对齐 gmoccapy XYZAB 模式互锁

web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js

@@ -218,6 +218,12 @@ function gateMode(status, requestedMode) {
   if (status.taskMode === "auto" && status.interpState !== "idle" && targetMode !== "auto") {
     return block(status, "mode blocked: AUTO interpreter is not idle");
   }
+  if (status.taskState !== "on") {
+    return block(status, `mode blocked: machine must be on before ${targetMode.toUpperCase()}`);
+  }
+  if ((targetMode === "mdi" || targetMode === "auto") && !status.allHomed && !status.noForceHoming) {
+    return block(status, `mode blocked: home machine before ${targetMode.toUpperCase()}`);
+  }
   return allow(status);
 }
 

web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js

@@ -349,14 +349,17 @@ function mdiQuickCommands(state) {
 function renderSidebar(element, state, dispatch) {
   const tcpKinsType = tcpKinsTypeForProfile(state.profile);
   const tcpDisabled = tcpKinsType ? "" : ` disabled title="${escapeHtml(`${state.profile.id} is ${state.profile.kinematics} reference only`)}"`;
+  const autoGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "auto" });
+  const manualGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "manual" });
+  const mdiGate = gateLinuxCncTaskAction(state, { type: "SET_MODE", mode: "mdi" });
   element.innerHTML = `
     ${iconButtonHtml({ buttonId: "tbtn_estop", action: "estop", label: "E-STOP", title: "Estop the machine / F1", className: "sidebar-button estop", active: state.machine.estopActive })}
     ${iconButtonHtml({ buttonId: "tbtn_on", action: "power", label: "POWER", title: "Turn the machine on/off / F2", className: "sidebar-button power", active: state.machine.powerOn })}
     ${iconButtonHtml({ buttonId: "tbtn_setup", action: "reset", label: "RESET", title: "Reset estop and return machine off", className: "sidebar-button", active: false })}
-    ${iconButtonHtml({ buttonId: "rbt_auto", action: "mode-auto", label: "AUTO", title: "Enter auto mode", className: "sidebar-button", active: state.machine.mode === "auto" })}
-    ${iconButtonHtml({ buttonId: "rbt_manual", action: "mode-manual", label: "MANUAL", title: "Enter manual mode", className: "sidebar-button", active: state.machine.mode === "manual" })}
-    ${iconButtonHtml({ buttonId: "tbtn_user_tabs", action: "mode-jog", label: "JOG", title: "Manual jog page", className: "sidebar-button", active: state.machine.mode === "manual" })}
-    ${iconButtonHtml({ buttonId: "rbt_mdi", action: "mode-mdi", label: "MDI", title: "Enter MDI mode", className: "sidebar-button", active: state.machine.mode === "mdi" })}
+    ${iconButtonHtml({ buttonId: "rbt_auto", action: "mode-auto", label: "AUTO", title: autoGate.operatorMessage || "Enter auto mode", className: "sidebar-button", active: state.machine.mode === "auto", gate: autoGate })}
+    ${iconButtonHtml({ buttonId: "rbt_manual", action: "mode-manual", label: "MANUAL", title: manualGate.operatorMessage || "Enter manual mode", className: "sidebar-button", active: state.machine.mode === "manual", gate: manualGate })}
+    ${iconButtonHtml({ buttonId: "tbtn_user_tabs", action: "mode-jog", label: "JOG", title: manualGate.operatorMessage || "Manual jog page", className: "sidebar-button", active: state.machine.mode === "manual", gate: manualGate })}
+    ${iconButtonHtml({ buttonId: "rbt_mdi", action: "mode-mdi", label: "MDI", title: mdiGate.operatorMessage || "Enter MDI mode", className: "sidebar-button", active: state.machine.mode === "mdi", gate: mdiGate })}
     <button type="button" class="sidebar-button" data-action="kins-identity" data-active="${state.kinsType === "identity"}">IDENTITY</button>
     <button type="button" class="sidebar-button" data-action="kins-tcp" data-active="${state.kinsType.startsWith("tcp-")}"${tcpDisabled}>TCP</button>
     <time>13:30:31<br />20.06.2026</time>

web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md

@@ -4779,3 +4779,167 @@ Outcome:
 - The gmoccapy XYZAB `working4` completion commit was uploaded to the cloud repository.
 - Remote `master` now points to `a81b40447de313117e2a389a394c3b8d80931001`.
 - A follow-up process-log commit is required because this log entry was created after the main upload commit.
+
+---
+
+## 2026-06-26 18:15 EDT - working5 LinuxCNC gmoccapy_XYZAB execution-flow alignment
+
+User request:
+- Compare `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan` against the five-axis machine execution flow documented in `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`.
+- Execute, test, and improve the LinuxCNC-ported CNC simulation so its simulation behavior matches the LinuxCNC source implementation.
+- First create working files in `/home/meswork/cnc_wams/work/working5`:
+  - `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`
+  - plus README index.
+
+Process:
+- Confirmed workspace and root instructions:
+  - `/home/meswork/cnc_wams`
+  - `AGENTS.md` requires appending process logs to `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
+- Read the LinuxCNC execution-flow reference:
+  - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`
+  - Key baseline: `gmoccapy_XYZAB.ini`, `trivkins coordinates=xyzab`, five joints, `NO_FORCE_HOMING = 0`, NML command/status/error, HAL loopbacks, POSTGUI after `halcomp.ready()`, and gmoccapy button sensitivity rules.
+- Inspected project structure and test inventory:
+  - `app/src/runtime`
+  - `app/src/state`
+  - `app/src/ui`
+  - `app/src/profiles`
+  - `tests/node`
+  - `tests/browser`
+- Created working5 control documents:
+  - `/home/meswork/cnc_wams/work/working5/README.md`
+  - `/home/meswork/cnc_wams/work/working5/01-项目功能内容.md`
+  - `/home/meswork/cnc_wams/work/working5/02-项目程序开发详细步骤.md`
+  - `/home/meswork/cnc_wams/work/working5/03-推进台账.md`
+  - `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md`
+  - `/home/meswork/cnc_wams/work/working5/05-验收证据.md`
+  - `/home/meswork/cnc_wams/work/working5/06-决策记录.md`
+- Ran initial baseline tests:
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node`
+  - Result: passed.
+  - Key output included:
+    - `linuxcnc_kinematics_runtime_smoke=ok`
+    - `linuxcnc_interpreter_runtime_smoke=ok`
+    - `linuxcnc_ini_runtime_smoke=ok`
+    - `linuxcnc_task_hal_runtime_smoke=ok`
+    - `full_linuxcnc_5axis_source_node_smoke=ok`
+    - `real_linuxcnc_5axis_program_cases_smoke=ok`
+    - `gmoccapy_xyzab_profile_smoke=ok`
+    - `gmoccapy_communication_model_smoke=ok`
+    - `gmoccapy_hal_model_smoke=ok`
+    - `gmoccapy_xyzab_gates_smoke=ok`
+    - `linear_unit_conversion_smoke=ok`
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build`
+  - Result: passed, output `gmoccapy_static_build=ok`.
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke`
+  - Result: passed, output `gmoccapy_shell_smoke=ok` and `gmoccapy_dist_smoke=ok`.
+- Reviewed relevant implementation files:
+  - `app/src/profiles/gmoccapy-xyzab.js`
+  - `app/src/state/linuxcnc-task-policy.js`
+  - `app/src/state/store.js`
+  - `app/src/ui/gmoccapy-shell.js`
+  - `app/src/runtime/gmoccapy-hal-model.js`
+  - `app/src/runtime/gmoccapy-communication-model.js`
+  - `tests/node/verify_gmoccapy_xyzab_gates.mjs`
+  - `tests/node/verify_run_preconditions.mjs`
+  - `tests/browser/gmoccapy_shell_smoke.html`
+- Compared against LinuxCNC/gmoccapy source:
+  - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`
+  - Observed native behavior:
+    - `on_hal_status_state_off()` disables `rbt_manual`, `rbt_mdi`, `rbt_auto`, and motion/execution controls.
+    - `on_hal_status_state_on()` enables Manual and base machine controls.
+    - With `NO_FORCE_HOMING = 0`, MDI/Auto remain unavailable until all axes are homed.
+    - Setup-page exit logic restores:
+      - estop/off: no mode buttons available
+      - on but not homed: only Manual available
+      - on and homed or no-force-homing: Manual/MDI/Auto available
+- Found a Web behavior gap:
+  - Existing store/policy blocked `RUN` and `RUN_MDI` in invalid states.
+  - But mode buttons could still be clicked earlier than gmoccapy allows.
+  - Initial Web policy allowed mode changes that native gmoccapy would represent as insensitive buttons.
+- Implemented fixes:
+  - In `app/src/state/linuxcnc-task-policy.js`:
+    - Added `SET_MODE` gate requiring `taskState === "on"` for Manual/Jog/MDI/Auto.
+    - Added homing gate for Auto/MDI when `NO_FORCE_HOMING = 0`.
+    - Preserved Auto-running protection that blocks leaving Auto while interpreter is not idle.
+  - In `app/src/ui/gmoccapy-shell.js`:
+    - Bound Manual/Jog/Auto/MDI sidebar mode buttons to `gateLinuxCncTaskAction`.
+    - Buttons now expose disabled state, `data-command-ready`, `aria-disabled`, and tooltip reason from the same task policy used by store dispatch.
+  - In `tests/node/verify_gmoccapy_xyzab_gates.mjs`:
+    - Added assertions that down/off state blocks Manual/MDI/Auto mode changes.
+    - Added assertions that power-on but unhomed state allows Manual but blocks Auto/MDI.
+    - Added assertions that after homing Auto mode is allowed.
+  - In `tests/node/verify_run_preconditions.mjs`:
+    - Updated expected behavior: trying Auto before homing leaves mode in Manual and run gate continues to say switch to Auto first.
+  - In `tests/browser/gmoccapy_shell_smoke.html`:
+    - Added DOM assertions for gmoccapy mode button sensitivity:
+      - initially powered off: Manual/Jog/Auto/MDI disabled
+      - powered on but unhomed: Manual/Jog enabled, Auto/MDI disabled with homing reason
+      - homed: Auto/MDI enabled.
+- Ran targeted validation:
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && node ../tests/node/verify_gmoccapy_xyzab_gates.mjs && node ../tests/node/verify_run_preconditions.mjs && bash ../tests/browser/verify_gmoccapy_shell_browser.sh`
+  - Result: passed.
+  - Output:
+    - `gmoccapy_xyzab_gates_smoke=ok`
+    - `run_preconditions_ini_profile_smoke=ok`
+    - `run_preconditions_kinematics_smoke=ok`
+    - `run_preconditions_machine_file_smoke=ok`
+    - `gmoccapy_shell_smoke=ok`
+- Ran final full regression:
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run smoke:node`
+  - Result: passed.
+  - `cd /home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app && npm run build && npm run smoke`
+  - Result: passed.
+  - Output:
+    - `gmoccapy_static_build=ok`
+    - `gmoccapy_shell_smoke=ok`
+    - `gmoccapy_dist_smoke=ok`
+- Ran quality checks:
+  - `git diff --check` in `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan`
+  - Result: passed.
+  - `git diff --check` in `/home/meswork/cnc_wams`
+  - Result: passed.
+- Updated working5 documentation:
+  - `03-推进台账.md` now records R1 setup and R2 mode-interlock fix.
+  - `04-任务矩阵.md` marks current pass complete for baseline profile/task/HAL/interpreter/UI verification.
+  - `05-验收证据.md` records command evidence and outputs.
+  - `06-决策记录.md` records why mode gating moved into `SET_MODE` and UI disabled state.
+- Started a local static server:
+  - Command: `python3 -m http.server 4173`
+  - Directory: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app`
+  - Confirmed with:
+    - `curl -I --max-time 2 http://127.0.0.1:4173/`
+    - HTTP 200 OK.
+    - `ss -ltnp 'sport = :4173'`
+    - Listener: `python3`, PID `24983`.
+
+Files changed:
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js`
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js`
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs`
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`
+- `/home/meswork/cnc_wams/work/working5/README.md`
+- `/home/meswork/cnc_wams/work/working5/01-项目功能内容.md`
+- `/home/meswork/cnc_wams/work/working5/02-项目程序开发详细步骤.md`
+- `/home/meswork/cnc_wams/work/working5/03-推进台账.md`
+- `/home/meswork/cnc_wams/work/working5/04-任务矩阵.md`
+- `/home/meswork/cnc_wams/work/working5/05-验收证据.md`
+- `/home/meswork/cnc_wams/work/working5/06-决策记录.md`
+- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`
+
+Git/worktree notes:
+- `git status --short --branch` from `/home/meswork/cnc_wams` shows modified Web simulation files and new `work/working5/`.
+- There is an unrelated untracked file already visible outside this task:
+  - `备忘/备忘3.txt`
+  - It was not modified.
+
+Outcome:
+- Created the requested working5 documentation set and README index.
+- Executed and passed Node, build, browser, and targeted gmoccapy gate regressions.
+- Fixed a real LinuxCNC/gmoccapy behavior mismatch: mode buttons now follow native `STATE_OFF`, `STATE_ON`, homing, and interpreter-idle sensitivity semantics.
+- Local app server is available at `http://127.0.0.1:4173/`.

web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html

@@ -303,6 +303,38 @@
         if (!doc.querySelector('[data-machine-state="summary"]')?.textContent.includes("power off")) {
           throw new Error("initial machine state should show power off");
         }
+        const initialModeManualButton = doc.querySelector('[data-action="mode-manual"]');
+        const initialModeJogButton = doc.querySelector('[data-action="mode-jog"]');
+        const initialModeAutoButton = doc.querySelector('[data-action="mode-auto"]');
+        const initialModeMdiButton = doc.querySelector('[data-action="mode-mdi"]');
+        if (
+          !initialModeManualButton?.disabled ||
+          initialModeManualButton.dataset.commandReady !== "false" ||
+          initialModeManualButton.getAttribute("aria-disabled") !== "true"
+        ) {
+          throw new Error("MANUAL mode button should be disabled before machine power on");
+        }
+        if (
+          !initialModeJogButton?.disabled ||
+          initialModeJogButton.dataset.commandReady !== "false" ||
+          initialModeJogButton.getAttribute("aria-disabled") !== "true"
+        ) {
+          throw new Error("JOG mode button should be disabled before machine power on");
+        }
+        if (
+          !initialModeAutoButton?.disabled ||
+          initialModeAutoButton.dataset.commandReady !== "false" ||
+          initialModeAutoButton.getAttribute("aria-disabled") !== "true"
+        ) {
+          throw new Error("AUTO mode button should be disabled before machine power on");
+        }
+        if (
+          !initialModeMdiButton?.disabled ||
+          initialModeMdiButton.dataset.commandReady !== "false" ||
+          initialModeMdiButton.getAttribute("aria-disabled") !== "true"
+        ) {
+          throw new Error("MDI mode button should be disabled before machine power on");
+        }
 
         const initiallyBlockedRunButton = doc.querySelector('[data-action="RUN"]');
         if (
@@ -325,8 +357,44 @@
         if (!doc.querySelector('[data-machine-state="summary"]')?.textContent.includes("power on")) {
           throw new Error("machine state did not render power on");
         }
+        const unhomedModeManualButton = doc.querySelector('[data-action="mode-manual"]');
+        const unhomedModeJogButton = doc.querySelector('[data-action="mode-jog"]');
+        const unhomedModeAutoButton = doc.querySelector('[data-action="mode-auto"]');
+        const unhomedModeMdiButton = doc.querySelector('[data-action="mode-mdi"]');
+        if (
+          unhomedModeManualButton?.disabled ||
+          unhomedModeManualButton.dataset.commandReady !== "true" ||
+          unhomedModeJogButton?.disabled ||
+          unhomedModeJogButton.dataset.commandReady !== "true"
+        ) {
+          throw new Error("MANUAL and JOG mode buttons should be enabled after power on");
+        }
+        if (
+          !unhomedModeAutoButton?.disabled ||
+          unhomedModeAutoButton.dataset.commandReady !== "false" ||
+          !unhomedModeAutoButton.title.includes("home machine before AUTO")
+        ) {
+          throw new Error("AUTO mode button should remain disabled until homed");
+        }
+        if (
+          !unhomedModeMdiButton?.disabled ||
+          unhomedModeMdiButton.dataset.commandReady !== "false" ||
+          !unhomedModeMdiButton.title.includes("home machine before MDI")
+        ) {
+          throw new Error("MDI mode button should remain disabled until homed");
+        }
         doc.querySelector('[data-action="HOME"]').click();
         await wait(50);
+        const homedModeAutoButton = doc.querySelector('[data-action="mode-auto"]');
+        const homedModeMdiButton = doc.querySelector('[data-action="mode-mdi"]');
+        if (
+          homedModeAutoButton?.disabled ||
+          homedModeAutoButton.dataset.commandReady !== "true" ||
+          homedModeMdiButton?.disabled ||
+          homedModeMdiButton.dataset.commandReady !== "true"
+        ) {
+          throw new Error("AUTO and MDI mode buttons should be enabled after homing");
+        }
         doc.querySelector('[data-action="mode-auto"]').click();
         await wait(50);
         if (!doc.querySelector('[data-linuxcnc-task-policy="gates"]')?.textContent.includes("auto")) {

web-rtcp-5axis-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs

@@ -15,18 +15,41 @@ let gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
 assert.equal(gate.operatorMessage, "run blocked: machine must be on");
 
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "manual" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: machine must be on before MANUAL");
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "mdi" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: machine must be on before MDI");
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: machine must be on before AUTO");
+
 store.dispatch({ type: "TOGGLE_POWER" });
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "manual" });
+assert.equal(gate.allowed, true);
 gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
 assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");
 
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: home machine before AUTO");
 store.dispatch({ type: "SET_MODE", mode: "auto" });
+assert.equal(store.getState().machine.mode, "manual");
+assert.equal(store.getState().operatorMessage, "mode blocked: home machine before AUTO");
 gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
-assert.equal(gate.operatorMessage, "run blocked: home machine first");
+assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");
+
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "mdi" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: home machine before MDI");
 
 store.dispatch({ type: "SET_MODE", mode: "manual" });
 store.dispatch({ type: "HOME" });
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" });
+assert.equal(gate.allowed, true);
 store.dispatch({ type: "SET_MODE", mode: "auto" });
 gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);

web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs

@@ -134,10 +134,14 @@ gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
 assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");
 
+gate = gateLinuxCncTaskAction(store.getState(), { type: "SET_MODE", mode: "auto" });
+assert.equal(gate.allowed, false);
+assert.equal(gate.operatorMessage, "mode blocked: home machine before AUTO");
 store.dispatch({ type: "SET_MODE", mode: "auto" });
+assert.equal(store.getState().machine.mode, "manual");
 gate = gateLinuxCncTaskAction(store.getState(), { type: "RUN" });
 assert.equal(gate.allowed, false);
-assert.equal(gate.operatorMessage, "run blocked: home machine first");
+assert.equal(gate.operatorMessage, "run blocked: switch to auto mode first");
 
 store.dispatch({ type: "HOME" });
 store.dispatch({ type: "SET_MODE", mode: "manual" });