接入 LinuxCNC TP 运行反馈

2026-06-21 23:29:56 +08:00
parent 626bcfe8e3
commit 3771b9eafe
44 changed files with 7881 additions and 326 deletions
--- a/web-rtcp-5axis-sim-plan/docs/development-continuation.md
+++ b/web-rtcp-5axis-sim-plan/docs/development-continuation.md
@@ -333,25 +333,285 @@ promotionAllowed=false
 ## 9. 当前状态

 ```text
-status=M6_linuxcnc_kinematics_frame_proof_complete
+status=M17_linuxcnc_5axis_gcode_source_ingest_complete
 active_style=gmoccapy_5_axis
 frontend_framework=none
 ui_stack=html_css_typescript_es_modules
 preview_stack=threejs
 semantic_boundary=linuxcnc_owned
-latest_batch=M6-linuxcnc-kinematics-frame-proof
-latest_gate=linuxcnc_kinematics_runtime_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_static_build=ok
-rtcp_ui_state=implemented_fixture_fallback_and_node_kinematics_wasm_frame
+latest_batch=M17-linuxcnc-5axis-gcode-source-ingest
+latest_gate=full_execution_boundary_smoke=ok,linuxcnc_kinematics_runtime_smoke=ok,linuxcnc_interpreter_runtime_smoke=ok,linuxcnc_ini_runtime_smoke=ok,full_linuxcnc_5axis_source_node_smoke=ok,machine_file_staging_smoke=ok,five_axis_session_smoke=ok,profile_boundary_smoke=ok,rtcp_store_smoke=ok,gmoccapy_shell_smoke=ok,gmoccapy_dist_smoke=ok,gmoccapy_static_build=ok
+rtcp_ui_state=implemented_browser_worker_and_node_kinematics_wasm_frame_with_fixture_fallback
 control_wiring=power_estop_reset_auto_manual_jog_mdi_run_stop_pause_step_overrides_coolant_spindle_preview_home_reload_full
-gcode_loading=implemented_browser_file_text_staging
-program_current_line=implemented_fixture_line_playback_and_highlight
+gcode_loading=implemented_browser_file_text_staging_with_linuxcnc_interpreter_execution
+linuxcnc_5axis_gcode_sources=implemented_and_guarded_to_linuxcnc_source_manifest_trt_demos_only
+program_current_line=implemented_linuxcnc_canonical_motion_highlight_with_fixture_fallback
 tool_preview=implemented_tool_card_and_threejs_marker
 threejs_preview=implemented_basic_canvas_scene
-profile_source_map=implemented_xyzac_trt
+profile_source_map=implemented_xyzac_trt_and_xyzbc_trt
+profile_switching=implemented_xyzac_trt_and_xyzbc_trt_with_runtime_reload
 pyvcp_hal_schema=implemented_xyzac_trt_switchkins
-linuxcnc_boundary_adapter=kinematics_runtime_connected_node_interpreter_remap_missing
-linuxcnc_kinematics_wasm=node_proof_ready_xyzac_trt
-browser_kinematics_wasm=not_connected_fixture_fallback
-full_program_execution=not_promoted_fixture_line_playback
-next_batch=browser_kinematics_wasm_asset_worker_or_interpreter_execution_source
+linuxcnc_boundary_adapter=kinematics_and_interpreter_runtime_connected_remap_planner_missing
+full_execution_boundary=implemented_machine_file_remap_ready_with_planner_task_hal_blockers
+linuxcnc_kinematics_wasm=browser_and_node_proof_ready_xyzac_trt
+browser_kinematics_wasm=worker_connected_source_and_dist_xyzac_trt
+linuxcnc_interpreter_wasm=browser_worker_and_node_direct_canonical_program_execution_ready_with_switchkins_mcode_preservation
+browser_interpreter_wasm=worker_connected_source_and_dist
+switchkins_rtcp_program_execution=implemented_m428_m429_program_events_drive_rtcp_and_kinematics_switch
+full_program_execution=partial_interpreter_canonical_and_switchkins_event_ready_remap_planner_not_promoted
+session_persistence=implemented_opfs_save_restore_for_5axis_session
+machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging
+machine_file_backed_run=implemented_linuxcnc_fiveaxis_remap_wasm_machine_file_execution
+planner_task_hal_gap=audited_as_blocked_without_native_task_nml_realtime_hal_and_planner_queue_runtime
+next_batch=trajectory_planner_wasm_boundary_or_native_task_hal_port
+```
+
+## 10. M12 任务
+
+```text
+M12-switchkins-rtcp-program-execution
+```
+
+状态：
+
+```text
+completed_with_program_level_rtcp_switching
+```
+
+已完成：
+
+- `linuxcnc-interpreter-runtime` 识别 LinuxCNC TRT 配置中的 `M428/M429/M430` switchkins remap M-code；
+- 因当前 interpreter WASM 未启用 Python/NGC remap runtime，运行前会从送入 WASM 的程序文本中移除这些高位 M-code，避免 `M-code greater than 199` 阻断普通 canonical motion；
+- 原始程序的 `M428/M429/M430` 被保留为 `switchkinsEvents`，并打上 `linuxcnc_switchkins_remap_mcode_preserved_web_runtime_applied` 边界；
+- canonical motion event 继承最近的 switchkins 状态，`RUN/STEP/RUN_FRAME` 按程序自动切换 `identity` / `tcp-xyzac` / `tcp-xyzbc`；
+- node/browser kinematics runtime 增加 `switchKinematics()`，程序内 `M428/M429` 会同步切换 LinuxCNC kinematics WASM 的 `lckins_switch()`；
+- gmoccapy diagnostics 显示 program switchkins event count；
+- smoke 覆盖含 `M428/M429` 的五轴联动 RTCP 程序：加载后进入 TCP，执行 A/C 联动段保持 RTCP on，运行到 `M429` 后回到 identity。
+
+边界说明：
+
+```text
+switchkinsProgramBoundary=linuxcnc_remap_mcode_preserved_and_web_runtime_applied
+interpreterBoundary=linuxcnc_interpreter_wasm_canonical_events
+kinematicsBoundary=linuxcnc_kinematics_wasm_c_abi
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 14. M16 任务
+
+```text
+M16-linuxcnc-tp-queue-timing-runtime
+```
+
+状态：
+
+```text
+completed_with_tp_wasm_and_web_node_smoke
+```
+
+已完成：
+
+- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_tp_wasm.c` 新增
+  `lctp_run_canonical_motion_timing()`；
+- TP WASM C ABI 将 LinuxCNC interpreter canonical motion events 入队到 vendored
+  LinuxCNC `src/emc/tp` runtime，并通过 `tpRunCycle()` 生成 segment timing；
+- canonical 零长度 motion 保留为 0 秒 timing segment，不作为 TP enqueue failure；
+- 新增 `wasm-port/runtime/sdk/src/linuxcnc-tp.js`；
+- `linuxcnc-interpreter-runtime` 在 `runProgram()` / `runMachineFileProgram()` 后调用
+  TP SDK，`programExecution.plannerTiming` 使用
+  `linuxcnc_tp_queue_runtime_timing_from_canonical_motion` 边界；
+- store 优先使用 TP planner timing；JS `execution-timing.js` 保留为 fallback/MDI
+  lightweight path；
+- full execution boundary 可在 TP timing 成功时报告 `plannerRuntimeReady=true`。
+- browser source/dist smoke 验证 interpreter Worker readiness 包含 TP planner runtime，
+  并验证含 `ARC_FEED` 的真实 G-code 程序通过 TP arc timing segment。
+
+边界说明：
+
+```text
+timingBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
+plannerRuntimeReady=true for interpreter canonical motion with TP WASM timing
+nativeTaskReady=false
+nativeHalSyncReady=false
+fullLinuxCncProgramExecutionReady=false
+hardwareDrive=false
+```
+
+验证：
+
+```text
+source /home/cnc/emsdk/emsdk_env.sh >/dev/null && bash wasm-port/tools/build_tp_wasm.sh && bash wasm-port/tests/wasm/node/verify_tp_wasm.sh
+node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
+npm --prefix web-rtcp-5axis-sim-plan/app run smoke
+```
+
+## 11. M13 任务
+
+```text
+M13-interpreter-worker-runtime
+```
+
+状态：
+
+```text
+completed_with_browser_worker_smoke
+```
+
+已完成：
+
+- 新增 `linuxcnc-interpreter-worker.js` 和 `linuxcnc-interpreter-worker-client.js`；
+- 浏览器默认优先通过 Web Worker 加载 LinuxCNC interpreter WASM；
+- store 的 `RUN_INTERPRETER_PROGRAM` 支持 async runtime，避免 worker 结果阻塞 UI 线程；
+- 增加 `interpreterExecutionPending` 和 sequence guard，防止旧解释器结果覆盖新加载程序；
+- gmoccapy diagnostics 显示 interpreter execution context；
+- browser smoke 验证 kinematics 和 interpreter 都在 Worker，并验证 source/dist 两条路径。
+
+边界说明：
+
+```text
+browserInterpreterExecutionContext=worker
+nodeInterpreterExecutionContext=direct
+interpreterBoundary=linuxcnc_interpreter_wasm_canonical_events
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 14. M16 任务
+
+```text
+M16-planner-task-hal-boundary-audit
+```
+
+状态：
+
+```text
+completed_with_full_execution_boundary_smoke
+```
+
+已完成：
+
+- 新增 `full-execution-boundary.js`，统一汇总 kinematics、interpreter canonical、machine-file staging、five-axis remap run、switchkins HAL evidence；
+- store 新增 `fullExecutionBoundary` 派生状态和 `RUN_FULL_BOUNDARY_AUDIT_REQUEST`；
+- gmoccapy diagnostics 显示 full boundary、planner/task/HAL blockers 和证据摘要；
+- 底部新增 `Audit` 按钮，可触发 machine-file staging + machine-file backed five-axis remap run；
+- interpreter runtime 对 machine-file backed run 的 `remapRuntimeReady` 改为基于 `fiveaxis_ini_open=1`、`fiveaxis_remaps_ready=1`、`fiveaxis_file_reached_exit=1`；
+- Node/browser smoke 验证 partial remap boundary ready，同时继续禁止 full LinuxCNC program execution promoted。
+
+边界说明：
+
+```text
+fullExecutionBoundary=linuxcnc_machine_file_remap_ready_planner_task_hal_blocked
+remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+halSwitchkinsEvidenceReady=true for fiveaxis_hal_switchkins evidence
+nativeTaskReady=false
+nativeHalSyncReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+promotionAllowed=false
+```
+
+## 15. M17 任务
+
+```text
+M17-linuxcnc-5axis-gcode-source-ingest
+```
+
+状态：
+
+```text
+completed_with_real_linuxcnc_5axis_source_program_smoke
+```
+
+已完成：
+
+- machine-file staging 从 LinuxCNC source manifest 中追加 TRT `demos/*.ngc`，包括 `boat-xyzac.ngc`、`boat-xyzbc.ngc`、`impeller-7bl-xyzac.ngc`、`xyzac_switchkins*.ngc`、`xyzbc_switchkins.ngc`；
+- `selectMachineFileProgram()` 强制 5 轴 G-code 必须来自 LinuxCNC 源程序目录 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc`；
+- 新增 `listLinuxCncGcodeSources()` 和 `selectMachineFileProgram()`；
+- store 新增 `LOAD_LINUXCNC_GCODE_SOURCE`，可把 staged LinuxCNC 真实 5 轴 `.ngc` 源文件加载到 G-code 面板；
+- gmoccapy G-code 面板新增 LinuxCNC 5-axis source 下拉框和 staging 按钮；
+- machine-file backed remap run 使用当前选中的 LinuxCNC `.ngc` 源程序路径；
+- Node/browser smoke 验证选择 `impeller-7bl-xyzac.ngc` 后，UI 加载真实源程序，machine-file run 的 `wasmProgramPath` 指向该源文件。
+
+边界说明：
+
+```text
+gcodeSourceBoundary=linuxcnc_vendored_5axis_gcode_source_file
+sourceMode=linuxcnc-vendored-5axis-gcode
+machineFileBackedRunProgram=selected_staged_linuxcnc_ngc_source
+sourceDirectoryGuard=configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc only
+remapRuntimeReady=true for staged fiveAxisRemap C ABI run
+plannerRuntimeReady=false
+nativeTaskReady=false
+nativeHalSyncReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 12. M14 任务
+
+```text
+M14-opfs-machine-file-staging
+```
+
+状态：
+
+```text
+completed_with_node_and_browser_opfs_smoke
+```
+
+已完成：
+
+- 新增 `linuxcnc-machine-file-staging.js`；
+- 复用 `wasm-port/runtime/sdk/src/sim-config-staging.js` 的 `planSimConfigStaging()`，为 `xyzac-trt` / `xyzbc-trt` 生成 LinuxCNC sim-config staging plan；
+- 将 INI、tool table、HAL、PyVCP XML、`remap_subs/*.ngc`、demo G-code 等 vendored LinuxCNC 文本文件保存到 OPFS 风格路径；
+- store 增加 `machineFileStaging` 状态和 `stageMachineFiles()` API；
+- gmoccapy diagnostics 显示 machine-file staging 状态；
+- build 产物复制 `wasm-port/tools/source-manifest.txt`，保证 dist 页面也能生成 staging plan；
+- node smoke 使用 memory OPFS 验证文件保存；browser smoke 使用真实 OPFS 验证 source/dist staging。
+
+边界说明：
+
+```text
+machineFileStagingBoundary=linuxcnc_sim_config_file_staging_plan_plus_opfs_text_persistence
+stagedFiles=ini,hal,pyvcp,tool_table,remap_ngc,demo_gcode
+nativeHalTaskSync=false
+remapRuntimeReady=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
+```
+
+## 13. M15 任务
+
+```text
+M15-machine-file-backed-fiveaxis-remap-run
+```
+
+状态：
+
+```text
+completed_with_node_and_browser_fiveaxis_remap_run
+```
+
+已完成：
+
+- `linuxcnc-interpreter-runtime` 新增 `runMachineFileProgram()`；
+- interpreter Worker 支持 `runMachineFileProgram` 转发；
+- store 新增 `RUN_MACHINE_FILE_PROGRAM` action 和 `machineFileExecution` 状态；
+- 使用 M14 的 machine-file staging plan/files，把 TRT INI、tool table、remap NGC、demo G-code 写入 Emscripten FS；
+- 调用 LinuxCNC interpreter SDK `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`；
+- Node/browser smoke 验证 `fiveaxis_ini_open=1`、`fiveaxis_remaps_ready=1`、`fiveaxis_file_reached_exit=1`；
+- gmoccapy diagnostics 显示 machine-file backed run 状态。
+
+边界说明：
+
+```text
+machineFileBackedRunBoundary=linuxcnc_fiveaxis_remap_wasm_machine_file_execution
+sourceMode=linuxcnc-machine-file-remap-wasm
+remapRuntimeReady=vendored_linuxcnc_fiveaxis_remap_c_abi_for_staged_files
+nativeTaskHalSync=false
+plannerRuntimeReady=false
+fullLinuxCncProgramExecutionReady=false
 ```