对齐 gmoccapy XYZAB 模式互锁

2026-06-26 18:19:49 -04:00
parent 0664ea9bd7
commit 544bfd4b4b
13 changed files with 591 additions and 6 deletions
--- a/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md
+++ b/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/`.