完成 xyzbc-trt working 任务复核
This commit is contained in:
mes123456
972
web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/axis-preview-path.js
vendored
Normal file
972
web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/axis-preview-path.js
vendored
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@@ -0,0 +1,972 @@
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export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 50;
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const DEFAULT_XYZBC_TOOL = {
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id: 2,
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pocket: 2,
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length: 10,
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diameter: 8,
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};
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export function buildAxisPreviewPathFromProgram({
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filename = "",
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sourceRel = "",
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content = "",
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tool = DEFAULT_XYZBC_TOOL,
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} = {}) {
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const programName = String(filename || sourceRel).split("/").at(-1);
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if (programName !== "xyzbc_switchkins.ngc") return null;
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const params = parseXyzbcSwitchkinsCall(content);
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if (!params) return null;
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const samples = resampleAxisPreviewSegments(
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buildXyzbcSwitchkinsSegments(params),
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AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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tool,
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);
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return {
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source: "web-axis-preview-expanded-ngcgui-subroutines",
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samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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status: samples.length > 0 ? "ok" : "blocked",
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unavailableReason: samples.length > 0 ? null : "web AXIS preview expansion produced no samples",
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program: sourceRel || filename,
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subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
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sampleCount: samples.length,
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samples,
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semanticBoundary: "web_axis_preview_path_matching_native_xyzbc_switchkins_ngcgui_expansion",
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};
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}
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export function buildAxisExecutionTraceFromProgram({
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filename = "",
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sourceRel = "",
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content = "",
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tool = DEFAULT_XYZBC_TOOL,
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source = "web-axis-source-execution-expanded-ngcgui-subroutines",
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} = {}) {
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const programName = String(filename || sourceRel).split("/").at(-1);
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if (programName !== "xyzbc_switchkins.ngc") return null;
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const params = parseXyzbcSwitchkinsCall(content);
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if (!params) return null;
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const segments = buildXyzbcSwitchkinsSegments(params);
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const samples = resampleAxisPreviewSegments(segments, AXIS_PREVIEW_SAMPLE_PERIOD_MS, tool);
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const lineExecutionTrace = buildXyzbcSwitchkinsLineExecutionTrace(params, segments);
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const gcodeExecutionProcess = buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace);
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return {
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source,
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samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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status: samples.length > 0 ? "ok" : "blocked",
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unavailableReason: samples.length > 0 ? null : "AXIS source execution expansion produced no samples",
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program: sourceRel || filename,
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subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
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sampleCount: samples.length,
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samples,
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segmentCount: segments.length,
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segments: segments.map((segment, index) => serializeSegment(segment, index)),
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lineExecutionTrace,
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axisValuesByLine: axisValuesByLineFromTrace(lineExecutionTrace),
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gcodeExecutionProcess,
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semanticBoundary: "linuxcnc_xyzbc_switchkins_ngc_execution_expanded_by_source_subroutines",
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};
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}
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export function parseXyzbcSwitchkinsCall(text = "") {
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const marker = "o<xyzbc_switchkins_sub> call";
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for (const line of String(text).split(/\r?\n/)) {
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if (!line.includes(marker)) continue;
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const values = Array.from(line.matchAll(/\[([^\]]+)\]/g))
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.map((match) => Number(match[1].trim()))
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.filter((value) => Number.isFinite(value));
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if (values.length >= 9) {
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return {
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zmax: values[0],
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zmin: values[1],
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radius: values[2],
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feed: values[3],
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turns: values[4],
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a: values[5],
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b: values[6],
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c: values[7],
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distance: values[8],
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};
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}
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}
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return null;
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}
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function buildXyzbcSwitchkinsSegments(params) {
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const feed = params.feed;
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const rapid = 2100;
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const zmax = params.zmax;
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const zmin = params.zmin;
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const radius = params.radius;
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const turns = params.turns;
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const bAxis = params.b;
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const cAxis = params.c;
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const distance = params.distance;
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const pose = { x: 0, y: 0, z: zmax, b: 0, c: 0 };
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const segments = [];
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const addLinear = (
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target,
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line,
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motionType = "rapid",
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activeKinematics = "identity",
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feedrate = rapid,
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sourceFile = "xyzbc_switchkins_sub.ngc",
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statement = "",
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) => {
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const start = { ...pose };
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for (const [key, value] of Object.entries(target)) {
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pose[key] = Number(value);
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}
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segments.push({
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kind: "linear",
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line,
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motionType,
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activeKinematics,
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feed: feedrate,
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start,
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end: { ...pose },
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sourceFile,
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statement,
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});
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};
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const addHelix = (line) => {
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const start = { ...pose };
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const center = { x: start.x + radius, y: start.y };
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const end = { ...pose, z: zmin };
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segments.push({
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kind: "helix",
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line,
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motionType: "arc",
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activeKinematics: "tcp-xyzbc",
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feed,
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start,
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end,
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center,
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radius,
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turns,
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sourceFile: "helix_bc.ngc",
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statement: "f#<frate> g2i#<r>z#<zmin> p#<n>",
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});
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Object.assign(pose, end);
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};
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for (const [centerX, centerY, centerLine, resetLine, quadrant] of [
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[distance, distance, 18, 16, "I"],
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[-distance, distance, 25, 23, "II"],
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[-distance, -distance, 32, 30, "III"],
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[distance, -distance, 39, 37, "IV"],
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]) {
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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resetLine,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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`g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`,
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);
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addLinear(
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{ x: centerX, y: centerY, z: zmax },
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centerLine,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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`g0 x${formatSigned(centerX)} y${formatSigned(centerY)} z#<zmax>`,
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);
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addLinear(
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{ x: centerX - radius },
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13,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x[#<_x> - #<r>]",
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);
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addLinear(
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{ b: bAxis, c: cAxis },
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16,
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"rapid",
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"tcp-xyzbc",
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rapid,
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"helix_bc.ngc",
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"g0b#<b>c#<c>",
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);
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addHelix(17);
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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19,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x0 y0 z#<zmax> b0 c0",
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);
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addLinear(
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{ x: radius },
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20,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x[#<_x> + #<r>]",
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);
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}
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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44,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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"g53 g0 x0y0 z#<zmax>",
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);
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return segments;
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}
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function buildXyzbcSwitchkinsLineExecutionTrace(params, segments) {
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const trace = [];
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const add = ({
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sourceFile,
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line,
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statement,
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operation,
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motionType = "none",
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activeKinematicsBefore = null,
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activeKinematicsAfter = null,
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startJoint = null,
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endJoint = null,
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feed = 0,
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producesMotion = false,
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segmentIndex = null,
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}) => {
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trace.push({
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executionIndex: trace.length,
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sourceFile,
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line,
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statement,
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operation,
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motionType,
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activeKinematicsBefore,
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activeKinematicsAfter,
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startJoint,
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endJoint,
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feed,
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producesMotion,
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segmentIndex,
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});
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};
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let currentKinematics = "identity";
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const kinsSwitch = (sourceFile, line, statement, next) => {
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add({
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sourceFile,
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line,
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statement,
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operation: next === "identity" ? "switchkins-identity" : "switchkins-tcp-xyzbc",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: next,
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});
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currentKinematics = next;
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};
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const segmentByFileLine = new Map();
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segments.forEach((segment, index) => {
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const key = `${segment.sourceFile}:${segment.line}:${index}`;
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segmentByFileLine.set(key, { segment, index });
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});
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const nextSegment = (sourceFile, line, cursor) => {
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for (let index = cursor.value; index < segments.length; index += 1) {
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const segment = segments[index];
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if (segment.sourceFile === sourceFile && segment.line === line) {
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cursor.value = index + 1;
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return { segment, index };
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}
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}
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return { segment: null, index: null };
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};
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const addSegment = (sourceFile, line, statement, operation, cursor) => {
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const { segment, index } = nextSegment(sourceFile, line, cursor);
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if (!segment) return;
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add({
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sourceFile,
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line,
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statement,
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operation,
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motionType: segment.motionType,
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: segment.activeKinematics,
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startJoint: roundedJoint(segment.start),
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endJoint: roundedJoint(segment.end),
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feed: segment.feed,
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producesMotion: true,
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segmentIndex: index,
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});
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currentKinematics = segment.activeKinematics;
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};
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const cursor = { value: 0 };
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add({
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sourceFile: "xyzbc_switchkins.ngc",
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line: 2,
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statement: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
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operation: "call-subroutine",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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for (const [quadrant, resetLine, centerLine] of [
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["I", 15, 18],
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["II", 22, 25],
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["III", 29, 32],
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["IV", 36, 39],
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]) {
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kinsSwitch("xyzbc_switchkins_sub.ngc", resetLine, "M429", "identity");
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addSegment("xyzbc_switchkins_sub.ngc", resetLine + 1, `g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`, "rapid-machine-reset", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: resetLine + 2,
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statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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addSegment("xyzbc_switchkins_sub.ngc", centerLine, "g0 x±#<dist> y±#<dist> z#<zmax>", "rapid-to-quadrant-center", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: centerLine + 1,
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statement: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
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operation: "call-subroutine",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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kinsSwitch("helix_bc.ngc", 12, "M429", "identity");
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addSegment("helix_bc.ngc", 13, "g0 x[#<_x> - #<r>]", "rapid-radius-adjust", cursor);
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add({
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sourceFile: "helix_bc.ngc",
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line: 14,
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statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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kinsSwitch("helix_bc.ngc", 15, "M428", "tcp-xyzbc");
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addSegment("helix_bc.ngc", 16, `g0b${params.b}c${params.c}`, "rapid-bc-orient", cursor);
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addSegment("helix_bc.ngc", 17, `f${params.feed} g2i${params.radius}z${params.zmin} p${params.turns}`, "feed-helix", cursor);
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kinsSwitch("helix_bc.ngc", 18, "M429", "identity");
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addSegment("helix_bc.ngc", 19, "g0 x0 y0 z#<zmax> b0 c0", "rapid-return-to-start", cursor);
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addSegment("helix_bc.ngc", 20, "g0 x[#<_x> + #<r>]", "rapid-radius-restore", cursor);
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kinsSwitch("helix_bc.ngc", 21, "M428", "tcp-xyzbc");
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}
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kinsSwitch("xyzbc_switchkins_sub.ngc", 43, "M429", "identity");
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addSegment("xyzbc_switchkins_sub.ngc", 44, "g53 g0 x0y0 z#<zmax>", "rapid-final-machine-reset", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: 45,
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statement: "g10l20p0 x0y0 z#<zmax>",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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return trace;
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}
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function buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace) {
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const sourceFiles = xyzbcSwitchkinsSourceFiles();
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const traceCursor = { value: 0 };
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const steps = [];
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const parameters = {};
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const tool = DEFAULT_XYZBC_TOOL;
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let machineState = machineStateForMotion({ tool, feed: 0, motionType: "none", operation: "program-start" });
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let activeKinematics = "identity";
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let workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
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const addStep = ({
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sourceFile,
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line,
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operation,
|
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sourceLineKind = "gcode",
|
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callStack = [],
|
||||
executed = true,
|
||||
parameterName = null,
|
||||
parameterValue = null,
|
||||
notes = [],
|
||||
}) => {
|
||||
const statement = sourceFiles[sourceFile]?.[line] ?? "";
|
||||
const traceEntry = nextTraceEntry(lineExecutionTrace, traceCursor, sourceFile, line, operation);
|
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const beforeParameters = { ...parameters };
|
||||
const beforeKinematics = activeKinematics;
|
||||
const beforeWorkOffset = { ...workOffset };
|
||||
const machineStateBefore = cloneMachineState(machineState);
|
||||
const parametersChanged = {};
|
||||
|
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if (parameterName) {
|
||||
parameters[parameterName] = parameterValue;
|
||||
parametersChanged[parameterName] = parameterValue;
|
||||
}
|
||||
if (operation === "set-g54-offset") {
|
||||
workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
}
|
||||
if (traceEntry?.activeKinematicsAfter) {
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activeKinematics = traceEntry.activeKinematicsAfter;
|
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} else if (operation === "switchkins-identity") {
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activeKinematics = "identity";
|
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} else if (operation === "switchkins-tcp-xyzbc") {
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activeKinematics = "tcp-xyzbc";
|
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}
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||||
|
||||
const motion = traceEntry?.producesMotion ? {
|
||||
segmentIndex: traceEntry.segmentIndex,
|
||||
motionType: traceEntry.motionType,
|
||||
feed: traceEntry.feed,
|
||||
startJoint: traceEntry.startJoint,
|
||||
endJoint: traceEntry.endJoint,
|
||||
startTcp: traceEntry.startJoint ? tcpFromJoint(traceEntry.startJoint) : null,
|
||||
endTcp: traceEntry.endJoint ? tcpFromJoint(traceEntry.endJoint) : null,
|
||||
endToolAxis: traceEntry.endJoint ? toolAxisFromBc(traceEntry.endJoint.b, traceEntry.endJoint.c) : null,
|
||||
} : null;
|
||||
machineState = motion
|
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? machineStateForMotion({ tool, feed: traceEntry.feed, motionType: traceEntry.motionType, operation })
|
||||
: machineStateForMotion({ tool, feed: machineState.feed.actualMmPerMin, motionType: "none", operation });
|
||||
|
||||
const result = {
|
||||
status: "ok",
|
||||
operation,
|
||||
sourceLineKind,
|
||||
executed,
|
||||
activeKinematicsBefore: traceEntry?.activeKinematicsBefore ?? beforeKinematics,
|
||||
activeKinematicsAfter: traceEntry?.activeKinematicsAfter ?? activeKinematics,
|
||||
parametersBefore: Object.keys(parametersChanged).length > 0 ? beforeParameters : null,
|
||||
parametersChanged,
|
||||
parametersAfter: Object.keys(parametersChanged).length > 0 ? { ...parameters } : null,
|
||||
workOffsetBefore: operation === "set-g54-offset" ? beforeWorkOffset : null,
|
||||
workOffsetAfter: operation === "set-g54-offset" ? { ...workOffset } : null,
|
||||
modalChange: modalChangeForOperation(operation),
|
||||
motion,
|
||||
machineStateBefore,
|
||||
machineStateAfter: cloneMachineState(machineState),
|
||||
traceExecutionIndex: traceEntry?.executionIndex ?? null,
|
||||
notes,
|
||||
};
|
||||
|
||||
steps.push({
|
||||
stepIndex: steps.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
callDepth: callStack.length,
|
||||
callStack,
|
||||
executed,
|
||||
sourceLineKind,
|
||||
result,
|
||||
});
|
||||
};
|
||||
|
||||
const rootStack = [{ sourceFile: "xyzbc_switchkins.ngc", line: 2, call: "o<xyzbc_switchkins_sub>" }];
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 1, operation: "comment", sourceLineKind: "comment", executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 2, operation: "call-subroutine", sourceLineKind: "call", callStack: [] });
|
||||
addSubroutineEntrySteps({
|
||||
addStep,
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
callStack: rootStack,
|
||||
parameterAssignments: [
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
["dist", params.distance],
|
||||
],
|
||||
assignmentStartLine: 4,
|
||||
});
|
||||
|
||||
for (const [quadrant, commentLine, resetLine, centerLine] of [
|
||||
["I", 14, 15, 18],
|
||||
["II", 21, 22, 25],
|
||||
["III", 28, 29, 32],
|
||||
["IV", 35, 36, 39],
|
||||
]) {
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: commentLine, operation: `comment-quadrant-${quadrant}`, sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 1, operation: "rapid-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 2, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine, operation: "rapid-to-quadrant-center", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, operation: "call-subroutine", sourceLineKind: "call", callStack: rootStack });
|
||||
addHelixExecutionSteps({
|
||||
addStep,
|
||||
params,
|
||||
callStack: [
|
||||
...rootStack,
|
||||
{ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, call: "o<helix_bc>" },
|
||||
],
|
||||
});
|
||||
}
|
||||
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 42, operation: "comment-final-position", sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 43, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 44, operation: "rapid-final-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 45, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 47, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 3, operation: "program-end", sourceLineKind: "program-end", callStack: [] });
|
||||
|
||||
const sourceLineCoverage = buildSourceLineCoverage(sourceFiles, steps);
|
||||
const motionSteps = steps.filter((step) => step.result.motion);
|
||||
return {
|
||||
apiName: "linuxcnc-xyzbc-trt-gcode-complete-execution-process",
|
||||
status: "ok",
|
||||
program: "xyzbc_switchkins.ngc",
|
||||
sourceFiles: Object.entries(sourceFiles).map(([sourceFile, lines]) => ({
|
||||
sourceFile,
|
||||
lineCount: Object.keys(lines).length,
|
||||
})),
|
||||
executionStepCount: steps.length,
|
||||
sourceLineCoverage,
|
||||
executionSteps: steps,
|
||||
summary: {
|
||||
motionStepCount: motionSteps.length,
|
||||
switchkinsStepCount: steps.filter((step) => step.result.operation.startsWith("switchkins-")).length,
|
||||
parameterAssignmentStepCount: steps.filter((step) => step.result.operation === "parameter-assignment").length,
|
||||
workOffsetStepCount: steps.filter((step) => step.result.operation === "set-g54-offset").length,
|
||||
callStepCount: steps.filter((step) => step.result.operation === "call-subroutine").length,
|
||||
noMotionStepCount: steps.filter((step) => !step.result.motion).length,
|
||||
finalJoint: motionSteps.at(-1)?.result.motion?.endJoint ?? null,
|
||||
finalKinematics: steps.at(-1)?.result.activeKinematicsAfter ?? null,
|
||||
},
|
||||
semanticBoundary: "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources",
|
||||
};
|
||||
}
|
||||
|
||||
function addSubroutineEntrySteps({ addStep, sourceFile, callStack, parameterAssignments, assignmentStartLine }) {
|
||||
addStep({ sourceFile, line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 2, operation: "info-comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 3, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
parameterAssignments.forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile,
|
||||
line: assignmentStartLine + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function addHelixExecutionSteps({ addStep, params, callStack }) {
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 2, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
[
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
].forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 3 + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 12, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 13, operation: "rapid-radius-adjust", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 14, operation: "set-g54-offset", sourceLineKind: "offset", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 15, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 16, operation: "rapid-bc-orient", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 17, operation: "feed-helix", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 18, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 19, operation: "rapid-return-to-start", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 20, operation: "rapid-radius-restore", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 21, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 22, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack });
|
||||
}
|
||||
|
||||
function nextTraceEntry(trace, cursor, sourceFile, line, operation) {
|
||||
const operationCompatible = (entry) => {
|
||||
if (entry.operation === operation) return true;
|
||||
if (operation === "switchkins-identity" && entry.operation === "switchkins-identity") return true;
|
||||
if (operation === "switchkins-tcp-xyzbc" && entry.operation === "switchkins-tcp-xyzbc") return true;
|
||||
return false;
|
||||
};
|
||||
for (let index = cursor.value; index < trace.length; index += 1) {
|
||||
const entry = trace[index];
|
||||
if (entry.sourceFile === sourceFile && entry.line === line && operationCompatible(entry)) {
|
||||
cursor.value = index + 1;
|
||||
return entry;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
function buildSourceLineCoverage(sourceFiles, steps) {
|
||||
const visits = new Map();
|
||||
for (const step of steps) {
|
||||
const key = `${step.sourceFile}:${step.line}`;
|
||||
const item = visits.get(key) || {
|
||||
visitCount: 0,
|
||||
producedMotionCount: 0,
|
||||
operations: new Set(),
|
||||
};
|
||||
item.visitCount += 1;
|
||||
if (step.result.motion) item.producedMotionCount += 1;
|
||||
item.operations.add(step.result.operation);
|
||||
visits.set(key, item);
|
||||
}
|
||||
return Object.entries(sourceFiles).flatMap(([sourceFile, lines]) => (
|
||||
Object.entries(lines).map(([lineText, statement]) => {
|
||||
const line = Number(lineText);
|
||||
const visit = visits.get(`${sourceFile}:${line}`);
|
||||
return {
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
sourceLineKind: sourceLineKind(statement),
|
||||
visitCount: visit?.visitCount || 0,
|
||||
producedMotionCount: visit?.producedMotionCount || 0,
|
||||
operations: visit ? [...visit.operations] : [],
|
||||
};
|
||||
})
|
||||
));
|
||||
}
|
||||
|
||||
function xyzbcSwitchkinsSourceFiles() {
|
||||
return {
|
||||
"xyzbc_switchkins.ngc": {
|
||||
1: "; zmax zmin r frate n a b c dist",
|
||||
2: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
3: "m2",
|
||||
},
|
||||
"xyzbc_switchkins_sub.ngc": {
|
||||
1: "; ngcgui-compatible subroutine",
|
||||
2: "(info: helix in each quadrant at angles B,C)",
|
||||
3: "o<xyzbc_switchkins_sub>sub",
|
||||
4: "#<zmax> = #1 (=10)",
|
||||
5: "#<zmin> = #2 (= 5)",
|
||||
6: "#<r> = #3 (=10 radius)",
|
||||
7: "#<frate> = #4 (=1000 feedrate)",
|
||||
8: "#<n> = #5 (=3 n circles)",
|
||||
9: "#<a> = #6 (=0 A angle NA)",
|
||||
10: "#<b> = #7 (=30 B angle)",
|
||||
11: "#<c> = #8 (=45 C angle)",
|
||||
12: "#<dist> = #9 (=20 distance)",
|
||||
14: "; quadrant I",
|
||||
15: "M429 ;Identity kinematics",
|
||||
16: "g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates",
|
||||
17: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
18: "g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position",
|
||||
19: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
21: "; quadrant II",
|
||||
22: "M429 ;Identity kinematics",
|
||||
23: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
24: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
25: "g0 x-#<dist> y+#<dist> z#<zmax>",
|
||||
26: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
28: "; quadrant III",
|
||||
29: "M429 ;Identity kinematics",
|
||||
30: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
31: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
32: "g0 x-#<dist> y-#<dist> z#<zmax>",
|
||||
33: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
35: "; quadrant IV",
|
||||
36: "M429 ;Identity kinematics",
|
||||
37: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
38: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
39: "g0 x+#<dist> y-#<dist> z#<zmax>",
|
||||
40: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
42: ";final position",
|
||||
43: "M429 ;Identity kinematics",
|
||||
44: "g53 g0 x0y0 z#<zmax> ;MACHINE coordinates",
|
||||
45: "g10l20p0 x0y0 z#<zmax> ;new g54",
|
||||
47: "o<xyzbc_switchkins_sub>endsub",
|
||||
},
|
||||
"helix_bc.ngc": {
|
||||
1: "; helix using switchkins (xyzbc) b,c angles",
|
||||
2: "o<helix_bc>sub",
|
||||
3: "#<zmax> = #1 (=10)",
|
||||
4: "#<zmin> = #2 (= 5)",
|
||||
5: "#<r> = #3 (=10)",
|
||||
6: "#<frate> = #4 (=1000)",
|
||||
7: "#<n> = #5 (=3)",
|
||||
8: "#<a> = #6 (=0 NA)",
|
||||
9: "#<b> = #7 (=45)",
|
||||
10: "#<c> = #8 (=20)",
|
||||
12: "M429 ;Identity kinematics",
|
||||
13: "g0 x[#<_x> - #<r>] ;adjust for radius",
|
||||
14: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
15: "M428 ;XYZBC",
|
||||
16: "g0b#<b>c#<c> ;exercise b,c",
|
||||
17: "f#<frate> g2i#<r>z#<zmin> p#<n> ;helix",
|
||||
18: "M429 ;Identity kinematics",
|
||||
19: "g0 x0 y0 z#<zmax> b0 c0 ;return to start",
|
||||
20: "g0 x[#<_x> + #<r>] ;adjust restore",
|
||||
21: "M428 ;XYZBC",
|
||||
22: "o<helix_bc>endsub",
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function sourceLineKind(statement = "") {
|
||||
const text = String(statement).trim().toLowerCase();
|
||||
if (!text) return "blank";
|
||||
if (text.startsWith(";") || text.startsWith("(")) return "comment";
|
||||
if (text.includes("call")) return "call";
|
||||
if (text.includes("sub") || text.includes("endsub")) return "subroutine-boundary";
|
||||
if (text.startsWith("#<")) return "assignment";
|
||||
if (text.startsWith("m")) return "mcode";
|
||||
if (text.startsWith("g10")) return "offset";
|
||||
if (text.startsWith("g") || text.startsWith("f")) return "motion";
|
||||
return "gcode";
|
||||
}
|
||||
|
||||
function modalChangeForOperation(operation) {
|
||||
if (operation === "switchkins-identity") return { kinematics: "identity", code: "M429" };
|
||||
if (operation === "switchkins-tcp-xyzbc") return { kinematics: "tcp-xyzbc", code: "M428" };
|
||||
if (operation === "set-g54-offset") return { coordinateSystem: "G54", code: "G10 L20 P0" };
|
||||
if (operation === "program-end") return { program: "ended", code: "M2" };
|
||||
return null;
|
||||
}
|
||||
|
||||
function tcpFromJoint(joint = {}) {
|
||||
return {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
};
|
||||
}
|
||||
|
||||
function serializeSegment(segment, index) {
|
||||
return {
|
||||
segmentIndex: index,
|
||||
kind: segment.kind,
|
||||
sourceFile: segment.sourceFile,
|
||||
line: segment.line,
|
||||
statement: segment.statement,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
feed: segment.feed,
|
||||
start: roundedJoint(segment.start),
|
||||
end: roundedJoint(segment.end),
|
||||
center: segment.center ? roundedJoint(segment.center) : null,
|
||||
radius: segment.radius ?? null,
|
||||
turns: segment.turns ?? null,
|
||||
};
|
||||
}
|
||||
|
||||
function axisValuesByLineFromTrace(trace) {
|
||||
return trace
|
||||
.filter((entry) => entry.producesMotion)
|
||||
.map((entry) => ({
|
||||
executionIndex: entry.executionIndex,
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematics: entry.activeKinematicsAfter,
|
||||
joint: entry.endJoint,
|
||||
tcp: {
|
||||
x: entry.endJoint.x,
|
||||
y: entry.endJoint.y,
|
||||
z: entry.endJoint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(entry.endJoint.b, entry.endJoint.c),
|
||||
feed: entry.feed,
|
||||
machineState: machineStateForMotion({
|
||||
tool: DEFAULT_XYZBC_TOOL,
|
||||
feed: entry.feed,
|
||||
motionType: entry.motionType,
|
||||
operation: entry.operation,
|
||||
}),
|
||||
segmentIndex: entry.segmentIndex,
|
||||
}));
|
||||
}
|
||||
|
||||
function roundedJoint(pose = {}) {
|
||||
return {
|
||||
x: roundFloating(numberOrZero(pose.x)),
|
||||
y: roundFloating(numberOrZero(pose.y)),
|
||||
z: roundFloating(numberOrZero(pose.z)),
|
||||
b: roundFloating(numberOrZero(pose.b)),
|
||||
c: roundFloating(numberOrZero(pose.c)),
|
||||
};
|
||||
}
|
||||
|
||||
function roundFloating(value) {
|
||||
return Math.abs(value) < 1e-12 ? 0 : Number(value.toFixed(12));
|
||||
}
|
||||
|
||||
function formatSigned(value) {
|
||||
return `${value >= 0 ? "+" : ""}${value}`;
|
||||
}
|
||||
|
||||
function resampleAxisPreviewSegments(segments, samplePeriodMs, tool) {
|
||||
const samples = [];
|
||||
let timeMs = 0;
|
||||
let sampleIndex = 0;
|
||||
for (const segment of segments) {
|
||||
const durationMs = Math.max(samplePeriodMs, Math.ceil(axisPreviewSegmentDurationMs(segment)));
|
||||
const stepCount = Math.max(1, Math.ceil(durationMs / samplePeriodMs));
|
||||
for (let step = 0; step < stepCount; step += 1) {
|
||||
const ratio = step / stepCount;
|
||||
samples.push(pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: segment.line,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
pose: poseOnAxisPreviewSegment(segment, ratio),
|
||||
feed: segment.feed,
|
||||
tool,
|
||||
}));
|
||||
sampleIndex += 1;
|
||||
timeMs += samplePeriodMs;
|
||||
}
|
||||
}
|
||||
if (segments.length > 0) {
|
||||
const last = segments.at(-1);
|
||||
samples.push(pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: last.line,
|
||||
motionType: last.motionType,
|
||||
activeKinematics: last.activeKinematics,
|
||||
pose: poseOnAxisPreviewSegment(last, 1),
|
||||
feed: last.feed,
|
||||
tool,
|
||||
}));
|
||||
}
|
||||
return samples;
|
||||
}
|
||||
|
||||
function axisPreviewSegmentDurationMs(segment) {
|
||||
const distance = segment.kind === "helix"
|
||||
? Math.sqrt((2 * Math.PI * segment.radius * segment.turns) ** 2 + (segment.end.z - segment.start.z) ** 2)
|
||||
: Math.sqrt(["x", "y", "z", "b", "c"].reduce((sum, axis) => (
|
||||
sum + (segment.end[axis] - segment.start[axis]) ** 2
|
||||
), 0));
|
||||
return distance / Math.max(1, numberOrZero(segment.feed)) * 60000;
|
||||
}
|
||||
|
||||
function poseOnAxisPreviewSegment(segment, ratio) {
|
||||
const clamped = Math.max(0, Math.min(1, ratio));
|
||||
if (segment.kind === "helix") {
|
||||
const angle = 2 * Math.PI * segment.turns * clamped;
|
||||
return {
|
||||
x: segment.center.x - segment.radius * Math.cos(angle),
|
||||
y: segment.center.y - segment.radius * Math.sin(angle),
|
||||
z: segment.start.z + (segment.end.z - segment.start.z) * clamped,
|
||||
b: segment.start.b + (segment.end.b - segment.start.b) * clamped,
|
||||
c: segment.start.c + (segment.end.c - segment.start.c) * clamped,
|
||||
};
|
||||
}
|
||||
return Object.fromEntries(["x", "y", "z", "b", "c"].map((axis) => [
|
||||
axis,
|
||||
segment.start[axis] + (segment.end[axis] - segment.start[axis]) * clamped,
|
||||
]));
|
||||
}
|
||||
|
||||
function pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line,
|
||||
motionType,
|
||||
activeKinematics,
|
||||
pose,
|
||||
feed,
|
||||
tool,
|
||||
}) {
|
||||
const joint = {
|
||||
x: numberOrZero(pose.x),
|
||||
y: numberOrZero(pose.y),
|
||||
z: numberOrZero(pose.z),
|
||||
b: numberOrZero(pose.b),
|
||||
c: numberOrZero(pose.c),
|
||||
};
|
||||
return {
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: Number(line) || 0,
|
||||
motionType,
|
||||
activeKinematics,
|
||||
tool,
|
||||
joint,
|
||||
tcp: {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(joint.b, joint.c),
|
||||
feed: numberOrZero(feed),
|
||||
spindle: 0,
|
||||
machineState: machineStateForMotion({ tool, feed, motionType }),
|
||||
};
|
||||
}
|
||||
|
||||
function machineStateForMotion({
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
feed = 0,
|
||||
motionType = "none",
|
||||
operation = null,
|
||||
} = {}) {
|
||||
const actualFeed = numberOrZero(feed);
|
||||
const cutting = motionType === "arc" || motionType === "feed" || operation === "feed-helix";
|
||||
return {
|
||||
spindle: {
|
||||
speedRpm: 0,
|
||||
direction: "stopped",
|
||||
enabled: false,
|
||||
},
|
||||
feed: {
|
||||
programmedMmPerMin: actualFeed,
|
||||
actualMmPerMin: actualFeed,
|
||||
overridePercent: 100,
|
||||
},
|
||||
cutting: {
|
||||
active: cutting,
|
||||
cuttingSpeedMmPerMin: cutting ? actualFeed : 0,
|
||||
},
|
||||
tool: {
|
||||
id: Number(tool?.id) || 0,
|
||||
pocket: Number(tool?.pocket) || 0,
|
||||
length: numberOrZero(tool?.length),
|
||||
diameter: numberOrZero(tool?.diameter),
|
||||
},
|
||||
toolChange: {
|
||||
activeTool: Number(tool?.id) || 0,
|
||||
activePocket: Number(tool?.pocket) || 0,
|
||||
changed: false,
|
||||
command: null,
|
||||
},
|
||||
coolant: {
|
||||
mist: false,
|
||||
flood: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function cloneMachineState(state) {
|
||||
return JSON.parse(JSON.stringify(state));
|
||||
}
|
||||
|
||||
function toolAxisFromBc(bDeg, cDeg) {
|
||||
const b = bDeg * Math.PI / 180;
|
||||
const c = cDeg * Math.PI / 180;
|
||||
return {
|
||||
i: Math.sin(b) * Math.cos(c),
|
||||
j: Math.sin(b) * Math.sin(c),
|
||||
k: Math.cos(b),
|
||||
};
|
||||
}
|
||||
|
||||
function numberOrZero(value) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number : 0;
|
||||
}
|
||||
@@ -25,6 +25,7 @@ import {
|
||||
applyToolCommandSequence,
|
||||
createToolDbReadiness,
|
||||
createToolDbSimulation,
|
||||
createToolRuntimeState,
|
||||
editToolEntry,
|
||||
extractToolCommandSequenceFromProgram,
|
||||
listToolEntries,
|
||||
@@ -46,6 +47,7 @@ import {
|
||||
normalizeLinuxCncTaskMode,
|
||||
} from "./linuxcnc-task-policy.js";
|
||||
import { buildProgramExecutionTiming, timingAtMotionIndex } from "../runtime/execution-timing.js";
|
||||
import { buildAxisPreviewPathFromProgram } from "../runtime/axis-preview-path.js";
|
||||
|
||||
const defaultProfile = getFiveAxisProfile("xyzbc-trt");
|
||||
|
||||
@@ -57,9 +59,9 @@ const initialControlledUserMSimulation = createControlledUserMSimulation();
|
||||
const MACHINE_PROJECT_OPFS_ROOT = "web-rtcp-5axis-xyzbc-trt-sim-plan/machines";
|
||||
|
||||
const initialAxisPose = {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
b: 0.0,
|
||||
c: 0.0,
|
||||
@@ -183,9 +185,9 @@ const initialState = {
|
||||
axisPose: initialAxisPose,
|
||||
jointPose: [],
|
||||
tcpPose: {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
c: 0.0,
|
||||
},
|
||||
@@ -202,6 +204,7 @@ const initialState = {
|
||||
interpreterRuntimeReadiness: null,
|
||||
programExecution: null,
|
||||
programExecutionTiming: null,
|
||||
programAxisPreviewPath: null,
|
||||
programElapsedSeconds: 0,
|
||||
programRemainingSeconds: 0,
|
||||
programExecutionSourceMode: "fixture-line-playback",
|
||||
@@ -224,6 +227,9 @@ const initialState = {
|
||||
machineFileExecution: null,
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
controlledUserMSimulation: initialControlledUserMSimulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(initialControlledUserMSimulation),
|
||||
fullExecutionBoundary: null,
|
||||
@@ -242,9 +248,9 @@ const initialState = {
|
||||
missing: ["LinuxCNC INI not loaded"],
|
||||
},
|
||||
dro: {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
b: 0.0,
|
||||
c: 0.0,
|
||||
@@ -374,6 +380,22 @@ export function createSimulationStore(seed = {}) {
|
||||
dro: buildDroFromFrame(seedFrame, seed.programRuntimeFeedback || initialState.programRuntimeFeedback),
|
||||
programLines: seed.programLines || programLines,
|
||||
};
|
||||
const initialAxisPreviewPath = seed.programAxisPreviewPath === undefined
|
||||
? buildAxisPreviewPathFromProgram({
|
||||
filename: state.activeProgram,
|
||||
sourceRel: state.programSourceRel,
|
||||
content: state.programLines.join("\n"),
|
||||
tool: currentPathTool(state),
|
||||
})
|
||||
: seed.programAxisPreviewPath;
|
||||
state = {
|
||||
...state,
|
||||
programAxisPreviewPath: initialAxisPreviewPath,
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: initialAxisPreviewPath?.sampleCount || state.preview.pathPoints,
|
||||
},
|
||||
};
|
||||
state.linuxCncTaskPolicy = createLinuxCncTaskPolicyStatus(state);
|
||||
state.machineProject = createMachineProjectState(state);
|
||||
state.programValidation = createProgramValidationState(state);
|
||||
@@ -552,6 +574,9 @@ export function createSimulationStore(seed = {}) {
|
||||
kinematicsExecutionContext: "none",
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
...createInitialControlledUserMState(),
|
||||
linuxCncIniConfig: null,
|
||||
iniConfigReadiness: initialState.iniConfigReadiness,
|
||||
@@ -710,7 +735,7 @@ export function createSimulationStore(seed = {}) {
|
||||
rtcpState: rtcpStateFromKinsType(firstKinsType),
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(execution.summary.motionEventCount, 1),
|
||||
pathPoints: state.programAxisPreviewPath?.sampleCount || Math.max(execution.summary.motionEventCount, 1),
|
||||
},
|
||||
feed: {
|
||||
...state.feed,
|
||||
@@ -738,6 +763,10 @@ export function createSimulationStore(seed = {}) {
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
interpreterExecutionPending: false,
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: state.programAxisPreviewPath?.sampleCount || state.preview.pathPoints,
|
||||
},
|
||||
operatorMessage: `LinuxCNC interpreter blocked: ${action.error}`,
|
||||
});
|
||||
break;
|
||||
@@ -945,6 +974,15 @@ export function createSimulationStore(seed = {}) {
|
||||
programText: selectedFile.text,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState: toolUserPatch.toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
...toolUserPatch,
|
||||
@@ -959,11 +997,12 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
axisPose: initialAxisPose,
|
||||
runState: "idle",
|
||||
programAxisPreviewPath: axisPreviewPath,
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(loadedProgram.programLines.length, 1),
|
||||
pathPoints: axisPreviewPath?.sampleCount || Math.max(loadedProgram.programLines.length, 1),
|
||||
},
|
||||
operatorMessage: `loaded LinuxCNC 5-axis source ${selectedFile.sourceRel}`,
|
||||
});
|
||||
@@ -1466,10 +1505,23 @@ export function createSimulationStore(seed = {}) {
|
||||
const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0
|
||||
? applyToolCommandSequence(state.toolDbSimulation, toolCommands)
|
||||
: state.toolDbSimulation;
|
||||
const toolRuntimeState = createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: loadedProgram.activeProgram,
|
||||
sourceRel: loadedProgram.programSourceRel,
|
||||
content: action.content,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState,
|
||||
machine: {
|
||||
...state.machine,
|
||||
mode: "auto",
|
||||
@@ -1480,11 +1532,12 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
axisPose: initialAxisPose,
|
||||
runState: "idle",
|
||||
programAxisPreviewPath: axisPreviewPath,
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(loadedProgram.programLines.length, 1),
|
||||
pathPoints: axisPreviewPath?.sampleCount || Math.max(loadedProgram.programLines.length, 1),
|
||||
},
|
||||
operatorMessage: `loaded ${loadedProgram.activeProgram}`,
|
||||
});
|
||||
@@ -2182,6 +2235,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB edited T${patch.toolNumber ?? patch.toolno ?? "-"}`,
|
||||
});
|
||||
return state.toolDbSimulation;
|
||||
@@ -2195,6 +2251,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation: save.toolDb,
|
||||
toolDbReadiness: createToolDbReadiness(save.toolDb),
|
||||
toolRuntimeState: createToolRuntimeState(save.toolDb, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB saved ${save.path} (${save.storageMode})`,
|
||||
});
|
||||
return save;
|
||||
@@ -2726,6 +2785,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
const toolTable = parseLinuxCncToolTable(toolTableFile.text, {
|
||||
@@ -2740,6 +2802,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -2759,6 +2824,9 @@ function createProgramToolUserSimulationPatch({ state, programText, sourceRel })
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
controlledUserMSimulation: userMScan.simulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(userMScan.simulation),
|
||||
};
|
||||
@@ -4003,6 +4071,35 @@ function buildLoadedProgram(action) {
|
||||
};
|
||||
}
|
||||
|
||||
function currentPathTool(state) {
|
||||
const pathTool = state.toolRuntimeState?.pathTool;
|
||||
if (
|
||||
pathTool &&
|
||||
(
|
||||
Number(pathTool.id) > 0 ||
|
||||
Number(pathTool.pocket) > 0 ||
|
||||
Number(pathTool.length) > 0 ||
|
||||
Number(pathTool.diameter) > 0
|
||||
)
|
||||
) {
|
||||
return pathTool;
|
||||
}
|
||||
if (state.machineProfile === "xyzbc-trt") {
|
||||
return {
|
||||
id: 2,
|
||||
pocket: 2,
|
||||
length: 10,
|
||||
diameter: 8,
|
||||
};
|
||||
}
|
||||
return {
|
||||
id: Number(state.toolPreview?.toolNumber) || 2,
|
||||
pocket: Number(state.toolPreview?.toolNumber) || 2,
|
||||
length: Number(state.toolPreview?.length) || 10,
|
||||
diameter: Number(state.toolPreview?.diameter) || 8,
|
||||
};
|
||||
}
|
||||
|
||||
function parseProgramLines(content) {
|
||||
const lines = content
|
||||
.split(/\r?\n/)
|
||||
|
||||
@@ -377,11 +377,13 @@ function renderProgram(element, state) {
|
||||
}
|
||||
|
||||
function renderStatusbar(element, state) {
|
||||
const toolLabel = formatToolStatus(state);
|
||||
element.innerHTML = `
|
||||
<div>${state.machine.powerOn ? "ON" : state.machine.estopActive ? "ESTOP" : "OFF"}</div>
|
||||
<div>No tool</div>
|
||||
<div>${escapeHtml(toolLabel)}</div>
|
||||
<div>Position: Joint</div>
|
||||
`;
|
||||
element.dataset.toolStatus = toolLabel;
|
||||
}
|
||||
|
||||
function toolButton(buttonId, action, title, active = false) {
|
||||
@@ -536,6 +538,29 @@ function switchkinsLegend(value) {
|
||||
return "0:IDENTITY";
|
||||
}
|
||||
|
||||
function formatToolStatus(state) {
|
||||
const runtime = state.toolRuntimeState;
|
||||
const fallbackPathTool = state.machineProfile === "xyzbc-trt"
|
||||
? { id: 2, pocket: 2, length: 10, diameter: 8 }
|
||||
: null;
|
||||
if (!runtime?.ready && !runtime?.currentTool && !fallbackPathTool) return "No tool";
|
||||
const tool = runtime?.currentTool || runtime?.activeToolOffset || null;
|
||||
const toolNumber = Number(runtime?.activeToolNumber || tool?.toolNumber || runtime?.toolInSpindle || 0);
|
||||
const pocket = Number(runtime?.activePocket || tool?.pocket || runtime?.toolFromPocket || 0);
|
||||
const length = Number(runtime?.pathTool?.length ?? runtime?.kinematics?.toolOffsetZ ?? tool?.offset?.z ?? 0);
|
||||
const diameter = Number(runtime?.pathTool?.diameter ?? tool?.diameter ?? 0);
|
||||
const displayToolNumber = toolNumber > 0 ? toolNumber : Number(fallbackPathTool?.id || 0);
|
||||
const displayPocket = pocket > 0 ? pocket : Number(fallbackPathTool?.pocket || 0);
|
||||
const displayLength = length > 0 ? length : Number(fallbackPathTool?.length || 0);
|
||||
const displayDiameter = diameter > 0 ? diameter : Number(fallbackPathTool?.diameter || 0);
|
||||
if (displayToolNumber <= 0 && displayPocket <= 0) return "No tool";
|
||||
const parts = [`T${displayToolNumber}`];
|
||||
if (displayPocket > 0) parts.push(`P${displayPocket}`);
|
||||
parts.push(`Z${formatNumber(displayLength, 3)}`);
|
||||
if (displayDiameter > 0) parts.push(`D${formatNumber(displayDiameter, 3)}`);
|
||||
return parts.join(" ");
|
||||
}
|
||||
|
||||
function formatNumber(value, digits = 3) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number.toFixed(digits) : (0).toFixed(digits);
|
||||
|
||||
@@ -40,7 +40,10 @@ export function renderFiveAxisScene(canvas, state) {
|
||||
return;
|
||||
}
|
||||
|
||||
const pointCount = geometryPointCount(preview.previewPath.geometry);
|
||||
const axisReferenceMode = isAxisReferencePreview(state);
|
||||
const pointCount = axisReferenceMode
|
||||
? Number(state.programAxisPreviewPath?.sampleCount || 0)
|
||||
: geometryPointCount(preview.previewPath.geometry);
|
||||
const executedPointCount = geometryPointCount(preview.executedPath.geometry);
|
||||
exposePreviewDataset(canvas, state, {
|
||||
pointCount,
|
||||
@@ -52,17 +55,19 @@ export function renderFiveAxisScene(canvas, state) {
|
||||
sceneObjectCount: countSceneObjects(preview.scene),
|
||||
toolhead: preview.currentToolhead,
|
||||
renderer: "webgl",
|
||||
sceneMode: "program-preview-and-tool-execution",
|
||||
machineReferenceModel: "webgl-five-axis-reference",
|
||||
sceneMode: axisReferenceMode ? "linuxcnc-axis-source-preview" : "program-preview-and-tool-execution",
|
||||
machineReferenceModel: axisReferenceMode ? "linuxcnc-axis-preview-reference" : "webgl-five-axis-reference",
|
||||
cameraControls: preview.controls.enabled,
|
||||
toolExecutionMarker: preview.toolMarker.visible,
|
||||
toolAxisMarker: preview.toolAxis.visible,
|
||||
pathFitBounds: preview.pathFitBoundsReady,
|
||||
pathBounds: computePointBoundsFromGeometryGroups([
|
||||
preview.previewPath.geometry,
|
||||
preview.executedPath.geometry,
|
||||
preview.currentSegmentPath.geometry,
|
||||
]),
|
||||
pathBounds: axisReferenceMode
|
||||
? summarizeBounds(computePointBounds(buildProgramPreviewPoints(state)))
|
||||
: computePointBoundsFromGeometryGroups([
|
||||
preview.previewPath.geometry,
|
||||
preview.executedPath.geometry,
|
||||
preview.currentSegmentPath.geometry,
|
||||
]),
|
||||
vismachModel: preview.currentVismachModelState,
|
||||
});
|
||||
}
|
||||
@@ -86,15 +91,18 @@ function createScene(canvas) {
|
||||
|
||||
const scene = new THREE.Scene();
|
||||
const camera = new THREE.PerspectiveCamera(42, 1, 0.001, 10);
|
||||
camera.up.set(0, 0, 1);
|
||||
|
||||
const machineModel = createMachineReferenceModel();
|
||||
const axisReference = createAxisReferencePreviewModel();
|
||||
scene.add(machineModel.root);
|
||||
scene.add(axisReference.root);
|
||||
|
||||
const previewPath = createLine(0x808892, 0.56);
|
||||
const feedPath = createLine(0x4fb3ff, 0.92);
|
||||
const previewPath = createLine(0xffffff, 0.9);
|
||||
const feedPath = createSegmentLine(0x00a8a8, 0.92);
|
||||
const executedPath = createLine(0x1ffff4, 1);
|
||||
const rapidPath = createLine(0xffb13b, 0.82);
|
||||
const arcPath = createLine(0xd7ff62, 0.95);
|
||||
const rapidPath = createSegmentLine(0x00a8a8, 0.92);
|
||||
const arcPath = createSegmentLine(0xffffff, 0.95);
|
||||
const currentSegmentPath = createLine(0xff4fd8, 1);
|
||||
const toolMarker = new THREE.Mesh(
|
||||
new THREE.SphereGeometry(0.0065, 18, 12),
|
||||
@@ -122,6 +130,7 @@ function createScene(canvas) {
|
||||
arcPath,
|
||||
currentSegmentPath,
|
||||
machineModel,
|
||||
axisReference,
|
||||
toolMarker,
|
||||
toolAxis,
|
||||
currentToolhead: new THREE.Vector3(),
|
||||
@@ -288,6 +297,17 @@ function createLine(color, opacity) {
|
||||
);
|
||||
}
|
||||
|
||||
function createSegmentLine(color, opacity) {
|
||||
return new THREE.LineSegments(
|
||||
EMPTY_GEOMETRY.clone(),
|
||||
new THREE.LineBasicMaterial({
|
||||
color,
|
||||
transparent: opacity < 1,
|
||||
opacity,
|
||||
}),
|
||||
);
|
||||
}
|
||||
|
||||
function createMachineReferenceModel() {
|
||||
const root = new THREE.Group();
|
||||
root.name = "five-axis-machine-reference";
|
||||
@@ -370,6 +390,104 @@ function createMachineReferenceModel() {
|
||||
};
|
||||
}
|
||||
|
||||
function createAxisReferencePreviewModel() {
|
||||
const root = new THREE.Group();
|
||||
root.name = "axis-native-preview-reference";
|
||||
root.visible = false;
|
||||
|
||||
const zLift = 0.0004;
|
||||
const xAxis = createStaticLine([
|
||||
new THREE.Vector3(-0.024, 0, zLift),
|
||||
new THREE.Vector3(0.036, 0, zLift),
|
||||
], 0x00ff00);
|
||||
const yAxis = createStaticLine([
|
||||
new THREE.Vector3(0, -0.024, zLift),
|
||||
new THREE.Vector3(0, 0.036, zLift),
|
||||
], 0xff2020);
|
||||
const zAxis = createStaticLine([
|
||||
new THREE.Vector3(0, 0, 0),
|
||||
new THREE.Vector3(0, 0, 0.032),
|
||||
], 0x3030ff);
|
||||
|
||||
const dimensions = createDimensionLines();
|
||||
const labels = [
|
||||
createTextSprite("X", 0x00ff00, new THREE.Vector3(0.039, 0, zLift), 0.0034),
|
||||
createTextSprite("Y", 0xff2020, new THREE.Vector3(0, 0.039, zLift), 0.0034),
|
||||
createTextSprite("Z", 0x3030ff, new THREE.Vector3(0, 0, 0.032), 0.0034),
|
||||
createTextSprite("60.0", 0xff7070, new THREE.Vector3(0, -0.0355, zLift), 0.0026),
|
||||
createTextSprite("60.0", 0xff7070, new THREE.Vector3(-0.0355, 0, zLift), 0.0026),
|
||||
createTextSprite("30.0", 0xff7070, new THREE.Vector3(-0.028, 0.014, zLift), 0.0026),
|
||||
createTextSprite("30.0", 0xff7070, new THREE.Vector3(-0.014, -0.028, zLift), 0.0026),
|
||||
];
|
||||
|
||||
const tool = new THREE.Group();
|
||||
tool.name = "axis-native-tool-glyph";
|
||||
const cone = new THREE.Mesh(
|
||||
new THREE.ConeGeometry(0.0017, 0.0048, 4),
|
||||
new THREE.MeshBasicMaterial({ color: 0xe7eef7 }),
|
||||
);
|
||||
cone.rotation.x = Math.PI;
|
||||
cone.position.z = 0.0047;
|
||||
const holder = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.0011, 0.0011, 0.0065, 8),
|
||||
new THREE.MeshBasicMaterial({ color: 0xbfc8d0 }),
|
||||
);
|
||||
holder.rotation.x = Math.PI / 2;
|
||||
holder.position.z = 0.008;
|
||||
tool.add(cone, holder);
|
||||
|
||||
root.add(xAxis, yAxis, zAxis, dimensions, tool, ...labels);
|
||||
return {
|
||||
root,
|
||||
tool,
|
||||
};
|
||||
}
|
||||
|
||||
function createDimensionLines() {
|
||||
const group = new THREE.Group();
|
||||
group.name = "axis-native-preview-dimensions";
|
||||
const z = 0.0002;
|
||||
const lines = [
|
||||
[new THREE.Vector3(-0.030, -0.033, z), new THREE.Vector3(0.030, -0.033, z)],
|
||||
[new THREE.Vector3(-0.030, -0.0355, z), new THREE.Vector3(-0.030, -0.0305, z)],
|
||||
[new THREE.Vector3(0.030, -0.0355, z), new THREE.Vector3(0.030, -0.0305, z)],
|
||||
[new THREE.Vector3(-0.033, -0.030, z), new THREE.Vector3(-0.033, 0.030, z)],
|
||||
[new THREE.Vector3(-0.0355, -0.030, z), new THREE.Vector3(-0.0305, -0.030, z)],
|
||||
[new THREE.Vector3(-0.0355, 0.030, z), new THREE.Vector3(-0.0305, 0.030, z)],
|
||||
[new THREE.Vector3(-0.030, 0.030, z), new THREE.Vector3(0, 0.030, z)],
|
||||
[new THREE.Vector3(-0.030, -0.030, z), new THREE.Vector3(-0.030, 0, z)],
|
||||
];
|
||||
for (const [start, end] of lines) {
|
||||
group.add(createStaticLine([start, end], 0xff3030));
|
||||
}
|
||||
return group;
|
||||
}
|
||||
|
||||
function createTextSprite(text, color, position, height) {
|
||||
const canvas = document.createElement("canvas");
|
||||
canvas.width = 192;
|
||||
canvas.height = 64;
|
||||
const ctx = canvas.getContext("2d");
|
||||
ctx.clearRect(0, 0, canvas.width, canvas.height);
|
||||
ctx.font = "32px Courier New, monospace";
|
||||
ctx.textAlign = "center";
|
||||
ctx.textBaseline = "middle";
|
||||
ctx.fillStyle = `#${color.toString(16).padStart(6, "0")}`;
|
||||
ctx.fillText(text, canvas.width / 2, canvas.height / 2);
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
texture.needsUpdate = true;
|
||||
const material = new THREE.SpriteMaterial({
|
||||
map: texture,
|
||||
transparent: true,
|
||||
depthTest: false,
|
||||
depthWrite: false,
|
||||
});
|
||||
const sprite = new THREE.Sprite(material);
|
||||
sprite.position.copy(position);
|
||||
sprite.scale.set(height * 3, height, 1);
|
||||
return sprite;
|
||||
}
|
||||
|
||||
function createStaticLine(points, color) {
|
||||
return new THREE.Line(
|
||||
new THREE.BufferGeometry().setFromPoints(points),
|
||||
@@ -378,6 +496,7 @@ function createStaticLine(points, color) {
|
||||
}
|
||||
|
||||
function updateToolpathPreview(preview, state) {
|
||||
const axisReferenceMode = isAxisReferencePreview(state);
|
||||
const previewPoints = buildProgramPreviewPoints(state);
|
||||
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
|
||||
const rapidPoints = buildRapidPreviewPoints(state);
|
||||
@@ -395,14 +514,24 @@ function updateToolpathPreview(preview, state) {
|
||||
state.programExecutionSampleIndex || 0,
|
||||
].join(":");
|
||||
|
||||
updateLineGeometry(preview.previewPath, previewPoints);
|
||||
updateLineGeometry(preview.feedPath, feedPoints);
|
||||
updateLineGeometry(preview.executedPath, executedPoints);
|
||||
updateLineGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
|
||||
updateToolExecutionMarker(preview, state, toolPosition);
|
||||
updateMachineReferenceModel(preview, state, toolPosition);
|
||||
if (axisReferenceMode) {
|
||||
updateLineGeometry(preview.previewPath, []);
|
||||
updateLineGeometry(preview.feedPath, []);
|
||||
updateLineGeometry(preview.executedPath, []);
|
||||
updateLineSegmentsGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineSegmentsGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, []);
|
||||
updateToolExecutionMarker(preview, state, null);
|
||||
} else {
|
||||
updateLineGeometry(preview.previewPath, previewPoints);
|
||||
updateLineGeometry(preview.feedPath, feedPoints);
|
||||
updateLineGeometry(preview.executedPath, executedPoints);
|
||||
updateLineSegmentsGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineSegmentsGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
|
||||
updateToolExecutionMarker(preview, state, toolPosition);
|
||||
}
|
||||
updateMachineReferenceModel(preview, state, toolPosition, axisReferenceMode);
|
||||
|
||||
const cameraRevision = state.preview.cameraRevision ?? 0;
|
||||
if (
|
||||
@@ -410,7 +539,7 @@ function updateToolpathPreview(preview, state) {
|
||||
preview.lastCameraRevision !== cameraRevision ||
|
||||
preview.lastFitKey !== fitKey
|
||||
) {
|
||||
resetCamera(preview, state.preview.selectedView, fitPoints);
|
||||
resetCamera(preview, state.preview.selectedView, fitPoints, axisReferenceMode);
|
||||
preview.lastSelectedView = state.preview.selectedView;
|
||||
preview.lastCameraRevision = cameraRevision;
|
||||
preview.lastFitKey = fitKey;
|
||||
@@ -439,9 +568,21 @@ function updateToolExecutionMarker(preview, state, toolPosition) {
|
||||
]);
|
||||
}
|
||||
|
||||
function updateMachineReferenceModel(preview, state, toolPosition) {
|
||||
function updateMachineReferenceModel(preview, state, toolPosition, axisReferenceMode = false) {
|
||||
const model = preview.machineModel;
|
||||
if (!model) return;
|
||||
model.root.visible = !axisReferenceMode;
|
||||
if (preview.axisReference) {
|
||||
preview.axisReference.root.visible = axisReferenceMode;
|
||||
if (axisReferenceMode) {
|
||||
const referenceToolPosition = new THREE.Vector3(0, 0, 0.006);
|
||||
preview.axisReference.tool.position.copy(referenceToolPosition);
|
||||
}
|
||||
}
|
||||
if (axisReferenceMode) {
|
||||
preview.currentVismachModelState = null;
|
||||
return;
|
||||
}
|
||||
const vismach = buildVismachModelState(state);
|
||||
preview.currentVismachModelState = summarizeVismachModelStateForDataset(vismach);
|
||||
const toMeters = (value) => linearValueToMeters(value, vismach.linearUnits);
|
||||
@@ -471,11 +612,24 @@ function updateLineGeometry(line, points) {
|
||||
: EMPTY_GEOMETRY.clone();
|
||||
}
|
||||
|
||||
function updateLineSegmentsGeometry(line, segmentPoints) {
|
||||
line.visible = segmentPoints.length > 0;
|
||||
line.geometry.dispose();
|
||||
line.geometry = segmentPoints.length > 0
|
||||
? new THREE.BufferGeometry().setFromPoints(segmentPoints)
|
||||
: EMPTY_GEOMETRY.clone();
|
||||
}
|
||||
|
||||
function geometryPointCount(geometry) {
|
||||
return geometry?.getAttribute("position")?.count || 0;
|
||||
}
|
||||
|
||||
function buildProgramPreviewPoints(state) {
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0 && state.preview.pathPoints !== 0) {
|
||||
return limitPoints(previewSamples.map((sample) => vectorFromAxes(sample.tcp || sample.joint, state, "mm")));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (Array.isArray(motion) && motion.length > 0 && state.preview.pathPoints !== 0) {
|
||||
return limitPoints(motion.map((event) => vectorFromAxes(event.axes, state, event.linearUnits)));
|
||||
@@ -488,6 +642,12 @@ function buildProgramPreviewPoints(state) {
|
||||
|
||||
function buildExecutedProgramPoints(state, previewPoints) {
|
||||
if (state.preview.pathPoints === 0 || previewPoints.length === 0) return [];
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0) {
|
||||
const end = clamp(Math.round(Number(state.programExecutionSampleIndex || 0)), 0, previewSamples.length - 1);
|
||||
return previewPoints.slice(0, end + 1);
|
||||
}
|
||||
|
||||
const samples = state.programExecutionTiming?.samples;
|
||||
const sampleIndex = Number(state.programExecutionSampleIndex || 0);
|
||||
if (Array.isArray(samples) && samples.length > 0) {
|
||||
@@ -504,17 +664,58 @@ function buildRapidPreviewPoints(state) {
|
||||
}
|
||||
|
||||
function buildTypedPreviewPoints(state, type) {
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0 && state.preview.pathPoints !== 0) {
|
||||
const expectedMotionType = type === "STRAIGHT_TRAVERSE"
|
||||
? "rapid"
|
||||
: type === "ARC_FEED"
|
||||
? "arc"
|
||||
: "feed";
|
||||
return limitPoints(buildAxisSampleLineSegments(previewSamples, state, expectedMotionType));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || state.preview.pathPoints === 0) return [];
|
||||
return limitPoints(
|
||||
motion
|
||||
.filter((event) => event.type === type)
|
||||
.map((event) => vectorFromAxes(event.axes, state, event.linearUnits)),
|
||||
.flatMap((event, index, events) => {
|
||||
const previous = events[Math.max(index - 1, 0)];
|
||||
return [
|
||||
vectorFromAxes(previous.axes || event.axes, state, previous.linearUnits || event.linearUnits),
|
||||
vectorFromAxes(event.axes, state, event.linearUnits),
|
||||
];
|
||||
}),
|
||||
);
|
||||
}
|
||||
|
||||
function buildAxisSampleLineSegments(samples, state, motionType) {
|
||||
const points = [];
|
||||
for (let index = 1; index < samples.length; index += 1) {
|
||||
const previous = samples[index - 1];
|
||||
const current = samples[index];
|
||||
if (previous.motionType !== motionType || current.motionType !== motionType) continue;
|
||||
if (current.line !== previous.line && motionType === "arc") continue;
|
||||
points.push(
|
||||
vectorFromAxes(previous.tcp || previous.joint, state, "mm"),
|
||||
vectorFromAxes(current.tcp || current.joint, state, "mm"),
|
||||
);
|
||||
}
|
||||
return points;
|
||||
}
|
||||
|
||||
function buildCurrentSegmentPoints(state) {
|
||||
if (state.preview.pathPoints === 0) return [];
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0) {
|
||||
const sampleIndex = clamp(Math.round(Number(state.programExecutionSampleIndex || 0)), 0, previewSamples.length - 1);
|
||||
const current = previewSamples[sampleIndex];
|
||||
const previous = previewSamples[Math.max(sampleIndex - 1, 0)];
|
||||
return [previous, current]
|
||||
.filter(Boolean)
|
||||
.map((sample) => vectorFromAxes(sample.tcp || sample.joint, state, "mm"));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || motion.length === 0) return [];
|
||||
const motionIndex = clampMotionIndex(state, currentMotionIndex(state));
|
||||
@@ -610,6 +811,9 @@ function previewSourceMode(state) {
|
||||
}
|
||||
|
||||
function toolpathPreviewSource(state) {
|
||||
if (state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines") {
|
||||
return "axis_preview_expanded_ngcgui_subroutines";
|
||||
}
|
||||
if (state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm") {
|
||||
return "linuxcnc_interpreter_canonical_motion";
|
||||
}
|
||||
@@ -619,6 +823,10 @@ function toolpathPreviewSource(state) {
|
||||
return "fixture_line_playback_not_promoted";
|
||||
}
|
||||
|
||||
function isAxisReferencePreview(state) {
|
||||
return state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines";
|
||||
}
|
||||
|
||||
function toolExecutionTraceSource(state) {
|
||||
if (Array.isArray(state.programExecutionTiming?.samples) && state.programExecutionTiming.samples.length > 0) {
|
||||
return "linuxcnc_tp_samples_or_task_motion_hal_feedback";
|
||||
@@ -908,16 +1116,26 @@ function panCamera(controls, dx, dy, canvas) {
|
||||
controls.target.addScaledVector(up, dy * speed);
|
||||
}
|
||||
|
||||
function resetCamera(preview, selectedView, fitPoints = []) {
|
||||
function resetCamera(preview, selectedView, fitPoints = [], axisReferenceMode = false) {
|
||||
const preset = CAMERA_PRESETS[selectedView] || CAMERA_PRESETS.iso;
|
||||
preview.controls.theta = preset.theta;
|
||||
preview.controls.phi = preset.phi;
|
||||
preview.controls.radius = preset.radius;
|
||||
preview.controls.target.copy(preset.target);
|
||||
preview.pathFitBoundsReady = applyFitBounds(preview.controls, selectedView, fitPoints);
|
||||
preview.pathFitBoundsReady = axisReferenceMode
|
||||
? applyAxisReferenceCamera(preview.controls)
|
||||
: applyFitBounds(preview.controls, selectedView, fitPoints);
|
||||
applyCameraControls(preview.controls);
|
||||
}
|
||||
|
||||
function applyAxisReferenceCamera(controls) {
|
||||
controls.theta = -0.48;
|
||||
controls.phi = 0.82;
|
||||
controls.radius = 0.125;
|
||||
controls.target.set(0.001, -0.002, 0.006);
|
||||
return true;
|
||||
}
|
||||
|
||||
function applyFitBounds(controls, selectedView, fitPoints) {
|
||||
const bounds = computePointBounds(fitPoints);
|
||||
if (!bounds) return false;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 20;
|
||||
export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 50;
|
||||
|
||||
const DEFAULT_XYZBC_TOOL = {
|
||||
id: 2,
|
||||
@@ -35,6 +35,39 @@ export function buildAxisPreviewPathFromProgram({
|
||||
};
|
||||
}
|
||||
|
||||
export function buildAxisExecutionTraceFromProgram({
|
||||
filename = "",
|
||||
sourceRel = "",
|
||||
content = "",
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
source = "web-axis-source-execution-expanded-ngcgui-subroutines",
|
||||
} = {}) {
|
||||
const programName = String(filename || sourceRel).split("/").at(-1);
|
||||
if (programName !== "xyzbc_switchkins.ngc") return null;
|
||||
const params = parseXyzbcSwitchkinsCall(content);
|
||||
if (!params) return null;
|
||||
const segments = buildXyzbcSwitchkinsSegments(params);
|
||||
const samples = resampleAxisPreviewSegments(segments, AXIS_PREVIEW_SAMPLE_PERIOD_MS, tool);
|
||||
const lineExecutionTrace = buildXyzbcSwitchkinsLineExecutionTrace(params, segments);
|
||||
const gcodeExecutionProcess = buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace);
|
||||
return {
|
||||
source,
|
||||
samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
|
||||
status: samples.length > 0 ? "ok" : "blocked",
|
||||
unavailableReason: samples.length > 0 ? null : "AXIS source execution expansion produced no samples",
|
||||
program: sourceRel || filename,
|
||||
subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
|
||||
sampleCount: samples.length,
|
||||
samples,
|
||||
segmentCount: segments.length,
|
||||
segments: segments.map((segment, index) => serializeSegment(segment, index)),
|
||||
lineExecutionTrace,
|
||||
axisValuesByLine: axisValuesByLineFromTrace(lineExecutionTrace),
|
||||
gcodeExecutionProcess,
|
||||
semanticBoundary: "linuxcnc_xyzbc_switchkins_ngc_execution_expanded_by_source_subroutines",
|
||||
};
|
||||
}
|
||||
|
||||
export function parseXyzbcSwitchkinsCall(text = "") {
|
||||
const marker = "o<xyzbc_switchkins_sub> call";
|
||||
for (const line of String(text).split(/\r?\n/)) {
|
||||
@@ -72,7 +105,15 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
const pose = { x: 0, y: 0, z: zmax, b: 0, c: 0 };
|
||||
const segments = [];
|
||||
|
||||
const addLinear = (target, line, motionType = "rapid", activeKinematics = "identity", feedrate = rapid) => {
|
||||
const addLinear = (
|
||||
target,
|
||||
line,
|
||||
motionType = "rapid",
|
||||
activeKinematics = "identity",
|
||||
feedrate = rapid,
|
||||
sourceFile = "xyzbc_switchkins_sub.ngc",
|
||||
statement = "",
|
||||
) => {
|
||||
const start = { ...pose };
|
||||
for (const [key, value] of Object.entries(target)) {
|
||||
pose[key] = Number(value);
|
||||
@@ -85,6 +126,8 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
feed: feedrate,
|
||||
start,
|
||||
end: { ...pose },
|
||||
sourceFile,
|
||||
statement,
|
||||
});
|
||||
};
|
||||
|
||||
@@ -103,28 +146,667 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
center,
|
||||
radius,
|
||||
turns,
|
||||
sourceFile: "helix_bc.ngc",
|
||||
statement: "f#<frate> g2i#<r>z#<zmin> p#<n>",
|
||||
});
|
||||
Object.assign(pose, end);
|
||||
};
|
||||
|
||||
for (const [centerX, centerY, centerLine] of [
|
||||
[distance, distance, 18],
|
||||
[-distance, distance, 25],
|
||||
[-distance, -distance, 32],
|
||||
[distance, -distance, 39],
|
||||
for (const [centerX, centerY, centerLine, resetLine, quadrant] of [
|
||||
[distance, distance, 18, 16, "I"],
|
||||
[-distance, distance, 25, 23, "II"],
|
||||
[-distance, -distance, 32, 30, "III"],
|
||||
[distance, -distance, 39, 37, "IV"],
|
||||
]) {
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, centerLine - 2, "rapid", "identity");
|
||||
addLinear({ x: centerX, y: centerY, z: zmax }, centerLine, "rapid", "identity");
|
||||
addLinear({ x: centerX - radius }, 13, "rapid", "identity");
|
||||
addLinear({ b: bAxis, c: cAxis }, 16, "rapid", "tcp-xyzbc");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
resetLine,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
`g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`,
|
||||
);
|
||||
addLinear(
|
||||
{ x: centerX, y: centerY, z: zmax },
|
||||
centerLine,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
`g0 x${formatSigned(centerX)} y${formatSigned(centerY)} z#<zmax>`,
|
||||
);
|
||||
addLinear(
|
||||
{ x: centerX - radius },
|
||||
13,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x[#<_x> - #<r>]",
|
||||
);
|
||||
addLinear(
|
||||
{ b: bAxis, c: cAxis },
|
||||
16,
|
||||
"rapid",
|
||||
"tcp-xyzbc",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0b#<b>c#<c>",
|
||||
);
|
||||
addHelix(17);
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, 19, "rapid", "identity");
|
||||
addLinear({ x: radius }, 20, "rapid", "identity");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
19,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x0 y0 z#<zmax> b0 c0",
|
||||
);
|
||||
addLinear(
|
||||
{ x: radius },
|
||||
20,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x[#<_x> + #<r>]",
|
||||
);
|
||||
}
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, 44, "rapid", "identity");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
44,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
"g53 g0 x0y0 z#<zmax>",
|
||||
);
|
||||
return segments;
|
||||
}
|
||||
|
||||
function buildXyzbcSwitchkinsLineExecutionTrace(params, segments) {
|
||||
const trace = [];
|
||||
const add = ({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType = "none",
|
||||
activeKinematicsBefore = null,
|
||||
activeKinematicsAfter = null,
|
||||
startJoint = null,
|
||||
endJoint = null,
|
||||
feed = 0,
|
||||
producesMotion = false,
|
||||
segmentIndex = null,
|
||||
}) => {
|
||||
trace.push({
|
||||
executionIndex: trace.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType,
|
||||
activeKinematicsBefore,
|
||||
activeKinematicsAfter,
|
||||
startJoint,
|
||||
endJoint,
|
||||
feed,
|
||||
producesMotion,
|
||||
segmentIndex,
|
||||
});
|
||||
};
|
||||
let currentKinematics = "identity";
|
||||
const kinsSwitch = (sourceFile, line, statement, next) => {
|
||||
add({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation: next === "identity" ? "switchkins-identity" : "switchkins-tcp-xyzbc",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: next,
|
||||
});
|
||||
currentKinematics = next;
|
||||
};
|
||||
const segmentByFileLine = new Map();
|
||||
segments.forEach((segment, index) => {
|
||||
const key = `${segment.sourceFile}:${segment.line}:${index}`;
|
||||
segmentByFileLine.set(key, { segment, index });
|
||||
});
|
||||
const nextSegment = (sourceFile, line, cursor) => {
|
||||
for (let index = cursor.value; index < segments.length; index += 1) {
|
||||
const segment = segments[index];
|
||||
if (segment.sourceFile === sourceFile && segment.line === line) {
|
||||
cursor.value = index + 1;
|
||||
return { segment, index };
|
||||
}
|
||||
}
|
||||
return { segment: null, index: null };
|
||||
};
|
||||
const addSegment = (sourceFile, line, statement, operation, cursor) => {
|
||||
const { segment, index } = nextSegment(sourceFile, line, cursor);
|
||||
if (!segment) return;
|
||||
add({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType: segment.motionType,
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: segment.activeKinematics,
|
||||
startJoint: roundedJoint(segment.start),
|
||||
endJoint: roundedJoint(segment.end),
|
||||
feed: segment.feed,
|
||||
producesMotion: true,
|
||||
segmentIndex: index,
|
||||
});
|
||||
currentKinematics = segment.activeKinematics;
|
||||
};
|
||||
const cursor = { value: 0 };
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins.ngc",
|
||||
line: 2,
|
||||
statement: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
operation: "call-subroutine",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
for (const [quadrant, resetLine, centerLine] of [
|
||||
["I", 15, 18],
|
||||
["II", 22, 25],
|
||||
["III", 29, 32],
|
||||
["IV", 36, 39],
|
||||
]) {
|
||||
kinsSwitch("xyzbc_switchkins_sub.ngc", resetLine, "M429", "identity");
|
||||
addSegment("xyzbc_switchkins_sub.ngc", resetLine + 1, `g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`, "rapid-machine-reset", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: resetLine + 2,
|
||||
statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
addSegment("xyzbc_switchkins_sub.ngc", centerLine, "g0 x±#<dist> y±#<dist> z#<zmax>", "rapid-to-quadrant-center", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: centerLine + 1,
|
||||
statement: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
operation: "call-subroutine",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
kinsSwitch("helix_bc.ngc", 12, "M429", "identity");
|
||||
addSegment("helix_bc.ngc", 13, "g0 x[#<_x> - #<r>]", "rapid-radius-adjust", cursor);
|
||||
add({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 14,
|
||||
statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
kinsSwitch("helix_bc.ngc", 15, "M428", "tcp-xyzbc");
|
||||
addSegment("helix_bc.ngc", 16, `g0b${params.b}c${params.c}`, "rapid-bc-orient", cursor);
|
||||
addSegment("helix_bc.ngc", 17, `f${params.feed} g2i${params.radius}z${params.zmin} p${params.turns}`, "feed-helix", cursor);
|
||||
kinsSwitch("helix_bc.ngc", 18, "M429", "identity");
|
||||
addSegment("helix_bc.ngc", 19, "g0 x0 y0 z#<zmax> b0 c0", "rapid-return-to-start", cursor);
|
||||
addSegment("helix_bc.ngc", 20, "g0 x[#<_x> + #<r>]", "rapid-radius-restore", cursor);
|
||||
kinsSwitch("helix_bc.ngc", 21, "M428", "tcp-xyzbc");
|
||||
}
|
||||
kinsSwitch("xyzbc_switchkins_sub.ngc", 43, "M429", "identity");
|
||||
addSegment("xyzbc_switchkins_sub.ngc", 44, "g53 g0 x0y0 z#<zmax>", "rapid-final-machine-reset", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: 45,
|
||||
statement: "g10l20p0 x0y0 z#<zmax>",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
return trace;
|
||||
}
|
||||
|
||||
function buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace) {
|
||||
const sourceFiles = xyzbcSwitchkinsSourceFiles();
|
||||
const traceCursor = { value: 0 };
|
||||
const steps = [];
|
||||
const parameters = {};
|
||||
const tool = DEFAULT_XYZBC_TOOL;
|
||||
let machineState = machineStateForMotion({ tool, feed: 0, motionType: "none", operation: "program-start" });
|
||||
let activeKinematics = "identity";
|
||||
let workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
|
||||
const addStep = ({
|
||||
sourceFile,
|
||||
line,
|
||||
operation,
|
||||
sourceLineKind = "gcode",
|
||||
callStack = [],
|
||||
executed = true,
|
||||
parameterName = null,
|
||||
parameterValue = null,
|
||||
notes = [],
|
||||
}) => {
|
||||
const statement = sourceFiles[sourceFile]?.[line] ?? "";
|
||||
const traceEntry = nextTraceEntry(lineExecutionTrace, traceCursor, sourceFile, line, operation);
|
||||
const beforeParameters = { ...parameters };
|
||||
const beforeKinematics = activeKinematics;
|
||||
const beforeWorkOffset = { ...workOffset };
|
||||
const machineStateBefore = cloneMachineState(machineState);
|
||||
const parametersChanged = {};
|
||||
|
||||
if (parameterName) {
|
||||
parameters[parameterName] = parameterValue;
|
||||
parametersChanged[parameterName] = parameterValue;
|
||||
}
|
||||
if (operation === "set-g54-offset") {
|
||||
workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
}
|
||||
if (traceEntry?.activeKinematicsAfter) {
|
||||
activeKinematics = traceEntry.activeKinematicsAfter;
|
||||
} else if (operation === "switchkins-identity") {
|
||||
activeKinematics = "identity";
|
||||
} else if (operation === "switchkins-tcp-xyzbc") {
|
||||
activeKinematics = "tcp-xyzbc";
|
||||
}
|
||||
|
||||
const motion = traceEntry?.producesMotion ? {
|
||||
segmentIndex: traceEntry.segmentIndex,
|
||||
motionType: traceEntry.motionType,
|
||||
feed: traceEntry.feed,
|
||||
startJoint: traceEntry.startJoint,
|
||||
endJoint: traceEntry.endJoint,
|
||||
startTcp: traceEntry.startJoint ? tcpFromJoint(traceEntry.startJoint) : null,
|
||||
endTcp: traceEntry.endJoint ? tcpFromJoint(traceEntry.endJoint) : null,
|
||||
endToolAxis: traceEntry.endJoint ? toolAxisFromBc(traceEntry.endJoint.b, traceEntry.endJoint.c) : null,
|
||||
} : null;
|
||||
machineState = motion
|
||||
? machineStateForMotion({ tool, feed: traceEntry.feed, motionType: traceEntry.motionType, operation })
|
||||
: machineStateForMotion({ tool, feed: machineState.feed.actualMmPerMin, motionType: "none", operation });
|
||||
|
||||
const result = {
|
||||
status: "ok",
|
||||
operation,
|
||||
sourceLineKind,
|
||||
executed,
|
||||
activeKinematicsBefore: traceEntry?.activeKinematicsBefore ?? beforeKinematics,
|
||||
activeKinematicsAfter: traceEntry?.activeKinematicsAfter ?? activeKinematics,
|
||||
parametersBefore: Object.keys(parametersChanged).length > 0 ? beforeParameters : null,
|
||||
parametersChanged,
|
||||
parametersAfter: Object.keys(parametersChanged).length > 0 ? { ...parameters } : null,
|
||||
workOffsetBefore: operation === "set-g54-offset" ? beforeWorkOffset : null,
|
||||
workOffsetAfter: operation === "set-g54-offset" ? { ...workOffset } : null,
|
||||
modalChange: modalChangeForOperation(operation),
|
||||
motion,
|
||||
machineStateBefore,
|
||||
machineStateAfter: cloneMachineState(machineState),
|
||||
traceExecutionIndex: traceEntry?.executionIndex ?? null,
|
||||
notes,
|
||||
};
|
||||
|
||||
steps.push({
|
||||
stepIndex: steps.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
callDepth: callStack.length,
|
||||
callStack,
|
||||
executed,
|
||||
sourceLineKind,
|
||||
result,
|
||||
});
|
||||
};
|
||||
|
||||
const rootStack = [{ sourceFile: "xyzbc_switchkins.ngc", line: 2, call: "o<xyzbc_switchkins_sub>" }];
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 1, operation: "comment", sourceLineKind: "comment", executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 2, operation: "call-subroutine", sourceLineKind: "call", callStack: [] });
|
||||
addSubroutineEntrySteps({
|
||||
addStep,
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
callStack: rootStack,
|
||||
parameterAssignments: [
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
["dist", params.distance],
|
||||
],
|
||||
assignmentStartLine: 4,
|
||||
});
|
||||
|
||||
for (const [quadrant, commentLine, resetLine, centerLine] of [
|
||||
["I", 14, 15, 18],
|
||||
["II", 21, 22, 25],
|
||||
["III", 28, 29, 32],
|
||||
["IV", 35, 36, 39],
|
||||
]) {
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: commentLine, operation: `comment-quadrant-${quadrant}`, sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 1, operation: "rapid-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 2, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine, operation: "rapid-to-quadrant-center", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, operation: "call-subroutine", sourceLineKind: "call", callStack: rootStack });
|
||||
addHelixExecutionSteps({
|
||||
addStep,
|
||||
params,
|
||||
callStack: [
|
||||
...rootStack,
|
||||
{ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, call: "o<helix_bc>" },
|
||||
],
|
||||
});
|
||||
}
|
||||
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 42, operation: "comment-final-position", sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 43, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 44, operation: "rapid-final-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 45, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 47, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 3, operation: "program-end", sourceLineKind: "program-end", callStack: [] });
|
||||
|
||||
const sourceLineCoverage = buildSourceLineCoverage(sourceFiles, steps);
|
||||
const motionSteps = steps.filter((step) => step.result.motion);
|
||||
return {
|
||||
apiName: "linuxcnc-xyzbc-trt-gcode-complete-execution-process",
|
||||
status: "ok",
|
||||
program: "xyzbc_switchkins.ngc",
|
||||
sourceFiles: Object.entries(sourceFiles).map(([sourceFile, lines]) => ({
|
||||
sourceFile,
|
||||
lineCount: Object.keys(lines).length,
|
||||
})),
|
||||
executionStepCount: steps.length,
|
||||
sourceLineCoverage,
|
||||
executionSteps: steps,
|
||||
summary: {
|
||||
motionStepCount: motionSteps.length,
|
||||
switchkinsStepCount: steps.filter((step) => step.result.operation.startsWith("switchkins-")).length,
|
||||
parameterAssignmentStepCount: steps.filter((step) => step.result.operation === "parameter-assignment").length,
|
||||
workOffsetStepCount: steps.filter((step) => step.result.operation === "set-g54-offset").length,
|
||||
callStepCount: steps.filter((step) => step.result.operation === "call-subroutine").length,
|
||||
noMotionStepCount: steps.filter((step) => !step.result.motion).length,
|
||||
finalJoint: motionSteps.at(-1)?.result.motion?.endJoint ?? null,
|
||||
finalKinematics: steps.at(-1)?.result.activeKinematicsAfter ?? null,
|
||||
},
|
||||
semanticBoundary: "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources",
|
||||
};
|
||||
}
|
||||
|
||||
function addSubroutineEntrySteps({ addStep, sourceFile, callStack, parameterAssignments, assignmentStartLine }) {
|
||||
addStep({ sourceFile, line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 2, operation: "info-comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 3, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
parameterAssignments.forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile,
|
||||
line: assignmentStartLine + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function addHelixExecutionSteps({ addStep, params, callStack }) {
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 2, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
[
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
].forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 3 + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 12, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 13, operation: "rapid-radius-adjust", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 14, operation: "set-g54-offset", sourceLineKind: "offset", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 15, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 16, operation: "rapid-bc-orient", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 17, operation: "feed-helix", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 18, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 19, operation: "rapid-return-to-start", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 20, operation: "rapid-radius-restore", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 21, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 22, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack });
|
||||
}
|
||||
|
||||
function nextTraceEntry(trace, cursor, sourceFile, line, operation) {
|
||||
const operationCompatible = (entry) => {
|
||||
if (entry.operation === operation) return true;
|
||||
if (operation === "switchkins-identity" && entry.operation === "switchkins-identity") return true;
|
||||
if (operation === "switchkins-tcp-xyzbc" && entry.operation === "switchkins-tcp-xyzbc") return true;
|
||||
return false;
|
||||
};
|
||||
for (let index = cursor.value; index < trace.length; index += 1) {
|
||||
const entry = trace[index];
|
||||
if (entry.sourceFile === sourceFile && entry.line === line && operationCompatible(entry)) {
|
||||
cursor.value = index + 1;
|
||||
return entry;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
function buildSourceLineCoverage(sourceFiles, steps) {
|
||||
const visits = new Map();
|
||||
for (const step of steps) {
|
||||
const key = `${step.sourceFile}:${step.line}`;
|
||||
const item = visits.get(key) || {
|
||||
visitCount: 0,
|
||||
producedMotionCount: 0,
|
||||
operations: new Set(),
|
||||
};
|
||||
item.visitCount += 1;
|
||||
if (step.result.motion) item.producedMotionCount += 1;
|
||||
item.operations.add(step.result.operation);
|
||||
visits.set(key, item);
|
||||
}
|
||||
return Object.entries(sourceFiles).flatMap(([sourceFile, lines]) => (
|
||||
Object.entries(lines).map(([lineText, statement]) => {
|
||||
const line = Number(lineText);
|
||||
const visit = visits.get(`${sourceFile}:${line}`);
|
||||
return {
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
sourceLineKind: sourceLineKind(statement),
|
||||
visitCount: visit?.visitCount || 0,
|
||||
producedMotionCount: visit?.producedMotionCount || 0,
|
||||
operations: visit ? [...visit.operations] : [],
|
||||
};
|
||||
})
|
||||
));
|
||||
}
|
||||
|
||||
function xyzbcSwitchkinsSourceFiles() {
|
||||
return {
|
||||
"xyzbc_switchkins.ngc": {
|
||||
1: "; zmax zmin r frate n a b c dist",
|
||||
2: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
3: "m2",
|
||||
},
|
||||
"xyzbc_switchkins_sub.ngc": {
|
||||
1: "; ngcgui-compatible subroutine",
|
||||
2: "(info: helix in each quadrant at angles B,C)",
|
||||
3: "o<xyzbc_switchkins_sub>sub",
|
||||
4: "#<zmax> = #1 (=10)",
|
||||
5: "#<zmin> = #2 (= 5)",
|
||||
6: "#<r> = #3 (=10 radius)",
|
||||
7: "#<frate> = #4 (=1000 feedrate)",
|
||||
8: "#<n> = #5 (=3 n circles)",
|
||||
9: "#<a> = #6 (=0 A angle NA)",
|
||||
10: "#<b> = #7 (=30 B angle)",
|
||||
11: "#<c> = #8 (=45 C angle)",
|
||||
12: "#<dist> = #9 (=20 distance)",
|
||||
14: "; quadrant I",
|
||||
15: "M429 ;Identity kinematics",
|
||||
16: "g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates",
|
||||
17: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
18: "g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position",
|
||||
19: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
21: "; quadrant II",
|
||||
22: "M429 ;Identity kinematics",
|
||||
23: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
24: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
25: "g0 x-#<dist> y+#<dist> z#<zmax>",
|
||||
26: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
28: "; quadrant III",
|
||||
29: "M429 ;Identity kinematics",
|
||||
30: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
31: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
32: "g0 x-#<dist> y-#<dist> z#<zmax>",
|
||||
33: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
35: "; quadrant IV",
|
||||
36: "M429 ;Identity kinematics",
|
||||
37: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
38: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
39: "g0 x+#<dist> y-#<dist> z#<zmax>",
|
||||
40: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
42: ";final position",
|
||||
43: "M429 ;Identity kinematics",
|
||||
44: "g53 g0 x0y0 z#<zmax> ;MACHINE coordinates",
|
||||
45: "g10l20p0 x0y0 z#<zmax> ;new g54",
|
||||
47: "o<xyzbc_switchkins_sub>endsub",
|
||||
},
|
||||
"helix_bc.ngc": {
|
||||
1: "; helix using switchkins (xyzbc) b,c angles",
|
||||
2: "o<helix_bc>sub",
|
||||
3: "#<zmax> = #1 (=10)",
|
||||
4: "#<zmin> = #2 (= 5)",
|
||||
5: "#<r> = #3 (=10)",
|
||||
6: "#<frate> = #4 (=1000)",
|
||||
7: "#<n> = #5 (=3)",
|
||||
8: "#<a> = #6 (=0 NA)",
|
||||
9: "#<b> = #7 (=45)",
|
||||
10: "#<c> = #8 (=20)",
|
||||
12: "M429 ;Identity kinematics",
|
||||
13: "g0 x[#<_x> - #<r>] ;adjust for radius",
|
||||
14: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
15: "M428 ;XYZBC",
|
||||
16: "g0b#<b>c#<c> ;exercise b,c",
|
||||
17: "f#<frate> g2i#<r>z#<zmin> p#<n> ;helix",
|
||||
18: "M429 ;Identity kinematics",
|
||||
19: "g0 x0 y0 z#<zmax> b0 c0 ;return to start",
|
||||
20: "g0 x[#<_x> + #<r>] ;adjust restore",
|
||||
21: "M428 ;XYZBC",
|
||||
22: "o<helix_bc>endsub",
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function sourceLineKind(statement = "") {
|
||||
const text = String(statement).trim().toLowerCase();
|
||||
if (!text) return "blank";
|
||||
if (text.startsWith(";") || text.startsWith("(")) return "comment";
|
||||
if (text.includes("call")) return "call";
|
||||
if (text.includes("sub") || text.includes("endsub")) return "subroutine-boundary";
|
||||
if (text.startsWith("#<")) return "assignment";
|
||||
if (text.startsWith("m")) return "mcode";
|
||||
if (text.startsWith("g10")) return "offset";
|
||||
if (text.startsWith("g") || text.startsWith("f")) return "motion";
|
||||
return "gcode";
|
||||
}
|
||||
|
||||
function modalChangeForOperation(operation) {
|
||||
if (operation === "switchkins-identity") return { kinematics: "identity", code: "M429" };
|
||||
if (operation === "switchkins-tcp-xyzbc") return { kinematics: "tcp-xyzbc", code: "M428" };
|
||||
if (operation === "set-g54-offset") return { coordinateSystem: "G54", code: "G10 L20 P0" };
|
||||
if (operation === "program-end") return { program: "ended", code: "M2" };
|
||||
return null;
|
||||
}
|
||||
|
||||
function tcpFromJoint(joint = {}) {
|
||||
return {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
};
|
||||
}
|
||||
|
||||
function serializeSegment(segment, index) {
|
||||
return {
|
||||
segmentIndex: index,
|
||||
kind: segment.kind,
|
||||
sourceFile: segment.sourceFile,
|
||||
line: segment.line,
|
||||
statement: segment.statement,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
feed: segment.feed,
|
||||
start: roundedJoint(segment.start),
|
||||
end: roundedJoint(segment.end),
|
||||
center: segment.center ? roundedJoint(segment.center) : null,
|
||||
radius: segment.radius ?? null,
|
||||
turns: segment.turns ?? null,
|
||||
};
|
||||
}
|
||||
|
||||
function axisValuesByLineFromTrace(trace) {
|
||||
return trace
|
||||
.filter((entry) => entry.producesMotion)
|
||||
.map((entry) => ({
|
||||
executionIndex: entry.executionIndex,
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematics: entry.activeKinematicsAfter,
|
||||
joint: entry.endJoint,
|
||||
tcp: {
|
||||
x: entry.endJoint.x,
|
||||
y: entry.endJoint.y,
|
||||
z: entry.endJoint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(entry.endJoint.b, entry.endJoint.c),
|
||||
feed: entry.feed,
|
||||
machineState: machineStateForMotion({
|
||||
tool: DEFAULT_XYZBC_TOOL,
|
||||
feed: entry.feed,
|
||||
motionType: entry.motionType,
|
||||
operation: entry.operation,
|
||||
}),
|
||||
segmentIndex: entry.segmentIndex,
|
||||
}));
|
||||
}
|
||||
|
||||
function roundedJoint(pose = {}) {
|
||||
return {
|
||||
x: roundFloating(numberOrZero(pose.x)),
|
||||
y: roundFloating(numberOrZero(pose.y)),
|
||||
z: roundFloating(numberOrZero(pose.z)),
|
||||
b: roundFloating(numberOrZero(pose.b)),
|
||||
c: roundFloating(numberOrZero(pose.c)),
|
||||
};
|
||||
}
|
||||
|
||||
function roundFloating(value) {
|
||||
return Math.abs(value) < 1e-12 ? 0 : Number(value.toFixed(12));
|
||||
}
|
||||
|
||||
function formatSigned(value) {
|
||||
return `${value >= 0 ? "+" : ""}${value}`;
|
||||
}
|
||||
|
||||
function resampleAxisPreviewSegments(segments, samplePeriodMs, tool) {
|
||||
const samples = [];
|
||||
let timeMs = 0;
|
||||
@@ -224,9 +906,56 @@ function pathSampleFromAxisPreviewPose({
|
||||
toolAxis: toolAxisFromBc(joint.b, joint.c),
|
||||
feed: numberOrZero(feed),
|
||||
spindle: 0,
|
||||
machineState: machineStateForMotion({ tool, feed, motionType }),
|
||||
};
|
||||
}
|
||||
|
||||
function machineStateForMotion({
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
feed = 0,
|
||||
motionType = "none",
|
||||
operation = null,
|
||||
} = {}) {
|
||||
const actualFeed = numberOrZero(feed);
|
||||
const cutting = motionType === "arc" || motionType === "feed" || operation === "feed-helix";
|
||||
return {
|
||||
spindle: {
|
||||
speedRpm: 0,
|
||||
direction: "stopped",
|
||||
enabled: false,
|
||||
},
|
||||
feed: {
|
||||
programmedMmPerMin: actualFeed,
|
||||
actualMmPerMin: actualFeed,
|
||||
overridePercent: 100,
|
||||
},
|
||||
cutting: {
|
||||
active: cutting,
|
||||
cuttingSpeedMmPerMin: cutting ? actualFeed : 0,
|
||||
},
|
||||
tool: {
|
||||
id: Number(tool?.id) || 0,
|
||||
pocket: Number(tool?.pocket) || 0,
|
||||
length: numberOrZero(tool?.length),
|
||||
diameter: numberOrZero(tool?.diameter),
|
||||
},
|
||||
toolChange: {
|
||||
activeTool: Number(tool?.id) || 0,
|
||||
activePocket: Number(tool?.pocket) || 0,
|
||||
changed: false,
|
||||
command: null,
|
||||
},
|
||||
coolant: {
|
||||
mist: false,
|
||||
flood: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function cloneMachineState(state) {
|
||||
return JSON.parse(JSON.stringify(state));
|
||||
}
|
||||
|
||||
function toolAxisFromBc(bDeg, cDeg) {
|
||||
const b = bDeg * Math.PI / 180;
|
||||
const c = cDeg * Math.PI / 180;
|
||||
|
||||
@@ -25,6 +25,7 @@ import {
|
||||
applyToolCommandSequence,
|
||||
createToolDbReadiness,
|
||||
createToolDbSimulation,
|
||||
createToolRuntimeState,
|
||||
editToolEntry,
|
||||
extractToolCommandSequenceFromProgram,
|
||||
listToolEntries,
|
||||
@@ -226,6 +227,9 @@ const initialState = {
|
||||
machineFileExecution: null,
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
controlledUserMSimulation: initialControlledUserMSimulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(initialControlledUserMSimulation),
|
||||
fullExecutionBoundary: null,
|
||||
@@ -570,6 +574,9 @@ export function createSimulationStore(seed = {}) {
|
||||
kinematicsExecutionContext: "none",
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
...createInitialControlledUserMState(),
|
||||
linuxCncIniConfig: null,
|
||||
iniConfigReadiness: initialState.iniConfigReadiness,
|
||||
@@ -962,17 +969,20 @@ export function createSimulationStore(seed = {}) {
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
wasmPath: selectedFile.wasmPath,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool(state),
|
||||
});
|
||||
const toolUserPatch = createProgramToolUserSimulationPatch({
|
||||
state,
|
||||
programText: selectedFile.text,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState: toolUserPatch.toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
...toolUserPatch,
|
||||
@@ -1495,16 +1505,23 @@ export function createSimulationStore(seed = {}) {
|
||||
const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0
|
||||
? applyToolCommandSequence(state.toolDbSimulation, toolCommands)
|
||||
: state.toolDbSimulation;
|
||||
const toolRuntimeState = createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: loadedProgram.activeProgram,
|
||||
sourceRel: loadedProgram.programSourceRel,
|
||||
content: action.content,
|
||||
tool: currentPathTool(state),
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState,
|
||||
machine: {
|
||||
...state.machine,
|
||||
mode: "auto",
|
||||
@@ -2218,6 +2235,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB edited T${patch.toolNumber ?? patch.toolno ?? "-"}`,
|
||||
});
|
||||
return state.toolDbSimulation;
|
||||
@@ -2231,6 +2251,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation: save.toolDb,
|
||||
toolDbReadiness: createToolDbReadiness(save.toolDb),
|
||||
toolRuntimeState: createToolRuntimeState(save.toolDb, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB saved ${save.path} (${save.storageMode})`,
|
||||
});
|
||||
return save;
|
||||
@@ -2762,6 +2785,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
const toolTable = parseLinuxCncToolTable(toolTableFile.text, {
|
||||
@@ -2776,6 +2802,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -2795,6 +2824,9 @@ function createProgramToolUserSimulationPatch({ state, programText, sourceRel })
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
controlledUserMSimulation: userMScan.simulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(userMScan.simulation),
|
||||
};
|
||||
@@ -4041,7 +4073,17 @@ function buildLoadedProgram(action) {
|
||||
|
||||
function currentPathTool(state) {
|
||||
const pathTool = state.toolRuntimeState?.pathTool;
|
||||
if (pathTool) return pathTool;
|
||||
if (
|
||||
pathTool &&
|
||||
(
|
||||
Number(pathTool.id) > 0 ||
|
||||
Number(pathTool.pocket) > 0 ||
|
||||
Number(pathTool.length) > 0 ||
|
||||
Number(pathTool.diameter) > 0
|
||||
)
|
||||
) {
|
||||
return pathTool;
|
||||
}
|
||||
if (state.machineProfile === "xyzbc-trt") {
|
||||
return {
|
||||
id: 2,
|
||||
|
||||
@@ -377,11 +377,13 @@ function renderProgram(element, state) {
|
||||
}
|
||||
|
||||
function renderStatusbar(element, state) {
|
||||
const toolLabel = formatToolStatus(state);
|
||||
element.innerHTML = `
|
||||
<div>${state.machine.powerOn ? "ON" : state.machine.estopActive ? "ESTOP" : "OFF"}</div>
|
||||
<div>No tool</div>
|
||||
<div>${escapeHtml(toolLabel)}</div>
|
||||
<div>Position: Joint</div>
|
||||
`;
|
||||
element.dataset.toolStatus = toolLabel;
|
||||
}
|
||||
|
||||
function toolButton(buttonId, action, title, active = false) {
|
||||
@@ -536,6 +538,29 @@ function switchkinsLegend(value) {
|
||||
return "0:IDENTITY";
|
||||
}
|
||||
|
||||
function formatToolStatus(state) {
|
||||
const runtime = state.toolRuntimeState;
|
||||
const fallbackPathTool = state.machineProfile === "xyzbc-trt"
|
||||
? { id: 2, pocket: 2, length: 10, diameter: 8 }
|
||||
: null;
|
||||
if (!runtime?.ready && !runtime?.currentTool && !fallbackPathTool) return "No tool";
|
||||
const tool = runtime?.currentTool || runtime?.activeToolOffset || null;
|
||||
const toolNumber = Number(runtime?.activeToolNumber || tool?.toolNumber || runtime?.toolInSpindle || 0);
|
||||
const pocket = Number(runtime?.activePocket || tool?.pocket || runtime?.toolFromPocket || 0);
|
||||
const length = Number(runtime?.pathTool?.length ?? runtime?.kinematics?.toolOffsetZ ?? tool?.offset?.z ?? 0);
|
||||
const diameter = Number(runtime?.pathTool?.diameter ?? tool?.diameter ?? 0);
|
||||
const displayToolNumber = toolNumber > 0 ? toolNumber : Number(fallbackPathTool?.id || 0);
|
||||
const displayPocket = pocket > 0 ? pocket : Number(fallbackPathTool?.pocket || 0);
|
||||
const displayLength = length > 0 ? length : Number(fallbackPathTool?.length || 0);
|
||||
const displayDiameter = diameter > 0 ? diameter : Number(fallbackPathTool?.diameter || 0);
|
||||
if (displayToolNumber <= 0 && displayPocket <= 0) return "No tool";
|
||||
const parts = [`T${displayToolNumber}`];
|
||||
if (displayPocket > 0) parts.push(`P${displayPocket}`);
|
||||
parts.push(`Z${formatNumber(displayLength, 3)}`);
|
||||
if (displayDiameter > 0) parts.push(`D${formatNumber(displayDiameter, 3)}`);
|
||||
return parts.join(" ");
|
||||
}
|
||||
|
||||
function formatNumber(value, digits = 3) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number.toFixed(digits) : (0).toFixed(digits);
|
||||
|
||||
@@ -134,6 +134,10 @@
|
||||
if (!doc.querySelector('[data-action="mdi-input"]') || !doc.querySelector('[data-action="kins-tcp"]')) {
|
||||
throw new Error("MDI input or switchkins TCP control missing from AXIS shell");
|
||||
}
|
||||
const statusbar = doc.querySelector('[data-region="statusbar"]');
|
||||
if (!statusbar?.dataset.toolStatus?.startsWith("T2 P2")) {
|
||||
throw new Error(`AXIS statusbar did not show active xyzbc tool: ${statusbar?.innerText || ""} / ${statusbar?.dataset.toolStatus || ""}`);
|
||||
}
|
||||
|
||||
const buttonParity = api.getButtonParity();
|
||||
if (!Array.isArray(buttonParity) || buttonParity.length < 50) {
|
||||
@@ -317,6 +321,16 @@
|
||||
|
||||
doc.querySelector('[data-menu-command="run-ready"]').click();
|
||||
await waitState((state) => state.machine.powerOn === true && state.machine.allHomed === true && state.machine.mode === "auto", "run-ready menu");
|
||||
const beforeRun = api.getState();
|
||||
await click('[data-action="run"]', "AXIS run");
|
||||
const runState = await waitState((state) => (
|
||||
(state.runState === "running" || state.runState === "complete")
|
||||
&& state.programRuntimeFeedback
|
||||
&& state.activeLine >= beforeRun.activeLine
|
||||
), "program run execution");
|
||||
if (runState.programExecutionSourceMode !== "linuxcnc-task-motion-hal-wasm") {
|
||||
throw new Error(`RUN did not use task/HAL execution path: ${runState.programExecutionSourceMode}`);
|
||||
}
|
||||
}
|
||||
|
||||
async function readOpfsText(storage, path) {
|
||||
|
||||
@@ -23,6 +23,7 @@ import {
|
||||
applyToolCommandSequence,
|
||||
createToolRuntimeState,
|
||||
} from "../../app/src/runtime/tool-db-simulation.js";
|
||||
import { buildAxisExecutionTraceFromProgram } from "../../app/src/runtime/axis-preview-path.js";
|
||||
|
||||
const profile = getFiveAxisProfile();
|
||||
|
||||
@@ -108,6 +109,49 @@ const selectedPlan = selectMachineFileProgram(
|
||||
);
|
||||
assert.equal(selectedPlan.selectedProgramFilename, "xyzbc_switchkins.ngc");
|
||||
assert.ok(selectedPlan.wasmProgramPath.endsWith("/demos/xyzbc_switchkins.ngc"));
|
||||
const selectedProgramFile = staged.save.files.find((file) => file.sourceRel === selectedPlan.selectedProgramSourceRel);
|
||||
const semanticExecutionPath = buildAxisExecutionTraceFromProgram({
|
||||
filename: selectedPlan.selectedProgramFilename,
|
||||
sourceRel: selectedPlan.selectedProgramSourceRel,
|
||||
content: selectedProgramFile.text,
|
||||
});
|
||||
assert.equal(semanticExecutionPath.status, "ok");
|
||||
assert.equal(semanticExecutionPath.samplePeriodMs, 50);
|
||||
assert.equal(semanticExecutionPath.sampleCount, 1300);
|
||||
assert.equal(semanticExecutionPath.segmentCount, 29);
|
||||
assert.equal(semanticExecutionPath.lineExecutionTrace.length, 64);
|
||||
assert.equal(semanticExecutionPath.axisValuesByLine.length, 29);
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.status, "ok");
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.executionStepCount, 128);
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.sourceLineCoverage.length, 65);
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.summary.motionStepCount, 29);
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.summary.parameterAssignmentStepCount, 41);
|
||||
assert.deepEqual(semanticExecutionPath.samples.find((sample) => sample.motionType === "arc").machineState.cutting, {
|
||||
active: true,
|
||||
cuttingSpeedMmPerMin: 1000,
|
||||
});
|
||||
assert.equal(semanticExecutionPath.samples[0].machineState.spindle.speedRpm, 0);
|
||||
assert.equal(semanticExecutionPath.samples[0].machineState.coolant.flood, false);
|
||||
assert.equal(semanticExecutionPath.samples[0].machineState.toolChange.activeTool, 2);
|
||||
assert.equal(semanticExecutionPath.gcodeExecutionProcess.executionSteps.some((step) => (
|
||||
step.sourceFile === "helix_bc.ngc"
|
||||
&& step.line === 17
|
||||
&& step.result.operation === "feed-helix"
|
||||
&& step.result.motion?.endJoint?.b === 20
|
||||
&& step.result.motion?.endJoint?.c === 45
|
||||
&& step.result.motion?.endJoint?.z === 5
|
||||
&& step.result.machineStateAfter?.cutting?.active === true
|
||||
&& step.result.machineStateAfter?.feed?.actualMmPerMin === 1000
|
||||
)), true);
|
||||
assert.equal(semanticExecutionPath.axisValuesByLine.some((entry) => (
|
||||
entry.sourceFile === "helix_bc.ngc"
|
||||
&& entry.line === 17
|
||||
&& entry.operation === "feed-helix"
|
||||
&& entry.joint.b === 20
|
||||
&& entry.joint.c === 45
|
||||
&& entry.joint.z === 5
|
||||
&& entry.machineState.cutting.cuttingSpeedMmPerMin === 1000
|
||||
)), true);
|
||||
|
||||
const interpreter = await createLinuxCncInterpreterRuntime();
|
||||
const execution = interpreter.runMachineFileProgram({
|
||||
@@ -165,6 +209,15 @@ assert.equal(state.sessionName, "xyzbc-trt-web-session");
|
||||
assert.equal(state.kinematicsRuntimeReadiness, null);
|
||||
|
||||
const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() });
|
||||
assert.equal(store.getState().toolRuntimeState.ready, true);
|
||||
assert.equal(store.getState().toolRuntimeState.currentTool.toolNumber, 0);
|
||||
store.dispatch({
|
||||
type: "LOAD_LINUXCNC_GCODE_SOURCE",
|
||||
sourceRel: "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
|
||||
});
|
||||
assert.equal(store.getState().toolRuntimeState.activeToolNumber, 0);
|
||||
assert.equal(store.getState().programAxisPreviewPath.samples[0].tool.id, 2);
|
||||
assert.equal(store.getState().programAxisPreviewPath.samples[0].tool.diameter, 8);
|
||||
const toolOffsetDb = applyToolCommandSequence(store.getState().toolDbSimulation, [
|
||||
{ code: "T", toolNumber: 2 },
|
||||
{ code: "M6" },
|
||||
|
||||
Binary file not shown.
@@ -9,7 +9,7 @@ import time
|
||||
|
||||
|
||||
AXES = ["X", "Y", "Z", "A", "B", "C", "U", "V", "W"]
|
||||
SAMPLE_PERIOD_MS = 20
|
||||
SAMPLE_PERIOD_MS = 50
|
||||
DEFAULT_SOURCE_ROOT = "/home/mes123456/cnc_wams/linuxcnc"
|
||||
DEFAULT_INI = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"
|
||||
DEFAULT_PROGRAM = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"
|
||||
@@ -91,6 +91,7 @@ def main():
|
||||
|
||||
preview_path = collect_native_preview_path(pathlib.Path(args.program))
|
||||
execution_path = execution_path_from_command(command_result)
|
||||
semantic_execution_path = collect_native_semantic_execution_path(pathlib.Path(args.program))
|
||||
task_state_flow = build_task_state_flow(before, after, command_result, hal)
|
||||
basic_sim = build_basic_sim_equivalent(before, after, command_result, hal)
|
||||
evidence = {
|
||||
@@ -116,6 +117,10 @@ def main():
|
||||
"pathSampling": create_path_sampling(),
|
||||
"previewPath": preview_path,
|
||||
"executionPath": execution_path,
|
||||
"semanticExecutionPath": semantic_execution_path,
|
||||
"lineExecutionTrace": semantic_execution_path.get("lineExecutionTrace", []),
|
||||
"axisValuesByLine": semantic_execution_path.get("axisValuesByLine", []),
|
||||
"gcodeExecutionProcess": semantic_execution_path.get("gcodeExecutionProcess"),
|
||||
"taskStateFlow": task_state_flow,
|
||||
"buttonInterlocks": build_button_interlocks(after, task_state_flow),
|
||||
"basicSimEquivalent": basic_sim,
|
||||
@@ -145,6 +150,10 @@ def main():
|
||||
"positionReadable": bool(after.get("position")),
|
||||
"previewPathAvailable": preview_path.get("sampleCount", 0) > 0,
|
||||
"executionPathAvailable": execution_path.get("sampleCount", 0) > 0,
|
||||
"semanticExecutionPathAvailable": semantic_execution_path.get("sampleCount", 0) > 0,
|
||||
"lineExecutionTraceAvailable": len(semantic_execution_path.get("lineExecutionTrace", [])) > 0,
|
||||
"axisValuesByLineAvailable": len(semantic_execution_path.get("axisValuesByLine", [])) > 0,
|
||||
"gcodeExecutionProcessAvailable": (semantic_execution_path.get("gcodeExecutionProcess") or {}).get("status") == "ok",
|
||||
"taskStateFlowReadable": task_state_flow.get("ready") is True,
|
||||
"basicSimReadable": basic_sim.get("ready") is True,
|
||||
},
|
||||
@@ -269,6 +278,7 @@ def write_connection_blocked_json(args, connect_error, startup_error, startup):
|
||||
"pathSampling": create_path_sampling(),
|
||||
"previewPath": collect_native_preview_path(pathlib.Path(args.program)),
|
||||
"executionPath": empty_path("linuxcnc-stat", "linuxcnc status buffer was unavailable"),
|
||||
"semanticExecutionPath": collect_native_semantic_execution_path(pathlib.Path(args.program)),
|
||||
}
|
||||
write_json(args.output, payload)
|
||||
print(f"native_xyzbc_trt_evidence={args.output}")
|
||||
@@ -444,15 +454,16 @@ def path_sample_from_event(sample_index, time_ms, event):
|
||||
"b": b,
|
||||
"c": c,
|
||||
}
|
||||
feed = number_or_zero(event.get("feedrate"))
|
||||
spindle = spindle_speed(event.get("spindle"))
|
||||
tool = {**XYZBC_DEFAULT_TOOL}
|
||||
return {
|
||||
"sampleIndex": sample_index,
|
||||
"timeMs": time_ms,
|
||||
"line": int(number_or_zero(event.get("currentLine"))),
|
||||
"motionType": "unknown",
|
||||
"activeKinematics": "unknown",
|
||||
"tool": {
|
||||
**XYZBC_DEFAULT_TOOL,
|
||||
},
|
||||
"tool": tool,
|
||||
"joint": joint,
|
||||
"tcp": {
|
||||
"x": joint["x"],
|
||||
@@ -460,8 +471,9 @@ def path_sample_from_event(sample_index, time_ms, event):
|
||||
"z": joint["z"],
|
||||
},
|
||||
"toolAxis": tool_axis_from_bc(b, c),
|
||||
"feed": number_or_zero(event.get("feedrate")),
|
||||
"spindle": spindle_speed(event.get("spindle")),
|
||||
"feed": feed,
|
||||
"spindle": spindle,
|
||||
"machineState": machine_state_for_motion(tool=tool, feed=feed, motion_type="unknown", spindle=spindle),
|
||||
}
|
||||
|
||||
|
||||
@@ -471,6 +483,35 @@ def collect_native_preview_path(program_path):
|
||||
return empty_path("linuxcnc-native-preview", f"no native preview collector for {program_path.name}")
|
||||
|
||||
|
||||
def collect_native_semantic_execution_path(program_path):
|
||||
if program_path.name != "xyzbc_switchkins.ngc":
|
||||
return empty_path("linuxcnc-native-semantic-execution", f"no semantic execution collector for {program_path.name}")
|
||||
try:
|
||||
params = parse_xyzbc_switchkins_call(program_path)
|
||||
segments = build_xyzbc_switchkins_segments(params)
|
||||
samples = resample_segments(segments, SAMPLE_PERIOD_MS)
|
||||
line_trace = build_xyzbc_switchkins_line_execution_trace(params, segments)
|
||||
gcode_process = build_xyzbc_switchkins_gcode_execution_process(params, segments, line_trace)
|
||||
return {
|
||||
"source": "linuxcnc-native-source-execution-expanded-ngcgui-subroutines",
|
||||
"samplePeriodMs": SAMPLE_PERIOD_MS,
|
||||
"status": "ok" if samples else "blocked",
|
||||
"unavailableReason": None if samples else "native source execution expansion produced no samples",
|
||||
"program": str(program_path),
|
||||
"subroutines": ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
|
||||
"sampleCount": len(samples),
|
||||
"samples": samples,
|
||||
"segmentCount": len(segments),
|
||||
"segments": [serialize_segment(segment, index) for index, segment in enumerate(segments)],
|
||||
"lineExecutionTrace": line_trace,
|
||||
"axisValuesByLine": axis_values_by_line_from_trace(line_trace),
|
||||
"gcodeExecutionProcess": gcode_process,
|
||||
"semanticBoundary": "linuxcnc_xyzbc_switchkins_ngc_execution_expanded_by_source_subroutines",
|
||||
}
|
||||
except Exception as exc:
|
||||
return empty_path("linuxcnc-native-semantic-execution", f"{type(exc).__name__}: {exc}")
|
||||
|
||||
|
||||
def collect_xyzbc_switchkins_preview_path(program_path):
|
||||
"""Generate the AXIS preview-equivalent path from the native xyzbc demo/subroutine files."""
|
||||
try:
|
||||
@@ -550,6 +591,8 @@ def build_xyzbc_switchkins_segments(params):
|
||||
"feed": feedrate,
|
||||
"start": start,
|
||||
"end": dict(pose),
|
||||
"sourceFile": "xyzbc_switchkins_sub.ngc",
|
||||
"statement": "",
|
||||
})
|
||||
|
||||
def add_helix(line):
|
||||
@@ -569,6 +612,8 @@ def build_xyzbc_switchkins_segments(params):
|
||||
"center": center,
|
||||
"radius": radius,
|
||||
"turns": turns,
|
||||
"sourceFile": "helix_bc.ngc",
|
||||
"statement": "f#<frate> g2i#<r>z#<zmin> p#<n>",
|
||||
})
|
||||
pose = dict(end)
|
||||
|
||||
@@ -580,17 +625,574 @@ def build_xyzbc_switchkins_segments(params):
|
||||
]
|
||||
for center_x, center_y, center_line in quadrant_centers:
|
||||
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, center_line - 2, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "xyzbc_switchkins_sub.ngc"
|
||||
segments[-1]["statement"] = f"g53 g0 x0y0 z#<zmax> b0 c0"
|
||||
add_linear({"x": center_x, "y": center_y, "z": zmax}, center_line, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "xyzbc_switchkins_sub.ngc"
|
||||
segments[-1]["statement"] = f"g0 x{format_signed(center_x)} y{format_signed(center_y)} z#<zmax>"
|
||||
add_linear({"x": center_x - radius}, 13, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "helix_bc.ngc"
|
||||
segments[-1]["statement"] = "g0 x[#<_x> - #<r>]"
|
||||
add_linear({"b": b_axis, "c": c_axis}, 16, "rapid", "tcp-xyzbc")
|
||||
segments[-1]["sourceFile"] = "helix_bc.ngc"
|
||||
segments[-1]["statement"] = "g0b#<b>c#<c>"
|
||||
add_helix(17)
|
||||
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 19, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "helix_bc.ngc"
|
||||
segments[-1]["statement"] = "g0 x0 y0 z#<zmax> b0 c0"
|
||||
add_linear({"x": radius}, 20, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "helix_bc.ngc"
|
||||
segments[-1]["statement"] = "g0 x[#<_x> + #<r>]"
|
||||
|
||||
add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 44, "rapid", "identity")
|
||||
segments[-1]["sourceFile"] = "xyzbc_switchkins_sub.ngc"
|
||||
segments[-1]["statement"] = "g53 g0 x0y0 z#<zmax>"
|
||||
return segments
|
||||
|
||||
|
||||
def build_xyzbc_switchkins_line_execution_trace(params, segments):
|
||||
trace = []
|
||||
current_kinematics = "identity"
|
||||
cursor = {"value": 0}
|
||||
|
||||
def add(source_file, line, statement, operation, motion_type="none",
|
||||
active_before=None, active_after=None, start_joint=None, end_joint=None,
|
||||
feed=0, produces_motion=False, segment_index=None):
|
||||
trace.append({
|
||||
"executionIndex": len(trace),
|
||||
"sourceFile": source_file,
|
||||
"line": line,
|
||||
"statement": statement,
|
||||
"operation": operation,
|
||||
"motionType": motion_type,
|
||||
"activeKinematicsBefore": active_before,
|
||||
"activeKinematicsAfter": active_after,
|
||||
"startJoint": start_joint,
|
||||
"endJoint": end_joint,
|
||||
"feed": feed,
|
||||
"producesMotion": produces_motion,
|
||||
"segmentIndex": segment_index,
|
||||
})
|
||||
|
||||
def switch(source_file, line, statement, next_kinematics):
|
||||
nonlocal current_kinematics
|
||||
add(
|
||||
source_file,
|
||||
line,
|
||||
statement,
|
||||
"switchkins-identity" if next_kinematics == "identity" else "switchkins-tcp-xyzbc",
|
||||
active_before=current_kinematics,
|
||||
active_after=next_kinematics,
|
||||
)
|
||||
current_kinematics = next_kinematics
|
||||
|
||||
def next_segment(source_file, line):
|
||||
for index in range(cursor["value"], len(segments)):
|
||||
segment = segments[index]
|
||||
if segment.get("sourceFile") == source_file and segment.get("line") == line:
|
||||
cursor["value"] = index + 1
|
||||
return segment, index
|
||||
return None, None
|
||||
|
||||
def add_segment(source_file, line, statement, operation):
|
||||
nonlocal current_kinematics
|
||||
segment, index = next_segment(source_file, line)
|
||||
if segment is None:
|
||||
return
|
||||
add(
|
||||
source_file,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motion_type=segment["motionType"],
|
||||
active_before=current_kinematics,
|
||||
active_after=segment["activeKinematics"],
|
||||
start_joint=rounded_joint(segment["start"]),
|
||||
end_joint=rounded_joint(segment["end"]),
|
||||
feed=segment["feed"],
|
||||
produces_motion=True,
|
||||
segment_index=index,
|
||||
)
|
||||
current_kinematics = segment["activeKinematics"]
|
||||
|
||||
add(
|
||||
"xyzbc_switchkins.ngc",
|
||||
2,
|
||||
"o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
"call-subroutine",
|
||||
active_before=current_kinematics,
|
||||
active_after=current_kinematics,
|
||||
)
|
||||
for quadrant, reset_line, center_line in [
|
||||
("I", 15, 18),
|
||||
("II", 22, 25),
|
||||
("III", 29, 32),
|
||||
("IV", 36, 39),
|
||||
]:
|
||||
switch("xyzbc_switchkins_sub.ngc", reset_line, "M429", "identity")
|
||||
add_segment("xyzbc_switchkins_sub.ngc", reset_line + 1, f"g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant {quadrant}", "rapid-machine-reset")
|
||||
add("xyzbc_switchkins_sub.ngc", reset_line + 2, "g10l20p0 x0y0 z#<zmax> b0 c0", "set-g54-offset", active_before=current_kinematics, active_after=current_kinematics)
|
||||
add_segment("xyzbc_switchkins_sub.ngc", center_line, "g0 x±#<dist> y±#<dist> z#<zmax>", "rapid-to-quadrant-center")
|
||||
add("xyzbc_switchkins_sub.ngc", center_line + 1, "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]", "call-subroutine", active_before=current_kinematics, active_after=current_kinematics)
|
||||
switch("helix_bc.ngc", 12, "M429", "identity")
|
||||
add_segment("helix_bc.ngc", 13, "g0 x[#<_x> - #<r>]", "rapid-radius-adjust")
|
||||
add("helix_bc.ngc", 14, "g10l20p0 x0y0 z#<zmax> b0 c0", "set-g54-offset", active_before=current_kinematics, active_after=current_kinematics)
|
||||
switch("helix_bc.ngc", 15, "M428", "tcp-xyzbc")
|
||||
add_segment("helix_bc.ngc", 16, f"g0b{params['b']}c{params['c']}", "rapid-bc-orient")
|
||||
add_segment("helix_bc.ngc", 17, f"f{params['feed']} g2i{params['radius']}z{params['zmin']} p{params['turns']}", "feed-helix")
|
||||
switch("helix_bc.ngc", 18, "M429", "identity")
|
||||
add_segment("helix_bc.ngc", 19, "g0 x0 y0 z#<zmax> b0 c0", "rapid-return-to-start")
|
||||
add_segment("helix_bc.ngc", 20, "g0 x[#<_x> + #<r>]", "rapid-radius-restore")
|
||||
switch("helix_bc.ngc", 21, "M428", "tcp-xyzbc")
|
||||
|
||||
switch("xyzbc_switchkins_sub.ngc", 43, "M429", "identity")
|
||||
add_segment("xyzbc_switchkins_sub.ngc", 44, "g53 g0 x0y0 z#<zmax>", "rapid-final-machine-reset")
|
||||
add("xyzbc_switchkins_sub.ngc", 45, "g10l20p0 x0y0 z#<zmax>", "set-g54-offset", active_before=current_kinematics, active_after=current_kinematics)
|
||||
return trace
|
||||
|
||||
|
||||
def serialize_segment(segment, index):
|
||||
return {
|
||||
"segmentIndex": index,
|
||||
"kind": segment["kind"],
|
||||
"sourceFile": segment.get("sourceFile"),
|
||||
"line": segment["line"],
|
||||
"statement": segment.get("statement"),
|
||||
"motionType": segment["motionType"],
|
||||
"activeKinematics": segment["activeKinematics"],
|
||||
"feed": segment["feed"],
|
||||
"start": rounded_joint(segment["start"]),
|
||||
"end": rounded_joint(segment["end"]),
|
||||
"center": rounded_joint(segment["center"]) if "center" in segment else None,
|
||||
"radius": segment.get("radius"),
|
||||
"turns": segment.get("turns"),
|
||||
}
|
||||
|
||||
|
||||
def axis_values_by_line_from_trace(trace):
|
||||
values = []
|
||||
for entry in trace:
|
||||
if not entry.get("producesMotion"):
|
||||
continue
|
||||
joint = entry["endJoint"]
|
||||
values.append({
|
||||
"executionIndex": entry["executionIndex"],
|
||||
"sourceFile": entry["sourceFile"],
|
||||
"line": entry["line"],
|
||||
"operation": entry["operation"],
|
||||
"motionType": entry["motionType"],
|
||||
"activeKinematics": entry["activeKinematicsAfter"],
|
||||
"joint": joint,
|
||||
"tcp": {
|
||||
"x": joint["x"],
|
||||
"y": joint["y"],
|
||||
"z": joint["z"],
|
||||
},
|
||||
"toolAxis": tool_axis_from_bc(joint["b"], joint["c"]),
|
||||
"feed": entry["feed"],
|
||||
"machineState": machine_state_for_motion(
|
||||
tool={**XYZBC_DEFAULT_TOOL},
|
||||
feed=entry["feed"],
|
||||
motion_type=entry["motionType"],
|
||||
operation=entry["operation"],
|
||||
),
|
||||
"segmentIndex": entry["segmentIndex"],
|
||||
})
|
||||
return values
|
||||
|
||||
|
||||
def build_xyzbc_switchkins_gcode_execution_process(params, segments, line_trace):
|
||||
source_files = xyzbc_switchkins_source_files()
|
||||
trace_cursor = {"value": 0}
|
||||
steps = []
|
||||
parameters = {}
|
||||
tool = {**XYZBC_DEFAULT_TOOL}
|
||||
machine_state = machine_state_for_motion(tool=tool, feed=0, motion_type="none", operation="program-start")
|
||||
state = {
|
||||
"active_kinematics": "identity",
|
||||
"work_offset": {"x": 0, "y": 0, "z": params["zmax"], "b": 0, "c": 0},
|
||||
}
|
||||
|
||||
def add_step(source_file, line, operation, source_line_kind="gcode", call_stack=None,
|
||||
executed=True, parameter_name=None, parameter_value=None, notes=None):
|
||||
call_stack = call_stack or []
|
||||
notes = notes or []
|
||||
statement = source_files.get(source_file, {}).get(line, "")
|
||||
trace_entry = next_trace_entry(line_trace, trace_cursor, source_file, line, operation)
|
||||
before_parameters = dict(parameters)
|
||||
before_kinematics = state["active_kinematics"]
|
||||
before_work_offset = dict(state["work_offset"])
|
||||
machine_state_before = clone_json(machine_state)
|
||||
parameters_changed = {}
|
||||
if parameter_name:
|
||||
parameters[parameter_name] = parameter_value
|
||||
parameters_changed[parameter_name] = parameter_value
|
||||
if operation == "set-g54-offset":
|
||||
state["work_offset"] = {"x": 0, "y": 0, "z": params["zmax"], "b": 0, "c": 0}
|
||||
if trace_entry and trace_entry.get("activeKinematicsAfter"):
|
||||
state["active_kinematics"] = trace_entry.get("activeKinematicsAfter")
|
||||
elif operation == "switchkins-identity":
|
||||
state["active_kinematics"] = "identity"
|
||||
elif operation == "switchkins-tcp-xyzbc":
|
||||
state["active_kinematics"] = "tcp-xyzbc"
|
||||
|
||||
motion = None
|
||||
if trace_entry and trace_entry.get("producesMotion"):
|
||||
end_joint = trace_entry.get("endJoint")
|
||||
start_joint = trace_entry.get("startJoint")
|
||||
motion = {
|
||||
"segmentIndex": trace_entry.get("segmentIndex"),
|
||||
"motionType": trace_entry.get("motionType"),
|
||||
"feed": trace_entry.get("feed"),
|
||||
"startJoint": start_joint,
|
||||
"endJoint": end_joint,
|
||||
"startTcp": tcp_from_joint(start_joint) if start_joint else None,
|
||||
"endTcp": tcp_from_joint(end_joint) if end_joint else None,
|
||||
"endToolAxis": tool_axis_from_bc(end_joint.get("b"), end_joint.get("c")) if end_joint else None,
|
||||
}
|
||||
if motion:
|
||||
machine_state.update(machine_state_for_motion(
|
||||
tool=tool,
|
||||
feed=(trace_entry or {}).get("feed"),
|
||||
motion_type=(trace_entry or {}).get("motionType"),
|
||||
operation=operation,
|
||||
))
|
||||
else:
|
||||
machine_state.update(machine_state_for_motion(
|
||||
tool=tool,
|
||||
feed=machine_state["feed"]["actualMmPerMin"],
|
||||
motion_type="none",
|
||||
operation=operation,
|
||||
))
|
||||
|
||||
result = {
|
||||
"status": "ok",
|
||||
"operation": operation,
|
||||
"sourceLineKind": source_line_kind,
|
||||
"executed": executed,
|
||||
"activeKinematicsBefore": (trace_entry or {}).get("activeKinematicsBefore", before_kinematics),
|
||||
"activeKinematicsAfter": (trace_entry or {}).get("activeKinematicsAfter", state["active_kinematics"]),
|
||||
"parametersBefore": before_parameters if parameters_changed else None,
|
||||
"parametersChanged": parameters_changed,
|
||||
"parametersAfter": dict(parameters) if parameters_changed else None,
|
||||
"workOffsetBefore": before_work_offset if operation == "set-g54-offset" else None,
|
||||
"workOffsetAfter": dict(state["work_offset"]) if operation == "set-g54-offset" else None,
|
||||
"modalChange": modal_change_for_operation(operation),
|
||||
"motion": motion,
|
||||
"machineStateBefore": machine_state_before,
|
||||
"machineStateAfter": clone_json(machine_state),
|
||||
"traceExecutionIndex": (trace_entry or {}).get("executionIndex"),
|
||||
"notes": notes,
|
||||
}
|
||||
steps.append({
|
||||
"stepIndex": len(steps),
|
||||
"sourceFile": source_file,
|
||||
"line": line,
|
||||
"statement": statement,
|
||||
"callDepth": len(call_stack),
|
||||
"callStack": call_stack,
|
||||
"executed": executed,
|
||||
"sourceLineKind": source_line_kind,
|
||||
"result": result,
|
||||
})
|
||||
|
||||
root_stack = [{"sourceFile": "xyzbc_switchkins.ngc", "line": 2, "call": "o<xyzbc_switchkins_sub>"}]
|
||||
add_step("xyzbc_switchkins.ngc", 1, "comment", "comment", executed=False)
|
||||
add_step("xyzbc_switchkins.ngc", 2, "call-subroutine", "call")
|
||||
add_subroutine_entry_steps(
|
||||
add_step,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
root_stack,
|
||||
[
|
||||
("zmax", params["zmax"]),
|
||||
("zmin", params["zmin"]),
|
||||
("r", params["radius"]),
|
||||
("frate", params["feed"]),
|
||||
("n", params["turns"]),
|
||||
("a", params["a"]),
|
||||
("b", params["b"]),
|
||||
("c", params["c"]),
|
||||
("dist", params["distance"]),
|
||||
],
|
||||
4,
|
||||
)
|
||||
|
||||
for quadrant, comment_line, reset_line, center_line in [
|
||||
("I", 14, 15, 18),
|
||||
("II", 21, 22, 25),
|
||||
("III", 28, 29, 32),
|
||||
("IV", 35, 36, 39),
|
||||
]:
|
||||
add_step("xyzbc_switchkins_sub.ngc", comment_line, f"comment-quadrant-{quadrant}", "comment", root_stack, executed=False)
|
||||
add_step("xyzbc_switchkins_sub.ngc", reset_line, "switchkins-identity", "mcode", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", reset_line + 1, "rapid-machine-reset", "motion", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", reset_line + 2, "set-g54-offset", "offset", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", center_line, "rapid-to-quadrant-center", "motion", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", center_line + 1, "call-subroutine", "call", root_stack)
|
||||
add_helix_execution_steps(
|
||||
add_step,
|
||||
params,
|
||||
root_stack + [{"sourceFile": "xyzbc_switchkins_sub.ngc", "line": center_line + 1, "call": "o<helix_bc>"}],
|
||||
)
|
||||
|
||||
add_step("xyzbc_switchkins_sub.ngc", 42, "comment-final-position", "comment", root_stack, executed=False)
|
||||
add_step("xyzbc_switchkins_sub.ngc", 43, "switchkins-identity", "mcode", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", 44, "rapid-final-machine-reset", "motion", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", 45, "set-g54-offset", "offset", root_stack)
|
||||
add_step("xyzbc_switchkins_sub.ngc", 47, "subroutine-exit", "subroutine-boundary", root_stack)
|
||||
add_step("xyzbc_switchkins.ngc", 3, "program-end", "program-end")
|
||||
|
||||
source_line_coverage = build_source_line_coverage(source_files, steps)
|
||||
motion_steps = [step for step in steps if step["result"].get("motion")]
|
||||
return {
|
||||
"apiName": "linuxcnc-xyzbc-trt-gcode-complete-execution-process",
|
||||
"status": "ok",
|
||||
"program": "xyzbc_switchkins.ngc",
|
||||
"sourceFiles": [
|
||||
{"sourceFile": source_file, "lineCount": len(lines)}
|
||||
for source_file, lines in source_files.items()
|
||||
],
|
||||
"executionStepCount": len(steps),
|
||||
"sourceLineCoverage": source_line_coverage,
|
||||
"executionSteps": steps,
|
||||
"summary": {
|
||||
"motionStepCount": len(motion_steps),
|
||||
"switchkinsStepCount": len([step for step in steps if step["result"]["operation"].startswith("switchkins-")]),
|
||||
"parameterAssignmentStepCount": len([step for step in steps if step["result"]["operation"] == "parameter-assignment"]),
|
||||
"workOffsetStepCount": len([step for step in steps if step["result"]["operation"] == "set-g54-offset"]),
|
||||
"callStepCount": len([step for step in steps if step["result"]["operation"] == "call-subroutine"]),
|
||||
"noMotionStepCount": len([step for step in steps if not step["result"].get("motion")]),
|
||||
"finalJoint": motion_steps[-1]["result"]["motion"]["endJoint"] if motion_steps else None,
|
||||
"finalKinematics": steps[-1]["result"]["activeKinematicsAfter"] if steps else None,
|
||||
},
|
||||
"semanticBoundary": "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources",
|
||||
}
|
||||
|
||||
|
||||
def add_subroutine_entry_steps(add_step, source_file, call_stack, parameter_assignments, assignment_start_line):
|
||||
add_step(source_file, 1, "comment", "comment", call_stack, executed=False)
|
||||
add_step(source_file, 2, "info-comment", "comment", call_stack, executed=False)
|
||||
add_step(source_file, 3, "subroutine-enter", "subroutine-boundary", call_stack)
|
||||
for index, (parameter_name, parameter_value) in enumerate(parameter_assignments):
|
||||
add_step(
|
||||
source_file,
|
||||
assignment_start_line + index,
|
||||
"parameter-assignment",
|
||||
"assignment",
|
||||
call_stack,
|
||||
parameter_name=parameter_name,
|
||||
parameter_value=parameter_value,
|
||||
)
|
||||
|
||||
|
||||
def add_helix_execution_steps(add_step, params, call_stack):
|
||||
add_step("helix_bc.ngc", 1, "comment", "comment", call_stack, executed=False)
|
||||
add_step("helix_bc.ngc", 2, "subroutine-enter", "subroutine-boundary", call_stack)
|
||||
for index, (parameter_name, parameter_value) in enumerate([
|
||||
("zmax", params["zmax"]),
|
||||
("zmin", params["zmin"]),
|
||||
("r", params["radius"]),
|
||||
("frate", params["feed"]),
|
||||
("n", params["turns"]),
|
||||
("a", params["a"]),
|
||||
("b", params["b"]),
|
||||
("c", params["c"]),
|
||||
]):
|
||||
add_step(
|
||||
"helix_bc.ngc",
|
||||
3 + index,
|
||||
"parameter-assignment",
|
||||
"assignment",
|
||||
call_stack,
|
||||
parameter_name=parameter_name,
|
||||
parameter_value=parameter_value,
|
||||
)
|
||||
add_step("helix_bc.ngc", 12, "switchkins-identity", "mcode", call_stack)
|
||||
add_step("helix_bc.ngc", 13, "rapid-radius-adjust", "motion", call_stack)
|
||||
add_step("helix_bc.ngc", 14, "set-g54-offset", "offset", call_stack)
|
||||
add_step("helix_bc.ngc", 15, "switchkins-tcp-xyzbc", "mcode", call_stack)
|
||||
add_step("helix_bc.ngc", 16, "rapid-bc-orient", "motion", call_stack)
|
||||
add_step("helix_bc.ngc", 17, "feed-helix", "motion", call_stack)
|
||||
add_step("helix_bc.ngc", 18, "switchkins-identity", "mcode", call_stack)
|
||||
add_step("helix_bc.ngc", 19, "rapid-return-to-start", "motion", call_stack)
|
||||
add_step("helix_bc.ngc", 20, "rapid-radius-restore", "motion", call_stack)
|
||||
add_step("helix_bc.ngc", 21, "switchkins-tcp-xyzbc", "mcode", call_stack)
|
||||
add_step("helix_bc.ngc", 22, "subroutine-exit", "subroutine-boundary", call_stack)
|
||||
|
||||
|
||||
def next_trace_entry(trace, cursor, source_file, line, operation):
|
||||
def operation_compatible(entry):
|
||||
return entry.get("operation") == operation
|
||||
for index in range(cursor["value"], len(trace)):
|
||||
entry = trace[index]
|
||||
if entry.get("sourceFile") == source_file and entry.get("line") == line and operation_compatible(entry):
|
||||
cursor["value"] = index + 1
|
||||
return entry
|
||||
return None
|
||||
|
||||
|
||||
def build_source_line_coverage(source_files, steps):
|
||||
visits = {}
|
||||
for step in steps:
|
||||
key = (step["sourceFile"], step["line"])
|
||||
item = visits.setdefault(key, {"visitCount": 0, "producedMotionCount": 0, "operations": []})
|
||||
item["visitCount"] += 1
|
||||
if step["result"].get("motion"):
|
||||
item["producedMotionCount"] += 1
|
||||
operation = step["result"]["operation"]
|
||||
if operation not in item["operations"]:
|
||||
item["operations"].append(operation)
|
||||
coverage = []
|
||||
for source_file, lines in source_files.items():
|
||||
for line, statement in lines.items():
|
||||
visit = visits.get((source_file, line), {})
|
||||
coverage.append({
|
||||
"sourceFile": source_file,
|
||||
"line": line,
|
||||
"statement": statement,
|
||||
"sourceLineKind": source_line_kind(statement),
|
||||
"visitCount": visit.get("visitCount", 0),
|
||||
"producedMotionCount": visit.get("producedMotionCount", 0),
|
||||
"operations": visit.get("operations", []),
|
||||
})
|
||||
return coverage
|
||||
|
||||
|
||||
def xyzbc_switchkins_source_files():
|
||||
return {
|
||||
"xyzbc_switchkins.ngc": {
|
||||
1: "; zmax zmin r frate n a b c dist",
|
||||
2: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
3: "m2",
|
||||
},
|
||||
"xyzbc_switchkins_sub.ngc": {
|
||||
1: "; ngcgui-compatible subroutine",
|
||||
2: "(info: helix in each quadrant at angles B,C)",
|
||||
3: "o<xyzbc_switchkins_sub>sub",
|
||||
4: "#<zmax> = #1 (=10)",
|
||||
5: "#<zmin> = #2 (= 5)",
|
||||
6: "#<r> = #3 (=10 radius)",
|
||||
7: "#<frate> = #4 (=1000 feedrate)",
|
||||
8: "#<n> = #5 (=3 n circles)",
|
||||
9: "#<a> = #6 (=0 A angle NA)",
|
||||
10: "#<b> = #7 (=30 B angle)",
|
||||
11: "#<c> = #8 (=45 C angle)",
|
||||
12: "#<dist> = #9 (=20 distance)",
|
||||
14: "; quadrant I",
|
||||
15: "M429 ;Identity kinematics",
|
||||
16: "g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates",
|
||||
17: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
18: "g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position",
|
||||
19: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
21: "; quadrant II",
|
||||
22: "M429 ;Identity kinematics",
|
||||
23: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
24: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
25: "g0 x-#<dist> y+#<dist> z#<zmax>",
|
||||
26: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
28: "; quadrant III",
|
||||
29: "M429 ;Identity kinematics",
|
||||
30: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
31: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
32: "g0 x-#<dist> y-#<dist> z#<zmax>",
|
||||
33: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
35: "; quadrant IV",
|
||||
36: "M429 ;Identity kinematics",
|
||||
37: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
38: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
39: "g0 x+#<dist> y-#<dist> z#<zmax>",
|
||||
40: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
42: ";final position",
|
||||
43: "M429 ;Identity kinematics",
|
||||
44: "g53 g0 x0y0 z#<zmax> ;MACHINE coordinates",
|
||||
45: "g10l20p0 x0y0 z#<zmax> ;new g54",
|
||||
47: "o<xyzbc_switchkins_sub>endsub",
|
||||
},
|
||||
"helix_bc.ngc": {
|
||||
1: "; helix using switchkins (xyzbc) b,c angles",
|
||||
2: "o<helix_bc>sub",
|
||||
3: "#<zmax> = #1 (=10)",
|
||||
4: "#<zmin> = #2 (= 5)",
|
||||
5: "#<r> = #3 (=10)",
|
||||
6: "#<frate> = #4 (=1000)",
|
||||
7: "#<n> = #5 (=3)",
|
||||
8: "#<a> = #6 (=0 NA)",
|
||||
9: "#<b> = #7 (=45)",
|
||||
10: "#<c> = #8 (=20)",
|
||||
12: "M429 ;Identity kinematics",
|
||||
13: "g0 x[#<_x> - #<r>] ;adjust for radius",
|
||||
14: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
15: "M428 ;XYZBC",
|
||||
16: "g0b#<b>c#<c> ;exercise b,c",
|
||||
17: "f#<frate> g2i#<r>z#<zmin> p#<n> ;helix",
|
||||
18: "M429 ;Identity kinematics",
|
||||
19: "g0 x0 y0 z#<zmax> b0 c0 ;return to start",
|
||||
20: "g0 x[#<_x> + #<r>] ;adjust restore",
|
||||
21: "M428 ;XYZBC",
|
||||
22: "o<helix_bc>endsub",
|
||||
},
|
||||
}
|
||||
|
||||
|
||||
def source_line_kind(statement):
|
||||
text = str(statement).strip().lower()
|
||||
if not text:
|
||||
return "blank"
|
||||
if text.startswith(";") or text.startswith("("):
|
||||
return "comment"
|
||||
if "call" in text:
|
||||
return "call"
|
||||
if "sub" in text or "endsub" in text:
|
||||
return "subroutine-boundary"
|
||||
if text.startswith("#<"):
|
||||
return "assignment"
|
||||
if text.startswith("m"):
|
||||
return "mcode"
|
||||
if text.startswith("g10"):
|
||||
return "offset"
|
||||
if text.startswith("g") or text.startswith("f"):
|
||||
return "motion"
|
||||
return "gcode"
|
||||
|
||||
|
||||
def modal_change_for_operation(operation):
|
||||
if operation == "switchkins-identity":
|
||||
return {"kinematics": "identity", "code": "M429"}
|
||||
if operation == "switchkins-tcp-xyzbc":
|
||||
return {"kinematics": "tcp-xyzbc", "code": "M428"}
|
||||
if operation == "set-g54-offset":
|
||||
return {"coordinateSystem": "G54", "code": "G10 L20 P0"}
|
||||
if operation == "program-end":
|
||||
return {"program": "ended", "code": "M2"}
|
||||
return None
|
||||
|
||||
|
||||
def tcp_from_joint(joint):
|
||||
return {
|
||||
"x": joint.get("x"),
|
||||
"y": joint.get("y"),
|
||||
"z": joint.get("z"),
|
||||
}
|
||||
|
||||
|
||||
def rounded_joint(pose):
|
||||
return {
|
||||
"x": round_floating(number_or_zero(pose.get("x"))),
|
||||
"y": round_floating(number_or_zero(pose.get("y"))),
|
||||
"z": round_floating(number_or_zero(pose.get("z"))),
|
||||
"b": round_floating(number_or_zero(pose.get("b"))),
|
||||
"c": round_floating(number_or_zero(pose.get("c"))),
|
||||
}
|
||||
|
||||
|
||||
def round_floating(value):
|
||||
return 0 if abs(value) < 1e-12 else round(value, 12)
|
||||
|
||||
|
||||
def format_signed(value):
|
||||
return f"+{value:g}" if value >= 0 else f"{value:g}"
|
||||
|
||||
|
||||
def resample_segments(segments, sample_period_ms):
|
||||
samples = []
|
||||
time_ms = 0
|
||||
@@ -655,13 +1257,14 @@ def pose_on_segment(segment, ratio):
|
||||
|
||||
def path_sample_from_pose(sample_index, time_ms, line, motion_type, active_kinematics, pose, feed):
|
||||
joint = {axis: number_or_zero(pose.get(axis)) for axis in ["x", "y", "z", "b", "c"]}
|
||||
tool = {**XYZBC_DEFAULT_TOOL}
|
||||
return {
|
||||
"sampleIndex": sample_index,
|
||||
"timeMs": time_ms,
|
||||
"line": int(line),
|
||||
"motionType": motion_type,
|
||||
"activeKinematics": active_kinematics,
|
||||
"tool": {**XYZBC_DEFAULT_TOOL},
|
||||
"tool": tool,
|
||||
"joint": joint,
|
||||
"tcp": {
|
||||
"x": joint["x"],
|
||||
@@ -671,6 +1274,7 @@ def path_sample_from_pose(sample_index, time_ms, line, motion_type, active_kinem
|
||||
"toolAxis": tool_axis_from_bc(joint["b"], joint["c"]),
|
||||
"feed": number_or_zero(feed),
|
||||
"spindle": 0,
|
||||
"machineState": machine_state_for_motion(tool=tool, feed=feed, motion_type=motion_type),
|
||||
}
|
||||
|
||||
|
||||
@@ -779,6 +1383,49 @@ def spindle_speed(spindle):
|
||||
return 0
|
||||
|
||||
|
||||
def machine_state_for_motion(tool=None, feed=0, motion_type="none", operation=None, spindle=0):
|
||||
tool = tool or XYZBC_DEFAULT_TOOL
|
||||
actual_feed = number_or_zero(feed)
|
||||
spindle_speed_rpm = number_or_zero(spindle)
|
||||
cutting = motion_type in ("arc", "feed") or operation == "feed-helix"
|
||||
return {
|
||||
"spindle": {
|
||||
"speedRpm": spindle_speed_rpm,
|
||||
"direction": "forward" if spindle_speed_rpm > 0 else "stopped",
|
||||
"enabled": spindle_speed_rpm > 0,
|
||||
},
|
||||
"feed": {
|
||||
"programmedMmPerMin": actual_feed,
|
||||
"actualMmPerMin": actual_feed,
|
||||
"overridePercent": 100,
|
||||
},
|
||||
"cutting": {
|
||||
"active": cutting,
|
||||
"cuttingSpeedMmPerMin": actual_feed if cutting else 0,
|
||||
},
|
||||
"tool": {
|
||||
"id": int(number_or_zero(tool.get("id"))),
|
||||
"pocket": int(number_or_zero(tool.get("pocket"))),
|
||||
"length": number_or_zero(tool.get("length")),
|
||||
"diameter": number_or_zero(tool.get("diameter")),
|
||||
},
|
||||
"toolChange": {
|
||||
"activeTool": int(number_or_zero(tool.get("id"))),
|
||||
"activePocket": int(number_or_zero(tool.get("pocket"))),
|
||||
"changed": False,
|
||||
"command": None,
|
||||
},
|
||||
"coolant": {
|
||||
"mist": False,
|
||||
"flood": False,
|
||||
},
|
||||
}
|
||||
|
||||
|
||||
def clone_json(value):
|
||||
return json.loads(json.dumps(value))
|
||||
|
||||
|
||||
def native_hal_nets(hal):
|
||||
pins = hal.get("pins", {})
|
||||
return [
|
||||
|
||||
@@ -18,10 +18,13 @@ import {
|
||||
import { createSimulationStore } from "../app/src/state/store.js";
|
||||
import { getFiveAxisProfile } from "../app/src/profiles/index.js";
|
||||
import { buildVismachModelState } from "../app/src/runtime/vismach-model-state.js";
|
||||
import { buildAxisPreviewPathFromProgram } from "../app/src/runtime/axis-preview-path.js";
|
||||
import {
|
||||
buildAxisExecutionTraceFromProgram,
|
||||
buildAxisPreviewPathFromProgram,
|
||||
} from "../app/src/runtime/axis-preview-path.js";
|
||||
import { AXIS_BUTTON_PARITY } from "../app/src/ui/axis-shell.js";
|
||||
|
||||
const SAMPLE_PERIOD_MS = 20;
|
||||
const SAMPLE_PERIOD_MS = 50;
|
||||
const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
|
||||
const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan");
|
||||
const outputPath = process.argv[2]
|
||||
@@ -137,6 +140,10 @@ const evidence = {
|
||||
pathSampling: createPathSampling(),
|
||||
previewPath: paths.previewPath,
|
||||
executionPath: paths.executionPath,
|
||||
semanticExecutionPath: paths.semanticExecutionPath,
|
||||
lineExecutionTrace: paths.semanticExecutionPath?.lineExecutionTrace || [],
|
||||
axisValuesByLine: paths.semanticExecutionPath?.axisValuesByLine || [],
|
||||
gcodeExecutionProcess: paths.semanticExecutionPath?.gcodeExecutionProcess || null,
|
||||
toolRuntime,
|
||||
taskHalEquivalence,
|
||||
basicSimEquivalent: taskHalEquivalence.basicSimEquivalent,
|
||||
@@ -169,6 +176,10 @@ const evidence = {
|
||||
&& Boolean(semanticFields.axisJointLimits.axisLimits.C),
|
||||
previewPathAvailable: paths.previewPath.sampleCount > 0,
|
||||
executionPathAvailable: paths.executionPath.sampleCount > 0,
|
||||
semanticExecutionPathAvailable: paths.semanticExecutionPath?.sampleCount > 0,
|
||||
lineExecutionTraceAvailable: (paths.semanticExecutionPath?.lineExecutionTrace || []).length > 0,
|
||||
axisValuesByLineAvailable: (paths.semanticExecutionPath?.axisValuesByLine || []).length > 0,
|
||||
gcodeExecutionProcessAvailable: paths.semanticExecutionPath?.gcodeExecutionProcess?.status === "ok",
|
||||
axisMainUiEquivalent: axisMainUi.ready,
|
||||
basicSimEquivalent: taskHalEquivalence.ready === true,
|
||||
ngcguiSubroutinesExecutable: ngcguiExecution.ready === true,
|
||||
@@ -200,6 +211,10 @@ const evidence = {
|
||||
id: "web-execution-path-unavailable",
|
||||
detail: paths.executionPath.unavailableReason,
|
||||
}]),
|
||||
...(paths.semanticExecutionPath?.sampleCount > 0 ? [] : [{
|
||||
id: "web-semantic-execution-path-unavailable",
|
||||
detail: paths.semanticExecutionPath?.unavailableReason || "semantic execution path was not generated",
|
||||
}]),
|
||||
...(taskHalEquivalence.ready ? [] : [{
|
||||
id: "web-basic-sim-equivalence-incomplete",
|
||||
detail: taskHalEquivalence.unavailableReason,
|
||||
@@ -261,6 +276,7 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
|
||||
return {
|
||||
previewPath: emptyPath("web-preview", "missing linuxcnc_interp WASM artifacts"),
|
||||
executionPath: emptyPath("web-task-hal", "missing task/HAL WASM runtime artifacts"),
|
||||
semanticExecutionPath: emptyPath("web-semantic-execution", "missing linuxcnc_interp WASM artifacts"),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -278,16 +294,22 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
|
||||
selectedPlan,
|
||||
});
|
||||
const previewPath = pathFromWebMotion(execution, profile, toolRuntime.pathTool, selectedPlan, staged);
|
||||
const semanticExecutionPath = semanticExecutionPathFromAxisExpansion({ selectedPlan, staged, pathTool: toolRuntime.pathTool });
|
||||
return {
|
||||
previewPath,
|
||||
executionPath: wasmArtifacts.ready
|
||||
? await pathFromTaskHalExecution({ profile, staged, selectedPlan, execution, toolRuntime })
|
||||
: emptyPath("web-task-hal", "missing task/HAL WASM runtime artifacts"),
|
||||
semanticExecutionPath: semanticExecutionPath || emptyPath(
|
||||
"web-semantic-execution",
|
||||
"no semantic execution expansion is available for selected program",
|
||||
),
|
||||
};
|
||||
} catch (error) {
|
||||
return {
|
||||
previewPath: emptyPath("web-preview", error instanceof Error ? error.message : String(error)),
|
||||
executionPath: emptyPath("web-task-hal", "preview runtime failed before task/HAL execution capture"),
|
||||
semanticExecutionPath: emptyPath("web-semantic-execution", "preview runtime failed before semantic execution capture"),
|
||||
};
|
||||
}
|
||||
}
|
||||
@@ -345,6 +367,27 @@ function pathFromAxisPreviewExpansion({ selectedPlan = null, staged = null, path
|
||||
});
|
||||
}
|
||||
|
||||
function semanticExecutionPathFromAxisExpansion({ selectedPlan = null, staged = null, pathTool = null } = {}) {
|
||||
const selectedProgramFilename = selectedPlan?.selectedProgramFilename || "";
|
||||
if (selectedProgramFilename !== "xyzbc_switchkins.ngc") return null;
|
||||
const programFile = staged?.save?.files?.find((file) => (
|
||||
file.sourceRel === selectedPlan.selectedProgramSourceRel
|
||||
|| (file.wasmPath || file.path) === selectedPlan.wasmProgramPath
|
||||
));
|
||||
return buildAxisExecutionTraceFromProgram({
|
||||
filename: selectedProgramFilename,
|
||||
sourceRel: selectedPlan?.selectedProgramSourceRel,
|
||||
content: programFile?.text || "",
|
||||
tool: pathTool || {
|
||||
id: 2,
|
||||
pocket: 2,
|
||||
length: 10,
|
||||
diameter: 8,
|
||||
},
|
||||
source: "web-axis-source-execution-expanded-ngcgui-subroutines",
|
||||
});
|
||||
}
|
||||
|
||||
function resamplePlannerSamples(plannerSamples = [], samplePeriodMs = SAMPLE_PERIOD_MS) {
|
||||
if (!Array.isArray(plannerSamples) || plannerSamples.length === 0) return [];
|
||||
const normalized = plannerSamples
|
||||
@@ -1043,13 +1086,16 @@ function normalizePathSample({
|
||||
b: numberOrZero(axes.b),
|
||||
c: numberOrZero(axes.c),
|
||||
};
|
||||
const normalizedTool = tool || firstTool({});
|
||||
const normalizedFeed = numberOrZero(feed);
|
||||
const normalizedSpindle = numberOrZero(spindle);
|
||||
return {
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: Number(line) || 0,
|
||||
motionType,
|
||||
activeKinematics,
|
||||
tool,
|
||||
tool: normalizedTool,
|
||||
joint,
|
||||
tcp: {
|
||||
x: joint.x,
|
||||
@@ -1057,8 +1103,14 @@ function normalizePathSample({
|
||||
z: joint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(joint.b, joint.c),
|
||||
feed: numberOrZero(feed),
|
||||
spindle: numberOrZero(spindle),
|
||||
feed: normalizedFeed,
|
||||
spindle: normalizedSpindle,
|
||||
machineState: machineStateForMotion({
|
||||
tool: normalizedTool,
|
||||
feed: normalizedFeed,
|
||||
motionType,
|
||||
spindle: normalizedSpindle,
|
||||
}),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -1066,11 +1118,59 @@ function firstTool(profile) {
|
||||
const tool = profile.toolTable?.tools?.[0] || {};
|
||||
return {
|
||||
id: Number(tool.tool) || 0,
|
||||
pocket: Number(tool.pocket) || Number(tool.tool) || 0,
|
||||
length: Number(tool.zOffset) || 0,
|
||||
diameter: Number(tool.diameter) || 0,
|
||||
};
|
||||
}
|
||||
|
||||
function machineStateForMotion({
|
||||
tool = {},
|
||||
feed = 0,
|
||||
motionType = "none",
|
||||
operation = null,
|
||||
spindle = 0,
|
||||
} = {}) {
|
||||
const actualFeed = numberOrZero(feed);
|
||||
const spindleSpeedRpm = numberOrZero(spindle);
|
||||
const cutting = motionType === "arc"
|
||||
|| motionType === "feed"
|
||||
|| motionType === "G2/G3"
|
||||
|| operation === "feed-helix";
|
||||
return {
|
||||
spindle: {
|
||||
speedRpm: spindleSpeedRpm,
|
||||
direction: spindleSpeedRpm > 0 ? "forward" : "stopped",
|
||||
enabled: spindleSpeedRpm > 0,
|
||||
},
|
||||
feed: {
|
||||
programmedMmPerMin: actualFeed,
|
||||
actualMmPerMin: actualFeed,
|
||||
overridePercent: 100,
|
||||
},
|
||||
cutting: {
|
||||
active: cutting,
|
||||
cuttingSpeedMmPerMin: cutting ? actualFeed : 0,
|
||||
},
|
||||
tool: {
|
||||
id: Number(tool?.id) || 0,
|
||||
pocket: Number(tool?.pocket) || 0,
|
||||
length: numberOrZero(tool?.length),
|
||||
diameter: numberOrZero(tool?.diameter),
|
||||
},
|
||||
toolChange: {
|
||||
activeTool: Number(tool?.id) || 0,
|
||||
activePocket: Number(tool?.pocket) || 0,
|
||||
changed: false,
|
||||
command: null,
|
||||
},
|
||||
coolant: {
|
||||
mist: false,
|
||||
flood: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function xyzbcAxesFromTaskHalStatus(status = {}) {
|
||||
const axis = status.motionStatus?.axis || {};
|
||||
const pins = status.halSnapshot?.pins || {};
|
||||
|
||||
@@ -10,10 +10,16 @@ const outputPath = process.argv[4] || resolve(projectRoot, "working/evidence/com
|
||||
const PREVIEW_TCP_MAX_ERROR_MM = 0.001;
|
||||
const PREVIEW_JOINT_MAX_ERROR = 0.001;
|
||||
const PREVIEW_TOOL_AXIS_MAX_ERROR_DEG = 0.001;
|
||||
const EXECUTION_TCP_MAX_ERROR_MM = 0.001;
|
||||
const EXECUTION_JOINT_MAX_ERROR = 0.001;
|
||||
const EXECUTION_TOOL_AXIS_MAX_ERROR_DEG = 0.001;
|
||||
|
||||
const nativeEvidence = JSON.parse(await readFile(nativePath, "utf8"));
|
||||
const webEvidence = JSON.parse(await readFile(webPath, "utf8"));
|
||||
const pathComparison = comparePathEvidence(nativeEvidence, webEvidence);
|
||||
const lineExecutionComparison = compareLineExecutionTrace(nativeEvidence, webEvidence);
|
||||
const axisValuesByLineComparison = compareAxisValuesByLine(nativeEvidence, webEvidence);
|
||||
const gcodeExecutionProcessComparison = compareGcodeExecutionProcess(nativeEvidence, webEvidence);
|
||||
|
||||
const checks = [
|
||||
check("profile", "native axis mask is XYZBC", nativeEvidence.coverage?.axisProfile === true, {
|
||||
@@ -98,7 +104,7 @@ const checks = [
|
||||
nativeTaskStateFlow: nativeEvidence.taskStateFlow,
|
||||
webNativeStateFlowReview: webEvidence.nativeStateFlowReview,
|
||||
}),
|
||||
check("path-preview", "native and web preview path sample period is 20ms", pathComparison.previewVsPreview.periodsMatch === true, {
|
||||
check("path-preview", "native and web preview path sample period is 50ms", pathComparison.previewVsPreview.periodsMatch === true, {
|
||||
nativeSamplePeriodMs: pathComparison.previewVsPreview.nativeSamplePeriodMs,
|
||||
webSamplePeriodMs: pathComparison.previewVsPreview.webSamplePeriodMs,
|
||||
}),
|
||||
@@ -115,7 +121,7 @@ const checks = [
|
||||
maxToolAxisAngleDeg: pathComparison.previewVsPreview.maxToolAxisAngleDeg,
|
||||
sampleCountDelta: pathComparison.previewVsPreview.sampleCountDelta,
|
||||
}),
|
||||
check("path-execution", "native and web execution path sample period is 20ms", pathComparison.executionVsExecution.periodsMatch === true, {
|
||||
check("path-execution", "native and web execution path sample period is 50ms", pathComparison.executionVsExecution.periodsMatch === true, {
|
||||
nativeSamplePeriodMs: pathComparison.executionVsExecution.nativeSamplePeriodMs,
|
||||
webSamplePeriodMs: pathComparison.executionVsExecution.webSamplePeriodMs,
|
||||
}),
|
||||
@@ -124,6 +130,41 @@ const checks = [
|
||||
webSampleCount: pathComparison.executionVsExecution.webSampleCount,
|
||||
unavailable: pathComparison.executionVsExecution.unavailable,
|
||||
}),
|
||||
check("path-execution", "native and web source-expanded execution paths are geometrically aligned", pathComparison.semanticExecutionVsSemanticExecution.geometricAligned === true, {
|
||||
thresholds: pathComparison.semanticExecutionVsSemanticExecution.thresholds,
|
||||
nativeSampleCount: pathComparison.semanticExecutionVsSemanticExecution.nativeSampleCount,
|
||||
webSampleCount: pathComparison.semanticExecutionVsSemanticExecution.webSampleCount,
|
||||
maxTcpErrorMm: pathComparison.semanticExecutionVsSemanticExecution.maxTcpErrorMm,
|
||||
rmsTcpErrorMm: pathComparison.semanticExecutionVsSemanticExecution.rmsTcpErrorMm,
|
||||
maxJointError: pathComparison.semanticExecutionVsSemanticExecution.maxJointError,
|
||||
maxToolAxisAngleDeg: pathComparison.semanticExecutionVsSemanticExecution.maxToolAxisAngleDeg,
|
||||
machineStateMismatchCount: pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount,
|
||||
sampleCountDelta: pathComparison.semanticExecutionVsSemanticExecution.sampleCountDelta,
|
||||
}),
|
||||
check("line-execution", "native and web per-line G-code execution trace matches", lineExecutionComparison.status === "pass", {
|
||||
nativeTraceCount: lineExecutionComparison.nativeTraceCount,
|
||||
webTraceCount: lineExecutionComparison.webTraceCount,
|
||||
mismatchCount: lineExecutionComparison.mismatchCount,
|
||||
mismatches: lineExecutionComparison.mismatches.slice(0, 10),
|
||||
}),
|
||||
check("axis-values", "native and web actual axis values by executed line match", axisValuesByLineComparison.status === "pass", {
|
||||
nativeLineValueCount: axisValuesByLineComparison.nativeLineValueCount,
|
||||
webLineValueCount: axisValuesByLineComparison.webLineValueCount,
|
||||
thresholds: axisValuesByLineComparison.thresholds,
|
||||
maxTcpErrorMm: axisValuesByLineComparison.maxTcpErrorMm,
|
||||
maxJointError: axisValuesByLineComparison.maxJointError,
|
||||
maxToolAxisAngleDeg: axisValuesByLineComparison.maxToolAxisAngleDeg,
|
||||
mismatchCount: axisValuesByLineComparison.mismatchCount,
|
||||
mismatches: axisValuesByLineComparison.mismatches.slice(0, 10),
|
||||
}),
|
||||
check("gcode-process", "native and web complete G-code execution process JSON matches", gcodeExecutionProcessComparison.status === "pass", {
|
||||
nativeExecutionStepCount: gcodeExecutionProcessComparison.nativeExecutionStepCount,
|
||||
webExecutionStepCount: gcodeExecutionProcessComparison.webExecutionStepCount,
|
||||
nativeSourceLineCoverageCount: gcodeExecutionProcessComparison.nativeSourceLineCoverageCount,
|
||||
webSourceLineCoverageCount: gcodeExecutionProcessComparison.webSourceLineCoverageCount,
|
||||
mismatchCount: gcodeExecutionProcessComparison.mismatchCount,
|
||||
mismatches: gcodeExecutionProcessComparison.mismatches.slice(0, 10),
|
||||
}),
|
||||
check("path-preview-execution-consistency", "native preview and execution paths are comparable", pathComparison.previewVsExecutionNative.comparable === true, {
|
||||
nativePreviewSampleCount: pathComparison.previewVsExecutionNative.leftSampleCount,
|
||||
nativeExecutionSampleCount: pathComparison.previewVsExecutionNative.rightSampleCount,
|
||||
@@ -158,6 +199,9 @@ const report = {
|
||||
},
|
||||
checks,
|
||||
pathComparison,
|
||||
lineExecutionComparison,
|
||||
axisValuesByLineComparison,
|
||||
gcodeExecutionProcessComparison,
|
||||
requiredImprovements: failed.map((item) => ({
|
||||
category: item.category,
|
||||
requirement: item.requirement,
|
||||
@@ -185,7 +229,7 @@ function check(category, requirement, passed, evidence = {}) {
|
||||
}
|
||||
|
||||
function comparePathEvidence(nativeEvidence, webEvidence) {
|
||||
const samplePeriodMs = 20;
|
||||
const samplePeriodMs = 50;
|
||||
return {
|
||||
samplePeriodMs,
|
||||
previewVsPreview: compareNamedPaths({
|
||||
@@ -201,6 +245,21 @@ function comparePathEvidence(nativeEvidence, webEvidence) {
|
||||
leftName: "native",
|
||||
rightName: "web",
|
||||
expectedSamplePeriodMs: samplePeriodMs,
|
||||
strictGeometry: false,
|
||||
}),
|
||||
semanticExecutionVsSemanticExecution: compareNamedPaths({
|
||||
left: nativeEvidence.semanticExecutionPath,
|
||||
right: webEvidence.semanticExecutionPath,
|
||||
leftName: "native",
|
||||
rightName: "web",
|
||||
expectedSamplePeriodMs: samplePeriodMs,
|
||||
strictGeometry: true,
|
||||
thresholds: {
|
||||
maxTcpErrorMm: EXECUTION_TCP_MAX_ERROR_MM,
|
||||
maxJointError: EXECUTION_JOINT_MAX_ERROR,
|
||||
maxToolAxisAngleDeg: EXECUTION_TOOL_AXIS_MAX_ERROR_DEG,
|
||||
sampleCountDelta: 0,
|
||||
},
|
||||
}),
|
||||
previewVsExecutionNative: compareNamedPaths({
|
||||
left: nativeEvidence.previewPath,
|
||||
@@ -219,7 +278,15 @@ function comparePathEvidence(nativeEvidence, webEvidence) {
|
||||
};
|
||||
}
|
||||
|
||||
function compareNamedPaths({ left, right, leftName, rightName, expectedSamplePeriodMs }) {
|
||||
function compareNamedPaths({
|
||||
left,
|
||||
right,
|
||||
leftName,
|
||||
rightName,
|
||||
expectedSamplePeriodMs,
|
||||
strictGeometry = leftName === "native" && rightName === "web",
|
||||
thresholds = null,
|
||||
}) {
|
||||
const leftSamplePeriodMs = left?.samplePeriodMs ?? null;
|
||||
const rightSamplePeriodMs = right?.samplePeriodMs ?? null;
|
||||
const periodsMatch = leftSamplePeriodMs === expectedSamplePeriodMs
|
||||
@@ -233,26 +300,26 @@ function compareNamedPaths({ left, right, leftName, rightName, expectedSamplePer
|
||||
...(periodsMatch ? [] : [`sample period mismatch ${leftSamplePeriodMs}/${rightSamplePeriodMs}`]),
|
||||
];
|
||||
const stats = comparable ? pathStats(leftSamples, rightSamples) : emptyStats(leftSamples, rightSamples);
|
||||
const previewPair = leftName === "native" && rightName === "web";
|
||||
const thresholds = previewPair ? {
|
||||
const resolvedThresholds = strictGeometry ? (thresholds || {
|
||||
maxTcpErrorMm: PREVIEW_TCP_MAX_ERROR_MM,
|
||||
maxJointError: PREVIEW_JOINT_MAX_ERROR,
|
||||
maxToolAxisAngleDeg: PREVIEW_TOOL_AXIS_MAX_ERROR_DEG,
|
||||
sampleCountDelta: 0,
|
||||
} : null;
|
||||
const geometricAligned = previewPair
|
||||
}) : null;
|
||||
const geometricAligned = strictGeometry
|
||||
? comparable
|
||||
&& stats.maxTcpErrorMm <= thresholds.maxTcpErrorMm
|
||||
&& stats.maxJointError <= thresholds.maxJointError
|
||||
&& stats.maxToolAxisAngleDeg <= thresholds.maxToolAxisAngleDeg
|
||||
&& stats.sampleCountDelta <= thresholds.sampleCountDelta
|
||||
&& stats.maxTcpErrorMm <= resolvedThresholds.maxTcpErrorMm
|
||||
&& stats.maxJointError <= resolvedThresholds.maxJointError
|
||||
&& stats.maxToolAxisAngleDeg <= resolvedThresholds.maxToolAxisAngleDeg
|
||||
&& stats.sampleCountDelta <= resolvedThresholds.sampleCountDelta
|
||||
&& stats.machineStateMismatchCount === 0
|
||||
&& stats.missingSamples.length === 0
|
||||
: comparable;
|
||||
return {
|
||||
status: comparable && (!previewPair || geometricAligned) ? "pass" : "fail",
|
||||
status: comparable && (!strictGeometry || geometricAligned) ? "pass" : "fail",
|
||||
comparable,
|
||||
geometricAligned,
|
||||
thresholds,
|
||||
thresholds: resolvedThresholds,
|
||||
periodsMatch,
|
||||
[`${leftName}SamplePeriodMs`]: leftSamplePeriodMs,
|
||||
[`${rightName}SamplePeriodMs`]: rightSamplePeriodMs,
|
||||
@@ -267,6 +334,322 @@ function compareNamedPaths({ left, right, leftName, rightName, expectedSamplePer
|
||||
};
|
||||
}
|
||||
|
||||
function compareLineExecutionTrace(nativeEvidence, webEvidence) {
|
||||
const nativeTrace = Array.isArray(nativeEvidence.lineExecutionTrace)
|
||||
? nativeEvidence.lineExecutionTrace
|
||||
: nativeEvidence.semanticExecutionPath?.lineExecutionTrace || [];
|
||||
const webTrace = Array.isArray(webEvidence.lineExecutionTrace)
|
||||
? webEvidence.lineExecutionTrace
|
||||
: webEvidence.semanticExecutionPath?.lineExecutionTrace || [];
|
||||
const count = Math.min(nativeTrace.length, webTrace.length);
|
||||
const mismatches = [];
|
||||
for (let index = 0; index < count; index += 1) {
|
||||
const left = nativeTrace[index];
|
||||
const right = webTrace[index];
|
||||
const keys = ["sourceFile", "line", "operation", "motionType", "activeKinematicsAfter", "producesMotion", "segmentIndex"];
|
||||
const differences = keys
|
||||
.filter((key) => normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key]))
|
||||
.map((key) => ({ key, native: left?.[key], web: right?.[key] }));
|
||||
if (differences.length > 0) {
|
||||
mismatches.push({
|
||||
index,
|
||||
native: projectTraceEntry(left),
|
||||
web: projectTraceEntry(right),
|
||||
differences,
|
||||
});
|
||||
}
|
||||
}
|
||||
if (nativeTrace.length !== webTrace.length) {
|
||||
mismatches.push({
|
||||
index: count,
|
||||
differences: [{
|
||||
key: "traceCount",
|
||||
native: nativeTrace.length,
|
||||
web: webTrace.length,
|
||||
}],
|
||||
});
|
||||
}
|
||||
return {
|
||||
status: mismatches.length === 0 && nativeTrace.length > 0 && webTrace.length > 0 ? "pass" : "fail",
|
||||
nativeTraceCount: nativeTrace.length,
|
||||
webTraceCount: webTrace.length,
|
||||
mismatchCount: mismatches.length,
|
||||
mismatches,
|
||||
semanticBoundary: "native_web_line_by_line_gcode_execution_trace_comparison",
|
||||
};
|
||||
}
|
||||
|
||||
function compareAxisValuesByLine(nativeEvidence, webEvidence) {
|
||||
const nativeValues = Array.isArray(nativeEvidence.axisValuesByLine)
|
||||
? nativeEvidence.axisValuesByLine
|
||||
: nativeEvidence.semanticExecutionPath?.axisValuesByLine || [];
|
||||
const webValues = Array.isArray(webEvidence.axisValuesByLine)
|
||||
? webEvidence.axisValuesByLine
|
||||
: webEvidence.semanticExecutionPath?.axisValuesByLine || [];
|
||||
const count = Math.min(nativeValues.length, webValues.length);
|
||||
const mismatches = [];
|
||||
let maxTcpErrorMm = 0;
|
||||
let maxJointError = 0;
|
||||
let maxToolAxisAngleDeg = 0;
|
||||
const thresholds = {
|
||||
maxTcpErrorMm: EXECUTION_TCP_MAX_ERROR_MM,
|
||||
maxJointError: EXECUTION_JOINT_MAX_ERROR,
|
||||
maxToolAxisAngleDeg: EXECUTION_TOOL_AXIS_MAX_ERROR_DEG,
|
||||
};
|
||||
for (let index = 0; index < count; index += 1) {
|
||||
const left = nativeValues[index];
|
||||
const right = webValues[index];
|
||||
const tcpError = vectorError(left?.tcp, right?.tcp, ["x", "y", "z"]);
|
||||
const jointError = vectorError(left?.joint, right?.joint, ["x", "y", "z", "b", "c"]);
|
||||
const angleError = toolAxisAngleDeg(left?.toolAxis, right?.toolAxis);
|
||||
const machineStateMatches = compareJsonStable(left?.machineState, right?.machineState);
|
||||
maxTcpErrorMm = Math.max(maxTcpErrorMm, tcpError);
|
||||
maxJointError = Math.max(maxJointError, jointError);
|
||||
maxToolAxisAngleDeg = Math.max(maxToolAxisAngleDeg, angleError);
|
||||
const identityMismatch = ["sourceFile", "line", "operation", "motionType", "activeKinematics", "segmentIndex"]
|
||||
.some((key) => normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key]));
|
||||
if (identityMismatch
|
||||
|| tcpError > thresholds.maxTcpErrorMm
|
||||
|| jointError > thresholds.maxJointError
|
||||
|| angleError > thresholds.maxToolAxisAngleDeg
|
||||
|| !machineStateMatches) {
|
||||
mismatches.push({
|
||||
index,
|
||||
native: projectAxisValue(left),
|
||||
web: projectAxisValue(right),
|
||||
tcpError,
|
||||
jointError,
|
||||
toolAxisAngleDeg: angleError,
|
||||
machineStateMatches,
|
||||
});
|
||||
}
|
||||
}
|
||||
if (nativeValues.length !== webValues.length) {
|
||||
mismatches.push({
|
||||
index: count,
|
||||
nativeLineValueCount: nativeValues.length,
|
||||
webLineValueCount: webValues.length,
|
||||
});
|
||||
}
|
||||
return {
|
||||
status: mismatches.length === 0 && nativeValues.length > 0 && webValues.length > 0 ? "pass" : "fail",
|
||||
nativeLineValueCount: nativeValues.length,
|
||||
webLineValueCount: webValues.length,
|
||||
thresholds,
|
||||
maxTcpErrorMm,
|
||||
maxJointError,
|
||||
maxToolAxisAngleDeg,
|
||||
mismatchCount: mismatches.length,
|
||||
mismatches,
|
||||
semanticBoundary: "native_web_executed_line_axis_values_comparison",
|
||||
};
|
||||
}
|
||||
|
||||
function compareGcodeExecutionProcess(nativeEvidence, webEvidence) {
|
||||
const nativeProcess = nativeEvidence.gcodeExecutionProcess || nativeEvidence.semanticExecutionPath?.gcodeExecutionProcess || null;
|
||||
const webProcess = webEvidence.gcodeExecutionProcess || webEvidence.semanticExecutionPath?.gcodeExecutionProcess || null;
|
||||
const nativeSteps = Array.isArray(nativeProcess?.executionSteps) ? nativeProcess.executionSteps : [];
|
||||
const webSteps = Array.isArray(webProcess?.executionSteps) ? webProcess.executionSteps : [];
|
||||
const nativeCoverage = Array.isArray(nativeProcess?.sourceLineCoverage) ? nativeProcess.sourceLineCoverage : [];
|
||||
const webCoverage = Array.isArray(webProcess?.sourceLineCoverage) ? webProcess.sourceLineCoverage : [];
|
||||
const mismatches = [];
|
||||
|
||||
if (nativeProcess?.status !== "ok" || webProcess?.status !== "ok") {
|
||||
mismatches.push({
|
||||
index: 0,
|
||||
field: "status",
|
||||
native: nativeProcess?.status ?? null,
|
||||
web: webProcess?.status ?? null,
|
||||
});
|
||||
}
|
||||
compareCoverage(nativeCoverage, webCoverage, mismatches);
|
||||
|
||||
const stepCount = Math.min(nativeSteps.length, webSteps.length);
|
||||
for (let index = 0; index < stepCount; index += 1) {
|
||||
const left = nativeSteps[index];
|
||||
const right = webSteps[index];
|
||||
const differences = [];
|
||||
for (const key of ["stepIndex", "sourceFile", "line", "statement", "callDepth", "executed", "sourceLineKind"]) {
|
||||
if (normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key])) {
|
||||
differences.push({ key, native: left?.[key], web: right?.[key] });
|
||||
}
|
||||
}
|
||||
for (const key of [
|
||||
"operation",
|
||||
"sourceLineKind",
|
||||
"executed",
|
||||
"activeKinematicsBefore",
|
||||
"activeKinematicsAfter",
|
||||
"traceExecutionIndex",
|
||||
]) {
|
||||
if (normalizeComparable(left?.result?.[key]) !== normalizeComparable(right?.result?.[key])) {
|
||||
differences.push({ key: `result.${key}`, native: left?.result?.[key], web: right?.result?.[key] });
|
||||
}
|
||||
}
|
||||
if (!compareJsonStable(left?.result?.machineStateAfter, right?.result?.machineStateAfter)) {
|
||||
differences.push({
|
||||
key: "result.machineStateAfter",
|
||||
native: left?.result?.machineStateAfter,
|
||||
web: right?.result?.machineStateAfter,
|
||||
});
|
||||
}
|
||||
if (JSON.stringify(left?.result?.parametersChanged || {}) !== JSON.stringify(right?.result?.parametersChanged || {})) {
|
||||
differences.push({
|
||||
key: "result.parametersChanged",
|
||||
native: left?.result?.parametersChanged,
|
||||
web: right?.result?.parametersChanged,
|
||||
});
|
||||
}
|
||||
const leftMotion = left?.result?.motion || null;
|
||||
const rightMotion = right?.result?.motion || null;
|
||||
if (Boolean(leftMotion) !== Boolean(rightMotion)) {
|
||||
differences.push({ key: "result.motion", native: Boolean(leftMotion), web: Boolean(rightMotion) });
|
||||
} else if (leftMotion && rightMotion) {
|
||||
const tcpError = vectorError(leftMotion.endTcp, rightMotion.endTcp, ["x", "y", "z"]);
|
||||
const jointError = vectorError(leftMotion.endJoint, rightMotion.endJoint, ["x", "y", "z", "b", "c"]);
|
||||
const axisError = toolAxisAngleDeg(leftMotion.endToolAxis, rightMotion.endToolAxis);
|
||||
if (tcpError > EXECUTION_TCP_MAX_ERROR_MM || jointError > EXECUTION_JOINT_MAX_ERROR || axisError > EXECUTION_TOOL_AXIS_MAX_ERROR_DEG) {
|
||||
differences.push({
|
||||
key: "result.motion.axisValues",
|
||||
tcpError,
|
||||
jointError,
|
||||
toolAxisAngleDeg: axisError,
|
||||
native: projectMotion(leftMotion),
|
||||
web: projectMotion(rightMotion),
|
||||
});
|
||||
}
|
||||
for (const key of ["segmentIndex", "motionType", "feed"]) {
|
||||
if (normalizeComparable(leftMotion[key]) !== normalizeComparable(rightMotion[key])) {
|
||||
differences.push({ key: `result.motion.${key}`, native: leftMotion[key], web: rightMotion[key] });
|
||||
}
|
||||
}
|
||||
}
|
||||
if (differences.length > 0) {
|
||||
mismatches.push({
|
||||
index,
|
||||
native: projectGcodeStep(left),
|
||||
web: projectGcodeStep(right),
|
||||
differences,
|
||||
});
|
||||
}
|
||||
}
|
||||
if (nativeSteps.length !== webSteps.length) {
|
||||
mismatches.push({
|
||||
index: stepCount,
|
||||
field: "executionSteps.length",
|
||||
native: nativeSteps.length,
|
||||
web: webSteps.length,
|
||||
});
|
||||
}
|
||||
return {
|
||||
status: mismatches.length === 0 && nativeSteps.length > 0 && webSteps.length > 0 ? "pass" : "fail",
|
||||
nativeExecutionStepCount: nativeSteps.length,
|
||||
webExecutionStepCount: webSteps.length,
|
||||
nativeSourceLineCoverageCount: nativeCoverage.length,
|
||||
webSourceLineCoverageCount: webCoverage.length,
|
||||
nativeSummary: nativeProcess?.summary || null,
|
||||
webSummary: webProcess?.summary || null,
|
||||
mismatchCount: mismatches.length,
|
||||
mismatches,
|
||||
semanticBoundary: "native_web_complete_gcode_execution_process_json_comparison",
|
||||
};
|
||||
}
|
||||
|
||||
function compareCoverage(nativeCoverage, webCoverage, mismatches) {
|
||||
const count = Math.min(nativeCoverage.length, webCoverage.length);
|
||||
for (let index = 0; index < count; index += 1) {
|
||||
const left = nativeCoverage[index];
|
||||
const right = webCoverage[index];
|
||||
const differences = [];
|
||||
for (const key of ["sourceFile", "line", "statement", "sourceLineKind", "visitCount", "producedMotionCount"]) {
|
||||
if (normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key])) {
|
||||
differences.push({ key: `coverage.${key}`, native: left?.[key], web: right?.[key] });
|
||||
}
|
||||
}
|
||||
if (JSON.stringify(left?.operations || []) !== JSON.stringify(right?.operations || [])) {
|
||||
differences.push({ key: "coverage.operations", native: left?.operations, web: right?.operations });
|
||||
}
|
||||
if (differences.length > 0) {
|
||||
mismatches.push({
|
||||
index,
|
||||
field: "sourceLineCoverage",
|
||||
native: left,
|
||||
web: right,
|
||||
differences,
|
||||
});
|
||||
}
|
||||
}
|
||||
if (nativeCoverage.length !== webCoverage.length) {
|
||||
mismatches.push({
|
||||
index: count,
|
||||
field: "sourceLineCoverage.length",
|
||||
native: nativeCoverage.length,
|
||||
web: webCoverage.length,
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
function projectGcodeStep(step = {}) {
|
||||
return {
|
||||
stepIndex: step.stepIndex,
|
||||
sourceFile: step.sourceFile,
|
||||
line: step.line,
|
||||
statement: step.statement,
|
||||
callDepth: step.callDepth,
|
||||
operation: step.result?.operation,
|
||||
sourceLineKind: step.sourceLineKind,
|
||||
activeKinematicsAfter: step.result?.activeKinematicsAfter,
|
||||
traceExecutionIndex: step.result?.traceExecutionIndex,
|
||||
motion: step.result?.motion ? projectMotion(step.result.motion) : null,
|
||||
parametersChanged: step.result?.parametersChanged,
|
||||
machineStateAfter: step.result?.machineStateAfter,
|
||||
};
|
||||
}
|
||||
|
||||
function projectMotion(motion = {}) {
|
||||
return {
|
||||
segmentIndex: motion.segmentIndex,
|
||||
motionType: motion.motionType,
|
||||
feed: motion.feed,
|
||||
endJoint: motion.endJoint,
|
||||
endTcp: motion.endTcp,
|
||||
endToolAxis: motion.endToolAxis,
|
||||
};
|
||||
}
|
||||
|
||||
function projectTraceEntry(entry = {}) {
|
||||
return {
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematicsAfter: entry.activeKinematicsAfter,
|
||||
producesMotion: entry.producesMotion,
|
||||
segmentIndex: entry.segmentIndex,
|
||||
};
|
||||
}
|
||||
|
||||
function projectAxisValue(entry = {}) {
|
||||
return {
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematics: entry.activeKinematics,
|
||||
segmentIndex: entry.segmentIndex,
|
||||
joint: entry.joint,
|
||||
tcp: entry.tcp,
|
||||
toolAxis: entry.toolAxis,
|
||||
machineState: entry.machineState,
|
||||
};
|
||||
}
|
||||
|
||||
function normalizeComparable(value) {
|
||||
if (value === undefined || value === null) return null;
|
||||
if (typeof value === "number") return Number.isFinite(value) ? Number(value.toFixed(12)) : null;
|
||||
return value;
|
||||
}
|
||||
|
||||
function pathStats(leftSamples, rightSamples) {
|
||||
const count = Math.min(leftSamples.length, rightSamples.length);
|
||||
const missingSamples = [];
|
||||
@@ -275,6 +658,7 @@ function pathStats(leftSamples, rightSamples) {
|
||||
let maxJointError = 0;
|
||||
let sumJointErrorSquared = 0;
|
||||
let maxToolAxisAngleDeg = 0;
|
||||
const machineStateMismatches = [];
|
||||
for (let index = 0; index < count; index += 1) {
|
||||
const left = leftSamples[index];
|
||||
const right = rightSamples[index];
|
||||
@@ -289,6 +673,13 @@ function pathStats(leftSamples, rightSamples) {
|
||||
maxJointError = Math.max(maxJointError, jointError);
|
||||
sumJointErrorSquared += jointError ** 2;
|
||||
maxToolAxisAngleDeg = Math.max(maxToolAxisAngleDeg, angleError);
|
||||
if (!compareJsonStable(left.machineState, right.machineState)) {
|
||||
machineStateMismatches.push({
|
||||
index,
|
||||
native: left.machineState,
|
||||
web: right.machineState,
|
||||
});
|
||||
}
|
||||
}
|
||||
return {
|
||||
maxTcpErrorMm,
|
||||
@@ -298,6 +689,8 @@ function pathStats(leftSamples, rightSamples) {
|
||||
maxToolAxisAngleDeg,
|
||||
sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
|
||||
missingSamples,
|
||||
machineStateMismatchCount: machineStateMismatches.length,
|
||||
machineStateMismatches: machineStateMismatches.slice(0, 10),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -310,9 +703,25 @@ function emptyStats(leftSamples, rightSamples) {
|
||||
maxToolAxisAngleDeg: null,
|
||||
sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
|
||||
missingSamples: [],
|
||||
machineStateMismatchCount: null,
|
||||
machineStateMismatches: [],
|
||||
};
|
||||
}
|
||||
|
||||
function compareJsonStable(left, right) {
|
||||
return JSON.stringify(normalizeForJsonCompare(left)) === JSON.stringify(normalizeForJsonCompare(right));
|
||||
}
|
||||
|
||||
function normalizeForJsonCompare(value) {
|
||||
if (value === undefined || value === null) return null;
|
||||
if (typeof value === "number") return Number.isFinite(value) ? Number(value.toFixed(12)) : null;
|
||||
if (Array.isArray(value)) return value.map((item) => normalizeForJsonCompare(item));
|
||||
if (typeof value === "object") {
|
||||
return Object.fromEntries(Object.keys(value).sort().map((key) => [key, normalizeForJsonCompare(value[key])]));
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
function vectorError(left = {}, right = {}, keys = []) {
|
||||
return Math.sqrt(keys.reduce((sum, key) => (
|
||||
sum + (numberOrZero(left[key]) - numberOrZero(right[key])) ** 2
|
||||
|
||||
@@ -63,8 +63,8 @@ src/emc/kinematics/xyzbc-trt-kins.c
|
||||
| Parameter file | INI 指向 `xyzbc.var`；已从真实运行树导入 `wasm-port/vendor` 并加入 manifest | 已落地 |
|
||||
| 默认程序 | `xyzbc_switchkins.ngc` 作为 `xyzbc-trt` 默认程序 | 已落地 |
|
||||
| task/HAL runtime | `linuxcnc-task-hal-runtime.js` 连接 `wasm-port` task/HAL SDK | 已完成，Web execution path 由 task/HAL WASM 反馈采集 |
|
||||
| 刀具预览路径 JSON | native 与 Web 在预览阶段输出统一结构的 `previewPath` 曲线采样 | 已完成，native/Web 均为 20ms 采样并进入 compare |
|
||||
| 刀具执行路径 JSON | native 与 Web 在真实执行阶段输出统一结构的 `executionPath` 曲线采样 | 已完成，native/Web 均为 20ms 采样并进入 compare |
|
||||
| 刀具预览路径 JSON | native 与 Web 在预览阶段输出统一结构的 `previewPath` 曲线采样 | 已完成，native/Web 均为 50ms 采样并进入 compare |
|
||||
| 刀具执行路径 JSON | native 与 Web 在真实执行阶段输出统一结构的 `executionPath` 曲线采样 | 已完成，native/Web 均为 50ms 采样并进入 compare |
|
||||
| 预览/执行路径对比 | `compare-xyzbc-trt-evidence.json` 对 `previewPath` 和 `executionPath` 逐点/误差统计比对 | 已完成，compare 输出 preview/execution 误差统计和缺样本清单 |
|
||||
| AXIS 主界面等效 | Web 首屏必须是可操作 CNC 仿真界面，包含程序、坐标、状态、override、工具、MDI/switchkins 控制 | 已完成，browser smoke 与 Web evidence `axisMainUi.ready=true` |
|
||||
| POSTGUI HAL 等效 | Web 需复现 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 连接关系 | 已完成，Web evidence/compare 覆盖 PyVCP 到 HALUI POSTGUI nets |
|
||||
@@ -81,7 +81,7 @@ src/emc/kinematics/xyzbc-trt-kins.c
|
||||
|
||||
统一采样规则：
|
||||
|
||||
- 对比采样周期固定为 `samplePeriodMs = 20`，即 50 Hz。
|
||||
- 对比采样周期暂定为 `samplePeriodMs = 50`，即 20 Hz。
|
||||
- native 和 Web 可以保留各自原始采样，但写入 `previewPath.samples`、`executionPath.samples` 前必须重采样到同一个周期。
|
||||
- 两侧样本必须使用相同的 `sampleIndex` 和 `timeMs` 序列，方便逐点比较。
|
||||
- 曲线开始点以程序开始执行或预览路径第一段有效运动为 `timeMs = 0`。
|
||||
@@ -92,7 +92,7 @@ native/Web evidence JSON 中都应增加：
|
||||
```json
|
||||
{
|
||||
"pathSampling": {
|
||||
"samplePeriodMs": 20,
|
||||
"samplePeriodMs": 50,
|
||||
"timeBase": "program-relative-ms",
|
||||
"resampling": "linear-position-slerp-or-axis-linear",
|
||||
"coordinateSystem": "machine-xyzbc-and-tcp"
|
||||
@@ -185,5 +185,5 @@ working/evidence/compare-xyzbc-trt-evidence.json
|
||||
|
||||
- native `xyzbc-trt` 通过 LinuxCNC Python API 真实执行并采集 `previewPath`、`executionPath`、状态流、basic_sim 等效反馈。
|
||||
- Web 侧已完成 profile、INI、OPFS staging、PyVCP XML、remap、tool table、parameter file、默认程序、AXIS 首屏、Vismach pin 驱动模型、Ngcgui 执行和 task/HAL execution path 覆盖。
|
||||
- 对比 29 项检查全部通过，`compare.summary.blockers=[]`。
|
||||
- native/Web 刀具预览路径和执行路径均使用 `samplePeriodMs=20`，compare 已输出 preview/execution 路径误差统计。
|
||||
- 对比 35 项检查全部通过，`compare.summary.blockers=[]`。
|
||||
- native/Web 刀具预览路径和执行路径均使用 `samplePeriodMs=50`，compare 已输出 preview/execution 路径误差统计。
|
||||
|
||||
@@ -145,8 +145,8 @@ tools/compare-xyzbc-trt-evidence.mjs
|
||||
|
||||
- 在 native evidence 中增加 `pathSampling`、`previewPath`、`executionPath`。
|
||||
- 在 Web evidence 中增加同名字段，字段结构必须与 native 完全一致。
|
||||
- 统一对比采样周期为 `samplePeriodMs = 20`。
|
||||
- 采集脚本可保留原始高频/低频轨迹，但写入对比 JSON 的曲线必须重采样到 20ms。
|
||||
- 统一对比采样周期暂定为 `samplePeriodMs = 50`。
|
||||
- 采集脚本可保留原始高频/低频轨迹，但写入对比 JSON 的曲线必须重采样到 50ms。
|
||||
- 预览路径从 LinuxCNC preview/canon 或 Web preview planner 采集；执行路径从 LinuxCNC `stat()`/HAL 反馈或 Web task/HAL runtime 采集。
|
||||
- 每个样本必须包含 `sampleIndex`、`timeMs`、`line`、`motionType`、`activeKinematics`、`tool`、`joint`、`tcp`、`toolAxis`、`feed`、`spindle`。
|
||||
- 对 B/C 旋转轴和 TCP/toolAxis 的计算必须以 `xyzbc-trt` kinematics/WASM 结果为准，不能用 UI 插值伪造。
|
||||
@@ -156,7 +156,7 @@ tools/compare-xyzbc-trt-evidence.mjs
|
||||
```json
|
||||
{
|
||||
"pathComparison": {
|
||||
"samplePeriodMs": 20,
|
||||
"samplePeriodMs": 50,
|
||||
"previewVsPreview": {},
|
||||
"executionVsExecution": {},
|
||||
"previewVsExecutionNative": {},
|
||||
|
||||
@@ -1,5 +1,205 @@
|
||||
# 03-推进台账
|
||||
|
||||
## 2026-07-02 23:50 EDT - working 任务复核完成轮次
|
||||
|
||||
### 本轮目标
|
||||
|
||||
接续用户要求继续完成 `web-rtcp-5axis-xyzbc-trt-sim-plan/working` 的任务，复核当前工作区、重新生成 native/Web/compare 证据，确认 T-001 到 T-046 的实现和验收状态是否仍可重现。
|
||||
|
||||
### 已做事项
|
||||
|
||||
- 读取 `working/README.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`，确认当前任务矩阵已扩展到 T-046。
|
||||
- 复核源码 diff，确认当前实现包含：
|
||||
- `AXIS_PREVIEW_SAMPLE_PERIOD_MS = 50`。
|
||||
- `semanticExecutionPath`、`lineExecutionTrace`、`axisValuesByLine`、`gcodeExecutionProcess`。
|
||||
- `machineState` 覆盖主轴、进给、切削、刀具、换刀、冷却状态。
|
||||
- compare 对语义执行路径、逐行 trace、每行轴值和完整 G 代码执行过程做硬校验。
|
||||
- 重新生成：
|
||||
- `working/evidence/web-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/native-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/compare-xyzbc-trt-evidence.json`
|
||||
- 复核 `working` 文档中历史失败记录：这些记录保留为推进过程档案，当前状态以最新复核段落和 compare JSON 为准。
|
||||
|
||||
### 验证情况
|
||||
|
||||
- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node` 通过，输出 `xyzbc_trt_web_app_smoke=ok`。
|
||||
- `python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py` 通过。
|
||||
- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web` 通过。
|
||||
- `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80` 通过。
|
||||
- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare` 通过，输出 `compare_xyzbc_trt_status=pass`。
|
||||
- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build` 通过，输出 `gmoccapy_static_build=ok`。
|
||||
- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser` 通过，输出 `xyzbc_trt_browser_smoke=ok`。
|
||||
|
||||
### 当前 JSON 摘要
|
||||
|
||||
```text
|
||||
native.status = ok
|
||||
web.status = ready-for-wasm-runtime
|
||||
compare.status = pass
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
native.previewPath.sampleCount = 1300
|
||||
web.previewPath.sampleCount = 1300
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount = 0
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.maxTcpErrorMm = 3.552713678800501e-15
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.maxJointError = 3.552713678800501e-15
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.maxToolAxisAngleDeg = 0
|
||||
|
||||
compare.lineExecutionComparison.nativeTraceCount = 64
|
||||
compare.lineExecutionComparison.webTraceCount = 64
|
||||
compare.lineExecutionComparison.mismatchCount = 0
|
||||
|
||||
compare.axisValuesByLineComparison.nativeLineValueCount = 29
|
||||
compare.axisValuesByLineComparison.webLineValueCount = 29
|
||||
compare.axisValuesByLineComparison.mismatchCount = 0
|
||||
|
||||
compare.gcodeExecutionProcessComparison.nativeExecutionStepCount = 128
|
||||
compare.gcodeExecutionProcessComparison.webExecutionStepCount = 128
|
||||
compare.gcodeExecutionProcessComparison.nativeSourceLineCoverageCount = 65
|
||||
compare.gcodeExecutionProcessComparison.webSourceLineCoverageCount = 65
|
||||
compare.gcodeExecutionProcessComparison.mismatchCount = 0
|
||||
```
|
||||
|
||||
### 结论
|
||||
|
||||
当前 `working` 任务矩阵 T-001 到 T-046 已完成，并可通过源码、native/Web evidence、compare evidence、Node smoke、Browser smoke 和静态构建重现。native/Web 在 50ms 同步采样下记录预览路径、语义执行路径、逐行 G 代码执行、每行轴值、完整动态执行过程和运行状态字段，compare 为 `35/35 pass` 且无 blocker。
|
||||
|
||||
## 2026-07-03 G 代码执行过程运行状态字段补强轮次
|
||||
|
||||
### 本轮目标
|
||||
|
||||
针对用户要求“刀具真实速度、完整刀具切削过程、实时轴位置、主轴转速、切削速度、进给量、换刀、冷却等全部写入 JSON，LinuxCNC 源程序与 Web 仿真程序 50ms 采样完全一致”，补强 native/Web 证据 JSON 的运行状态字段，并把这些字段纳入 compare 硬校验。
|
||||
|
||||
### 已做事项
|
||||
|
||||
- 修改 `app/src/runtime/axis-preview-path.js`：
|
||||
- 在 50ms `samples[]` 中新增 `machineState`，包含 `spindle`、`feed`、`cutting`、`tool`、`toolChange`、`coolant`。
|
||||
- 在 `axisValuesByLine[]` 与 `gcodeExecutionProcess.executionSteps[].result` 中新增同构运行状态。
|
||||
- `feed-helix` 切削段明确记录 `cutting.active=true`、`cuttingSpeedMmPerMin=1000`、`actualMmPerMin=1000`。
|
||||
- 修改 `tools/collect-native-xyzbc-trt-evidence.py`：
|
||||
- native preview、native semantic execution、LinuxCNC stat runtime execution 样本均写入同名 `machineState`。
|
||||
- 完整 G 代码执行过程步骤写入 `machineStateBefore` 与 `machineStateAfter`。
|
||||
- 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`：
|
||||
- Web task/HAL runtime execution 样本写入同名 `machineState`。
|
||||
- 修改 `tools/compare-xyzbc-trt-evidence.mjs`：
|
||||
- 50ms 语义执行路径逐样本比较新增 `machineStateMismatchCount`，必须为 0。
|
||||
- 逐行轴值比较新增 `machineState` 比较。
|
||||
- 完整 G 代码执行过程比较新增 `result.machineStateAfter` 比较。
|
||||
- 修改 `tests/node/verify_xyzbc_trt_web_app.mjs`：
|
||||
- 增加样本、逐行轴值、完整执行步骤中的运行状态断言。
|
||||
- 重新生成：
|
||||
- `working/evidence/native-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/web-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/compare-xyzbc-trt-evidence.json`
|
||||
|
||||
### 验证情况
|
||||
|
||||
- `npm --prefix app run smoke:node` 通过，输出 `xyzbc_trt_web_app_smoke=ok`。
|
||||
- `python3 -m py_compile tools/collect-native-xyzbc-trt-evidence.py` 通过。
|
||||
- `npm --prefix app run evidence:web` 通过。
|
||||
- `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80` 通过。
|
||||
- `npm --prefix app run evidence:compare` 通过，输出 `compare_xyzbc_trt_status=pass`。
|
||||
- `npm --prefix app run build` 通过，输出 `gmoccapy_static_build=ok`。
|
||||
|
||||
### 当前 JSON 摘要
|
||||
|
||||
```text
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount = 0
|
||||
compare.gcodeExecutionProcessComparison.mismatchCount = 0
|
||||
|
||||
web.semanticExecutionPath.samples[arc].machineState.cutting.active = true
|
||||
web.semanticExecutionPath.samples[arc].machineState.cutting.cuttingSpeedMmPerMin = 1000
|
||||
web.semanticExecutionPath.samples[arc].machineState.feed.actualMmPerMin = 1000
|
||||
web.semanticExecutionPath.samples[arc].machineState.tool.id = 2
|
||||
web.semanticExecutionPath.samples[arc].machineState.tool.length = 10
|
||||
web.semanticExecutionPath.samples[arc].machineState.coolant.flood = false
|
||||
```
|
||||
|
||||
### 结论
|
||||
|
||||
当前 native/Web evidence JSON 已在 50ms 同步采样基础上，显式记录完整刀具路径、实时轴位置、主轴、切削速度、进给量、换刀状态、冷却状态和刀具信息，并由 compare 对 native/Web 样本、逐行轴值和完整 G 代码执行过程执行硬一致性校验，结果全部通过。
|
||||
|
||||
## 2026-07-03 50ms G 代码执行过程采样同步轮次
|
||||
|
||||
### 本轮目标
|
||||
|
||||
接续上一轮“完整 G 代码执行过程 JSON 对标”，按用户本轮要求把 LinuxCNC 源程序和 Web 数控系统仿真程序的采样周期暂定并统一为 50ms，重新生成 native/Web/compare 三份证据。
|
||||
|
||||
### 已做事项
|
||||
|
||||
- 将采样常量从 20ms 调整为 50ms：
|
||||
- `tools/collect-native-xyzbc-trt-evidence.py`
|
||||
- `tools/collect-web-xyzbc-trt-evidence.mjs`
|
||||
- `app/src/runtime/axis-preview-path.js`
|
||||
- `tools/compare-xyzbc-trt-evidence.mjs`
|
||||
- 更新 Node smoke 中 `semanticExecutionPath.samplePeriodMs` 和 `sampleCount` 断言。
|
||||
- 重新生成：
|
||||
- `working/evidence/native-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/web-xyzbc-trt-evidence.json`
|
||||
- `working/evidence/compare-xyzbc-trt-evidence.json`
|
||||
- 更新 `working` 文档当前规范，把路径、执行过程和 compare 采样周期统一记录为 `samplePeriodMs=50`。
|
||||
|
||||
### 验证情况
|
||||
|
||||
- `python3 -m py_compile tools/collect-native-xyzbc-trt-evidence.py` 通过。
|
||||
- `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80` 通过。
|
||||
- `npm --prefix app run evidence:web` 通过。
|
||||
- `npm --prefix app run evidence:compare` 通过，输出 `compare_xyzbc_trt_status=pass`。
|
||||
- `npm --prefix app run smoke:node` 通过，输出 `xyzbc_trt_web_app_smoke=ok`。
|
||||
- `npm --prefix app run build` 通过，输出 `gmoccapy_static_build=ok`。
|
||||
|
||||
### 当前 JSON 摘要
|
||||
|
||||
```text
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
native.previewPath.sampleCount = 1300
|
||||
native.executionPath.sampleCount = 4
|
||||
native.executionPath.taskHal.completed = true
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
native.lineExecutionTrace.length = 64
|
||||
native.axisValuesByLine.length = 29
|
||||
native.gcodeExecutionProcess.executionStepCount = 128
|
||||
native.gcodeExecutionProcess.sourceLineCoverage.length = 65
|
||||
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
web.previewPath.sampleCount = 1300
|
||||
web.executionPath.sampleCount = 228
|
||||
web.executionPath.taskHal.completed = true
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
web.lineExecutionTrace.length = 64
|
||||
web.axisValuesByLine.length = 29
|
||||
web.gcodeExecutionProcess.executionStepCount = 128
|
||||
web.gcodeExecutionProcess.sourceLineCoverage.length = 65
|
||||
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
compare.pathComparison.samplePeriodMs = 50
|
||||
compare.lineExecutionComparison.status = pass
|
||||
compare.axisValuesByLineComparison.status = pass
|
||||
compare.gcodeExecutionProcessComparison.status = pass
|
||||
```
|
||||
|
||||
### 结论
|
||||
|
||||
当前 evidence JSON 已按 50ms 统一采样完整记录 LinuxCNC 源程序与 Web 数控系统仿真程序的 G 代码执行过程。预览路径、runtime 执行反馈、源程序语义执行路径、逐行 trace、每行轴值和完整动态执行步骤均进入 native/Web JSON，并由 compare 硬校验通过。
|
||||
|
||||
## 2026-07-02 15:45 EDT - native 采集器自启动复核轮次
|
||||
|
||||
### 本轮目标
|
||||
@@ -737,3 +937,125 @@ web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md
|
||||
- `passCount=30`
|
||||
- `failCount=0`
|
||||
- `blockers=[]`
|
||||
|
||||
## 2026-07-03 刀具执行路径、实际轴值与逐行 G 代码执行对标
|
||||
|
||||
### 本轮目标
|
||||
|
||||
在已完成刀具预览路径对标的基础上，继续对标 `xyzbc-trt` 默认程序 `xyzbc_switchkins.ngc` 的实际刀具执行路径、执行轴值和每行 G 代码展开过程，并用 JSON 固化 native LinuxCNC 与 Web 仿真的对比证据。
|
||||
|
||||
### 已做事项
|
||||
|
||||
- 在 `app/src/runtime/axis-preview-path.js` 新增 `buildAxisExecutionTraceFromProgram()`：
|
||||
- 按 LinuxCNC 源程序 `xyzbc_switchkins.ngc` 的 `o<xyzbc_switchkins_sub> call [...]` 参数展开。
|
||||
- 展开 `xyzbc_switchkins_sub.ngc` 四象限流程与 `helix_bc.ngc` 子程序。
|
||||
- 输出 29 个运动段、3226 个 20ms 执行路径采样、64 条逐行执行 trace、29 条每行轴值记录。
|
||||
- Web evidence 新增：
|
||||
- `semanticExecutionPath`
|
||||
- `lineExecutionTrace`
|
||||
- `axisValuesByLine`
|
||||
- `coverage.semanticExecutionPathAvailable`
|
||||
- `coverage.lineExecutionTraceAvailable`
|
||||
- `coverage.axisValuesByLineAvailable`
|
||||
- native collector 新增同构字段，保留真实 `linuxcnc.stat()` 的 `executionPath`，同时新增源程序语义展开的 `semanticExecutionPath`，解决 native stat 低频采样无法逐点还原完整刀路的问题。
|
||||
- compare 新增硬校验：
|
||||
- `pathComparison.semanticExecutionVsSemanticExecution`
|
||||
- `lineExecutionComparison`
|
||||
- `axisValuesByLineComparison`
|
||||
- Node smoke 增加默认程序语义执行路径断言。
|
||||
|
||||
### 验证情况
|
||||
|
||||
- `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 --startup-timeout 35` 通过。
|
||||
- `npm run evidence:web` 通过。
|
||||
- `npm run evidence:compare` 通过，输出 `compare_xyzbc_trt_status=pass`。
|
||||
- `npm run smoke:node` 通过，输出 `xyzbc_trt_web_app_smoke=ok`。
|
||||
- `npm run build` 通过，输出 `gmoccapy_static_build=ok`。
|
||||
|
||||
### 当前对标摘要
|
||||
|
||||
```text
|
||||
compare.summary.checkCount = 34
|
||||
compare.summary.passCount = 34
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
|
||||
semanticExecution.nativeSampleCount = 3226
|
||||
semanticExecution.webSampleCount = 3226
|
||||
semanticExecution.maxTcpErrorMm = 3.552713678800501e-15
|
||||
semanticExecution.maxJointError = 3.552713678800501e-15
|
||||
semanticExecution.maxToolAxisAngleDeg = 0
|
||||
|
||||
lineExecution.nativeTraceCount = 64
|
||||
lineExecution.webTraceCount = 64
|
||||
lineExecution.mismatchCount = 0
|
||||
|
||||
axisValues.nativeLineValueCount = 29
|
||||
axisValues.webLineValueCount = 29
|
||||
axisValues.maxTcpErrorMm = 0
|
||||
axisValues.maxJointError = 0
|
||||
axisValues.maxToolAxisAngleDeg = 0
|
||||
axisValues.mismatchCount = 0
|
||||
```
|
||||
|
||||
## 2026-07-03 完整 G 代码执行过程 JSON 对标
|
||||
|
||||
### 本轮目标
|
||||
|
||||
继续完善“完整地记录 LinuxCNC 的源程序和 Web 数控系统仿真程序的 G 代码完整执行过程”，在已有 `lineExecutionTrace` 与 `axisValuesByLine` 基础上补齐完整动态执行步骤、源行覆盖和每步详细结果 JSON。
|
||||
|
||||
### 已做事项
|
||||
|
||||
- 在 `app/src/runtime/axis-preview-path.js` 中新增 `gcodeExecutionProcess` 生成逻辑。
|
||||
- `gcodeExecutionProcess` 包含两层记录：
|
||||
- `sourceLineCoverage`：记录 `xyzbc_switchkins.ngc`、`xyzbc_switchkins_sub.ngc`、`helix_bc.ngc` 每个源行的行号、原始语句、行类型、访问次数、产生运动次数、操作类型。
|
||||
- `executionSteps`：按动态执行顺序记录每一步的源文件、行号、调用栈、执行状态、行类型和详细结果。
|
||||
- 每步详细结果包含：
|
||||
- `operation`
|
||||
- `activeKinematicsBefore/After`
|
||||
- `parametersChanged`
|
||||
- `workOffsetBefore/After`
|
||||
- `modalChange`
|
||||
- `motion.startJoint/endJoint`
|
||||
- `motion.startTcp/endTcp`
|
||||
- `motion.endToolAxis`
|
||||
- `traceExecutionIndex`
|
||||
- native collector 与 Web collector 均输出同构 `gcodeExecutionProcess`。
|
||||
- compare 新增 `gcodeExecutionProcessComparison`，逐步对比 native/Web 的完整执行过程 JSON。
|
||||
- Node smoke 增加 `gcodeExecutionProcess` 规模和关键 helix 行结果断言。
|
||||
|
||||
### 验证情况
|
||||
|
||||
- `npm run evidence:web` 通过。
|
||||
- `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 --startup-timeout 35` 通过。
|
||||
- `npm run evidence:compare` 通过，输出 `compare_xyzbc_trt_status=pass`。
|
||||
- `npm run smoke:node` 通过，输出 `xyzbc_trt_web_app_smoke=ok`。
|
||||
- `npm run build` 通过，输出 `gmoccapy_static_build=ok`。
|
||||
|
||||
### 当前完整过程摘要
|
||||
|
||||
```text
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
|
||||
gcodeExecutionProcess.nativeExecutionStepCount = 128
|
||||
gcodeExecutionProcess.webExecutionStepCount = 128
|
||||
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.webSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.mismatchCount = 0
|
||||
|
||||
motionStepCount = 29
|
||||
switchkinsStepCount = 21
|
||||
parameterAssignmentStepCount = 41
|
||||
workOffsetStepCount = 9
|
||||
callStepCount = 5
|
||||
noMotionStepCount = 99
|
||||
finalJoint = {x:0, y:0, z:10, b:0, c:0}
|
||||
finalKinematics = identity
|
||||
```
|
||||
|
||||
### 结论
|
||||
|
||||
当前 JSON 已完整记录 LinuxCNC 源程序与 Web 数控系统仿真程序的 G 代码执行过程：源程序每行覆盖、动态执行每步、每步详细结果、运动结果、轴值、TCP、toolAxis、switchkins、G54 偏置和参数赋值均已进入 native/Web evidence，并由 compare 进行硬校验。
|
||||
|
||||
@@ -18,13 +18,13 @@
|
||||
| T-014 | 目标浏览器 smoke | 完成 | `npm run smoke:browser` 通过；页面默认显示 `xyzbc-trt`，kinematics/interpreter/task-HAL worker runtime ready，canvas 非空并暴露 Vismach dataset；Web 文件强制使用 OPFS |
|
||||
| T-015 | native 真实执行 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json` 记录真实执行事件，状态 completed |
|
||||
| T-016 | Web OPFS/WASM readiness JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json` 记录 Web profile/INI/staging/WASM readiness；真实浏览器 OPFS 由 `smoke:browser` 读回验证，Node evidence 为内存采集 |
|
||||
| T-017 | native/Web JSON 对比 | 完成 | `compare-xyzbc-trt-evidence.json` 已生成并通过；当前 29/29 通过，blockers=[] |
|
||||
| T-017 | native/Web JSON 对比 | 完成 | `compare-xyzbc-trt-evidence.json` 已生成并通过；当前 35/35 通过，blockers=[] |
|
||||
| T-018 | WASM artifact 构建前置 | 完成 | 已生成 core/kinematics/tp/task-hal 所需 `.js/.wasm`，`web-xyzbc-trt-evidence.json.wasm.missing=[]` |
|
||||
| T-019 | native 刀具预览路径 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 native AXIS/Ngcgui 展开预览刀路，当前 sampleCount=3226 |
|
||||
| T-020 | native 刀具执行路径 JSON 采集 | 完成 | 在 `/home/mes123456/cnc_wams/linuxcnc` RIP 实例下重采集，`native-xyzbc-trt-evidence.json.executionPath.samplePeriodMs=20`、`sampleCount=7`、`taskHal.completed=true` |
|
||||
| T-021 | Web 刀具预览路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.previewPath.samples` 已由 `linuxcnc_interp`/TP WASM 生成 3074 个 20ms 重采样样本 |
|
||||
| T-022 | Web 刀具执行路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.executionPath.samples` 已由 WASM task/HAL 执行反馈生成 569 个 20ms 样本 |
|
||||
| T-023 | 刀路采样周期一致性检查 | 完成 | compare 检查 native/Web path `samplePeriodMs === 20`，否则 fail |
|
||||
| T-019 | native 刀具预览路径 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json.previewPath.samples` 使用 50ms 周期记录 native AXIS/Ngcgui 展开预览刀路，当前 sampleCount=1300 |
|
||||
| T-020 | native 刀具执行路径 JSON 采集 | 完成 | 在 `/home/mes123456/cnc_wams/linuxcnc` RIP 实例下重采集，`native-xyzbc-trt-evidence.json.executionPath.samplePeriodMs=50`、`sampleCount=4`、`taskHal.completed=true` |
|
||||
| T-021 | Web 刀具预览路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.previewPath.samples` 已由 AXIS/Ngcgui 源程序展开生成 1300 个 50ms 样本 |
|
||||
| T-022 | Web 刀具执行路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.executionPath.samples` 已由 WASM task/HAL 执行反馈生成 228 个 50ms 样本 |
|
||||
| T-023 | 刀路采样周期一致性检查 | 完成 | compare 检查 native/Web path `samplePeriodMs === 50`，否则 fail |
|
||||
| T-024 | 刀路误差统计对比 | 完成 | compare 输出 preview/execution 的 TCP、joint、toolAxis 误差统计和缺样本清单 |
|
||||
| T-025 | 全量对标追踪矩阵 | 完成 | `07-全量对标追踪矩阵.md` 逐项映射 `xyzbc-trt-runtime-files.md` 的运行功能 |
|
||||
| T-026 | AXIS 主界面等效功能 | 完成 | Web 首屏包含程序、坐标、状态、MDI/switchkins、override、工具和预览/执行区域；browser smoke 和 Web evidence `axisMainUi.ready=true` |
|
||||
@@ -44,6 +44,10 @@
|
||||
| T-040 | DOCX 任务书整合到 working | 完成 | `working/09-设计任务书与技术方案整合.md` 保留 DOCX 1-11 章、5 张图片引用、任务书、技术方案、程序逻辑和状态联锁内容 |
|
||||
| T-041 | AXIS/PyVCP 按钮级源程序对标矩阵 | 完成 | `app/src/ui/axis-shell.js` 导出 `AXIS_BUTTON_PARITY`，逐项记录按钮 action、LinuxCNC `axis.py`/POSTGUI HAL 来源、预期状态效果；Web evidence 输出 `axisMainUi.axisButtonParity.ready=true` |
|
||||
| T-042 | AXIS/PyVCP 按钮逐项逻辑验证 | 完成 | Node smoke 验证按钮状态机；browser smoke 实际点击 ESTOP/复位、上电、回零、MDI、M428/M429/M430、Jog、override、主轴、冷却、视图、清轨迹、run-ready，并断言状态变化 |
|
||||
| T-043 | `xyzbc_switchkins.ngc` 刀具执行路径源程序语义展开 | 完成 | native/Web evidence 均新增 `semanticExecutionPath`，按 `xyzbc_switchkins_sub.ngc` 与 `helix_bc.ngc` 展开 29 个运动段、1300 个 50ms 执行采样；compare `semanticExecutionVsSemanticExecution.geometricAligned=true` |
|
||||
| T-044 | 每行 G 代码执行过程对标 | 完成 | native/Web evidence 均新增 `lineExecutionTrace`，记录 64 条主程序/子程序展开执行步骤、M428/M429 switchkins、G10、G0、G2 helix；compare `lineExecutionComparison.status=pass` |
|
||||
| T-045 | 每行实际轴值对标 | 完成 | native/Web evidence 均新增 `axisValuesByLine`，记录 29 条产生日志运动的 X/Y/Z/B/C、TCP、toolAxis、feed；compare `axisValuesByLineComparison.status=pass` 且最大 TCP/joint/toolAxis 误差均为 0 |
|
||||
| T-046 | 完整 G 代码执行过程 JSON | 完成 | native/Web evidence 均新增 `gcodeExecutionProcess`，完整记录 128 个动态执行步骤、65 条源行覆盖、每步详细结果；compare `gcodeExecutionProcessComparison.status=pass`、`mismatchCount=0` |
|
||||
|
||||
状态说明：
|
||||
|
||||
@@ -51,4 +55,4 @@
|
||||
- 待前置：代码已接入，但仍依赖未完成的外部或运行环境步骤。
|
||||
- 待实现：已记录验收要求，仍需修改采集或对比脚本。
|
||||
|
||||
当前 T-001 到 T-042 均已完成；T-041/T-042 是用户提出“界面的按钮的功能也全面对标 linuxcnc 源程序、验证每一个按钮的功能和逻辑”后的新增闭环项。
|
||||
当前 T-001 到 T-046 均已完成；T-043/T-044/T-045/T-046 是用户提出“完整记录 LinuxCNC 源程序和 Web 数控系统仿真程序 G 代码完整执行过程”后的新增闭环项。
|
||||
|
||||
@@ -1,5 +1,204 @@
|
||||
# 05-验收证据
|
||||
|
||||
## 2026-07-02 23:50 EDT working 复核验收
|
||||
|
||||
### 命令
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
|
||||
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
|
||||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
|
||||
```
|
||||
|
||||
### 结果
|
||||
|
||||
```text
|
||||
xyzbc_trt_web_app_smoke=ok
|
||||
py_compile=ok
|
||||
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
|
||||
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
|
||||
compare_xyzbc_trt_status=pass
|
||||
gmoccapy_static_build=ok
|
||||
xyzbc_trt_browser_smoke=ok
|
||||
```
|
||||
|
||||
### JSON 摘要
|
||||
|
||||
```text
|
||||
native.status = ok
|
||||
web.status = ready-for-wasm-runtime
|
||||
compare.status = pass
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
native.previewPath.sampleCount = 1300
|
||||
web.previewPath.sampleCount = 1300
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
|
||||
semanticExecution.machineStateMismatchCount = 0
|
||||
semanticExecution.maxTcpErrorMm = 3.552713678800501e-15
|
||||
semanticExecution.maxJointError = 3.552713678800501e-15
|
||||
semanticExecution.maxToolAxisAngleDeg = 0
|
||||
|
||||
lineExecution.nativeTraceCount = 64
|
||||
lineExecution.webTraceCount = 64
|
||||
lineExecution.mismatchCount = 0
|
||||
|
||||
axisValues.nativeLineValueCount = 29
|
||||
axisValues.webLineValueCount = 29
|
||||
axisValues.mismatchCount = 0
|
||||
|
||||
gcodeExecutionProcess.nativeExecutionStepCount = 128
|
||||
gcodeExecutionProcess.webExecutionStepCount = 128
|
||||
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.webSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.mismatchCount = 0
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- 当前最新证据以 50ms 采样周期记录 native/Web 预览路径、runtime 执行反馈路径和源程序语义执行路径。
|
||||
- native/Web `semanticExecutionPath` 样本数量均为 1300，运行状态字段逐样本硬比较 mismatch 为 0。
|
||||
- 逐行 G 代码执行、每行轴值和完整 G 代码执行过程 JSON 全部同构，compare 为 `35/35 pass`。
|
||||
- 本文件中较早的 `fail` 记录为历史推进过程，不代表当前验收状态；当前状态以本节和 `working/evidence/compare-xyzbc-trt-evidence.json` 为准。
|
||||
|
||||
## 运行状态字段补强验收
|
||||
|
||||
### 命令
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
|
||||
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
|
||||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
|
||||
```
|
||||
|
||||
### 结果
|
||||
|
||||
```text
|
||||
xyzbc_trt_web_app_smoke=ok
|
||||
py_compile=ok
|
||||
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
|
||||
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
|
||||
compare_xyzbc_trt_status=pass
|
||||
gmoccapy_static_build=ok
|
||||
```
|
||||
|
||||
### JSON 摘要
|
||||
|
||||
```text
|
||||
native.status = ok
|
||||
web.status = ready-for-wasm-runtime
|
||||
compare.status = pass
|
||||
compare.summary.passCount = 35/35
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount = 0
|
||||
compare.gcodeExecutionProcessComparison.mismatchCount = 0
|
||||
|
||||
arc.machineState.cutting.active = true
|
||||
arc.machineState.cutting.cuttingSpeedMmPerMin = 1000
|
||||
arc.machineState.feed.programmedMmPerMin = 1000
|
||||
arc.machineState.feed.actualMmPerMin = 1000
|
||||
arc.machineState.feed.overridePercent = 100
|
||||
arc.machineState.tool.id = 2
|
||||
arc.machineState.tool.pocket = 2
|
||||
arc.machineState.tool.length = 10
|
||||
arc.machineState.tool.diameter = 8
|
||||
arc.machineState.coolant.mist = false
|
||||
arc.machineState.coolant.flood = false
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- native/Web 50ms 语义执行样本数量完全一致，均为 1300。
|
||||
- 每个样本除原有 `sampleIndex`、`timeMs`、`line`、`motionType`、`activeKinematics`、`tool`、`joint`、`tcp`、`toolAxis`、`feed`、`spindle` 外，新增同构 `machineState`。
|
||||
- `machineState` 覆盖主轴转速、方向、进给、切削速度、当前刀具、换刀状态、冷却状态；逐行轴值与完整执行步骤也记录该状态。
|
||||
- compare 已把 `machineState` 纳入逐样本、逐行轴值、完整 G 代码执行过程的 native/Web 硬比较，当前 mismatch 为 0。
|
||||
|
||||
## 50ms G 代码执行过程同步验收
|
||||
|
||||
### 命令
|
||||
|
||||
```bash
|
||||
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
|
||||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
|
||||
```
|
||||
|
||||
### 结果
|
||||
|
||||
```text
|
||||
py_compile=ok
|
||||
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
|
||||
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
|
||||
compare_xyzbc_trt_status=pass
|
||||
xyzbc_trt_web_app_smoke=ok
|
||||
gmoccapy_static_build=ok
|
||||
```
|
||||
|
||||
### JSON 摘要
|
||||
|
||||
```text
|
||||
native.pathSampling.samplePeriodMs = 50
|
||||
native.previewPath.samplePeriodMs = 50
|
||||
native.previewPath.sampleCount = 1300
|
||||
native.executionPath.samplePeriodMs = 50
|
||||
native.executionPath.sampleCount = 4
|
||||
native.executionPath.taskHal.completed = true
|
||||
native.semanticExecutionPath.samplePeriodMs = 50
|
||||
native.semanticExecutionPath.sampleCount = 1300
|
||||
|
||||
web.pathSampling.samplePeriodMs = 50
|
||||
web.previewPath.samplePeriodMs = 50
|
||||
web.previewPath.sampleCount = 1300
|
||||
web.executionPath.samplePeriodMs = 50
|
||||
web.executionPath.sampleCount = 228
|
||||
web.executionPath.taskHal.completed = true
|
||||
web.semanticExecutionPath.samplePeriodMs = 50
|
||||
web.semanticExecutionPath.sampleCount = 1300
|
||||
|
||||
lineExecution.nativeTraceCount = 64
|
||||
lineExecution.webTraceCount = 64
|
||||
axisValues.nativeLineValueCount = 29
|
||||
axisValues.webLineValueCount = 29
|
||||
gcodeExecutionProcess.nativeExecutionStepCount = 128
|
||||
gcodeExecutionProcess.webExecutionStepCount = 128
|
||||
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.webSourceLineCoverageCount = 65
|
||||
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
compare.pathComparison.samplePeriodMs = 50
|
||||
compare.lineExecutionComparison.status = pass
|
||||
compare.axisValuesByLineComparison.status = pass
|
||||
compare.gcodeExecutionProcessComparison.status = pass
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- 当前 native/Web 刀具预览路径、runtime 执行反馈路径和源程序语义执行路径均统一为 50ms 采样周期。
|
||||
- 每个样本继续记录 `sampleIndex`、`timeMs`、`line`、`motionType`、`activeKinematics`、`tool`、`joint`、`tcp`、`toolAxis`、`feed`、`spindle`。
|
||||
- 完整 G 代码执行过程 JSON 继续覆盖源行、动态执行步骤、参数赋值、switchkins、G10 偏置、运动起止轴值、TCP、toolAxis、进给和最终状态，native/Web compare 全部通过。
|
||||
|
||||
## native/Web 全量闭环最终验收
|
||||
|
||||
### 2026-07-02 15:45 EDT 复核补充
|
||||
@@ -54,25 +253,25 @@ xyzbc_trt_browser_smoke=ok
|
||||
### JSON 摘要
|
||||
|
||||
```text
|
||||
native.previewPath.samplePeriodMs = 20
|
||||
native.previewPath.sampleCount = 3226
|
||||
native.executionPath.samplePeriodMs = 20
|
||||
native.executionPath.sampleCount = 7
|
||||
native.previewPath.samplePeriodMs = 50
|
||||
native.previewPath.sampleCount = 1300
|
||||
native.executionPath.samplePeriodMs = 50
|
||||
native.executionPath.sampleCount = 4
|
||||
native.executionPath.taskHal.completed = true
|
||||
native.basicSimEquivalent.ready = true
|
||||
native.taskStateFlow.ready = true
|
||||
|
||||
web.previewPath.samplePeriodMs = 20
|
||||
web.previewPath.sampleCount = 3074
|
||||
web.executionPath.samplePeriodMs = 20
|
||||
web.executionPath.sampleCount = 569
|
||||
web.previewPath.samplePeriodMs = 50
|
||||
web.previewPath.sampleCount = 1300
|
||||
web.executionPath.samplePeriodMs = 50
|
||||
web.executionPath.sampleCount = 228
|
||||
web.executionPath.taskHal.completed = true
|
||||
web.basicSimEquivalent.ready = true
|
||||
web.ngcguiExecution.ready = true
|
||||
web.nativeStateFlowReview.ready = true
|
||||
|
||||
compare.summary.checkCount = 29
|
||||
compare.summary.passCount = 29
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
compare.pathComparison.previewVsPreview.comparable = true
|
||||
@@ -83,7 +282,7 @@ compare.pathComparison.previewVsExecutionWeb.comparable = true
|
||||
|
||||
结论：
|
||||
|
||||
- native/Web 刀具预览路径和执行路径均使用 20ms 采样周期，compare 已进入可比误差统计。
|
||||
- native/Web 刀具预览路径和执行路径均使用 50ms 采样周期，compare 已进入可比误差统计。
|
||||
- native/Web basic_sim 等效、Ngcgui/remap 子程序执行、TRAJ/AXIS/JOINT 限制、HAL pin、按钮联锁和状态流复核均已纳入证据并通过 compare。
|
||||
- `04-任务矩阵.md` 中 T-001 到 T-040 均为完成。
|
||||
|
||||
@@ -266,9 +465,9 @@ web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.js
|
||||
当前 Web evidence 已包含：
|
||||
|
||||
```text
|
||||
pathSampling.samplePeriodMs = 20
|
||||
previewPath.samplePeriodMs = 20
|
||||
executionPath.samplePeriodMs = 20
|
||||
pathSampling.samplePeriodMs = 50
|
||||
previewPath.samplePeriodMs = 50
|
||||
executionPath.samplePeriodMs = 50
|
||||
startupSequence
|
||||
iniDisplay
|
||||
halNets
|
||||
@@ -323,10 +522,10 @@ gmoccapy_static_build=ok
|
||||
```text
|
||||
web.wasm.ready = true
|
||||
web.blockers = []
|
||||
web.previewPath.samplePeriodMs = 20
|
||||
web.previewPath.sampleCount = 3074
|
||||
web.executionPath.samplePeriodMs = 20
|
||||
web.executionPath.sampleCount = 569
|
||||
web.previewPath.samplePeriodMs = 50
|
||||
web.previewPath.sampleCount = 1300
|
||||
web.executionPath.samplePeriodMs = 50
|
||||
web.executionPath.sampleCount = 228
|
||||
web.executionPath.source = web-linuxcnc-task-hal-execution
|
||||
web.executionPath.taskHal.completed = true
|
||||
compare.summary.passCount = 18
|
||||
@@ -749,8 +948,8 @@ path-comparison
|
||||
后续 native/Web evidence JSON 必须增加刀具预览路径和刀具执行路径：
|
||||
|
||||
```text
|
||||
working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||||
working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||||
working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 50
|
||||
working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 50
|
||||
working/evidence/native-xyzbc-trt-evidence.json.previewPath.samples[]
|
||||
working/evidence/native-xyzbc-trt-evidence.json.executionPath.samples[]
|
||||
working/evidence/web-xyzbc-trt-evidence.json.previewPath.samples[]
|
||||
@@ -760,9 +959,9 @@ working/evidence/compare-xyzbc-trt-evidence.json.pathComparison
|
||||
|
||||
采样要求：
|
||||
|
||||
- `samplePeriodMs` 固定为 `20`，native/Web 两侧必须一致。
|
||||
- `samplePeriodMs` 固定为 `50`，native/Web 两侧必须一致。
|
||||
- 样本必须通过 `sampleIndex` 和 `timeMs` 对齐。
|
||||
- 若原始采集周期不同，采集脚本或 compare 脚本必须重采样为 20ms 后再比较。
|
||||
- 若原始采集周期不同，采集脚本或 compare 脚本必须重采样为 50ms 后再比较。
|
||||
- `previewPath` 只能表示预览/planner 路径；`executionPath` 必须来自真实执行反馈或 Web WASM task/HAL 执行反馈，不能用预览路径替代。
|
||||
|
||||
每个样本必须包含：
|
||||
@@ -786,8 +985,12 @@ compare 验收项：
|
||||
```text
|
||||
pathComparison.previewVsPreview
|
||||
pathComparison.executionVsExecution
|
||||
pathComparison.semanticExecutionVsSemanticExecution
|
||||
pathComparison.previewVsExecutionNative
|
||||
pathComparison.previewVsExecutionWeb
|
||||
lineExecutionComparison
|
||||
axisValuesByLineComparison
|
||||
gcodeExecutionProcessComparison
|
||||
```
|
||||
|
||||
每个对比项至少输出：
|
||||
@@ -909,6 +1112,89 @@ compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
```
|
||||
|
||||
## 刀具执行路径、实际轴值与逐行 G 代码对标证据
|
||||
|
||||
新增证据字段：
|
||||
|
||||
```text
|
||||
native.semanticExecutionPath
|
||||
native.lineExecutionTrace
|
||||
native.axisValuesByLine
|
||||
native.gcodeExecutionProcess
|
||||
web.semanticExecutionPath
|
||||
web.lineExecutionTrace
|
||||
web.axisValuesByLine
|
||||
web.gcodeExecutionProcess
|
||||
compare.pathComparison.semanticExecutionVsSemanticExecution
|
||||
compare.lineExecutionComparison
|
||||
compare.axisValuesByLineComparison
|
||||
compare.gcodeExecutionProcessComparison
|
||||
```
|
||||
|
||||
验证命令结果：
|
||||
|
||||
```text
|
||||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 --startup-timeout 35
|
||||
npm run evidence:web
|
||||
npm run evidence:compare -> compare_xyzbc_trt_status=pass
|
||||
npm run smoke:node -> xyzbc_trt_web_app_smoke=ok
|
||||
npm run build -> gmoccapy_static_build=ok
|
||||
```
|
||||
|
||||
当前 compare 摘要：
|
||||
|
||||
```text
|
||||
compare.summary.checkCount = 35
|
||||
compare.summary.passCount = 35
|
||||
compare.summary.failCount = 0
|
||||
compare.summary.blockers = []
|
||||
|
||||
semanticExecution.nativeSampleCount = 3226
|
||||
semanticExecution.webSampleCount = 3226
|
||||
semanticExecution.sampleCountDelta = 0
|
||||
semanticExecution.maxTcpErrorMm = 3.552713678800501e-15
|
||||
semanticExecution.maxJointError = 3.552713678800501e-15
|
||||
semanticExecution.maxToolAxisAngleDeg = 0
|
||||
|
||||
lineExecution.nativeTraceCount = 64
|
||||
lineExecution.webTraceCount = 64
|
||||
lineExecution.mismatchCount = 0
|
||||
|
||||
axisValues.nativeLineValueCount = 29
|
||||
axisValues.webLineValueCount = 29
|
||||
axisValues.maxTcpErrorMm = 0
|
||||
axisValues.maxJointError = 0
|
||||
axisValues.maxToolAxisAngleDeg = 0
|
||||
axisValues.mismatchCount = 0
|
||||
|
||||
gcodeExecutionProcess.nativeExecutionStepCount = 128
|
||||
gcodeExecutionProcess.webExecutionStepCount = 128
|
||||
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.webSourceLineCoverageCount = 65
|
||||
gcodeExecutionProcess.mismatchCount = 0
|
||||
gcodeExecutionProcess.motionStepCount = 29
|
||||
gcodeExecutionProcess.switchkinsStepCount = 21
|
||||
gcodeExecutionProcess.parameterAssignmentStepCount = 41
|
||||
gcodeExecutionProcess.workOffsetStepCount = 9
|
||||
gcodeExecutionProcess.callStepCount = 5
|
||||
gcodeExecutionProcess.finalJoint = {x:0, y:0, z:10, b:0, c:0}
|
||||
gcodeExecutionProcess.finalKinematics = identity
|
||||
```
|
||||
|
||||
语义边界说明：
|
||||
|
||||
- `executionPath` 保留真实 runtime feedback：native 来自 `linuxcnc.stat()` 采样，Web 来自 task/HAL WASM 反馈。
|
||||
- `semanticExecutionPath` 用同一份 LinuxCNC 源程序和子程序展开执行语义，作为逐点几何对齐与逐行 G 代码对标基准。
|
||||
- `lineExecutionTrace` 记录主程序调用、四象限子程序流程、M429/M428 switchkins、G10 偏置设置、G0 快移、G2 helix。
|
||||
- `axisValuesByLine` 记录每条产生日志运动的 X/Y/Z/B/C、TCP、toolAxis、feed，用于实际轴值对标。
|
||||
- `gcodeExecutionProcess` 完整记录 G 代码执行过程：
|
||||
- `sourceLineCoverage` 记录 `xyzbc_switchkins.ngc`、`xyzbc_switchkins_sub.ngc`、`helix_bc.ngc` 每个源行的行号、语句、行类型、访问次数、产生运动次数和操作列表。
|
||||
- `executionSteps` 按动态执行顺序记录源文件、行号、调用栈、执行状态、行类型和详细结果。
|
||||
- `result.parametersChanged` 记录 `#<...>` 参数赋值结果。
|
||||
- `result.modalChange` 记录 M428/M429、G10、M2 等模态变化。
|
||||
- `result.motion` 记录运动行起止 joint、起止 TCP、toolAxis、feed、segmentIndex。
|
||||
- `summary` 汇总运动步、switchkins、参数赋值、G10、call、无运动步、最终轴值和最终 kinematics。
|
||||
|
||||
浏览器真实点击覆盖：
|
||||
|
||||
```text
|
||||
|
||||
@@ -115,16 +115,16 @@
|
||||
- 没有 `.js/.wasm` artifact 时，浏览器 worker runtime 无法完成真实执行。
|
||||
- 保留失败项可以明确下一步是激活已安装的 Emscripten 并构建 artifact，而不是继续堆叠 Web UI 假状态。
|
||||
|
||||
## D-009：刀具路径按统一 20ms 周期采样后比较
|
||||
## D-009：刀具路径按统一 50ms 周期采样后比较
|
||||
|
||||
日期：2026-07-02
|
||||
|
||||
决策：native/Web 的刀具预览路径和刀具执行路径进入 evidence JSON 前，统一按 `samplePeriodMs = 20` 重采样；compare 只对同一 `sampleIndex/timeMs` 的样本做逐点比较。
|
||||
决策：native/Web 的刀具预览路径和刀具执行路径进入 evidence JSON 前，统一按用户本轮要求暂定的 `samplePeriodMs = 50` 重采样；compare 只对同一 `sampleIndex/timeMs` 的样本做逐点比较。
|
||||
|
||||
理由：
|
||||
|
||||
- LinuxCNC 真实系统和 Web 仿真系统的内部刷新、planner、HAL/task 采样频率可能不同，直接比较原始样本会产生时间错位。
|
||||
- 固定 20ms 可以覆盖人眼可见刀路和 UI 动画判断，同时让 JSON 体积可控。
|
||||
- 固定 50ms 可以覆盖当前对标所需的刀路、轴值、进给、主轴和 UI 动画判断，同时让 JSON 体积可控。
|
||||
- 统一 `sampleIndex/timeMs` 后，TCP、XYZBC joint、toolAxis、feed、spindle 的误差统计可以稳定复跑。
|
||||
- 如果 Web 缺少 WASM task/HAL 执行反馈，不允许用预览路径冒充执行路径；compare 必须显式 fail/blocker。
|
||||
|
||||
|
||||
@@ -91,6 +91,16 @@
|
||||
| `helix_bc.ngc` | B/C helix 五轴轨迹 | Web 必须 stage 并进入路径对比 |
|
||||
| `boat-xyzbc.ngc` | 额外演示程序 | Web 必须 stage 并可作为验收程序 |
|
||||
|
||||
## 刀具执行路径与逐行 G 代码对标
|
||||
|
||||
| 对标项 | LinuxCNC 真源 | Web 对标目标 | Evidence/验收 |
|
||||
| --- | --- | --- | --- |
|
||||
| 刀具执行语义路径 | `xyzbc_switchkins.ngc` 调用 `xyzbc_switchkins_sub.ngc`，再调用 `helix_bc.ngc` | Web 按同一源程序和子程序展开执行路径，不只依赖 UI 预览 | native/Web `semanticExecutionPath.samples` 均为 1300；compare `semanticExecutionVsSemanticExecution.geometricAligned=true` |
|
||||
| 实际轴值 | G53/G54、G0、G2 helix、B/C 姿态和 switchkins 状态 | Web 记录每条产生日志运动后的 X/Y/Z/B/C、TCP、toolAxis、feed | native/Web `axisValuesByLine` 均为 29 条；compare 最大 TCP/joint/toolAxis 误差为 0 |
|
||||
| 每行 G 代码执行过程 | 主程序行 2、`xyzbc_switchkins_sub.ngc` 行 15-45、`helix_bc.ngc` 行 12-21 | Web 记录 call、M429/M428、G10、G0、G2 的执行顺序和 kinematics 前后状态 | native/Web `lineExecutionTrace` 均为 64 条；compare `mismatchCount=0` |
|
||||
| 完整 G 代码执行过程 JSON | 主程序、子程序边界、注释、参数赋值、call stack、M/G 代码、运动结果 | Web 记录每个动态执行步骤和每个源行覆盖状态，每步包含详细结果 | native/Web `gcodeExecutionProcess.executionSteps` 均为 128，`sourceLineCoverage` 均为 65；compare `mismatchCount=0` |
|
||||
| runtime 执行反馈 | native `linuxcnc.stat()`、Web task/HAL WASM status | 保留真实反馈路径，作为运行完成和状态流证据 | native `executionPath.taskHal.completed=true`；Web `executionPath.taskHal.completed=true` |
|
||||
|
||||
## JSON 证据对标
|
||||
|
||||
native evidence、Web evidence、compare evidence 必须覆盖：
|
||||
@@ -103,15 +113,22 @@ native evidence、Web evidence、compare evidence 必须覆盖：
|
||||
- `axisJointLimits`：X/Y/Z/B/C 和 JOINT_0..4 限制、单位、速度/加速度。
|
||||
- `switchkinsTransitions`：M429/M428/M430 的命令、HAL pin 和状态变化。
|
||||
- `toolTable`：T/P/Z/D 解析和当前工具偏置。
|
||||
- `previewPath`：刀具预览路径，20ms 统一采样。
|
||||
- `executionPath`：刀具执行路径，20ms 统一采样。
|
||||
- `previewPath`：刀具预览路径，50ms 统一采样。
|
||||
- `executionPath`：刀具执行路径，50ms 统一采样。
|
||||
- `semanticExecutionPath`：基于 LinuxCNC 源程序/子程序展开的刀具执行语义路径，50ms 统一采样。
|
||||
- `lineExecutionTrace`：主程序、子程序、M428/M429、G10、G0、G2 的逐行执行过程。
|
||||
- `axisValuesByLine`：每条产生日志运动后的 X/Y/Z/B/C、TCP、toolAxis、feed。
|
||||
- `gcodeExecutionProcess`：完整动态执行步骤、源行覆盖、调用栈、参数变化、模态变化、运动起止轴值/TCP/toolAxis。
|
||||
- `pathComparison`：native/Web 预览与执行路径误差统计。
|
||||
- `lineExecutionComparison`：native/Web 逐行 G 代码执行过程对比。
|
||||
- `axisValuesByLineComparison`：native/Web 每行实际轴值对比。
|
||||
- `gcodeExecutionProcessComparison`：native/Web 完整 G 代码执行过程 JSON 对比。
|
||||
- `uiEquivalence`：AXIS/PyVCP/Vismach 在 Web 中的等效控件和状态。
|
||||
- `axisButtonParity`：AXIS/PyVCP 按钮 action、LinuxCNC 源程序/POSTGUI HAL 来源、预期状态效果、缺口列表。
|
||||
|
||||
## 当前主要缺口
|
||||
## 当前闭环状态
|
||||
|
||||
当前 T-001 到 T-042 均已完成。T-041/T-042 新增 AXIS/PyVCP 按钮级源程序对标和逐按钮逻辑验证，Web evidence 增加 `axisMainUi.axisButtonParity` 与 `coverage.axisButtonParityCovered`。
|
||||
当前 T-001 到 T-046 均已完成。T-041/T-042 新增 AXIS/PyVCP 按钮级源程序对标和逐按钮逻辑验证；T-043/T-046 新增刀具执行路径、逐行 G 代码执行过程、每行实际轴值和完整 G 代码执行过程 JSON 对标。
|
||||
|
||||
已闭环事项：
|
||||
|
||||
@@ -119,5 +136,6 @@ native evidence、Web evidence、compare evidence 必须覆盖：
|
||||
2. Web evidence 已记录 `startupSequence`、`halNets`、`kinematicsPins`、`axisJointLimits`、`axisMainUi`、`vismachEquivalent`、`basicSimEquivalent`、`ngcguiExecution` 和 native 状态流复核。
|
||||
3. Web UI 已按 AXIS 等效面板覆盖程序、坐标、状态、MDI/switchkins、override、tool、preview、execution 和 axis buttons；按钮级矩阵已映射到 LinuxCNC `axis.py` 与 `switchkins_postgui.hal`。
|
||||
4. Vismach 等效模型已按 `xyzbc-trt-gui.py` 的 pin 和模型层级完成 Web 端验收，`smoke:browser` 覆盖 canvas 非空和 dataset。
|
||||
5. native/Web 刀具预览路径和执行路径 JSON 均已按 20ms 周期采集，compare 已输出误差统计。
|
||||
5. native/Web 刀具预览路径、runtime 执行反馈路径和源程序语义执行路径 JSON 均已按 50ms 周期采集，compare 已输出并硬校验误差统计。
|
||||
6. `boat-xyzbc.ngc` staging 和 Ngcgui/remap 子程序全集 Web 可执行验收已完成。
|
||||
7. `lineExecutionTrace` 64 条、`axisValuesByLine` 29 条、`gcodeExecutionProcess.executionSteps` 128 条、`sourceLineCoverage` 65 条均已在 native/Web JSON 中同构记录并通过 compare。
|
||||
|
||||
@@ -141,7 +141,7 @@ Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x
|
||||
|
||||
5.4 路径采样和 JSON 比对
|
||||
|
||||
曲线采样周期固定为 samplePeriodMs = 20，即 50 Hz。LinuxCNC 真实系统和 Web 仿真系统必须使用相同采样周期、相同 sampleIndex、相同时间基准和相同坐标字段，禁止一端 10 ms、另一端 20 ms 或使用不同插补点。
|
||||
曲线采样周期按当前要求暂定为 samplePeriodMs = 50，即 20 Hz。LinuxCNC 真实系统和 Web 仿真系统必须使用相同采样周期、相同 sampleIndex、相同时间基准和相同坐标字段，禁止两侧使用不同采样周期或不同插补点。
|
||||
|
||||
|
||||
|
||||
@@ -149,7 +149,7 @@ Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x
|
||||
|
||||
5.5 Evidence JSON 字段规范
|
||||
|
||||
| { "schema": "xyzbc-trt-evidence/v1", "source": "linuxcnc-native / web-sim", "samplePeriodMs": 20, "linuxcncRoot": "/home/mes123456/cnc_wams/linuxcnc", "ini": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "program": "./demos/xyzbc_switchkins.ngc", "runtime": {"taskState": 1, "interpState": 1, "axisMask": 55, "kinstype": 0}, "halPins": { "motion.switchkins-type": 0, "xyzbc-trt-kins.x-offset": -20, "xyzbc-trt-kins.z-offset": -15, "xyzbc-trt-kins.conventional-directions": false }, "previewPath": { "coordinateSystem": "XYZBC", "samples": [{ "sampleIndex": 0, "timeMs": 0, "line": 1, "joint": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "world": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "toolTip": {"x": 0, "y": 0, "z": 0}, "toolAxis": {"i": 0, "j": 0, "k": 1}, "kinstype": 0 }] }, "executionPath": {"samples": []}, "screenshots": []} |
|
||||
| { "schema": "xyzbc-trt-evidence/v1", "source": "linuxcnc-native / web-sim", "samplePeriodMs": 50, "linuxcncRoot": "/home/mes123456/cnc_wams/linuxcnc", "ini": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", "program": "./demos/xyzbc_switchkins.ngc", "runtime": {"taskState": 1, "interpState": 1, "axisMask": 55, "kinstype": 0}, "halPins": { "motion.switchkins-type": 0, "xyzbc-trt-kins.x-offset": -20, "xyzbc-trt-kins.z-offset": -15, "xyzbc-trt-kins.conventional-directions": false }, "previewPath": { "coordinateSystem": "XYZBC", "samples": [{ "sampleIndex": 0, "timeMs": 0, "line": 1, "joint": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "world": {"x": 0, "y": 0, "z": 0, "b": 0, "c": 0}, "toolTip": {"x": 0, "y": 0, "z": 0}, "toolAxis": {"i": 0, "j": 0, "k": 1}, "kinstype": 0 }] }, "executionPath": {"samples": []}, "screenshots": []} |
|
||||
| --- |
|
||||
|
||||
5.6 对比报告字段
|
||||
@@ -174,7 +174,7 @@ Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x
|
||||
| 阶段 3 | 实现 HAL 总线、halui、switchkins 状态机和 remap 命令链路。 | HAL 状态面板、MDI 命令记录。 | 按钮触发 M429/M428/M430 后状态一致。 |
|
||||
| 阶段 4 | 实现 XYZBC 运动学和 Three.js Vismach 等价模型。 | 五轴机床模型、刀具和工件。 | X/Y/Z/B/C 点动与 HAL pin 一致。 |
|
||||
| 阶段 5 | 实现 G-code 预览路径、执行路径、暂停/复位/单步。 | 预览轨迹、执行轨迹、状态机。 | 默认程序 xyzbc_switchkins.ngc 可回放。 |
|
||||
| 阶段 6 | 实现 native 和 web evidence JSON，固定 20 ms 采样周期。 | native-evidence.json、web-evidence.json。 | 字段、单位、sampleIndex 对齐。 |
|
||||
| 阶段 6 | 实现 native 和 web evidence JSON，暂定固定 50 ms 采样周期。 | native-evidence.json、web-evidence.json。 | 字段、单位、sampleIndex 对齐。 |
|
||||
| 阶段 7 | 实现 compare-report 自动生成。 | compare-report.json、HTML 报告。 | 误差统计和首个差异点可追溯。 |
|
||||
|
||||
## 7. 验收标准
|
||||
@@ -185,7 +185,7 @@ Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x
|
||||
| 界面标准 | Web 首屏包含 AXIS 主要工作区、PyVCP SWITCHKINS 面板、预览区、DRO、程序区和状态栏。 |
|
||||
| 功能标准 | 默认加载 xyzbc_switchkins.ngc，支持 MDI、模式切换、清轨迹、点动、倍率、刀具和参数。 |
|
||||
| 运动学标准 | identity、XYZBC TCP、userk 模式状态和轨迹计算与真实系统一致。 |
|
||||
| JSON 标准 | 预览路径和执行路径同时导出，采样周期统一为 20 ms，字段一致。 |
|
||||
| JSON 标准 | 预览路径和执行路径同时导出，采样周期统一为 50 ms，字段一致。 |
|
||||
| 比对标准 | 能输出最大误差、RMS 误差、首个差异点、截图和通过/失败结论。 |
|
||||
| 证据标准 | 每次验收保存 LinuxCNC 原始截图、Web 截图、native JSON、web JSON、compare report。 |
|
||||
|
||||
@@ -194,7 +194,7 @@ Web 端机床模型采用 XYZBC table rotary/tilting 结构。X 对应 table-x
|
||||
| 风险 | 影响 | 控制措施 |
|
||||
| --- | --- | --- |
|
||||
| LinuxCNC 内部解释器和 Web 解释器细节不一致 | 路径点或模式切换时序不同。 | 优先移植或复用 LinuxCNC 解析/运动学逻辑，保留 native evidence 作为回归基准。 |
|
||||
| 采样周期不一致 | 曲线无法逐点比较。 | 强制配置 samplePeriodMs=20，JSON schema 校验不允许缺省。 |
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| 采样周期不一致 | 曲线无法逐点比较。 | 强制配置 samplePeriodMs=50，JSON schema 校验不允许缺省。 |
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| Three.js 模型和 Vismach 结构偏差 | 视觉对标通过但运动不一致。 | 每个关节都绑定 HAL pin，模型矩阵由运动学输出驱动。 |
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| UI 直接改状态绕过 HAL | 无法对标真实控制链路。 | PyVCP 控件只发 HAL/MDI 事件，状态由 HAL pin 回读。 |
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| 路径或旧目录混入 | 证据不可复现。 | 文档和脚本统一扫描旧路径，禁止使用 历史旧 LinuxCNC 目录。 |
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@@ -288,7 +288,7 @@ xyzbc-trt-gui.py 则把 Vismach 模型拆成可响应的 HAL 变换链：tool-of
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| 预览 | 读取 xyzbc_switchkins.ngc，在预览区生成 G-code 轨迹和位置采样。 | 得到 previewPath JSON。 |
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| 切换 | 通过 M428/M429/M430 或等价按钮改变 switchkins 模式，并执行同步命令。 | 运动学和解释器状态对齐。 |
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| 执行 | 根据当前模式执行程序，同时刷新关节反馈和 TCP 位姿。 | 得到 executionPath JSON。 |
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| 比对 | 用固定 20 ms 采样周期对比预览和执行曲线。 | 输出 compare-report.json。 |
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| 比对 | 用固定 50 ms 采样周期对比预览和执行曲线。 | 输出 compare-report.json。 |
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||||
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||||
同步逻辑是这个程序最容易被误解的地方：切换模式不是单独改一个 pin 就结束了，必须让解释器和 motion 同步，否则 G-code 看到的坐标语义和 motion 看到的坐标语义会不同。这个要求在文档中已经被固化为“预览路径和执行路径统一采样周期，并在切换时强制同步”。
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|
||||
|
||||
@@ -19,5 +19,5 @@
|
||||
- DOCX 任务书已整合到 `working/09-设计任务书与技术方案整合.md`，后续开发和验收优先以 `working` 下 Markdown 文件为可检索工作入口。
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||||
- `working` 文档必须完全对标 `doc/xyzbc-trt-runtime-files.md`，不仅覆盖文件 staging，也覆盖 AXIS、PyVCP、POSTGUI HAL、basic_sim、Vismach、switchkins、Ngcgui、tool-offset、kinematics pins 和加载顺序。
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||||
- native/Web evidence JSON 后续必须包含刀具预览路径 `previewPath` 和刀具执行路径 `executionPath`。
|
||||
- 路径曲线对比统一使用 `samplePeriodMs = 20`，通过相同 `sampleIndex/timeMs` 对齐。
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||||
- 路径曲线对比暂定统一使用 `samplePeriodMs = 50`，通过相同 `sampleIndex/timeMs` 对齐。
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||||
- compare JSON 后续必须输出 `pathComparison`，覆盖预览对预览、执行对执行、预览对执行的一致性误差统计。
|
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|
||||
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