calc->blocks[dof]);
+            } else {
+                CRuckigPositionFirstOrderStep1 *step1 = &calc->step1_workspace.pos1_step1;
+                cruckig_pos1_step1_init(step1,
+                    p->p[0], p->pf,
+                    inp->max_velocity[dof], calc->inp_min_velocity[dof]);
+                return cruckig_pos1_step1_get_profile(step1, p, &calc->blocks[dof]);
+            }
+        } break;
+        case CRuckigVelocity: {
+            if (!isinf(inp->max_jerk[dof])) {
+                CRuckigVelocityThirdOrderStep1 *step1 = &calc->step1_workspace.vel3_step1;
+                cruckig_vel3_step1_init(step1,
+                    p->v[0], p->a[0], p->vf, p->af,
+                    inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                    inp->max_jerk[dof]);
+                return cruckig_vel3_step1_get_profile(step1, p, &calc->blocks[dof]);
+            } else {
+                CRuckigVelocitySecondOrderStep1 *step1 = &calc->step1_workspace.vel2_step1;
+                cruckig_vel2_step1_init(step1,
+                    p->v[0], p->vf,
+                    inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                return cruckig_vel2_step1_get_profile(step1, p, &calc->blocks[dof]);
+            }
+        } break;
+    }
+    return false;
+}
+
+CRuckigResult cruckig_calculator_calculate(CRuckigCalculator *calc,
+                                           const CRuckigInputParameter *inp,
+                                           CRuckigTrajectory *traj,
+                                           double delta_time,
+                                           bool *was_interrupted)
+{
+    *was_interrupted = false;
+    const size_t dofs = calc->degrees_of_freedom;
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        CRuckigProfile *p = &traj->profiles[dof];
+
+        calc->inp_min_velocity[dof] = inp->min_velocity
+            ? inp->min_velocity[dof] : -inp->max_velocity[dof];
+        calc->inp_min_acceleration[dof] = inp->min_acceleration
+            ? inp->min_acceleration[dof] : -inp->max_acceleration[dof];
+        calc->inp_per_dof_control_interface[dof] = inp->per_dof_control_interface
+            ? inp->per_dof_control_interface[dof] : inp->control_interface;
+        calc->inp_per_dof_synchronization[dof] = inp->per_dof_synchronization
+            ? inp->per_dof_synchronization[dof] : inp->synchronization;
+
+        if (!inp->enabled[dof]) {
+            p->p[7] = inp->current_position[dof];
+            p->v[7] = inp->current_velocity[dof];
+            p->a[7] = inp->current_acceleration[dof];
+            p->t_sum[6] = 0.0;
+            calc->blocks[dof].t_min = 0.0;
+            calc->blocks[dof].a.valid = false;
+            calc->blocks[dof].b.valid = false;
+            continue;
+        }
+
+        /* Calculate brake (if input exceeds or will exceed limits) */
+        switch (calc->inp_per_dof_control_interface[dof]) {
+            case CRuckigPosition: {
+                if (!isinf(inp->max_jerk[dof])) {
+                    cruckig_brake_get_position_brake_trajectory(&p->brake,
+                        inp->current_velocity[dof], inp->current_acceleration[dof],
+                        inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                        inp->max_jerk[dof]);
+                } else if (!isinf(inp->max_acceleration[dof])) {
+                    cruckig_brake_get_second_order_position_brake_trajectory(&p->brake,
+                        inp->current_velocity[dof],
+                        inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                }
+                cruckig_profile_set_boundary(p,
+                    inp->current_position[dof], inp->current_velocity[dof],
+                    inp->current_acceleration[dof],
+                    inp->target_position[dof], inp->target_velocity[dof],
+                    inp->target_acceleration[dof]);
+            } break;
+            case CRuckigVelocity: {
+                if (!isinf(inp->max_jerk[dof])) {
+                    cruckig_brake_get_velocity_brake_trajectory(&p->brake,
+                        inp->current_acceleration[dof],
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                        inp->max_jerk[dof]);
+                } else {
+                    cruckig_brake_get_second_order_velocity_brake_trajectory(&p->brake);
+                }
+                cruckig_profile_set_boundary_for_velocity(p,
+                    inp->current_position[dof], inp->current_velocity[dof],
+                    inp->current_acceleration[dof],
+                    inp->target_velocity[dof], inp->target_acceleration[dof]);
+            } break;
+        }
+
+        /* Finalize pre-trajectory */
+        if (!isinf(inp->max_jerk[dof])) {
+            cruckig_brake_finalize(&p->brake, &p->p[0], &p->v[0], &p->a[0]);
+        } else if (!isinf(inp->max_acceleration[dof])) {
+            cruckig_brake_finalize_second_order(&p->brake, &p->p[0], &p->v[0], &p->a[0]);
+        }
+
+        if (!find_profile_step1(calc, inp, p, dof)) {
+            bool has_zero_limits = (inp->max_acceleration[dof] == 0.0 ||
+                                    calc->inp_min_acceleration[dof] == 0.0 ||
+                                    inp->max_jerk[dof] == 0.0);
+            if (has_zero_limits) {
+                return CRuckigErrorZeroLimits;
+            } else {
+                return CRuckigErrorExecutionTimeCalculation;
+            }
+        }
+
+        traj->independent_min_durations[dof] = calc->blocks[dof].t_min;
+    }
+
+    const bool discrete_duration = (inp->duration_discretization == CRuckigDiscrete);
+
+    if (dofs == 1 && !inp->has_minimum_duration && !discrete_duration) {
+        traj->duration = calc->blocks[0].t_min;
+        traj->profiles[0] = calc->blocks[0].p_min;
+        traj->cumulative_times[0] = traj->duration;
+        return CRuckigWorking;
+    }
+
+    /* Synchronize */
+    bool has_limiting_dof = false;
+    size_t limiting_dof = 0;
+    bool found_synchronization = synchronize(calc,
+        inp->has_minimum_duration, inp->minimum_duration,
+        &traj->duration, &has_limiting_dof, &limiting_dof,
+        traj->profiles, discrete_duration, delta_time);
+
+    if (!found_synchronization) {
+        bool has_zero_limits = false;
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            if (inp->max_acceleration[dof] == 0.0 ||
+                calc->inp_min_acceleration[dof] == 0.0 ||
+                inp->max_jerk[dof] == 0.0) {
+                has_zero_limits = true;
+                break;
+            }
+        }
+        if (has_zero_limits) {
+            return CRuckigErrorZeroLimits;
+        } else {
+            return CRuckigErrorSynchronizationCalculation;
+        }
+    }
+
+    /* None Synchronization */
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        if (inp->enabled[dof] && calc->inp_per_dof_synchronization[dof] == CRuckigSyncNone) {
+            traj->profiles[dof] = calc->blocks[dof].p_min;
+            if (calc->blocks[dof].t_min > traj->duration) {
+                traj->duration = calc->blocks[dof].t_min;
+                has_limiting_dof = true;
+                limiting_dof = dof;
+            }
+        }
+    }
+    traj->cumulative_times[0] = traj->duration;
+
+    /* Check maximal duration */
+    if (traj->duration > 7.6e3) {
+        return CRuckigErrorTrajectoryDuration;
+    }
+
+    if (traj->duration == 0.0) {
+        /* Copy all profiles for end state */
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            traj->profiles[dof] = calc->blocks[dof].p_min;
+        }
+        return CRuckigWorking;
+    }
+
+    /* Check if all synchronizations are None */
+    if (!discrete_duration) {
+        bool all_none = true;
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            if (calc->inp_per_dof_synchronization[dof] != CRuckigSyncNone) {
+                all_none = false;
+                break;
+            }
+        }
+        if (all_none) {
+            return CRuckigWorking;
+        }
+    }
+
+    /* Phase Synchronization */
+    if (has_limiting_dof) {
+        bool any_phase = false;
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            if (calc->inp_per_dof_synchronization[dof] == CRuckigSyncPhase) {
+                any_phase = true;
+                break;
+            }
+        }
+
+        if (any_phase) {
+            const CRuckigProfile *p_limiting = &traj->profiles[limiting_dof];
+            if (is_input_collinear(calc, inp, p_limiting->direction, limiting_dof)) {
+                bool found_time_synchronization = true;
+
+                for (size_t dof = 0; dof < dofs; ++dof) {
+                    if (!inp->enabled[dof] || dof == limiting_dof ||
+                        calc->inp_per_dof_synchronization[dof] != CRuckigSyncPhase) {
+                        continue;
+                    }
+
+                    CRuckigProfile *p = &traj->profiles[dof];
+                    double t_profile = traj->duration - p->brake.duration - p->accel.duration;
+
+                    /* Copy timing information from limiting DOF */
+                    memcpy(p->t, p_limiting->t, sizeof(p->t));
+                    p->control_signs = p_limiting->control_signs;
+
+                    switch (calc->inp_per_dof_control_interface[dof]) {
+                        case CRuckigPosition: {
+                            switch (p->control_signs) {
+                                case ControlSignsUDDU: {
+                                    if (!isinf(inp->max_jerk[dof])) {
+                                        found_time_synchronization &= cruckig_profile_check_with_timing_full(p,
+                                            ControlSignsUDDU, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                                            inp->max_jerk[dof]);
+                                    } else if (!isinf(inp->max_acceleration[dof])) {
+                                        found_time_synchronization &= cruckig_profile_check_for_second_order_with_timing_full(p,
+                                            ControlSignsUDDU, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            -calc->new_phase_control[dof],
+                                            inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                                    } else {
+                                        found_time_synchronization &= cruckig_profile_check_for_first_order_with_timing_full(p,
+                                            ControlSignsUDDU, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_velocity[dof], calc->inp_min_velocity[dof]);
+                                    }
+                                } break;
+                                case ControlSignsUDUD: {
+                                    if (!isinf(inp->max_jerk[dof])) {
+                                        found_time_synchronization &= cruckig_profile_check_with_timing_full(p,
+                                            ControlSignsUDUD, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                                            inp->max_jerk[dof]);
+                                    } else {
+                                        found_time_synchronization &= cruckig_profile_check_for_second_order_with_timing_full(p,
+                                            ControlSignsUDUD, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            -calc->new_phase_control[dof],
+                                            inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                                    }
+                                } break;
+                            }
+                        } break;
+                        case CRuckigVelocity: {
+                            switch (p->control_signs) {
+                                case ControlSignsUDDU: {
+                                    if (!isinf(inp->max_jerk[dof])) {
+                                        found_time_synchronization &= cruckig_profile_check_for_velocity_with_timing_full(p,
+                                            ControlSignsUDDU, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                                            inp->max_jerk[dof]);
+                                    } else {
+                                        found_time_synchronization &= cruckig_profile_check_for_second_order_velocity_with_timing_full(p,
+                                            ControlSignsUDDU, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                                    }
+                                } break;
+                                case ControlSignsUDUD: {
+                                    if (!isinf(inp->max_jerk[dof])) {
+                                        found_time_synchronization &= cruckig_profile_check_for_velocity_with_timing_full(p,
+                                            ControlSignsUDUD, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                                            inp->max_jerk[dof]);
+                                    } else {
+                                        found_time_synchronization &= cruckig_profile_check_for_second_order_velocity_with_timing_full(p,
+                                            ControlSignsUDUD, ReachedLimitsNONE,
+                                            t_profile, calc->new_phase_control[dof],
+                                            inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                                    }
+                                } break;
+                            }
+                        } break;
+                    }
+
+                    p->limits = p_limiting->limits; /* After check method call */
+                }
+
+                if (found_time_synchronization) {
+                    bool all_phase_or_none = true;
+                    for (size_t dof = 0; dof < dofs; ++dof) {
+                        if (calc->inp_per_dof_synchronization[dof] != CRuckigSyncPhase &&
+                            calc->inp_per_dof_synchronization[dof] != CRuckigSyncNone) {
+                            all_phase_or_none = false;
+                            break;
+                        }
+                    }
+                    if (all_phase_or_none) {
+                        return CRuckigWorking;
+                    }
+                }
+            }
+        }
+    }
+
+    /* Time Synchronization (Step 2) */
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        bool skip_synchronization = ((has_limiting_dof && dof == limiting_dof) ||
+                                      calc->inp_per_dof_synchronization[dof] == CRuckigSyncNone) &&
+                                      !discrete_duration;
+        if (!inp->enabled[dof] || skip_synchronization) {
+            continue;
+        }
+
+        CRuckigProfile *p = &traj->profiles[dof];
+        double t_profile = traj->duration - p->brake.duration - p->accel.duration;
+
+        if (calc->inp_per_dof_synchronization[dof] == CRuckigSyncTimeIfNecessary &&
+            fabs(inp->target_velocity[dof]) < eps &&
+            fabs(inp->target_acceleration[dof]) < eps) {
+            *p = calc->blocks[dof].p_min;
+            continue;
+        }
+
+        /* Check if the final time corresponds to an extremal profile from step 1 */
+        if (fabs(t_profile - calc->blocks[dof].t_min) < 2 * eps) {
+            *p = calc->blocks[dof].p_min;
+            continue;
+        } else if (calc->blocks[dof].a.valid && fabs(t_profile - calc->blocks[dof].a.right) < 2 * eps) {
+            *p = calc->blocks[dof].a.profile;
+            continue;
+        } else if (calc->blocks[dof].b.valid && fabs(t_profile - calc->blocks[dof].b.right) < 2 * eps) {
+            *p = calc->blocks[dof].b.profile;
+            continue;
+        }
+
+        bool found_time_synchronization = false;
+        switch (calc->inp_per_dof_control_interface[dof]) {
+            case CRuckigPosition: {
+                if (!isinf(inp->max_jerk[dof])) {
+                    CRuckigPositionThirdOrderStep2 step2;
+                    cruckig_pos3_step2_init(&step2,
+                        t_profile, p->p[0], p->v[0], p->a[0], p->pf, p->vf, p->af,
+                        inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                        inp->max_jerk[dof]);
+                    found_time_synchronization = cruckig_pos3_step2_get_profile(&step2, p);
+                } else if (!isinf(inp->max_acceleration[dof])) {
+                    CRuckigPositionSecondOrderStep2 step2;
+                    cruckig_pos2_step2_init(&step2,
+                        t_profile, p->p[0], p->v[0], p->pf, p->vf,
+                        inp->max_velocity[dof], calc->inp_min_velocity[dof],
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                    found_time_synchronization = cruckig_pos2_step2_get_profile(&step2, p);
+                } else {
+                    CRuckigPositionFirstOrderStep2 step2;
+                    cruckig_pos1_step2_init(&step2,
+                        t_profile, p->p[0], p->pf,
+                        inp->max_velocity[dof], calc->inp_min_velocity[dof]);
+                    found_time_synchronization = cruckig_pos1_step2_get_profile(&step2, p);
+                }
+            } break;
+            case CRuckigVelocity: {
+                if (!isinf(inp->max_jerk[dof])) {
+                    CRuckigVelocityThirdOrderStep2 step2;
+                    cruckig_vel3_step2_init(&step2,
+                        t_profile, p->v[0], p->a[0], p->vf, p->af,
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof],
+                        inp->max_jerk[dof]);
+                    found_time_synchronization = cruckig_vel3_step2_get_profile(&step2, p);
+                } else {
+                    CRuckigVelocitySecondOrderStep2 step2;
+                    cruckig_vel2_step2_init(&step2,
+                        t_profile, p->v[0], p->vf,
+                        inp->max_acceleration[dof], calc->inp_min_acceleration[dof]);
+                    found_time_synchronization = cruckig_vel2_step2_get_profile(&step2, p);
+                }
+            } break;
+        }
+
+        if (!found_time_synchronization) {
+            return CRuckigErrorSynchronizationCalculation;
+        }
+    }
+
+    return CRuckigWorking;
+}
+
+/*
+ * Multi-segment waypoint calculation.
+ *
+ * Strategy: sequential segment planning. For each segment between consecutive
+ * waypoints, use the existing single-segment planner. The end state of segment i
+ * becomes the start state of segment i+1. At intermediate waypoints, velocity
+ * and acceleration pass through continuously (zero target velocity at waypoints
+ * for robustness, with option to optimize).
+ */
+CRuckigResult cruckig_calculator_calculate_waypoints(CRuckigCalculator *calc,
+                                                     const CRuckigInputParameter *inp,
+                                                     CRuckigTrajectory *traj,
+                                                     double delta_time,
+                                                     bool *was_interrupted)
+{
+    const size_t dofs = calc->degrees_of_freedom;
+    const size_t nwp = inp->num_intermediate_waypoints;
+    const size_t nsec = nwp + 1; /* Number of sections */
+
+    /* Resize trajectory for multi-section */
+    if (!cruckig_trajectory_resize(traj, nsec)) {
+        return CRuckigError;
+    }
+
+    /* Create reusable segment input if needed */
+    if (!calc->segment_input) {
+        calc->segment_input = cruckig_input_create(dofs);
+        if (!calc->segment_input) return CRuckigError;
+    }
+
+    CRuckigInputParameter *seg = calc->segment_input;
+
+    /* Build a temporary single-section trajectory for each segment */
+    CRuckigTrajectory *seg_traj = cruckig_trajectory_create(dofs);
+    if (!seg_traj) return CRuckigError;
+
+    double cumulative_time = 0.0;
+    CRuckigResult final_result = CRuckigWorking;
+
+    for (size_t s = 0; s < nsec; ++s) {
+        /* Set segment input: copy global settings */
+        seg->control_interface = CRuckigPosition;
+        seg->synchronization = inp->synchronization;
+        seg->duration_discretization = CRuckigContinuous;
+        seg->has_minimum_duration = false;
+
+        /* Per-section minimum duration */
+        if (inp->per_section_minimum_duration) {
+            seg->minimum_duration = inp->per_section_minimum_duration[s];
+            seg->has_minimum_duration = true;
+        }
+
+        /* Set start state */
+        if (s == 0) {
+            /* First segment starts from input current state */
+            memcpy(seg->current_position, inp->current_position, dofs * sizeof(double));
+            memcpy(seg->current_velocity, inp->current_velocity, dofs * sizeof(double));
+            memcpy(seg->current_acceleration, inp->current_acceleration, dofs * sizeof(double));
+        }
+        /* else: current state was set by previous iteration's end state */
+
+        /* Set target state */
+        if (s < nwp) {
+            /* Target is the next intermediate waypoint */
+            const double *wp = inp->intermediate_positions + s * dofs;
+            memcpy(seg->target_position, wp, dofs * sizeof(double));
+            /* Zero velocity/acceleration at intermediate waypoints */
+            memset(seg->target_velocity, 0, dofs * sizeof(double));
+            memset(seg->target_acceleration, 0, dofs * sizeof(double));
+        } else {
+            /* Last segment targets the final position */
+            memcpy(seg->target_position, inp->target_position, dofs * sizeof(double));
+            memcpy(seg->target_velocity, inp->target_velocity, dofs * sizeof(double));
+            memcpy(seg->target_acceleration, inp->target_acceleration, dofs * sizeof(double));
+        }
+
+        /* Set kinematic constraints (per-section or global) */
+        if (inp->per_section_max_velocity) {
+            memcpy(seg->max_velocity, inp->per_section_max_velocity + s * dofs, dofs * sizeof(double));
+        } else {
+            memcpy(seg->max_velocity, inp->max_velocity, dofs * sizeof(double));
+        }
+        if (inp->per_section_max_acceleration) {
+            memcpy(seg->max_acceleration, inp->per_section_max_acceleration + s * dofs, dofs * sizeof(double));
+        } else {
+            memcpy(seg->max_acceleration, inp->max_acceleration, dofs * sizeof(double));
+        }
+        if (inp->per_section_max_jerk) {
+            memcpy(seg->max_jerk, inp->per_section_max_jerk + s * dofs, dofs * sizeof(double));
+        } else {
+            memcpy(seg->max_jerk, inp->max_jerk, dofs * sizeof(double));
+        }
+
+        /* Optional min limits */
+        if (inp->per_section_min_velocity) {
+            if (!seg->min_velocity) seg->min_velocity = (double*)cruckig_malloc(dofs * sizeof(double));
+            memcpy(seg->min_velocity, inp->per_section_min_velocity + s * dofs, dofs * sizeof(double));
+        } else if (inp->min_velocity) {
+            if (!seg->min_velocity) seg->min_velocity = (double*)cruckig_malloc(dofs * sizeof(double));
+            memcpy(seg->min_velocity, inp->min_velocity, dofs * sizeof(double));
+        } else {
+            cruckig_free(seg->min_velocity);
+            seg->min_velocity = NULL;
+        }
+
+        if (inp->per_section_min_acceleration) {
+            if (!seg->min_acceleration) seg->min_acceleration = (double*)cruckig_malloc(dofs * sizeof(double));
+            memcpy(seg->min_acceleration, inp->per_section_min_acceleration + s * dofs, dofs * sizeof(double));
+        } else if (inp->min_acceleration) {
+            if (!seg->min_acceleration) seg->min_acceleration = (double*)cruckig_malloc(dofs * sizeof(double));
+            memcpy(seg->min_acceleration, inp->min_acceleration, dofs * sizeof(double));
+        } else {
+            cruckig_free(seg->min_acceleration);
+            seg->min_acceleration = NULL;
+        }
+
+        /* Enable all DOFs for segment */
+        for (size_t d = 0; d < dofs; ++d) seg->enabled[d] = true;
+
+        /* Calculate this segment */
+        bool seg_interrupted = false;
+        CRuckigResult seg_result = cruckig_calculator_calculate(calc, seg, seg_traj,
+                                                                 delta_time, &seg_interrupted);
+        if (seg_result != CRuckigWorking) {
+            cruckig_trajectory_destroy(seg_traj);
+            *was_interrupted = false;
+            return seg_result;
+        }
+
+        /* Copy segment profiles into the multi-section trajectory */
+        double seg_duration = cruckig_trajectory_get_duration(seg_traj);
+        cumulative_time += seg_duration;
+        traj->cumulative_times[s] = cumulative_time;
+
+        for (size_t d = 0; d < dofs; ++d) {
+            traj->profiles[s * dofs + d] = seg_traj->profiles[d];
+            if (s == 0) {
+                traj->independent_min_durations[d] = seg_traj->independent_min_durations[d];
+            }
+        }
+
+        /* Set next segment's start state from this segment's end state */
+        if (s < nsec - 1) {
+            for (size_t d = 0; d < dofs; ++d) {
+                const CRuckigProfile *p = &seg_traj->profiles[d];
+                seg->current_position[d] = p->p[7];
+                seg->current_velocity[d] = p->v[7];
+                seg->current_acceleration[d] = p->a[7];
+            }
+        }
+    }
+
+    traj->duration = cumulative_time;
+    cruckig_trajectory_destroy(seg_traj);
+
+    /* Position limits check */
+    if (inp->max_position || inp->min_position ||
+        inp->per_section_max_position || inp->per_section_min_position)
+    {
+        /* Sample trajectory and check bounds */
+        double *pos = (double*)cruckig_malloc(dofs * sizeof(double));
+        double *vel = (double*)cruckig_malloc(dofs * sizeof(double));
+        double *acc = (double*)cruckig_malloc(dofs * sizeof(double));
+        size_t sec;
+
+        bool violated = false;
+        /* Check at fine time steps */
+        double dt_check = (delta_time > 0.0) ? delta_time : 0.001;
+        for (double t = 0.0; t <= cumulative_time && !violated; t += dt_check) {
+            cruckig_trajectory_at_time(traj, t, pos, vel, acc, NULL, &sec);
+
+            for (size_t d = 0; d < dofs; ++d) {
+                double p_max = INFINITY, p_min = -INFINITY;
+
+                if (inp->max_position) p_max = inp->max_position[d];
+                if (inp->min_position) p_min = inp->min_position[d];
+
+                /* Per-section position limits */
+                if (sec < nsec) {
+                    if (inp->per_section_max_position) {
+                        double sec_max = inp->per_section_max_position[sec * dofs + d];
+                        if (sec_max < p_max) p_max = sec_max;
+                    }
+                    if (inp->per_section_min_position) {
+                        double sec_min = inp->per_section_min_position[sec * dofs + d];
+                        if (sec_min > p_min) p_min = sec_min;
+                    }
+                }
+
+                if (pos[d] > p_max + 1e-8 || pos[d] < p_min - 1e-8) {
+                    violated = true;
+                    break;
+                }
+            }
+        }
+
+        /* Also check position extrema */
+        if (!violated) {
+            cruckig_trajectory_get_position_extrema(traj);
+            for (size_t d = 0; d < dofs; ++d) {
+                double p_max = INFINITY, p_min = -INFINITY;
+                if (inp->max_position) p_max = inp->max_position[d];
+                if (inp->min_position) p_min = inp->min_position[d];
+
+                if (traj->position_extrema[d].max > p_max + 1e-8 ||
+                    traj->position_extrema[d].min < p_min - 1e-8) {
+                    violated = true;
+                    break;
+                }
+            }
+        }
+
+        cruckig_free(pos);
+        cruckig_free(vel);
+        cruckig_free(acc);
+
+        if (violated) {
+            final_result = CRuckigErrorPositionalLimits;
+        }
+    }
+
+    *was_interrupted = false;
+    return final_result;
+}
+
+CRuckigResult cruckig_calculator_continue(CRuckigCalculator *calc,
+                                          const CRuckigInputParameter *inp,
+                                          CRuckigTrajectory *traj,
+                                          double delta_time,
+                                          bool *was_interrupted)
+{
+    /* For now, continue_calculation simply re-runs the full calculation.
+     * A future optimization could resume from partial state. */
+    if (inp->num_intermediate_waypoints > 0 && inp->control_interface == CRuckigPosition) {
+        return cruckig_calculator_calculate_waypoints(calc, inp, traj, delta_time, was_interrupted);
+    }
+    return cruckig_calculator_calculate(calc, inp, traj, delta_time, was_interrupted);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/calculator.h

@@ -0,0 +1,71 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_CALCULATOR_H
+#define CRUCKIG_CALCULATOR_H
+
+#include "cruckig_internal.h"
+#include "result.h"
+#include "block.h"
+#include "input_parameter.h"
+#include "trajectory.h"
+#include "position.h"
+#include "velocity.h"
+
+typedef struct {
+    size_t degrees_of_freedom;
+
+    double *new_phase_control;
+    double *pd;
+    double *possible_t_syncs;
+    size_t *idx;
+
+    CRuckigBlock *blocks;
+    double *inp_min_velocity;
+    double *inp_min_acceleration;
+    CRuckigControlInterface *inp_per_dof_control_interface;
+    CRuckigSynchronization *inp_per_dof_synchronization;
+
+    /* Scratch space for waypoint calculation */
+    CRuckigInputParameter *segment_input;  /* Reusable per-segment input */
+
+    /* Step1 workspace: kept off the stack to stay within kernel frame limits.
+     * Only one Step1 type is active at a time, so a union suffices. */
+    union {
+        CRuckigPositionThirdOrderStep1 pos3_step1;
+        CRuckigPositionSecondOrderStep1 pos2_step1;
+        CRuckigPositionFirstOrderStep1 pos1_step1;
+        CRuckigVelocityThirdOrderStep1 vel3_step1;
+        CRuckigVelocitySecondOrderStep1 vel2_step1;
+    } step1_workspace;
+} CRuckigCalculator;
+
+CRuckigCalculator* cruckig_calculator_create(size_t dofs);
+void cruckig_calculator_destroy(CRuckigCalculator *calc);
+
+/* Single-segment calculation (existing, backward compatible) */
+CRuckigResult cruckig_calculator_calculate(CRuckigCalculator *calc,
+                                           const CRuckigInputParameter *inp,
+                                           CRuckigTrajectory *traj,
+                                           double delta_time,
+                                           bool *was_interrupted);
+
+/* Multi-segment waypoint calculation */
+CRuckigResult cruckig_calculator_calculate_waypoints(CRuckigCalculator *calc,
+                                                     const CRuckigInputParameter *inp,
+                                                     CRuckigTrajectory *traj,
+                                                     double delta_time,
+                                                     bool *was_interrupted);
+
+/* Continue an interrupted calculation */
+CRuckigResult cruckig_calculator_continue(CRuckigCalculator *calc,
+                                          const CRuckigInputParameter *inp,
+                                          CRuckigTrajectory *traj,
+                                          double delta_time,
+                                          bool *was_interrupted);
+
+#endif /* CRUCKIG_CALCULATOR_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/cruckig.c

@@ -0,0 +1,173 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "cruckig.h"
+
+
+static CRuckig* cruckig_create_internal(size_t dofs, double delta_time, size_t max_waypoints) {
+    CRuckig *r = (CRuckig*)cruckig_calloc(1, sizeof(CRuckig));
+    if (!r) return NULL;
+
+    r->degrees_of_freedom = dofs;
+    r->delta_time = delta_time;
+    r->max_number_of_waypoints = max_waypoints;
+
+    r->calculator = cruckig_calculator_create(dofs);
+    if (!r->calculator) {
+        cruckig_free(r);
+        return NULL;
+    }
+
+    r->current_input = cruckig_input_create(dofs);
+    if (!r->current_input) {
+        cruckig_calculator_destroy(r->calculator);
+        cruckig_free(r);
+        return NULL;
+    }
+
+    r->current_input_initialized = false;
+
+    return r;
+}
+
+CRuckig* cruckig_create(size_t dofs, double delta_time) {
+    return cruckig_create_internal(dofs, delta_time, 0);
+}
+
+CRuckig* cruckig_create_waypoints(size_t dofs, double delta_time, size_t max_waypoints) {
+    return cruckig_create_internal(dofs, delta_time, max_waypoints);
+}
+
+void cruckig_destroy(CRuckig *r) {
+    if (!r) return;
+    cruckig_calculator_destroy(r->calculator);
+    cruckig_input_destroy(r->current_input);
+    cruckig_free(r);
+}
+
+void cruckig_reset(CRuckig *r) {
+    if (!r) return;
+    r->current_input_initialized = false;
+}
+
+static inline bool use_waypoints(const CRuckigInputParameter *input) {
+    return input->num_intermediate_waypoints > 0 &&
+           input->control_interface == CRuckigPosition;
+}
+
+bool cruckig_validate_input(const CRuckig *r, const CRuckigInputParameter *input,
+                            bool check_current_within_limits,
+                            bool check_target_within_limits)
+{
+    if (!r || !input) return false;
+
+    if (!cruckig_input_validate(input, check_current_within_limits, check_target_within_limits)) {
+        return false;
+    }
+
+    if (r->delta_time <= 0.0 && input->duration_discretization != CRuckigContinuous) {
+        return false;
+    }
+
+    /* Validate waypoint count against max */
+    if (input->num_intermediate_waypoints > r->max_number_of_waypoints &&
+        r->max_number_of_waypoints > 0) {
+        return false;
+    }
+
+    return true;
+}
+
+static CRuckigResult dispatch_calculate(CRuckig *r, const CRuckigInputParameter *input,
+                                        CRuckigTrajectory *trajectory, bool *was_interrupted)
+{
+    if (use_waypoints(input)) {
+        /* Ensure trajectory has enough capacity */
+        size_t nsec = input->num_intermediate_waypoints + 1;
+        if (!cruckig_trajectory_resize(trajectory, nsec)) {
+            return CRuckigError;
+        }
+        return cruckig_calculator_calculate_waypoints(r->calculator, input, trajectory,
+                                                       r->delta_time, was_interrupted);
+    } else {
+        /* Single-segment: ensure single section */
+        if (trajectory->num_sections != 1) {
+            cruckig_trajectory_resize(trajectory, 1);
+        }
+        return cruckig_calculator_calculate(r->calculator, input, trajectory,
+                                            r->delta_time, was_interrupted);
+    }
+}
+
+CRuckigResult cruckig_calculate(CRuckig *r, const CRuckigInputParameter *input,
+                                CRuckigTrajectory *trajectory)
+{
+    if (!r || !input || !trajectory) return CRuckigError;
+
+    if (!cruckig_validate_input(r, input, false, true)) {
+        return CRuckigErrorInvalidInput;
+    }
+
+    bool was_interrupted = false;
+    return dispatch_calculate(r, input, trajectory, &was_interrupted);
+}
+
+static double get_time_us(void) {
+    /* Timing measurement for interrupt budget feature.
+     * Not used by LinuxCNC (only cruckig_update, not cruckig_calculate). */
+    return 0.0;
+}
+
+CRUCKIG_HOT
+CRuckigResult cruckig_update(CRuckig *r, const CRuckigInputParameter *input,
+                             CRuckigOutputParameter *output)
+{
+    if (CRUCKIG_UNLIKELY(!r || !input || !output)) return CRuckigError;
+
+    double start_us = get_time_us();
+
+    output->new_calculation = false;
+
+    CRuckigResult result = CRuckigWorking;
+    if (!r->current_input_initialized || !cruckig_input_is_equal(input, r->current_input)) {
+        if (!cruckig_validate_input(r, input, false, true)) {
+            return CRuckigErrorInvalidInput;
+        }
+
+        result = dispatch_calculate(r, input, output->trajectory,
+                                    &output->was_calculation_interrupted);
+        if (result != CRuckigWorking && result != CRuckigErrorPositionalLimits) {
+            return result;
+        }
+
+        cruckig_input_copy(r->current_input, input);
+        r->current_input_initialized = true;
+        output->time = 0.0;
+        output->new_section = 0;
+        output->new_calculation = true;
+    }
+
+    size_t old_section = output->new_section;
+    output->time += r->delta_time;
+    cruckig_trajectory_at_time(output->trajectory, output->time,
+                               output->new_position, output->new_velocity,
+                               output->new_acceleration, output->new_jerk,
+                               &output->new_section);
+    output->did_section_change = (output->new_section > old_section);
+
+    double stop_us = get_time_us();
+    output->calculation_duration = stop_us - start_us;
+
+    cruckig_output_pass_to_input(output, r->current_input);
+
+    if (output->time > cruckig_trajectory_get_duration(output->trajectory)) {
+        return CRuckigFinished;
+    }
+
+    return result;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/cruckig.h

@@ -0,0 +1,54 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_CRUCKIG_H
+#define CRUCKIG_CRUCKIG_H
+
+#include "cruckig_internal.h"
+
+#include "result.h"
+#include "input_parameter.h"
+#include "output_parameter.h"
+#include "trajectory.h"
+#include "calculator.h"
+
+/* Main cruckig instance */
+typedef struct {
+    size_t degrees_of_freedom;
+    double delta_time;
+    size_t max_number_of_waypoints;
+
+    CRuckigCalculator *calculator;
+    CRuckigInputParameter *current_input;
+    bool current_input_initialized;
+} CRuckig;
+
+/* Create and destroy (backward compatible: 0 waypoints) */
+CRuckig* cruckig_create(size_t dofs, double delta_time);
+
+/* Create with waypoint support */
+CRuckig* cruckig_create_waypoints(size_t dofs, double delta_time, size_t max_waypoints);
+
+void cruckig_destroy(CRuckig *r);
+
+/* Reset (force recalculation on next update) */
+void cruckig_reset(CRuckig *r);
+
+/* Calculate trajectory (offline, auto-dispatches to waypoint calculator if needed) */
+CRuckigResult cruckig_calculate(CRuckig *r, const CRuckigInputParameter *input,
+                                CRuckigTrajectory *trajectory);
+
+/* Update (online, call every delta_time) */
+CRuckigResult cruckig_update(CRuckig *r, const CRuckigInputParameter *input,
+                             CRuckigOutputParameter *output);
+
+/* Validate input */
+bool cruckig_validate_input(const CRuckig *r, const CRuckigInputParameter *input,
+                            bool check_current_within_limits,
+                            bool check_target_within_limits);
+
+#endif /* CRUCKIG_CRUCKIG_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/cruckig_internal.h

@@ -0,0 +1,55 @@
+/*
+ * cruckig_internal.h - Internal header for cruckig
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ *
+ * Provides RTAPI-portable types, memory allocation, math, string
+ * functions, and compiler hint macros for cruckig internals.
+ *
+ * All cruckig headers should include this as their first include.
+ * C files should NOT include this directly -- they get it through
+ * their corresponding header.
+ */
+#ifndef CRUCKIG_CRUCKIG_INTERNAL_H
+#define CRUCKIG_CRUCKIG_INTERNAL_H
+
+/* RTAPI provides bool, size_t, math, string, and memory allocation
+ * portably across userspace and kernel builds. */
+#include <rtapi.h>
+#include <rtapi_bool.h>
+#include <rtapi_math.h>
+#include <rtapi_string.h>
+#include <rtapi_slab.h>
+#include <float.h>
+
+/* INFINITY: not provided by rtapi_math.h in kernel space */
+#ifndef INFINITY
+#define INFINITY __builtin_inf()
+#endif
+
+/* Memory allocation: always use rtapi_slab wrappers */
+#define cruckig_malloc(sz)       rtapi_kmalloc(sz, RTAPI_GFP_KERNEL)
+#define cruckig_calloc(n, sz)    rtapi_kzalloc((n) * (sz), RTAPI_GFP_KERNEL)
+#define cruckig_realloc(p, sz)   rtapi_krealloc(p, sz, RTAPI_GFP_KERNEL)
+#define cruckig_free(p)          rtapi_kfree(p)
+
+/* Branch prediction hints */
+#if defined(__GNUC__) || defined(__clang__)
+#  define CRUCKIG_LIKELY(x)      __builtin_expect(!!(x), 1)
+#  define CRUCKIG_UNLIKELY(x)    __builtin_expect(!!(x), 0)
+#  define CRUCKIG_FORCE_INLINE   static inline __attribute__((always_inline))
+#  define CRUCKIG_HOT            __attribute__((hot))
+#  define CRUCKIG_RESTRICT       __restrict__
+#  define CRUCKIG_PREFETCH(addr) __builtin_prefetch(addr, 0, 1)
+#else
+#  define CRUCKIG_LIKELY(x)      (x)
+#  define CRUCKIG_UNLIKELY(x)    (x)
+#  define CRUCKIG_FORCE_INLINE   static inline
+#  define CRUCKIG_HOT
+#  define CRUCKIG_RESTRICT       restrict
+#  define CRUCKIG_PREFETCH(addr) ((void)0)
+#endif
+
+#endif /* CRUCKIG_CRUCKIG_INTERNAL_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/input_parameter.c

@@ -0,0 +1,408 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "input_parameter.h"
+
+
+static double v_at_a_zero(double v0, double a0, double j) {
+    return v0 + (a0 * a0) / (2.0 * j);
+}
+
+CRuckigInputParameter* cruckig_input_create(size_t dofs) {
+    CRuckigInputParameter *inp = (CRuckigInputParameter*)cruckig_calloc(1, sizeof(CRuckigInputParameter));
+    if (!inp) return NULL;
+
+    inp->degrees_of_freedom = dofs;
+    inp->control_interface = CRuckigPosition;
+    inp->synchronization = CRuckigSyncTime;
+    inp->duration_discretization = CRuckigContinuous;
+
+    inp->current_position    = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->current_velocity    = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->current_acceleration = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->target_position     = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->target_velocity     = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->target_acceleration = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->max_velocity        = (double*)cruckig_calloc(dofs, sizeof(double));
+    inp->max_acceleration    = (double*)cruckig_malloc(dofs * sizeof(double));
+    inp->max_jerk            = (double*)cruckig_malloc(dofs * sizeof(double));
+    inp->enabled             = (bool*)cruckig_malloc(dofs * sizeof(bool));
+
+    if (!inp->current_position || !inp->current_velocity || !inp->current_acceleration ||
+        !inp->target_position || !inp->target_velocity || !inp->target_acceleration ||
+        !inp->max_velocity || !inp->max_acceleration || !inp->max_jerk || !inp->enabled) {
+        cruckig_input_destroy(inp);
+        return NULL;
+    }
+
+    /* Initialize defaults matching C++ */
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        inp->max_acceleration[dof] = INFINITY;
+        inp->max_jerk[dof] = INFINITY;
+        inp->enabled[dof] = true;
+    }
+
+    inp->min_velocity = NULL;
+    inp->min_acceleration = NULL;
+    inp->per_dof_control_interface = NULL;
+    inp->per_dof_synchronization = NULL;
+    inp->minimum_duration = -1.0;
+    inp->has_minimum_duration = false;
+
+    /* Pro fields: initialize to defaults */
+    inp->intermediate_positions = NULL;
+    inp->num_intermediate_waypoints = 0;
+    inp->per_section_max_velocity = NULL;
+    inp->per_section_max_acceleration = NULL;
+    inp->per_section_max_jerk = NULL;
+    inp->per_section_min_velocity = NULL;
+    inp->per_section_min_acceleration = NULL;
+    inp->per_section_max_position = NULL;
+    inp->per_section_min_position = NULL;
+    inp->max_position = NULL;
+    inp->min_position = NULL;
+    inp->per_section_minimum_duration = NULL;
+    inp->interrupt_calculation_duration = 0.0;
+
+    return inp;
+}
+
+void cruckig_input_destroy(CRuckigInputParameter *inp) {
+    if (!inp) return;
+    cruckig_free(inp->current_position);
+    cruckig_free(inp->current_velocity);
+    cruckig_free(inp->current_acceleration);
+    cruckig_free(inp->target_position);
+    cruckig_free(inp->target_velocity);
+    cruckig_free(inp->target_acceleration);
+    cruckig_free(inp->max_velocity);
+    cruckig_free(inp->max_acceleration);
+    cruckig_free(inp->max_jerk);
+    cruckig_free(inp->enabled);
+    cruckig_free(inp->min_velocity);
+    cruckig_free(inp->min_acceleration);
+    cruckig_free(inp->per_dof_control_interface);
+    cruckig_free(inp->per_dof_synchronization);
+    /* Pro fields */
+    cruckig_free(inp->intermediate_positions);
+    cruckig_free(inp->per_section_max_velocity);
+    cruckig_free(inp->per_section_max_acceleration);
+    cruckig_free(inp->per_section_max_jerk);
+    cruckig_free(inp->per_section_min_velocity);
+    cruckig_free(inp->per_section_min_acceleration);
+    cruckig_free(inp->per_section_max_position);
+    cruckig_free(inp->per_section_min_position);
+    cruckig_free(inp->max_position);
+    cruckig_free(inp->min_position);
+    cruckig_free(inp->per_section_minimum_duration);
+    cruckig_free(inp);
+}
+
+void cruckig_input_set_intermediate_positions(CRuckigInputParameter *inp,
+                                               const double *positions,
+                                               size_t num_waypoints)
+{
+    if (!inp) return;
+    const size_t dofs = inp->degrees_of_freedom;
+
+    cruckig_free(inp->intermediate_positions);
+    if (num_waypoints == 0 || !positions) {
+        inp->intermediate_positions = NULL;
+        inp->num_intermediate_waypoints = 0;
+        return;
+    }
+
+    size_t total = num_waypoints * dofs;
+    inp->intermediate_positions = (double*)cruckig_malloc(total * sizeof(double));
+    memcpy(inp->intermediate_positions, positions, total * sizeof(double));
+    inp->num_intermediate_waypoints = num_waypoints;
+}
+
+bool cruckig_input_validate(const CRuckigInputParameter *inp,
+                            bool check_current_within_limits,
+                            bool check_target_within_limits)
+{
+    if (!inp) return false;
+    const size_t dofs = inp->degrees_of_freedom;
+
+    /* Waypoint-specific validation */
+    if (inp->num_intermediate_waypoints > 0) {
+        /* Waypoints require Position control interface */
+        if (inp->control_interface != CRuckigPosition) return false;
+        /* Waypoints incompatible with Discrete discretization */
+        if (inp->duration_discretization == CRuckigDiscrete) return false;
+        /* Waypoints incompatible with minimum_duration */
+        if (inp->has_minimum_duration) return false;
+
+        /* Infinite jerk not supported with waypoints */
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            if (isinf(inp->max_jerk[dof])) return false;
+            if (isinf(inp->max_acceleration[dof])) return false;
+        }
+    }
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        const double jMax = inp->max_jerk[dof];
+        if (isnan(jMax) || jMax < 0.0) return false;
+
+        const double aMax = inp->max_acceleration[dof];
+        if (isnan(aMax) || aMax < 0.0) return false;
+
+        const double aMin = inp->min_acceleration ? inp->min_acceleration[dof] : -aMax;
+        if (isnan(aMin) || aMin > 0.0) return false;
+
+        const double a0 = inp->current_acceleration[dof];
+        if (isnan(a0)) return false;
+        const double af = inp->target_acceleration[dof];
+        if (isnan(af)) return false;
+
+        if (check_current_within_limits) {
+            if (a0 > aMax) return false;
+            if (a0 < aMin) return false;
+        }
+        if (check_target_within_limits) {
+            if (af > aMax) return false;
+            if (af < aMin) return false;
+        }
+
+        const double v0 = inp->current_velocity[dof];
+        if (isnan(v0)) return false;
+        const double vf = inp->target_velocity[dof];
+        if (isnan(vf)) return false;
+
+        CRuckigControlInterface ci = inp->per_dof_control_interface
+            ? inp->per_dof_control_interface[dof]
+            : inp->control_interface;
+
+        if (ci == CRuckigPosition) {
+            const double p0 = inp->current_position[dof];
+            if (isnan(p0)) return false;
+            const double pf = inp->target_position[dof];
+            if (isnan(pf)) return false;
+
+            const double vMax = inp->max_velocity[dof];
+            if (isnan(vMax) || vMax < 0.0) return false;
+
+            const double vMin = inp->min_velocity ? inp->min_velocity[dof] : -vMax;
+            if (isnan(vMin) || vMin > 0.0) return false;
+
+            if (check_current_within_limits) {
+                if (v0 > vMax) return false;
+                if (v0 < vMin) return false;
+            }
+            if (check_target_within_limits) {
+                if (vf > vMax) return false;
+                if (vf < vMin) return false;
+            }
+
+            if (check_current_within_limits) {
+                if (a0 > 0 && jMax > 0 && v_at_a_zero(v0, a0, jMax) > vMax)
+                    return false;
+                if (a0 < 0 && jMax > 0 && v_at_a_zero(v0, a0, -jMax) < vMin)
+                    return false;
+            }
+            if (check_target_within_limits) {
+                if (af < 0 && jMax > 0 && v_at_a_zero(vf, af, jMax) > vMax)
+                    return false;
+                if (af > 0 && jMax > 0 && v_at_a_zero(vf, af, -jMax) < vMin)
+                    return false;
+            }
+        }
+    }
+
+    return true;
+}
+
+bool cruckig_input_is_equal(const CRuckigInputParameter *a, const CRuckigInputParameter *b) {
+    if (!a || !b) return (a == b);
+    if (a->degrees_of_freedom != b->degrees_of_freedom) return false;
+
+    const size_t dofs = a->degrees_of_freedom;
+    const size_t dsz = dofs * sizeof(double);
+
+    if (memcmp(a->current_position, b->current_position, dsz) != 0) return false;
+    if (memcmp(a->current_velocity, b->current_velocity, dsz) != 0) return false;
+    if (memcmp(a->current_acceleration, b->current_acceleration, dsz) != 0) return false;
+    if (memcmp(a->target_position, b->target_position, dsz) != 0) return false;
+    if (memcmp(a->target_velocity, b->target_velocity, dsz) != 0) return false;
+    if (memcmp(a->target_acceleration, b->target_acceleration, dsz) != 0) return false;
+    if (memcmp(a->max_velocity, b->max_velocity, dsz) != 0) return false;
+    if (memcmp(a->max_acceleration, b->max_acceleration, dsz) != 0) return false;
+    if (memcmp(a->max_jerk, b->max_jerk, dsz) != 0) return false;
+
+    if (memcmp(a->enabled, b->enabled, dofs * sizeof(bool)) != 0) return false;
+
+    /* Compare optional min_velocity */
+    if ((a->min_velocity == NULL) != (b->min_velocity == NULL)) return false;
+    if (a->min_velocity && memcmp(a->min_velocity, b->min_velocity, dsz) != 0) return false;
+
+    /* Compare optional min_acceleration */
+    if ((a->min_acceleration == NULL) != (b->min_acceleration == NULL)) return false;
+    if (a->min_acceleration && memcmp(a->min_acceleration, b->min_acceleration, dsz) != 0) return false;
+
+    /* Compare optional per_dof_control_interface */
+    if ((a->per_dof_control_interface == NULL) != (b->per_dof_control_interface == NULL)) return false;
+    if (a->per_dof_control_interface &&
+        memcmp(a->per_dof_control_interface, b->per_dof_control_interface,
+               dofs * sizeof(CRuckigControlInterface)) != 0) return false;
+
+    /* Compare optional per_dof_synchronization */
+    if ((a->per_dof_synchronization == NULL) != (b->per_dof_synchronization == NULL)) return false;
+    if (a->per_dof_synchronization &&
+        memcmp(a->per_dof_synchronization, b->per_dof_synchronization,
+               dofs * sizeof(CRuckigSynchronization)) != 0) return false;
+
+    if (a->control_interface != b->control_interface) return false;
+    if (a->synchronization != b->synchronization) return false;
+    if (a->duration_discretization != b->duration_discretization) return false;
+
+    if (a->has_minimum_duration != b->has_minimum_duration) return false;
+    if (a->has_minimum_duration && a->minimum_duration != b->minimum_duration) return false;
+
+    /* Compare Pro fields */
+    if (a->num_intermediate_waypoints != b->num_intermediate_waypoints) return false;
+    if (a->num_intermediate_waypoints > 0) {
+        size_t wp_sz = a->num_intermediate_waypoints * dofs * sizeof(double);
+        if (memcmp(a->intermediate_positions, b->intermediate_positions, wp_sz) != 0) return false;
+    }
+
+    /* Compare position limits */
+    if ((a->max_position == NULL) != (b->max_position == NULL)) return false;
+    if (a->max_position && memcmp(a->max_position, b->max_position, dsz) != 0) return false;
+    if ((a->min_position == NULL) != (b->min_position == NULL)) return false;
+    if (a->min_position && memcmp(a->min_position, b->min_position, dsz) != 0) return false;
+
+    /* Compare per-section constraints */
+    size_t nsec = a->num_intermediate_waypoints + 1;
+    size_t sec_dsz = nsec * dofs * sizeof(double);
+
+#define CMP_OPT_SEC(field) \
+    if ((a->field == NULL) != (b->field == NULL)) return false; \
+    if (a->field && memcmp(a->field, b->field, sec_dsz) != 0) return false;
+
+    CMP_OPT_SEC(per_section_max_velocity)
+    CMP_OPT_SEC(per_section_max_acceleration)
+    CMP_OPT_SEC(per_section_max_jerk)
+    CMP_OPT_SEC(per_section_min_velocity)
+    CMP_OPT_SEC(per_section_min_acceleration)
+    CMP_OPT_SEC(per_section_max_position)
+    CMP_OPT_SEC(per_section_min_position)
+#undef CMP_OPT_SEC
+
+    if ((a->per_section_minimum_duration == NULL) != (b->per_section_minimum_duration == NULL)) return false;
+    if (a->per_section_minimum_duration &&
+        memcmp(a->per_section_minimum_duration, b->per_section_minimum_duration,
+               nsec * sizeof(double)) != 0) return false;
+
+    if (a->interrupt_calculation_duration != b->interrupt_calculation_duration) return false;
+
+    return true;
+}
+
+/* Helper to copy an optional flat array */
+static void copy_opt_array(double **dst, const double *src, size_t count) {
+    if (src) {
+        size_t sz = count * sizeof(double);
+        if (!*dst) {
+            *dst = (double*)cruckig_malloc(sz);
+        }
+        memcpy(*dst, src, sz);
+    } else {
+        cruckig_free(*dst);
+        *dst = NULL;
+    }
+}
+
+void cruckig_input_copy(CRuckigInputParameter *dst, const CRuckigInputParameter *src) {
+    if (!dst || !src) return;
+    if (dst == src) return;
+
+    const size_t dofs = src->degrees_of_freedom;
+    const size_t dsz = dofs * sizeof(double);
+
+    /* dst must already be allocated with same dofs */
+    dst->degrees_of_freedom = dofs;
+    dst->control_interface = src->control_interface;
+    dst->synchronization = src->synchronization;
+    dst->duration_discretization = src->duration_discretization;
+
+    memcpy(dst->current_position, src->current_position, dsz);
+    memcpy(dst->current_velocity, src->current_velocity, dsz);
+    memcpy(dst->current_acceleration, src->current_acceleration, dsz);
+    memcpy(dst->target_position, src->target_position, dsz);
+    memcpy(dst->target_velocity, src->target_velocity, dsz);
+    memcpy(dst->target_acceleration, src->target_acceleration, dsz);
+    memcpy(dst->max_velocity, src->max_velocity, dsz);
+    memcpy(dst->max_acceleration, src->max_acceleration, dsz);
+    memcpy(dst->max_jerk, src->max_jerk, dsz);
+    memcpy(dst->enabled, src->enabled, dofs * sizeof(bool));
+
+    copy_opt_array(&dst->min_velocity, src->min_velocity, dofs);
+    copy_opt_array(&dst->min_acceleration, src->min_acceleration, dofs);
+
+    /* Handle optional per_dof_control_interface */
+    if (src->per_dof_control_interface) {
+        if (!dst->per_dof_control_interface) {
+            dst->per_dof_control_interface = (CRuckigControlInterface*)cruckig_malloc(dofs * sizeof(CRuckigControlInterface));
+        }
+        memcpy(dst->per_dof_control_interface, src->per_dof_control_interface,
+               dofs * sizeof(CRuckigControlInterface));
+    } else {
+        cruckig_free(dst->per_dof_control_interface);
+        dst->per_dof_control_interface = NULL;
+    }
+
+    /* Handle optional per_dof_synchronization */
+    if (src->per_dof_synchronization) {
+        if (!dst->per_dof_synchronization) {
+            dst->per_dof_synchronization = (CRuckigSynchronization*)cruckig_malloc(dofs * sizeof(CRuckigSynchronization));
+        }
+        memcpy(dst->per_dof_synchronization, src->per_dof_synchronization,
+               dofs * sizeof(CRuckigSynchronization));
+    } else {
+        cruckig_free(dst->per_dof_synchronization);
+        dst->per_dof_synchronization = NULL;
+    }
+
+    dst->minimum_duration = src->minimum_duration;
+    dst->has_minimum_duration = src->has_minimum_duration;
+
+    /* Copy Pro fields */
+    if (src->num_intermediate_waypoints > 0 && src->intermediate_positions) {
+        size_t wp_sz = src->num_intermediate_waypoints * dofs;
+        copy_opt_array(&dst->intermediate_positions, src->intermediate_positions, wp_sz);
+        dst->num_intermediate_waypoints = src->num_intermediate_waypoints;
+    } else {
+        cruckig_free(dst->intermediate_positions);
+        dst->intermediate_positions = NULL;
+        dst->num_intermediate_waypoints = 0;
+    }
+
+    copy_opt_array(&dst->max_position, src->max_position, dofs);
+    copy_opt_array(&dst->min_position, src->min_position, dofs);
+
+    /* Per-section arrays */
+    size_t nsec = src->num_intermediate_waypoints + 1;
+    size_t sec_count = nsec * dofs;
+
+    copy_opt_array(&dst->per_section_max_velocity, src->per_section_max_velocity, sec_count);
+    copy_opt_array(&dst->per_section_max_acceleration, src->per_section_max_acceleration, sec_count);
+    copy_opt_array(&dst->per_section_max_jerk, src->per_section_max_jerk, sec_count);
+    copy_opt_array(&dst->per_section_min_velocity, src->per_section_min_velocity, sec_count);
+    copy_opt_array(&dst->per_section_min_acceleration, src->per_section_min_acceleration, sec_count);
+    copy_opt_array(&dst->per_section_max_position, src->per_section_max_position, sec_count);
+    copy_opt_array(&dst->per_section_min_position, src->per_section_min_position, sec_count);
+
+    if (src->per_section_minimum_duration) {
+        copy_opt_array(&dst->per_section_minimum_duration, src->per_section_minimum_duration, nsec);
+    } else {
+        cruckig_free(dst->per_section_minimum_duration);
+        dst->per_section_minimum_duration = NULL;
+    }
+
+    dst->interrupt_calculation_duration = src->interrupt_calculation_duration;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/input_parameter.h

@@ -0,0 +1,94 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_INPUT_PARAMETER_H
+#define CRUCKIG_INPUT_PARAMETER_H
+
+#include "cruckig_internal.h"
+#include "result.h"
+
+typedef struct {
+    size_t degrees_of_freedom;
+
+    CRuckigControlInterface control_interface;
+    CRuckigSynchronization synchronization;
+    CRuckigDurationDiscretization duration_discretization;
+
+    /* Current state */
+    double *current_position;
+    double *current_velocity;
+    double *current_acceleration;
+
+    /* Target state */
+    double *target_position;
+    double *target_velocity;
+    double *target_acceleration;
+
+    /* Kinematic constraints */
+    double *max_velocity;
+    double *max_acceleration;
+    double *max_jerk;
+
+    /* Optional min limits (NULL = use -max) */
+    double *min_velocity;     /* NULL or array of dofs */
+    double *min_acceleration; /* NULL or array of dofs */
+
+    /* Per-DOF enable flags */
+    bool *enabled;
+
+    /* Optional per-DOF control interface / synchronization (NULL = use global) */
+    CRuckigControlInterface *per_dof_control_interface; /* NULL or array of dofs */
+    CRuckigSynchronization *per_dof_synchronization;    /* NULL or array of dofs */
+
+    /* Optional minimum trajectory duration (-1 = not set) */
+    double minimum_duration;
+    bool has_minimum_duration;
+
+    /* ---- Pro features ---- */
+
+    /* Intermediate waypoints: flat array of num_waypoints * dofs doubles.
+     * Each waypoint is dofs consecutive doubles. NULL if no waypoints. */
+    double *intermediate_positions;
+    size_t num_intermediate_waypoints;
+
+    /* Per-section kinematic constraints: flat arrays of (num_waypoints+1) * dofs.
+     * Section i constraints at offset i*dofs. NULL = use global. */
+    double *per_section_max_velocity;
+    double *per_section_max_acceleration;
+    double *per_section_max_jerk;
+    double *per_section_min_velocity;
+    double *per_section_min_acceleration;
+
+    /* Per-section position limits: flat arrays of (num_waypoints+1) * dofs. */
+    double *per_section_max_position;
+    double *per_section_min_position;
+
+    /* Global position limits during trajectory (NULL = no limits) */
+    double *max_position;     /* NULL or array of dofs */
+    double *min_position;     /* NULL or array of dofs */
+
+    /* Per-section minimum duration: array of (num_waypoints+1). NULL = no constraint. */
+    double *per_section_minimum_duration;
+
+    /* Calculation interruption budget in microseconds. 0 = no interruption. */
+    double interrupt_calculation_duration;
+} CRuckigInputParameter;
+
+CRuckigInputParameter* cruckig_input_create(size_t dofs);
+void cruckig_input_destroy(CRuckigInputParameter *inp);
+bool cruckig_input_validate(const CRuckigInputParameter *inp,
+                            bool check_current_within_limits,
+                            bool check_target_within_limits);
+bool cruckig_input_is_equal(const CRuckigInputParameter *a, const CRuckigInputParameter *b);
+void cruckig_input_copy(CRuckigInputParameter *dst, const CRuckigInputParameter *src);
+
+/* Set intermediate waypoints. Copies the data. positions is num_waypoints * dofs doubles. */
+void cruckig_input_set_intermediate_positions(CRuckigInputParameter *inp,
+                                               const double *positions,
+                                               size_t num_waypoints);
+
+#endif /* CRUCKIG_INPUT_PARAMETER_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/output_parameter.c

@@ -0,0 +1,104 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "output_parameter.h"
+
+
+CRuckigOutputParameter* cruckig_output_create(size_t dofs) {
+    CRuckigOutputParameter *out = (CRuckigOutputParameter*)cruckig_calloc(1, sizeof(CRuckigOutputParameter));
+    if (!out) return NULL;
+
+    out->degrees_of_freedom = dofs;
+
+    out->trajectory = cruckig_trajectory_create(dofs);
+    if (!out->trajectory) {
+        cruckig_free(out);
+        return NULL;
+    }
+
+    out->new_position     = (double*)cruckig_calloc(dofs, sizeof(double));
+    out->new_velocity     = (double*)cruckig_calloc(dofs, sizeof(double));
+    out->new_acceleration = (double*)cruckig_calloc(dofs, sizeof(double));
+    out->new_jerk         = (double*)cruckig_calloc(dofs, sizeof(double));
+
+    if (!out->new_position || !out->new_velocity ||
+        !out->new_acceleration || !out->new_jerk) {
+        cruckig_output_destroy(out);
+        return NULL;
+    }
+
+    out->time = 0.0;
+    out->new_section = 0;
+    out->did_section_change = false;
+    out->new_calculation = false;
+    out->was_calculation_interrupted = false;
+    out->calculation_duration = 0.0;
+
+    return out;
+}
+
+void cruckig_output_destroy(CRuckigOutputParameter *out) {
+    if (!out) return;
+    cruckig_trajectory_destroy(out->trajectory);
+    cruckig_free(out->new_position);
+    cruckig_free(out->new_velocity);
+    cruckig_free(out->new_acceleration);
+    cruckig_free(out->new_jerk);
+    cruckig_free(out);
+}
+
+void cruckig_output_pass_to_input(const CRuckigOutputParameter *out, CRuckigInputParameter *inp) {
+    if (!out || !inp) return;
+
+    const size_t dofs = out->degrees_of_freedom;
+    const size_t dsz = dofs * sizeof(double);
+
+    memcpy(inp->current_position, out->new_position, dsz);
+    memcpy(inp->current_velocity, out->new_velocity, dsz);
+    memcpy(inp->current_acceleration, out->new_acceleration, dsz);
+
+    /* If section changed and we have intermediate waypoints, remove the first waypoint */
+    if (out->did_section_change && inp->num_intermediate_waypoints > 0) {
+        size_t remaining = inp->num_intermediate_waypoints - 1;
+        if (remaining == 0) {
+            cruckig_free(inp->intermediate_positions);
+            inp->intermediate_positions = NULL;
+            inp->num_intermediate_waypoints = 0;
+        } else {
+            /* Shift waypoints forward by one */
+            memmove(inp->intermediate_positions,
+                    inp->intermediate_positions + dofs,
+                    remaining * dofs * sizeof(double));
+            inp->num_intermediate_waypoints = remaining;
+        }
+
+        /* Also shift per-section constraints if present */
+        size_t old_nsec = remaining + 2; /* was num_waypoints+1 sections */
+        size_t new_nsec = remaining + 1;
+
+#define SHIFT_PER_SEC(field) \
+        if (inp->field) { \
+            memmove(inp->field, inp->field + dofs, new_nsec * dofs * sizeof(double)); \
+        }
+
+        SHIFT_PER_SEC(per_section_max_velocity)
+        SHIFT_PER_SEC(per_section_max_acceleration)
+        SHIFT_PER_SEC(per_section_max_jerk)
+        SHIFT_PER_SEC(per_section_min_velocity)
+        SHIFT_PER_SEC(per_section_min_acceleration)
+        SHIFT_PER_SEC(per_section_max_position)
+        SHIFT_PER_SEC(per_section_min_position)
+#undef SHIFT_PER_SEC
+
+        if (inp->per_section_minimum_duration) {
+            memmove(inp->per_section_minimum_duration,
+                    inp->per_section_minimum_duration + 1,
+                    new_nsec * sizeof(double));
+        }
+        (void)old_nsec;
+    }
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/output_parameter.h

@@ -0,0 +1,37 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_OUTPUT_PARAMETER_H
+#define CRUCKIG_OUTPUT_PARAMETER_H
+
+#include "cruckig_internal.h"
+#include "trajectory.h"
+#include "input_parameter.h"
+
+typedef struct {
+    size_t degrees_of_freedom;
+
+    CRuckigTrajectory *trajectory;
+
+    double *new_position;
+    double *new_velocity;
+    double *new_acceleration;
+    double *new_jerk;
+
+    double time;
+    size_t new_section;
+    bool did_section_change;
+    bool new_calculation;
+    bool was_calculation_interrupted;
+    double calculation_duration; /* microseconds */
+} CRuckigOutputParameter;
+
+CRuckigOutputParameter* cruckig_output_create(size_t dofs);
+void cruckig_output_destroy(CRuckigOutputParameter *out);
+void cruckig_output_pass_to_input(const CRuckigOutputParameter *out, CRuckigInputParameter *inp);
+
+#endif /* CRUCKIG_OUTPUT_PARAMETER_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position.h

@@ -0,0 +1,103 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_POSITION_H
+#define CRUCKIG_POSITION_H
+
+#include "cruckig_internal.h"
+#include "profile.h"
+#include "block.h"
+
+/* ---- Third Order Step 1 ---- */
+typedef struct {
+    double v0, a0, vf, af;
+    double _vMax, _vMin, _aMax, _aMin, _jMax;
+    double pd;
+    double v0_v0, vf_vf;
+    double a0_a0, a0_p3, a0_p4;
+    double af_af, af_p3, af_p4;
+    double jMax_jMax;
+    CRuckigProfile valid_profiles[6];
+} CRuckigPositionThirdOrderStep1;
+
+void cruckig_pos3_step1_init(CRuckigPositionThirdOrderStep1 *s,
+                     double p0, double v0, double a0,
+                     double pf, double vf, double af,
+                     double vMax, double vMin, double aMax, double aMin, double jMax);
+bool cruckig_pos3_step1_get_profile(CRuckigPositionThirdOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block);
+
+/* ---- Third Order Step 2 ---- */
+typedef struct {
+    double v0, a0, tf, vf, af;
+    double _vMax, _vMin, _aMax, _aMin, _jMax;
+    double pd;
+    double tf_tf, tf_p3, tf_p4;
+    double vd, vd_vd;
+    double ad, ad_ad;
+    double v0_v0, vf_vf;
+    double a0_a0, a0_p3, a0_p4, a0_p5, a0_p6;
+    double af_af, af_p3, af_p4, af_p5, af_p6;
+    double jMax_jMax;
+    double g1, g2;
+} CRuckigPositionThirdOrderStep2;
+
+void cruckig_pos3_step2_init(CRuckigPositionThirdOrderStep2 *s,
+                     double tf, double p0, double v0, double a0,
+                     double pf, double vf, double af,
+                     double vMax, double vMin, double aMax, double aMin, double jMax);
+bool cruckig_pos3_step2_get_profile(CRuckigPositionThirdOrderStep2 *s, CRuckigProfile *profile);
+
+/* ---- Second Order Step 1 ---- */
+typedef struct {
+    double v0, vf;
+    double _vMax, _vMin, _aMax, _aMin;
+    double pd;
+    CRuckigProfile valid_profiles[4];
+} CRuckigPositionSecondOrderStep1;
+
+void cruckig_pos2_step1_init(CRuckigPositionSecondOrderStep1 *s,
+                     double p0, double v0, double pf, double vf,
+                     double vMax, double vMin, double aMax, double aMin);
+bool cruckig_pos2_step1_get_profile(CRuckigPositionSecondOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block);
+
+/* ---- Second Order Step 2 ---- */
+typedef struct {
+    double v0, tf, vf;
+    double _vMax, _vMin, _aMax, _aMin;
+    double pd, vd;
+} CRuckigPositionSecondOrderStep2;
+
+void cruckig_pos2_step2_init(CRuckigPositionSecondOrderStep2 *s,
+                     double tf, double p0, double v0, double pf, double vf,
+                     double vMax, double vMin, double aMax, double aMin);
+bool cruckig_pos2_step2_get_profile(CRuckigPositionSecondOrderStep2 *s, CRuckigProfile *profile);
+
+/* ---- First Order Step 1 ---- */
+typedef struct {
+    double _vMax, _vMin;
+    double pd;
+} CRuckigPositionFirstOrderStep1;
+
+void cruckig_pos1_step1_init(CRuckigPositionFirstOrderStep1 *s,
+                     double p0, double pf, double vMax, double vMin);
+bool cruckig_pos1_step1_get_profile(CRuckigPositionFirstOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block);
+
+/* ---- First Order Step 2 ---- */
+typedef struct {
+    double tf;
+    double _vMax, _vMin;
+    double pd;
+} CRuckigPositionFirstOrderStep2;
+
+void cruckig_pos1_step2_init(CRuckigPositionFirstOrderStep2 *s,
+                     double tf, double p0, double pf, double vMax, double vMin);
+bool cruckig_pos1_step2_get_profile(CRuckigPositionFirstOrderStep2 *s, CRuckigProfile *profile);
+
+#endif /* CRUCKIG_POSITION_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position_first_step1.c

@@ -0,0 +1,41 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "position.h"
+#include "block.h"
+#include "profile.h"
+
+void cruckig_pos1_step1_init(CRuckigPositionFirstOrderStep1 *s,
+                     double p0, double pf, double vMax, double vMin)
+{
+    s->_vMax = vMax;
+    s->_vMin = vMin;
+    s->pd = pf - p0;
+}
+
+bool cruckig_pos1_step1_get_profile(CRuckigPositionFirstOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block)
+{
+    CRuckigProfile *p = &block->p_min;
+    cruckig_profile_set_boundary_from_profile(p, input);
+
+    const double vf = (s->pd > 0) ? s->_vMax : s->_vMin;
+    p->t[0] = 0;
+    p->t[1] = 0;
+    p->t[2] = 0;
+    p->t[3] = s->pd / vf;
+    p->t[4] = 0;
+    p->t[5] = 0;
+    p->t[6] = 0;
+
+    if (cruckig_profile_check_for_first_order(p, ControlSignsUDDU, ReachedLimitsVEL, vf)) {
+        block->t_min = p->t_sum[6] + p->brake.duration + p->accel.duration;
+        return true;
+    }
+    return false;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position_first_step2.c

@@ -0,0 +1,37 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "position.h"
+#include "block.h"
+#include "profile.h"
+#include "roots.h"
+
+void cruckig_pos1_step2_init(CRuckigPositionFirstOrderStep2 *s,
+                     double tf, double p0, double pf, double vMax, double vMin)
+{
+    s->tf = tf;
+    s->_vMax = vMax;
+    s->_vMin = vMin;
+    s->pd = pf - p0;
+}
+
+bool cruckig_pos1_step2_get_profile(CRuckigPositionFirstOrderStep2 *s, CRuckigProfile *profile)
+{
+    const double vf = s->pd / s->tf;
+
+    profile->t[0] = 0;
+    profile->t[1] = 0;
+    profile->t[2] = 0;
+    profile->t[3] = s->tf;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    return cruckig_profile_check_for_first_order_with_timing_full(profile, ControlSignsUDDU, ReachedLimitsNONE,
+                                                          s->tf, vf, s->_vMax, s->_vMin);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position_second_step1.c

@@ -0,0 +1,179 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "position.h"
+#include "block.h"
+#include "profile.h"
+
+void cruckig_pos2_step1_init(CRuckigPositionSecondOrderStep1 *s,
+                     double p0, double v0, double pf, double vf,
+                     double vMax, double vMin, double aMax, double aMin)
+{
+    s->v0 = v0;
+    s->vf = vf;
+    s->_vMax = vMax;
+    s->_vMin = vMin;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->pd = pf - p0;
+}
+
+static void time_acc0(CRuckigPositionSecondOrderStep1 *s,
+                      CRuckigProfile *valid_profiles, size_t *counter,
+                      double vMax, double vMin, double aMax, double aMin, bool return_after_found)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+
+    profile->t[0] = (-s->v0 + vMax) / aMax;
+    profile->t[1] = (aMin * s->v0 * s->v0 - aMax * s->vf * s->vf) / (2 * aMax * aMin * vMax) + vMax * (aMax - aMin) / (2 * aMax * aMin) + s->pd / vMax;
+    profile->t[2] = (s->vf - vMax) / aMin;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (cruckig_profile_check_for_second_order(profile, ControlSignsUDDU, ReachedLimitsACC0, aMax, aMin, vMax, vMin)) {
+        ++(*counter);
+        if (*counter < 4) {
+            cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+        }
+    }
+
+    (void)return_after_found;
+}
+
+static void time_none(CRuckigPositionSecondOrderStep1 *s,
+                      CRuckigProfile *valid_profiles, size_t *counter,
+                      double vMax, double vMin, double aMax, double aMin, bool return_after_found)
+{
+    double h1 = (aMax * s->vf * s->vf - aMin * s->v0 * s->v0 - 2 * aMax * aMin * s->pd) / (aMax - aMin);
+    if (h1 >= 0.0) {
+        h1 = sqrt(h1);
+
+        /* Solution 1 */
+        {
+            CRuckigProfile *profile = &valid_profiles[*counter];
+
+            profile->t[0] = -(s->v0 + h1) / aMax;
+            profile->t[1] = 0;
+            profile->t[2] = (s->vf + h1) / aMin;
+            profile->t[3] = 0;
+            profile->t[4] = 0;
+            profile->t[5] = 0;
+            profile->t[6] = 0;
+
+            if (cruckig_profile_check_for_second_order(profile, ControlSignsUDDU, ReachedLimitsNONE, aMax, aMin, vMax, vMin)) {
+                ++(*counter);
+                if (*counter < 4) {
+                    cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+                }
+                if (return_after_found) {
+                    return;
+                }
+            }
+        }
+
+        /* Solution 2 */
+        {
+            CRuckigProfile *profile = &valid_profiles[*counter];
+
+            profile->t[0] = (-s->v0 + h1) / aMax;
+            profile->t[1] = 0;
+            profile->t[2] = (s->vf - h1) / aMin;
+            profile->t[3] = 0;
+            profile->t[4] = 0;
+            profile->t[5] = 0;
+            profile->t[6] = 0;
+
+            if (cruckig_profile_check_for_second_order(profile, ControlSignsUDDU, ReachedLimitsNONE, aMax, aMin, vMax, vMin)) {
+                ++(*counter);
+                if (*counter < 4) {
+                    cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+                }
+            }
+        }
+    }
+}
+
+static bool time_all_single_step(CRuckigPositionSecondOrderStep1 *s,
+                                 CRuckigProfile *profile, double vMax, double vMin)
+{
+    if (fabs(s->vf - s->v0) > DBL_EPSILON) {
+        return false;
+    }
+
+    profile->t[0] = 0;
+    profile->t[1] = 0;
+    profile->t[2] = 0;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (fabs(s->v0) > DBL_EPSILON) {
+        profile->t[3] = s->pd / s->v0;
+        if (cruckig_profile_check_for_second_order(profile, ControlSignsUDDU, ReachedLimitsNONE, 0.0, 0.0, vMax, vMin)) {
+            return true;
+        }
+    } else if (fabs(s->pd) < DBL_EPSILON) {
+        if (cruckig_profile_check_for_second_order(profile, ControlSignsUDDU, ReachedLimitsNONE, 0.0, 0.0, vMax, vMin)) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool cruckig_pos2_step1_get_profile(CRuckigPositionSecondOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block)
+{
+    /* Zero-limits special case */
+    if (s->_vMax == 0.0 && s->_vMin == 0.0) {
+        CRuckigProfile *p = &block->p_min;
+        cruckig_profile_set_boundary_from_profile(p, input);
+
+        if (time_all_single_step(s, p, s->_vMax, s->_vMin)) {
+            block->t_min = p->t_sum[6] + p->brake.duration + p->accel.duration;
+            if (fabs(s->v0) > DBL_EPSILON) {
+                block->a.valid = true;
+                block->a.left = block->t_min;
+                block->a.right = INFINITY;
+            }
+            return true;
+        }
+        return false;
+    }
+
+    size_t valid_profile_counter = 0;
+    cruckig_profile_set_boundary_from_profile(&s->valid_profiles[0], input);
+
+    if (fabs(s->vf) < DBL_EPSILON) {
+        /* There is no blocked interval when vf==0, so return after first found profile */
+        const double vMax = (s->pd >= 0) ? s->_vMax : s->_vMin;
+        const double vMin = (s->pd >= 0) ? s->_vMin : s->_vMax;
+        const double aMax = (s->pd >= 0) ? s->_aMax : s->_aMin;
+        const double aMin = (s->pd >= 0) ? s->_aMin : s->_aMax;
+
+        time_none(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+
+        time_none(s, s->valid_profiles, &valid_profile_counter, vMin, vMax, aMin, aMax, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, vMin, vMax, aMin, aMax, true);
+    } else {
+        time_none(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, false);
+        time_none(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, false);
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, false);
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, false);
+    }
+
+return_block:
+    return cruckig_block_calculate(block, s->valid_profiles, valid_profile_counter, 4);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position_second_step2.c

@@ -0,0 +1,146 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "position.h"
+#include "block.h"
+#include "profile.h"
+#include "roots.h"
+
+void cruckig_pos2_step2_init(CRuckigPositionSecondOrderStep2 *s,
+                     double tf, double p0, double v0, double pf, double vf,
+                     double vMax, double vMin, double aMax, double aMin)
+{
+    s->v0 = v0;
+    s->tf = tf;
+    s->vf = vf;
+    s->_vMax = vMax;
+    s->_vMin = vMin;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->pd = pf - p0;
+    s->vd = vf - v0;
+}
+
+static bool time_acc0(CRuckigPositionSecondOrderStep2 *s, CRuckigProfile *profile,
+                      double vMax, double vMin, double aMax, double aMin)
+{
+    /* UD Solution 1/2 */
+    {
+        const double h1 = sqrt((2 * aMax * (s->pd - s->tf * s->vf) - 2 * aMin * (s->pd - s->tf * s->v0) + s->vd * s->vd) / (aMax * aMin) + s->tf * s->tf);
+
+        profile->t[0] = (aMax * s->vd - aMax * aMin * (s->tf - h1)) / (aMax * (aMax - aMin));
+        profile->t[1] = h1;
+        profile->t[2] = s->tf - (profile->t[0] + h1);
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check_for_second_order_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, aMax, aMin, vMax, vMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UU Solution */
+    {
+        const double h1 = (-s->vd + aMax * s->tf);
+
+        profile->t[0] = -s->vd * s->vd / (2 * aMax * h1) + (s->pd - s->v0 * s->tf) / h1;
+        profile->t[1] = -s->vd / aMax + s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = s->tf - (profile->t[0] + profile->t[1]);
+
+        if (cruckig_profile_check_for_second_order_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, aMax, aMin, vMax, vMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UU Solution - 2 step */
+    {
+        profile->t[0] = 0;
+        profile->t[1] = -s->vd / aMax + s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = s->vd / aMax;
+
+        if (cruckig_profile_check_for_second_order_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, aMax, aMin, vMax, vMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool time_none(CRuckigPositionSecondOrderStep2 *s, CRuckigProfile *profile,
+                      double vMax, double vMin, double aMax, double aMin)
+{
+    if (fabs(s->v0) < DBL_EPSILON && fabs(s->vf) < DBL_EPSILON && fabs(s->pd) < DBL_EPSILON) {
+        profile->t[0] = 0;
+        profile->t[1] = s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check_for_second_order_with_timing(profile, ControlSignsUDDU, ReachedLimitsNONE, s->tf, aMax, aMin, vMax, vMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UD Solution 1/2 */
+    {
+        const double h1 = 2 * (s->vf * s->tf - s->pd);
+
+        profile->t[0] = h1 / s->vd;
+        profile->t[1] = s->tf - profile->t[0];
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        const double af = s->vd * s->vd / h1;
+
+        if ((aMin - 1e-12 < af) && (af < aMax + 1e-12) &&
+            cruckig_profile_check_for_second_order_with_timing(profile, ControlSignsUDDU, ReachedLimitsNONE, s->tf, af, -af, vMax, vMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool check_all(CRuckigPositionSecondOrderStep2 *s, CRuckigProfile *profile,
+                      double vMax, double vMin, double aMax, double aMin)
+{
+    return time_acc0(s, profile, vMax, vMin, aMax, aMin) ||
+           time_none(s, profile, vMax, vMin, aMax, aMin);
+}
+
+bool cruckig_pos2_step2_get_profile(CRuckigPositionSecondOrderStep2 *s, CRuckigProfile *profile)
+{
+    /* Test all cases to get ones that match */
+    if (s->pd > 0) {
+        return check_all(s, profile, s->_vMax, s->_vMin, s->_aMax, s->_aMin) ||
+               check_all(s, profile, s->_vMin, s->_vMax, s->_aMin, s->_aMax);
+    }
+
+    return check_all(s, profile, s->_vMin, s->_vMax, s->_aMin, s->_aMax) ||
+           check_all(s, profile, s->_vMax, s->_vMin, s->_aMax, s->_aMin);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/position_third_step1.c

@@ -0,0 +1,705 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "position.h"
+#include "block.h"
+#include "profile.h"
+#include "roots.h"
+
+void cruckig_pos3_step1_init(CRuckigPositionThirdOrderStep1 *s,
+                     double p0, double v0, double a0,
+                     double pf, double vf, double af,
+                     double vMax, double vMin, double aMax, double aMin, double jMax)
+{
+    s->v0 = v0;
+    s->a0 = a0;
+    s->vf = vf;
+    s->af = af;
+    s->_vMax = vMax;
+    s->_vMin = vMin;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->_jMax = jMax;
+
+    s->pd = pf - p0;
+
+    s->v0_v0 = v0 * v0;
+    s->vf_vf = vf * vf;
+
+    s->a0_a0 = a0 * a0;
+    s->af_af = af * af;
+
+    s->a0_p3 = a0 * s->a0_a0;
+    s->a0_p4 = s->a0_a0 * s->a0_a0;
+    s->af_p3 = af * s->af_af;
+    s->af_p4 = s->af_af * s->af_af;
+
+    s->jMax_jMax = jMax * jMax;
+}
+
+/* Helper: add_profile equivalent - increment counter, copy boundary to next */
+static inline void add_profile(CRuckigProfile *valid_profiles, size_t *counter, size_t max_profiles)
+{
+    const size_t prev = *counter;
+    ++(*counter);
+    if (*counter < max_profiles) {
+        cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], &valid_profiles[prev]);
+    }
+}
+
+static void time_all_vel(CRuckigPositionThirdOrderStep1 *s,
+                         CRuckigProfile *valid_profiles, size_t *counter,
+                         double vMax, double vMin, double aMax, double aMin, double jMax,
+                         bool return_after_found)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double v0_v0 = s->v0_v0, vf_vf = s->vf_vf;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3;
+    const double a0_p4 = s->a0_p4, af_p4 = s->af_p4;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    (void)return_after_found;
+
+    /* ACC0_ACC1_VEL */
+    profile->t[0] = (-a0 + aMax) / jMax;
+    profile->t[1] = (a0_a0 / 2 - aMax * aMax - jMax * (v0 - vMax)) / (aMax * jMax);
+    profile->t[2] = aMax / jMax;
+    profile->t[3] = (3 * (a0_p4 * aMin - af_p4 * aMax) + 8 * aMax * aMin * (af_p3 - a0_p3 + 3 * jMax * (a0 * v0 - af * vf)) + 6 * a0_a0 * aMin * (aMax * aMax - 2 * jMax * v0) - 6 * af_af * aMax * (aMin * aMin - 2 * jMax * vf) - 12 * jMax * (aMax * aMin * (aMax * (v0 + vMax) - aMin * (vf + vMax) - 2 * jMax * pd) + (aMin - aMax) * jMax * vMax * vMax + jMax * (aMax * vf_vf - aMin * v0_v0))) / (24 * aMax * aMin * jMax_jMax * vMax);
+    profile->t[4] = -aMin / jMax;
+    profile->t[5] = -(af_af / 2 - aMin * aMin - jMax * (vf - vMax)) / (aMin * jMax);
+    profile->t[6] = profile->t[4] + af / jMax;
+
+    if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0_ACC1_VEL, false, jMax, vMax, vMin, aMax, aMin)) {
+        add_profile(valid_profiles, counter, 6);
+        return;
+    }
+
+    /* ACC1_VEL */
+    {
+        const double t_acc0 = sqrt(a0_a0 / (2 * jMax_jMax) + (vMax - v0) / jMax);
+
+        profile->t[0] = t_acc0 - a0 / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = t_acc0;
+        profile->t[3] = -(3 * af_p4 - 8 * aMin * (af_p3 - a0_p3) - 24 * aMin * jMax * (a0 * v0 - af * vf) + 6 * af_af * (aMin * aMin - 2 * jMax * vf) - 12 * jMax * (2 * aMin * jMax * pd + aMin * aMin * (vf + vMax) + jMax * (vMax * vMax - vf_vf) + aMin * t_acc0 * (a0_a0 - 2 * jMax * (v0 + vMax)))) / (24 * aMin * jMax_jMax * vMax);
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC1_VEL, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* ACC0_VEL */
+    {
+        const double t_acc1 = sqrt(af_af / (2 * jMax_jMax) + (vMax - vf) / jMax);
+
+        profile->t[0] = (-a0 + aMax) / jMax;
+        profile->t[1] = (a0_a0 / 2 - aMax * aMax - jMax * (v0 - vMax)) / (aMax * jMax);
+        profile->t[2] = aMax / jMax;
+        profile->t[3] = (3 * a0_p4 + 8 * aMax * (af_p3 - a0_p3) + 24 * aMax * jMax * (a0 * v0 - af * vf) + 6 * a0_a0 * (aMax * aMax - 2 * jMax * v0) - 12 * jMax * (-2 * aMax * jMax * pd + aMax * aMax * (v0 + vMax) + jMax * (vMax * vMax - v0_v0) + aMax * t_acc1 * (-af_af + 2 * (vf + vMax) * jMax))) / (24 * aMax * jMax_jMax * vMax);
+        profile->t[4] = t_acc1;
+        profile->t[5] = 0;
+        profile->t[6] = t_acc1 + af / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0_VEL, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* VEL */
+    {
+        const double t_acc0 = sqrt(a0_a0 / (2 * jMax_jMax) + (vMax - v0) / jMax);
+        const double t_acc1 = sqrt(af_af / (2 * jMax_jMax) + (vMax - vf) / jMax);
+
+        /* Solution 3/4 */
+        profile->t[0] = t_acc0 - a0 / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = t_acc0;
+        profile->t[3] = (af_p3 - a0_p3) / (3 * jMax_jMax * vMax) + (a0 * v0 - af * vf + (af_af * t_acc1 + a0_a0 * t_acc0) / 2) / (jMax * vMax) - (v0 / vMax + 1.0) * t_acc0 - (vf / vMax + 1.0) * t_acc1 + pd / vMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsVEL, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+        }
+    }
+}
+
+static void time_acc0_acc1(CRuckigPositionThirdOrderStep1 *s,
+                           CRuckigProfile *valid_profiles, size_t *counter,
+                           double vMax, double vMin, double aMax, double aMin, double jMax,
+                           bool return_after_found)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+    const double a0 = s->a0, af = s->af;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3;
+    const double a0_p4 = s->a0_p4, af_p4 = s->af_p4;
+    const double v0 = s->v0, vf = s->vf;
+    const double v0_v0 = s->v0_v0, vf_vf = s->vf_vf;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    double h1 = (3 * (af_p4 * aMax - a0_p4 * aMin) + aMax * aMin * (8 * (a0_p3 - af_p3) + 3 * aMax * aMin * (aMax - aMin) + 6 * aMin * af_af - 6 * aMax * a0_a0) + 12 * jMax * (aMax * aMin * ((aMax - 2 * a0) * v0 - (aMin - 2 * af) * vf) + aMin * a0_a0 * v0 - aMax * af_af * vf)) / (3 * (aMax - aMin) * jMax_jMax) + 4 * (aMax * vf_vf - aMin * v0_v0 - 2 * aMin * aMax * pd) / (aMax - aMin);
+
+    if (h1 >= 0) {
+        h1 = sqrt(h1) / 2;
+        const double h2 = a0_a0 / (2 * aMax * jMax) + (aMin - 2 * aMax) / (2 * jMax) - v0 / aMax;
+        const double h3 = -af_af / (2 * aMin * jMax) - (aMax - 2 * aMin) / (2 * jMax) + vf / aMin;
+
+        /* UDDU: Solution 2 */
+        if (h2 > h1 / aMax && h3 > -h1 / aMin) {
+            profile->t[0] = (-a0 + aMax) / jMax;
+            profile->t[1] = h2 - h1 / aMax;
+            profile->t[2] = aMax / jMax;
+            profile->t[3] = 0;
+            profile->t[4] = -aMin / jMax;
+            profile->t[5] = h3 + h1 / aMin;
+            profile->t[6] = profile->t[4] + af / jMax;
+
+            if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0_ACC1, true, jMax, vMax, vMin, aMax, aMin)) {
+                add_profile(valid_profiles, counter, 6);
+                if (return_after_found) {
+                    return;
+                }
+            }
+        }
+
+        /* UDDU: Solution 1 */
+        profile = &valid_profiles[*counter];
+        if (h2 > -h1 / aMax && h3 > h1 / aMin) {
+            profile->t[0] = (-a0 + aMax) / jMax;
+            profile->t[1] = h2 + h1 / aMax;
+            profile->t[2] = aMax / jMax;
+            profile->t[3] = 0;
+            profile->t[4] = -aMin / jMax;
+            profile->t[5] = h3 - h1 / aMin;
+            profile->t[6] = profile->t[4] + af / jMax;
+
+            if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0_ACC1, true, jMax, vMax, vMin, aMax, aMin)) {
+                add_profile(valid_profiles, counter, 6);
+            }
+        }
+    }
+}
+
+static void time_all_none_acc0_acc1(CRuckigPositionThirdOrderStep1 *s,
+                                     CRuckigProfile *valid_profiles, size_t *counter,
+                                     double vMax, double vMin, double aMax, double aMin, double jMax,
+                                     bool return_after_found)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double v0_v0 = s->v0_v0, vf_vf = s->vf_vf;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3;
+    const double a0_p4 = s->a0_p4, af_p4 = s->af_p4;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    /* NONE UDDU / UDUD Strategy */
+    const double h2_none = (a0_a0 - af_af) / (2 * jMax) + (vf - v0);
+    const double h2_h2 = h2_none * h2_none;
+    const double t_min_none = (a0 - af) / jMax;
+    const double t_max_none = (aMax - aMin) / jMax;
+
+    double polynom_none[4];
+    polynom_none[0] = 0;
+    polynom_none[1] = -2 * (a0_a0 + af_af - 2 * jMax * (v0 + vf)) / jMax_jMax;
+    polynom_none[2] = 4 * (a0_p3 - af_p3 + 3 * jMax * (af * vf - a0 * v0)) / (3 * jMax * jMax_jMax) - 4 * pd / jMax;
+    polynom_none[3] = -h2_h2 / jMax_jMax;
+
+    /* ACC0 */
+    const double h3_acc0 = (a0_a0 - af_af) / (2 * aMax * jMax) + (vf - v0) / aMax;
+    const double t_min_acc0 = (aMax - af) / jMax;
+    const double t_max_acc0 = (aMax - aMin) / jMax;
+
+    const double h0_acc0 = 3 * (af_p4 - a0_p4) + 8 * (a0_p3 - af_p3) * aMax + 24 * aMax * jMax * (af * vf - a0 * v0) - 6 * a0_a0 * (aMax * aMax - 2 * jMax * v0) + 6 * af_af * (aMax * aMax - 2 * jMax * vf) + 12 * jMax * (jMax * (vf_vf - v0_v0 - 2 * aMax * pd) - aMax * aMax * (vf - v0));
+    const double h2_acc0 = -af_af + aMax * aMax + 2 * jMax * vf;
+
+    double polynom_acc0[4];
+    polynom_acc0[0] = -2 * aMax / jMax;
+    polynom_acc0[1] = h2_acc0 / jMax_jMax;
+    polynom_acc0[2] = 0;
+    polynom_acc0[3] = h0_acc0 / (12 * jMax_jMax * jMax_jMax);
+
+    /* ACC1 */
+    const double h3_acc1 = -(a0_a0 + af_af) / (2 * jMax * aMin) + aMin / jMax + (vf - v0) / aMin;
+    const double t_min_acc1 = (aMin - a0) / jMax;
+    const double t_max_acc1 = (aMax - a0) / jMax;
+
+    const double h0_acc1 = (a0_p4 - af_p4) / 4 + 2 * (af_p3 - a0_p3) * aMin / 3 + (a0_a0 - af_af) * aMin * aMin / 2 + jMax * (af_af * vf + a0_a0 * v0 + 2 * aMin * (jMax * pd - a0 * v0 - af * vf) + aMin * aMin * (v0 + vf) + jMax * (v0_v0 - vf_vf));
+    const double h2_acc1 = a0_a0 - a0 * aMin + 2 * jMax * v0;
+
+    double polynom_acc1[4];
+    polynom_acc1[0] = 2 * (2 * a0 - aMin) / jMax;
+    polynom_acc1[1] = (5 * a0_a0 + aMin * (aMin - 6 * a0) + 2 * jMax * v0) / jMax_jMax;
+    polynom_acc1[2] = 2 * (a0 - aMin) * h2_acc1 / (jMax_jMax * jMax);
+    polynom_acc1[3] = h0_acc1 / (jMax_jMax * jMax_jMax);
+
+    CRuckigRootSet roots_none = cruckig_roots_solve_quart_monic(polynom_none[0], polynom_none[1], polynom_none[2], polynom_none[3]);
+    CRuckigRootSet roots_acc0 = cruckig_roots_solve_quart_monic(polynom_acc0[0], polynom_acc0[1], polynom_acc0[2], polynom_acc0[3]);
+    CRuckigRootSet roots_acc1 = cruckig_roots_solve_quart_monic(polynom_acc1[0], polynom_acc1[1], polynom_acc1[2], polynom_acc1[3]);
+
+    cruckig_root_set_sort(&roots_none);
+    cruckig_root_set_sort(&roots_acc0);
+    cruckig_root_set_sort(&roots_acc1);
+
+    for (size_t i = 0; i < roots_none.size; ++i) {
+        double t = roots_none.data[i];
+        if (t < t_min_none || t > t_max_none) {
+            continue;
+        }
+
+        /* Single Newton-step (regarding pd) */
+        if (t > DBL_EPSILON) {
+            const double h1 = jMax * t * t;
+            const double orig = -h2_h2 / (4 * jMax * t) + h2_none * (af / jMax + t) + (4 * a0_p3 + 2 * af_p3 - 6 * a0_a0 * (af + 2 * jMax * t) + 12 * (af - a0) * jMax * v0 + 3 * jMax_jMax * (-4 * pd + (h1 + 8 * v0) * t)) / (12 * jMax_jMax);
+            const double deriv = h2_none + 2 * v0 - a0_a0 / jMax + h2_h2 / (4 * h1) + (3 * h1) / 4;
+
+            t -= orig / deriv;
+        }
+
+        const double h0 = h2_none / (2 * jMax * t);
+        profile = &valid_profiles[*counter];
+        profile->t[0] = h0 + t / 2 - a0 / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = t;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = -h0 + t / 2 + af / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            if (return_after_found) {
+                return;
+            }
+        }
+    }
+
+    for (size_t i = 0; i < roots_acc0.size; ++i) {
+        double t = roots_acc0.data[i];
+        if (t < t_min_acc0 || t > t_max_acc0) {
+            continue;
+        }
+
+        /* Single Newton step (regarding pd) */
+        if (t > DBL_EPSILON) {
+            const double h1 = jMax * t;
+            const double orig = h0_acc0 / (12 * jMax_jMax * t) + t * (h2_acc0 + h1 * (h1 - 2 * aMax));
+            const double deriv = 2 * (h2_acc0 + h1 * (2 * h1 - 3 * aMax));
+
+            t -= orig / deriv;
+        }
+
+        profile = &valid_profiles[*counter];
+        profile->t[0] = (-a0 + aMax) / jMax;
+        profile->t[1] = h3_acc0 - 2 * t + jMax / aMax * t * t;
+        profile->t[2] = t;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = (af - aMax) / jMax + t;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            if (return_after_found) {
+                return;
+            }
+        }
+    }
+
+    for (size_t i = 0; i < roots_acc1.size; ++i) {
+        double t = roots_acc1.data[i];
+        if (t < t_min_acc1 || t > t_max_acc1) {
+            continue;
+        }
+
+        /* Double Newton step (regarding pd) */
+        if (t > DBL_EPSILON) {
+            const double h5 = a0_p3 + 2 * jMax * a0 * v0;
+            double h1 = jMax * t;
+            double orig = -(h0_acc1 / 2 + h1 * (h5 + a0 * (aMin - 2 * h1) * (aMin - h1) + a0_a0 * (5 * h1 / 2 - 2 * aMin) + aMin * aMin * h1 / 2 + jMax * (h1 / 2 - aMin) * (h1 * t + 2 * v0))) / jMax;
+            double deriv = (aMin - a0 - h1) * (h2_acc1 + h1 * (4 * a0 - aMin + 2 * h1));
+            {
+                double correction = orig / deriv;
+                if (correction > t) correction = t;
+                t -= correction;
+            }
+
+            h1 = jMax * t;
+            orig = -(h0_acc1 / 2 + h1 * (h5 + a0 * (aMin - 2 * h1) * (aMin - h1) + a0_a0 * (5 * h1 / 2 - 2 * aMin) + aMin * aMin * h1 / 2 + jMax * (h1 / 2 - aMin) * (h1 * t + 2 * v0))) / jMax;
+
+            if (fabs(orig) > 1e-9) {
+                deriv = (aMin - a0 - h1) * (h2_acc1 + h1 * (4 * a0 - aMin + 2 * h1));
+                t -= orig / deriv;
+
+                h1 = jMax * t;
+                orig = -(h0_acc1 / 2 + h1 * (h5 + a0 * (aMin - 2 * h1) * (aMin - h1) + a0_a0 * (5 * h1 / 2 - 2 * aMin) + aMin * aMin * h1 / 2 + jMax * (h1 / 2 - aMin) * (h1 * t + 2 * v0))) / jMax;
+
+                if (fabs(orig) > 1e-9) {
+                    deriv = (aMin - a0 - h1) * (h2_acc1 + h1 * (4 * a0 - aMin + 2 * h1));
+                    t -= orig / deriv;
+                }
+            }
+        }
+
+        profile = &valid_profiles[*counter];
+        profile->t[0] = t;
+        profile->t[1] = 0;
+        profile->t[2] = (a0 - aMin) / jMax + t;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = h3_acc1 - (2 * a0 + jMax * t) * t / aMin;
+        profile->t[6] = (af - aMin) / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC1, true, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            if (return_after_found) {
+                return;
+            }
+        }
+    }
+}
+
+static void time_acc1_vel_two_step(CRuckigPositionThirdOrderStep1 *s,
+                                   CRuckigProfile *valid_profiles, size_t *counter,
+                                   double vMax, double vMin, double aMax, double aMin, double jMax)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double vf_vf = s->vf_vf;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3, af_p4 = s->af_p4;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    profile->t[0] = 0;
+    profile->t[1] = 0;
+    profile->t[2] = a0 / jMax;
+    profile->t[3] = -(3 * af_p4 - 8 * aMin * (af_p3 - a0_p3) - 24 * aMin * jMax * (a0 * v0 - af * vf) + 6 * af_af * (aMin * aMin - 2 * jMax * vf) - 12 * jMax * (2 * aMin * jMax * pd + aMin * aMin * (vf + vMax) + jMax * (vMax * vMax - vf_vf) + aMin * a0 * (a0_a0 - 2 * jMax * (v0 + vMax)) / jMax)) / (24 * aMin * jMax_jMax * vMax);
+    profile->t[4] = -aMin / jMax;
+    profile->t[5] = -(af_af / 2 - aMin * aMin + jMax * (vMax - vf)) / (aMin * jMax);
+    profile->t[6] = profile->t[4] + af / jMax;
+
+    if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC1_VEL, false, jMax, vMax, vMin, aMax, aMin)) {
+        add_profile(valid_profiles, counter, 6);
+    }
+}
+
+static void time_acc0_two_step(CRuckigPositionThirdOrderStep1 *s,
+                               CRuckigProfile *valid_profiles, size_t *counter,
+                               double vMax, double vMin, double aMax, double aMin, double jMax)
+{
+    CRuckigProfile *profile = &valid_profiles[*counter];
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double v0_v0 = s->v0_v0, vf_vf = s->vf_vf;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3;
+    const double a0_p4 = s->a0_p4, af_p4 = s->af_p4;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    /* Two step */
+    {
+        profile->t[0] = 0;
+        profile->t[1] = (af_af - a0_a0 + 2 * jMax * (vf - v0)) / (2 * a0 * jMax);
+        profile->t[2] = (a0 - af) / jMax;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* Three step - Removed pf */
+    {
+        profile = &valid_profiles[*counter];
+        profile->t[0] = (-a0 + aMax) / jMax;
+        profile->t[1] = (a0_a0 + af_af - 2 * aMax * aMax + 2 * jMax * (vf - v0)) / (2 * aMax * jMax);
+        profile->t[2] = (-af + aMax) / jMax;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* Three step - Removed aMax */
+    {
+        profile = &valid_profiles[*counter];
+        const double h0 = 3 * (af_af - a0_a0 + 2 * jMax * (v0 + vf));
+        const double h2 = a0_p3 + 2 * af_p3 + 6 * jMax_jMax * pd + 6 * (af - a0) * jMax * vf - 3 * a0 * af_af;
+        const double h1_sq = 2 * (2 * h2 * h2 + h0 * (a0_p4 - 6 * a0_a0 * (af_af + 2 * jMax * vf) + 8 * a0 * (af_p3 + 3 * jMax_jMax * pd + 3 * af * jMax * vf) - 3 * (af_p4 + 4 * af_af * jMax * vf + 4 * jMax_jMax * (vf_vf - v0_v0))));
+        const double h1 = sqrt(h1_sq) * fabs(jMax) / jMax;
+        profile->t[0] = (4 * af_p3 + 2 * a0_p3 - 6 * a0 * af_af + 12 * jMax_jMax * pd + 12 * (af - a0) * jMax * vf + h1) / (2 * jMax * h0);
+        profile->t[1] = -h1 / (jMax * h0);
+        profile->t[2] = (-4 * a0_p3 - 2 * af_p3 + 6 * a0_a0 * af + 12 * jMax_jMax * pd - 12 * (af - a0) * jMax * v0 + h1) / (2 * jMax * h0);
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* Three step - t=(aMax - aMin)/jMax */
+    {
+        profile = &valid_profiles[*counter];
+        const double t = (aMax - aMin) / jMax;
+
+        profile->t[0] = (-a0 + aMax) / jMax;
+        profile->t[1] = (a0_a0 - af_af) / (2 * aMax * jMax) + (vf - v0 + jMax * t * t) / aMax - 2 * t;
+        profile->t[2] = t;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = (af - aMin) / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsACC0, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+}
+
+static void time_vel_two_step(CRuckigPositionThirdOrderStep1 *s,
+                              CRuckigProfile *valid_profiles, size_t *counter,
+                              double vMax, double vMin, double aMax, double aMin, double jMax)
+{
+    CRuckigProfile *profile;
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double af_af = s->af_af;
+    const double a0_p3 = s->a0_p3, af_p3 = s->af_p3;
+    const double jMax_jMax = s->jMax_jMax;
+    const double pd = s->pd;
+
+    const double h1 = sqrt(af_af / (2 * jMax_jMax) + (vMax - vf) / jMax);
+
+    /* Four step - Solution 3/4 */
+    {
+        profile = &valid_profiles[*counter];
+        profile->t[0] = -a0 / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = 0;
+        profile->t[3] = (af_p3 - a0_p3) / (3 * jMax_jMax * vMax) + (a0 * v0 - af * vf + (af_af * h1) / 2) / (jMax * vMax) - (vf / vMax + 1.0) * h1 + pd / vMax;
+        profile->t[4] = h1;
+        profile->t[5] = 0;
+        profile->t[6] = h1 + af / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsVEL, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* Four step */
+    {
+        profile = &valid_profiles[*counter];
+        profile->t[0] = 0;
+        profile->t[1] = 0;
+        profile->t[2] = a0 / jMax;
+        profile->t[3] = (af_p3 - a0_p3) / (3 * jMax_jMax * vMax) + (a0 * v0 - af * vf + (af_af * h1 + a0_p3 / jMax) / 2) / (jMax * vMax) - (v0 / vMax + 1.0) * a0 / jMax - (vf / vMax + 1.0) * h1 + pd / vMax;
+        profile->t[4] = h1;
+        profile->t[5] = 0;
+        profile->t[6] = h1 + af / jMax;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsVEL, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+}
+
+static void time_none_two_step(CRuckigPositionThirdOrderStep1 *s,
+                               CRuckigProfile *valid_profiles, size_t *counter,
+                               double vMax, double vMin, double aMax, double aMin, double jMax)
+{
+    CRuckigProfile *profile;
+    const double v0 = s->v0, a0 = s->a0, vf = s->vf, af = s->af;
+    const double a0_a0 = s->a0_a0, af_af = s->af_af;
+
+    /* Two step */
+    {
+        profile = &valid_profiles[*counter];
+        const double h0 = sqrt((a0_a0 + af_af) / 2 + jMax * (vf - v0)) * fabs(jMax) / jMax;
+        profile->t[0] = (h0 - a0) / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = (h0 - af) / jMax;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+
+    /* Single step */
+    {
+        profile = &valid_profiles[*counter];
+        profile->t[0] = (af - a0) / jMax;
+        profile->t[1] = 0;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, jMax, vMax, vMin, aMax, aMin)) {
+            add_profile(valid_profiles, counter, 6);
+            return;
+        }
+    }
+}
+
+static bool time_all_single_step(CRuckigPositionThirdOrderStep1 *s,
+                                 CRuckigProfile *profile, double vMax, double vMin, double aMax, double aMin)
+{
+    const double v0 = s->v0, a0 = s->a0, af = s->af;
+    const double v0_v0 = s->v0_v0;
+    const double pd = s->pd;
+
+    if (fabs(af - a0) > DBL_EPSILON) {
+        return false;
+    }
+
+    profile->t[0] = 0;
+    profile->t[1] = 0;
+    profile->t[2] = 0;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (fabs(a0) > DBL_EPSILON) {
+        const double q = sqrt(2 * a0 * pd + v0_v0);
+
+        /* Solution 1 */
+        profile->t[3] = (-v0 + q) / a0;
+        if (profile->t[3] >= 0.0 && cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, 0.0, vMax, vMin, aMax, aMin)) {
+            return true;
+        }
+
+        /* Solution 2 */
+        profile->t[3] = -(v0 + q) / a0;
+        if (profile->t[3] >= 0.0 && cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, 0.0, vMax, vMin, aMax, aMin)) {
+            return true;
+        }
+
+    } else if (fabs(v0) > DBL_EPSILON) {
+        profile->t[3] = pd / v0;
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, 0.0, vMax, vMin, aMax, aMin)) {
+            return true;
+        }
+
+    } else if (fabs(pd) < DBL_EPSILON) {
+        if (cruckig_profile_check(profile, ControlSignsUDDU, ReachedLimitsNONE, false, 0.0, vMax, vMin, aMax, aMin)) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+CRUCKIG_HOT
+bool cruckig_pos3_step1_get_profile(CRuckigPositionThirdOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block)
+{
+    /* Zero-limits special case */
+    if (s->_jMax == 0.0 || s->_aMax == 0.0 || s->_aMin == 0.0) {
+        CRuckigProfile *p = &block->p_min;
+        cruckig_profile_set_boundary_from_profile(p, input);
+
+        if (time_all_single_step(s, p, s->_vMax, s->_vMin, s->_aMax, s->_aMin)) {
+            block->t_min = p->t_sum[6] + p->brake.duration + p->accel.duration;
+            if (fabs(s->v0) > DBL_EPSILON || fabs(s->a0) > DBL_EPSILON) {
+                block->a.valid = true;
+                block->a.left = block->t_min;
+                block->a.right = INFINITY;
+            }
+            return true;
+        }
+        return false;
+    }
+
+    size_t valid_profile_counter = 0;
+    cruckig_profile_set_boundary_from_profile(&s->valid_profiles[0], input);
+
+    if (fabs(s->vf) < DBL_EPSILON && fabs(s->af) < DBL_EPSILON) {
+        const double vMax = (s->pd >= 0) ? s->_vMax : s->_vMin;
+        const double vMin = (s->pd >= 0) ? s->_vMin : s->_vMax;
+        const double aMax = (s->pd >= 0) ? s->_aMax : s->_aMin;
+        const double aMin = (s->pd >= 0) ? s->_aMin : s->_aMax;
+        const double jMax = (s->pd >= 0) ? s->_jMax : -s->_jMax;
+
+        if (fabs(s->v0) < DBL_EPSILON && fabs(s->a0) < DBL_EPSILON && fabs(s->pd) < DBL_EPSILON) {
+            time_all_none_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, jMax, true);
+
+        } else {
+            /* There is no blocked interval when vf==0 && af==0, so return after first found profile */
+            time_all_vel(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, jMax, true);
+            if (valid_profile_counter > 0) { goto return_block; }
+            time_all_none_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, jMax, true);
+            if (valid_profile_counter > 0) { goto return_block; }
+            time_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, vMax, vMin, aMax, aMin, jMax, true);
+            if (valid_profile_counter > 0) { goto return_block; }
+
+            time_all_vel(s, s->valid_profiles, &valid_profile_counter, vMin, vMax, aMin, aMax, -jMax, true);
+            if (valid_profile_counter > 0) { goto return_block; }
+            time_all_none_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, vMin, vMax, aMin, aMax, -jMax, true);
+            if (valid_profile_counter > 0) { goto return_block; }
+            time_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, vMin, vMax, aMin, aMax, -jMax, true);
+        }
+
+    } else {
+        time_all_none_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax, false);
+        time_all_none_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax, false);
+        time_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax, false);
+        time_acc0_acc1(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax, false);
+        time_all_vel(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax, false);
+        time_all_vel(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax, false);
+    }
+
+    if (valid_profile_counter == 0) {
+        time_none_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_none_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_vel_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_vel_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc1_vel_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMax, s->_vMin, s->_aMax, s->_aMin, s->_jMax);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc1_vel_two_step(s, s->valid_profiles, &valid_profile_counter, s->_vMin, s->_vMax, s->_aMin, s->_aMax, -s->_jMax);
+    }
+
+return_block:
+    return cruckig_block_calculate(block, s->valid_profiles, valid_profile_counter, 6);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/profile.c

@@ -0,0 +1,539 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "profile.h"
+#include "roots.h"
+#include "utils.h"
+
+void cruckig_profile_init(CRuckigProfile *p) {
+    memset(p->t, 0, sizeof(p->t));
+    memset(p->t_sum, 0, sizeof(p->t_sum));
+    memset(p->j, 0, sizeof(p->j));
+    memset(p->a, 0, sizeof(p->a));
+    memset(p->v, 0, sizeof(p->v));
+    memset(p->p, 0, sizeof(p->p));
+
+    cruckig_brake_init(&p->brake);
+    cruckig_brake_init(&p->accel);
+
+    p->pf = 0.0;
+    p->vf = 0.0;
+    p->af = 0.0;
+
+    p->limits = ReachedLimitsNONE;
+    p->direction = DirectionUP;
+    p->control_signs = ControlSignsUDDU;
+}
+
+void cruckig_profile_set_boundary(CRuckigProfile *p, double p0, double v0, double a0,
+                          double pf, double vf, double af) {
+    p->a[0] = a0;
+    p->v[0] = v0;
+    p->p[0] = p0;
+    p->af = af;
+    p->vf = vf;
+    p->pf = pf;
+}
+
+void cruckig_profile_set_boundary_from_profile(CRuckigProfile *p, const CRuckigProfile *src) {
+    p->a[0] = src->a[0];
+    p->v[0] = src->v[0];
+    p->p[0] = src->p[0];
+    p->af = src->af;
+    p->vf = src->vf;
+    p->pf = src->pf;
+    p->brake = src->brake;
+    p->accel = src->accel;
+}
+
+void cruckig_profile_set_boundary_for_velocity(CRuckigProfile *p, double p0, double v0, double a0,
+                                       double vf, double af) {
+    p->a[0] = a0;
+    p->v[0] = v0;
+    p->p[0] = p0;
+    p->af = af;
+    p->vf = vf;
+}
+
+/* Third-order position check */
+CRUCKIG_HOT
+bool cruckig_profile_check(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                   bool set_limits, double jf, double vMax, double vMin, double aMax, double aMin) {
+    if (CRUCKIG_UNLIKELY(p->t[0] < 0)) {
+        return false;
+    }
+
+    p->t_sum[0] = p->t[0];
+    for (size_t i = 0; i < 6; ++i) {
+        if (CRUCKIG_UNLIKELY(p->t[i + 1] < 0)) {
+            return false;
+        }
+        p->t_sum[i + 1] = p->t_sum[i] + p->t[i + 1];
+    }
+
+    if (lim == ReachedLimitsACC0_ACC1_VEL || lim == ReachedLimitsACC0_VEL || lim == ReachedLimitsACC1_VEL || lim == ReachedLimitsVEL) {
+        if (CRUCKIG_UNLIKELY(p->t[3] < DBL_EPSILON)) {
+            return false;
+        }
+    }
+
+    if (lim == ReachedLimitsACC0 || lim == ReachedLimitsACC0_ACC1) {
+        if (CRUCKIG_UNLIKELY(p->t[1] < DBL_EPSILON)) {
+            return false;
+        }
+    }
+
+    if (lim == ReachedLimitsACC1 || lim == ReachedLimitsACC0_ACC1) {
+        if (CRUCKIG_UNLIKELY(p->t[5] < DBL_EPSILON)) {
+            return false;
+        }
+    }
+
+    if (CRUCKIG_UNLIKELY(p->t_sum[6] > PROFILE_T_MAX)) {
+        return false;
+    }
+
+    if (cs == ControlSignsUDDU) {
+        p->j[0] = (p->t[0] > 0 ? jf : 0);
+        p->j[1] = 0;
+        p->j[2] = (p->t[2] > 0 ? -jf : 0);
+        p->j[3] = 0;
+        p->j[4] = (p->t[4] > 0 ? -jf : 0);
+        p->j[5] = 0;
+        p->j[6] = (p->t[6] > 0 ? jf : 0);
+    } else {
+        p->j[0] = (p->t[0] > 0 ? jf : 0);
+        p->j[1] = 0;
+        p->j[2] = (p->t[2] > 0 ? -jf : 0);
+        p->j[3] = 0;
+        p->j[4] = (p->t[4] > 0 ? jf : 0);
+        p->j[5] = 0;
+        p->j[6] = (p->t[6] > 0 ? -jf : 0);
+    }
+
+    p->direction = (vMax > 0) ? DirectionUP : DirectionDOWN;
+    const double vUppLim = (p->direction == DirectionUP ? vMax : vMin) + PROFILE_V_EPS;
+    const double vLowLim = (p->direction == DirectionUP ? vMin : vMax) - PROFILE_V_EPS;
+
+    for (size_t i = 0; i < 7; ++i) {
+        p->a[i + 1] = p->a[i] + p->t[i] * p->j[i];
+        p->v[i + 1] = p->v[i] + p->t[i] * (p->a[i] + p->t[i] * p->j[i] / 2);
+        p->p[i + 1] = p->p[i] + p->t[i] * (p->v[i] + p->t[i] * (p->a[i] / 2 + p->t[i] * p->j[i] / 6));
+
+        if (lim == ReachedLimitsACC0_ACC1_VEL || lim == ReachedLimitsACC0_ACC1 || lim == ReachedLimitsACC0_VEL || lim == ReachedLimitsACC1_VEL || lim == ReachedLimitsVEL) {
+            if (i == 2) {
+                p->a[3] = 0.0;
+            }
+        }
+
+        if (set_limits) {
+            if (lim == ReachedLimitsACC1) {
+                if (i == 2) {
+                    p->a[3] = aMin;
+                }
+            }
+
+            if (lim == ReachedLimitsACC0_ACC1) {
+                if (i == 0) {
+                    p->a[1] = aMax;
+                }
+                if (i == 4) {
+                    p->a[5] = aMin;
+                }
+            }
+        }
+
+        if (i > 1 && p->a[i + 1] * p->a[i] < -DBL_EPSILON) {
+            const double v_a_zero = p->v[i] - (p->a[i] * p->a[i]) / (2 * p->j[i]);
+            if (v_a_zero > vUppLim || v_a_zero < vLowLim) {
+                return false;
+            }
+        }
+    }
+
+    p->control_signs = cs;
+    p->limits = lim;
+
+    const double aUppLim = (p->direction == DirectionUP ? aMax : aMin) + PROFILE_A_EPS;
+    const double aLowLim = (p->direction == DirectionUP ? aMin : aMax) - PROFILE_A_EPS;
+
+    return fabs(p->p[7] - p->pf) < PROFILE_P_PREC && fabs(p->v[7] - p->vf) < PROFILE_V_PREC && fabs(p->a[7] - p->af) < PROFILE_A_PREC
+        && p->a[1] >= aLowLim && p->a[3] >= aLowLim && p->a[5] >= aLowLim
+        && p->a[1] <= aUppLim && p->a[3] <= aUppLim && p->a[5] <= aUppLim
+        && p->v[3] <= vUppLim && p->v[4] <= vUppLim && p->v[5] <= vUppLim && p->v[6] <= vUppLim
+        && p->v[3] >= vLowLim && p->v[4] >= vLowLim && p->v[5] >= vLowLim && p->v[6] >= vLowLim;
+}
+
+bool cruckig_profile_check_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                               double tf, double jf, double vMax, double vMin, double aMax, double aMin) {
+    (void)tf;
+    /* Time doesn't need to be checked as every profile has a: tf - ... equation */
+    return cruckig_profile_check(p, cs, lim, false, jf, vMax, vMin, aMax, aMin);
+}
+
+bool cruckig_profile_check_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                    double tf, double jf, double vMax, double vMin, double aMax, double aMin, double jMax) {
+    return (fabs(jf) < fabs(jMax) + PROFILE_J_EPS) && cruckig_profile_check_with_timing(p, cs, lim, tf, jf, vMax, vMin, aMax, aMin);
+}
+
+/* Third-order velocity check */
+CRUCKIG_HOT
+bool cruckig_profile_check_for_velocity(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                double jf, double aMax, double aMin) {
+    if (CRUCKIG_UNLIKELY(p->t[0] < 0)) {
+        return false;
+    }
+
+    p->t_sum[0] = p->t[0];
+    for (size_t i = 0; i < 6; ++i) {
+        if (p->t[i + 1] < 0) {
+            return false;
+        }
+        p->t_sum[i + 1] = p->t_sum[i] + p->t[i + 1];
+    }
+
+    if (lim == ReachedLimitsACC0) {
+        if (p->t[1] < DBL_EPSILON) {
+            return false;
+        }
+    }
+
+    if (p->t_sum[6] > PROFILE_T_MAX) {
+        return false;
+    }
+
+    if (cs == ControlSignsUDDU) {
+        p->j[0] = (p->t[0] > 0 ? jf : 0);
+        p->j[1] = 0;
+        p->j[2] = (p->t[2] > 0 ? -jf : 0);
+        p->j[3] = 0;
+        p->j[4] = (p->t[4] > 0 ? -jf : 0);
+        p->j[5] = 0;
+        p->j[6] = (p->t[6] > 0 ? jf : 0);
+    } else {
+        p->j[0] = (p->t[0] > 0 ? jf : 0);
+        p->j[1] = 0;
+        p->j[2] = (p->t[2] > 0 ? -jf : 0);
+        p->j[3] = 0;
+        p->j[4] = (p->t[4] > 0 ? jf : 0);
+        p->j[5] = 0;
+        p->j[6] = (p->t[6] > 0 ? -jf : 0);
+    }
+
+    for (size_t i = 0; i < 7; ++i) {
+        p->a[i + 1] = p->a[i] + p->t[i] * p->j[i];
+        p->v[i + 1] = p->v[i] + p->t[i] * (p->a[i] + p->t[i] * p->j[i] / 2);
+        p->p[i + 1] = p->p[i] + p->t[i] * (p->v[i] + p->t[i] * (p->a[i] / 2 + p->t[i] * p->j[i] / 6));
+    }
+
+    p->control_signs = cs;
+    p->limits = lim;
+
+    p->direction = (aMax > 0) ? DirectionUP : DirectionDOWN;
+    const double aUppLim = (p->direction == DirectionUP ? aMax : aMin) + PROFILE_A_EPS;
+    const double aLowLim = (p->direction == DirectionUP ? aMin : aMax) - PROFILE_A_EPS;
+
+    return fabs(p->v[7] - p->vf) < PROFILE_V_PREC && fabs(p->a[7] - p->af) < PROFILE_A_PREC
+        && p->a[1] >= aLowLim && p->a[3] >= aLowLim && p->a[5] >= aLowLim
+        && p->a[1] <= aUppLim && p->a[3] <= aUppLim && p->a[5] <= aUppLim;
+}
+
+bool cruckig_profile_check_for_velocity_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                            double tf, double jf, double aMax, double aMin) {
+    (void)tf;
+    return cruckig_profile_check_for_velocity(p, cs, lim, jf, aMax, aMin);
+}
+
+bool cruckig_profile_check_for_velocity_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                 double tf, double jf, double aMax, double aMin, double jMax) {
+    return (fabs(jf) < fabs(jMax) + PROFILE_J_EPS) && cruckig_profile_check_for_velocity_with_timing(p, cs, lim, tf, jf, aMax, aMin);
+}
+
+/* Second-order position check */
+bool cruckig_profile_check_for_second_order(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                    double aUp, double aDown, double vMax, double vMin) {
+    if (p->t[0] < 0) {
+        return false;
+    }
+
+    p->t_sum[0] = p->t[0];
+    for (size_t i = 0; i < 6; ++i) {
+        if (p->t[i + 1] < 0) {
+            return false;
+        }
+        p->t_sum[i + 1] = p->t_sum[i] + p->t[i + 1];
+    }
+
+    if (p->t_sum[6] > PROFILE_T_MAX) {
+        return false;
+    }
+
+    p->j[0] = 0; p->j[1] = 0; p->j[2] = 0; p->j[3] = 0;
+    p->j[4] = 0; p->j[5] = 0; p->j[6] = 0;
+
+    if (cs == ControlSignsUDDU) {
+        p->a[0] = (p->t[0] > 0 ? aUp : 0);
+        p->a[1] = 0;
+        p->a[2] = (p->t[2] > 0 ? aDown : 0);
+        p->a[3] = 0;
+        p->a[4] = (p->t[4] > 0 ? aDown : 0);
+        p->a[5] = 0;
+        p->a[6] = (p->t[6] > 0 ? aUp : 0);
+        p->a[7] = p->af;
+    } else {
+        p->a[0] = (p->t[0] > 0 ? aUp : 0);
+        p->a[1] = 0;
+        p->a[2] = (p->t[2] > 0 ? aDown : 0);
+        p->a[3] = 0;
+        p->a[4] = (p->t[4] > 0 ? aUp : 0);
+        p->a[5] = 0;
+        p->a[6] = (p->t[6] > 0 ? aDown : 0);
+        p->a[7] = p->af;
+    }
+
+    p->direction = (vMax > 0) ? DirectionUP : DirectionDOWN;
+    const double vUppLim = (p->direction == DirectionUP ? vMax : vMin) + PROFILE_V_EPS;
+    const double vLowLim = (p->direction == DirectionUP ? vMin : vMax) - PROFILE_V_EPS;
+
+    for (size_t i = 0; i < 7; ++i) {
+        p->v[i + 1] = p->v[i] + p->t[i] * p->a[i];
+        p->p[i + 1] = p->p[i] + p->t[i] * (p->v[i] + p->t[i] * p->a[i] / 2);
+    }
+
+    p->control_signs = cs;
+    p->limits = lim;
+
+    return fabs(p->p[7] - p->pf) < PROFILE_P_PREC && fabs(p->v[7] - p->vf) < PROFILE_V_PREC
+        && p->v[2] <= vUppLim && p->v[3] <= vUppLim && p->v[4] <= vUppLim && p->v[5] <= vUppLim && p->v[6] <= vUppLim
+        && p->v[2] >= vLowLim && p->v[3] >= vLowLim && p->v[4] >= vLowLim && p->v[5] >= vLowLim && p->v[6] >= vLowLim;
+}
+
+bool cruckig_profile_check_for_second_order_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                double tf, double aUp, double aDown, double vMax, double vMin) {
+    (void)tf;
+    return cruckig_profile_check_for_second_order(p, cs, lim, aUp, aDown, vMax, vMin);
+}
+
+bool cruckig_profile_check_for_second_order_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                     double tf, double aUp, double aDown, double vMax, double vMin,
+                                                     double aMax, double aMin) {
+    return (aMin - PROFILE_A_EPS < aUp) && (aUp < aMax + PROFILE_A_EPS) && (aMin - PROFILE_A_EPS < aDown) && (aDown < aMax + PROFILE_A_EPS)
+        && cruckig_profile_check_for_second_order_with_timing(p, cs, lim, tf, aUp, aDown, vMax, vMin);
+}
+
+/* Second-order velocity check */
+bool cruckig_profile_check_for_second_order_velocity(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                             double aUp) {
+    /* ReachedLimits::ACC0 */
+    if (p->t[1] < 0.0) {
+        return false;
+    }
+
+    p->t_sum[0] = 0;
+    p->t_sum[1] = p->t[1];
+    p->t_sum[2] = p->t[1];
+    p->t_sum[3] = p->t[1];
+    p->t_sum[4] = p->t[1];
+    p->t_sum[5] = p->t[1];
+    p->t_sum[6] = p->t[1];
+
+    if (p->t_sum[6] > PROFILE_T_MAX) {
+        return false;
+    }
+
+    p->j[0] = 0; p->j[1] = 0; p->j[2] = 0; p->j[3] = 0;
+    p->j[4] = 0; p->j[5] = 0; p->j[6] = 0;
+
+    p->a[0] = 0;
+    p->a[1] = (p->t[1] > 0) ? aUp : 0;
+    p->a[2] = 0; p->a[3] = 0; p->a[4] = 0; p->a[5] = 0; p->a[6] = 0;
+    p->a[7] = p->af;
+
+    for (size_t i = 0; i < 7; ++i) {
+        p->v[i + 1] = p->v[i] + p->t[i] * p->a[i];
+        p->p[i + 1] = p->p[i] + p->t[i] * (p->v[i] + p->t[i] * p->a[i] / 2);
+    }
+
+    p->control_signs = cs;
+    p->limits = lim;
+
+    p->direction = (aUp > 0) ? DirectionUP : DirectionDOWN;
+
+    return fabs(p->v[7] - p->vf) < PROFILE_V_PREC;
+}
+
+bool cruckig_profile_check_for_second_order_velocity_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                         double tf, double aUp) {
+    (void)tf;
+    return cruckig_profile_check_for_second_order_velocity(p, cs, lim, aUp);
+}
+
+bool cruckig_profile_check_for_second_order_velocity_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                              double tf, double aUp, double aMax, double aMin) {
+    return (aMin - PROFILE_A_EPS < aUp) && (aUp < aMax + PROFILE_A_EPS)
+        && cruckig_profile_check_for_second_order_velocity_with_timing(p, cs, lim, tf, aUp);
+}
+
+/* First-order position check */
+bool cruckig_profile_check_for_first_order(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                   double vUp) {
+    /* ReachedLimits::VEL */
+    if (p->t[3] < 0.0) {
+        return false;
+    }
+
+    p->t_sum[0] = 0; p->t_sum[1] = 0; p->t_sum[2] = 0;
+    p->t_sum[3] = p->t[3];
+    p->t_sum[4] = p->t[3]; p->t_sum[5] = p->t[3]; p->t_sum[6] = p->t[3];
+
+    if (p->t_sum[6] > PROFILE_T_MAX) {
+        return false;
+    }
+
+    p->j[0] = 0; p->j[1] = 0; p->j[2] = 0; p->j[3] = 0;
+    p->j[4] = 0; p->j[5] = 0; p->j[6] = 0;
+
+    p->a[0] = 0; p->a[1] = 0; p->a[2] = 0; p->a[3] = 0;
+    p->a[4] = 0; p->a[5] = 0; p->a[6] = 0; p->a[7] = p->af;
+
+    p->v[0] = 0; p->v[1] = 0; p->v[2] = 0;
+    p->v[3] = (p->t[3] > 0 ? vUp : 0);
+    p->v[4] = 0; p->v[5] = 0; p->v[6] = 0; p->v[7] = p->vf;
+
+    for (size_t i = 0; i < 7; ++i) {
+        p->p[i + 1] = p->p[i] + p->t[i] * (p->v[i] + p->t[i] * p->a[i] / 2);
+    }
+
+    p->control_signs = cs;
+    p->limits = lim;
+
+    p->direction = (vUp > 0) ? DirectionUP : DirectionDOWN;
+
+    return fabs(p->p[7] - p->pf) < PROFILE_P_PREC;
+}
+
+bool cruckig_profile_check_for_first_order_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                               double tf, double vUp) {
+    (void)tf;
+    return cruckig_profile_check_for_first_order(p, cs, lim, vUp);
+}
+
+bool cruckig_profile_check_for_first_order_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                    double tf, double vUp, double vMax, double vMin) {
+    return (vMin - PROFILE_V_EPS < vUp) && (vUp < vMax + PROFILE_V_EPS)
+        && cruckig_profile_check_for_first_order_with_timing(p, cs, lim, tf, vUp);
+}
+
+/* Position extrema helpers */
+static void check_position_extremum(double t_ext, double t_sum_val, double t_seg, double pos, double vel, double acc, double jrk, CRuckigBound *ext) {
+    if (0 < t_ext && t_ext < t_seg) {
+        double p_ext, v_ext, a_ext;
+        cruckig_integrate(t_ext, pos, vel, acc, jrk, &p_ext, &v_ext, &a_ext);
+        (void)v_ext;
+        if (a_ext > 0 && p_ext < ext->min) {
+            ext->min = p_ext;
+            ext->t_min = t_sum_val + t_ext;
+        } else if (a_ext < 0 && p_ext > ext->max) {
+            ext->max = p_ext;
+            ext->t_max = t_sum_val + t_ext;
+        }
+    }
+}
+
+static void check_step_for_position_extremum(double t_sum_val, double t_seg, double pos, double vel, double acc, double jrk, CRuckigBound *ext) {
+    if (pos < ext->min) {
+        ext->min = pos;
+        ext->t_min = t_sum_val;
+    }
+    if (pos > ext->max) {
+        ext->max = pos;
+        ext->t_max = t_sum_val;
+    }
+
+    if (jrk != 0) {
+        const double D = acc * acc - 2 * jrk * vel;
+        if (fabs(D) < DBL_EPSILON) {
+            check_position_extremum(-acc / jrk, t_sum_val, t_seg, pos, vel, acc, jrk, ext);
+        } else if (D > 0.0) {
+            const double D_sqrt = sqrt(D);
+            check_position_extremum((-acc - D_sqrt) / jrk, t_sum_val, t_seg, pos, vel, acc, jrk, ext);
+            check_position_extremum((-acc + D_sqrt) / jrk, t_sum_val, t_seg, pos, vel, acc, jrk, ext);
+        }
+    }
+}
+
+CRuckigBound cruckig_profile_get_position_extrema(const CRuckigProfile *p) {
+    CRuckigBound extrema;
+    extrema.min = INFINITY;
+    extrema.max = -INFINITY;
+    extrema.t_min = 0.0;
+    extrema.t_max = 0.0;
+
+    if (p->brake.duration > 0.0) {
+        if (p->brake.t[0] > 0.0) {
+            check_step_for_position_extremum(0.0, p->brake.t[0], p->brake.p[0], p->brake.v[0], p->brake.a[0], p->brake.j[0], &extrema);
+
+            if (p->brake.t[1] > 0.0) {
+                check_step_for_position_extremum(p->brake.t[0], p->brake.t[1], p->brake.p[1], p->brake.v[1], p->brake.a[1], p->brake.j[1], &extrema);
+            }
+        }
+    }
+
+    double t_current_sum = 0.0;
+    for (size_t i = 0; i < 7; ++i) {
+        if (i > 0) {
+            t_current_sum = p->t_sum[i - 1];
+        }
+        check_step_for_position_extremum(t_current_sum + p->brake.duration, p->t[i], p->p[i], p->v[i], p->a[i], p->j[i], &extrema);
+    }
+
+    if (p->pf < extrema.min) {
+        extrema.min = p->pf;
+        extrema.t_min = p->t_sum[6] + p->brake.duration;
+    }
+    if (p->pf > extrema.max) {
+        extrema.max = p->pf;
+        extrema.t_max = p->t_sum[6] + p->brake.duration;
+    }
+
+    return extrema;
+}
+
+bool cruckig_profile_get_first_state_at_position(const CRuckigProfile *p, double pt, double *time, double time_after) {
+    double t_cum = 0.0;
+
+    for (size_t i = 0; i < 7; ++i) {
+        if (p->t[i] == 0.0) {
+            continue;
+        }
+
+        if (fabs(p->p[i] - pt) < DBL_EPSILON && t_cum >= time_after) {
+            *time = t_cum;
+            return true;
+        }
+
+        CRuckigRootSet cubic_roots = cruckig_roots_solve_cubic(p->j[i] / 6, p->a[i] / 2, p->v[i], p->p[i] - pt);
+        cruckig_root_set_sort(&cubic_roots);
+        for (size_t r = 0; r < cubic_roots.size; ++r) {
+            double _t = cubic_roots.data[r];
+            if (0 < _t && time_after - t_cum <= _t && _t <= p->t[i]) {
+                *time = _t + t_cum;
+                return true;
+            }
+        }
+
+        t_cum += p->t[i];
+    }
+
+    if ((p->t[6] > 0.0 || p->t_sum[6] == 0.0) && fabs(p->pf - pt) < 1e-9 && p->t_sum[6] >= time_after) {
+        *time = p->t_sum[6];
+        return true;
+    }
+
+    return false;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/profile.h

@@ -0,0 +1,126 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_PROFILE_H
+#define CRUCKIG_PROFILE_H
+
+#include "cruckig_internal.h"
+#include "brake.h"
+
+/* Constants */
+#define PROFILE_V_EPS    1e-12
+#define PROFILE_A_EPS    1e-12
+#define PROFILE_J_EPS    1e-12
+#define PROFILE_P_PREC   1e-8
+#define PROFILE_V_PREC   1e-8
+#define PROFILE_A_PREC   1e-10
+#define PROFILE_T_PREC   1e-12
+#define PROFILE_T_MAX    1e12
+
+typedef enum {
+    ReachedLimitsACC0_ACC1_VEL = 0,
+    ReachedLimitsVEL,
+    ReachedLimitsACC0,
+    ReachedLimitsACC1,
+    ReachedLimitsACC0_ACC1,
+    ReachedLimitsACC0_VEL,
+    ReachedLimitsACC1_VEL,
+    ReachedLimitsNONE
+} CRuckigReachedLimits;
+
+typedef enum {
+    DirectionUP = 0,
+    DirectionDOWN
+} CRuckigDirection;
+
+typedef enum {
+    ControlSignsUDDU = 0,
+    ControlSignsUDUD
+} CRuckigControlSigns;
+
+/* Position extrema info */
+typedef struct {
+    double min, max;
+    double t_min, t_max;
+} CRuckigBound;
+
+/* Single-DOF kinematic profile */
+typedef struct {
+    double t[7];
+    double t_sum[7];
+    double j[7];
+    double a[8];
+    double v[8];
+    double p[8];
+
+    CRuckigBrakeProfile brake;
+    CRuckigBrakeProfile accel;
+
+    double pf, vf, af;
+
+    CRuckigReachedLimits limits;
+    CRuckigDirection direction;
+    CRuckigControlSigns control_signs;
+} CRuckigProfile;
+
+void cruckig_profile_init(CRuckigProfile *p);
+
+/* Set boundary conditions */
+void cruckig_profile_set_boundary(CRuckigProfile *p, double p0, double v0, double a0,
+                          double pf, double vf, double af);
+void cruckig_profile_set_boundary_from_profile(CRuckigProfile *p, const CRuckigProfile *src);
+void cruckig_profile_set_boundary_for_velocity(CRuckigProfile *p, double p0, double v0, double a0,
+                                       double vf, double af);
+
+/* Third-order position check */
+bool cruckig_profile_check(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                   bool set_limits, double jf, double vMax, double vMin, double aMax, double aMin);
+bool cruckig_profile_check_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                               double tf, double jf, double vMax, double vMin, double aMax, double aMin);
+bool cruckig_profile_check_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                    double tf, double jf, double vMax, double vMin, double aMax, double aMin, double jMax);
+
+/* Third-order velocity check */
+bool cruckig_profile_check_for_velocity(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                double jf, double aMax, double aMin);
+bool cruckig_profile_check_for_velocity_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                            double tf, double jf, double aMax, double aMin);
+bool cruckig_profile_check_for_velocity_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                 double tf, double jf, double aMax, double aMin, double jMax);
+
+/* Second-order position check */
+bool cruckig_profile_check_for_second_order(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                    double aUp, double aDown, double vMax, double vMin);
+bool cruckig_profile_check_for_second_order_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                double tf, double aUp, double aDown, double vMax, double vMin);
+bool cruckig_profile_check_for_second_order_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                     double tf, double aUp, double aDown, double vMax, double vMin,
+                                                     double aMax, double aMin);
+
+/* Second-order velocity check */
+bool cruckig_profile_check_for_second_order_velocity(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                             double aUp);
+bool cruckig_profile_check_for_second_order_velocity_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                         double tf, double aUp);
+bool cruckig_profile_check_for_second_order_velocity_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                              double tf, double aUp, double aMax, double aMin);
+
+/* First-order position check */
+bool cruckig_profile_check_for_first_order(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                   double vUp);
+bool cruckig_profile_check_for_first_order_with_timing(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                               double tf, double vUp);
+bool cruckig_profile_check_for_first_order_with_timing_full(CRuckigProfile *p, CRuckigControlSigns cs, CRuckigReachedLimits lim,
+                                                    double tf, double vUp, double vMax, double vMin);
+
+/* Position extrema */
+CRuckigBound cruckig_profile_get_position_extrema(const CRuckigProfile *p);
+
+/* First time at position */
+bool cruckig_profile_get_first_state_at_position(const CRuckigProfile *p, double pt, double *time, double time_after);
+
+#endif /* CRUCKIG_PROFILE_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/result.h

@@ -0,0 +1,40 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_RESULT_H
+#define CRUCKIG_RESULT_H
+
+typedef enum {
+    CRuckigWorking = 0,
+    CRuckigFinished = 1,
+    CRuckigError = -1,
+    CRuckigErrorInvalidInput = -100,
+    CRuckigErrorTrajectoryDuration = -101,
+    CRuckigErrorPositionalLimits = -102,
+    CRuckigErrorZeroLimits = -104,
+    CRuckigErrorExecutionTimeCalculation = -110,
+    CRuckigErrorSynchronizationCalculation = -111
+} CRuckigResult;
+
+typedef enum {
+    CRuckigPosition = 0,
+    CRuckigVelocity = 1
+} CRuckigControlInterface;
+
+typedef enum {
+    CRuckigSyncTime = 0,
+    CRuckigSyncTimeIfNecessary = 1,
+    CRuckigSyncPhase = 2,
+    CRuckigSyncNone = 3
+} CRuckigSynchronization;
+
+typedef enum {
+    CRuckigContinuous = 0,
+    CRuckigDiscrete = 1
+} CRuckigDurationDiscretization;
+
+#endif /* CRUCKIG_RESULT_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/roots.c

@@ -0,0 +1,408 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "roots.h"
+
+/*
+ * cruckig_cbrt() - Cube root, used for cubic/quartic polynomial solving.
+ * Optimized implementation from musl libc / FreeBSD libmsun.
+ * Polynomial approximation to 23 bits + one Newton step to 53 bits.
+ * Error < 0.667 ulps.
+ *
+ * Copyright (c) 1993 Sun Microsystems, Inc. All rights reserved.
+ * Developed at SunPro, a Sun Microsystems, Inc. business.
+ * Copyright (c) 2005-2020 Rich Felker, et al. (musl libc)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ */
+double cruckig_cbrt(double x) {
+    static const unsigned B1 = 715094163;
+    static const unsigned B2 = 696219795;
+    static const double P0 =  1.87595182427177009643;
+    static const double P1 = -1.88497979543377169875;
+    static const double P2 =  1.621429720105354466140;
+    static const double P3 = -0.758397934778766047437;
+    static const double P4 =  0.145996192886612446982;
+    union { double f; unsigned long long i; } u = {x};
+    double r, s, t, w;
+    unsigned hx = u.i >> 32 & 0x7fffffff;
+
+    if (hx >= 0x7ff00000)
+        return x + x;
+
+    if (hx < 0x00100000) {
+        u.f = x * 0x1p54;
+        hx = u.i >> 32 & 0x7fffffff;
+        if (hx == 0) return x;
+        hx = hx / 3 + B2;
+    } else {
+        hx = hx / 3 + B1;
+    }
+    u.i &= 1ULL << 63;
+    u.i |= (unsigned long long)hx << 32;
+    t = u.f;
+
+    r = (t * t) * (t / x);
+    t = t * ((P0 + r * (P1 + r * P2)) + ((r * r) * r) * (P3 + r * P4));
+
+    u.f = t;
+    u.i = (u.i + 0x80000000) & 0xffffffffc0000000ULL;
+    t = u.f;
+
+    s = t * t;
+    r = x / s;
+    w = t + t;
+    r = (r - t) / (w + r);
+    t = t + t * r;
+    return t;
+}
+
+void cruckig_root_set_sort(CRuckigRootSet *s) {
+    /* Insertion sort for small arrays (max 4 elements) */
+    for (size_t i = 1; i < s->size; ++i) {
+        double key = s->data[i];
+        size_t j = i;
+        while (j > 0 && s->data[j - 1] > key) {
+            s->data[j] = s->data[j - 1];
+            --j;
+        }
+        s->data[j] = key;
+    }
+}
+
+CRUCKIG_HOT
+CRuckigRootSet cruckig_roots_solve_cubic(double a, double b, double c, double d) {
+    CRuckigRootSet roots;
+    cruckig_root_set_init(&roots);
+
+    if (fabs(d) < DBL_EPSILON) {
+        /* First solution is x = 0 */
+        cruckig_root_set_insert(&roots, 0.0);
+
+        /* Converting to a quadratic equation */
+        d = c;
+        c = b;
+        b = a;
+        a = 0.0;
+    }
+
+    if (fabs(a) < DBL_EPSILON) {
+        if (fabs(b) < DBL_EPSILON) {
+            /* Linear equation */
+            if (fabs(c) > DBL_EPSILON) {
+                cruckig_root_set_insert(&roots, -d / c);
+            }
+        } else {
+            /* Quadratic equation */
+            const double discriminant = c * c - 4 * b * d;
+            if (discriminant >= 0) {
+                const double inv2b = 1.0 / (2 * b);
+                const double y = sqrt(discriminant);
+                cruckig_root_set_insert(&roots, (-c + y) * inv2b);
+                cruckig_root_set_insert(&roots, (-c - y) * inv2b);
+            }
+        }
+    } else {
+        /* Cubic equation */
+        const double inva = 1.0 / a;
+        const double invaa = inva * inva;
+        const double bb = b * b;
+        const double bover3a = b * inva / 3;
+        const double p = (a * c - bb / 3) * invaa;
+        const double halfq = (2 * bb * b - 9 * a * b * c + 27 * a * a * d) / 54 * invaa * inva;
+        const double yy = p * p * p / 27 + halfq * halfq;
+
+        const double cos120 = -0.50;
+        const double sin120 = 0.866025403784438646764;
+
+        if (yy > DBL_EPSILON) {
+            /* Sqrt is positive: one real solution */
+            const double y = sqrt(yy);
+            const double uuu = -halfq + y;
+            const double vvv = -halfq - y;
+            const double www = fabs(uuu) > fabs(vvv) ? uuu : vvv;
+            const double w = cruckig_cbrt(www);
+            cruckig_root_set_insert(&roots, w - p / (3 * w) - bover3a);
+        } else if (yy < -DBL_EPSILON) {
+            /* Sqrt is negative: three real solutions */
+            const double x = -halfq;
+            const double y = sqrt(-yy);
+            double theta;
+            double r;
+
+            /* Convert to polar form */
+            if (fabs(x) > DBL_EPSILON) {
+                theta = (x > 0.0) ? atan(y / x) : (atan(y / x) + M_PI);
+                r = sqrt(x * x - yy);
+            } else {
+                /* Vertical line */
+                theta = M_PI / 2;
+                r = y;
+            }
+            /* Calculate cube root */
+            theta /= 3;
+            r = 2 * cruckig_cbrt(r);
+            /* Convert to complex coordinate */
+            const double ux = cos(theta) * r;
+            const double uyi = sin(theta) * r;
+
+            cruckig_root_set_insert(&roots, ux - bover3a);
+            cruckig_root_set_insert(&roots, ux * cos120 - uyi * sin120 - bover3a);
+            cruckig_root_set_insert(&roots, ux * cos120 + uyi * sin120 - bover3a);
+        } else {
+            /* Sqrt is zero: two real solutions */
+            const double www = -halfq;
+            const double w = 2 * cruckig_cbrt(www);
+
+            cruckig_root_set_insert(&roots, w - bover3a);
+            cruckig_root_set_insert(&roots, w * cos120 - bover3a);
+        }
+    }
+    return roots;
+}
+
+int cruckig_roots_solve_resolvent(double x[3], double a, double b, double c) {
+    const double cos120 = -0.50;
+    const double sin120 = 0.866025403784438646764;
+
+    a /= 3;
+    const double a2 = a * a;
+    double q = a2 - b / 3;
+    const double r = (a * (2 * a2 - b) + c) / 2;
+    const double r2 = r * r;
+    const double q3 = q * q * q;
+
+    if (r2 < q3) {
+        const double qsqrt = sqrt(q);
+        double t_val = r / (q * qsqrt);
+        if (t_val < -1.0) t_val = -1.0;
+        if (t_val > 1.0) t_val = 1.0;
+        q = -2 * qsqrt;
+
+        const double theta = acos(t_val) / 3;
+        const double ux = cos(theta) * q;
+        const double uyi = sin(theta) * q;
+        x[0] = ux - a;
+        x[1] = ux * cos120 - uyi * sin120 - a;
+        x[2] = ux * cos120 + uyi * sin120 - a;
+        return 3;
+    } else {
+        double A = -cruckig_cbrt(fabs(r) + sqrt(r2 - q3));
+        if (r < 0.0) {
+            A = -A;
+        }
+        const double B = (0.0 == A ? 0.0 : q / A);
+
+        x[0] = (A + B) - a;
+        x[1] = -(A + B) / 2 - a;
+        x[2] = sqrt(3.0) * (A - B) / 2;
+        if (fabs(x[2]) < DBL_EPSILON) {
+            x[2] = x[1];
+            return 2;
+        }
+
+        return 1;
+    }
+}
+
+CRUCKIG_HOT
+CRuckigRootSet cruckig_roots_solve_quart_monic(double a, double b, double c, double d) {
+    CRuckigRootSet roots;
+    cruckig_root_set_init(&roots);
+
+    if (fabs(d) < DBL_EPSILON) {
+        if (fabs(c) < DBL_EPSILON) {
+            cruckig_root_set_insert(&roots, 0.0);
+
+            const double D = a * a - 4 * b;
+            if (fabs(D) < DBL_EPSILON) {
+                cruckig_root_set_insert(&roots, -a / 2);
+            } else if (D > 0.0) {
+                const double sqrtD = sqrt(D);
+                cruckig_root_set_insert(&roots, (-a - sqrtD) / 2);
+                cruckig_root_set_insert(&roots, (-a + sqrtD) / 2);
+            }
+            return roots;
+        }
+
+        if (fabs(a) < DBL_EPSILON && fabs(b) < DBL_EPSILON) {
+            cruckig_root_set_insert(&roots, 0.0);
+            cruckig_root_set_insert(&roots, -cruckig_cbrt(c));
+            return roots;
+        }
+    }
+
+    const double a3 = -b;
+    const double b3 = a * c - 4 * d;
+    const double c3 = -a * a * d - c * c + 4 * b * d;
+
+    double x3[3];
+    const int number_zeroes = cruckig_roots_solve_resolvent(x3, a3, b3, c3);
+
+    double y = x3[0];
+    /* Choosing Y with maximal absolute value */
+    if (number_zeroes != 1) {
+        if (fabs(x3[1]) > fabs(y)) {
+            y = x3[1];
+        }
+        if (fabs(x3[2]) > fabs(y)) {
+            y = x3[2];
+        }
+    }
+
+    double q1, q2, p1, p2;
+    double D;
+
+    D = y * y - 4 * d;
+    if (fabs(D) < DBL_EPSILON) {
+        q1 = q2 = y / 2;
+        D = a * a - 4 * (b - y);
+        if (fabs(D) < DBL_EPSILON) {
+            p1 = p2 = a / 2;
+        } else {
+            const double sqrtD = sqrt(D);
+            p1 = (a + sqrtD) / 2;
+            p2 = (a - sqrtD) / 2;
+        }
+    } else {
+        const double sqrtD = sqrt(D);
+        q1 = (y + sqrtD) / 2;
+        q2 = (y - sqrtD) / 2;
+        p1 = (a * q1 - c) / (q1 - q2);
+        p2 = (c - a * q2) / (q1 - q2);
+    }
+
+    {
+        const double eps = 16 * DBL_EPSILON;
+
+        D = p1 * p1 - 4 * q1;
+        if (fabs(D) < eps) {
+            cruckig_root_set_insert(&roots, -p1 / 2);
+        } else if (D > 0.0) {
+            const double sqrtD = sqrt(D);
+            cruckig_root_set_insert(&roots, (-p1 - sqrtD) / 2);
+            cruckig_root_set_insert(&roots, (-p1 + sqrtD) / 2);
+        }
+
+        D = p2 * p2 - 4 * q2;
+        if (fabs(D) < eps) {
+            cruckig_root_set_insert(&roots, -p2 / 2);
+        } else if (D > 0.0) {
+            const double sqrtD = sqrt(D);
+            cruckig_root_set_insert(&roots, (-p2 - sqrtD) / 2);
+            cruckig_root_set_insert(&roots, (-p2 + sqrtD) / 2);
+        }
+    }
+
+    return roots;
+}
+
+double cruckig_roots_poly_eval(const double *p, size_t n, double x) {
+    if (n == 0) {
+        return 0.0;
+    }
+
+    double retVal = 0.0;
+
+    if (fabs(x) < DBL_EPSILON) {
+        retVal = p[n - 1];
+    } else if (x == 1.0) {
+        for (int i = (int)n - 1; i >= 0; i--) {
+            retVal += p[i];
+        }
+    } else {
+        double xn = 1.0;
+        for (int i = (int)n - 1; i >= 0; i--) {
+            retVal += p[i] * xn;
+            xn *= x;
+        }
+    }
+
+    return retVal;
+}
+
+void cruckig_roots_poly_derivative(const double *coeffs, size_t n, double *deriv) {
+    for (size_t i = 0; i < n - 1; ++i) {
+        deriv[i] = (double)(n - 1 - i) * coeffs[i];
+    }
+}
+
+double cruckig_roots_shrink_interval(const double *p, size_t n, double l, double h) {
+    const size_t maxIts = 128;
+    const double tolerance = 1e-14;
+
+    const double fl = cruckig_roots_poly_eval(p, n, l);
+    const double fh = cruckig_roots_poly_eval(p, n, h);
+    if (fl == 0.0) {
+        return l;
+    }
+    if (fh == 0.0) {
+        return h;
+    }
+    if (fl > 0.0) {
+        /* swap l and h */
+        double tmp = l;
+        l = h;
+        h = tmp;
+    }
+
+    double rts = (l + h) / 2;
+    double dxold = fabs(h - l);
+    double dx = dxold;
+
+    /* Compute derivative coefficients (n-1 elements) */
+    double deriv[16]; /* max polynomial degree supported */
+    cruckig_roots_poly_derivative(p, n, deriv);
+    size_t dn = n - 1;
+
+    double f = cruckig_roots_poly_eval(p, n, rts);
+    double df = cruckig_roots_poly_eval(deriv, dn, rts);
+    double temp;
+
+    for (size_t j = 0; j < maxIts; j++) {
+        if ((((rts - h) * df - f) * ((rts - l) * df - f) > 0.0) || (fabs(2 * f) > fabs(dxold * df))) {
+            dxold = dx;
+            dx = (h - l) / 2;
+            rts = l + dx;
+            if (l == rts) {
+                break;
+            }
+        } else {
+            dxold = dx;
+            dx = f / df;
+            temp = rts;
+            rts -= dx;
+            if (temp == rts) {
+                break;
+            }
+        }
+
+        if (fabs(dx) < tolerance) {
+            break;
+        }
+
+        f = cruckig_roots_poly_eval(p, n, rts);
+        df = cruckig_roots_poly_eval(deriv, dn, rts);
+        if (f < 0.0) {
+            l = rts;
+        } else {
+            h = rts;
+        }
+    }
+
+    return rts;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/roots.h

@@ -0,0 +1,57 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_ROOTS_H
+#define CRUCKIG_ROOTS_H
+
+#include "cruckig_internal.h"
+
+/* A set of positive double roots, stored on the stack */
+typedef struct {
+    double data[4];
+    size_t size;
+} CRuckigRootSet;
+
+CRUCKIG_FORCE_INLINE void cruckig_root_set_init(CRuckigRootSet *s) {
+    s->size = 0;
+}
+
+CRUCKIG_FORCE_INLINE void cruckig_root_set_insert(CRuckigRootSet *s, double value) {
+    if (value >= 0.0) {
+        s->data[s->size] = value;
+        s->size++;
+    }
+}
+
+/*
+ * Cube root, portable replacement for cbrt() (not available in kernel).
+ * Optimized implementation from musl libc / FreeBSD libmsun.
+ */
+double cruckig_cbrt(double x);
+
+/* Sort the root set (simple insertion sort for small N) */
+void cruckig_root_set_sort(CRuckigRootSet *s);
+
+/* Solve a*x^3 + b*x^2 + c*x + d = 0, returning positive roots */
+CRuckigRootSet cruckig_roots_solve_cubic(double a, double b, double c, double d);
+
+/* Solve resolvent equation, returns number of zeros */
+int cruckig_roots_solve_resolvent(double x[3], double a, double b, double c);
+
+/* Solve monic quartic x^4 + a*x^3 + b*x^2 + c*x + d = 0 */
+CRuckigRootSet cruckig_roots_solve_quart_monic(double a, double b, double c, double d);
+
+/* Evaluate polynomial of order N at x. Coefficients in descending order: p[0]*x^(N-1) + ... + p[N-1] */
+double cruckig_roots_poly_eval(const double *p, size_t n, double x);
+
+/* Calculate derivative coefficients */
+void cruckig_roots_poly_derivative(const double *coeffs, size_t n, double *deriv);
+
+/* Safe Newton method: find root in [l, h] where p(l)*p(h) < 0 */
+double cruckig_roots_shrink_interval(const double *p, size_t n, double l, double h);
+
+#endif /* CRUCKIG_ROOTS_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/trajectory.c

@@ -0,0 +1,315 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "trajectory.h"
+#include "utils.h"
+
+
+CRuckigTrajectory* cruckig_trajectory_create(size_t dofs) {
+    CRuckigTrajectory *traj = (CRuckigTrajectory*)cruckig_calloc(1, sizeof(CRuckigTrajectory));
+    if (!traj) return NULL;
+
+    traj->degrees_of_freedom = dofs;
+    traj->num_sections = 1;
+    traj->section_capacity = 1;
+    traj->duration = 0.0;
+
+    traj->profiles = (CRuckigProfile*)cruckig_calloc(dofs, sizeof(CRuckigProfile));
+    traj->cumulative_times = (double*)cruckig_calloc(1, sizeof(double));
+    traj->independent_min_durations = (double*)cruckig_calloc(dofs, sizeof(double));
+    traj->position_extrema = (CRuckigBound*)cruckig_calloc(dofs, sizeof(CRuckigBound));
+
+    if (!traj->profiles || !traj->cumulative_times ||
+        !traj->independent_min_durations || !traj->position_extrema) {
+        cruckig_trajectory_destroy(traj);
+        return NULL;
+    }
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        cruckig_profile_init(&traj->profiles[dof]);
+    }
+
+    return traj;
+}
+
+void cruckig_trajectory_destroy(CRuckigTrajectory *traj) {
+    if (!traj) return;
+    cruckig_free(traj->profiles);
+    cruckig_free(traj->cumulative_times);
+    cruckig_free(traj->independent_min_durations);
+    cruckig_free(traj->position_extrema);
+    cruckig_free(traj);
+}
+
+bool cruckig_trajectory_resize(CRuckigTrajectory *traj, size_t num_sections) {
+    if (!traj || num_sections == 0) return false;
+
+    const size_t dofs = traj->degrees_of_freedom;
+
+    if (num_sections > traj->section_capacity) {
+        CRuckigProfile *new_profiles = (CRuckigProfile*)cruckig_realloc(
+            traj->profiles, num_sections * dofs * sizeof(CRuckigProfile));
+        double *new_times = (double*)cruckig_realloc(
+            traj->cumulative_times, num_sections * sizeof(double));
+
+        if (!new_profiles || !new_times) {
+            /* Restore on failure */
+            if (new_profiles) traj->profiles = new_profiles;
+            if (new_times) traj->cumulative_times = new_times;
+            return false;
+        }
+
+        traj->profiles = new_profiles;
+        traj->cumulative_times = new_times;
+        traj->section_capacity = num_sections;
+
+        /* Initialize new profiles */
+        for (size_t s = traj->num_sections; s < num_sections; ++s) {
+            for (size_t d = 0; d < dofs; ++d) {
+                cruckig_profile_init(&traj->profiles[s * dofs + d]);
+            }
+            traj->cumulative_times[s] = 0.0;
+        }
+    }
+
+    traj->num_sections = num_sections;
+    return true;
+}
+
+/*
+ * state_to_integrate_from: Determine the integration base state at a given time.
+ * Supports multi-section trajectories via binary search on cumulative_times.
+ */
+static void state_to_integrate_from(const CRuckigTrajectory *traj, double time,
+                                    size_t *new_section,
+                                    double *t_out, double *p_out, double *v_out,
+                                    double *a_out, double *j_out)
+{
+    const size_t dofs = traj->degrees_of_freedom;
+    const size_t nsec = traj->num_sections;
+
+    if (time >= traj->duration) {
+        /* Past the end of trajectory */
+        *new_section = nsec;
+        size_t last = nsec - 1;
+        for (size_t dof = 0; dof < dofs; ++dof) {
+            const CRuckigProfile *prof = &traj->profiles[last * dofs + dof];
+            double t_pre = prof->brake.duration;
+            double t_diff = time - (traj->duration - (t_pre + prof->t_sum[6]) + t_pre + prof->t_sum[6]);
+            /* Simplify: time past the end of last section's profile */
+            double section_start = (last > 0) ? traj->cumulative_times[last - 1] : 0.0;
+            t_diff = time - section_start - t_pre - prof->t_sum[6];
+            t_out[dof] = t_diff;
+            p_out[dof] = prof->p[7];
+            v_out[dof] = prof->v[7];
+            a_out[dof] = prof->a[7];
+            j_out[dof] = 0.0;
+        }
+        return;
+    }
+
+    /* Binary search to find current section */
+    size_t section = 0;
+    if (nsec > 1) {
+        size_t lo = 0, hi = nsec;
+        while (lo < hi) {
+            size_t mid = lo + (hi - lo) / 2;
+            if (traj->cumulative_times[mid] <= time) {
+                lo = mid + 1;
+            } else {
+                hi = mid;
+            }
+        }
+        section = lo;
+        if (section >= nsec) section = nsec - 1;
+    }
+
+    *new_section = section;
+
+    /* Time offset within this section */
+    double section_start = (section > 0) ? traj->cumulative_times[section - 1] : 0.0;
+    double t_diff = time - section_start;
+
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        const CRuckigProfile *prof = &traj->profiles[section * dofs + dof];
+        double t_diff_dof = t_diff;
+
+        /* Brake pre-trajectory (only in first section, or in each section for waypoints) */
+        if (prof->brake.duration > 0.0) {
+            if (t_diff_dof < prof->brake.duration) {
+                size_t index = (t_diff_dof < prof->brake.t[0]) ? 0 : 1;
+                if (index > 0) {
+                    t_diff_dof -= prof->brake.t[index - 1];
+                }
+                t_out[dof] = t_diff_dof;
+                p_out[dof] = prof->brake.p[index];
+                v_out[dof] = prof->brake.v[index];
+                a_out[dof] = prof->brake.a[index];
+                j_out[dof] = prof->brake.j[index];
+                continue;
+            } else {
+                t_diff_dof -= prof->brake.duration;
+            }
+        }
+
+        /* Non-time synchronization: past the end of this DOF's profile */
+        if (t_diff_dof >= prof->t_sum[6]) {
+            t_out[dof] = t_diff_dof - prof->t_sum[6];
+            p_out[dof] = prof->p[7];
+            v_out[dof] = prof->v[7];
+            a_out[dof] = prof->a[7];
+            j_out[dof] = 0.0;
+            continue;
+        }
+
+        /* Binary search in t_sum[0..6] */
+        size_t index_dof = 0;
+        {
+            size_t lo = 0, hi = 7;
+            while (lo < hi) {
+                size_t mid = lo + (hi - lo) / 2;
+                if (prof->t_sum[mid] <= t_diff_dof) {
+                    lo = mid + 1;
+                } else {
+                    hi = mid;
+                }
+            }
+            index_dof = lo;
+        }
+
+        if (index_dof > 0) {
+            t_diff_dof -= prof->t_sum[index_dof - 1];
+        }
+
+        t_out[dof] = t_diff_dof;
+        p_out[dof] = prof->p[index_dof];
+        v_out[dof] = prof->v[index_dof];
+        a_out[dof] = prof->a[index_dof];
+        j_out[dof] = prof->j[index_dof];
+    }
+}
+
+CRUCKIG_HOT
+void cruckig_trajectory_at_time(const CRuckigTrajectory *traj, double time,
+                                double * CRUCKIG_RESTRICT new_position,
+                                double * CRUCKIG_RESTRICT new_velocity,
+                                double * CRUCKIG_RESTRICT new_acceleration,
+                                double * CRUCKIG_RESTRICT new_jerk,
+                                size_t *new_section)
+{
+    const size_t dofs = traj->degrees_of_freedom;
+
+    /* Implementation limit: max 16 DOF (stack-allocated work arrays) */
+    double t_buf[16], p_buf[16], v_buf[16], a_buf[16], j_buf[16];
+    const size_t ndofs = (dofs > 16) ? 16 : dofs;
+
+    state_to_integrate_from(traj, time, new_section, t_buf, p_buf, v_buf, a_buf, j_buf);
+
+    for (size_t dof = 0; dof < ndofs; ++dof) {
+        double p_out, v_out, a_out;
+        cruckig_integrate(t_buf[dof], p_buf[dof], v_buf[dof], a_buf[dof], j_buf[dof],
+                          &p_out, &v_out, &a_out);
+        new_position[dof] = p_out;
+        new_velocity[dof] = v_out;
+        new_acceleration[dof] = a_out;
+        if (new_jerk) {
+            new_jerk[dof] = j_buf[dof];
+        }
+    }
+}
+
+void cruckig_trajectory_at_time_simple(const CRuckigTrajectory *traj, double time,
+                                       double *new_position, double *new_velocity,
+                                       double *new_acceleration)
+{
+    size_t new_section;
+    cruckig_trajectory_at_time(traj, time, new_position, new_velocity,
+                               new_acceleration, NULL, &new_section);
+}
+
+double cruckig_trajectory_get_duration(const CRuckigTrajectory *traj) {
+    return traj->duration;
+}
+
+size_t cruckig_trajectory_get_intermediate_durations(const CRuckigTrajectory *traj,
+                                                     double *out_durations)
+{
+    for (size_t s = 0; s < traj->num_sections; ++s) {
+        out_durations[s] = traj->cumulative_times[s];
+    }
+    return traj->num_sections;
+}
+
+void cruckig_trajectory_get_position_extrema(CRuckigTrajectory *traj) {
+    const size_t dofs = traj->degrees_of_freedom;
+    for (size_t dof = 0; dof < dofs; ++dof) {
+        /* Initialize from first section */
+        CRuckigBound bound = cruckig_profile_get_position_extrema(&traj->profiles[dof]);
+
+        /* Merge across all sections */
+        for (size_t s = 1; s < traj->num_sections; ++s) {
+            double section_start = traj->cumulative_times[s - 1];
+            CRuckigBound sb = cruckig_profile_get_position_extrema(
+                &traj->profiles[s * dofs + dof]);
+            if (sb.min < bound.min) {
+                bound.min = sb.min;
+                bound.t_min = sb.t_min + section_start;
+            }
+            if (sb.max > bound.max) {
+                bound.max = sb.max;
+                bound.t_max = sb.t_max + section_start;
+            }
+        }
+
+        traj->position_extrema[dof] = bound;
+    }
+}
+
+bool cruckig_trajectory_get_first_time_at_position(const CRuckigTrajectory *traj,
+                                                   size_t dof, double position,
+                                                   double *time, double time_after)
+{
+    if (dof >= traj->degrees_of_freedom) return false;
+
+    const size_t dofs = traj->degrees_of_freedom;
+
+    /* Search through all sections */
+    for (size_t s = 0; s < traj->num_sections; ++s) {
+        double section_start = (s > 0) ? traj->cumulative_times[s - 1] : 0.0;
+        double adjusted_time_after = time_after - section_start;
+        if (adjusted_time_after < 0.0) adjusted_time_after = 0.0;
+
+        if (cruckig_profile_get_first_state_at_position(
+                &traj->profiles[s * dofs + dof], position, time, adjusted_time_after)) {
+            *time += section_start;
+            return true;
+        }
+    }
+
+    return false;
+}
+
+void cruckig_trajectory_get_independent_min_durations(const CRuckigTrajectory *traj,
+                                                      double *out_durations)
+{
+    for (size_t dof = 0; dof < traj->degrees_of_freedom; ++dof) {
+        out_durations[dof] = traj->independent_min_durations[dof];
+    }
+}
+
+const CRuckigProfile* cruckig_trajectory_get_profile(const CRuckigTrajectory *traj, size_t dof)
+{
+    if (dof >= traj->degrees_of_freedom) return NULL;
+    return &traj->profiles[dof];
+}
+
+const CRuckigProfile* cruckig_trajectory_get_section_profile(const CRuckigTrajectory *traj,
+                                                              size_t section, size_t dof)
+{
+    if (section >= traj->num_sections || dof >= traj->degrees_of_freedom) return NULL;
+    return &traj->profiles[section * traj->degrees_of_freedom + dof];
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/trajectory.h

@@ -0,0 +1,71 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_TRAJECTORY_H
+#define CRUCKIG_TRAJECTORY_H
+
+#include "cruckig_internal.h"
+#include "profile.h"
+
+typedef struct {
+    size_t degrees_of_freedom;
+
+    /* Multi-section support: profiles[section * dofs + dof] */
+    CRuckigProfile *profiles;       /* Array of num_sections * dofs profiles */
+    size_t num_sections;             /* Number of sections (1 for state-to-state) */
+    size_t section_capacity;         /* Allocated capacity for sections */
+    double duration;
+    double *cumulative_times;        /* Array of num_sections cumulative durations */
+
+    double *independent_min_durations; /* Array of dofs */
+    CRuckigBound *position_extrema;    /* Array of dofs */
+} CRuckigTrajectory;
+
+/* Create trajectory for single-section (backward compatible) */
+CRuckigTrajectory* cruckig_trajectory_create(size_t dofs);
+void cruckig_trajectory_destroy(CRuckigTrajectory *traj);
+
+/* Resize trajectory for multi-section (num_sections = max_waypoints + 1) */
+bool cruckig_trajectory_resize(CRuckigTrajectory *traj, size_t num_sections);
+
+/* Query trajectory state at time */
+void cruckig_trajectory_at_time(const CRuckigTrajectory *traj, double time,
+                                double *new_position, double *new_velocity,
+                                double *new_acceleration, double *new_jerk,
+                                size_t *new_section);
+
+/* Simplified version without jerk/section */
+void cruckig_trajectory_at_time_simple(const CRuckigTrajectory *traj, double time,
+                                       double *new_position, double *new_velocity,
+                                       double *new_acceleration);
+
+double cruckig_trajectory_get_duration(const CRuckigTrajectory *traj);
+
+/* Get intermediate durations (cumulative times array). Returns num_sections. */
+size_t cruckig_trajectory_get_intermediate_durations(const CRuckigTrajectory *traj,
+                                                     double *out_durations);
+
+/* Get position extrema for all DOFs */
+void cruckig_trajectory_get_position_extrema(CRuckigTrajectory *traj);
+
+/* Get first time at position for a DOF. Returns true if found. */
+bool cruckig_trajectory_get_first_time_at_position(const CRuckigTrajectory *traj,
+                                                   size_t dof, double position,
+                                                   double *time, double time_after);
+
+/* Get independent minimum durations (one per DOF). Caller provides array of dofs. */
+void cruckig_trajectory_get_independent_min_durations(const CRuckigTrajectory *traj,
+                                                      double *out_durations);
+
+/* Get the underlying profile for a specific DOF in a section (read-only). */
+const CRuckigProfile* cruckig_trajectory_get_profile(const CRuckigTrajectory *traj, size_t dof);
+
+/* Get profile for specific section and DOF. */
+const CRuckigProfile* cruckig_trajectory_get_section_profile(const CRuckigTrajectory *traj,
+                                                              size_t section, size_t dof);
+
+#endif /* CRUCKIG_TRAJECTORY_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/utils.h

@@ -0,0 +1,26 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_UTILS_H
+#define CRUCKIG_UTILS_H
+
+#include "cruckig_internal.h"
+
+CRUCKIG_FORCE_INLINE void cruckig_integrate(double t, double p0, double v0, double a0, double j,
+                                            double * CRUCKIG_RESTRICT p_out,
+                                            double * CRUCKIG_RESTRICT v_out,
+                                            double * CRUCKIG_RESTRICT a_out) {
+    *p_out = p0 + t * (v0 + t * (a0 / 2.0 + t * j / 6.0));
+    *v_out = v0 + t * (a0 + t * j / 2.0);
+    *a_out = a0 + t * j;
+}
+
+CRUCKIG_FORCE_INLINE double cruckig_pow2(double v) {
+    return v * v;
+}
+
+#endif /* CRUCKIG_UTILS_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/velocity.h

@@ -0,0 +1,63 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#ifndef CRUCKIG_VELOCITY_H
+#define CRUCKIG_VELOCITY_H
+
+#include "cruckig_internal.h"
+#include "profile.h"
+#include "block.h"
+
+/* ---- Third Order Step 1 ---- */
+typedef struct {
+    double a0, af;
+    double _aMax, _aMin, _jMax;
+    double vd;
+    CRuckigProfile valid_profiles[3];
+} CRuckigVelocityThirdOrderStep1;
+
+void cruckig_vel3_step1_init(CRuckigVelocityThirdOrderStep1 *s,
+                     double v0, double a0, double vf, double af,
+                     double aMax, double aMin, double jMax);
+bool cruckig_vel3_step1_get_profile(CRuckigVelocityThirdOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block);
+
+/* ---- Third Order Step 2 ---- */
+typedef struct {
+    double a0, tf, af;
+    double _aMax, _aMin, _jMax;
+    double vd, ad;
+} CRuckigVelocityThirdOrderStep2;
+
+void cruckig_vel3_step2_init(CRuckigVelocityThirdOrderStep2 *s,
+                     double tf, double v0, double a0, double vf, double af,
+                     double aMax, double aMin, double jMax);
+bool cruckig_vel3_step2_get_profile(CRuckigVelocityThirdOrderStep2 *s, CRuckigProfile *profile);
+
+/* ---- Second Order Step 1 ---- */
+typedef struct {
+    double _aMax, _aMin;
+    double vd;
+} CRuckigVelocitySecondOrderStep1;
+
+void cruckig_vel2_step1_init(CRuckigVelocitySecondOrderStep1 *s,
+                     double v0, double vf, double aMax, double aMin);
+bool cruckig_vel2_step1_get_profile(CRuckigVelocitySecondOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block);
+
+/* ---- Second Order Step 2 ---- */
+typedef struct {
+    double tf;
+    double _aMax, _aMin;
+    double vd;
+} CRuckigVelocitySecondOrderStep2;
+
+void cruckig_vel2_step2_init(CRuckigVelocitySecondOrderStep2 *s,
+                     double tf, double v0, double vf, double aMax, double aMin);
+bool cruckig_vel2_step2_get_profile(CRuckigVelocitySecondOrderStep2 *s, CRuckigProfile *profile);
+
+#endif /* CRUCKIG_VELOCITY_H */

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/velocity_second_step1.c

@@ -0,0 +1,40 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "velocity.h"
+#include "block.h"
+#include "profile.h"
+
+void cruckig_vel2_step1_init(CRuckigVelocitySecondOrderStep1 *s,
+                     double v0, double vf, double aMax, double aMin)
+{
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->vd = vf - v0;
+}
+
+bool cruckig_vel2_step1_get_profile(CRuckigVelocitySecondOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block)
+{
+    CRuckigProfile *p = &block->p_min;
+    cruckig_profile_set_boundary_from_profile(p, input);
+
+    const double af = (s->vd > 0) ? s->_aMax : s->_aMin;
+    p->t[0] = 0;
+    p->t[1] = s->vd / af;
+    p->t[2] = 0;
+    p->t[3] = 0;
+    p->t[4] = 0;
+    p->t[5] = 0;
+    p->t[6] = 0;
+
+    if (cruckig_profile_check_for_second_order_velocity(p, ControlSignsUDDU, ReachedLimitsACC0, af)) {
+        block->t_min = p->t_sum[6] + p->brake.duration + p->accel.duration;
+        return true;
+    }
+    return false;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/velocity_second_step2.c

@@ -0,0 +1,39 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+#include "velocity.h"
+#include "block.h"
+#include "profile.h"
+
+void cruckig_vel2_step2_init(CRuckigVelocitySecondOrderStep2 *s,
+                     double tf, double v0, double vf, double aMax, double aMin)
+{
+    s->tf = tf;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->vd = vf - v0;
+}
+
+bool cruckig_vel2_step2_get_profile(CRuckigVelocitySecondOrderStep2 *s, CRuckigProfile *profile)
+{
+    const double af = s->vd / s->tf;
+
+    profile->t[0] = 0;
+    profile->t[1] = s->tf;
+    profile->t[2] = 0;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (cruckig_profile_check_for_second_order_velocity_with_timing_full(profile, ControlSignsUDDU, ReachedLimitsNONE, s->tf, af, s->_aMax, s->_aMin)) {
+        profile->pf = profile->p[7];
+        return true;
+    }
+
+    return false;
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/velocity_third_step1.c

@@ -0,0 +1,187 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "velocity.h"
+#include "block.h"
+#include "profile.h"
+
+/* ---- Internal helper functions ---- */
+
+static void time_acc0(const CRuckigVelocityThirdOrderStep1 *s,
+                      CRuckigProfile *valid_profiles, size_t *counter,
+                      double aMax, double aMin, double jMax, bool return_after_found)
+{
+    (void)return_after_found;
+
+    CRuckigProfile *profile = &valid_profiles[*counter];
+
+    profile->t[0] = (-s->a0 + aMax) / jMax;
+    profile->t[1] = (s->a0 * s->a0 + s->af * s->af) / (2 * aMax * jMax) - aMax / jMax + s->vd / aMax;
+    profile->t[2] = (-s->af + aMax) / jMax;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (cruckig_profile_check_for_velocity(profile, ControlSignsUDDU, ReachedLimitsACC0, jMax, aMax, aMin)) {
+        (*counter)++;
+        if (*counter < 3) {
+            cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+        }
+    }
+}
+
+static void time_none(const CRuckigVelocityThirdOrderStep1 *s,
+                      CRuckigProfile *valid_profiles, size_t *counter,
+                      double aMax, double aMin, double jMax, bool return_after_found)
+{
+    double h1 = (s->a0 * s->a0 + s->af * s->af) / 2 + jMax * s->vd;
+    if (h1 >= 0.0) {
+        h1 = sqrt(h1);
+
+        /* Solution 1 */
+        {
+            CRuckigProfile *profile = &valid_profiles[*counter];
+
+            profile->t[0] = -(s->a0 + h1) / jMax;
+            profile->t[1] = 0;
+            profile->t[2] = -(s->af + h1) / jMax;
+            profile->t[3] = 0;
+            profile->t[4] = 0;
+            profile->t[5] = 0;
+            profile->t[6] = 0;
+
+            if (cruckig_profile_check_for_velocity(profile, ControlSignsUDDU, ReachedLimitsNONE, jMax, aMax, aMin)) {
+                (*counter)++;
+                if (*counter < 3) {
+                    cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+                }
+                if (return_after_found) {
+                    return;
+                }
+            }
+        }
+
+        /* Solution 2 */
+        {
+            CRuckigProfile *profile = &valid_profiles[*counter];
+
+            profile->t[0] = (-s->a0 + h1) / jMax;
+            profile->t[1] = 0;
+            profile->t[2] = (-s->af + h1) / jMax;
+            profile->t[3] = 0;
+            profile->t[4] = 0;
+            profile->t[5] = 0;
+            profile->t[6] = 0;
+
+            if (cruckig_profile_check_for_velocity(profile, ControlSignsUDDU, ReachedLimitsNONE, jMax, aMax, aMin)) {
+                (*counter)++;
+                if (*counter < 3) {
+                    cruckig_profile_set_boundary_from_profile(&valid_profiles[*counter], profile);
+                }
+            }
+        }
+    }
+}
+
+static bool time_all_single_step(const CRuckigVelocityThirdOrderStep1 *s,
+                                 CRuckigProfile *profile,
+                                 double aMax, double aMin, double jMax)
+{
+    (void)jMax;
+
+    if (fabs(s->af - s->a0) > DBL_EPSILON) {
+        return false;
+    }
+
+    profile->t[0] = 0;
+    profile->t[1] = 0;
+    profile->t[2] = 0;
+    profile->t[3] = 0;
+    profile->t[4] = 0;
+    profile->t[5] = 0;
+    profile->t[6] = 0;
+
+    if (fabs(s->a0) > DBL_EPSILON) {
+        profile->t[3] = s->vd / s->a0;
+        if (cruckig_profile_check_for_velocity(profile, ControlSignsUDDU, ReachedLimitsNONE, 0.0, aMax, aMin)) {
+            return true;
+        }
+
+    } else if (fabs(s->vd) < DBL_EPSILON) {
+        if (cruckig_profile_check_for_velocity(profile, ControlSignsUDDU, ReachedLimitsNONE, 0.0, aMax, aMin)) {
+            return true;
+        }
+    }
+
+    return false;
+}
+
+
+/* ---- Public interface ---- */
+
+void cruckig_vel3_step1_init(CRuckigVelocityThirdOrderStep1 *s,
+                     double v0, double a0, double vf, double af,
+                     double aMax, double aMin, double jMax)
+{
+    s->a0 = a0;
+    s->af = af;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->_jMax = jMax;
+    s->vd = vf - v0;
+}
+
+bool cruckig_vel3_step1_get_profile(CRuckigVelocityThirdOrderStep1 *s,
+                            const CRuckigProfile *input, CRuckigBlock *block)
+{
+    /* Zero-limits special case */
+    if (s->_jMax == 0.0) {
+        CRuckigProfile *p = &block->p_min;
+        cruckig_profile_set_boundary_from_profile(p, input);
+
+        if (time_all_single_step(s, p, s->_aMax, s->_aMin, s->_jMax)) {
+            block->t_min = p->t_sum[6] + p->brake.duration + p->accel.duration;
+            if (fabs(s->a0) > DBL_EPSILON) {
+                block->a.valid = true;
+                block->a.left = block->t_min;
+                block->a.right = INFINITY;
+            }
+            return true;
+        }
+        return false;
+    }
+
+    size_t valid_profile_counter = 0;
+    cruckig_profile_set_boundary_from_profile(&s->valid_profiles[0], input);
+
+    if (fabs(s->af) < DBL_EPSILON) {
+        /* There is no blocked interval when af==0, so return after first found profile */
+        const double aMax = (s->vd >= 0) ? s->_aMax : s->_aMin;
+        const double aMin = (s->vd >= 0) ? s->_aMin : s->_aMax;
+        const double jMax = (s->vd >= 0) ? s->_jMax : -s->_jMax;
+
+        time_none(s, s->valid_profiles, &valid_profile_counter, aMax, aMin, jMax, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, aMax, aMin, jMax, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+
+        time_none(s, s->valid_profiles, &valid_profile_counter, aMin, aMax, -jMax, true);
+        if (valid_profile_counter > 0) { goto return_block; }
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, aMin, aMax, -jMax, true);
+
+    } else {
+        time_none(s, s->valid_profiles, &valid_profile_counter, s->_aMax, s->_aMin, s->_jMax, false);
+        time_none(s, s->valid_profiles, &valid_profile_counter, s->_aMin, s->_aMax, -s->_jMax, false);
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, s->_aMax, s->_aMin, s->_jMax, false);
+        time_acc0(s, s->valid_profiles, &valid_profile_counter, s->_aMin, s->_aMax, -s->_jMax, false);
+    }
+
+return_block:
+    return cruckig_block_calculate(block, s->valid_profiles, valid_profile_counter, 3);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/cruckig/velocity_third_step2.c

@@ -0,0 +1,146 @@
+/*
+ * cruckig - Pure C99 port of the Ruckig trajectory generation library
+ * Copyright (c) 2025 Yang Yang <mika-net@outlook.com>
+ * Copyright (c) 2021 Lars Berscheid (original C++ Ruckig)
+ *
+ * License: MIT, see the LICENSE file in this directory.
+ */
+
+#include "velocity.h"
+#include "block.h"
+#include "profile.h"
+
+/* ---- Internal helper functions ---- */
+
+static bool time_acc0(CRuckigVelocityThirdOrderStep2 *s, CRuckigProfile *profile,
+                      double aMax, double aMin, double jMax)
+{
+    /* UD Solution 1/2 */
+    {
+        const double h1 = sqrt((-s->ad * s->ad + 2 * jMax * ((s->a0 + s->af) * s->tf - 2 * s->vd)) / (jMax * jMax) + s->tf * s->tf);
+
+        profile->t[0] = s->ad / (2 * jMax) + (s->tf - h1) / 2;
+        profile->t[1] = h1;
+        profile->t[2] = s->tf - (profile->t[0] + h1);
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check_for_velocity_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, jMax, aMax, aMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UU Solution */
+    {
+        const double h1 = (-s->ad + jMax * s->tf);
+
+        profile->t[0] = -s->ad * s->ad / (2 * jMax * h1) + (s->vd - s->a0 * s->tf) / h1;
+        profile->t[1] = -s->ad / jMax + s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = s->tf - (profile->t[0] + profile->t[1]);
+
+        if (cruckig_profile_check_for_velocity_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, jMax, aMax, aMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UU Solution - 2 step */
+    {
+        profile->t[0] = 0;
+        profile->t[1] = -s->ad / jMax + s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = s->ad / jMax;
+
+        if (cruckig_profile_check_for_velocity_with_timing(profile, ControlSignsUDDU, ReachedLimitsACC0, s->tf, jMax, aMax, aMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool time_none(CRuckigVelocityThirdOrderStep2 *s, CRuckigProfile *profile,
+                      double aMax, double aMin, double jMax)
+{
+    if (fabs(s->a0) < DBL_EPSILON && fabs(s->af) < DBL_EPSILON && fabs(s->vd) < DBL_EPSILON) {
+        profile->t[0] = 0;
+        profile->t[1] = s->tf;
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        if (cruckig_profile_check_for_velocity_with_timing(profile, ControlSignsUDDU, ReachedLimitsNONE, s->tf, jMax, aMax, aMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    /* UD Solution 1/2 */
+    {
+        const double h1 = 2 * (s->af * s->tf - s->vd);
+
+        profile->t[0] = h1 / s->ad;
+        profile->t[1] = s->tf - profile->t[0];
+        profile->t[2] = 0;
+        profile->t[3] = 0;
+        profile->t[4] = 0;
+        profile->t[5] = 0;
+        profile->t[6] = 0;
+
+        const double jf = s->ad * s->ad / h1;
+
+        if (fabs(jf) < fabs(jMax) + 1e-12 && cruckig_profile_check_for_velocity_with_timing(profile, ControlSignsUDDU, ReachedLimitsNONE, s->tf, jf, aMax, aMin)) {
+            profile->pf = profile->p[7];
+            return true;
+        }
+    }
+
+    return false;
+}
+
+static bool check_all(CRuckigVelocityThirdOrderStep2 *s, CRuckigProfile *profile,
+                      double aMax, double aMin, double jMax)
+{
+    return time_acc0(s, profile, aMax, aMin, jMax) || time_none(s, profile, aMax, aMin, jMax);
+}
+
+
+/* ---- Public interface ---- */
+
+void cruckig_vel3_step2_init(CRuckigVelocityThirdOrderStep2 *s,
+                     double tf, double v0, double a0, double vf, double af,
+                     double aMax, double aMin, double jMax)
+{
+    s->a0 = a0;
+    s->tf = tf;
+    s->af = af;
+    s->_aMax = aMax;
+    s->_aMin = aMin;
+    s->_jMax = jMax;
+    s->vd = vf - v0;
+    s->ad = af - a0;
+}
+
+bool cruckig_vel3_step2_get_profile(CRuckigVelocityThirdOrderStep2 *s, CRuckigProfile *profile)
+{
+    /* Test all cases to get ones that match */
+    /* However we should guess which one is correct and try them first... */
+    if (s->vd > 0) {
+        return check_all(s, profile, s->_aMax, s->_aMin, s->_jMax) || check_all(s, profile, s->_aMin, s->_aMax, -s->_jMax);
+    }
+
+    return check_all(s, profile, s->_aMin, s->_aMax, -s->_jMax) || check_all(s, profile, s->_aMax, s->_aMin, s->_jMax);
+}

wasm-port/vendor/linuxcnc/src/emc/tp/ruckig_wrapper.c

@@ -0,0 +1,680 @@
+/********************************************************************
+* Description: ruckig_wrapper.c
+*   Cruckig (pure C) trajectory planning library wrapper implementation
+*
+*   This file provides a C wrapper around the Cruckig C library
+*   for S-curve trajectory planning in LinuxCNC.
+*   Replaces the C++ Ruckig implementation to enable RTAI kernel builds.
+*
+* License: GPL Version 2
+* System: Linux
+* Original Author: 杨阳 (mika-net@outlook.com)
+* Cruckig port: LinuxCNC contributors
+*
+* Copyright (c) 2024-2026 All rights reserved.
+********************************************************************/
+
+#include "ruckig_wrapper.h"
+#include <rtapi.h>
+#include <rtapi_math.h>
+#include <rtapi_slab.h>
+
+/* LinuxCNC precision constants (consistent with tp_types.h) */
+#ifndef TP_POS_EPSILON
+#define TP_POS_EPSILON 1e-12
+#endif
+#ifndef TP_VEL_EPSILON
+#define TP_VEL_EPSILON 1e-8
+#endif
+
+/* Cruckig C headers */
+#include "cruckig/cruckig.h"
+
+/* Internal implementation struct */
+struct RuckigPlannerImpl {
+    CRuckig *otg;                   /* cruckig planner instance */
+    CRuckigInputParameter *input;   /* input parameters */
+    CRuckigTrajectory *trajectory;  /* trajectory result */
+    double cycle_time;              /* cycle time */
+    int planned;                    /* whether planning has been done */
+    double start_time;              /* trajectory start time */
+    double target_pos;              /* target position (used for precision correction) */
+    double target_vel;              /* target velocity (used for precision correction) */
+    double target_acc;              /* target acceleration (used for precision correction) */
+    int use_position_control;       /* 1=position control, 0=velocity control */
+    double last_actual_acc;         /* previous actual acceleration (for jerk calculation) */
+    int is_first_cycle;             /* first cycle after replanning */
+    int enable_logging;             /* 1=enabled, 0=disabled */
+};
+
+/* Helper macro: conditionally output log based on planner's logging setting */
+#define RUCKIG_LOG_IF_ENABLED(planner, level, fmt, ...) \
+    do { \
+        if (planner) { \
+            struct RuckigPlannerImpl *_impl = (struct RuckigPlannerImpl *)planner; \
+            if (_impl->enable_logging) { \
+                rtapi_print_msg(level, fmt, ##__VA_ARGS__); \
+            } \
+        } else { \
+            rtapi_print_msg(level, fmt, ##__VA_ARGS__); \
+        } \
+    } while (0)
+
+RuckigPlanner ruckig_create(double cycle_time) {
+    if (cycle_time <= 0.0) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_create: invalid cycle_time %f\n", cycle_time);
+        return NULL;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)rtapi_kmalloc(sizeof(struct RuckigPlannerImpl), RTAPI_GFP_KERNEL);
+    if (!impl) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_create: memory allocation failed\n");
+        return NULL;
+    }
+
+    impl->otg = cruckig_create(1, cycle_time);
+    impl->input = cruckig_input_create(1);
+    impl->trajectory = cruckig_trajectory_create(1);
+
+    if (!impl->otg || !impl->input || !impl->trajectory) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_create: cruckig allocation failed\n");
+        if (impl->otg) cruckig_destroy(impl->otg);
+        if (impl->input) cruckig_input_destroy(impl->input);
+        if (impl->trajectory) cruckig_trajectory_destroy(impl->trajectory);
+        rtapi_kfree(impl);
+        return NULL;
+    }
+
+    impl->cycle_time = cycle_time;
+    impl->planned = 0;
+    impl->start_time = 0.0;
+    impl->target_pos = 0.0;
+    impl->target_vel = 0.0;
+    impl->target_acc = 0.0;
+    impl->use_position_control = 0;
+    impl->last_actual_acc = 0.0;
+    impl->is_first_cycle = 0;
+    impl->enable_logging = 1;
+
+    return (RuckigPlanner)impl;
+}
+
+void ruckig_destroy(RuckigPlanner planner) {
+    if (planner) {
+        struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+        if (impl->otg) cruckig_destroy(impl->otg);
+        if (impl->input) cruckig_input_destroy(impl->input);
+        if (impl->trajectory) cruckig_trajectory_destroy(impl->trajectory);
+        rtapi_kfree(impl);
+    }
+}
+
+/* Helper: copy trajectory state for backup/restore on planning failure.
+ * We cannot just memcpy the CRuckigTrajectory because it contains owned pointers.
+ * Instead we save/restore the profile data and scalar fields. */
+struct TrajectoryBackup {
+    CRuckigProfile profile;   /* single-DOF single-section profile copy */
+    double duration;
+    double cumulative_time;
+    double independent_min_duration;
+    CRuckigBound position_extremum;
+};
+
+static void backup_trajectory(const CRuckigTrajectory *traj, struct TrajectoryBackup *bk) {
+    bk->duration = traj->duration;
+    if (traj->profiles)
+        bk->profile = traj->profiles[0];           /* 1 DOF, 1 section */
+    if (traj->cumulative_times)
+        bk->cumulative_time = traj->cumulative_times[0];
+    if (traj->independent_min_durations)
+        bk->independent_min_duration = traj->independent_min_durations[0];
+    if (traj->position_extrema)
+        bk->position_extremum = traj->position_extrema[0];
+}
+
+static void restore_trajectory(CRuckigTrajectory *traj, const struct TrajectoryBackup *bk) {
+    traj->duration = bk->duration;
+    if (traj->profiles)
+        traj->profiles[0] = bk->profile;
+    if (traj->cumulative_times)
+        traj->cumulative_times[0] = bk->cumulative_time;
+    if (traj->independent_min_durations)
+        traj->independent_min_durations[0] = bk->independent_min_duration;
+    if (traj->position_extrema)
+        traj->position_extrema[0] = bk->position_extremum;
+}
+
+/* Helper: handle cruckig result codes, return 0 on success, -1 or -2 on failure.
+ * On failure with a previous plan, restores the backup. */
+static int handle_result(CRuckigResult result, RuckigPlanner planner,
+                         const char *func_name,
+                         int had_previous_plan,
+                         const struct TrajectoryBackup *bk,
+                         double bk_target_pos, double bk_target_vel,
+                         int bk_use_position_control, double bk_last_actual_acc) {
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (result == CRuckigWorking || result == CRuckigFinished) {
+        if (result == CRuckigFinished) {
+            double duration = cruckig_trajectory_get_duration(impl->trajectory);
+            if (duration < 0.001) {
+                RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_INFO,
+                    "%s: already at target (duration=%f)\n", func_name, duration);
+            } else {
+                RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_INFO,
+                    "%s: trajectory finished (duration=%f)\n", func_name, duration);
+            }
+        }
+        return 0;  /* success */
+    }
+
+    /* Planning failed: restore previous trajectory if it exists */
+    if (had_previous_plan) {
+        restore_trajectory(impl->trajectory, bk);
+        impl->target_pos = bk_target_pos;
+        impl->target_vel = bk_target_vel;
+        impl->use_position_control = bk_use_position_control;
+        impl->last_actual_acc = bk_last_actual_acc;
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_INFO,
+            "%s: planning failed, restored previous trajectory\n", func_name);
+    }
+
+    /* Log error */
+    switch (result) {
+    case CRuckigErrorInvalidInput:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: invalid input parameters\n", func_name);
+        break;
+    case CRuckigErrorTrajectoryDuration:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: trajectory duration exceeds numerical limits\n", func_name);
+        break;
+    case CRuckigErrorPositionalLimits:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: positional limits exceeded\n", func_name);
+        break;
+    case CRuckigErrorZeroLimits:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: zero limits conflict\n", func_name);
+        break;
+    case CRuckigErrorExecutionTimeCalculation:
+        return -2;
+    case CRuckigErrorSynchronizationCalculation:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: synchronization calculation error\n", func_name);
+        break;
+    case CRuckigError:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: general error\n", func_name);
+        break;
+    default:
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "%s: unknown error result %d\n", func_name, (int)result);
+        break;
+    }
+    return -1;
+}
+
+int ruckig_plan_position(RuckigPlanner planner,
+                         double current_pos,
+                         double current_vel,
+                         double current_acc,
+                         double target_pos,
+                         double target_vel,
+                         double target_acc,
+                         double min_vel,
+                         double max_vel,
+                         double max_acc,
+                         double max_jerk) {
+    if (!planner) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    /* Parameter validation */
+    if (max_vel <= 0.0 || max_acc <= 0.0 || max_jerk <= 0.0) {
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "ruckig_plan_position: invalid limits (v=%f, a=%f, j=%f)\n",
+            max_vel, max_acc, max_jerk);
+        return -1;
+    }
+
+    /* Set input parameters (position control mode) */
+    impl->input->control_interface = CRuckigPosition;
+    impl->input->synchronization = CRuckigSyncTime;
+
+    impl->input->current_position[0] = current_pos;
+    impl->input->current_velocity[0] = current_vel;
+    impl->input->current_acceleration[0] = current_acc;
+    impl->input->target_position[0] = target_pos;
+    impl->input->target_velocity[0] = target_vel;
+    impl->input->target_acceleration[0] = target_acc;
+    impl->input->max_velocity[0] = max_vel;
+    impl->input->max_acceleration[0] = max_acc;
+    impl->input->max_jerk[0] = max_jerk;
+
+    /* Set min_velocity: cruckig uses NULL for default (-max), or a pointer for explicit */
+    if (impl->input->min_velocity == NULL) {
+        impl->input->min_velocity = (double *)rtapi_kmalloc(sizeof(double), RTAPI_GFP_KERNEL);
+        if (!impl->input->min_velocity) return -1;
+    }
+    impl->input->min_velocity[0] = min_vel;
+
+    /* Backup trajectory on failure */
+    int had_previous_plan = impl->planned;
+    struct TrajectoryBackup bk;
+    double bk_target_pos = 0.0, bk_target_vel = 0.0, bk_last_actual_acc = 0.0;
+    int bk_use_position_control = 0;
+
+    if (had_previous_plan) {
+        backup_trajectory(impl->trajectory, &bk);
+        bk_target_pos = impl->target_pos;
+        bk_target_vel = impl->target_vel;
+        bk_use_position_control = impl->use_position_control;
+        bk_last_actual_acc = impl->last_actual_acc;
+    }
+
+    /* Execute planning */
+    CRuckigResult result = cruckig_calculate(impl->otg, impl->input, impl->trajectory);
+
+    int rc = handle_result(result, planner, "ruckig_plan_position",
+                          had_previous_plan, &bk,
+                          bk_target_pos, bk_target_vel,
+                          bk_use_position_control, bk_last_actual_acc);
+    if (rc != 0) return rc;
+
+    /* Update state on success */
+    int was_planned = impl->planned;
+    if (!was_planned) {
+        impl->last_actual_acc = current_acc;
+    }
+
+    impl->planned = 1;
+    impl->start_time = 0.0;
+    impl->target_pos = target_pos;
+    impl->target_vel = target_vel;
+    impl->target_acc = target_acc;
+    impl->use_position_control = 1;
+    impl->is_first_cycle = 1;
+    return 0;
+}
+
+int ruckig_plan_velocity(RuckigPlanner planner,
+                         double current_vel,
+                         double current_acc,
+                         double target_vel,
+                         double target_acc,
+                         double min_vel,
+                         double max_acc,
+                         double max_jerk) {
+    if (!planner) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    /* Parameter validation */
+    if (max_acc <= 0.0 || max_jerk <= 0.0) {
+        RUCKIG_LOG_IF_ENABLED(planner, RTAPI_MSG_ERR,
+            "ruckig_plan_velocity: invalid limits (a=%f, j=%f)\n",
+            max_acc, max_jerk);
+        return -1;
+    }
+
+    /* Set input parameters (velocity control mode) */
+    impl->input->control_interface = CRuckigVelocity;
+    impl->input->synchronization = CRuckigSyncNone;
+
+    impl->input->current_position[0] = 0.0;
+    impl->input->current_velocity[0] = current_vel;
+    impl->input->current_acceleration[0] = current_acc;
+    impl->input->target_position[0] = 0.0;
+    impl->input->target_velocity[0] = target_vel;
+    impl->input->target_acceleration[0] = target_acc;
+    impl->input->max_velocity[0] = INFINITY;
+    impl->input->max_acceleration[0] = max_acc;
+    impl->input->max_jerk[0] = max_jerk;
+
+    /* Set min_velocity */
+    if (impl->input->min_velocity == NULL) {
+        impl->input->min_velocity = (double *)rtapi_kmalloc(sizeof(double), RTAPI_GFP_KERNEL);
+        if (!impl->input->min_velocity) return -1;
+    }
+    impl->input->min_velocity[0] = min_vel;
+
+    /* Backup trajectory on failure */
+    int had_previous_plan = impl->planned;
+    struct TrajectoryBackup bk;
+    double bk_target_pos = 0.0, bk_target_vel = 0.0, bk_last_actual_acc = 0.0;
+    int bk_use_position_control = 0;
+
+    if (had_previous_plan) {
+        backup_trajectory(impl->trajectory, &bk);
+        bk_target_pos = impl->target_pos;
+        bk_target_vel = impl->target_vel;
+        bk_use_position_control = impl->use_position_control;
+        bk_last_actual_acc = impl->last_actual_acc;
+    }
+
+    /* Execute planning */
+    CRuckigResult result = cruckig_calculate(impl->otg, impl->input, impl->trajectory);
+
+    int rc = handle_result(result, planner, "ruckig_plan_velocity",
+                          had_previous_plan, &bk,
+                          bk_target_pos, bk_target_vel,
+                          bk_use_position_control, bk_last_actual_acc);
+    if (rc != 0) return rc;
+
+    /* Update state on success */
+    int was_planned = impl->planned;
+    if (!was_planned) {
+        impl->last_actual_acc = current_acc;
+    }
+
+    impl->planned = 1;
+    impl->start_time = 0.0;
+    impl->target_pos = 0.0;
+    impl->target_vel = target_vel;
+    impl->target_acc = target_acc;
+    impl->use_position_control = 0;
+    impl->is_first_cycle = 1;
+    return 0;
+}
+
+int ruckig_at_time(RuckigPlanner planner,
+                   double time,
+                   double *pos,
+                   double *vel,
+                   double *acc,
+                   double *jerk) {
+    if (!planner || !pos || !vel || !acc || !jerk) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_at_time: trajectory not planned\n");
+        return -1;
+    }
+
+    double duration = cruckig_trajectory_get_duration(impl->trajectory);
+
+    /* Clamp time */
+    double query_time = time;
+    if (time < 0.0) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_at_time: time %f is negative\n", time);
+        return -1;
+    }
+    if (time > duration) {
+        query_time = duration;
+    }
+
+    /* Get state at specified time */
+    double new_pos, new_vel, new_acc, new_jerk_unused;
+    size_t new_section;
+    cruckig_trajectory_at_time(impl->trajectory, query_time,
+                               &new_pos, &new_vel, &new_acc, &new_jerk_unused,
+                               &new_section);
+
+    *pos = new_pos;
+    *vel = new_vel;
+    *acc = new_acc;
+
+    /* Precision correction: ensure position and velocity exactly match target values */
+    if (impl->use_position_control) {
+        const double TIME_THRESHOLD = fmax(duration * 0.1, impl->cycle_time * 10.0);
+        const double POS_ERROR_THRESHOLD = 1e-6;
+
+        if (time >= duration - TIME_THRESHOLD || time >= duration) {
+            double pos_error = fabs(*pos - impl->target_pos);
+            if (pos_error < POS_ERROR_THRESHOLD) {
+                *pos = impl->target_pos;
+            }
+
+            if (time >= duration) {
+                *vel = impl->target_vel;
+            }
+            /* During trajectory: let S-curve complete naturally */
+        }
+    } else {
+        /* Velocity control mode: only correct at trajectory end */
+        if (time >= duration) {
+            *vel = impl->target_vel;
+            *acc = impl->target_acc;
+        }
+    }
+
+    /* Calculate jerk */
+    if (time > duration) {
+        if (impl->use_position_control) {
+            double pos_error = fabs(*pos - impl->target_pos);
+            double vel_error = fabs(*vel - impl->target_vel);
+            double acc_threshold = 1e-6;
+            int acc_near_zero = (fabs(*acc) < acc_threshold);
+            if (pos_error < TP_POS_EPSILON * 100.0 && vel_error < TP_VEL_EPSILON * 10.0 && acc_near_zero) {
+                *jerk = 0.0;
+                *acc = 0.0;
+            }
+        } else {
+            double vel_error = fabs(*vel - impl->target_vel);
+            double acc_threshold = 1e-6;
+            int acc_near_zero = (fabs(*acc) < acc_threshold);
+            if (vel_error < TP_VEL_EPSILON * 10.0 && acc_near_zero) {
+                *jerk = 0.0;
+                *acc = 0.0;
+            }
+        }
+    } else if (query_time > impl->cycle_time) {
+        /* Compute jerk from acceleration difference */
+        double prev_pos, prev_vel, prev_acc_val, prev_jerk_unused;
+        size_t prev_section;
+        double prev_time = query_time - impl->cycle_time;
+        if (prev_time < 0.0) prev_time = 0.0;
+        cruckig_trajectory_at_time(impl->trajectory, prev_time,
+                                   &prev_pos, &prev_vel, &prev_acc_val, &prev_jerk_unused,
+                                   &prev_section);
+        *jerk = (new_acc - prev_acc_val) / impl->cycle_time;
+    } else {
+        /* First cycle after replanning */
+        if (impl->is_first_cycle) {
+            double base_acc = impl->last_actual_acc;
+            *jerk = (new_acc - base_acc) / impl->cycle_time;
+            impl->is_first_cycle = 0;
+        } else {
+            /* Use initial acceleration from planning time */
+            *jerk = (query_time > 0.0) ?
+                (new_acc - impl->input->current_acceleration[0]) / query_time : 0.0;
+        }
+    }
+
+    /* Save current acceleration for jerk calculation in next cycle */
+    impl->last_actual_acc = *acc;
+
+    return 0;
+}
+
+int ruckig_next_cycle(RuckigPlanner planner,
+                      double current_time,
+                      double cycle_time,
+                      double *pos,
+                      double *vel,
+                      double *acc,
+                      double *jerk) {
+    if (!planner) {
+        return -1;
+    }
+
+    double next_time = current_time + cycle_time;
+    return ruckig_at_time(planner, next_time, pos, vel, acc, jerk);
+}
+
+double ruckig_get_duration(RuckigPlanner planner) {
+    if (!planner) {
+        return -1.0;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        return -1.0;
+    }
+
+    return cruckig_trajectory_get_duration(impl->trajectory);
+}
+
+int ruckig_is_finished(RuckigPlanner planner, double current_time) {
+    if (!planner) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        return -1;
+    }
+
+    double duration = ruckig_get_duration(planner);
+    if (duration < 0.0) {
+        return -1;
+    }
+
+    return (current_time >= duration) ? 1 : 0;
+}
+
+void ruckig_reset(RuckigPlanner planner) {
+    if (!planner) {
+        return;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    /* Reset all state fields */
+    impl->planned = 0;
+    impl->start_time = 0.0;
+    impl->target_pos = 0.0;
+    impl->target_vel = 0.0;
+    impl->target_acc = 0.0;
+    impl->use_position_control = 0;
+    impl->last_actual_acc = 0.0;
+    impl->is_first_cycle = 0;
+    /* Note: do not reset enable_logging, preserve user setting */
+
+    /* Reset cruckig objects */
+    cruckig_reset(impl->otg);
+}
+
+void ruckig_set_logging(RuckigPlanner planner, int enable) {
+    if (!planner) {
+        return;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+    impl->enable_logging = (enable != 0) ? 1 : 0;
+}
+
+int ruckig_get_decelerate_phases(RuckigPlanner planner, double *t1, double *t2) {
+    if (!planner) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_decelerate_phases: trajectory not planned\n");
+        return -1;
+    }
+
+    /* Get Profile (1 DOF, section 0) */
+    const CRuckigProfile *profile = cruckig_trajectory_get_profile(impl->trajectory, 0);
+    if (!profile) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_decelerate_phases: no profile available\n");
+        return -1;
+    }
+
+    /* Deceleration phases: t[4]=T1 (jerk), t[5]=T2 (constant accel) */
+    if (t1 != NULL) {
+        *t1 = (profile->t[4] > 0.0) ? profile->t[4] : 0.0;
+    }
+    if (t2 != NULL) {
+        *t2 = (profile->t[5] > 0.0) ? profile->t[5] : 0.0;
+    }
+
+    return 0;
+}
+
+int ruckig_get_peak_velocity(RuckigPlanner planner, double *peak_vel) {
+    if (!planner || !peak_vel) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_peak_velocity: trajectory not planned\n");
+        return -1;
+    }
+
+    const CRuckigProfile *profile = cruckig_trajectory_get_profile(impl->trajectory, 0);
+    if (!profile) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_peak_velocity: no profile available\n");
+        return -1;
+    }
+
+    /* Peak velocity is the maximum of v[0] through v[7] */
+    double max_v = 0.0;
+    size_t i;
+    for (i = 0; i < 8; i++) {
+        if (profile->v[i] > max_v) {
+            max_v = profile->v[i];
+        }
+    }
+
+    *peak_vel = max_v;
+    return 0;
+}
+
+int ruckig_get_start_velocity(RuckigPlanner planner, double *start_vel) {
+    if (!planner || !start_vel) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_start_velocity: trajectory not planned\n");
+        return -1;
+    }
+
+    const CRuckigProfile *profile = cruckig_trajectory_get_profile(impl->trajectory, 0);
+    if (!profile) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_start_velocity: no profile available\n");
+        return -1;
+    }
+
+    *start_vel = profile->v[0];
+    return 0;
+}
+
+int ruckig_get_time_at_position(RuckigPlanner planner, double position, double time_after, double *time) {
+    if (!planner || time == NULL) {
+        return -1;
+    }
+
+    struct RuckigPlannerImpl *impl = (struct RuckigPlannerImpl *)planner;
+
+    if (!impl->planned) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "ruckig_get_time_at_position: trajectory not planned\n");
+        return -1;
+    }
+
+    double result_time;
+    if (cruckig_trajectory_get_first_time_at_position(impl->trajectory, 0, position,
+                                                       &result_time, time_after)) {
+        *time = result_time;
+        return 0;
+    } else {
+        return -1;
+    }
+}

wasm-port/vendor/linuxcnc/src/emc/tp/ruckig_wrapper.h

@@ -0,0 +1,221 @@
+/********************************************************************
+* Description: ruckig_wrapper.h
+*   Ruckig trajectory planning library wrapper for LinuxCNC
+*
+*   This wrapper provides a C interface to Ruckig C++ library
+*   for S-curve trajectory planning.
+*
+* License: GPL Version 2
+* System: Linux
+*
+* Copyright (c) 2024 All rights reserved.
+********************************************************************/
+#ifndef RUCKIG_WRAPPER_H
+#define RUCKIG_WRAPPER_H
+
+#include <rtapi.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Ruckig trajectory planner handle (opaque pointer)
+ */
+typedef void* RuckigPlanner;
+
+/**
+ * Create a Ruckig trajectory planner.
+ *
+ * @param cycle_time  cycle time in seconds
+ * @return planner handle, or NULL on failure
+ */
+RuckigPlanner ruckig_create(double cycle_time);
+
+/**
+ * Destroy a Ruckig trajectory planner.
+ *
+ * @param planner  planner handle
+ */
+void ruckig_destroy(RuckigPlanner planner);
+
+/**
+ * Plan an S-curve trajectory in position control mode.
+ *
+ * Given the initial and target states, plan a complete S-curve trajectory.
+ *
+ * @param planner      planner handle
+ * @param current_pos  current position
+ * @param current_vel  current velocity
+ * @param current_acc  current acceleration
+ * @param target_pos   target position
+ * @param target_vel   target velocity (usually 0)
+ * @param target_acc   target acceleration (usually 0)
+ * @param min_vel      minimum velocity limit (set to 0 for unidirectional motion)
+ * @param max_vel      maximum velocity limit
+ * @param max_acc      maximum acceleration limit
+ * @param max_jerk     maximum jerk limit
+ * @return 0 on success, -1 on failure (insufficient distance or invalid params)
+ */
+int ruckig_plan_position(RuckigPlanner planner,
+                         double current_pos,
+                         double current_vel,
+                         double current_acc,
+                         double target_pos,
+                         double target_vel,
+                         double target_acc,
+                         double min_vel,
+                         double max_vel,
+                         double max_acc,
+                         double max_jerk);
+
+/**
+ * Plan an S-curve trajectory in velocity control mode (for stop/pause).
+ *
+ * Uses velocity control mode, ignoring target position.
+ * Suitable for stop or pause scenarios where deceleration may span segments.
+ *
+ * @param planner      planner handle
+ * @param current_vel  current velocity
+ * @param current_acc  current acceleration
+ * @param target_vel   target velocity (0 for stop)
+ * @param target_acc   target acceleration (usually 0)
+ * @param min_vel      minimum velocity limit (set to 0 for unidirectional motion)
+ * @param max_acc      maximum acceleration limit
+ * @param max_jerk     maximum jerk limit
+ * @return 0 on success, -1 on failure (invalid params)
+ */
+int ruckig_plan_velocity(RuckigPlanner planner,
+                         double current_vel,
+                         double current_acc,
+                         double target_vel,
+                         double target_acc,
+                         double min_vel,
+                         double max_acc,
+                         double max_jerk);
+
+/**
+ * Get the motion state at a specified time.
+ *
+ * @param planner  planner handle
+ * @param time     time in seconds (from trajectory start)
+ * @param pos      [out] position
+ * @param vel      [out] velocity
+ * @param acc      [out] acceleration
+ * @param jerk     [out] jerk
+ * @return 0 on success, -1 on failure (time out of range)
+ */
+int ruckig_at_time(RuckigPlanner planner,
+                   double time,
+                   double *pos,
+                   double *vel,
+                   double *acc,
+                   double *jerk);
+
+/**
+ * Get the motion state at the next cycle.
+ *
+ * Computes the state at (current_time + cycle_time).
+ *
+ * @param planner       planner handle
+ * @param current_time  current time in seconds (from trajectory start)
+ * @param cycle_time    cycle time in seconds
+ * @param pos           [out] position
+ * @param vel           [out] velocity
+ * @param acc           [out] acceleration
+ * @param jerk          [out] jerk
+ * @return 0 on success, -1 on failure (time out of range or not planned)
+ */
+int ruckig_next_cycle(RuckigPlanner planner,
+                      double current_time,
+                      double cycle_time,
+                      double *pos,
+                      double *vel,
+                      double *acc,
+                      double *jerk);
+
+/**
+ * Get total trajectory duration.
+ *
+ * @param planner  planner handle
+ * @return total time in seconds, or -1.0 on failure
+ */
+double ruckig_get_duration(RuckigPlanner planner);
+
+/**
+ * Check if the trajectory has completed.
+ *
+ * @param planner       planner handle
+ * @param current_time  current time in seconds
+ * @return 1 if finished, 0 if not, -1 on error
+ */
+int ruckig_is_finished(RuckigPlanner planner, double current_time);
+
+/**
+ * Reset the planner state.
+ *
+ * Clears previous planning results, preparing for new planning.
+ *
+ * @param planner  planner handle
+ */
+void ruckig_reset(RuckigPlanner planner);
+
+/**
+ * Enable or disable log output.
+ *
+ * Controls whether the planner outputs error and warning messages.
+ * For velocity planning scenarios (e.g. sp_scurve.c), logging can be
+ * disabled to avoid unnecessary warnings.
+ *
+ * @param planner  planner handle
+ * @param enable   1=enable logging, 0=disable logging
+ */
+void ruckig_set_logging(RuckigPlanner planner, int enable);
+
+/**
+ * Get the deceleration phase durations (T1 and T2) from the Ruckig profile.
+ *
+ * T1: time for acceleration to change from 0 to -amax (jerk phase)
+ * T2: time at constant -amax acceleration (constant accel phase)
+ *
+ * @param planner  planner handle (must have completed planning)
+ * @param t1       [out] T1 time (jerk phase), NULL if not needed
+ * @param t2       [out] T2 time (constant accel phase), NULL if not needed
+ * @return 0 on success, -1 on failure (not planned or cannot retrieve)
+ */
+int ruckig_get_decelerate_phases(RuckigPlanner planner, double *t1, double *t2);
+
+/**
+ * Get the peak velocity of the trajectory.
+ *
+ * @param planner   planner handle (must have completed planning)
+ * @param peak_vel  [out] peak velocity
+ * @return 0 on success, -1 on failure (not planned or cannot retrieve)
+ */
+int ruckig_get_peak_velocity(RuckigPlanner planner, double *peak_vel);
+
+/**
+ * Get the start velocity of the trajectory.
+ *
+ * @param planner    planner handle (must have completed planning)
+ * @param start_vel  [out] start velocity
+ * @return 0 on success, -1 on failure (not planned or cannot retrieve)
+ */
+int ruckig_get_start_velocity(RuckigPlanner planner, double *start_vel);
+
+/**
+ * Get the time at which the trajectory first reaches a given position.
+ *
+ * @param planner     planner handle (must have completed planning)
+ * @param position    target position
+ * @param time_after  start query time (optional, default 0.0)
+ * @param time        [out] time at which position is reached
+ * @return 0 on success, -1 on failure (not planned, position unreachable)
+ */
+int ruckig_get_time_at_position(RuckigPlanner planner, double position, double time_after, double *time);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RUCKIG_WRAPPER_H */