feat: complete working8 pause semantics
This commit is contained in:
wangdequan
@@ -167,3 +167,184 @@ manifest=...
|
||||
- manifest 文件；
|
||||
- 两次暂停保持阶段的 `sampleIndex`、`interpState`、`taskPaused`、`motionPaused`、`currentVelocity`。
|
||||
|
||||
## 2026-07-07 10:16 EDT 本轮完成证据
|
||||
|
||||
### WASM task/motion 验收
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-001`
|
||||
- `W8-002`
|
||||
- `W8-003`
|
||||
- `W8-004`
|
||||
- `W8-005`
|
||||
- `W8-006`
|
||||
|
||||
命令：
|
||||
|
||||
```bash
|
||||
cd /home/mes123456/cnc_wams/wasm-port
|
||||
source /home/mes123456/emsdk/emsdk_env.sh >/dev/null && ./tools/build_task_hal_wasm.sh
|
||||
node tests/wasm/node/verify_task_hal_wasm.mjs
|
||||
```
|
||||
|
||||
关键输出：
|
||||
|
||||
```text
|
||||
linuxcnc_task_hal_wasm_build=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_status_from_linuxcnc_runtime=ok
|
||||
task_commands_drive_motion_runtime=ok
|
||||
mdi_jog_task_motion_hal_sync=ok
|
||||
pause_freezes_motion_queue=ok
|
||||
resume_restores_interp_resume_state=ok
|
||||
step_returns_to_paused=ok
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- task status 已输出并维护 `interpResumeState`。
|
||||
- pause 后 `interpState=PAUSED`、`taskPaused=true`、`motion.paused=true`，连续 cycles 不推进 task line、motion line、axis pose 和 motion id。
|
||||
- resume 后恢复 `interpResumeState=READING` 并继续推进。
|
||||
- motion direct queue 验证 pause 即时生效、queue 保留、STEP 只消费一个 motion 后自动回 paused。
|
||||
|
||||
### WASM TP pause/resume 验收
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-007`
|
||||
|
||||
命令：
|
||||
|
||||
```bash
|
||||
cd /home/mes123456/cnc_wams/wasm-port
|
||||
source /home/mes123456/emsdk/emsdk_env.sh >/dev/null && ./tools/build_tp_wasm.sh
|
||||
node tests/wasm/node/verify_tp_wasm.mjs
|
||||
```
|
||||
|
||||
关键输出：
|
||||
|
||||
```text
|
||||
tp_wasm_node_smoke=ok
|
||||
tp_pause_resume_smoke=ok
|
||||
```
|
||||
|
||||
新增 probe 断言：
|
||||
|
||||
```text
|
||||
tp_pause_rc=0
|
||||
tp_resume_rc=0
|
||||
tp_paused_velocity_zero=1
|
||||
tp_paused_position_frozen=1
|
||||
tp_resume_done=1
|
||||
tp_pause_resume_final_depth=0
|
||||
tp_pause_resume_final_pos_near_end=1
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- `linuxcnc_tp_wasm.c` 通过 vendored LinuxCNC `tpPause()`、`tpResume()` 验证暂停减速到零、暂停保持位置、恢复后完成队列。
|
||||
|
||||
### Web Node 集成验收
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-008`
|
||||
- `W8-009`
|
||||
- `W8-010`
|
||||
- `W8-011`
|
||||
|
||||
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
|
||||
```
|
||||
|
||||
关键输出：
|
||||
|
||||
```text
|
||||
gmoccapy_static_build=ok
|
||||
run_feedback_status_loop_smoke=ok
|
||||
run_ready_sequence_smoke=ok
|
||||
pause_uses_motion_paused_gate=ok
|
||||
pause_freezes_task_hal_status_loop=ok
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- Web runtime `ui` 可读取 `interpResumeState`、`taskPaused`、`singleStepping`、`motionPaused`、`motionStepping`、`motionQueueDepth`。
|
||||
- `canResume` 与 `PAUSE_RESUME` 已接入 motion paused/task paused/interp paused 综合判断。
|
||||
- Node 集成断言 pause 后 `taskHalStatus.motionStatus.motion.paused=true`、`machine.motionPaused=true`、active line 和 motion program line 不推进。
|
||||
|
||||
### 浏览器暂停冻结 trace 验收
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-012`
|
||||
|
||||
命令：
|
||||
|
||||
```bash
|
||||
cd /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan
|
||||
APP_URL_PATH=/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html node tools/trace-pause-position-json.mjs
|
||||
```
|
||||
|
||||
关键输出：
|
||||
|
||||
```text
|
||||
pause_position_status=passed-position-frozen
|
||||
trace=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/pause-position-traces/pause-position-20260707T140646Z/trace.json
|
||||
app_url_path=/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/index.html
|
||||
position_changed=false
|
||||
changed_fields=
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- 浏览器 trace 证明暂停后 position 未变化。
|
||||
|
||||
### 50ms 长流程暂停/恢复截图验收
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-013`
|
||||
|
||||
命令：
|
||||
|
||||
```bash
|
||||
cd /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan
|
||||
RUN_STABLE_BEFORE_FIRST_PAUSE_MS=3000 node tools/verify-estop-power-home-run-pause-50ms.mjs
|
||||
```
|
||||
|
||||
关键输出：
|
||||
|
||||
```text
|
||||
verification_status=passed
|
||||
screenshots=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T141219Z
|
||||
captured_frames=459
|
||||
sample_period_ms=50
|
||||
manifest=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/screenshots/estop-power-home-run-pause-50ms-20260707T141219Z/manifest.json
|
||||
```
|
||||
|
||||
manifest 暂停保持关键字段：
|
||||
|
||||
```text
|
||||
第一次暂停保持 5 秒：sampleIndex=109, activeLine=17, interpState=paused, taskPaused=true, motionPaused=true, currentVelocity=0
|
||||
第二次暂停保持 5 秒：sampleIndex=341, activeLine=13, interpState=paused, taskPaused=true, motionPaused=true, currentVelocity=0
|
||||
```
|
||||
|
||||
结论：
|
||||
|
||||
- 50ms 截图验证通过，两次暂停保持阶段 `sampleIndex`、`activeLine`、`interpState`、`taskPaused`、`motionPaused`、`currentVelocity` 均符合暂停冻结要求。
|
||||
|
||||
### 记录与关闭
|
||||
|
||||
对应任务：
|
||||
|
||||
- `W8-014`
|
||||
|
||||
结论：
|
||||
|
||||
- 本轮已更新 `03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`06-决策记录.md`。
|
||||
|
||||
Reference in New Issue
Block a user