single-axis trajectory planning question

Hello everyone:
Project needs to support two application scenarios as follows:
1. Multi-axis interpolate independently at different speeds and move at the same time.
2. Each axis can perform trajectory planning independently, without affecting each other.

For example G code:
G01 X10 F100
G01 Y20 F50 
Expect XY axis to be able to move at the same time at the set speed

Questions are as follows:
How to implement single-axis trajectory planning in the trajectory planning module, I need everyone's help, thank you!

Have a look at simple-tp and extrajoints.

linuxcnc.org/docs/stable/html/man/man9/simple_tp.9.html

However, the G-code you show will not have the affect you need. G-code only executes a line when the previous line has completed.

There are ways round this. Would it be acceptable for the G-code to be:

M100 P0 Q100
M100 P1 Q50

?

hello This is a great idea

User-defined code M100,.
if M100 and G01 exist at the same time, can it achieve the purpose of N30, N40 program line?

;XY axis can move at the same time
N10 M100 P0 S10 Q50
N20 M100 P1 S20 Q100
;N30, N40 expect that after both N10 and N20 move in place, the Z and U axes will be executed in sequence;
N30 G01 Z10 F100
N40 G01 U10 F100
...
M2

If N30 and N40 cannot meet the demand, my idea is to use M100, and add a motion waiting and non-waiting in M100, which can support simultaneous motion and axis sequential motion.

Looking forward to your suggestions.

To start one axis, then move the other and wait you would

M100
G1

To start two axes, then wait for the third:

M100
M100
G1

You should be able to create (for example) M100 as a move-no-wait and M101 as a move-and-wait. Though waiting for motion to complete by polling in a while-loop in a bash script isn't a very elegant solution. Using G1 / G0 is probably better.

If you need more complex motion, then I would look at modifying simple_tp (or limit3, which does much the same thing) to add a position feedback timeout (or whatever else it takes to detect failure) that then set HAL pins that the running G-code can check for. In the same was as the probe codes return success or failure.