feat(ax-port): port Trajectory/TrajectoryPoint to simatic-ax

- Add convert_motion_namespaces() transform: SM3_Robotics.*/SM3_Basic.MC_BUFFER_MODE
  -> CoordMotion.*/Motion.MC_BUFFER_MODE for auto-converted .st files
- Add Trajectory to MOTION_MANUAL_OVERRIDE_STEMS: AX SIMATIC does not allow
  non-literal array bounds in TYPE definitions, so ARRAY[0..63] is hardcoded
  in the manual src-manual override (= TRAJECTORY_POINT_LIST_MAX_SIZE - 1)
- Remove MotionConf manual override: top-level VAR_GLOBAL is also invalid
  in AX SIMATIC outside CONFIGURATION/NAMESPACE; Trajectory override is
  the correct fix for the array-bound visibility problem

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

Author: moqui-industrial

scripts/ax_port/policy.py

@@ -74,6 +74,9 @@ def includes(self, relative_path: Path) -> bool:
     Path("framework/src/main/org/moqui/motion/AxisGroupCompat"),
     Path("framework/src/main/org/moqui/motion/AxisInternalStatus"),
     Path("framework/src/main/org/moqui/motion/AxisGroupInternalStatus"),
+    # AX SIMATIC does not allow non-literal array bounds in TYPE definitions.
+    # The manual version hardcodes the literal (keep in sync with TRAJECTORY_POINT_LIST_MAX_SIZE).
+    Path("framework/src/main/org/moqui/motion/Trajectory"),
 })
 
 # Backward-compatible alias: equals the Motion set (superset of all overrides).

scripts/ax_port/transforms.py

@@ -14,6 +14,18 @@ class TransformResult:
 
 REFERENCE_TO_RE = re.compile(r"\bREFERENCE\s+TO\b")
 MC_DIRECTION_RE = re.compile(r"\bMC_DIRECTION\b")
+
+# CODESYS motion namespace → AX compat namespace substitutions.
+# Applied mechanically to all files; matches are scoped to motion files by the prefixes used.
+MOTION_NAMESPACE_REPLACEMENTS: list[tuple[str, str]] = [
+    ("SM3_Robotics.SMC_COORD_SYSTEM", "CoordMotion.SMC_COORD_SYSTEM"),
+    ("SM3_Robotics.MC_TRANSITION_MODE", "CoordMotion.MC_TRANSITION_MODE"),
+    ("SM3_Robotics.SMC_POS_REF", "CoordMotion.SMC_POS_REF"),
+    ("SM3_Robotics.SMC_CIRC_MODE", "CoordMotion.SMC_CIRC_MODE"),
+    ("SM3_Robotics.MC_CIRC_PATHCHOICE", "CoordMotion.MC_CIRC_PATHCHOICE"),
+    ("SM3_Robotics.AXIS_GROUP_REF_SM3", "TO_Kinematics"),
+    ("SM3_Basic.MC_BUFFER_MODE", "Motion.MC_BUFFER_MODE"),
+]
 CONTROL_END_RE = re.compile(r"\b(END_IF|END_CASE|END_FOR|END_WHILE|END_REPEAT)\b(?!\s*;)")
 REF_ASSIGN_RE = re.compile(
     r"(?P<indent>^[ \t]*)(?P<lhs>[A-Za-z_][A-Za-z0-9_\.\[\]]*)\s+REF=\s+(?P<rhs>[^;\r\n]+);",
@@ -146,6 +158,15 @@ def convert_enum_access(text: str, enum_type_names: Iterable[str]) -> tuple[str,
     return text, total
 
 
+def convert_motion_namespaces(text: str) -> tuple[str, int]:
+    count = 0
+    for source, target in MOTION_NAMESPACE_REPLACEMENTS:
+        if source in text:
+            text = text.replace(source, target)
+            count += 1
+    return text, count
+
+
 def ensure_final_newline(text: str) -> str:
     return text if not text or text.endswith("\n") else text + "\n"
 
@@ -168,5 +189,6 @@ def convert_text(relative: Path, source_text: str, enum_type_names: Iterable[str
     _apply(result, "convert_enum_access", lambda t: convert_enum_access(t, enum_type_names))
     _apply(result, "reference_to_to_ref_to", lambda t: REFERENCE_TO_RE.subn("REF_TO", t))
     _apply(result, "normalize_mc_direction", lambda t: MC_DIRECTION_RE.subn("MC_Direction", t))
+    _apply(result, "convert_motion_namespaces", convert_motion_namespaces)
     result.text = ensure_final_newline(result.text)
     return result

simatic-ax/src-manual/framework/src/main/org/moqui/motion/Trajectory.st

@@ -0,0 +1,50 @@
+(*
+ * A trajectory as a fixed-size array of waypoints with shared motion dynamics.
+ *
+ * Intended use:
+ *   1. moqui-device-gateway populates this struct from the TrajectoryPointComponent view
+ *      and writes it to the PLC via MQTT/OPC UA.
+ *   2. The PLC iterates points[0..pointCount-1] in sequenceNum order, feeding each
+ *      TrajectoryPoint.pos to AxisGroup.endPoint and dispatching the appropriate
+ *      motion command (MoveLinearAbsolute, MoveDirectAbsolute, etc.).
+ *
+ * Blending rules applied per transition:
+ *   - TrajectoryPoint.isBreakPoint = TRUE -> aborting + TMNone (exact stop, always wins)
+ *   - TrajectoryPoint.blendingMode > 0 -> overrides this.blendingMode for that point
+ *   - Otherwise -> bufferMode + transitionMode + blendingMode
+ *
+ * Source entity: moqui.math.Trajectory (approximatedFunctionId = trajectoryId)
+ * moqui blending enum: moqui.math.ParametricPath.compositionMethodEnumId (PpcmPlc* values)
+ *)
+TYPE Trajectory : STRUCT
+    (* moqui.math.Trajectory.approximatedFunctionId *)
+    trajectoryId : STRING;
+    (* Number of valid waypoints; execute points[0..pointCount-1] in order *)
+    pointCount : DINT;
+    (* Coordinate system applied to all points (MCS for Cartesian, ACS for joint-space) *)
+    coordSystem : CoordMotion.SMC_COORD_SYSTEM;
+    (* Shared dynamics applied to all CP moves between waypoints *)
+    velocity : LREAL; (* [u/s] *)
+    acceleration : LREAL; (* [u/s²] *)
+    deceleration : LREAL; (* [u/s²] *)
+    jerk : LREAL; (* [u/s³] *)
+    (*
+     * Default PLCopen buffer mode for transitions between non-break points.
+     * moqui: ParametricPath.compositionMethodEnumId = PpcmPlcAborting / PpcmPlcBlendingLow / ...
+     *)
+    bufferMode : Motion.MC_BUFFER_MODE;
+    (*
+     * Default PLCopen transition mode (geometric blend shape at the corner).
+     * moqui: ParametricPath.compositionMethodEnumId = PpcmPlcTMNone / PpcmPlcTMCornerDist / ...
+     *)
+    transitionMode : CoordMotion.MC_TRANSITION_MODE;
+    (*
+     * Default blend parameter for TMCornerDistance [mm] or TMConstantVelocity [u/s].
+     * moqui: ParametricPathPoint.tolerance (per-point) or trajectory-level default here.
+     *)
+    blendingMode : LREAL;
+    (* Waypoints in execution order; valid range: [0..pointCount-1] *)
+    (* Array bound = TRAJECTORY_POINT_LIST_MAX_SIZE - 1 = 63. AX SIMATIC does not allow
+       non-literal array bounds in TYPE definitions; keep in sync with configuration.st. *)
+    points : ARRAY[0..63] OF TrajectoryPoint;
+END_STRUCT; END_TYPE