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Run XYZAC through upstream LinuxCNC TP

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This commit is contained in:
wangdequan
2026-09-01 11:44:05 +08:00
parent bbdfad8364
commit d18141ec81
23 changed files with 1550 additions and 139 deletions
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58
wasm-core/CMakeLists.txt
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@@ -6,7 +6,7 @@ set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_linuxcnc_tp.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
target_include_directories(sim_core PUBLIC include)
target_compile_definitions(sim_core PRIVATE SIM_API_BUILD=1)
@@ -26,6 +26,43 @@ target_compile_options(sim_posemath PRIVATE -ffp-contract=off -fno-fast-math)
target_link_libraries(sim_core PUBLIC sim_posemath)
target_compile_options(sim_core PRIVATE -ffp-contract=off -fno-fast-math)
# Build the upstream LinuxCNC TP/TC implementation as a source-owned slice.
# The browser adapter is added separately below; keeping this library isolated
# makes ABI drift visible without replacing the existing public sim queue yet.
add_library(linuxcnc_tp_source STATIC
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/tp.c
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/tc.c
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/tcq.c
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/blendmath.c
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp/spherical_arc.c
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf/emcpose.c
src/linuxcnc_tp_compat.c
)
target_include_directories(linuxcnc_tp_source PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/rtapi
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/libnml
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/libnml/posemath
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/motion
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/kinematics
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/hal
)
target_compile_definitions(linuxcnc_tp_source PRIVATE ULAPI)
target_compile_options(linuxcnc_tp_source PRIVATE -ffp-contract=off -fno-fast-math "-DEXPORT_SYMBOL(x)=")
target_link_libraries(linuxcnc_tp_source PUBLIC sim_posemath)
target_include_directories(sim_core PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/rtapi
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/motion
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/kinematics
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/hal
)
target_link_libraries(sim_core PUBLIC linuxcnc_tp_source)
if(NOT EMSCRIPTEN)
add_executable(sim_api_test tests/sim_api_test.c)
target_link_libraries(sim_api_test PRIVATE sim_core)
@@ -150,6 +187,12 @@ if(NOT EMSCRIPTEN)
target_include_directories(sim_xyzac_trace_test PRIVATE include)
target_compile_options(sim_xyzac_trace_test PRIVATE -UNDEBUG)
add_test(NAME sim_xyzac_trace_test COMMAND sim_xyzac_trace_test)
add_executable(sim_linuxcnc_tp_test tests/sim_linuxcnc_tp_test.c src/sim_linuxcnc_tp.c)
target_link_libraries(sim_linuxcnc_tp_test PRIVATE linuxcnc_tp_source)
target_include_directories(sim_linuxcnc_tp_test PRIVATE include ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/motion ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/kinematics ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/hal ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src)
target_compile_options(sim_linuxcnc_tp_test PRIVATE -UNDEBUG)
add_test(NAME sim_linuxcnc_tp_test COMMAND sim_linuxcnc_tp_test)
endif()
if(EMSCRIPTEN)
@@ -231,15 +274,20 @@ if(EMSCRIPTEN)
target_compile_options(sim_xyzac_trace_wasm_test PRIVATE -UNDEBUG)
target_link_options(sim_xyzac_trace_wasm_test PRIVATE -sSINGLE_FILE=1)
add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_linuxcnc_tp.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c)
target_include_directories(sim_core_module PRIVATE
include
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/rtapi
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/libnml/posemath
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/tp
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/motion
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/nml_intf
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/emc/kinematics
${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/hal
)
target_compile_options(sim_core_module PRIVATE -ffp-contract=off -fno-fast-math)
target_link_libraries(sim_core_module PRIVATE sim_posemath)
target_link_libraries(sim_core_module PRIVATE sim_posemath linuxcnc_tp_source)
set_target_properties(sim_core_module PROPERTIES
OUTPUT_NAME "linuxcnc-sim-core"
SUFFIX ".js"
@@ -248,6 +296,9 @@ if(EMSCRIPTEN)
get_target_property(_sim_module_link_flags sim_core_module LINK_FLAGS)
string(REPLACE "_sim_task_recover','_sim_task_restore" "_sim_task_recover','_sim_task_command_gate','_sim_task_restore" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_interpreter_size" "_sim_program_size','_sim_program_requires_subroutines','_sim_program_init','_sim_program_reset','_sim_program_destroy','_sim_program_load','_sim_program_add_subroutine','_sim_program_set_rapid_velocity','_sim_program_start','_sim_program_pause','_sim_program_resume','_sim_program_abort','_sim_program_step','_sim_program_execute_block','_sim_program_seek','_sim_program_read_motion','_sim_program_clear_motion','_sim_program_canonical','_sim_program_state_hash','_sim_interpreter_size" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_kinematics_switch_select','_sim_kinematics_switch_forward" "_sim_kinematics_switch_select','_sim_kinematics_switch_select_physical','_sim_kinematics_switch_forward" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_kinematics_switch_inverse','_sim_kinematics_switch_active" "_sim_kinematics_switch_inverse','_sim_kinematics_switch_inverse_mode','_sim_kinematics_switch_active" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_motion_init" "_sim_motion_set_profile','_sim_motion_set_lookahead','_sim_motion_set_dynamics','_sim_motion_set_feed_override','_sim_motion_set_paused','_sim_motion_peek','_sim_motion_init" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_hal_set_pin" "_sim_hal_set_pin_scalar','_sim_hal_set_pin" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_hal_set_param" "_sim_hal_set_param_scalar','_sim_hal_set_param" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_io_init" "_sim_io_size','_sim_io_init" _sim_module_link_flags "${_sim_module_link_flags}")
@@ -255,5 +306,6 @@ if(EMSCRIPTEN)
string(REPLACE "_sim_device_init" "_sim_device_io_size','_sim_device_init" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_motion_step','_sim_motion_read_state" "_sim_motion_step','_sim_motion_set_profile','_sim_motion_set_lookahead','_sim_motion_set_feed_override','_sim_motion_peek','_sim_motion_read_state" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_motion_state_hash','_sim_motion_canonical" "_sim_motion_state_hash','_sim_motion_plan_hash','_sim_motion_canonical" _sim_module_link_flags "${_sim_module_link_flags}")
string(REPLACE "_sim_motion_init" "_sim_motion_init','_sim_linuxcnc_tp_size','_sim_linuxcnc_tp_init','_sim_linuxcnc_tp_reset','_sim_linuxcnc_tp_set_profile','_sim_linuxcnc_tp_set_feed_override','_sim_linuxcnc_tp_set_dynamics','_sim_linuxcnc_tp_set_paused','_sim_linuxcnc_tp_abort','_sim_linuxcnc_tp_set_position','_sim_linuxcnc_tp_set_goal_position','_sim_linuxcnc_tp_add_line','_sim_linuxcnc_tp_add_circle','_sim_linuxcnc_tp_step','_sim_linuxcnc_tp_idle','_sim_linuxcnc_tp_read_state','_sim_linuxcnc_tp_queue_depth','_sim_linuxcnc_tp_queue_segment','_sim_linuxcnc_tp_restore_progress','_sim_linuxcnc_tp_state_hash','_sim_linuxcnc_tp_canonical" _sim_module_link_flags "${_sim_module_link_flags}")
set_target_properties(sim_core_module PROPERTIES LINK_FLAGS "${_sim_module_link_flags}")
endif()