提交 xyzbc-trt 界面与验证更新

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py

@@ -14,6 +14,8 @@ 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"
 DEFAULT_OUTPUT = "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json"
+DEFAULT_LINUXCNC_COMMAND = f"{DEFAULT_SOURCE_ROOT}/scripts/linuxcnc"
+DEFAULT_STARTUP_LOG = "/tmp/xyzbc-trt-native-evidence-linuxcnc.log"
 XYZBC_DEFAULT_TOOL = {
     "id": 2,
     "pocket": 2,
@@ -29,6 +31,8 @@ def main():
     parser.add_argument("--output", default=DEFAULT_OUTPUT)
     parser.add_argument("--run", action="store_true", help="Optionally execute the program through linuxcnc.command().")
     parser.add_argument("--timeout", type=float, default=60.0)
+    parser.add_argument("--startup-timeout", type=float, default=35.0)
+    parser.add_argument("--no-autostart", action="store_true", help="Do not start LinuxCNC when no status buffer is available.")
     args = parser.parse_args()
 
     try:
@@ -47,18 +51,43 @@ def main():
         })
         return 2
 
-    stat = linuxcnc.stat()
-    command = linuxcnc.command()
-    error_channel = linuxcnc.error_channel()
+    runtime_process = None
+    startup = {
+        "autostartRequested": bool(args.run and not args.no_autostart),
+        "startedByCollector": False,
+        "logPath": DEFAULT_STARTUP_LOG,
+    }
+    try:
+        stat, command, error_channel, before = connect_linuxcnc_channels(linuxcnc)
+    except Exception as exc:
+        if args.run and not args.no_autostart:
+            runtime_process = start_linuxcnc_runtime(args.ini)
+            startup.update({
+                "startedByCollector": True,
+                "pid": runtime_process.pid,
+                "command": [DEFAULT_LINUXCNC_COMMAND, args.ini],
+            })
+            try:
+                stat, command, error_channel, before = wait_for_linuxcnc_channels(linuxcnc, args.startup_timeout)
+            except Exception as startup_exc:
+                cleanup_started_runtime(runtime_process)
+                write_connection_blocked_json(args, exc, startup_exc, startup)
+                return 2
+        else:
+            write_connection_blocked_json(args, exc, None, startup)
+            return 2
 
-    before = poll_stat(stat)
-    command_result = None
-    if args.run:
-        command_result = run_program(linuxcnc, stat, command, pathlib.Path(args.program), args.timeout)
+    try:
+        command_result = None
+        if args.run:
+            command_result = run_program(linuxcnc, stat, command, pathlib.Path(args.program), args.timeout)
 
-    after = poll_stat(stat)
-    hal = collect_hal_snapshot()
-    errors = drain_errors(error_channel)
+        after = poll_stat(stat)
+        hal = collect_hal_snapshot()
+        errors = drain_errors(error_channel)
+    finally:
+        if runtime_process is not None:
+            cleanup_started_runtime(runtime_process)
 
     preview_path = collect_native_preview_path(pathlib.Path(args.program))
     execution_path = execution_path_from_command(command_result)
@@ -77,6 +106,7 @@ def main():
         "linuxcncRuntime": {
             "pythonApi": True,
             "processes": list_processes(),
+            "startup": startup,
         },
         "before": before,
         "after": after,
@@ -169,6 +199,82 @@ def run_program(linuxcnc, stat, command, program_path, timeout):
     return result
 
 
+def connect_linuxcnc_channels(linuxcnc):
+    stat = linuxcnc.stat()
+    command = linuxcnc.command()
+    error_channel = linuxcnc.error_channel()
+    before = poll_stat(stat)
+    return stat, command, error_channel, before
+
+
+def wait_for_linuxcnc_channels(linuxcnc, timeout):
+    deadline = time.time() + timeout
+    last_error = None
+    while time.time() < deadline:
+        try:
+            return connect_linuxcnc_channels(linuxcnc)
+        except Exception as exc:
+            last_error = exc
+            time.sleep(0.5)
+    if last_error is not None:
+        raise last_error
+    raise RuntimeError("linuxcnc status buffer was not available before timeout")
+
+
+def start_linuxcnc_runtime(ini_path):
+    log_path = pathlib.Path(DEFAULT_STARTUP_LOG)
+    log_file = log_path.open("w", encoding="utf-8")
+    try:
+        return subprocess.Popen(
+            [DEFAULT_LINUXCNC_COMMAND, str(ini_path)],
+            cwd=DEFAULT_SOURCE_ROOT,
+            stdin=subprocess.DEVNULL,
+            stdout=log_file,
+            stderr=subprocess.STDOUT,
+            start_new_session=True,
+        )
+    finally:
+        log_file.close()
+
+
+def cleanup_started_runtime(process):
+    if process.poll() is not None:
+        return
+    try:
+        process.terminate()
+        process.wait(timeout=8)
+    except subprocess.TimeoutExpired:
+        process.kill()
+        process.wait(timeout=5)
+    except Exception:
+        pass
+
+
+def write_connection_blocked_json(args, connect_error, startup_error, startup):
+    payload = {
+        "apiName": "xyzbc-trt-native-linuxcnc-evidence",
+        "status": "blocked",
+        "blocker": "linuxcnc_status_buffer_unavailable",
+        "error": f"{type(connect_error).__name__}: {connect_error}",
+        "startupError": None if startup_error is None else f"{type(startup_error).__name__}: {startup_error}",
+        "hint": "Start xyzbc-trt LinuxCNC or run with --run so the collector can autostart it.",
+        "sourceRoot": DEFAULT_SOURCE_ROOT,
+        "iniPath": args.ini,
+        "programPath": args.program,
+        "linuxcncRuntime": {
+            "pythonApi": True,
+            "processes": list_processes(),
+            "startup": startup,
+        },
+        "pathSampling": create_path_sampling(),
+        "previewPath": collect_native_preview_path(pathlib.Path(args.program)),
+        "executionPath": empty_path("linuxcnc-stat", "linuxcnc status buffer was unavailable"),
+    }
+    write_json(args.output, payload)
+    print(f"native_xyzbc_trt_evidence={args.output}")
+    print("native_xyzbc_trt_status=blocked blocker=linuxcnc_status_buffer_unavailable")
+
+
 def poll_stat(stat):
     stat.poll()
     return {
@@ -464,7 +570,7 @@ def build_xyzbc_switchkins_segments(params):
             "radius": radius,
             "turns": turns,
         })
-        pose = end
+        pose = dict(end)
 
     quadrant_centers = [
         (distance, distance, 18),

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs

@@ -18,6 +18,8 @@ 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 { AXIS_BUTTON_PARITY } from "../app/src/ui/axis-shell.js";
 
 const SAMPLE_PERIOD_MS = 20;
 const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
@@ -171,6 +173,7 @@ const evidence = {
     basicSimEquivalent: taskHalEquivalence.ready === true,
     ngcguiSubroutinesExecutable: ngcguiExecution.ready === true,
     nativeStateFlowRechecked: semanticFields.nativeStateFlowReview?.ready === true,
+    axisButtonParityCovered: axisMainUi.axisButtonParity?.ready === true,
     toolTableToToolOffsetClosed: toolRuntime.ready
       && toolRuntime.toolTable.toolCount > 0
       && toolRuntime.activeOffsetApplied
@@ -274,7 +277,7 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
       staged,
       selectedPlan,
     });
-    const previewPath = pathFromWebMotion(execution, profile, toolRuntime.pathTool);
+    const previewPath = pathFromWebMotion(execution, profile, toolRuntime.pathTool, selectedPlan, staged);
     return {
       previewPath,
       executionPath: wasmArtifacts.ready
@@ -289,7 +292,10 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
   }
 }
 
-function pathFromWebMotion(execution, profile, pathTool = null) {
+function pathFromWebMotion(execution, profile, pathTool = null, selectedPlan = null, staged = null) {
+  const expandedPreview = pathFromAxisPreviewExpansion({ selectedPlan, staged, pathTool });
+  if (expandedPreview) return expandedPreview;
+
   const plannerSamples = execution.plannerTiming?.samples || [];
   const motion = execution.motion || [];
   const motionByIndex = new Map(motion.map((event, index) => [index, event]));
@@ -319,6 +325,26 @@ function pathFromWebMotion(execution, profile, pathTool = null) {
   };
 }
 
+function pathFromAxisPreviewExpansion({ 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 buildAxisPreviewPathFromProgram({
+    filename: selectedProgramFilename,
+    sourceRel: selectedPlan?.selectedProgramSourceRel,
+    content: programFile?.text || "",
+    tool: pathTool || {
+      id: 2,
+      pocket: 2,
+      length: 10,
+      diameter: 8,
+    },
+  });
+}
+
 function resamplePlannerSamples(plannerSamples = [], samplePeriodMs = SAMPLE_PERIOD_MS) {
   if (!Array.isArray(plannerSamples) || plannerSamples.length === 0) return [];
   const normalized = plannerSamples
@@ -782,6 +808,63 @@ function buildSemanticFields({
 
 function buildAxisMainUiEvidence({ state, profile, paths, toolRuntime, semanticFields }) {
   const taskPolicy = state.linuxCncTaskPolicy || {};
+  const requiredAxisButtonActions = [
+    "estop",
+    "power",
+    "open",
+    "reload",
+    "run-ready",
+    "run",
+    "pause",
+    "resume",
+    "step",
+    "stop",
+    "home-all",
+    "jog-minus",
+    "jog-plus",
+    "touch-off",
+    "tool-touch-off",
+    "spindle-forward",
+    "spindle-stop",
+    "spindle-reverse",
+    "feed-override-down",
+    "feed-override-up",
+    "rapid-override-down",
+    "rapid-override-up",
+    "spindle-override-down",
+    "spindle-override-up",
+    "ignore-limits",
+    "block-delete",
+    "optional-stop",
+    "toggle-flood",
+    "toggle-mist",
+    "mdi-form",
+    "mdi-history",
+    "kins-identity",
+    "kins-tcp",
+    "kins-userk",
+    "clear-preview",
+    "view-x",
+    "view-y",
+    "view-z",
+    "view-p",
+  ];
+  const coveredActions = new Set(AXIS_BUTTON_PARITY.map((item) => item.action));
+  const missingAxisButtonActions = requiredAxisButtonActions.filter((action) => !coveredActions.has(action));
+  const axisButtonParity = {
+    sourceFile: "/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/axis/scripts/axis.py",
+    pyvcpSourceFiles: [
+      "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml",
+      "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal",
+    ],
+    requiredActions: requiredAxisButtonActions,
+    coveredActions: Array.from(coveredActions),
+    missingActions: missingAxisButtonActions,
+    buttonCount: AXIS_BUTTON_PARITY.length,
+    sourceReferencedCount: AXIS_BUTTON_PARITY.filter((item) => item.sourceSymbol && item.sourceLines).length,
+    ready: missingAxisButtonActions.length === 0
+      && AXIS_BUTTON_PARITY.every((item) => item.sourceSymbol && item.sourceLines && item.expected),
+  };
   const requiredSections = [
     { id: "preview", section: "preview-toolpath-and-machine-model" },
     { id: "dro", section: "coordinates-dro" },
@@ -844,12 +927,14 @@ function buildAxisMainUiEvidence({ state, profile, paths, toolRuntime, semanticF
       ready: taskPolicy.canRunAuto !== undefined
         && taskPolicy.canExecuteMdi !== undefined
         && taskPolicy.canJog !== undefined
-        && taskPolicy.canHome !== undefined,
+        && taskPolicy.canHome !== undefined
+        && axisButtonParity.ready,
       evidence: {
         canRunAuto: taskPolicy.canRunAuto,
         canExecuteMdi: taskPolicy.canExecuteMdi,
         canJog: taskPolicy.canJog,
         canHome: taskPolicy.canHome,
+        axisButtonParity,
       },
     },
   ];
@@ -860,6 +945,8 @@ function buildAxisMainUiEvidence({ state, profile, paths, toolRuntime, semanticF
     profileId: state.machineProfile,
     coordinates: state.profile?.traj?.coordinates,
     requiredSections,
+    axisButtonParity,
+    buttons: AXIS_BUTTON_PARITY,
     capabilities,
     missingCapabilities,
     ready: missingCapabilities.length === 0,

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs

@@ -7,6 +7,9 @@ const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan");
 const nativePath = process.argv[2] || resolve(projectRoot, "working/evidence/native-xyzbc-trt-evidence.json");
 const webPath = process.argv[3] || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json");
 const outputPath = process.argv[4] || resolve(projectRoot, "working/evidence/compare-xyzbc-trt-evidence.json");
+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 nativeEvidence = JSON.parse(await readFile(nativePath, "utf8"));
 const webEvidence = JSON.parse(await readFile(webPath, "utf8"));
@@ -88,6 +91,9 @@ const checks = [
   check("ui", "web AXIS first screen exposes program, coordinates, status, MDI/switchkins, override, tool, preview, and execution", webEvidence.coverage?.axisMainUiEquivalent === true, {
     axisMainUi: webEvidence.axisMainUi,
   }),
+  check("ui", "web AXIS/PyVCP buttons are source-referenced and covered by a button-level parity matrix", webEvidence.coverage?.axisButtonParityCovered === true, {
+    axisButtonParity: webEvidence.axisMainUi?.axisButtonParity,
+  }),
   check("ui", "web UI state flow, buttons, HAL pins, and paths are rechecked against native xyzbc-trt runtime", webEvidence.coverage?.nativeStateFlowRechecked === true && nativeEvidence.coverage?.taskStateFlowReadable === true, {
     nativeTaskStateFlow: nativeEvidence.taskStateFlow,
     webNativeStateFlowReview: webEvidence.nativeStateFlowReview,
@@ -101,6 +107,14 @@ const checks = [
     webSampleCount: pathComparison.previewVsPreview.webSampleCount,
     unavailable: pathComparison.previewVsPreview.unavailable,
   }),
+  check("path-preview", "native and web preview tool paths are geometrically aligned", pathComparison.previewVsPreview.geometricAligned === true, {
+    thresholds: pathComparison.previewVsPreview.thresholds,
+    maxTcpErrorMm: pathComparison.previewVsPreview.maxTcpErrorMm,
+    rmsTcpErrorMm: pathComparison.previewVsPreview.rmsTcpErrorMm,
+    maxJointError: pathComparison.previewVsPreview.maxJointError,
+    maxToolAxisAngleDeg: pathComparison.previewVsPreview.maxToolAxisAngleDeg,
+    sampleCountDelta: pathComparison.previewVsPreview.sampleCountDelta,
+  }),
   check("path-execution", "native and web execution path sample period is 20ms", pathComparison.executionVsExecution.periodsMatch === true, {
     nativeSamplePeriodMs: pathComparison.executionVsExecution.nativeSamplePeriodMs,
     webSamplePeriodMs: pathComparison.executionVsExecution.webSamplePeriodMs,
@@ -219,9 +233,26 @@ 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 ? {
+    maxTcpErrorMm: PREVIEW_TCP_MAX_ERROR_MM,
+    maxJointError: PREVIEW_JOINT_MAX_ERROR,
+    maxToolAxisAngleDeg: PREVIEW_TOOL_AXIS_MAX_ERROR_DEG,
+    sampleCountDelta: 0,
+  } : null;
+  const geometricAligned = previewPair
+    ? comparable
+      && stats.maxTcpErrorMm <= thresholds.maxTcpErrorMm
+      && stats.maxJointError <= thresholds.maxJointError
+      && stats.maxToolAxisAngleDeg <= thresholds.maxToolAxisAngleDeg
+      && stats.sampleCountDelta <= thresholds.sampleCountDelta
+      && stats.missingSamples.length === 0
+    : comparable;
   return {
-    status: comparable ? "pass" : "fail",
+    status: comparable && (!previewPair || geometricAligned) ? "pass" : "fail",
     comparable,
+    geometricAligned,
+    thresholds,
     periodsMatch,
     [`${leftName}SamplePeriodMs`]: leftSamplePeriodMs,
     [`${rightName}SamplePeriodMs`]: rightSamplePeriodMs,