Add AC/BC RTCP programs and 3D machine manager

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc

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+; -- RELOAD GCODE FOR PROPER TOOL-PATH PREVIEW --
+g21 g90 g49 g54
+; switch to identity mode
+m429
+; clear g54
+g10 l2 p0 x0 y0 z0 a0 b0
+; go to machine origin
+g53 g0 x0 y0 z0 a0 b0
+; set g54 for face center of rotary
+g10 l20 p0 x-[#<_hal[xyzab_tdr_kins.x-rot-point]>+#<_hal[xyzab_tdr_kins.x-offset]>] y-#<_hal[xyzab_tdr_kins.x-rot-point]> z-[#<_hal[xyzab_tdr_kins.z-rot-point]>+#<_hal[xyzab_tdr_kins.z-offset]>] a0 b0
+; load a tool
+M61 Q2 G43 H2
+; switch to tcp mode
+m428
+g0 b30
+; go to face center of rotary a
+g0 x0 y0 z0
+; show basic tcp functionality
+g0 x30 a180
+g0 x0 a0
+g0 b100
+g0 y-50
+g0 a90
+g0 b120
+g0 y0
+g0 a0 b30
+g0 x1
+; start with square
+f1000
+g0 y-30 z-30
+g1 z30
+g1 a45
+g1 y30
+g1 a90 b45
+g1 z-30
+g1 a180 b100
+g1 y30
+g1 a90 b120
+g1 y-30
+g1 a0 b30
+g0 x5
+g1 y-30 z-30 a90
+g1 z30 a45 b60
+g1 y30 a90 b90
+g1 z-30 a135 b120
+g1 y-30 a0 b30
+; go to machine origin
+g53 g0 x0 y0 z0 a0 b0
+m2

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc

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+;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)
+o<428remap>sub
+  #<kinstype> = 1        ; xyzac,xyzbc
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M428: Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<428remap>endsub

test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc

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+;M429 by remap: kinstype==0 Identity kinematics
+o<429remap>sub
+  #<kinstype> = 0
+  #<SWITCHKINS_PIN> = 3  ; set N as required: motion.analog-out-0N
+
+o1 if [exists [#<_hal[motion.switchkins-type]>]]
+o1 else
+     (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)
+     (debug,STOP)
+     M2
+o1 endif
+
+   M68  E#<SWITCHKINS_PIN> Q#<kinstype> ; set kinstype value
+   M66  E0 L0                           ; force synch
+
+o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #<kinstype>]]
+     (debug,M429:Wrong motion.switchkins-type)
+     (debug,or missing hal net to analog-out-0x)
+     (debug,STOP)
+     M2
+o2 else
+o2 endif
+
+o<429remap>endsub