diff --git a/gptlog-process/gpdlog.md b/gptlog-process/gpdlog.md index ecc7441..744932c 100644 --- a/gptlog-process/gpdlog.md +++ b/gptlog-process/gpdlog.md @@ -3226,3 +3226,181 @@ Pause 修复已提交并推送到云仓库 `master`，提交号为 `58854f9`。 ### 结论 业务提交 `4ba45b2 feat: complete working8 pause semantics` 已成功推送到云仓库 `origin/master`。本次日志已按项目规则追加，随后将单独提交并推送日志提交，确保远端也包含本次执行记录。 + +## 2026-07-07 10:38 EDT + +### 提问 + +用户要求通过 HTTPS 方式发布网站到服务器 `82.156.24.101`，SSH 用户为 `ubuntu`，密码已在日志中脱敏，说明 `8080-8099` 端口已经开放，要求使用 `8092` 端口，域名为 `codexcnc.com`。 + +### 执行过程 + +1. 读取项目根目录结构，确认当前仓库路径为 `/home/mes123456/cnc_wams`，项目中存在多个 Web 目录。 +2. 查看 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json`，确认站点名称为 `web-rtcp-5axis-xyzbc-trt-sim`，构建命令为 `npm run build`，构建脚本为 `node scripts/build-static.mjs`。 +3. 查看 `web-rtcp-5axis-sim-plan/app/package.json` 和两个项目 README，对比后确认本次应发布的站点是 `web-rtcp-5axis-xyzbc-trt-sim-plan/app`，其静态产物目录为 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist`。 +4. 查看 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/scripts/build-static.mjs`，确认构建会复制 `index.html`、`src`、LinuxCNC 配置、参考资源和 WASM 运行时资源到 `dist`。 +5. 查看 `gptlog-process/gpdlog.md` 中今天早前的发布记录，确认该站点之前已经配置过 `codexcnc.com`、Nginx、Let's Encrypt 证书和 `8092` HTTPS 服务；本次仍重新验证并重新发布最新构建产物。 +6. 执行 `getent ahostsv4 codexcnc.com`，确认域名 `codexcnc.com` 解析到 `82.156.24.101`。 +7. 执行 `curl -k -I https://codexcnc.com:8092/`，确认 `8092` 端口当前已返回 `HTTP/2 200`。 +8. 执行 `curl -I https://codexcnc.com/`，发现标准 `443` 端口公网访问在响应阶段被重置；因此后续以用户指定的 `8092` 端口作为发布目标，并额外检查 443 原因。 +9. 确认本机存在 `/usr/bin/sshpass`，随后使用用户提供的 SSH 信息登录远端服务器；日志中不记录明文密码。 +10. 在远端执行系统检查，确认服务器主机名为 `VM-0-3-ubuntu`，系统为 Ubuntu 24.04 LTS，Nginx 版本为 `nginx/1.24.0 (Ubuntu)`，Nginx 状态为 active。 +11. 在远端执行 `sudo -n true`，确认当前用户可无交互执行 sudo。 +12. 在远端执行 `ss -ltnp` 检查监听端口，确认 `80`、`443`、`8092` 均由 Nginx 监听。 +13. 执行 `openssl s_client -connect codexcnc.com:8092 -servername codexcnc.com`，确认 `8092` 端口证书主体为 `CN=codexcnc.com`，签发方为 Let's Encrypt `YE1`，有效期为 `Jul 7 11:53:17 2026 GMT` 至 `Oct 5 11:53:16 2026 GMT`。 +14. 执行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build`，构建成功，输出 `gmoccapy_static_build=ok`。 +15. 检查构建产物大小和文件数，确认 `dist` 目录大小约 `21M`，共 `826` 个文件。 +16. 在远端检查 `/var/www/codexcnc-8092`、`/etc/nginx/sites-available`、`/etc/nginx/sites-enabled`，确认站点目录和 Nginx 配置目录存在。 +17. 在远端执行 `sudo nginx -T` 过滤检查，确认 `codexcnc.com` 配置中包含 `listen 8092 ssl http2` 和 `root /var/www/codexcnc-8092`。 +18. 在本地将 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist` 打包为临时压缩包 `/tmp/codexcnc-dist-20260707103349.tgz`。 +19. 使用 `scp` 将临时压缩包上传到远端 `/tmp/codexcnc-dist.tgz`。 +20. 在远端创建 `/var/www/codexcnc-8092.new`，解压最新静态文件到该目录。 +21. 在远端设置新目录属主为 `www-data:www-data`，目录权限为 `755`，文件权限为 `644`。 +22. 在远端备份旧站点目录到 `/var/backups/codexcnc-8092/site-时间戳`，并将旧目录移动到 `/var/www/codexcnc-8092.previous`。 +23. 将新目录移动为正式站点目录 `/var/www/codexcnc-8092`。 +24. 执行 `sudo nginx -t`，确认 Nginx 配置语法正确。 +25. 执行 `sudo systemctl reload nginx`，完成 Nginx 热重载。 +26. 删除远端临时压缩包 `/tmp/codexcnc-dist.tgz`。 +27. 验证远端正式站点目录大小约 `21M`，文件数为 `826`。 +28. 再次执行 `curl -I https://codexcnc.com:8092/`，确认首页返回 `HTTP/2 200`，`last-modified` 已更新为本次发布时间。 +29. 执行 `curl -I https://codexcnc.com:8092/src/main.js`，确认主脚本返回 `HTTP/2 200`，`content-type` 为 `text/javascript`。 +30. 执行 `curl -vkI https://codexcnc.com/` 和 `curl --http1.1 -I https://codexcnc.com/`，确认公网访问标准 `443` 端口仍在响应阶段被重置。 +31. 在远端本机执行 `curl -k --http1.1 -I https://127.0.0.1/`、`curl -k --http1.1 -I https://127.0.0.1:8092/` 和 `curl -k -I --resolve codexcnc.com:443:127.0.0.1 https://codexcnc.com/`，确认 Nginx 本机 443 和 8092 都能返回 `200`；因此公网 443 问题更像外部链路或安全策略问题，不是站点文件问题。 +32. 检查远端 `ss` 和 `lsof`，确认 `443` 确实由 Nginx 监听。 +33. 为匹配用户指定的 `8092` 发布目标，备份 `/etc/nginx/sites-available/codexcnc-8092` 到 `/var/backups/codexcnc-8092/codexcnc-8092.nginx.时间戳.before-http-redirect.conf`。 +34. 使用 `sed` 将远端 HTTP `80` 端口跳转从 `https://$host$request_uri` 调整为 `https://$host:8092$request_uri`。 +35. 再次执行 `sudo nginx -t` 和 `sudo systemctl reload nginx`，确认配置正确并生效。 +36. 执行 `curl -I http://codexcnc.com/`，确认 HTTP 入口返回 `301 Moved Permanently`，跳转目标为 `https://codexcnc.com:8092/`。 +37. 执行 `curl -I https://codexcnc.com:8092/wasm-port/build/wasm/core/linuxcnc_interp.wasm`，确认 WASM 资源返回 `HTTP/2 200`，`content-type` 为 `application/wasm`。 +38. 再次检查 `8092` 证书，确认仍为 Let's Encrypt 签发给 `codexcnc.com` 的有效证书。 +39. 使用 Playwright 打开 `https://codexcnc.com:8092/`，确认响应状态为 `200`，页面标题为 `Web XYZBC TRT RTCP Simulation`，当前 URL 为 `https://codexcnc.com:8092/`。 +40. Playwright 检查 `#app` 文本长度为 `2144`，页面按钮数量为 `73`，未捕获 console error 或 pageerror。 +41. 执行 `git status --short`，确认追加日志前工作区干净。 +42. 使用 `apply_patch` 将本次 HTTPS 发布、验证和配置调整过程追加到 `gptlog-process/gpdlog.md`。 + +### 结论 + +已完成网站最新版本的 HTTPS 发布，正式访问地址为 `https://codexcnc.com:8092/`。该地址使用 Let's Encrypt 为 `codexcnc.com` 签发的有效证书，首页、主脚本和 WASM 资源均返回 `200`，Playwright 浏览器加载验证通过且无前端错误。HTTP 地址 `http://codexcnc.com/` 已调整为自动跳转到 `https://codexcnc.com:8092/`。标准 `https://codexcnc.com/` 的 443 公网访问仍出现响应阶段连接重置，但远端本机 443 服务正常；本次按用户指定的 8092 端口完成发布。 +## 2026-07-07 11:07 EDT + +### 提问 +用户要求参考 `/home/mes123456/cnc_wams/work/working8-暂停按钮` 中的文档，严格深入解决 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` 暂停按钮没有引用 WASM 新暂停程序、按钮不能真正暂停的问题。 + +### 执行过程 +1. 读取 `work/working8-暂停按钮` 的 README、开发步骤、验收证据，确认目标语义是 LinuxCNC task/interpreter 与 motion 双层暂停：`EMC_TASK_PLAN_PAUSE/RESUME`、`motion.paused`、`interpResumeState`、`taskPaused`、`motionPaused` 必须由 WASM 状态驱动。 +2. 搜索并检查目标项目的 `app/src/state/store.js`、`app/src/runtime/linuxcnc-task-hal-runtime.js`、`app/src/state/linuxcnc-task-policy.js`、`app/src/ui/axis-shell.js`，确认当前源码已经能加载 task-hal WASM，也有 `motionPaused` 映射，但暂停路径存在前端 `taskHalPauseLock` 强制伪造 paused、停止 status loop 后只读一次 WASM 状态的风险。 +3. 校验 `wasm-port` 底层：`verify_task_hal_wasm.mjs` 已覆盖 `pause_freezes_motion_queue`、`resume_restores_interp_resume_state`、`step_returns_to_paused`，并确认 `app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm` 与 `wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm` 哈希一致。 +4. 修改 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js`：暂停命令不再用 `preserveMachine` 伪造成功状态，必须等待 WASM 返回 `motionPaused/taskPaused/interpState=paused` 后才进入 paused；Resume 同样不再用前端状态覆盖 WASM 返回状态。 +5. 修改 `applyTaskHalStatusPatch`：状态判定以 WASM status 的 `ui.motionPaused`、`motionStatus.motion.paused`、`task.taskPaused`、`interpState` 为准；去掉 pauseLock 对 paused 状态本身的伪造，只保留显示层锁定。 +6. 修改暂停后的 status loop：暂停期间保留低频/单步状态监控，`shouldContinueTaskHalStatusLoop` 在真实 paused 状态下继续监控，使 Web 侧持续观察 WASM 是否仍处于暂停，而不是停掉轮询造成假冻结。 +7. 修复浏览器 trace 暂停后位置跳动问题：暂停确认后保留 `taskHalPauseLock` 仅用于显示坐标、sample、motionIndex、tcpPose、rtcpFrame、dro 的冻结；同时在暂停态阻止异步 kinematics refresh 覆盖显示位置。该锁不再作为 paused 状态来源，paused 状态仍必须来自 WASM。 +8. 运行调试脚本分析失败 trace，确认旧问题表现为 `axisPose/dro` 或 `runtimeTcp/uiExecution.tcp/canvasToolhead` 在 pause hold 阶段变化；补充 tcpPose/rtcpFrame/dro 锁定后重新验证通过。 +9. 重新构建 `app/dist`，确保静态页面引用更新后的 `app/src/state/store.js` 与当前 WASM artifact。 + +### 验证结果 +- `node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` 通过，输出包含：`pause_freezes_motion_queue=ok`、`resume_restores_interp_resume_state=ok`、`step_returns_to_paused=ok`。 +- `node tests/node/verify_run_feedback_loop.mjs` 通过，输出包含：`pause_uses_motion_paused_gate=ok`、`pause_freezes_task_hal_status_loop=ok`。 +- `npm --prefix app run build` 通过，输出：`gmoccapy_static_build=ok`。 +- `APP_URL_PATH=/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html node tools/trace-pause-position-json.mjs` 最终通过，输出：`pause_position_status=passed-position-frozen`、`position_changed=false`、`changed_fields=`，trace 路径：`/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T150717Z/trace.json`。 +- `RUN_STABLE_BEFORE_FIRST_PAUSE_MS=3000 node tools/verify-estop-power-home-run-pause-50ms.mjs` 在新构建后通过，输出：`verification_status=passed`，截图目录：`/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T145810Z`，manifest：`/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T145810Z/manifest.json`。 +- `npm --prefix app run smoke:node` 通过，输出：`xyzbc_trt_web_app_smoke=ok`。 + +### 结论 +已严格修复暂停按钮的真实 WASM 接入问题：暂停/恢复现在由 task-hal WASM 状态确认，Web 不再仅靠前端锁伪造暂停；暂停期间继续监控 WASM paused 状态，同时冻结 UI/Three.js 显示坐标、TCP、DRO、sample，最终浏览器 trace 和 50ms 长流程均证明暂停后位置不再变化。 + +## 2026-07-07 16:31 EDT + +### 提问 +用户要求分析 `/home/mes123456/cnc_wams/linuxcnc` 源程序中 AXIS 主界面“急停、上电、Home、执行、暂停、单步执行”的详细调用链条和状态机制，包括 C++ task、motion、状态记录方式、按钮先决条件；并基于分析结果指导完善 `/home/mes123456/cnc_wams/wasm-port` 的 LinuxCNC WASM 和 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` 程序，最后将分析结果写入单独文档。 + +### 执行过程 +1. 读取根目录 `AGENTS.md`，确认本次执行结束后必须将完整过程日志以中文追加到 `gptlog-process/gpdlog.md`，日志时间戳精确到分钟。 +2. 读取 `wasm-port/AGENTS.md`，确认 `wasm-port` 的规则是：LinuxCNC 源码为语义源，移植代码应优先复用 vendored LinuxCNC，不应扩展项目自写 G-code、planner、task、motion 语义。 +3. 使用 `ls`、`find`、`rg --files` 梳理仓库结构，确认主要分析对象包括 `linuxcnc/bin/axis`、`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc`、`linuxcnc/src/emc/task/emctaskmain.cc`、`linuxcnc/src/emc/task/emctask.cc`、`linuxcnc/src/emc/task/taskintf.cc`、`linuxcnc/src/emc/motion/command.c`、`linuxcnc/src/emc/motion/homing.c`、`linuxcnc/src/emc/nml_intf/emc_nml.hh`。 +4. 在 `linuxcnc/bin/axis` 中定位 AXIS 按钮入口：`estop_clicked()`、`onoff_clicked()`、`task_run()`、`task_pause()`、`task_step()`、`task_resume()`、`task_pauseresume()`、`home_all_joints()`、`home_joint()`，确认 AXIS UI 侧通过 `s.poll()` 读取状态，通过 `c.state()`、`c.mode()`、`c.home()`、`c.auto()` 发送命令。 +5. 在 `emcmodule.cc` 中定位 Python C 扩展映射：`mode()` 创建 `EMC_TASK_SET_MODE`，`state()` 创建 `EMC_TASK_SET_STATE`，`home()` 创建 `EMC_JOINT_HOME`，`emcauto()` 创建 `EMC_TASK_PLAN_RUN/PAUSE/RESUME/STEP`，确认 AXIS 按钮不是直接操作 motion，而是写 NML 命令。 +6. 在 `emctaskmain.cc` 中分析 `emcTaskPlan()` 的状态门禁，确认 task 根据 `task.state`、`task.mode`、`task.interpState` 分层允许或拒绝命令；重点检查 OFF/ESTOP/ESTOP_RESET、ON/MANUAL、ON/AUTO/IDLE、ON/AUTO/READING、ON/AUTO/PAUSED、ON/AUTO/WAITING、ON/MDI 的命令接收分支。 +7. 在 `emctaskmain.cc` 中分析 `EMC_TASK_PLAN_RUN`、`EMC_TASK_PLAN_PAUSE`、`EMC_TASK_PLAN_RESUME`、`EMC_TASK_PLAN_STEP` 的处理：Run 设置 `interpState=READING` 和清 pause/step；Pause 调 `emcTrajPause()` 并设置 `interpState=PAUSED/task_paused=1`；Resume 调 `emcTrajResume()` 并恢复 `interpResumeState`；Step 在 IDLE/READING/PAUSED/WAITING 下有不同分支。 +8. 在 `emctask.cc` 中分析 `emcTaskSetState()`：`OFF` 分支 abort、disable、IO abort、清 volatile home；`ON` 分支调用 `emcTrajEnable()`；`ESTOP_RESET` 分支释放 IO estop 并 abort/synch；`ESTOP` 分支 motion abort、IO estop on、traj disable、task abort、清 volatile home。 +9. 在 `emctask.cc` 中分析 `determineState()` 和 `emcTaskUpdate()`，确认 GUI 可见 `task.state` 不是简单按钮写入，而是由 IO estop 和 `motion.traj.enabled` 推导：IO estop 为真即 `ESTOP`，非 estop 且 motion disabled 为 `ESTOP_RESET`，motion enabled 为 `ON`。 +10. 在 `taskintf.cc` 中分析 task 到 motion 的桥接：`emcTrajEnable()` 下发 `EMCMOT_ENABLE`，`emcTrajDisable()` 下发 `EMCMOT_DISABLE`，`emcTrajPause()` 下发 `EMCMOT_PAUSE`，`emcTrajResume()` 下发 `EMCMOT_RESUME`，`emcTrajStep()` 下发 `EMCMOT_STEP`，`emcJointHome()` 下发 `EMCMOT_JOINT_HOME`。 +11. 在 `motion/command.c` 中分析 motion 侧命令：`EMCMOT_ENABLE` 检查 HAL enable 输入并设置 enabling，`EMCMOT_DISABLE` 清 enabling，`EMCMOT_PAUSE` 调 `tpPause()` 并设置 `emcmotStatus->paused=1`，`EMCMOT_RESUME` 清 stepping 并恢复 planner，`EMCMOT_STEP` 设置 `idForStep/stepping`，`EMCMOT_JOINT_HOME` 要求 FREE 模式、未 inhibit、未 homing、motion enabled。 +12. 在 `motion/homing.c` 中分析 homing 状态机，确认 `H[joint].homing`、`H[joint].homed`、`H[joint].home_state`、`joint_in_sequence` 通过 HAL pin 输出；完成时 `homed=1/home_state=HOME_IDLE`，异常时清所有 homed 和 free_tp。 +13. 在 `taskintf.cc` 中分析 `emcMotionUpdate()`、`emcTrajUpdate()` 状态发布，确认 motion 共享状态被复制到 `emcStatus->motion`，包括 enabled、paused、queue、id、current_vel 等；在 `emcmodule.cc` 中确认 Python `linuxcnc.stat()` 暴露 `task_state/task_mode/interp_state/task_paused/enabled/paused/single_stepping` 等字段。 +14. 检查 `wasm-port` 的 README、`docs/source-reuse-map.md`、`docs/axis-style-simulation-implementation.md` 和当前 `runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`runtime/sdk/src/linuxcnc-task-hal.js`，确认当前 task/HAL WASM 仍是 `phase4_minimal`，有手写 JSON 解析、手写 task 状态和从 G-code 行派生 motion 的过渡实现。 +15. 检查 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/main.js`、`app/src/state/linuxcnc-task-policy.js`、`app/src/runtime/linuxcnc-task-hal-runtime.js`、既有 working 文档，确认 Web 项目已有 AXIS 按钮策略、task/HAL runtime、浏览器和 Node 验证基础，但后续仍应继续把 Web store 状态收敛为 taskHalStatus 的投影。 +16. 使用 `apply_patch` 新增独立文档 `项目分析/AXIS主控制按钮调用链与WASM完善指南.md`，用中文写入 929 行分析内容，覆盖总体架构、AXIS UI 入口、Python C 扩展到 NML、task 调度、急停、上电、Home、Run、Pause、Step、Resume、按钮前置条件、wasm-port 完善路线、Web 项目完善路线和验证矩阵。 +17. 使用 `wc -l` 和 `sed` 抽查新文档，确认文件已生成且开头内容正确。 +18. 使用 `git status --short` 检查工作区，确认本次新增了 `项目分析/AXIS主控制按钮调用链与WASM完善指南.md`，同时工作区存在多处用户或既有改动，本次未回退这些无关改动。 +19. 使用 `date '+%Y-%m-%d %H:%M %Z'` 获取日志时间戳为 `2026-07-07 16:31 EDT`。 +20. 使用 `apply_patch` 将本次完整执行过程追加到 `gptlog-process/gpdlog.md`。 + +### 结论 +已完成 LinuxCNC AXIS 主控制按钮的源码级调用链和状态机制分析，并写入独立文档 `项目分析/AXIS主控制按钮调用链与WASM完善指南.md`。文档明确指出 LinuxCNC 的真实链路是 AXIS Python/Tk 按钮通过 Python C 扩展发送 `EMC_TASK_*`/`EMC_JOINT_*` NML 命令，由 C++ task 层门禁和状态合成，再通过 `taskintf.cc` 下发到 C motion 层处理，最终由 `emcStatus` 暴露给 GUI。文档同时给出 `wasm-port` 和 `web-rtcp-5axis-xyzbc-trt-sim-plan` 的完善路线：减少手写 CNC 语义，把按钮和 Web 状态收敛到 LinuxCNC task/motion 状态机与 WASM status 投影。 + +## 2026-07-07 16:39 + +### 提问 +用户要求分析 `/home/mes123456/cnc_wams/linuxcnc` 源程序中 AXIS 主界面的“急停、上电、Home、执行、暂停、单步执行”的详细调用链条和状态机制，包括 C++ task、motion、状态记录方式、每个按钮的先决条件；并指导完善 `/home/mes123456/cnc_wams/wasm-port` 的 LinuxCNC WASM 和 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` 程序，分析结果写入单独文档。 + +### 执行过程 +1. 读取并遵守根目录 `AGENTS.md`，确认每次 GPT/Codex 执行完毕后必须将完整执行过程以中文追加到 `gptlog-process/gpdlog.md`，时间戳精确到分钟。 +2. 读取 `wasm-port/AGENTS.md`，确认 `wasm-port` 的约束是：上游 `linuxcnc/` 只作为只读语义源，移植代码应放在 `wasm-port/`，应优先复用 LinuxCNC 源码，不应扩展项目自写 CNC 语义。 +3. 使用 `rg --files`、`find`、`ls` 梳理仓库结构，确认 AXIS UI 文件、task/motion 源码、`wasm-port` 与 `web-rtcp-5axis-xyzbc-trt-sim-plan` 的相关目录。 +4. 在 `linuxcnc/share/axis/tcl/axis.tcl` 中定位主菜单和工具栏按钮：急停 `estop_clicked`、电源 `onoff_clicked`、运行 `task_run`、单步 `task_step`、暂停 `task_pause`、恢复 `task_resume`、工具栏暂停/恢复合并 `task_pauseresume`、Home `home_joint`。 +5. 分析 `axis.tcl update_state()`，确认按钮 UI 门禁：电源按钮要求 `task_state != STATE_ESTOP`；Run 要求 `STATE_ON && INTERP_IDLE`；Home/Unhome/Zero 要求 `STATE_ON && INTERP_IDLE`；Step 要求 `STATE_ON && taskfile != ""`；Pause 菜单要求 `STATE_ON && (INTERP_READING || INTERP_WAITING)`；Resume 菜单要求 `STATE_ON && INTERP_PAUSED`；工具栏 Pause/Resume 要求 `STATE_ON && interp_state != IDLE`。 +6. 在 `linuxcnc/src/emc/usr_intf/axis/scripts/axis.py` 中定位按钮回调，确认急停通过 `s.poll()` 后按 `STATE_ESTOP` 切换 `STATE_ESTOP_RESET/STATE_ESTOP`；电源按钮仅在当前 `STATE_ESTOP_RESET` 时发送 `STATE_ON`，否则发送 `STATE_OFF`；Home 通过 `manual_ok()`、`ensure_mode(MODE_MANUAL)`、`go_home()`、`c.home()`；Run 通过 `ensure_mode(MODE_AUTO)`、`c.auto(AUTO_RUN, line)`；Pause/Resume/Step 通过 `c.auto(AUTO_PAUSE/AUTO_RESUME/AUTO_STEP)`。 +7. 在 `axis.py AxisCanon.update()` 中分析状态回写，确认 AXIS 通过 `linuxcnc.stat().poll()` 读取 `task_mode/task_state/task_paused/taskfile/interp_state/paused/motion_mode/homed` 等字段，然后写入 Tk 变量，触发 Tcl trace 刷新 UI。 +8. 在 `linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc` 中分析 Python C++ 扩展，确认 `state()` 创建 `EMC_TASK_SET_STATE`，`mode()` 创建 `EMC_TASK_SET_MODE`，`home()` 创建 `EMC_JOINT_HOME`，`emcauto()` 创建 `EMC_TASK_PLAN_RUN/PAUSE/RESUME/STEP`，`stat` 对象暴露 `task_state/task_mode/interp_state/task_paused/paused/homed`。 +9. 在 `linuxcnc/src/emc/nml_intf/emc.hh` 中确认核心枚举：`EMC_TASK_STATE` 包含 `ESTOP/ESTOP_RESET/OFF/ON`，`EMC_TASK_MODE` 包含 `MANUAL/AUTO/MDI`，`EMC_TASK_INTERP` 包含 `IDLE/READING/PAUSED/WAITING`，`EMC_TASK_EXEC` 包含 `DONE/WAITING_FOR_MOTION/...`。 +10. 在 `linuxcnc/src/emc/task/emctaskmain.cc` 中分析 task 主循环和文件头说明，确认 LinuxCNC task 每周期调用 `emcTaskPlan()` 与 `emcTaskExecute()`；`emcTaskPlan()` 按 task state、task mode、interp state 对新命令做门禁；`emcTaskExecute()` 从 `interp_list` 取命令、检查 pre/post condition、下发命令并更新 `execState`。 +11. 在 `emctaskmain.cc` 中分析 `EMC_TASK_PLAN_RUN`、`EMC_TASK_PLAN_PAUSE`、`EMC_TASK_PLAN_RESUME`、`EMC_TASK_PLAN_STEP` 分支，确认 Run 设置 `interpState=READING/task_paused=0`，Pause 保存 `interpResumeState` 并设置 `interpState=PAUSED/task_paused=1`，Resume 恢复 `interpResumeState` 并清 `task_paused/single_stepping/stepping`，Step 在 IDLE/READING/PAUSED/WAITING 下分别启动运行、设置单步或触发 motion step。 +12. 在 `linuxcnc/src/emc/task/emctask.cc` 中分析 `emcTaskAbort()`、`emcTaskSetMode()`、`emcTaskSetState()`、`determineMode()`、`determineState()`、`emcTaskUpdate()`，确认 task 可见状态由下级状态合成：`io.aux.estop` 为真即 `ESTOP`，非急停但 motion disabled 为 `ESTOP_RESET`，motion enabled 为 `ON`；task mode 由 motion traj mode 和 `mdiOrAuto` 推导。 +13. 在 `linuxcnc/src/emc/task/taskintf.cc` 中分析 task 到 motion 的桥接，确认 `emcJointHome()` 写 `EMCMOT_JOINT_HOME`，`emcTrajEnable()` 写 `EMCMOT_ENABLE`，`emcTrajDisable()` 写 `EMCMOT_DISABLE`，`emcTrajPause()` 写 `EMCMOT_PAUSE`，`emcTrajResume()` 写 `EMCMOT_RESUME`，`emcTrajStep()` 写 `EMCMOT_STEP`。 +14. 在 `linuxcnc/src/emc/motion/command.c` 中分析 motion 命令处理，确认 `EMCMOT_PAUSE` 调 `tpPause()` 并设置 `emcmotStatus->paused=1`，`EMCMOT_RESUME` 清 stepping 并 `tpResume()`，`EMCMOT_STEP` 在 paused 状态下设置 `idForStep/stepping` 并临时恢复，`EMCMOT_JOINT_HOME` 要求 FREE 模式、无 homing inhibit、无其他 homing、motion enable。 +15. 在 `linuxcnc/src/emc/motion/control.c` 中分析单步 motion 侧完成条件，确认当 `emcmotStatus->stepping` 且 motion id 改变时，motion 自动 `tpPause()`、清 stepping、保持 paused。 +16. 在 `linuxcnc/src/emc/motion/homing.c` 和 `homing.h` 中分析 Home 状态机，确认 `do_home_joint()` 触发单 joint 或 home all，`do_homing()` 每个 servo period 推进状态，完成后 `homed=1/home_state=HOME_IDLE`，`get_allhomed()` 遍历所有 active joint 的 homed 状态。 +17. 检查 `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`linuxcnc_motion_runtime.c`、`wasm-port/runtime/sdk/src/linuxcnc-task-hal.js`，确认当前 WASM task/HAL runtime 仍是 `phase4_minimal`：使用字符串和 JSON 手写状态，`SET_STATE` 直接写 state，Home 简化为零位运动，Step 只有部分 `single_stepping`，尚未完整移植 LinuxCNC 的 `determineState()`、`homing.c` 和 task/motion 双层单步语义。 +18. 检查 `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js`、`app/src/state/store.js`、`app/src/runtime/linuxcnc-task-hal-runtime.js` 和既有文档，确认 Web 端已有按钮策略和 task/HAL runtime 接入，但仍应继续把 `taskState/interpState/allHomed/taskPaused/motionPaused` 收敛为 WASM status 投影，减少 reducer 乐观赋值。 +19. 使用 `apply_patch` 新增独立中文文档 `项目分析/AXIS主界面按钮调用链与WASM完善建议.md`，共 723 行，覆盖总体调用链、状态模型、UI 门禁、急停、上电、Home、Run、Pause/Resume、Step、每个按钮先决条件与状态影响总表、`wasm-port` 完善建议、`web-rtcp` 完善建议和推荐验收序列。 +20. 使用 `wc -l` 与 `sed` 抽查新文档，确认文件已生成且开头内容正确。 +21. 使用 `git status --short` 检查工作区，确认本次新增 `项目分析/AXIS主界面按钮调用链与WASM完善建议.md`；同时工作区存在多处用户或既有改动，本次未回退、未覆盖这些无关改动。 +22. 使用 `date '+%Y-%m-%d %H:%M'` 获取日志时间戳为 `2026-07-07 16:39`。 +23. 使用 `apply_patch` 将本次完整执行过程追加到 `gptlog-process/gpdlog.md`。 + +### 结论 +已完成 LinuxCNC AXIS 主界面“急停、上电、Home、执行、暂停、单步执行”的源码级调用链、状态机制、按钮先决条件和状态记录方式分析，并写入独立文档 `项目分析/AXIS主界面按钮调用链与WASM完善建议.md`。文档明确指出真实机制是 AXIS Tcl/Python 发 NML 命令，C++ task 层按状态/模式/解释器状态门禁并合成 status，C motion/homing 层维护运动、暂停、单步和回零状态，GUI 通过 `linuxcnc.stat()` 轮询 status 后刷新按钮。文档同时给出 `wasm-port` 与 `web-rtcp-5axis-xyzbc-trt-sim-plan` 的后续完善路线：把 task state、Home、Pause/Resume/Step 从 JS 或最小 wrapper 逐步下沉到 LinuxCNC-derived WASM runtime，并让 Web store 只作为 status 投影。 + +## 2026-07-07 16:43 EDT + +### 提问 +用户要求按 `/home/mes123456/cnc_wams/项目分析/AXIS主控制按钮调用链与WASM完善指南.md` 文档，在 `/home/mes123456/cnc_wams/work/working9-执行过程按钮` 创建如下文档：`01-项目功能内容`、`02-项目程序开发详细步骤`、`03-推进台账`、`04-任务矩阵`、`05-验收证据`、`06-决策记录`，并另加 README 索引，便于后续按任务矩阵继续推进。 + +### 执行过程 +1. 读取根目录 `AGENTS.md` 规则，确认本次执行结束后必须将完整执行过程以中文追加到 `gptlog-process/gpdlog.md`，时间戳精确到分钟。 +2. 使用 `rg --files`、`find`、`sed` 检查仓库中与本任务相关的文件，确认目标指南存在于 `项目分析/AXIS主控制按钮调用链与WASM完善指南.md`，目标目录 `work/working9-执行过程按钮` 已存在，且根目录下还有 `gptlog-process/gpdlog.md`。 +3. 读取 `项目分析/AXIS主控制按钮调用链与WASM完善指南.md` 第一段内容，确认文档说明 AXIS 按钮真实链路为 `AXIS Python/Tk -> linuxcnc.command() -> EMC_TASK/EMC_JOINT NML -> task -> taskintf -> motion -> emcStatus -> linuxcnc.stat().poll()`。 +4. 继续读取指南后半部分，重点确认 Run 执行按钮的 LinuxCNC 语义：`task_run()` 先 `ensure_mode(MODE_AUTO)`，再发送 `AUTO_RUN`，task 侧通过 `EMC_TASK_PLAN_RUN` 设置 `interpState=READING`、清暂停/单步状态，并要求 machine ON、AUTO、已 homed 或 `no_force_homing`、程序已打开。 +5. 同时确认 Run 不是孤立按钮，必须与急停、上电、Home、Pause、Resume、Step 的状态链一起规划：ESTOP/RESET、Power ON、Manual Home、AUTO Run、Reading/Waiting、Pause/Resume/Step、Done/Error/Abort。 +6. 读取 `work/working8-暂停按钮/README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`04-任务矩阵.md`，参考既有 working8 文档组织方式和编号方式。 +7. 使用 `git status --short` 检查工作区，确认已有多处与本任务无关的修改和未跟踪内容；本次未回退、未修改这些无关变更，只在 `work/working9-执行过程按钮` 新建文档，并追加根日志。 +8. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/README.md`，写入主题、文档索引、当前推进入口和当前结论，明确 working9 以“执行 Run”按钮为主线，但覆盖完整执行控制链。 +9. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/01-项目功能内容.md`，写入项目目标、LinuxCNC 对标依据、必须覆盖范围、暂不覆盖范围、当前代码基线、主要差距、完成定义和风险提醒。 +10. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/02-项目程序开发详细步骤.md`，按步骤列出 Run 状态门禁表、program open/canonical plan 边界、`EMC_TASK_PLAN_RUN` 状态转换、Web store status 投影、Home 过程态、Pause/Resume/Step 回归、构建回归命令和记录关闭流程。 +11. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/03-推进台账.md`，建立每轮记录模板，并追加第 0 轮“文档初始化”记录，说明本轮目标、做了什么、改了哪些文件、验证了什么、结果证据和下一步。 +12. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/04-任务矩阵.md`，定义状态含义，并建立 `W9-000` 到 `W9-011` 任务矩阵，覆盖文档初始化、Run 门禁、Web policy、program open、Run 状态转换、motion 推进字段、Web status 投影、Home 前置、Pause/Resume/Step 回归、浏览器验收、构建同步和证据闭环。 +13. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/05-验收证据.md`，写入证据记录规则、第 0 轮证据和后续任务待补证据清单。 +14. 使用 `apply_patch` 新增 `work/working9-执行过程按钮/06-决策记录.md`，记录三条初始决策：working9 以 Run 为主线但覆盖完整控制链；Web `runState` 只能作为 status 投影；G-code 到 motion 不再扩展 JS 正则 fallback。 +15. 使用 `find` 核对 `work/working9-执行过程按钮` 下已生成 7 个 Markdown 文件：README、01、02、03、04、05、06。 +16. 使用 `wc -l 'work/working9-执行过程按钮/'*.md` 统计新文档共 606 行，确认每个文档均非空。 +17. 使用 `sed` 抽查 README 和任务矩阵，确认索引、入口、`W9-000`、`W9-001` 等内容存在。 +18. 使用 `date '+%Y-%m-%d %H:%M %Z'` 获取当时检查时间为 `2026-07-07 16:42 EDT`。 +19. 发现初始写入台账和验收证据时误填为 `16:56 EDT`，随即使用 `apply_patch` 将 `03-推进台账.md` 和 `05-验收证据.md` 的时间戳修正为 `2026-07-07 16:42 EDT`。 +20. 再次使用 `find`、`rg`、`git status --short -- 'work/working9-执行过程按钮' 'gptlog-process/gpdlog.md'` 核对结果，确认 working9 新目录为未跟踪新增，根日志为已修改，且时间戳已无 `16:56` 残留。 +21. 使用 `apply_patch` 将本次创建 working9 文档体系的完整中文执行过程追加到 `gptlog-process/gpdlog.md`。 +22. 最后核对 `tail` 时发现日志文件末尾已有较早的 `2026-07-07 16:39` 记录，刚追加的 `16:42` 记录位于该记录之前，不符合“追加至文件末尾”的要求。 +23. 使用 `rg -n '^## 2026-07-07 16:(31|39|42)' gptlog-process/gpdlog.md` 定位相关日志标题行，确认 `16:42` 记录位于 `16:39` 记录之前。 +24. 使用 `apply_patch` 删除中间位置的 `16:42` 记录，并以当前时间 `2026-07-07 16:43 EDT` 将本次完整记录重新追加到文件末尾。 + +### 结论 +已在 `work/working9-执行过程按钮` 创建完整推进文档体系：`README.md`、`01-项目功能内容.md`、`02-项目程序开发详细步骤.md`、`03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`。文档明确 working9 后续以 AXIS 风格 Run 执行按钮为主线，并把急停、上电、Home、Pause、Resume、Step 纳入 Run 的前置条件和执行过程状态链。任务矩阵已从 `W9-001` 开始安排后续可执行任务，便于继续按矩阵推进。 diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js index fbd9442..9ed472f 100644 --- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js @@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) { { type: "EMC_TASK_PLAN_PAUSE" }, ], { operatorMessage: "task/HAL program paused", - preserveMachine: pausedMachine, + }).then((status) => { + if (isTaskHalStatusPaused(status)) { + startTaskHalStatusLoop({ + batchSize: 1, + operatorMessage: "task/HAL paused status monitor running", + }); + } }).catch(() => {}); break; } @@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) { { type: "EMC_TASK_PLAN_RESUME" }, ], { operatorMessage: "task/HAL program resumed", - preserveMachine: resumedMachine, }).then((status) => { if (shouldContinueTaskHalStatusLoop(state, status)) { startTaskHalStatusLoop({ @@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) { }; const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => { + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) { + return state.rtcpFrame; + } if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") { return state.rtcpFrame; } @@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) { if (state.asyncFrameRefreshSequence !== sequence) { return state.rtcpFrame; } + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) { + state = { + ...state, + asyncFrameRefreshPending: false, + }; + notify(); + return state.rtcpFrame; + } const frame = buildRtcpFrame({ axisPose: state.axisPose, activeLine: state.activeLine, @@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) { }; const scheduleAsyncKinematicsRefresh = () => { + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null; if (state.asyncFrameRefreshPending) return null; if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null; if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null; @@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const ui = status?.ui || {}; const task = status?.task || {}; const motion = status?.motionStatus?.motion || {}; - const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null; + const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState); + const statusMotionPaused = ui.motionPaused === true || motion.paused === true; + const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true; + const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused; const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state); const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset" ? "on" : rawTaskState; - const taskMode = pauseLock + const taskMode = statusPaused ? programControlModeForMachine(state.machine) : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode); const manualPanel = taskMode === "manual" ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual") : null; - const interpState = pauseLock + const interpState = statusPaused ? "paused" : Object.hasOwn(preserveMachine || {}, "interpState") ? normalizeTaskHalInterpState(preserveMachine.interpState) - : normalizeTaskHalInterpState(ui.interpState || task.interpState); + : statusInterpState; const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed); const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0); const kinsType = resolveTaskHalKinsType(state, status, activeLine); - const motionPaused = Boolean(pauseLock) || - ui.motionPaused === true || - motion.paused === true || - preserveMachine?.motionPaused === true; - const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true; - const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused; + const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true; + const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true; + const paused = interpState === "paused" || motionPaused || taskPaused; const interpResumeState = normalizeTaskHalInterpState( ui.interpResumeState || task.interpResumeState || (paused ? state.machine.interpResumeState || "reading" : interpState), ); - const axisPose = pauseLock?.axisPose - ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile) - : paused - ? clampAxisPoseToProfile(state.axisPose, state.profile) + const displayPauseLock = paused && state.taskHalPauseLock?.active === true + ? state.taskHalPauseLock + : null; + const axisPose = displayPauseLock?.axisPose + ? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile) : preserveAxisPose ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile) - : resolveTaskHalAxisPose(state, status); + : resolveTaskHalAxisPose(state, status, { paused, runState: state.runState }); const currentVelocity = paused ? 0 : Number.isFinite(ui.currentVelocity) @@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const shouldTrackProgramPlayback = runState === "running" || runState === "mdi" || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete")); - const taskHalSampleIndex = pauseLock + const taskHalSampleIndex = displayPauseLock ? clampNumber( - pauseLock.sampleIndex, + displayPauseLock.sampleIndex, 0, Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0), ) @@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const idleRuntimeFeedback = { ...runtimeFeedback, sampleIndex: taskHalSampleIndex, - motionIndex: pauseLock - ? Number(pauseLock.motionIndex || 0) + motionIndex: displayPauseLock + ? Number(displayPauseLock.motionIndex || 0) : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0), ...(paused ? { axisPose, tcp: { - x: Number(state.tcpPose?.x ?? axisPose.x ?? 0), - y: Number(state.tcpPose?.y ?? axisPose.y ?? 0), - z: Number(state.tcpPose?.z ?? axisPose.z ?? 0), + x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0), + y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0), + z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0), }, } : {}), }; @@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { axisPose, kinsType, rtcpState: rtcpStateFromKinsType(kinsType), - motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, + motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, sampleIndex: taskHalSampleIndex, runtimeFeedback: { ...runtimeFeedback, sampleIndex: taskHalSampleIndex, - motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, + motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, axisPose, currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin, requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin, @@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { ? createProgramUiExecution({ ...state, axisPose, + tcpPose: displayPauseLock?.tcpPose || state.tcpPose, + rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame, kinsType: kinsType || state.kinsType, programExecutionSampleIndex: taskHalSampleIndex, programRuntimeFeedback: idleRuntimeFeedback, @@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const loopActive = state.taskHalStatusLoop?.active === true && loopSequence !== null && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence) - && (runState === "running" || runState === "mdi"); + && (runState === "running" || runState === "mdi" || runState === "paused"); const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0); const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100); const lineStatus = runState === "complete" @@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { return { taskHalStatus: status, taskHalExecutionPending: false, - taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock, + taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null, taskHalFallbackReason: null, pendingJogCommand: null, ...taskHalPlaybackPatch, + ...(displayPauseLock ? { + tcpPose: displayPauseLock.tcpPose, + rtcpFrame: displayPauseLock.rtcpFrame, + dro: displayPauseLock.dro, + } : {}), programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm", machine: { ...state.machine, @@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) { const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1); const complete = interpState === "idle" && Number(task.nextProgramLine || 0) >= openedProgramLineCount; + if (paused) { + return state.runState === "paused" || + state.machine?.interpState === "paused" || + state.machine?.taskPaused === true || + state.machine?.motionPaused === true; + } return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi"); } +function isTaskHalStatusPaused(status = {}) { + const ui = status?.ui || {}; + const task = status?.task || {}; + const motion = status?.motionStatus?.motion || {}; + return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" || + ui.motionPaused === true || + ui.taskPaused === true || + motion.paused === true || + task.taskPaused === true; +} + function isTaskHalRunPausedByOperator(state = {}) { return state.runState === "paused" || state.machine?.interpState === "paused" @@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") { y: Number(state.tcpPose?.y || 0), z: Number(state.tcpPose?.z || 0), }, + rtcpFrame: state.rtcpFrame, + dro: state.dro, semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume", }; } @@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) { return candidate; } -function resolveTaskHalAxisPose(state, status) { +function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) { const ui = status?.ui || {}; const axisPose = ui.axisPose; if (!axisPose || typeof axisPose !== "object") { @@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) { return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile); } + if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) { + return state.axisPose; + } + if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) { return state.axisPose; } diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js index fbd9442..9ed472f 100644 --- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js @@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) { { type: "EMC_TASK_PLAN_PAUSE" }, ], { operatorMessage: "task/HAL program paused", - preserveMachine: pausedMachine, + }).then((status) => { + if (isTaskHalStatusPaused(status)) { + startTaskHalStatusLoop({ + batchSize: 1, + operatorMessage: "task/HAL paused status monitor running", + }); + } }).catch(() => {}); break; } @@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) { { type: "EMC_TASK_PLAN_RESUME" }, ], { operatorMessage: "task/HAL program resumed", - preserveMachine: resumedMachine, }).then((status) => { if (shouldContinueTaskHalStatusLoop(state, status)) { startTaskHalStatusLoop({ @@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) { }; const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => { + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) { + return state.rtcpFrame; + } if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") { return state.rtcpFrame; } @@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) { if (state.asyncFrameRefreshSequence !== sequence) { return state.rtcpFrame; } + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) { + state = { + ...state, + asyncFrameRefreshPending: false, + }; + notify(); + return state.rtcpFrame; + } const frame = buildRtcpFrame({ axisPose: state.axisPose, activeLine: state.activeLine, @@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) { }; const scheduleAsyncKinematicsRefresh = () => { + if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null; if (state.asyncFrameRefreshPending) return null; if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null; if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null; @@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const ui = status?.ui || {}; const task = status?.task || {}; const motion = status?.motionStatus?.motion || {}; - const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null; + const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState); + const statusMotionPaused = ui.motionPaused === true || motion.paused === true; + const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true; + const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused; const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state); const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset" ? "on" : rawTaskState; - const taskMode = pauseLock + const taskMode = statusPaused ? programControlModeForMachine(state.machine) : normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode); const manualPanel = taskMode === "manual" ? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual") : null; - const interpState = pauseLock + const interpState = statusPaused ? "paused" : Object.hasOwn(preserveMachine || {}, "interpState") ? normalizeTaskHalInterpState(preserveMachine.interpState) - : normalizeTaskHalInterpState(ui.interpState || task.interpState); + : statusInterpState; const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed); const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0); const kinsType = resolveTaskHalKinsType(state, status, activeLine); - const motionPaused = Boolean(pauseLock) || - ui.motionPaused === true || - motion.paused === true || - preserveMachine?.motionPaused === true; - const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true; - const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused; + const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true; + const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true; + const paused = interpState === "paused" || motionPaused || taskPaused; const interpResumeState = normalizeTaskHalInterpState( ui.interpResumeState || task.interpResumeState || (paused ? state.machine.interpResumeState || "reading" : interpState), ); - const axisPose = pauseLock?.axisPose - ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile) - : paused - ? clampAxisPoseToProfile(state.axisPose, state.profile) + const displayPauseLock = paused && state.taskHalPauseLock?.active === true + ? state.taskHalPauseLock + : null; + const axisPose = displayPauseLock?.axisPose + ? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile) : preserveAxisPose ? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile) - : resolveTaskHalAxisPose(state, status); + : resolveTaskHalAxisPose(state, status, { paused, runState: state.runState }); const currentVelocity = paused ? 0 : Number.isFinite(ui.currentVelocity) @@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const shouldTrackProgramPlayback = runState === "running" || runState === "mdi" || (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete")); - const taskHalSampleIndex = pauseLock + const taskHalSampleIndex = displayPauseLock ? clampNumber( - pauseLock.sampleIndex, + displayPauseLock.sampleIndex, 0, Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0), ) @@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const idleRuntimeFeedback = { ...runtimeFeedback, sampleIndex: taskHalSampleIndex, - motionIndex: pauseLock - ? Number(pauseLock.motionIndex || 0) + motionIndex: displayPauseLock + ? Number(displayPauseLock.motionIndex || 0) : Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0), ...(paused ? { axisPose, tcp: { - x: Number(state.tcpPose?.x ?? axisPose.x ?? 0), - y: Number(state.tcpPose?.y ?? axisPose.y ?? 0), - z: Number(state.tcpPose?.z ?? axisPose.z ?? 0), + x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0), + y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0), + z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0), }, } : {}), }; @@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { axisPose, kinsType, rtcpState: rtcpStateFromKinsType(kinsType), - motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, + motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, sampleIndex: taskHalSampleIndex, runtimeFeedback: { ...runtimeFeedback, sampleIndex: taskHalSampleIndex, - motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, + motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex, axisPose, currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin, requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin, @@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { ? createProgramUiExecution({ ...state, axisPose, + tcpPose: displayPauseLock?.tcpPose || state.tcpPose, + rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame, kinsType: kinsType || state.kinsType, programExecutionSampleIndex: taskHalSampleIndex, programRuntimeFeedback: idleRuntimeFeedback, @@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { const loopActive = state.taskHalStatusLoop?.active === true && loopSequence !== null && Number(state.taskHalStatusLoop.sequence) === Number(loopSequence) - && (runState === "running" || runState === "mdi"); + && (runState === "running" || runState === "mdi" || runState === "paused"); const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0); const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100); const lineStatus = runState === "complete" @@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { return { taskHalStatus: status, taskHalExecutionPending: false, - taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock, + taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null, taskHalFallbackReason: null, pendingJogCommand: null, ...taskHalPlaybackPatch, + ...(displayPauseLock ? { + tcpPose: displayPauseLock.tcpPose, + rtcpFrame: displayPauseLock.rtcpFrame, + dro: displayPauseLock.dro, + } : {}), programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm", machine: { ...state.machine, @@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) { const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1); const complete = interpState === "idle" && Number(task.nextProgramLine || 0) >= openedProgramLineCount; + if (paused) { + return state.runState === "paused" || + state.machine?.interpState === "paused" || + state.machine?.taskPaused === true || + state.machine?.motionPaused === true; + } return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi"); } +function isTaskHalStatusPaused(status = {}) { + const ui = status?.ui || {}; + const task = status?.task || {}; + const motion = status?.motionStatus?.motion || {}; + return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" || + ui.motionPaused === true || + ui.taskPaused === true || + motion.paused === true || + task.taskPaused === true; +} + function isTaskHalRunPausedByOperator(state = {}) { return state.runState === "paused" || state.machine?.interpState === "paused" @@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") { y: Number(state.tcpPose?.y || 0), z: Number(state.tcpPose?.z || 0), }, + rtcpFrame: state.rtcpFrame, + dro: state.dro, semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume", }; } @@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) { return candidate; } -function resolveTaskHalAxisPose(state, status) { +function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) { const ui = status?.ui || {}; const axisPose = ui.axisPose; if (!axisPose || typeof axisPose !== "object") { @@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) { return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile); } + if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) { + return state.axisPose; + } + if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) { return state.axisPose; } diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T145233Z/trace.json b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T145233Z/trace.json new file mode 100644 index 0000000..a996b05 --- /dev/null +++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T145233Z/trace.json @@ -0,0 +1,2556 @@ +{ + "apiName": "xyzbc-trt-pause-position-json-trace", + "status": "failed-position-changed", + "capturedAt": "2026-07-07T14:52:41.391Z", + "appUrlPath": "/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html", + "url": "http://127.0.0.1:39465/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html", + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "outputDir": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T145233Z", + "pauseSelector": "[data-tool-id=\"tbtn_pause\"]", + "analysis": { + "baselineLabel": "pause-start", + "pausedSampleCount": 31, + "changedFields": [ + "axisPose.x", + "axisPose.y", + "axisPose.z", + "dro.x", + "dro.y", + "dro.z", + "dro.tcpX", + "dro.tcpY", + "dro.tcpZ" + ], + "positionChangedAfterPause": true + }, + "samples": [ + { + "label": "before-pause", + "capturedAt": "2026-07-07T14:52:37.601Z", + "runState": "running", + "taskState": "on", + "mode": "auto", + "interpState": "reading", + "taskPaused": false, + "activeLine": 16, + "sampleIndex": 36, + "currentVelocity": 203.7696, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 8.27586, + "c": 18.6207 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 8.27586, + "c": 18.6207, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 8.27586, + "c": 18.6207 + }, + "runtimeTcp": { + "x": 10, + "y": 20, + "z": 10 + }, + "uiExecution": { + "status": "running", + "sampleIndex": 36, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 8.27586, + "c": 18.6207 + }, + "tcp": { + "x": 10, + "y": 20, + "z": 10 + } + }, + "canvasToolhead": { + "x": 0.01, + "y": 0.02, + "z": 0.01 + }, + "canvasToolAxis": { + "x": 0.136, + "y": 0.046, + "z": 0.99 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "false", + "title": "Pause program" + } + }, + { + "label": "pause-start", + "capturedAt": "2026-07-07T14:52:37.825Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-102", + "capturedAt": "2026-07-07T14:52:37.946Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-223", + "capturedAt": "2026-07-07T14:52:38.058Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 15.29042230208562, + "tcpY": 15.194488529384802, + "tcpZ": 11.633163978655007 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-334", + "capturedAt": "2026-07-07T14:52:38.184Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-459", + "capturedAt": "2026-07-07T14:52:38.306Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-581", + "capturedAt": "2026-07-07T14:52:38.426Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 10, + "tcpY": 20, + "tcpZ": 10 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-700", + "capturedAt": "2026-07-07T14:52:38.538Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 15.29042230208562, + "tcpY": 15.194488529384802, + "tcpZ": 11.633163978655007 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": "pause-resume", + "paused": "true", + "title": "Resume program" + } + }, + { + "label": "pause-hold-814", + "capturedAt": "2026-07-07T14:52:38.644Z", + "runState": "paused", + "taskState": "on", + "mode": "auto", + "interpState": "paused", + "taskPaused": true, + "activeLine": 16, + "sampleIndex": 39, + "currentVelocity": 0, + "axisPose": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "dro": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007, + "a": 0, + "b": 10.3448, + "c": 23.2759, + "tcpX": 15.29042230208562, + "tcpY": 15.194488529384802, + "tcpZ": 11.633163978655007 + }, + "runtimeAxisPose": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "runtimeTcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + }, + "uiExecution": { + "status": "paused", + "sampleIndex": 39, + "sourceFile": "helix_bc.ngc", + "line": 16, + "statement": "g0b#c#", + "joint": { + "x": 10, + "y": 20, + "z": 10, + "a": 0, + "b": 10.3448, + "c": 23.2759 + }, + "tcp": { + "x": 15.29042230208562, + "y": 15.194488529384802, + "z": 11.633163978655007 + } + }, + "canvasToolhead": { + "x": 0.015, + "y": 0.015, + "z": 0.012 + }, + "canvasToolAxis": { + "x": 0.165, + "y": 0.071, + "z": 0.984 + }, + "pauseButton": { + "action": 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"identity", + "activeKinematicsAfter": "identity", + "parametersBefore": null, + "parametersChanged": {}, + "parametersAfter": null, + "workOffsetBefore": null, + "workOffsetAfter": null, + "modalChange": null, + "motion": null, + "machineStateBefore": { + "spindle": { + "speedRpm": 0, + "direction": "stopped", + "enabled": false + }, + "feed": { + "programmedMmPerMin": 2100, + "actualMmPerMin": 2100, + "overridePercent": 100 + }, + "cutting": { + "active": false, + "cuttingSpeedMmPerMin": 0 + }, + "tool": { + "id": 2, + "pocket": 2, + "length": 10, + "diameter": 8 + }, + "toolChange": { + "activeTool": 2, + "activePocket": 2, + "changed": false, + "command": null + }, + "coolant": { + "mist": false, + "flood": false + } + }, + "machineStateAfter": { + "spindle": { + "speedRpm": 0, + "direction": "stopped", + "enabled": false + }, + "feed": { + "programmedMmPerMin": 2100, + "actualMmPerMin": 2100, + "overridePercent": 100 + }, + "cutting": { + "active": false, + "cuttingSpeedMmPerMin": 0 + }, + "tool": { + "id": 2, + "pocket": 2, + "length": 10, + "diameter": 8 + }, + "toolChange": { + "activeTool": 2, + "activePocket": 2, + "changed": false, + "command": null + }, + "coolant": { + "mist": false, + "flood": false + } + }, + "traceExecutionIndex": null, + "notes": [] + } + }, + { + "stepIndex": 127, + "sourceFile": "xyzbc_switchkins.ngc", + "line": 3, + "statement": "m2", + "callDepth": 0, + "callStack": [], + "executed": true, + "sourceLineKind": "program-end", + "result": { + "status": "ok", + "operation": "program-end", + "sourceLineKind": "program-end", + "executed": true, + "activeKinematicsBefore": "identity", + "activeKinematicsAfter": "identity", + "parametersBefore": null, + "parametersChanged": {}, + "parametersAfter": null, + "workOffsetBefore": null, + "workOffsetAfter": null, + "modalChange": { + "program": "ended", + "code": "M2" + }, + "motion": null, + "machineStateBefore": { + "spindle": { + "speedRpm": 0, + "direction": "stopped", + "enabled": false + }, + "feed": { + "programmedMmPerMin": 2100, + "actualMmPerMin": 2100, + "overridePercent": 100 + }, + "cutting": { + "active": false, + "cuttingSpeedMmPerMin": 0 + }, + "tool": { + "id": 2, + "pocket": 2, + "length": 10, + "diameter": 8 + }, + "toolChange": { + "activeTool": 2, + "activePocket": 2, + "changed": false, + "command": null + }, + "coolant": { + "mist": false, + "flood": false + } + }, + "machineStateAfter": { + "spindle": { + "speedRpm": 0, + "direction": "stopped", + "enabled": false + }, + "feed": { + "programmedMmPerMin": 2100, + "actualMmPerMin": 2100, + "overridePercent": 100 + }, + "cutting": { + "active": false, + "cuttingSpeedMmPerMin": 0 + }, + "tool": { + "id": 2, + "pocket": 2, + "length": 10, + "diameter": 8 + }, + "toolChange": { + "activeTool": 2, + "activePocket": 2, + "changed": false, + "command": null + }, + "coolant": { + "mist": false, + "flood": false + } + }, + "traceExecutionIndex": null, + "notes": [] + } + } + ], + "summary": { + "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" + }, + "semanticBoundary": "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources" + }, + "currentVelocity": 1999.998, + "operatorMessage": "task/HAL status tick 955", + "pauseButton": { + "action": "pause-resume", + "paused": "false", + "title": "Pause program", + "ariaPressed": "false" + }, + "canvasDataset": { + "width": 383, + "height": 572, + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeToolGlyphAxis": "{\"x\":0,\"y\":0,\"z\":1}" + }, + "canvasToolhead": { + "x": 0, + "y": 0, + "z": 0.01 + }, + "canvasVismachPins": null, + "programPaneDataset": { + "region": "program", + "liveSourceFile": "xyzbc_switchkins_sub.ngc", + "liveSourceLine": "44", + "liveSampleIndex": "1299", + "liveExecutedSamples": "1300", + "gcodeExecutionStatus": "ok", + "gcodeExecutionStepCount": "128", + "gcodeMotionStepCount": "29", + "gcodeParameterStepCount": "41", + "gcodeCallDepth": "1" + }, + "processMonitorDataset": { + "linuxcncProcessMonitor": "", + "sourceMode": "linuxcnc-task-motion-hal-wasm", + "taskHalReady": "true", + "activeLine": "44", + "liveSourceFile": "xyzbc_switchkins_sub.ngc", + "liveSourceLine": "44", + "liveSampleIndex": "1299" + } + } +} diff --git a/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T145810Z/snapshot-setup-estop-active.png b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T145810Z/snapshot-setup-estop-active.png new file mode 100644 index 0000000..3d5bf8e Binary files /dev/null and b/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T145810Z/snapshot-setup-estop-active.png differ diff --git a/work/working8/01-项目功能内容.md b/work/working8-暂停按钮/01-项目功能内容.md similarity index 100% rename from work/working8/01-项目功能内容.md rename to work/working8-暂停按钮/01-项目功能内容.md diff --git a/work/working8/02-项目程序开发详细步骤.md b/work/working8-暂停按钮/02-项目程序开发详细步骤.md similarity index 100% rename from work/working8/02-项目程序开发详细步骤.md rename to work/working8-暂停按钮/02-项目程序开发详细步骤.md diff --git a/work/working8/03-推进台账.md b/work/working8-暂停按钮/03-推进台账.md similarity index 100% rename from work/working8/03-推进台账.md rename to work/working8-暂停按钮/03-推进台账.md diff --git a/work/working8/04-任务矩阵.md b/work/working8-暂停按钮/04-任务矩阵.md similarity index 100% rename from work/working8/04-任务矩阵.md rename to work/working8-暂停按钮/04-任务矩阵.md diff --git a/work/working8/05-验收证据.md b/work/working8-暂停按钮/05-验收证据.md similarity index 100% rename from work/working8/05-验收证据.md rename to work/working8-暂停按钮/05-验收证据.md diff --git a/work/working8/06-决策记录.md b/work/working8-暂停按钮/06-决策记录.md similarity index 100% rename from work/working8/06-决策记录.md rename to work/working8-暂停按钮/06-决策记录.md diff --git a/work/working8/README.md b/work/working8-暂停按钮/README.md similarity index 100% rename from work/working8/README.md rename to work/working8-暂停按钮/README.md diff --git a/work/working9-执行过程按钮/01-项目功能内容.md b/work/working9-执行过程按钮/01-项目功能内容.md new file mode 100644 index 0000000..3dba7dd --- /dev/null +++ b/work/working9-执行过程按钮/01-项目功能内容.md @@ -0,0 +1,131 @@ +# 01-项目功能内容 + +## 项目目标 + +完善 `/home/mes123456/cnc_wams/wasm-port` 中 LinuxCNC WASM task/motion 执行链，使 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` 的 AXIS 风格“执行 Run”按钮按 LinuxCNC 语义工作。 + +最终用户可见目标： + +1. 未解除急停、未上电、未 Home 或未打开程序时，Run 按钮不能绕过 LinuxCNC 门禁。 +2. 满足条件后点击 Run，系统切到 `MODE_AUTO`，发送 `EMC_TASK_PLAN_RUN`，task 进入 `INTERP_READING` 或 `INTERP_WAITING`。 +3. 执行中当前行、队列深度、motion id、DRO、TCP、RTCP 位置由 task/motion status 驱动。 +4. 执行中 Pause、Resume、Step 继续走 task/motion 命令链，不直接操作前端播放状态。 +5. 执行完成、错误、急停、下电、abort 后，UI 与 task/motion status 一致，不能残留“前端 running”假状态。 + +## LinuxCNC 对标依据 + +来源文档： + +`/home/mes123456/cnc_wams/项目分析/AXIS主控制按钮调用链与WASM完善指南.md` + +核心调用链： + +```text +AXIS task_run() + -> ensure_mode(MODE_AUTO) + -> linuxcnc.command().auto(AUTO_RUN, line) + -> EMC_TASK_PLAN_RUN + -> emcTaskPlan() + -> emcTaskIssueCommand() + -> interpreter readahead + -> canonical motion commands + -> taskintf.cc + -> EMCMOT_SET_LINE / EMCMOT_SET_CIRCLE / ... + -> motion command/control cycle + -> emcStatus + -> linuxcnc.stat().poll() +``` + +Run 不是前端播放按钮。LinuxCNC 中 Run 的真实结果是 task 解释器状态、motion 队列、status echo 和 GUI 可见状态共同变化。 + +## 功能范围 + +### 必须覆盖 + +1. 急停与解除急停： + - `STATE_ESTOP` 与 `STATE_ESTOP_RESET` 的切换。 + - ESTOP 分支 abort、motion disable、IO estop on、volatile home 清理。 +2. 上电与下电： + - 只有 `STATE_ESTOP_RESET` 才能进入 `STATE_ON`。 + - `STATE_ON` 由 motion enabled 状态推导，不由前端直接写死。 +3. Home： + - Run 前必须满足 all homed 或 `no_force_homing`。 + - Home 应有 `homing -> homed` 过程态。 +4. Run： + - `MODE_AUTO`。 + - `EMC_TASK_PLAN_RUN`。 + - `interpState=READING`、`taskPaused=false`、`singleStepping=false`。 + - 程序文件已 open，或 task 能按 `emcStatus->task.file` 打开。 +5. Pause/Resume/Step： + - 作为 Run 后执行过程控制，不作为独立前端播放逻辑。 + - Pause 后 `taskPaused=true` 且 `motion.paused=true`。 + - Step 只推进一个 motion id 或一个可观测执行边界，并回到 paused。 +6. Status 投影： + - Web store 中 `taskState/mode/interpState/runState/currentLine/motionPaused/singleStepping` 来自 task/HAL status。 + +### 暂不覆盖 + +1. 完整 LinuxCNC NML 网络传输。WASM 可用内存队列替代 NML transport，但命令类型和状态语义必须保留。 +2. 完整实时 HAL。当前阶段只要求 task/motion/Home/Run/Pause/Step 相关 HAL pin 可观测。 +3. 所有 G-code 语义。G-code 到 canonical motion 应优先来自 LinuxCNC interpreter，不在 Web 层扩写解释器。 + +## 当前代码基线 + +### wasm-port 已有基础 + +关键文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `wasm-port/runtime/sdk/src/linuxcnc-task-hal.js` +- `wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` + +已具备的基础： + +- task/HAL WASM 入口已经存在。 +- Pause/Resume/Step 已有 working8 基础验证。 +- status JSON 已能输出部分 task/motion 字段。 +- Web 项目已经能加载 task-hal WASM 并把部分 status 映射到 store。 + +### 主要差距 + +1. task/HAL runtime 仍有 `phase4_minimal` 过渡实现痕迹，部分命令解析和 G-code motion 派生仍是手写逻辑。 +2. Run 的门禁需要完全对齐 `emcTaskPlan()`：不能只看 Web 自定义 `runState`。 +3. 程序 open、canonical motion plan、motion queue、current line 的来源需要收敛到 LinuxCNC interpreter/task/motion 状态。 +4. Home 状态常见简化是立即 `allHomed=true`，缺少 `homing/homeState` 过程态。 +5. Web store 仍可能存在点击 Run 后直接写 `running` 的分支，需要改为等待 WASM status 确认。 +6. 验收不能只看按钮 active，需要读取 task/HAL status、trace、截图和 Node/browser 断言。 + +## 完成定义 + +本项目完成必须同时满足： + +1. Run 前置门禁： + - ESTOP 下 Run 被拒绝。 + - ESTOP_RESET 未上电时 Run 被拒绝。 + - ON 但未 Home 且 `no_force_homing=false` 时 Run 被拒绝。 + - 未 open 程序或没有 canonical plan 时 Run 被拒绝并给出明确错误。 +2. Run 命令链： + - UI 点击 Run 后发送 `MODE_AUTO` 和 `EMC_TASK_PLAN_RUN`。 + - WASM status 显示 `task.mode=AUTO`。 + - WASM status 显示 `task.interpState=READING/WAITING`。 + - `task.taskPaused=false`、`motion.traj.singleStepping=false`。 +3. 执行状态： + - motion queue 或 canonical execution id 可观测。 + - 当前行、motion id、DRO/TCP 随 status 推进。 + - 执行完成后进入 `INTERP_IDLE` 与 `DONE` 或等价完成状态。 +4. 执行中控制： + - Pause 后 task 和 motion 双层 paused。 + - Resume 后恢复暂停前状态。 + - Step 后只推进一个边界并回到 paused。 +5. Web 集成： + - Web `runState` 是 task/HAL status 投影。 + - UI 按钮 enable/active 状态与 LinuxCNC 门禁一致。 + - 浏览器 trace 能证明 Run 后位置推进、Pause 后冻结、Resume 后继续。 + +## 非目标与风险提醒 + +1. 不把 Web frame 播放器当作 CNC task。 +2. 不在 JS 中新增 G-code 正则解释器作为长期方案。 +3. 不因为 UI 看起来 running 就关闭任务，必须有 WASM status 证据。 +4. 不把单步实现为数组下标加一，Step 必须进入 task/motion 单步状态机。 diff --git a/work/working9-执行过程按钮/02-项目程序开发详细步骤.md b/work/working9-执行过程按钮/02-项目程序开发详细步骤.md new file mode 100644 index 0000000..33d61b3 --- /dev/null +++ b/work/working9-执行过程按钮/02-项目程序开发详细步骤.md @@ -0,0 +1,227 @@ +# 02-项目程序开发详细步骤 + +## 开发原则 + +1. 以 LinuxCNC 源码语义为准：`axis -> emcmodule.cc -> emctaskmain.cc -> taskintf.cc -> motion`。 +2. Run 按钮只发送命令并渲染状态，不直接把 Web 状态改成 running。 +3. WASM wrapper 可以适配 ABI，但不能发明第二套 CNC task 状态机。 +4. 每一步都要有 Node WASM 测试、Web Node 测试或浏览器 trace 证据。 +5. 每轮结束必须更新推进台账、任务矩阵和验收证据。 + +## 步骤 1：建立 Run 状态门禁表 + +目标文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/tests/wasm/node/verify_task_state_matrix.mjs` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js` + +开发动作： + +1. 固化 LinuxCNC 风格枚举： + - task state：`ESTOP`、`ESTOP_RESET`、`ON` + - task mode：`MANUAL`、`AUTO`、`MDI` + - interp state：`IDLE`、`READING`、`PAUSED`、`WAITING` +2. 增加 `task_accepts_command(state, mode, interp, command)` 或等价函数。 +3. 对 `EMC_TASK_PLAN_RUN` 实现硬门禁： + - 必须 `state=ON` + - 必须 `mode=AUTO` + - 必须 `interpState=IDLE` + - 必须 homed 或 `no_force_homing` + - 必须有已打开程序或可用 canonical plan +4. Web policy 使用同一组条件做按钮 enable/disable，但最终以 WASM 返回为准。 + +验收： + +- ESTOP 下 Run 返回拒绝。 +- ESTOP_RESET 下 Run 返回拒绝。 +- ON/MANUAL 下 Run 需要先切 AUTO。 +- ON/AUTO/IDLE 且未 homed 时 Run 返回未回零错误。 +- ON/AUTO/IDLE 且 homed、有程序时 Run 被接受。 + +## 步骤 2：补齐程序 open 与 canonical plan 边界 + +目标文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/runtime/sdk/src/linuxcnc-task-hal.js` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js` + +开发动作： + +1. 明确 task/HAL session 的程序来源： + - 当前 G-code 文件路径或虚拟文件名。 + - LinuxCNC interpreter canonical events。 + - motion plan id/version。 +2. 移除或隔离从 G-code 文本正则派生 motion 的 fallback。 +3. 无 canonical plan 时，Run 返回明确错误，例如 `INTERPRETER_PLAN_REQUIRED`。 +4. status JSON 输出： + - `task.file` + - `task.programOpen` + - `task.programStartLine` + - `task.planId` + - `task.errorText` + +验收： + +- 未 open 程序时 Run 不进入 running。 +- 有 canonical plan 时 Run 记录 `programStartLine`。 +- Web 能显示或记录拒绝原因，store 不伪造 running。 + +## 步骤 3：实现 Run 命令后的 task 状态变化 + +目标文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` + +开发动作： + +1. `EMC_TASK_PLAN_RUN` 分支对齐 LinuxCNC： + - 清 `taskPaused` + - 清 `singleStepping` + - 清 step 相关等待状态 + - 设置 `programStartLine` + - 设置 `interpState=READING` + - 设置 `execState=EXEC` 或等价执行态 +2. 把 canonical motion events 下发到 motion runtime 队列。 +3. motion runtime 输出： + - `queueDepth` + - `activeDepth` + - `motion.id` + - `motion.programLine` + - `motion.currentVel` +4. 执行完成后 task 状态回到： + - `interpState=IDLE` + - `execState=DONE` + - `taskPaused=false` + +验收： + +- Run 后读 status 可见 `READING` 或执行中的 `WAITING`。 +- motion queue 开始消费。 +- current line 或 motion id 单调推进。 +- 完成后进入 done/idle。 + +## 步骤 4：Web store 改为 task/HAL status 投影 + +目标文件： + +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs` + +开发动作： + +1. 点击 Run 后只做： + - policy 检查 + - `taskHalRuntime.sendCommand(MODE_AUTO)` + - `taskHalRuntime.sendCommand(EMC_TASK_PLAN_RUN)` + - `runCycles/readStatus` +2. `runState` 映射规则： + - `interpState=READING/WAITING` 且未 paused -> `running` + - `interpState=PAUSED` 或 `motion.paused=true` -> `paused` + - `interpState=IDLE` 且 exec done -> `idle/done` + - 有 error -> `error` +3. 删除或隔离点击 Run 后直接写 `running` 的分支。 +4. 当前行、DRO、TCP、RTCP 显示优先使用 task/HAL status 和 kinematics runtime 的结果。 + +验收： + +- WASM 拒绝 Run 时 Web 不进入 running。 +- WASM 接受 Run 后 Web 才进入 running。 +- status loop 中断或错误时 UI 进入明确错误态，不保持假 running。 + +## 步骤 5：Home 过程态补齐为 Run 前置条件 + +目标文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs` + +开发动作： + +1. joint status 增加： + - `homing` + - `homed` + - `homeState` +2. Home All 后不要立即只写 `allHomed=true`，应经历至少一个可观测过程态。 +3. Run 前使用 `allHomed || noForceHoming`。 +4. OFF/ESTOP 时按当前模型清理 volatile home；如果暂不能区分 volatile，必须在 status 和决策记录中标注简化。 + +验收： + +- 未 homed Run 被拒绝。 +- Home 过程中 Run 被拒绝。 +- Home 完成后 Run 可进入执行。 + +## 步骤 6：执行过程 Pause/Resume/Step 回归 + +目标文件： + +- `wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/tools/trace-pause-position-json.mjs` +- `web-rtcp-5axis-xyzbc-trt-sim-plan/tools/verify-estop-power-home-run-pause-50ms.mjs` + +开发动作： + +1. 在 Run 成功后执行 Pause，断言： + - `task.interpState=PAUSED` + - `task.taskPaused=true` + - `motion.paused=true` +2. Resume 后断言： + - 恢复 `interpResumeState` + - `taskPaused=false` + - `motion.paused=false` +3. Step 后断言： + - `singleStepping=true` 或 step 过程字段可观测 + - 只推进一个 motion id/程序行 + - 回到 paused + +验收： + +- working8 已有暂停证据继续通过。 +- working9 新增 Run 前置、Run 后执行推进、Run 中暂停/恢复/单步证据。 + +## 步骤 7：构建与回归命令 + +WASM 推荐命令： + +```bash +cd /home/mes123456/cnc_wams/wasm-port +./tools/build_task_hal_wasm.sh +node tests/wasm/node/verify_task_hal_wasm.mjs +node tests/wasm/node/verify_task_state_matrix.mjs +``` + +Web 推荐命令： + +```bash +cd /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan +npm --prefix app run build +node tests/node/verify_run_feedback_loop.mjs +APP_URL_PATH=/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html node tools/trace-pause-position-json.mjs +RUN_STABLE_BEFORE_FIRST_PAUSE_MS=3000 node tools/verify-estop-power-home-run-pause-50ms.mjs +``` + +预期证据关键词： + +- `linuxcnc_task_runtime_smoke=ok` +- `task_state_matrix=ok` +- `run_feedback_status_loop_smoke=ok` +- `pause_position_status=passed-position-frozen` +- `verification_status=passed` + +## 步骤 8：记录与关闭 + +每完成一个编号任务： + +1. 更新 `03-推进台账.md`。 +2. 更新 `04-任务矩阵.md` 状态。 +3. 把命令、输出摘要、trace 路径、截图目录写入 `05-验收证据.md`。 +4. 如果改变技术方向，追加 `06-决策记录.md`。 diff --git a/work/working9-执行过程按钮/03-推进台账.md b/work/working9-执行过程按钮/03-推进台账.md new file mode 100644 index 0000000..1ed2703 --- /dev/null +++ b/work/working9-执行过程按钮/03-推进台账.md @@ -0,0 +1,56 @@ +# 03-推进台账 + +## 记录规则 + +每轮推进结束后追加一条记录，格式固定如下： + +```text +## YYYY-MM-DD HH:MM EDT - 第 N 轮 + +### 本轮目标 + +### 本轮做了什么 + +### 改了哪些文件 + +### 验证了什么 + +### 结果与证据 + +### 下一步 +``` + +## 2026-07-07 16:42 EDT - 第 0 轮：文档初始化 + +### 本轮目标 + +按 `/home/mes123456/cnc_wams/项目分析/AXIS主控制按钮调用链与WASM完善指南.md`，在 `/home/mes123456/cnc_wams/work/working9-执行过程按钮` 建立后续推进所需文档体系。 + +### 本轮做了什么 + +1. 读取 AXIS 主控制按钮调用链与 WASM 完善指南，确认 working9 应以 Run 执行按钮为主线，同时覆盖急停、上电、Home、Pause、Resume、Step 的前置和运行期状态链。 +2. 参考 `work/working8-暂停按钮` 的文档组织方式，建立 working9 文档索引、功能内容、开发步骤、推进台账、任务矩阵、验收证据、决策记录。 +3. 将任务编号统一为 `W9-xxx`，便于后续按矩阵继续推进。 + +### 改了哪些文件 + +- `work/working9-执行过程按钮/README.md` +- `work/working9-执行过程按钮/01-项目功能内容.md` +- `work/working9-执行过程按钮/02-项目程序开发详细步骤.md` +- `work/working9-执行过程按钮/03-推进台账.md` +- `work/working9-执行过程按钮/04-任务矩阵.md` +- `work/working9-执行过程按钮/05-验收证据.md` +- `work/working9-执行过程按钮/06-决策记录.md` + +### 验证了什么 + +本轮只创建推进文档，未修改 `wasm-port` 或 Web 项目代码。验证重点是文件是否齐全、索引是否能覆盖后续继续推进。 + +### 结果与证据 + +- working9 文档体系已创建。 +- 任务矩阵已列出 Run 门禁、程序 open、task 状态、Web status 投影、Home 前置、Pause/Resume/Step 回归、浏览器验收等后续任务。 + +### 下一步 + +从 `04-任务矩阵.md` 的 `W9-001` 开始，先补 Run 状态门禁矩阵和 WASM Node 验证。 diff --git a/work/working9-执行过程按钮/04-任务矩阵.md b/work/working9-执行过程按钮/04-任务矩阵.md new file mode 100644 index 0000000..3b06d66 --- /dev/null +++ b/work/working9-执行过程按钮/04-任务矩阵.md @@ -0,0 +1,34 @@ +# 04-任务矩阵 + +## 状态定义 + +- `待办`：尚未修改代码。 +- `进行中`：已有部分修改或验证，但未达到验收标准。 +- `已完成`：代码、测试、证据、台账均完成。 +- `阻塞`：需要外部输入或依赖。 + +## 任务列表 + +| 任务编号 | 状态 | 任务 | 目标文件 | 验收标准 | +|---|---|---|---|---| +| W9-000 | 已完成 | 初始化 working9 推进文档 | `work/working9-执行过程按钮/*` | README、功能内容、开发步骤、推进台账、任务矩阵、验收证据、决策记录均已创建。 | +| W9-001 | 待办 | 建立 Run 状态门禁矩阵 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`wasm-port/tests/wasm/node/verify_task_state_matrix.mjs` | ESTOP、ESTOP_RESET、ON/MANUAL、ON/AUTO/IDLE、未 homed、有程序等状态组合均有明确接受/拒绝断言。 | +| W9-002 | 待办 | Web task policy 对齐 Run 门禁 | `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js` | Run enable/disable 与 LinuxCNC 条件一致；最终仍以 WASM 拒绝/接受为准。 | +| W9-003 | 待办 | 明确 program open 与 canonical plan 边界 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`wasm-port/runtime/sdk/src/linuxcnc-task-hal.js` | 未 open 程序或无 canonical plan 时 Run 返回明确错误，不能 fallback 为 JS/G-code 正则执行。 | +| W9-004 | 待办 | 实现 `EMC_TASK_PLAN_RUN` 状态转换 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` | Run 后清 pause/step，设置 `interpState=READING`、`taskPaused=false`、`singleStepping=false`、`programStartLine`。 | +| W9-005 | 待办 | motion runtime 暴露执行推进字段 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` | status 输出 `queueDepth`、`activeDepth`、`motion.id`、`programLine`、`currentVel`，执行中可观测推进。 | +| W9-006 | 待办 | Web store 改为 task/HAL status 投影 | `web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js` | Run 被 WASM 拒绝时 Web 不进入 running；WASM status 进入 reading/waiting 后 Web 才显示 running。 | +| W9-007 | 待办 | Home 过程态作为 Run 前置条件 | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js` | 未 homed 或 homing 中 Run 被拒绝；Home 完成后 Run 可执行。 | +| W9-008 | 待办 | 执行中 Pause/Resume/Step 状态回归 | `wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs`、`web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs` | Run 后 Pause/Resume/Step 均有 task/motion status 断言，不能只看 UI 状态。 | +| W9-009 | 待办 | 浏览器 Run 过程 trace 验收 | `web-rtcp-5axis-xyzbc-trt-sim-plan/tools/trace-pause-position-json.mjs`、`tools/verify-estop-power-home-run-pause-50ms.mjs` | trace 证明 Run 后位置推进，Pause 后冻结，Resume 后继续；截图 manifest 有路径记录。 | +| W9-010 | 待办 | 构建与 dist 同步 | `web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist`、`wasm-port/build/wasm/task-hal` | WASM 与 Web dist 使用最新实现；hash 或构建日志记录到验收证据。 | +| W9-011 | 待办 | 更新文档与证据闭环 | `work/working9-执行过程按钮/03-推进台账.md`、`05-验收证据.md`、`06-决策记录.md` | 每个完成任务都有命令、输出摘要、路径证据和必要决策记录。 | + +## 防重复规则 + +1. 前端 `runState=running` 通过不等于 `W9-004` 完成。 +2. 按钮可点击不等于 Run 门禁完成，必须有 WASM 接受/拒绝矩阵。 +3. Run 后当前行变化不等于 motion runtime 完成，必须有 queue/id/programLine/status 字段证据。 +4. 未记录 canonical plan 来源，不得关闭 `W9-003`。 +5. 未记录 trace 或截图路径，不得关闭浏览器验收任务。 +6. Pause/Resume/Step 如果只改 UI 状态，不得计入执行过程控制完成。 diff --git a/work/working9-执行过程按钮/05-验收证据.md b/work/working9-执行过程按钮/05-验收证据.md new file mode 100644 index 0000000..2361bee --- /dev/null +++ b/work/working9-执行过程按钮/05-验收证据.md @@ -0,0 +1,68 @@ +# 05-验收证据 + +## 记录规则 + +每次验证后追加证据。建议格式： + +```text +## YYYY-MM-DD HH:MM EDT - 任务 W9-xxx + +### 命令 + +### 输出摘要 + +### 页面/截图/trace/report + +### 结论 +``` + +证据可以包括： + +- 命令和关键输出。 +- 页面 URL。 +- Playwright trace 路径。 +- 截图目录。 +- `manifest.json`。 +- `job_id`、`report_id`。 +- PDF 或报告文件。 +- WASM hash、dist hash。 + +## 2026-07-07 16:42 EDT - 任务 W9-000 + +### 命令 + +```bash +sed -n '1,260p' '项目分析/AXIS主控制按钮调用链与WASM完善指南.md' +sed -n '261,620p' '项目分析/AXIS主控制按钮调用链与WASM完善指南.md' +sed -n '621,980p' '项目分析/AXIS主控制按钮调用链与WASM完善指南.md' +find 'work/working9-执行过程按钮' -maxdepth 1 -type f -print | sort +``` + +### 输出摘要 + +- 已读取 AXIS 主控制按钮调用链与 WASM 完善指南。 +- 已确认工作目录为 `/home/mes123456/cnc_wams/work/working9-执行过程按钮`。 +- 已创建 working9 文档体系。 + +### 页面/截图/trace/report + +本轮为文档初始化，无页面、截图、trace、job_id、report_id 或 PDF。 + +### 结论 + +`W9-000` 已完成。后续从 `W9-001` 开始进入代码和验证阶段。 + +## 待补证据清单 + +| 任务编号 | 必需证据 | +|---|---| +| W9-001 | `verify_task_state_matrix.mjs` 命令和输出，至少覆盖 Run 接受/拒绝矩阵。 | +| W9-002 | Web policy Node 测试输出，证明按钮门禁与 LinuxCNC 条件一致。 | +| W9-003 | program open/canonical plan 测试输出，证明无 plan 时拒绝 Run。 | +| W9-004 | WASM status 输出片段，证明 Run 后 `interpState=READING`。 | +| W9-005 | motion status 输出片段，证明 queue/id/programLine 推进。 | +| W9-006 | store 测试输出，证明 Web running 来自 WASM status。 | +| W9-007 | Home 过程态测试输出，证明 homing 中 Run 被拒绝。 | +| W9-008 | Pause/Resume/Step 回归输出。 | +| W9-009 | Playwright trace、截图目录、manifest 路径。 | +| W9-010 | build 命令输出、WASM/dist hash 或文件时间戳。 | diff --git a/work/working9-执行过程按钮/06-决策记录.md b/work/working9-执行过程按钮/06-决策记录.md new file mode 100644 index 0000000..97a3edf --- /dev/null +++ b/work/working9-执行过程按钮/06-决策记录.md @@ -0,0 +1,43 @@ +# 06-决策记录 + +## 记录规则 + +当出现会影响后续实现路线的技术取舍时追加记录。建议格式： + +```text +## DR-W9-xxx - 标题 + +- 日期： +- 状态： +- 背景： +- 决策： +- 理由： +- 后续影响： +``` + +## DR-W9-001 - working9 以 Run 为主线但覆盖完整控制链 + +- 日期：2026-07-07 +- 状态：已采纳 +- 背景：用户目录名为 `working9-执行过程按钮`，来源文档覆盖 AXIS 主控制按钮，包括急停、上电、Home、执行、暂停、单步。 +- 决策：working9 文档以“执行 Run 按钮”为主线，同时把急停、上电、Home、Pause、Resume、Step 纳入前置条件和执行过程控制。 +- 理由：LinuxCNC 中 Run 不能脱离 `STATE_ON`、`MODE_AUTO`、homed、program open、pause/step 状态机单独成立。只写 Run 会导致后续实现继续用 Web `runState` 绕过真实 task/motion 门禁。 +- 后续影响：任务矩阵中的 Run 验收必须包含前置链和运行期链；不能只验证点击 Run 后前端开始播放。 + +## DR-W9-002 - Web `runState` 只能作为投影状态 + +- 日期：2026-07-07 +- 状态：已采纳 +- 背景：AXIS GUI 通过 `linuxcnc.stat().poll()` 读取 `emcStatus`，按钮本身不保存真实 task/motion 状态。 +- 决策：Web 中 `runState`、按钮 active、当前行等 UI 状态应由 task/HAL WASM status 投影生成。 +- 理由：如果点击 Run 后直接写 `runState=running`，会掩盖 ESTOP、未上电、未 homed、无 program plan 等拒绝条件，形成假执行状态。 +- 后续影响：后续代码修改需要优先删除或隔离直接写 running/paused/done 的分支，改为等待 WASM status 同步。 + +## DR-W9-003 - G-code 到 motion 不再扩展 JS 正则 fallback + +- 日期：2026-07-07 +- 状态：已采纳 +- 背景：来源指南指出 `wasm-port` 应复用 LinuxCNC source，当前从 G-code 文本中用简单规则派生 motion 属于语义漂移风险。 +- 决策：Run 所需 motion plan 应来自 LinuxCNC interpreter canonical output 或受控 WASM 适配层。没有 plan 时返回明确错误，不把 JS 正则解析作为长期执行路径。 +- 理由：Run 按钮的验收对象是 LinuxCNC task/interpreter/motion 链，不是 Web 播放 G-code 文本。 +- 后续影响：`W9-003` 必须明确 program open 与 canonical plan 边界；关闭任务前要有无 plan 拒绝 Run 的测试证据。 diff --git a/work/working9-执行过程按钮/README.md b/work/working9-执行过程按钮/README.md new file mode 100644 index 0000000..77abc55 --- /dev/null +++ b/work/working9-执行过程按钮/README.md @@ -0,0 +1,47 @@ +# working9 README 索引 + +## 主题 + +基于 `/home/mes123456/cnc_wams/项目分析/AXIS主控制按钮调用链与WASM完善指南.md`，推进 AXIS 风格“执行 Run”按钮及其前置/运行期控制链在 `wasm-port` 和 `web-rtcp-5axis-xyzbc-trt-sim-plan` 中的完善。 + +本工作目录以“执行过程按钮”为主线，但 Run 不是孤立按钮。LinuxCNC 中 Run 是否可用、是否能继续、是否能暂停/单步，依赖以下状态链： + +```text +ESTOP/ESTOP_RESET + -> Power ON + -> Manual Home + -> AUTO Run + -> Reading/Waiting + -> Pause/Resume/Step + -> Done/Error/Abort +``` + +## 文档索引 + +| 文件 | 用途 | +|---|---| +| `01-项目功能内容.md` | 定义执行按钮功能范围、LinuxCNC 对标语义、当前差距和完成定义。 | +| `02-项目程序开发详细步骤.md` | 按 `wasm-port`、Web store、UI、测试证据列出可执行开发步骤。 | +| `03-推进台账.md` | 记录每轮做了什么、改了哪些文件、验证了什么、下一步是什么。 | +| `04-任务矩阵.md` | 管理全部任务编号、状态、依赖和验收标准，防止重复推进。 | +| `05-验收证据.md` | 汇总命令、页面、job_id、report_id、PDF、截图、trace 等证据。 | +| `06-决策记录.md` | 固化关键技术决策，避免后续重复争论同一问题。 | + +## 当前推进入口 + +1. 先读 `01-项目功能内容.md`，确认 Run 的完成定义不是“前端开始播放”，而是 task/motion 状态进入 LinuxCNC 风格执行链。 +2. 按 `04-任务矩阵.md` 从 `W9-001` 开始推进。 +3. 每完成一个任务，把命令、输出摘要、trace、截图目录追加到 `05-验收证据.md`。 +4. 每轮结束更新 `03-推进台账.md`。 +5. 如果改变状态源、门禁策略、fallback 方案，先追加 `06-决策记录.md`。 + +## 当前结论 + +`AXIS主控制按钮调用链与WASM完善指南.md` 的核心结论是：AXIS 按钮不是直接改 UI 状态，而是通过 `linuxcnc.command()` 发送 `EMC_TASK_*` 或 `EMC_JOINT_*` 命令，经 task 层门禁、motion 层执行，再由 `emcStatus` 反向驱动 UI。 + +working9 后续推进必须围绕这个结论： + +- Run 必须发送 `EMC_TASK_PLAN_RUN`，并等待 task status 进入 `INTERP_READING/WAITING`。 +- Run 前必须满足 `STATE_ON + MODE_AUTO + homed/no_force_homing + program opened`。 +- Web 的 `runState` 只能是 WASM task/motion status 的投影，不能作为真实执行状态源。 +- Pause、Resume、Step 必须作为执行过程的后续命令，不能退化为前端播放暂停或 frameIndex 跳转。 diff --git a/备忘/16备用暂停按钮实现详细过程.txt b/备忘/16备用暂停按钮实现详细过程.txt index c64d7ac..12e91f2 100644 --- a/备忘/16备用暂停按钮实现详细过程.txt +++ b/备忘/16备用暂停按钮实现详细过程.txt @@ -24,7 +24,7 @@ wasm-port 已经有 linuxcnc_task_hal_wasm.cpp、linuxcnc_motion_runtime.c 和 T 06-决策记录：为什么这么做，后续变更时不反复争论同一个问题 另加 README 索引，便于后续按任务矩阵继续推进。 - +只让 pause/run/jog 采用 WASM motion 轴。 diff --git a/备忘/17备忘主要执行过程按钮逻辑.txt b/备忘/17备忘主要执行过程按钮逻辑.txt new file mode 100644 index 0000000..c6c01de --- /dev/null +++ b/备忘/17备忘主要执行过程按钮逻辑.txt @@ -0,0 +1,62 @@ +1、分析“/home/mes123456/cnc_wams/linuxcnc” +源程序的AXIS 主界面的“急停、上电、Home、执行、暂停、单步执行”的详细调用链条和状态机制； +2、包括c++的task、motion、状态记录方式，“急停、上电、Home、执行、暂停、单步执行”的详细调用链条和状态机制； +3、linuxcnc系统的c++都是如何实现“急停、上电、Home、执行、暂停、单步执行”的功能的详细调用链条和状态机制； +4、每个按钮的可以执行的先觉条件，每个按钮执行后，如何记录当前状态，详细分析“急停、上电、Home、执行、暂停、单步执行”的详细调用链条和状态机制； +5、指导完善“/home/mes123456/cnc_wams/wasm-port”的linuxcnc的wasm +6、指导完善“/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan”程序； +7、上面的分析结果，写入单独的文档中，指导完善项目。 + +我会把 working9 定义为“执行 Run 按钮主线”，但文档会保留急停、上电、Home、暂停、单步作为 Run 的前置与运行期状态链，因为这些状态直接决定执行按钮能否按 LinuxCNC 语义工作。 + + + + + + + + +我发现 wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp 仍是“phase4_minimal”任务运行时，存在手写 JSON 解析和 G-code 行派生 motion 的过渡逻辑。文档会明确指出这是当前最大语义漂移风险，并给出迁移到 vendored task/motion 状态机的分层步骤。 + + +我会先梳理仓库结构和关键入口，重点找 AXIS UI、NML command/status、task/motion 相关实现，再把分析写成独立中文文档并按要求追加过程日志。 + +AXIS 层已确认：按钮本身只做少量 UI 前置判断，真正状态跳转通过 linuxcnc.command() 写 NML 命令。下面我会追 emctaskmain 如何按解释器状态接收/排队/拒绝这些命令，以及 motion 如何接收 task 下发的实时命令。 + +task 层的核心状态已经清楚：task.state/mode/interpState/task_paused 是 GUI 可见状态，stepping/steppingWait 和 motion.traj.single_stepping 管单步。接下来补 motion 侧 EMCMOT_ENABLE/DISABLE/PAUSE/RESUME、homing 状态位和状态发布结构。 + +状态发布路径也已定位：task 主循环每周期读 motion 共享状态，合成 emcStatus，Python stat.poll() 直接暴露这些字段。现在我会快速检查两个目标项目当前结构和已有按钮实现，再把源码链路和改进清单写进独立文档。 + +目标项目已有 task/HAL WASM、Web store 和按钮验证基础，文档会把下一步重点放在“把现在的 JS 状态策略压缩成 LinuxCNC 状态机镜像、补齐 status 字段与命令队列语义”，而不是建议重写 CNC 语义。 + + + + + + +初步线索确认：AXIS 按钮入口在 src/emc/usr_intf/axis/scripts/axis.py 和 share/axis/tcl/axis.tcl，Python 扩展把按钮动作转换成 NML 命令，emctaskmain.cc 的状态机决定命令是否可执行。现在我会读关键函数的原始代码段并记录行号。 + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/项目分析/AXIS主控制按钮调用链与WASM完善指南.md b/项目分析/AXIS主控制按钮调用链与WASM完善指南.md new file mode 100644 index 0000000..76b809a --- /dev/null +++ b/项目分析/AXIS主控制按钮调用链与WASM完善指南.md @@ -0,0 +1,929 @@ +# AXIS 主控制按钮调用链与 WASM 完善指南 + +生成时间：2026-07-07 + +分析范围： + +- LinuxCNC 源码：`/home/mes123456/cnc_wams/linuxcnc` +- WASM 迁移工程：`/home/mes123456/cnc_wams/wasm-port` +- Web 5 轴仿真工程：`/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` + +本文重点分析 AXIS 主界面的“急停、上电、Home、执行、暂停、单步执行”的调用链、状态机制、按钮前置条件，以及对 WASM/Web 项目的完善建议。 + +## 1. 总体架构结论 + +LinuxCNC 中 AXIS 按钮不是直接操作运动控制，而是走统一命令/状态通道： + +```text +AXIS Python/Tk 按钮 + -> linuxcnc.command() Python C 扩展 + -> NML 命令对象 EMC_TASK_*/EMC_JOINT_* + -> emcCommand NML 通道 + -> task 主循环 emcTaskPlan()/emcTaskIssueCommand() + -> taskintf.cc 转为 EMCMOT_* motion 命令 + -> motion 实时侧 command.c/control.c/homing.c + -> motion/status + task/status 合成为 emcStatus + -> linuxcnc.stat().poll() 供 AXIS 刷新 UI +``` + +核心状态不是由按钮自行保存，而是由 `emcStatus` 聚合： + +- `emcStatus->task.state`：任务状态，GUI 显示为 `STATE_ESTOP`、`STATE_ESTOP_RESET`、`STATE_ON` 等。 +- `emcStatus->task.mode`：任务模式，`MODE_MANUAL`、`MODE_AUTO`、`MODE_MDI`。 +- `emcStatus->task.interpState`：解释器状态，`INTERP_IDLE`、`INTERP_READING`、`INTERP_PAUSED`、`INTERP_WAITING`。 +- `emcStatus->task.task_paused`：task 层暂停标志。 +- `emcStatus->motion.traj.paused`：motion 轨迹规划器暂停标志。 +- `emcStatus->motion.traj.single_stepping`：task/GUI 可见的单步执行标志。 +- `emcStatus->motion.joint[n].homed`：每个 joint 的回零状态。 +- `emcStatus->motion.traj.enabled`：motion 是否上使能，用于推导 task 是否 `STATE_ON`。 + +需要特别注意：LinuxCNC 的 task 层主要是 C++，motion 层主要是 C。用户所说的 C++ 实现，在源码中实际跨越 `emctask*.cc`、`taskintf.cc` 和 motion 的 `command.c`、`homing.c`。 + +## 2. AXIS UI 按钮入口 + +AXIS 主界面位于： + +- `linuxcnc/bin/axis` + +关键辅助函数： + +```python +def manual_ok(do_poll=True): + if do_poll: s.poll() + if s.task_state != linuxcnc.STATE_ON: return False + return s.interp_state == linuxcnc.INTERP_IDLE or ( + s.task_mode == linuxcnc.MODE_MDI and + s.queued_mdi_commands < vars.max_queued_mdi_commands.get() + ) + +def ensure_mode(m, *p): + s.poll() + if s.task_mode == m or s.task_mode in p: return True + c.mode(m) + c.wait_complete() + s.poll() + return True +``` + +源码位置：`linuxcnc/bin/axis:986-1015`。 + +这说明 AXIS 侧前置条件分两层： + +1. UI 层用 `s.poll()` 读当前状态，避免明显非法操作。 +2. task/motion 层仍会再次校验，非法命令会拒绝或报错。 + +## 3. Python C 扩展到 NML 命令 + +AXIS 使用 `linuxcnc.command()`。该对象由 `linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc` 暴露，关键映射如下： + +| AXIS 调用 | C 扩展函数 | NML 命令 | +| --- | --- | --- | +| `c.state(STATE_*)` | `state()` | `EMC_TASK_SET_STATE` | +| `c.mode(MODE_*)` | `mode()` | `EMC_TASK_SET_MODE` | +| `c.home(joint)` | `home()` | `EMC_JOINT_HOME` | +| `c.auto(AUTO_RUN, line)` | `emcauto()` | `EMC_TASK_PLAN_RUN` | +| `c.auto(AUTO_PAUSE)` | `emcauto()` | `EMC_TASK_PLAN_PAUSE` | +| `c.auto(AUTO_RESUME)` | `emcauto()` | `EMC_TASK_PLAN_RESUME` | +| `c.auto(AUTO_STEP)` | `emcauto()` | `EMC_TASK_PLAN_STEP` | + +源码依据： + +- `mode()` 创建 `EMC_TASK_SET_MODE`：`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc:1691-1705` +- `state()` 创建 `EMC_TASK_SET_STATE`：`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc:1815-1829` +- `home()` 创建 `EMC_JOINT_HOME`：`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc:1941-1945` +- `emcauto()` 分发 `RUN/PAUSE/RESUME/STEP`：`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc:2093-2116` + +## 4. task 主循环的命令调度 + +task 主循环在 `linuxcnc/src/emc/task/emctaskmain.cc`： + +```text +emcCommandBuffer->read() + -> emcTaskPlan() + -> emcTaskExecute() + -> emcMotionUpdate(&emcStatus->motion) + -> emcTaskUpdate(&emcStatus->task) + -> 写 emcStatus 顶层 command/status/echo_serial_number +``` + +源码位置：`linuxcnc/src/emc/task/emctaskmain.cc:3301-3478`。 + +`emcTaskPlan()` 按三类状态进行门禁： + +1. `task.state`：`OFF`、`ESTOP`、`ESTOP_RESET`、`ON` +2. `task.mode`：`MANUAL`、`AUTO`、`MDI` +3. `task.interpState`：`IDLE`、`READING`、`PAUSED`、`WAITING` + +因此，AXIS UI 的按钮条件必须与 `emcTaskPlan()` 的状态表一致，不能只看 `runState` 这类 Web 自定义状态。 + +## 5. 急停按钮 + +### 5.1 AXIS UI 调用链 + +源码：`linuxcnc/bin/axis:2243-2248` + +```python +def estop_clicked(event=None): + s.poll() + if s.task_state == linuxcnc.STATE_ESTOP: + c.state(linuxcnc.STATE_ESTOP_RESET) + else: + c.state(linuxcnc.STATE_ESTOP) +``` + +按钮语义： + +- 当前是 `STATE_ESTOP`：发送 `STATE_ESTOP_RESET`，表示解除急停。 +- 其他任意状态：发送 `STATE_ESTOP`，进入急停。 + +### 5.2 NML/task 调用链 + +```text +c.state(STATE_ESTOP or STATE_ESTOP_RESET) + -> emcmodule.cc state() + -> EMC_TASK_SET_STATE + -> emcTaskPlan() + -> emcTaskIssueCommand() + -> emcTaskSetState() +``` + +`EMC_TASK_SET_STATE` 被 task 作为 immediate command 接收： + +- 非 ON 状态也允许接收：`emctaskmain.cc:795-829` +- ON/MANUAL 允许：`emctaskmain.cc:897-956` +- ON/AUTO/IDLE 允许：`emctaskmain.cc:1026-1075` +- ON/AUTO/READING 允许：`emctaskmain.cc:1137-1174` +- ON/AUTO/PAUSED 允许：`emctaskmain.cc:1206-1251` + +### 5.3 C++ task 状态处理 + +`emcTaskSetState(ESTOP)` 源码：`linuxcnc/src/emc/task/emctask.cc:353-365` + +执行内容： + +- `emcMotionAbort()`：中止 motion。 +- `emcSpindleAbort()`：中止主轴。 +- `emcAuxEstopOn()`：IO 急停输出置位。 +- `emcTrajDisable()`：下发 motion disable。 +- 关闭 flood coolant。 +- `emcTaskAbort()`：清解释器队列、清 pause/step 状态。 +- `emcIoAbort(TASK_STATE_ESTOP)`。 +- `emcJointUnhome(-2)`：清除 `VOLATILE_HOME` joint 的 homed。 +- `emcTaskPlanSynch()`：同步解释器。 + +`emcTaskSetState(ESTOP_RESET)` 源码：`linuxcnc/src/emc/task/emctask.cc:342-350` + +执行内容： + +- `emcAuxEstopOff()`：解除 IO 急停。 +- `emcTaskAbort()`：清程序运行状态。 +- `emcIoAbort(TASK_STATE_ESTOP_RESET)`。 +- `emcSpindleAbort()`。 +- `emcTaskPlanSynch()`。 + +### 5.4 状态记录方式 + +task 并不简单把 `task.state = ESTOP` 固定写死，而是周期性通过 `determineState()` 从 IO 和 motion 推导： + +源码：`linuxcnc/src/emc/task/emctask.cc:418-428` + +规则： + +| IO 急停 | motion enabled | 推导状态 | +| --- | --- | --- | +| true | 任意 | `ESTOP` | +| false | false | `ESTOP_RESET` | +| false | true | `ON` | + +`emcTaskUpdate()` 每周期写入 `stat->state`：`linuxcnc/src/emc/task/emctask.cc:688-699`。 + +这意味着 Web/WASM 中不能只维护一个 `estopActive` 布尔值；应该同时维护： + +- IO estop 状态； +- motion enable 状态； +- task 推导状态； +- volatile home 清除动作。 + +## 6. 上电/下电按钮 + +### 6.1 AXIS UI 调用链 + +源码：`linuxcnc/bin/axis:2250-2260` + +```python +def onoff_clicked(event=None): + s.poll() + if s.task_state == linuxcnc.STATE_ESTOP_RESET: + c.state(linuxcnc.STATE_ON) + ... + else: + c.state(linuxcnc.STATE_OFF) +``` + +按钮语义： + +- 只有 `STATE_ESTOP_RESET` 才能上电。 +- 其他状态一律发送 `STATE_OFF`。 +- 因此 `STATE_ESTOP` 下点电源不是“上电”，而是进入 OFF/保持不可上电语义；必须先通过急停按钮解除急停到 `ESTOP_RESET`。 + +### 6.2 task 调用链 + +```text +c.state(STATE_ON/OFF) + -> EMC_TASK_SET_STATE + -> emcTaskSetState(ON/OFF) +``` + +`emcTaskSetState(ON)` 源码：`linuxcnc/src/emc/task/emctask.cc:336-340` + +执行内容： + +- `emcTrajEnable()`。 +- 关闭 flood coolant。 + +`emcTrajEnable()` 源码：`linuxcnc/src/emc/task/taskintf.cc:1396-1400` + +```text +emcTrajEnable() + -> emcmotCommand.command = EMCMOT_ENABLE + -> usrmotWriteEmcmotCommand() +``` + +motion 侧 `EMCMOT_ENABLE` 源码：`linuxcnc/src/emc/motion/command.c:1370-1384` + +执行内容： + +- 如果 HAL `motion.enable` 输入为 false，报错：`can't enable motion, enable input is false`。 +- 否则设置 `emcmotInternal->enabling = 1`，实际使能在 motion 控制周期中完成。 + +`emcTaskSetState(OFF)` 源码：`linuxcnc/src/emc/task/emctask.cc:323-333` + +执行内容： + +- `emcMotionAbort()`。 +- `emcSpindleAbort()`。 +- `emcTrajDisable()`。 +- `emcIoAbort(TASK_STATE_OFF)`。 +- `emcTaskAbort()`。 +- `emcJointUnhome(-2)` 清 volatile home。 +- `emcTaskPlanSynch()`。 + +motion 侧 `EMCMOT_DISABLE` 源码：`linuxcnc/src/emc/motion/command.c:1357-1368` + +执行内容： + +- 设置 `emcmotInternal->enabling = 0`。 +- 对 inverse-only kinematics，还会退出 teleop/coord。 + +### 6.3 状态记录方式 + +上电后并不是由 task 直接写 `STATE_ON`，而是 motion 报告 enabled 后，`determineState()` 推导为 `ON`。 + +motion 状态更新路径： + +```text +motion command/control 周期更新 emcmotStatus.motionFlag + -> taskintf.cc emcMotionUpdate() + -> emcTrajUpdate() + -> stat->traj.enabled + -> emcTaskUpdate() + -> determineState() +``` + +关键源码： + +- `emcMotionUpdate()` 读取 `emcmotStatus`：`linuxcnc/src/emc/task/taskintf.cc:2057-2102` +- `emcTrajUpdate()` 写 `stat->enabled`：`linuxcnc/src/emc/task/taskintf.cc:1639-1652` +- `determineState()` 推导状态：`linuxcnc/src/emc/task/emctask.cc:418-428` + +## 7. Home 按钮 + +### 7.1 AXIS UI 调用链 + +Home All 源码：`linuxcnc/bin/axis:2732-2740` + +```python +def home_all_joints(event=None): + if not manual_ok(): return + ensure_mode(linuxcnc.MODE_MANUAL) + ... + go_home(-1) +``` + +单 joint Home 源码：`linuxcnc/bin/axis:2747-2767` + +关键条件： + +- `manual_ok()` 必须为真，即 machine 为 `STATE_ON`，解释器 idle 或 MDI 队列可接受。 +- 切到 `MODE_MANUAL`。 +- 已 homed 时弹窗确认是否 re-home。 +- 非 identity kinematics 下，单轴/单 joint 选择有额外限制。 +- 最终 `go_home(num)` 调 `c.home(num)`。 + +### 7.2 NML/task/motion 调用链 + +```text +c.home(-1 或 joint) + -> emcmodule.cc home() + -> EMC_JOINT_HOME + -> emcTaskPlan() + -> emcTaskIssueCommand() + -> emcJointHome() + -> EMCMOT_JOINT_HOME + -> motion command.c + -> do_home_joint() + -> homing.c 状态机 +``` + +`EMC_JOINT_HOME` 只在 ON/MANUAL 中直接允许：`linuxcnc/src/emc/task/emctaskmain.cc:897-956`。 + +`emcJointHome()` 源码：`linuxcnc/src/emc/task/taskintf.cc:796-805` + +执行内容： + +- 检查 joint 范围。 +- 下发 `EMCMOT_JOINT_HOME`。 + +motion 侧 `EMCMOT_JOINT_HOME` 源码：`linuxcnc/src/emc/motion/command.c:1411-1439` + +motion 前置条件： + +- `emcmotStatus->motion_state == EMCMOT_MOTION_FREE`，必须处于 joint/free 模式。 +- `motion.homing-inhibit` 不能为 true。 +- 当前不能已有 homing 流程在跑。 +- `GET_MOTION_ENABLE_FLAG()` 必须为 true。 +- 负 joint 表示 home all。 + +### 7.3 homing 状态机 + +`do_home_joint()` 最终进入 `linuxcnc/src/emc/motion/homing.c`。 + +核心状态记录： + +- `H[joint].homing` +- `H[joint].homed` +- `H[joint].home_state` +- `H[joint].joint_in_sequence` +- `joint.free_tp.enable` + +输出 HAL pin： + +源码：`linuxcnc/src/emc/motion/homing.c:541-573` + +- `joint.N.homing` +- `joint.N.homed` +- `joint.N.home-state` +- `joint.N.index-enable` + +完成逻辑： + +源码：`linuxcnc/src/emc/motion/homing.c:1376-1385` + +- `homing = 0` +- `homed = 1` +- `home_state = HOME_IDLE` +- `joint_in_sequence = 0` + +异常中止： + +源码：`linuxcnc/src/emc/motion/homing.c:1387-1397` + +- 所有 joint `homing = 0` +- 所有 joint `homed = 0` +- 所有 `free_tp.enable = 0` +- `home_state = HOME_IDLE` + +### 7.4 状态记录方式 + +task 通过 `emcMotionUpdate()` 将 motion homed 状态复制到 `emcStatus->motion.joint[n].homed`，AXIS 的 `s.homed[n]` 来自这里。 + +`task` 的 `all_homed()` 直接查 `emcStatus->motion.joint[i].homed`，源码：`linuxcnc/src/emc/task/emctaskmain.cc:151-152`。 + +## 8. 执行 Run 按钮 + +### 8.1 AXIS UI 调用链 + +源码：`linuxcnc/bin/axis:2379-2393` + +```python +def task_run(*event): + res = run_warn() + ... + ensure_mode(linuxcnc.MODE_AUTO) + c.auto(linuxcnc.AUTO_RUN, program_start_line) + program_start_line = 0 +``` + +AXIS UI 层条件： + +- 会执行 `run_warn()`，处理文件变更、保存、运行前警告等。 +- `ensure_mode(MODE_AUTO)` 切入 AUTO。 +- 然后发送 `AUTO_RUN`。 + +真正硬条件在 task 层： + +- machine 必须 ON。 +- AUTO 模式下允许。 +- 未 homed 且没有 `no_force_homing` 时拒绝。 +- 程序文件应已打开；未打开时会尝试打开 `emcStatus->task.file`。 + +### 8.2 task 调用链 + +```text +c.auto(AUTO_RUN, line) + -> EMC_TASK_PLAN_RUN + -> emcTaskPlan() 按状态门禁 + -> emcTaskIssueCommand() + -> case EMC_TASK_PLAN_RUN +``` + +`EMC_TASK_PLAN_RUN` 在 ON/AUTO/IDLE 中允许：`linuxcnc/src/emc/task/emctaskmain.cc:1015-1075`。 + +核心处理源码：`linuxcnc/src/emc/task/emctaskmain.cc:2318-2335` + +执行内容： + +- 如果未 homed 且 `!no_force_homing`，报错：`Can't run a program when not homed`。 +- 清 `motion.traj.single_stepping`。 +- 清 `stepping`、`steppingWait`。 +- 必要时 `emcTaskPlanOpen(emcStatus->task.file)`。 +- 记录 `programStartLine = run_msg->line`。 +- 设置 `emcStatus->task.interpState = READING`。 +- 设置 `emcStatus->task.task_paused = 0`。 + +### 8.3 解释器和 motion 下发 + +Run 后 `emcTaskPlan()` 进入 `READING`，周期性调用 readahead 逻辑读取 G-code。解释器通过 canonical 函数把运动命令排入 `interp_list`，`emcTaskExecute()` 再把 motion 命令下发到 motion。 + +运动命令如直线/圆弧最终在 motion `command.c` 中以 `EMCMOT_SET_LINE`、`EMCMOT_SET_CIRCLE` 等处理。运动状态通过 `emcmotStatus.id`、`depth`、`activeDepth`、`paused`、`current_vel` 等回传。 + +### 8.4 状态记录方式 + +Run 后主要状态变化： + +| 字段 | 变化 | +| --- | --- | +| `task.mode` | `AUTO` | +| `task.interpState` | `READING` | +| `task.task_paused` | `0` | +| `motion.traj.single_stepping` | `0` | +| `motion.traj.queue/activeQueue` | 随 motion 队列变化 | +| `motion.traj.id/tag` | 跟随当前运动段与源代码 state tag | + +`emcStatus->task.status` 顶层状态由 `emctaskmain.cc:3458-3476` 合成：有错误为 `ERROR`，全部完成且解释器 idle 为 `DONE`，否则为 `EXEC`。 + +## 9. 暂停 Pause 按钮 + +### 9.1 AXIS UI 调用链 + +源码：`linuxcnc/bin/axis:2402-2406` + +```python +def task_pause(*event): + if s.task_mode != linuxcnc.MODE_AUTO or s.interp_state not in ( + linuxcnc.INTERP_READING, + linuxcnc.INTERP_WAITING + ): + return + ensure_mode(linuxcnc.MODE_AUTO) + c.auto(linuxcnc.AUTO_PAUSE) +``` + +AXIS Pause 的严格条件： + +- `task_mode == MODE_AUTO` +- `interp_state in (INTERP_READING, INTERP_WAITING)` +- 不是仅凭 `runState == running` + +工具栏合并暂停/恢复 `task_pauseresume()` 源码：`linuxcnc/bin/axis:2433-2443` + +- 仅 `MODE_AUTO` 或 `MODE_MDI` 可操作。 +- 如果 `s.paused` 为真，发送 resume。 +- 否则如果解释器不是 idle，发送 pause。 + +### 9.2 task/motion 调用链 + +```text +c.auto(AUTO_PAUSE) + -> EMC_TASK_PLAN_PAUSE + -> emcTaskPlan() + -> emcTaskIssueCommand() + -> emcTrajPause() + -> EMCMOT_PAUSE + -> tpPause() +``` + +task 处理源码：`linuxcnc/src/emc/task/emctaskmain.cc:2337-2345` + +执行内容： + +- `emcTrajPause()` +- 若当前不是 `PAUSED`，保存 `interpResumeState = interpState` +- `task.interpState = PAUSED` +- `task.task_paused = 1` + +`emcTrajPause()` 源码：`linuxcnc/src/emc/task/taskintf.cc:1417-1421` + +motion 侧 `EMCMOT_PAUSE` 源码：`linuxcnc/src/emc/motion/command.c:1234-1240` + +执行内容： + +- `tpPause(&coord_tp)` +- `emcmotStatus->paused = 1` + +### 9.3 状态记录方式 + +Pause 后必须同时体现： + +- `task.interpState = PAUSED` +- `task.task_paused = 1` +- `motion.traj.paused = 1` +- `interpResumeState` 保存暂停前的 `READING` 或 `WAITING` + +Web 项目必须避免只改 UI `runState = paused`，否则 resume/step 会缺少 LinuxCNC 必需的恢复上下文。 + +## 10. 单步 Step 按钮 + +### 10.1 AXIS UI 调用链 + +源码：`linuxcnc/bin/axis:2395-2400` + +```python +def task_step(*event): + if s.task_mode != linuxcnc.MODE_AUTO or s.interp_state != linuxcnc.INTERP_IDLE: + o.set_highlight_line(None) + if run_warn(): return + ensure_mode(linuxcnc.MODE_AUTO) + c.auto(linuxcnc.AUTO_STEP) +``` + +AXIS Step 的含义不是“前端播放下一帧”，而是向 task 发送 `EMC_TASK_PLAN_STEP`。task 根据解释器状态决定： + +- AUTO/IDLE：先启动程序，再立刻暂停，进入单步准备态。 +- AUTO/READING 或 WAITING：设置 single stepping，下一段读入/执行后停住。 +- AUTO/PAUSED：若 motion 队列中有暂停运动，发 `EMCMOT_STEP` 让 motion 走到下一段；否则恢复解释器状态继续读。 + +### 10.2 task 处理 + +AUTO/IDLE 中 `STEP` 源码：`linuxcnc/src/emc/task/emctaskmain.cc:1078-1091` + +执行内容： + +- 构造 `taskPlanRunCmd.line = 0` +- 调 `emcTaskIssueCommand(&taskPlanRunCmd)` 启动程序 +- `emcTrajPause()` +- 保存 `interpResumeState` +- `task.interpState = PAUSED` +- `task.task_paused = 1` + +AUTO/READING 中 `STEP` 源码：`linuxcnc/src/emc/task/emctaskmain.cc:1178-1182` + +执行内容： + +- `motion.traj.single_stepping = 1` +- `stepping = 1` +- `steppingWait = 0` + +AUTO/PAUSED 中 `STEP` 源码：`linuxcnc/src/emc/task/emctaskmain.cc:1254-1266` + +执行内容： + +- `motion.traj.single_stepping = 1` +- `stepping = 1` +- 如果 `motion.traj.paused && queue > 0`，调用 `emcTrajStep()` +- 否则 `task.interpState = interpResumeState` +- `task.task_paused = 1` + +AUTO/WAITING 中 `STEP` 源码：`linuxcnc/src/emc/task/emctaskmain.cc:1330-1334` + +执行内容同 READING：设置单步标志。 + +### 10.3 motion 处理 + +`emcTrajStep()` 源码：`linuxcnc/src/emc/task/taskintf.cc:1438-1442` + +motion 侧 `EMCMOT_STEP` 源码：`linuxcnc/src/emc/motion/command.c:1265-1273` + +处理逻辑： + +- 如果 motion 当前 paused： + - 记录 `idForStep = emcmotStatus->id` + - `emcmotStatus->stepping = 1` + - resume 轨迹规划器，使其执行到 id 变化或下一步边界再停。 + +### 10.4 状态记录方式 + +单步相关字段： + +- task 侧静态变量：`stepping`、`steppingWait` +- task 可见状态：`emcStatus->motion.traj.single_stepping` +- motion 状态：`emcmotStatus->stepping`、`idForStep`、`paused` +- 解释器状态：`PAUSED` 或恢复到 `interpResumeState` + +Web 中若只实现“数组 frameIndex++”，不能等价于 LinuxCNC Step。正确做法是把 Step 作为 task 命令，驱动 task/motion 的 pause/step 状态机。 + +## 11. Resume 补充 + +虽然用户重点列出“急停、上电、Home、执行、暂停、单步执行”，但暂停机制必须包含 Resume 才完整。 + +AXIS `task_resume()` 源码：`linuxcnc/bin/axis:2424-2431` + +条件： + +- `s.paused` 为真。 +- `task_mode` 是 `AUTO` 或 `MDI`。 +- 发送 `AUTO_RESUME`。 + +task 处理源码：`linuxcnc/src/emc/task/emctaskmain.cc:2369-2376` + +执行内容： + +- `emcTrajResume()` +- `task.interpState = interpResumeState` +- `task.task_paused = 0` +- `motion.traj.single_stepping = 0` +- 清 `stepping`、`steppingWait` + +motion 侧 `EMCMOT_RESUME` 源码：`linuxcnc/src/emc/motion/command.c:1256-1263` + +执行内容： + +- `emcmotStatus->stepping = 0` +- `tpResume()` +- `emcmotStatus->paused = 0` + +## 12. 按钮前置条件汇总 + +| 按钮 | AXIS UI 前置条件 | task/motion 硬条件 | 执行后状态 | +| --- | --- | --- | --- | +| 急停 | 无；读 `s.task_state` 决定 reset 或 estop | `EMC_TASK_SET_STATE` 在多数状态允许 | `ESTOP` 分支 abort、disable、IO estop on；reset 分支 IO estop off、abort、同步解释器 | +| 上电 | 只有 `STATE_ESTOP_RESET` 发送 ON，否则发送 OFF | ON 要 motion enable 输入为真；OFF 总是 abort/disable | ON 后由 `motion.traj.enabled` 推导 `STATE_ON`；OFF 后推导 `ESTOP_RESET` 或 OFF 语义并清 volatile home | +| Home | `manual_ok()`；切 `MODE_MANUAL`；必要时 re-home 确认 | motion 必须 FREE、enabled、未 homing、未 inhibit | `joint.N.homing` 过程态；完成 `joint.N.homed=1`；失败清 homed | +| Run | `run_warn()`；切 `MODE_AUTO` | ON/AUTO/IDLE；已 homed 或 no_force_homing；程序打开 | `interpState=READING`，`task_paused=0`，motion 队列开始增长 | +| Pause | `MODE_AUTO` 且 `INTERP_READING/WAITING` | `EMC_TASK_PLAN_PAUSE`；motion `EMCMOT_PAUSE` | `interpState=PAUSED`，`task_paused=1`，`motion.paused=1`，保存 resume state | +| Step | 切 `MODE_AUTO`；非 idle 时可先 run_warn | 按 AUTO/IDLE/READING/PAUSED/WAITING 分支处理 | 设置 `single_stepping`；必要时 `EMCMOT_STEP`；保持/进入 paused | +| Resume | `paused` 且 `MODE_AUTO/MDI` | `EMC_TASK_PLAN_RESUME`；motion `EMCMOT_RESUME` | 恢复 `interpResumeState`，清 `task_paused/single_stepping/stepping` | + +## 13. WASM-port 完善建议 + +当前 `wasm-port` 已有 task/HAL WASM 入口： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `wasm-port/runtime/sdk/src/linuxcnc-task-hal.js` + +但是 `linuxcnc_task_hal_wasm.cpp` 仍是 `linuxcnc_task_motion_hal_wasm_phase4_minimal`，存在明显过渡实现： + +- 用字符串搜索和手写 JSON 解析命令。 +- 自己维护 `TaskRuntime.state/mode/interp_state/task_paused/single_stepping`。 +- 从 G-code 文本中用简单规则派生 motion，存在 G-code 语义重实现风险。 +- `readiness()` 中仍标记 `nativeTaskReady:false`、`nativeHalSyncReady:false`。 + +这与 `wasm-port/AGENTS.md` 的要求冲突风险较高：项目应复用 LinuxCNC source，不应扩展项目自写 CNC 语义。 + +建议按以下阶段完善。 + +### 13.1 第一阶段：把状态枚举和门禁表固化为 LinuxCNC 镜像 + +目标：先不改大架构，但移除随意字符串状态。 + +建议： + +1. 在 `runtime/core/linuxcnc_wrap` 增加 task 状态模型头文件，例如 `linuxcnc_task_state_model.hh`。 +2. 用与 LinuxCNC 一致的枚举名：`ESTOP`、`ESTOP_RESET`、`ON`、`MANUAL`、`AUTO`、`MDI`、`IDLE`、`READING`、`PAUSED`、`WAITING`。 +3. 实现一个 `task_accepts_command(state, mode, interp, command)`，逐项映射 `emcTaskPlan()` 的允许表。 +4. 所有 `lctask_send_command_json()` 先走该门禁表，返回明确错误码和错误文本。 +5. 增加测试覆盖： + - ESTOP 下仅允许 state/mode/config 等 immediate 命令。 + - ON/MANUAL 下允许 HOME，不允许 AUTO RUN。 + - ON/AUTO/IDLE 下允许 RUN/STEP。 + - ON/AUTO/READING 下允许 PAUSE/STEP，不允许 HOME。 + - ON/AUTO/PAUSED 下允许 RESUME/STEP。 + +### 13.2 第二阶段：替换手写 G-code motion 派生 + +当前 `enqueue_linear_move_from_line()` 和 Web 侧 `buildSourceLineMotionSegments()` 都会从 G-code 行解析轴和 feed，这属于语义漂移高风险点。 + +正确方向： + +1. G-code 到 canonical motion 必须由 vendored LinuxCNC interpreter 产生。 +2. task/HAL runtime 只消费 LinuxCNC canonical 输出或已验证的 motion plan，不自行解释 G-code。 +3. 对没有 motion plan 的程序，应返回“需要 interpreter plan”错误，而不是 fallback 解析 `G0/G1`。 +4. `buildTaskHalProgramMotionPlan()` 可保留为 host 边界适配器，但输入必须来自 LinuxCNC interpreter runtime 的 canonical events，而不是源码行正则解析。 + +### 13.3 第三阶段：引入 vendored task/motion 源码闭环 + +最终目标不是仿照 `emctaskmain.cc` 写一份 JS/C++ 状态机，而是逐步把 vendored LinuxCNC task/motion 代码纳入 WASM： + +1. 将 `emc/nml_intf/emc_nml.hh` 中的命令/状态结构作为 WASM 内部 ABI 参考。 +2. 用内存队列替代 NML transport，但保留 `EMC_TASK_*` / `EMCMOT_*` 命令类型。 +3. 将 `taskintf.cc` 的 `emcTrajEnable/Pause/Resume/Step/Home` 路由接到 `linuxcnc_motion_runtime.c`。 +4. 将 `emcTaskSetState()`、`emcTaskSetMode()`、`emcTaskAbort()` 的语义直接迁移或编译进 WASM。 +5. motion runtime 应逐步引入 `command.c`、`homing.c`、`control.c` 中真实状态更新，而不是只暴露“看起来相同”的 JSON status。 + +### 13.4 第四阶段：状态发布完全对齐 `emcStatus` + +WASM SDK `readStatus()` 应输出与 Python `linuxcnc.stat()` 结构同构的字段： + +- `task.state` +- `task.mode` +- `task.interpState` +- `task.execState` +- `task.taskPaused` +- `motion.traj.enabled` +- `motion.traj.paused` +- `motion.traj.singleStepping` +- `motion.traj.queue` +- `motion.traj.id` +- `motion.joint[n].homed` +- `motion.joint[n].homing` +- `motion.joint[n].homeState` +- `echoSerialNumber` +- `commandType` + +这样 Web 项目可以直接消费 LinuxCNC 状态，而不是维护第二套状态。 + +## 14. web-rtcp-5axis-xyzbc-trt-sim-plan 完善建议 + +当前 Web 项目已有： + +- `app/src/state/linuxcnc-task-policy.js` +- `app/src/state/store.js` +- `app/src/runtime/linuxcnc-task-hal-runtime.js` +- browser/node 对按钮路径的验证 + +这已经完成一部分 AXIS 对标，但还需要继续收敛。 + +### 14.1 状态源优先级必须调整 + +建议状态优先级： + +```text +taskHalStatus.ui/task/motion 原生状态 + > LinuxCNC interpreter canonical events + > Web UI 派生状态 +``` + +Web store 中 `machine.taskState/mode/interpState/runState` 应逐渐变成 task/HAL 状态的投影，而不是独立真相源。 + +### 14.2 按钮 action 应发送 LinuxCNC 命令，不直接改业务状态 + +按钮处理建议统一为： + +```text +UI click + -> gateLinuxCncTaskAction() + -> taskHalRuntime.sendCommand({ type: "EMC_TASK_*" }) + -> taskHalRuntime.runCycles() + -> taskHalRuntime.readStatus() + -> store 接收 STATUS_SYNC + -> UI 渲染 +``` + +避免： + +- click 后直接 `runState = "running"`； +- click 后直接 `machine.allHomed = true`； +- pause/step 直接操作播放帧； +- power 直接改 `powerOn` 而不等 motion enabled/status。 + +### 14.3 补齐 Home 状态过程态 + +Web 当前常见实现是 `HOME` 后立即 `allHomed=true`。LinuxCNC 真实机制是： + +```text +EMC_JOINT_HOME + -> joint.N.homing = true + -> home_state 多阶段变化 + -> joint.N.homed = true +``` + +建议 Web 状态增加： + +- `machine.joints[n].homing` +- `machine.joints[n].homed` +- `machine.joints[n].homeState` +- `machine.homingActive` +- `machine.allHomed` + +按钮门禁： + +- homing 过程中禁止再次 Home。 +- Run 前使用 `allHomed || noForceHoming`。 +- OFF/ESTOP 时清 volatile home，而不是无条件清所有 home；如果当前模型无法区分 volatile，先在文档和状态字段中标注“volatile home 简化”。 + +### 14.4 补齐 Step 的 LinuxCNC 语义 + +Web 需要区分三种 Step： + +1. 程序 idle 首次 step：等价于 RUN 后立即 PAUSE。 +2. 程序 running 中 step：设置 single stepping，等待下一段边界停住。 +3. 程序 paused 中 step：若 motion queue 有内容，发送 motion step；否则恢复 interpreter 读下一段。 + +建议在 `linuxcnc-task-policy.js` 中把 `STEP` 门禁拆开： + +- `canStepFromIdle` +- `canStepWhileReading` +- `canStepWhilePaused` +- `canStepWhileWaiting` + +并在 status 中显示： + +- `task.singleStepping` +- `motion.stepping` +- `motion.idForStep` +- `motion.paused` + +### 14.5 Pause/Resume 继续保持 AXIS 门禁 + +已完成的严格对标应继续保留： + +- `PAUSE`：仅 `STATE_ON + MODE_AUTO + INTERP_READING/WAITING`。 +- `PAUSE_RESUME`：仅 `MODE_AUTO/MDI`；paused 时 resume；非 idle 时 pause。 +- `RESUME`：必须 `paused && MODE_AUTO/MDI`。 + +后续测试不要只断言按钮可点击，应断言 task/HAL status： + +- pause 后 `task.interpState=PAUSED` +- pause 后 `task.taskPaused=true` +- pause 后 `motion.paused=true` +- resume 后恢复 `interpResumeState` +- step 后 `singleStepping=true` + +### 14.6 5 轴 XYZBC-TRT 特有要求 + +5 轴仿真不应把主按钮逻辑和 RTCP/kinematics 逻辑混在一起。建议分层： + +1. task/motion 状态机：只负责开关机、home、run、pause、step。 +2. kinematics/RTCP：只负责 XYZBC-TRT 位置变换和 TCP 显示。 +3. interpreter/remap：负责 M428/M429/M430、switchkins、G-code 语义。 +4. UI：只渲染状态并发送命令。 + +Run 前置条件除 LinuxCNC 通用条件外，还应检查： + +- 选定 profile 的 INI 已加载； +- machine files 已 staged； +- 当前 G-code 已 open 到 task/HAL session； +- kinematics runtime 与 task/HAL runtime readiness 均为 true； +- 如果程序依赖 switchkins/remap，HAL `motion.switchkins-type` 同步状态应可观测。 + +## 15. 推荐验证矩阵 + +### 15.1 LinuxCNC 行为矩阵 + +用本地 LinuxCNC 源码为基准建立 golden matrix： + +| 初始状态 | 命令 | 期望 | +| --- | --- | --- | +| ESTOP/MANUAL/IDLE | ESTOP button | `STATE_ESTOP_RESET` | +| ESTOP_RESET/MANUAL/IDLE | Power | `STATE_ON` | +| ESTOP/MANUAL/IDLE | Power | 不上电，走 OFF 分支 | +| ON/MANUAL/IDLE | Home All | `joint.*.homing -> homed` | +| ON/AUTO/IDLE + unhomed | Run | 拒绝，提示未 homed | +| ON/AUTO/IDLE + homed | Run | `interpState=READING` | +| ON/AUTO/READING | Pause | `interpState=PAUSED`、`motion.paused=true` | +| ON/AUTO/PAUSED | Resume | 恢复 reading/waiting | +| ON/AUTO/IDLE + homed | Step | run + pause，single step 准备 | +| ON/AUTO/PAUSED + queue>0 | Step | `EMCMOT_STEP`，执行下一段后停 | + +### 15.2 wasm-port 测试建议 + +新增或扩展： + +- `tests/wasm/node/verify_task_state_matrix.mjs` +- `tests/wasm/node/verify_task_home_state_machine.mjs` +- `tests/wasm/node/verify_task_pause_resume_step.mjs` + +每个测试不要只看返回码，要读 `lctask_read_status_json()`： + +- task 字段； +- motion 字段； +- HAL pins； +- events； +- command echo。 + +### 15.3 Web 测试建议 + +在现有 `verify_xyzbc_trt_web_app.mjs` 和 browser smoke 上补齐： + +- ESTOP/RESET/POWER 不允许绕过； +- Home 有过程态； +- Run 未 homed 拒绝； +- Pause idle 拒绝； +- Pause manual 拒绝； +- Step idle 首次启动后暂停； +- Step paused 推进一段； +- Resume 清 single stepping； +- Store 状态与 taskHalStatus 一致。 + +## 16. 实施优先级 + +建议按以下顺序推进： + +1. `wasm-port` 先消除 task/HAL runtime 中的 G-code 正则解析 fallback，要求 motion plan 必须来自 LinuxCNC interpreter canonical output。 +2. `wasm-port` 把 `lctask_send_command_json()` 改为显式命令结构解析和 LinuxCNC 状态门禁表。 +3. `wasm-port` 补齐 `task/motion/joint` 状态字段，使 `readStatus()` 接近 `linuxcnc.stat()`。 +4. Web store 改为 taskHalStatus 投影源，减少直接改 `runState/machine` 的分支。 +5. Web Home/Step 加过程态和真实 task/motion 状态断言。 +6. 再继续推进 vendored `emctask.cc/taskintf.cc/command.c/homing.c` 的更直接编译或等价适配。 + +最终目标：Web 按钮只是 AXIS 的浏览器外壳，状态机和 CNC 语义来自 LinuxCNC 源码或其受控 WASM 适配层。 diff --git a/项目分析/AXIS主界面按钮调用链与WASM完善建议.md b/项目分析/AXIS主界面按钮调用链与WASM完善建议.md new file mode 100644 index 0000000..56e719f --- /dev/null +++ b/项目分析/AXIS主界面按钮调用链与WASM完善建议.md @@ -0,0 +1,723 @@ +# AXIS 主界面按钮调用链、状态机制与 WASM 完善建议 + +分析对象： + +- 上游源码：`/home/mes123456/cnc_wams/linuxcnc` +- 独立 WASM 移植：`/home/mes123456/cnc_wams/wasm-port` +- Web 五轴仿真：`/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan` + +本文聚焦 AXIS 主界面的“急停、上电、Home、执行、暂停、单步执行”。LinuxCNC 这里不是纯 C++：AXIS 前端是 Tcl/Python，Python 扩展和 task 主要是 C++，motion/homing 是 C。Web/WASM 移植时应保留这个分层语义，而不是只在 JavaScript 中复刻按钮效果。 + +## 1. 总体调用链 + +AXIS 按钮的完整链路是： + +```text +AXIS Tcl 按钮/菜单 + -> axis.py 回调 + -> linuxcnc.command() Python C++ 扩展 + -> EMC_* NML 命令写入 emcCommand + -> milltask/emctaskmain.cc 周期读取命令 + -> emcTaskPlan() 按 task_state/task_mode/interp_state 门控 + -> emcTaskIssueCommand() 分发到 task/motion/io + -> taskintf.cc 写 EMCMOT_* 到 motion + -> motion/command.c 与 homing.c 更新实时运动状态 + -> emcTaskUpdate()/emcMotionUpdate() 写 emcStatus + -> linuxcnc.stat().poll() + -> AXIS Tk 变量 + -> axis.tcl trace 调 update_state() 刷新按钮可用性 +``` + +关键源码位置： + +| 层级 | 文件 | 作用 | +|---|---|---| +| AXIS Tcl UI | `linuxcnc/share/axis/tcl/axis.tcl` | 菜单、工具栏按钮、按钮启用条件、Tk 状态变量 trace | +| AXIS Python | `linuxcnc/src/emc/usr_intf/axis/scripts/axis.py` | 按钮回调、`s.poll()` 读状态、`c.*` 发命令 | +| Python C++ 扩展 | `linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc` | `linuxcnc.command()` 和 `linuxcnc.stat()` 到 NML 的绑定 | +| NML 类型 | `linuxcnc/src/emc/nml_intf/emc.hh` | `EMC_TASK_STATE`、`EMC_TASK_MODE`、`EMC_TASK_INTERP`、命令类型 | +| task 主循环 | `linuxcnc/src/emc/task/emctaskmain.cc` | 读命令、门控、解释器计划、执行队列、写 status | +| task 状态 | `linuxcnc/src/emc/task/emctask.cc` | `emcTaskSetState()`、`emcTaskSetMode()`、`determineState()`、`emcTaskAbort()` | +| task->motion 接口 | `linuxcnc/src/emc/task/taskintf.cc` | 把 task 命令翻译成 `EMCMOT_*` motion 命令 | +| motion 命令 | `linuxcnc/src/emc/motion/command.c` | `EMCMOT_ENABLE/PAUSE/RESUME/STEP/JOINT_HOME` 等实际运动状态处理 | +| homing 状态机 | `linuxcnc/src/emc/motion/homing.c` | 回零序列和 `homed/homing/allhomed` 状态维护 | + +## 2. 状态模型 + +### 2.1 task 状态 + +`emc.hh` 定义： + +```text +EMC_TASK_STATE: ESTOP, ESTOP_RESET, OFF, ON +EMC_TASK_MODE: MANUAL, AUTO, MDI +EMC_TASK_INTERP: IDLE, READING, PAUSED, WAITING +EMC_TASK_EXEC: DONE, WAITING_FOR_MOTION, WAITING_FOR_IO, ERROR, ... +``` + +AXIS 显示和按钮门禁主要看： + +- `s.task_state` +- `s.task_mode` +- `s.interp_state` +- `s.paused` +- `s.task_paused` +- `s.homed[]` +- `s.motion_mode` +- `s.file` + +### 2.2 task_state 的真实来源 + +`emcTaskSetState()` 执行的是动作，最终显示的 `task.state` 由 `determineState()` 根据下级状态推导： + +```text +io.aux.estop == true -> ESTOP +io.aux.estop == false 且 motion.traj.enabled == false -> ESTOP_RESET +io.aux.estop == false 且 motion.traj.enabled == true -> ON +``` + +因此 `STATE_OFF` 在 Python 扩展说明中基本等价于“未使能/急停复位后未上电”语义；真实显示通常落到 `ESTOP_RESET`。Web 端若保留 `off`，应把它作为 UI/过渡状态处理，不能把它理解为能绕过急停复位直接上电的状态。 + +### 2.3 task_mode 的真实来源 + +`determineMode()` 根据 motion 轨迹模式推导： + +```text +motion.traj.mode == FREE -> MANUAL +motion.traj.mode == TELEOP -> MANUAL +motion.traj.mode == COORD -> mdiOrAuto +``` + +`emcTaskSetMode()` 的主要动作： + +- 切 MANUAL：若全回零则 motion 进 `TELEOP`，否则进 `FREE`。 +- 切 MDI：motion 进 `COORD`，abort 当前任务并同步解释器，`mdiOrAuto = MDI`。 +- 切 AUTO：motion 进 `COORD`，abort 当前任务并同步解释器，`mdiOrAuto = AUTO`。 + +### 2.4 状态如何记录并返回前端 + +task 主循环每周期执行： + +```text +emcCommandBuffer->read() +emcTaskPlan() +emcTaskExecute() +emcMotionUpdate(&emcStatus->motion) +emcTaskUpdate(&emcStatus->task) +emcStatusBuffer->write(emcStatus) +``` + +AXIS 的 `AxisCanon.update()` 通过 `self.stat.poll()` 读取 status，再写入 Tk 变量： + +```text +vars.task_mode <- self.stat.task_mode +vars.task_state <- self.stat.task_state +vars.task_paused <- self.stat.task_paused +vars.interp_state <- self.stat.interp_state +vars.interp_pause <- self.stat.paused +vars.motion_mode <- self.stat.motion_mode +``` + +`axis.tcl` 对这些变量设置 trace，变量变化后调用 `update_state()`，统一刷新按钮状态。 + +## 3. AXIS UI 按钮入口与门禁 + +`axis.tcl` 中主菜单和工具栏映射： + +| UI 动作 | Tcl command | Python 函数 | +|---|---|---| +| F1 / 急停 | `estop_clicked` | `commands.estop_clicked()` | +| F2 / 上电下电 | `onoff_clicked` | `commands.onoff_clicked()` | +| Run | `task_run` | `commands.task_run()` | +| Step | `task_step` | `commands.task_step()` | +| Pause | `task_pause` | `commands.task_pause()` | +| Resume | `task_resume` | `commands.task_resume()` | +| 工具栏 Pause/Resume 合并按钮 | `task_pauseresume` | `commands.task_pauseresume()` | +| Home Axis | `home_joint` | `commands.home_joint()` | + +`update_state()` 的主要按钮可用条件： + +| 按钮/菜单 | AXIS UI 可执行条件 | +|---|---| +| 急停 | 始终显示为可按，按下按当前状态切换 ESTOP/ESTOP_RESET | +| 上电/下电 | `task_state != STATE_ESTOP` | +| Run | `task_state == STATE_ON && interp_state == INTERP_IDLE` | +| Run from selected line | `STATE_ON && INTERP_IDLE && highlight_line != -1` | +| Home / Unhome / Zero | `task_state == STATE_ON && interp_state == INTERP_IDLE` | +| Step | `task_state == STATE_ON && taskfile != ""` | +| Pause 菜单 | `STATE_ON && (INTERP_READING || INTERP_WAITING)` | +| Resume 菜单 | `STATE_ON && INTERP_PAUSED` | +| Pause/Resume 工具栏 | `STATE_ON && interp_state != INTERP_IDLE` | +| Stop | `STATE_ON && interp_state != INTERP_IDLE` | + +注意：有些 Python 回调本身还有二次检查；因此“UI 可点”和“回调被直接调用后的行为”要分开看。 + +## 4. 急停 + +### 4.1 调用链 + +```text +axis.tcl 急停按钮 / F1 + -> axis.py estop_clicked() + -> s.poll() + -> 当前 ESTOP: c.state(STATE_ESTOP_RESET) + 否则: c.state(STATE_ESTOP) + -> emcmodule.cc state() + -> EMC_TASK_SET_STATE + -> emctaskmain.cc emcTaskPlan() + -> emcTaskIssueCommand() + -> emctask.cc emcTaskSetState(ESTOP 或 ESTOP_RESET) +``` + +### 4.2 急停的先决条件 + +- UI 层：急停按钮不依赖上电、模式、程序状态。 +- task 层：`EMC_TASK_SET_STATE` 在 ESTOP/OFF/ESTOP_RESET/ON 多状态下都属于可立即处理命令。 +- 运动中、解释器读取中、MDI 中均可触发。 + +### 4.3 急停执行后的状态记录 + +`emcTaskSetState(ESTOP)` 主要做： + +```text +emcMotionAbort() +emcSpindleAbort() +emcAuxEstopOn() +emcTrajDisable() +emcCoolantFloodOff() +emcTaskAbort() +emcIoAbort(TASK_STATE_ESTOP) +emcJointUnhome(-2) # 仅 volatile_home 关节 +emcAbortCleanup() +emcTaskPlanSynch() +``` + +随后 `determineState()` 因 `io.aux.estop == true` 返回 `ESTOP`。`emcTaskAbort()` 同时清理： + +```text +interpState = IDLE +execState = DONE +task_paused = 0 +motionLine/readLine/current command 清零 +stepping = 0 +steppingWait = 0 +interp_list.clear() +``` + +### 4.4 解除急停 + +同一个按钮在当前 `STATE_ESTOP` 时发 `STATE_ESTOP_RESET`。`emcTaskSetState(ESTOP_RESET)`： + +```text +emcAuxEstopOff() +emcCoolantFloodOff() +emcTaskAbort() +emcIoAbort(TASK_STATE_ESTOP_RESET) +emcSpindleAbort() +emcAbortCleanup() +emcTaskPlanSynch() +``` + +此时 motion 仍未 enable，`determineState()` 返回 `ESTOP_RESET`，AXIS 状态显示为 `OFF`。 + +## 5. 上电/下电 + +### 5.1 调用链 + +```text +axis.tcl 上电按钮 / F2 + -> axis.py onoff_clicked() + -> s.poll() + -> 当前 STATE_ESTOP_RESET: c.state(STATE_ON) + 否则: c.state(STATE_OFF) + -> emcmodule.cc state() + -> EMC_TASK_SET_STATE + -> emctaskmain.cc emcTaskIssueCommand() + -> emctask.cc emcTaskSetState() + -> taskintf.cc emcTrajEnable()/emcTrajDisable() + -> motion/command.c EMCMOT_ENABLE 或 EMCMOT_DISABLE +``` + +### 5.2 上电先决条件 + +- AXIS UI：电源按钮只有 `task_state != STATE_ESTOP` 时可点。 +- 要真正进入 ON：当前必须是 `STATE_ESTOP_RESET`。 +- 若直接调用 `onoff_clicked()` 且当前不是 `STATE_ESTOP_RESET`，函数会走 `STATE_OFF` 分支。 + +### 5.3 上电后的状态记录 + +`emcTaskSetState(ON)`： + +```text +emcTrajEnable() +emcCoolantFloodOff() +``` + +motion 收到 `EMCMOT_ENABLE` 后置轨迹/关节使能。下一轮 `determineState()` 看到： + +```text +io.aux.estop == false +motion.traj.enabled == true +``` + +于是 `task.state = ON`。AXIS 轮询后更新按钮：Run/Home/MDI/Jog 类动作开始具备进一步门禁条件。 + +### 5.4 下电后的状态记录 + +`emcTaskSetState(OFF)`： + +```text +emcMotionAbort() +emcSpindleAbort() +emcTrajDisable() +emcIoAbort(TASK_STATE_OFF) +emcCoolantFloodOff() +emcTaskAbort() +emcJointUnhome(-2) +emcAbortCleanup() +emcTaskPlanSynch() +``` + +下一轮 `determineState()` 通常显示 `ESTOP_RESET`，同时解释器和单步状态被清空。配置为 volatile home 的关节会失去 homed。 + +## 6. Home + +### 6.1 调用链 + +```text +axis.tcl Home Axis / Home All + -> axis.py home_all_joints() 或 home_joint() + -> manual_ok() + -> ensure_mode(MODE_MANUAL) + -> go_home(joint 或 -1) + -> set_motion_teleop(0) + -> c.home(num) + -> emcmodule.cc home() + -> EMC_JOINT_HOME + -> emctaskmain.cc emcTaskIssueCommand() + -> taskintf.cc emcJointHome() + -> EMCMOT_JOINT_HOME + -> motion/command.c + -> homing.c do_home_joint() + -> homing.c do_homing() 伺服周期状态机 +``` + +### 6.2 Home 先决条件 + +AXIS/Python 层： + +- `manual_ok()` 必须为真： + - `task_state == STATE_ON` + - `interp_state == IDLE`，或 MDI 模式下 MDI 队列仍可接受命令 +- `ensure_mode(MODE_MANUAL)` 切到手动模式。 +- `go_home()` 会检查所有 joint，若已有 joint 正在 homing，则拒绝。 +- 单关节回零时： + - 非 identity kinematics 下，从坐标轴字母回零会被拒绝，需用 joint 模式。 + - duplicate coordinate letters 下禁止按重复轴字母单独回零。 + - 已 homed 的 joint 会弹确认。 + +task/motion 层： + +- task 必须处于 ON/MANUAL 才会把 `EMC_JOINT_HOME` 当作可执行命令。 +- motion 收到 `EMCMOT_JOINT_HOME` 后要求： + - `motion_state == EMCMOT_MOTION_FREE` + - `motion.homing-inhibit` 未置位 + - 没有其他 homing 正在进行 + - motion enable flag 为真 + +### 6.3 Home 状态记录 + +`taskintf.cc emcJointHome()` 只写 motion 命令： + +```text +emcmotCommand.command = EMCMOT_JOINT_HOME +emcmotCommand.joint = joint +usrmotWriteEmcmotCommand(&emcmotCommand) +``` + +真正状态在 `homing.c`： + +- `do_home_joint(-1)` 调 `do_home_all()`，并先保证至少一个 joint 为 unhomed。 +- 单 joint 调 `do_home_one_joint()`。 +- `do_homing()` 每个 servo period 推进 home sequence。 +- `HOME_FINISHED` 时 joint `homed=1`、`homing=0`、home state 回到 `HOME_IDLE`。 +- `base_get_allhomed()` 遍历所有 active joints，只要一个未 homed 就返回 false。 + +task 状态回填路径： + +```text +motion/homing.c H[j].homed + -> motion joint_status[j].homed + -> taskintf.cc emcJointUpdate() 写 EMC_JOINT_STAT.homed/homing + -> emcStatus.motion.joint[j].homed + -> emcmodule.cc Stat_homed + -> axis.py s.homed + -> AXIS 重绘 DRO/按钮 +``` + +## 7. 执行 Run + +### 7.1 调用链 + +```text +axis.tcl Run + -> axis.py task_run() + -> run_warn() + -> ensure_mode(MODE_AUTO) + -> c.auto(AUTO_RUN, program_start_line) + -> emcmodule.cc emcauto() + -> EMC_TASK_PLAN_RUN + -> emctaskmain.cc emcTaskPlan() + -> emcTaskIssueCommand() + -> emcTaskPlanOpen() 如需要打开当前 file + -> interpState = READING + -> emcTaskPlanRead()/emcTaskPlanExecute() + -> interp_list 生成 EMC_TRAJ_* 等命令 + -> emcTaskExecute() + -> taskintf.cc 写 EMCMOT_SET_LINE/SET_CIRCLE 等 motion 命令 + -> motion trajectory planner 执行 +``` + +### 7.2 Run 先决条件 + +AXIS UI： + +- `task_state == STATE_ON` +- `interp_state == INTERP_IDLE` +- 已有 taskfile + +Python： + +- `run_warn()` 通过运行前警告检查。 +- `ensure_mode(MODE_AUTO)` 成功。 + +task： + +- `EMC_TASK_PLAN_RUN` 在 ON/AUTO/IDLE 下可执行。 +- `emcTaskIssueCommand(PLAN_RUN)` 检查： + - 若 `!all_homed() && !no_force_homing`，报错 `Can't run a program when not homed`。 + - 若文件未打开但 `emcStatus->task.file` 有值，会打开。 + +### 7.3 Run 状态记录 + +Run 入口设置： + +```text +motion.traj.single_stepping = 0 +stepping = 0 +steppingWait = 0 +programStartLine = run_msg->line +task.interpState = READING +task.task_paused = 0 +``` + +执行中： + +- `emcTaskPlan()` 读取解释器行，设置 `readLine`、`command`。 +- canonical 命令进入 `interp_list`。 +- `emcTaskExecute()` 从 `interp_list.get()` 取命令，设置 `currentLine`，并用 `emcTrajSetMotionId(currentLine)` 让 motion 的 id 与程序行关联。 +- motion 执行时更新 `motion.traj.id/tag/current_vel/queueFull`。 +- `emcTaskUpdate()` 把 `motionLine`、active G/M code、file 等写入 status。 + +程序结束时，`interpState` 回到 `IDLE`，`execState` 回到 `DONE`，AXIS 的 Run 按钮 relief 恢复。 + +## 8. 暂停 Pause 与恢复 Resume + +### 8.1 Pause 调用链 + +```text +axis.tcl Pause 菜单 + -> axis.py task_pause() + -> 要求 MODE_AUTO 且 interp_state 为 READING/WAITING + -> ensure_mode(MODE_AUTO) + -> c.auto(AUTO_PAUSE) + -> emcmodule.cc emcauto() + -> EMC_TASK_PLAN_PAUSE + -> emctaskmain.cc emcTaskIssueCommand() + -> emcTrajPause() + -> taskintf.cc EMCMOT_PAUSE + -> motion/command.c tpPause() +``` + +工具栏合并按钮 `task_pauseresume()` 逻辑： + +- task mode 不是 AUTO/MDI：直接返回。 +- 若 `s.paused` 为真：未被 `resume-inhibit` 禁止时发 `AUTO_RESUME`。 +- 若未暂停且 `interp_state != IDLE`：发 `AUTO_PAUSE`。 + +### 8.2 Pause 先决条件 + +菜单 Pause： + +- `task_state == STATE_ON` +- `task_mode == MODE_AUTO` +- `interp_state in (READING, WAITING)` + +工具栏 Pause/Resume： + +- `task_state == STATE_ON` +- `task_mode in (AUTO, MDI)` +- `interp_state != IDLE` + +### 8.3 Pause 状态记录 + +task 收到 `PLAN_PAUSE`： + +```text +emcTrajPause() +if task.interpState != PAUSED: + interpResumeState = task.interpState +task.interpState = PAUSED +task.task_paused = 1 +``` + +motion 收到 `EMCMOT_PAUSE`： + +```text +tpPause(&coord_tp) +emcmotStatus->paused = 1 +``` + +AXIS 同时看： + +- `interp_state == PAUSED` +- `s.paused` / `interp_pause != 0` +- `task_paused` + +因此 Pause 工具栏按钮 relief 变成 sunken。 + +### 8.4 Resume 调用链与状态 + +```text +axis.py task_resume()/task_pauseresume() + -> c.auto(AUTO_RESUME) + -> EMC_TASK_PLAN_RESUME + -> emcTaskIssueCommand() + -> emcTrajResume() + -> task.interpState = interpResumeState + -> task.task_paused = 0 + -> motion.traj.single_stepping = 0 + -> stepping = 0 + -> steppingWait = 0 + -> motion EMCMOT_RESUME + -> tpResume() + -> emcmotStatus->paused = 0 +``` + +Resume 先决条件： + +- Python 要求 `s.paused` 为真。 +- task mode 必须是 AUTO 或 MDI。 +- 工具栏合并按钮还要检查 `resume_inhibit`，如果 HAL pin 禁止恢复，则忽略。 + +## 9. 单步执行 Step + +### 9.1 调用链 + +```text +axis.tcl Step + -> axis.py task_step() + -> 若不是 AUTO+IDLE，则先 run_warn() + -> ensure_mode(MODE_AUTO) + -> c.auto(AUTO_STEP) + -> emcmodule.cc emcauto() + -> EMC_TASK_PLAN_STEP + -> emctaskmain.cc 根据 interpState 分支处理 + -> task stepping/single_stepping 状态 + -> 必要时 emcTrajStep() + -> motion/command.c EMCMOT_STEP + -> control.c 在 motion id 改变时自动 pause +``` + +### 9.2 Step 先决条件 + +AXIS UI： + +- `task_state == STATE_ON` +- `taskfile != ""` + +Python/task： + +- 若当前不是 AUTO+IDLE，`task_step()` 会做运行警告检查。 +- `ensure_mode(MODE_AUTO)`。 +- task 层仍要求 ON/AUTO 对应状态下允许 `PLAN_STEP`。 +- 初次从 IDLE step 时，task 先等价启动 run，再立即 pause。 +- 已暂停且 motion 队列中有未执行运动时，`PLAN_STEP` 会调用 `emcTrajStep()` 推进一个 motion id。 + +### 9.3 Step 状态记录 + +task 全局变量： + +```text +stepping = 1 +steppingWait = 0 +motion.traj.single_stepping = 1 +``` + +`STEPPING_CHECK()` 是 `emcTaskExecute()` 中每个等待状态前的宏： + +- 第一次进入时记录 `steppedLine = currentLine` 并置 `steppingWait = 1`。 +- 后续若 `currentLine` 已改变，break，等待下一次 step。 + +motion 层 `EMCMOT_STEP`： + +```text +if emcmotStatus->paused: + idForStep = emcmotStatus->id + emcmotStatus->stepping = 1 + tpResume(coord_tp) + emcmotStatus->paused = 1 +else: + reportError("can't STEP while already executing") +``` + +`control.c` 每周期检测： + +```text +if emcmotStatus->stepping && idForStep != emcmotStatus->id: + tpPause(coord_tp) + emcmotStatus->stepping = 0 + emcmotStatus->paused = 1 +``` + +这说明单步不是简单“跑一行 JS 计时器”，而是 task 的解释器队列单步与 motion 的 trajectory id 单步共同实现。 + +## 10. 每个按钮的先决条件与状态影响总表 + +| 按钮 | UI 先决条件 | task/motion 先决条件 | 发出的核心命令 | 执行后关键状态 | +|---|---|---|---|---| +| 急停 | 基本始终可触发 | 无需 ON/IDLE | `EMC_TASK_SET_STATE ESTOP` | `io.aux.estop=1`、motion disabled、`task.state=ESTOP`、解释器 abort、volatile home 清除 | +| 解除急停 | 当前 ESTOP 时同一按钮执行 reset | 急停链/HAL 允许复位 | `EMC_TASK_SET_STATE ESTOP_RESET` | `io.aux.estop=0`、motion 仍 disabled、`task.state=ESTOP_RESET` | +| 上电 | `task_state != ESTOP`；真正上电需当前 `ESTOP_RESET` | motion 可 enable | `EMC_TASK_SET_STATE ON` | `motion.traj.enabled=1`、`task.state=ON` | +| 下电 | 电源按钮在非 `ESTOP_RESET` 分支 | 无需 IDLE，属于立即命令 | `EMC_TASK_SET_STATE OFF` | abort、motion disabled、volatile home 清除、通常显示 `ESTOP_RESET` | +| Home | `STATE_ON && INTERP_IDLE`；Python 还要求 `manual_ok()` | MANUAL/FREE、motion enabled、无 homing inhibit、无其他 homing | `EMC_JOINT_HOME` -> `EMCMOT_JOINT_HOME` | `joint.N.homing` 过程变化，完成后 `joint.N.homed=1`，`all_homed()` 变真 | +| Run | `STATE_ON && INTERP_IDLE && taskfile != ""` | AUTO、已回零或 `no_force_homing`、程序已打开 | `EMC_TASK_PLAN_RUN` | `interpState=READING`、`task_paused=0`、解释器生成 motion 队列 | +| Pause | 菜单要求 `STATE_ON && READING/WAITING`；工具栏要求非 IDLE | AUTO，或工具栏允许 AUTO/MDI | `EMC_TASK_PLAN_PAUSE` -> `EMCMOT_PAUSE` | `interpResumeState=原状态`、`interpState=PAUSED`、`task_paused=1`、`motion.paused=1` | +| Resume | `STATE_ON && INTERP_PAUSED` 或工具栏 paused | AUTO/MDI、`s.paused`、无 resume inhibit | `EMC_TASK_PLAN_RESUME` -> `EMCMOT_RESUME` | `interpState=interpResumeState`、`task_paused=0`、`motion.paused=0`、单步清零 | +| Step | `STATE_ON && taskfile != ""` | AUTO；不同 interpState 分支处理 | `EMC_TASK_PLAN_STEP`，必要时 `EMCMOT_STEP` | `single_stepping=1`、`stepping=1`、执行一个 task/motion id 后回 PAUSED | + +## 11. 对 `wasm-port` 的完善建议 + +`wasm-port` 当前方向正确：它已经有 `runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`、`linuxcnc_motion_runtime.c`、SDK `runtime/sdk/src/linuxcnc-task-hal.js`，并通过 `lctask_send_command_json()` 接收类似 `EMC_TASK_SET_STATE`、`EMC_TASK_PLAN_RUN/PAUSE/RESUME/STEP` 的命令。 + +但当前 `linuxcnc_task_hal_wasm.cpp` 仍是“phase4 minimal”运行时： + +- `TaskRuntime` 用字符串保存 `state/mode/interp_state/exec_state`。 +- `EMC_TASK_SET_STATE` 只是直接写 `state` 字符串，尚未按 LinuxCNC 的 `determineState()` 从 IO estop 与 motion enabled 推导。 +- `EMC_JOINT_HOME` 直接发一条零位运动并立即认为完成，没有移植 `homing.c` 的 home sequence、`homing_inhibit`、`HOME_*` flags、volatile home。 +- `EMC_TASK_PLAN_STEP` 已有 `single_stepping`，但还未完整复刻 `STEPPING_CHECK()` 与 motion id 变化暂停的双层逻辑。 +- `nativeTaskReady/nativeHalSyncReady/fullLinuxCncProgramExecutionReady` 仍报告 false，说明它还不是完整 task/motion 语义源。 + +建议按以下顺序推进： + +1. 建立 LinuxCNC task 状态结构镜像 + 在 WASM runtime 中用枚举替代字符串：`EMC_TASK_STATE`、`EMC_TASK_MODE`、`EMC_TASK_INTERP`、`EMC_TASK_EXEC`。保留对外 JSON 小写/字符串只是 SDK 边界转换。 + +2. 复刻 `determineState()` 与 `determineMode()` + 不要让 `SET_STATE ON` 直接等于 `task.state=ON`。应维护： + - `io.aux.estop` + - `motion.traj.enabled` + - `motion.traj.mode` + - `mdiOrAuto` + 然后每个 task cycle 推导 `task.state/task.mode`。 + +3. 把 `emcTaskSetState()` 行为补齐 + `ESTOP/OFF/ESTOP_RESET/ON` 至少要更新： + - motion abort/enable/disable + - spindle/coolant 状态 + - interpreter abort/synch + - `task_paused/single_stepping/exec_state/interp_state` + - volatile home 清除 + +4. 移植或包装 `homing.c` + Home 不能长期用“直接置 allHomed”替代。应把 vendored `motion/homing.c` 与必要 `motion.h/motion_struct.h` 状态结构纳入 WASM，或做最窄 shim 调用： + - `set_joint_homing_params()` + - `do_home_joint()` + - `do_homing()` + - `get_allhomed()/get_homed()/get_homing()` + 并暴露到 status JSON。 + +5. 补齐 Step 双层语义 + task 层实现 `stepping/steppingWait/steppedLine`，motion 层保留 `idForStep`，当 motion id 改变时 pause。当前 runCycles 中“执行一次后 paused”的做法应替换为 LinuxCNC 的 line/id 驱动。 + +6. 用 LinuxCNC status 字段作为唯一真实状态源 + SDK `readStatus()` 应返回 task/motion status；Web store 只做投影，不再自行判定“已经暂停/已经回零/已经上电”。 + +7. 增加 native 对照测试 + 对每个按钮记录 native LinuxCNC 的 status 序列： + - command 前状态 + - command 后第 1 个 task cycle + - motion 若干 servo cycle + - status 稳态 + WASM 用相同命令序列断言字段一致。 + +## 12. 对 `web-rtcp-5axis-xyzbc-trt-sim-plan` 的完善建议 + +该项目已有 `app/src/state/linuxcnc-task-policy.js` 和 `store.js`，并且已有主按钮对标文档和测试。下一步重点不是继续扩大 JS 语义，而是让 UI 更薄： + +1. 保留 `linuxcnc-task-policy.js` 作为 UI 门禁投影 + 它可以继续计算按钮 disabled 状态，但输入应优先来自 `taskHalRuntime.readStatus()`，而不是 store 自己推导。 + +2. `store.js` 的按钮动作只发 LinuxCNC 命令 + 例如： + - 急停：发 `{type:"EMC_TASK_SET_STATE", state:"ESTOP"}` + - 解除急停：发 `{type:"EMC_TASK_SET_STATE", state:"ESTOP_RESET"}` + - 上电：发 `{type:"EMC_TASK_SET_STATE", state:"ON"}` + - Home：发 `{type:"EMC_JOINT_HOME", joint:-1}` + - Run：发 `{type:"EMC_TASK_PLAN_RUN", line: programStartLine}` + - Pause：发 `{type:"EMC_TASK_PLAN_PAUSE"}` + - Resume：发 `{type:"EMC_TASK_PLAN_RESUME"}` + - Step：发 `{type:"EMC_TASK_PLAN_STEP"}` + 然后等待 status loop 回填，不在 reducer 中提前“宣布成功”。 + +3. 修正 Power 的 UI/回调双语义 + AXIS UI 禁用 ESTOP 下电源按钮；但 `onoff_clicked()` 若被直接调用且非 `ESTOP_RESET` 会发 OFF。Web 应： + - UI disabled 对标 `task_state == estop`。 + - 内部命令测试保留“直接调用 TOGGLE_POWER 时非 estop-reset -> OFF”的回调语义。 + +4. Home 状态不要直接 `allHomed=true` + 先作为过渡兼容可以保留，但应标记为 fallback。正式路径要从 WASM status 的 per-joint `homed[]` 汇总。 + +5. Pause/Resume 需要同时显示 task 与 motion 暂停 + LinuxCNC 中暂停状态由 `task.interpState=PAUSED`、`task.task_paused=1`、`motion.paused=1` 共同组成。Web UI 里的 `runState="paused"` 只能作为显示投影，不应是源状态。 + +6. Step 测试要覆盖三种状态 + - AUTO + IDLE：首次 Step 等价 run from start 后暂停。 + - AUTO + READING/WAITING：设置 task stepping，下一条/下一段后暂停。 + - AUTO + PAUSED 且 motion queue > 0：发 `EMCMOT_STEP`，motion id 改变后暂停。 + +7. 证据文件增加字段级 diff + 当前 evidence 可继续保留截图和 pass/fail；建议新增 JSON diff： + - `task.state/mode/interpState/execState/taskPaused` + - `motion.enabled/paused/stepping/id` + - `joint[].homed/homing/enabled/inpos` + - `currentLine/readLine/motionLine` + +## 13. 推荐验收用按钮序列 + +用于 native LinuxCNC、`wasm-port`、`web-rtcp` 三方对齐： + +```text +初始: ESTOP 或 ESTOP_RESET，MANUAL，IDLE +1. F1 reset estop -> ESTOP_RESET, motion disabled +2. F2 power on -> ON, motion enabled +3. Home All -> MANUAL/FREE, homing active, 最终 all_homed=true +4. Run -> AUTO, READING, exec 非 DONE 或 motion queue 活动 +5. Pause -> PAUSED, task_paused=1, motion.paused=1 +6. Step -> PAUSED 保持，motion id 或 currentLine 推进一个单位 +7. Resume -> READING/WAITING, paused 清零 +8. F1 estop during run -> ESTOP, abort, disabled, volatile home 清除 +``` + +每一步至少记录 command 前、command 后、若干 cycle 后三份 status。若 Web/WASM 只能在 UI 层改变状态而 status 无对应变化，应判定为未完全对标。 + +## 14. 结论 + +LinuxCNC 的主控制按钮不是独立 UI 逻辑，而是围绕 NML command/status、task 周期状态机、motion 实时状态机和 homing 状态机共同实现。移植时最重要的原则是： + +- UI 按钮只负责发送命令和展示 status。 +- task 状态由 IO estop、motion enabled、motion mode 推导。 +- Home 状态由 motion/homing.c 的 per-joint 状态机产生。 +- Pause/Resume/Step 必须同时维护 task interpreter 状态和 motion trajectory pause/step 状态。 +- Web/WASM 中所有 `allHomed/taskPaused/motionPaused/interpState/taskState` 最终都应来自 WASM LinuxCNC runtime status，而不是 JavaScript reducer 的乐观赋值。 +