chore: finalize remaining project artifacts
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338
项目分析/5axis-xyzbc-trt-sim执行流程图.md
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338
项目分析/5axis-xyzbc-trt-sim执行流程图.md
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# 5axis-xyzbc-trt-sim 执行流程图
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本文档用 Mermaid 描述 `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` 的主要执行流程。
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## 1. 总体启动流程
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```mermaid
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flowchart TD
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A["xyzbc-trt.desktop"] --> B["scripts/rip-environment"]
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B --> C["scripts/linuxcnc xyzbc-trt.ini"]
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C --> D["读取 INI 配置"]
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D --> D1["[TASK] TASK = milltask"]
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D --> D2["[HAL] HALUI = halui"]
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D --> D3["[HAL] HALFILE = LIB:basic_sim.tcl"]
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D --> D4["[DISPLAY] DISPLAY = axis"]
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D --> D5["[KINS] KINEMATICS = xyzbc-trt-kins sparm=identityfirst"]
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C --> E["启动 linuxcncsvr"]
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E --> F["启动 realtime / HAL"]
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F --> G["loadrt tpmod / homemod"]
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G --> H["启动 milltask"]
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H --> I["启动 halui"]
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I --> J["执行 basic_sim.tcl"]
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J --> K["执行 INI 中的 HALCMD"]
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K --> L["halcmd start 启动实时线程"]
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L --> M["启动 AXIS GUI"]
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M --> N["加载 PyVCP: xyzbc-trt.xml"]
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N --> O["执行 POSTGUI_HALFILE: switchkins_postgui.hal"]
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```
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## 2. basic_sim.tcl 与仿真 HAL 建立流程
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```mermaid
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flowchart TD
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A["[HAL] HALFILE = LIB:basic_sim.tcl"] --> B["basic_sim.tcl"]
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B --> C["读取 TRAJ.COORDINATES = XYZBC"]
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B --> D["读取 KINS.JOINTS = 5"]
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B --> E["读取 EMCMOT.SERVO_PERIOD = 1000000"]
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C --> F["core_sim axes=xyzbc joints=5"]
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D --> F
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E --> F
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F --> G["setup_kins"]
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G --> H["loadrt xyzbc-trt-kins sparm=identityfirst"]
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F --> I["loadrt motmod num_joints=5 servo_period_nsec=1000000"]
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I --> J["addf motion-command-handler servo-thread"]
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I --> K["addf motion-controller servo-thread"]
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F --> L["loadrt pid names=J0_pid..J4_pid"]
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F --> M["loadrt mux2 names=J0_mux..J4_mux"]
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F --> N["loadrt sim_home_switch"]
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F --> O["loadusr hal_manualtoolchange"]
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F --> P["loadrt sim_spindle / limit2 / lowpass / near / scale"]
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L --> Q["joint.N.motor-pos-cmd -> JN_pid.command"]
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Q --> R["JN_pid.output -> JN_mux.in1"]
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R --> S["JN_mux.out -> joint.N.motor-pos-fb"]
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S --> T["形成理想伺服仿真闭环"]
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```
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## 3. switchkins 初始化流程
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```mermaid
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flowchart TD
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A["loadrt xyzbc-trt-kins sparm=identityfirst"] --> B["rtapi_app_main in switchkins.c"]
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B --> C["调用 xyzbc-trt-kins.c:switchkinsSetup"]
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C --> D{"sparm 包含 identityfirst?"}
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D -- 是 --> E["type 0 = identity"]
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D -- 是 --> F["type 1 = xyzbc TRT"]
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D -- 是 --> G["type 2 = userk"]
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D -- 否 --> H["type 0 = xyzbc TRT"]
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D -- 否 --> I["type 1 = identity"]
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D -- 否 --> J["type 2 = userk"]
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E --> K["创建 HAL pin: kinstype.is-0/1/2"]
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F --> K
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G --> K
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H --> K
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I --> K
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J --> K
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K --> L["创建 TRT 几何 HAL pin"]
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L --> L1["x/y/z-rot-point"]
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L --> L2["x/y/z-offset"]
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L --> L3["tool-offset"]
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L --> L4["conventional-directions"]
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L --> M["switchkins_type = 0"]
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M --> N["kinematicsSwitch(0)"]
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N --> O["启动默认状态: identity kinematics"]
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```
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## 4. PyVCP 按钮到运动学切换流程
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```mermaid
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flowchart TD
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A["AXIS 加载 xyzbc-trt.xml"] --> B["创建 PyVCP SWITCHKINS 面板"]
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B --> C1["按钮: IDENTITY"]
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B --> C2["按钮: TCP:XYZBC"]
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B --> C3["按钮: userk"]
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A --> D["执行 switchkins_postgui.hal"]
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C1 --> E1["pyvcp.type0-button"]
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C2 --> E2["pyvcp.type1-button"]
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C3 --> E3["pyvcp.type2-button"]
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E1 --> F1["halui.mdi-command-00"]
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E2 --> F2["halui.mdi-command-01"]
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E3 --> F3["halui.mdi-command-02"]
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F1 --> G1["M429"]
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F2 --> G2["M428"]
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F3 --> G3["M430"]
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G1 --> H1["429remap.ngc: kinstype = 0"]
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G2 --> H2["428remap.ngc: kinstype = 1"]
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G3 --> H3["430remap.ngc: kinstype = 2"]
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H1 --> I1["M68 E3 Q0"]
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H2 --> I2["M68 E3 Q1"]
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H3 --> I3["M68 E3 Q2"]
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I1 --> J["motion.analog-out-03"]
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I2 --> J
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I3 --> J
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J --> K["HAL net :kinstype-select"]
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K --> L["motion.switchkins-type"]
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L --> M["servo thread: handle_kinematicsSwitch()"]
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M --> N["kinematicsSwitch(type)"]
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N --> O1["type 0: identity"]
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N --> O2["type 1: xyzbc TRT"]
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N --> O3["type 2: userk"]
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N --> P["kinstype.is-N 更新"]
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P --> Q["PyVCP multilabel 显示当前类型"]
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```
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## 5. M68 到 motion.switchkins-type 的内部路径
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```mermaid
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flowchart TD
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A["G-code: M68 E3 Q<type>"] --> B["RS274NGC interpreter"]
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B --> C["interp_convert.cc"]
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C --> D["SET_AUX_OUTPUT_VALUE(3, type)"]
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D --> E["emccanon.cc 创建 EMC_MOTION_SET_AOUT"]
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E --> F["taskintf.cc: emcMotionSetAout"]
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F --> G["motion command: EMCMOT_SET_AOUT"]
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G --> H["command.c: emcmotAioWrite(3, type)"]
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H --> I["motion.analog-out-03 = type"]
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I --> J["HAL net :kinstype-select"]
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J --> K["motion.switchkins-type = type"]
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```
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## 6. 运动执行数据流
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```mermaid
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flowchart TD
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A["G-code XYZBC"] --> B["RS274NGC interpreter"]
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B --> C["milltask"]
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C --> D["motion trajectory planner"]
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D --> E["emcmotStatus->carte_pos_cmd"]
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E --> F{"当前 switchkins type"}
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F -- "type 0" --> G["identityKinematicsInverse"]
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F -- "type 1" --> H["xyzbcKinematicsInverse"]
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F -- "type 2" --> I["userkKinematicsInverse"]
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H --> H1["读取 x-offset = -20"]
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H --> H2["读取 z-offset = -15"]
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H --> H3["读取 tool-offset = motion.tooloffset.z"]
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H --> H4["读取 B/C 角度和旋转中心"]
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G --> J["joint target positions"]
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H1 --> J
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H2 --> J
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H3 --> J
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H4 --> J
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I --> J
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J --> K["joint.N.coarse_pos"]
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K --> L["joint.N.motor-pos-cmd"]
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L --> M["仿真 PID / mux2"]
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M --> N["joint.N.motor-pos-fb"]
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N --> O["motion 状态反馈"]
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N --> P["Vismach xyzbc-trt-gui"]
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```
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## 7. Vismach 显示数据流
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```mermaid
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flowchart TD
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A["joint.0.pos-fb"] --> B["xyzbc-trt-gui.table-x"]
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C["joint.1.pos-fb"] --> D["xyzbc-trt-gui.saddle-y"]
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E["joint.2.pos-fb"] --> F["xyzbc-trt-gui.spindle-z"]
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G["joint.3.pos-fb"] --> H["xyzbc-trt-gui.tilt-b"]
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I["joint.4.pos-fb"] --> J["xyzbc-trt-gui.rotate-c"]
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K["xyzbc-trt-kins.x-offset"] --> L["xyzbc-trt-gui.x-offset"]
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M["xyzbc-trt-kins.z-offset"] --> N["xyzbc-trt-gui.z-offset"]
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O["motion.tooloffset.z"] --> P["xyzbc-trt-kins.tool-offset"]
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P --> Q["xyzbc-trt-gui.tool-offset"]
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B --> R["Vismach 机床模型"]
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D --> R
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F --> R
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H --> R
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J --> R
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L --> R
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N --> R
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Q --> R
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```
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## 8. 演示 G-code 执行流程
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```mermaid
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flowchart TD
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A["AXIS OPEN_FILE: demos/xyzbc_switchkins.ngc"] --> B["调用 xyzbc_switchkins_sub"]
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B --> C["参数: zmax=10 zmin=5 r=10 frate=1000 n=3 b=20 c=45 dist=20"]
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C --> D["象限 I"]
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C --> E["象限 II"]
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C --> F["象限 III"]
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C --> G["象限 IV"]
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D --> H["M429: identity"]
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E --> H
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F --> H
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G --> H
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H --> I["G53 G0 X0 Y0 Zzmax B0 C0"]
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I --> J["G10 L20 P0 重设 G54"]
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J --> K["G0 移动到当前象限中心"]
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K --> L["调用 helix_bc"]
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L --> M["M429: identity"]
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M --> N["调整 X 到圆弧起点"]
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N --> O["G10 L20 P0 重设坐标"]
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O --> P["M428: xyzbc TRT"]
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P --> Q["G0 B#<b> C#<c>"]
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Q --> R["G2 I#<r> Z#<zmin> P#<n> 螺旋插补"]
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R --> S["M429: identity"]
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S --> T["回安全位置"]
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T --> U["M428: xyzbc TRT"]
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U --> V{"四个象限完成?"}
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V -- 否 --> H
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V -- 是 --> W["最终 M429 回 identity 并复位"]
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```
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## 9. 核心关系简图
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```mermaid
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flowchart LR
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A["INI: xyzbc-trt.ini"] --> B["HAL: basic_sim.tcl"]
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A --> C["KINS: xyzbc-trt-kins"]
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A --> D["GUI: axis"]
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A --> E["Vismach: xyzbc-trt-gui"]
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A --> F["PyVCP: xyzbc-trt.xml"]
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A --> G["Remap: M428/M429/M430"]
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B --> H["motmod + servo-thread + sim feedback"]
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C --> I["switchkins type 0/1/2"]
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D --> F
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F --> G
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G --> J["motion.switchkins-type"]
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J --> I
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I --> K["inverse / forward kinematics"]
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K --> H
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H --> E
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```
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## 10. LinuxCNC 数据系统核心原理图
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高清 PNG：
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```text
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项目分析/LinuxCNC数据系统核心原理高清流程图.png
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```
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可编辑 SVG：
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```text
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项目分析/LinuxCNC数据系统核心原理高清流程图.svg
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```
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对应原理文档：
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```text
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项目分析/LinuxCNC数据系统核心原理.md
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```
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```mermaid
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flowchart TD
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A["INI 配置数据"] --> B["scripts/linuxcnc 启动装配"]
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B --> C["linuxcncsvr / NML channels"]
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B --> D["HAL: loadrt/loadusr/HALFILE/HALCMD"]
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B --> E["milltask"]
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B --> F["GUI: AXIS / halui"]
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F --> G["NML emcCommand"]
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G --> E
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E --> H["Interpreter / Canonical Commands"]
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H --> I["taskintf.cc"]
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I --> J["Motion Shared Memory: emcmot_command_t"]
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J --> K["Realtime motion servo cycle"]
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K --> L["HAL pins/signals"]
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L --> M["驱动 / 仿真组件 / Vismach / halui"]
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M --> L
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K --> N["emcmot_status_t"]
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N --> E
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E --> O["EMC_STAT: task + motion + io"]
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O --> P["NML emcStatus"]
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P --> F
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Q["emcError"] --> F
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E --> Q
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K --> Q
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```
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核心区分：
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```text
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NML: 系统命令、系统状态、错误信息。
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HAL: 实时机器信号、pin/signal/parameter、servo-thread 函数顺序。
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Motion shared memory: task 和 realtime motion 的命令/状态边界。
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INI: 启动装配数据，不是实时数据通道。
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```
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882
项目分析/5axis-xyzbc-trt-sim执行过程分析.md
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882
项目分析/5axis-xyzbc-trt-sim执行过程分析.md
Normal file
@@ -0,0 +1,882 @@
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# 5axis-xyzbc-trt-sim 执行过程分析
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本文分析当前 LinuxCNC 源码树中 `5axis-xyzbc-trt-sim` 对应的仿真配置。实际入口配置文件为：
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```text
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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```
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该配置是一个 `axis` GUI + `basic_sim.tcl` 仿真 HAL + `xyzbc-trt-kins` 可切换运动学 + PyVCP/halui 控制面板 + Vismach 三维模型的五轴转台仿真。
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## 1. 启动入口
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如果从项目中已有快捷方式启动，入口文件是：
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||||
```text
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linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop
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||||
```
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||||
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其中的执行命令为：
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||||
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||||
```bash
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/home/mes123456/linuxcnc-master/scripts/rip-environment linuxcnc /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
|
||||
```
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||||
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||||
`rip-environment` 负责设置 RIP 开发环境，然后调用 `linuxcnc` 脚本并传入 `xyzbc-trt.ini`。
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||||
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||||
`scripts/linuxcnc` 会读取 INI 中的关键段：
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||||
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||||
- `[TASK] TASK = milltask`
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||||
- `[HAL] HALUI = halui`
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||||
- `[HAL] HALFILE = LIB:basic_sim.tcl`
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||||
- `[DISPLAY] DISPLAY = axis`
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||||
- `[KINS] KINEMATICS = xyzbc-trt-kins sparm=identityfirst`
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||||
- `[TRAJ] COORDINATES = XYZBC`
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||||
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||||
总体启动顺序如下：
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||||
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||||
1. 启动 `linuxcncsvr`，创建和持有 NML 通道。
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||||
2. 启动 realtime/HAL。
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3. 加载 `tpmod`、`homemod`。
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4. 启动 `[TASK] TASK = milltask`。
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5. 启动 `[HAL] HALUI = halui`。
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6. 执行 `[HAL] HALFILE = LIB:basic_sim.tcl`。
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7. 执行 INI 中所有 `[HAL] HALCMD = ...`。
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||||
8. 执行 `halcmd start`，启动实时线程。
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||||
9. 启动 `[DISPLAY] DISPLAY = axis`。
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||||
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||||
## 2. INI 核心配置
|
||||
|
||||
目标配置文件：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
|
||||
```
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||||
|
||||
关键内容：
|
||||
|
||||
```ini
|
||||
[EMC]
|
||||
MACHINE = sim-xyzbc-trt-kins (switchkins)
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||||
|
||||
[DISPLAY]
|
||||
GEOMETRY = XYZB
|
||||
OPEN_FILE = ./demos/xyzbc_switchkins.ngc
|
||||
PYVCP = ./xyzbc-trt.xml
|
||||
JOG_AXES = XYZC
|
||||
DISPLAY = axis
|
||||
|
||||
[RS274NGC]
|
||||
SUBROUTINE_PATH = ./remap_subs
|
||||
HAL_PIN_VARS = 1
|
||||
REMAP = M428 modalgroup=10 ngc=428remap
|
||||
REMAP = M429 modalgroup=10 ngc=429remap
|
||||
REMAP = M430 modalgroup=10 ngc=430remap
|
||||
PARAMETER_FILE = xyzbc.var
|
||||
|
||||
[KINS]
|
||||
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
|
||||
JOINTS = 5
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZBC
|
||||
LINEAR_UNITS = mm
|
||||
ANGULAR_UNITS = deg
|
||||
```
|
||||
|
||||
`COORDINATES = XYZBC` 表示该配置使用 5 个坐标字母，对应 5 个 joint：
|
||||
|
||||
- `joint.0` -> X
|
||||
- `joint.1` -> Y
|
||||
- `joint.2` -> Z
|
||||
- `joint.3` -> B
|
||||
- `joint.4` -> C
|
||||
|
||||
`sparm=identityfirst` 是本配置的重要细节。它改变了 `xyzbc-trt-kins` 的默认类型顺序，使启动时的 `switchkins-type 0` 是 identity kinematics。
|
||||
|
||||
## 3. basic_sim.tcl 建立仿真 HAL
|
||||
|
||||
INI 中：
|
||||
|
||||
```ini
|
||||
[HAL]
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
```
|
||||
|
||||
对应文件：
|
||||
|
||||
```text
|
||||
lib/hallib/basic_sim.tcl
|
||||
lib/hallib/sim_lib.tcl
|
||||
```
|
||||
|
||||
`basic_sim.tcl` 读取 INI 中的坐标、joint 数、servo period，然后调用 `core_sim`。
|
||||
|
||||
`core_sim` 位于 `lib/hallib/sim_lib.tcl`，主要完成：
|
||||
|
||||
1. 调用 `setup_kins` 加载 `[KINS] KINEMATICS` 指定的运动学模块。
|
||||
2. 加载 `motmod`。
|
||||
3. 将 `motion-command-handler` 和 `motion-controller` 加入 `servo-thread`。
|
||||
4. 为每个 joint 创建 `pid`。
|
||||
5. 为每个 joint 创建 `mux2`。
|
||||
6. 将 `joint.N.motor-pos-cmd` 经由 `pid`、`mux2` 接回 `joint.N.motor-pos-fb`，形成理想伺服仿真闭环。
|
||||
7. 加载仿真回零、仿真主轴、手动换刀等用户态/实时组件。
|
||||
|
||||
运行后可生成等效 HAL 文件：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal
|
||||
```
|
||||
|
||||
其中关键 HAL 命令为：
|
||||
|
||||
```hal
|
||||
loadrt xyzbc-trt-kins sparm=identityfirst
|
||||
loadrt motmod base_period_nsec=0 servo_period_nsec=1000000 num_joints=5
|
||||
loadrt pid names=J0_pid,J1_pid,J2_pid,J3_pid,J4_pid
|
||||
loadrt mux2 names=J0_mux,J1_mux,J2_mux,J3_mux,J4_mux
|
||||
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
```
|
||||
|
||||
每个 joint 的典型连接形态为：
|
||||
|
||||
```hal
|
||||
net J0:pos-cmd joint.0.motor-pos-cmd => J0_pid.command
|
||||
net J0:on-pos J0_pid.output => J0_mux.in1
|
||||
net J0:pos-fb J0_mux.out => joint.0.motor-pos-fb
|
||||
```
|
||||
|
||||
这说明该仿真没有真实驱动器，反馈位置由仿真 HAL 直接产生。
|
||||
|
||||
## 4. switchkins 初始化
|
||||
|
||||
运动学源码入口：
|
||||
|
||||
```text
|
||||
src/emc/kinematics/xyzbc-trt-kins.c
|
||||
src/emc/kinematics/switchkins.c
|
||||
src/emc/kinematics/trtfuncs.c
|
||||
```
|
||||
|
||||
`xyzbc-trt-kins.c` 的 `switchkinsSetup()` 根据 `sparm` 配置三套运动学函数。
|
||||
|
||||
因为 INI 使用：
|
||||
|
||||
```ini
|
||||
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
|
||||
```
|
||||
|
||||
所以实际类型顺序为：
|
||||
|
||||
- `switchkins-type 0`：identity kinematics
|
||||
- `switchkins-type 1`：xyzbc TRT kinematics
|
||||
- `switchkins-type 2`：userk kinematics
|
||||
|
||||
如果没有 `identityfirst`，默认 type 0 才是 `xyzbc-trt-kins`。
|
||||
|
||||
`switchkins.c` 提供统一包装函数：
|
||||
|
||||
- `kinematicsForward()`
|
||||
- `kinematicsInverse()`
|
||||
- `kinematicsSwitch()`
|
||||
- `kinematicsSwitchable()`
|
||||
|
||||
并创建状态 HAL pin：
|
||||
|
||||
- `kinstype.is-0`
|
||||
- `kinstype.is-1`
|
||||
- `kinstype.is-2`
|
||||
|
||||
启动时 `switchkins_type = 0`，随后调用 `kinematicsSwitch(0)`，因此本配置启动后处于 identity kinematics。
|
||||
|
||||
## 5. xyzbc TRT 几何参数
|
||||
|
||||
`trtKinematicsSetup()` 位于：
|
||||
|
||||
```text
|
||||
src/emc/kinematics/trtfuncs.c
|
||||
```
|
||||
|
||||
它为 TRT 运动学创建 HAL 输入：
|
||||
|
||||
- `xyzbc-trt-kins.x-rot-point`
|
||||
- `xyzbc-trt-kins.y-rot-point`
|
||||
- `xyzbc-trt-kins.z-rot-point`
|
||||
- `xyzbc-trt-kins.x-offset`
|
||||
- `xyzbc-trt-kins.y-offset`
|
||||
- `xyzbc-trt-kins.z-offset`
|
||||
- `xyzbc-trt-kins.tool-offset`
|
||||
- `xyzbc-trt-kins.conventional-directions`
|
||||
|
||||
INI 中对这些参数的设置和连接为：
|
||||
|
||||
```hal
|
||||
net :tool-offset motion.tooloffset.z
|
||||
net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
|
||||
net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset
|
||||
net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset
|
||||
sets :x-offset -20
|
||||
sets :z-offset -15
|
||||
|
||||
setp xyzbc-trt-kins.x-rot-point 0
|
||||
setp xyzbc-trt-kins.y-rot-point 0
|
||||
setp xyzbc-trt-kins.z-rot-point 0
|
||||
setp xyzbc-trt-kins.conventional-directions 0
|
||||
```
|
||||
|
||||
因此实际计算中：
|
||||
|
||||
```text
|
||||
dx = x-offset = -20
|
||||
dz = z-offset + tool-offset
|
||||
```
|
||||
|
||||
`tool-offset` 来自 `motion.tooloffset.z`，也就是 LinuxCNC 当前刀长补偿的 Z 分量。
|
||||
|
||||
## 6. xyzbc 正/逆运动学
|
||||
|
||||
`xyzbcKinematicsForward()` 位于：
|
||||
|
||||
```text
|
||||
src/emc/kinematics/trtfuncs.c
|
||||
```
|
||||
|
||||
它从 joint 坐标计算当前笛卡尔位姿：
|
||||
|
||||
```text
|
||||
joints[X/Y/Z/B/C] -> EmcPose XYZBC
|
||||
```
|
||||
|
||||
`xyzbcKinematicsInverse()` 从程序位姿计算 joint 目标：
|
||||
|
||||
```text
|
||||
EmcPose XYZBC -> joints[X/Y/Z/B/C]
|
||||
```
|
||||
|
||||
关键输入包括：
|
||||
|
||||
- X/Y/Z/B/C 指令位姿
|
||||
- B 轴角度
|
||||
- C 轴角度
|
||||
- `x-offset`
|
||||
- `z-offset`
|
||||
- `tool-offset`
|
||||
- 旋转中心 `x/y/z-rot-point`
|
||||
- `conventional-directions`
|
||||
|
||||
在 coordinated motion 中，motion 控制循环调用当前运动学的 inverse，将轨迹规划器输出的笛卡尔目标位置转换为 joint 目标。
|
||||
|
||||
路径为：
|
||||
|
||||
```text
|
||||
trajectory planner
|
||||
-> emcmotStatus->carte_pos_cmd
|
||||
-> kinematicsInverse()
|
||||
-> xyzbcKinematicsInverse()
|
||||
-> joint.N.coarse_pos
|
||||
-> joint.N.motor-pos-cmd
|
||||
-> 仿真 PID/mux
|
||||
-> joint.N.motor-pos-fb
|
||||
```
|
||||
|
||||
反馈/状态更新时则通过 forward：
|
||||
|
||||
```text
|
||||
joint feedback/cmd
|
||||
-> kinematicsForward()
|
||||
-> xyzbcKinematicsForward()
|
||||
-> 当前 XYZBC 位姿
|
||||
```
|
||||
|
||||
## 7. Vismach 可视化模型
|
||||
|
||||
INI 中启动 Vismach：
|
||||
|
||||
```hal
|
||||
loadusr -W xyzbc-trt-gui
|
||||
```
|
||||
|
||||
对应文件：
|
||||
|
||||
```text
|
||||
bin/xyzbc-trt-gui
|
||||
src/hal/user_comps/vismach/xyzbc-trt-gui.py
|
||||
```
|
||||
|
||||
`xyzbc-trt-gui.py` 创建 HAL 用户组件：
|
||||
|
||||
```python
|
||||
c = hal.component("xyzbc-trt-gui")
|
||||
```
|
||||
|
||||
并创建输入 pin：
|
||||
|
||||
- `table-x`
|
||||
- `saddle-y`
|
||||
- `spindle-z`
|
||||
- `tilt-b`
|
||||
- `rotate-c`
|
||||
- `z-offset`
|
||||
- `x-offset`
|
||||
- `tool-offset`
|
||||
|
||||
INI 中连接为：
|
||||
|
||||
```hal
|
||||
net :table-x joint.0.pos-fb xyzbc-trt-gui.table-x
|
||||
net :saddle-y joint.1.pos-fb xyzbc-trt-gui.saddle-y
|
||||
net :spindle-z joint.2.pos-fb xyzbc-trt-gui.spindle-z
|
||||
net :tilt-b joint.3.pos-fb xyzbc-trt-gui.tilt-b
|
||||
net :rotate-c joint.4.pos-fb xyzbc-trt-gui.rotate-c
|
||||
```
|
||||
|
||||
因此 Vismach 显示的是 joint 反馈，不是直接显示 G-code 坐标。
|
||||
|
||||
偏置和刀长补偿也传给 Vismach：
|
||||
|
||||
```hal
|
||||
net :tool-offset xyzbc-trt-kins.tool-offset xyzbc-trt-gui.tool-offset
|
||||
net :x-offset xyzbc-trt-kins.x-offset xyzbc-trt-gui.x-offset
|
||||
net :z-offset xyzbc-trt-kins.z-offset xyzbc-trt-gui.z-offset
|
||||
```
|
||||
|
||||
这样三维模型的几何位置和运动学计算使用同一组偏置。
|
||||
|
||||
## 8. PyVCP 面板与按钮
|
||||
|
||||
AXIS 根据：
|
||||
|
||||
```ini
|
||||
[DISPLAY]
|
||||
PYVCP = ./xyzbc-trt.xml
|
||||
```
|
||||
|
||||
加载：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
|
||||
```
|
||||
|
||||
该 XML 创建一个 `SWITCHKINS` 面板，包含：
|
||||
|
||||
- 多状态标签：`0:IDENTITY`、`1: XYZBC`、`2: USERK`
|
||||
- 按钮 `IDENTITY`
|
||||
- 按钮 `TCP:XYZBC`
|
||||
- 按钮 `userk`
|
||||
- 按钮 `vismach-clear`
|
||||
|
||||
AXIS 创建 PyVCP 组件后，再执行：
|
||||
|
||||
```ini
|
||||
[HAL]
|
||||
POSTGUI_HALFILE = switchkins_postgui.hal
|
||||
```
|
||||
|
||||
对应文件：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
|
||||
```
|
||||
|
||||
其中连接：
|
||||
|
||||
```hal
|
||||
net :kinstype.is-0 <= kinstype.is-0 => pyvcp.multilabel.0.legend0
|
||||
net :kinstype.is-1 <= kinstype.is-1 => pyvcp.multilabel.0.legend1
|
||||
net :kinstype.is-2 <= kinstype.is-2 => pyvcp.multilabel.0.legend2
|
||||
|
||||
net :type0-button <= pyvcp.type0-button => halui.mdi-command-00
|
||||
net :type1-button <= pyvcp.type1-button => halui.mdi-command-01
|
||||
net :type2-button <= pyvcp.type2-button => halui.mdi-command-02
|
||||
```
|
||||
|
||||
INI 中 `[HALUI]` 配置为：
|
||||
|
||||
```ini
|
||||
MDI_COMMAND = M429
|
||||
MDI_COMMAND = M428
|
||||
MDI_COMMAND = M430
|
||||
```
|
||||
|
||||
所以按钮和运动学类型的实际关系是：
|
||||
|
||||
- `IDENTITY` -> `halui.mdi-command-00` -> `M429` -> type 0
|
||||
- `TCP:XYZBC` -> `halui.mdi-command-01` -> `M428` -> type 1
|
||||
- `userk` -> `halui.mdi-command-02` -> `M430` -> type 2
|
||||
|
||||
## 9. M428/M429/M430 切换链路
|
||||
|
||||
remap 子程序位于：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
|
||||
```
|
||||
|
||||
由于本配置使用 `sparm=identityfirst`，实际映射为：
|
||||
|
||||
- `M429`：`#<kinstype> = 0`，identity
|
||||
- `M428`：`#<kinstype> = 1`，xyzbc TRT
|
||||
- `M430`：`#<kinstype> = 2`，userk
|
||||
|
||||
以 `M428` 为例，`428remap.ngc` 中核心语句为：
|
||||
|
||||
```ngc
|
||||
#<kinstype> = 1
|
||||
#<SWITCHKINS_PIN> = 3
|
||||
M68 E#<SWITCHKINS_PIN> Q#<kinstype>
|
||||
M66 E0 L0
|
||||
```
|
||||
|
||||
实际等价于：
|
||||
|
||||
```ngc
|
||||
M68 E3 Q1
|
||||
M66 E0 L0
|
||||
```
|
||||
|
||||
`M68 E3 Q1` 设置 `motion.analog-out-03 = 1`。
|
||||
|
||||
INI 已连接：
|
||||
|
||||
```hal
|
||||
net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
|
||||
```
|
||||
|
||||
因此完整切换路径为：
|
||||
|
||||
```text
|
||||
PyVCP button
|
||||
-> halui.mdi-command-01
|
||||
-> M428
|
||||
-> 428remap.ngc
|
||||
-> M68 E3 Q1
|
||||
-> motion.analog-out-03 = 1
|
||||
-> motion.switchkins-type = 1
|
||||
-> motion servo thread 检测到变化
|
||||
-> handle_kinematicsSwitch()
|
||||
-> kinematicsSwitch(1)
|
||||
-> 激活 xyzbc TRT kinematics
|
||||
```
|
||||
|
||||
`M66 E0 L0` 用于强制解释器和 motion 同步，确保后续 G-code 在切换后的运动学类型下执行。
|
||||
|
||||
## 10. motion 伺服周期中的 switchkins 处理
|
||||
|
||||
motion 控制循环位于：
|
||||
|
||||
```text
|
||||
src/emc/motion/control.c
|
||||
```
|
||||
|
||||
每个 servo cycle 中会执行：
|
||||
|
||||
```c
|
||||
read_homing_in_pins(ALL_JOINTS);
|
||||
handle_kinematicsSwitch();
|
||||
process_inputs();
|
||||
do_forward_kins();
|
||||
...
|
||||
get_pos_cmds(period);
|
||||
...
|
||||
output_to_hal();
|
||||
```
|
||||
|
||||
`handle_kinematicsSwitch()` 的逻辑：
|
||||
|
||||
1. 如果当前运动学不可切换，直接返回。
|
||||
2. 读取 `motion.switchkins-type`。
|
||||
3. 如果值没变，直接返回。
|
||||
4. 如果值变化，调用 `kinematicsSwitch(new_type)`。
|
||||
5. 用当前 joint 位置做一次 forward kinematics。
|
||||
6. 更新 `emcmotStatus->carte_pos_cmd`。
|
||||
7. 更新 trajectory planner 当前位姿。
|
||||
|
||||
这一步很重要：切换运动学时，LinuxCNC 会用当前 joint 位置重新计算新的笛卡尔位置，避免轨迹规划器还停留在旧运动学解释下的位置。
|
||||
|
||||
## 11. M68 到 motion analog output 的路径
|
||||
|
||||
`M68` 在解释器中被转换为设置 analog output 的 canonical command。
|
||||
|
||||
源码路径：
|
||||
|
||||
```text
|
||||
src/emc/rs274ngc/interp_convert.cc
|
||||
src/emc/task/emccanon.cc
|
||||
src/emc/task/taskintf.cc
|
||||
src/emc/motion/command.c
|
||||
```
|
||||
|
||||
核心过程：
|
||||
|
||||
1. `interp_convert.cc` 识别 `M68 E... Q...`。
|
||||
2. 调用 `SET_AUX_OUTPUT_VALUE(index, value)`。
|
||||
3. `emccanon.cc` 生成 `EMC_MOTION_SET_AOUT`。
|
||||
4. task 层调用 `emcMotionSetAout()`。
|
||||
5. motion 收到 `EMCMOT_SET_AOUT`。
|
||||
6. `emcmotAioWrite(index, value)` 写入 `motion.analog-out-XX`。
|
||||
|
||||
本配置中 index 为 3，所以写入：
|
||||
|
||||
```text
|
||||
motion.analog-out-03
|
||||
```
|
||||
|
||||
再通过 HAL net 传给：
|
||||
|
||||
```text
|
||||
motion.switchkins-type
|
||||
```
|
||||
|
||||
## 12. 演示 G-code 执行过程
|
||||
|
||||
AXIS 启动后自动打开：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
|
||||
```
|
||||
|
||||
该文件内容很短：
|
||||
|
||||
```ngc
|
||||
o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]
|
||||
m2
|
||||
```
|
||||
|
||||
它调用：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc
|
||||
```
|
||||
|
||||
参数含义：
|
||||
|
||||
- `zmax = 10`
|
||||
- `zmin = 5`
|
||||
- `r = 10`
|
||||
- `frate = 1000`
|
||||
- `n = 3`
|
||||
- `a = 0`
|
||||
- `b = 20`
|
||||
- `c = 45`
|
||||
- `dist = 20`
|
||||
|
||||
`xyzbc_switchkins_sub.ngc` 在四个象限重复类似流程：
|
||||
|
||||
```ngc
|
||||
M429
|
||||
G53 G0 X0 Y0 Z#<zmax> B0 C0
|
||||
G10 L20 P0 X0 Y0 Z#<zmax> B0 C0
|
||||
G0 X... Y... Z#<zmax>
|
||||
o<helix_bc> call [...]
|
||||
```
|
||||
|
||||
也就是：
|
||||
|
||||
1. 用 `M429` 切到 identity。
|
||||
2. 用 `G53` 在机床坐标中移动到安全位置。
|
||||
3. 用 `G10 L20 P0` 重设当前工件坐标系。
|
||||
4. 移动到当前象限的加工中心。
|
||||
5. 调用 `helix_bc`。
|
||||
|
||||
`helix_bc.ngc` 的核心流程为：
|
||||
|
||||
```ngc
|
||||
M429
|
||||
G0 X[#<_x> - #<r>]
|
||||
G10 L20 P0 X0 Y0 Z#<zmax> B0 C0
|
||||
M428
|
||||
G0 B#<b> C#<c>
|
||||
F#<frate> G2 I#<r> Z#<zmin> P#<n>
|
||||
M429
|
||||
G0 X0 Y0 Z#<zmax> B0 C0
|
||||
G0 X[#<_x> + #<r>]
|
||||
M428
|
||||
```
|
||||
|
||||
含义：
|
||||
|
||||
1. 先切回 identity，方便做直观的定位和坐标系设置。
|
||||
2. 调整 X 到圆弧起点。
|
||||
3. 重设 G54。
|
||||
4. `M428` 切换到 xyzbc TRT 运动学。
|
||||
5. 移动 B/C 到指定角度。
|
||||
6. 执行带 Z 下降的 `G2 ... P#<n>` 螺旋插补。
|
||||
7. 切回 identity，回到安全位置。
|
||||
8. 最后再次切到 xyzbc，保持显示/演示状态。
|
||||
|
||||
## 13. 运行时数据流总览
|
||||
|
||||
启动阶段：
|
||||
|
||||
```text
|
||||
desktop/rip-environment
|
||||
-> scripts/linuxcnc
|
||||
-> linuxcncsvr
|
||||
-> realtime/HAL
|
||||
-> milltask
|
||||
-> halui
|
||||
-> basic_sim.tcl
|
||||
-> loadrt xyzbc-trt-kins sparm=identityfirst
|
||||
-> loadrt motmod num_joints=5
|
||||
-> HALCMD loadusr -W xyzbc-trt-gui
|
||||
-> axis GUI
|
||||
-> PyVCP
|
||||
-> switchkins_postgui.hal
|
||||
```
|
||||
|
||||
切换运动学：
|
||||
|
||||
```text
|
||||
PyVCP button 或 G-code M428/M429/M430
|
||||
-> remap ngc
|
||||
-> M68 E3 Q<type>
|
||||
-> motion.analog-out-03
|
||||
-> motion.switchkins-type
|
||||
-> handle_kinematicsSwitch()
|
||||
-> kinematicsSwitch(type)
|
||||
```
|
||||
|
||||
加工运动：
|
||||
|
||||
```text
|
||||
G-code XYZBC
|
||||
-> interpreter
|
||||
-> task
|
||||
-> trajectory planner
|
||||
-> emcmotStatus->carte_pos_cmd
|
||||
-> kinematicsInverse()
|
||||
-> xyzbcKinematicsInverse() 或 identityKinematicsInverse()
|
||||
-> joint.N.motor-pos-cmd
|
||||
-> pid/mux 仿真闭环
|
||||
-> joint.N.motor-pos-fb
|
||||
-> Vismach 显示
|
||||
```
|
||||
|
||||
反馈显示：
|
||||
|
||||
```text
|
||||
joint.N.pos-fb
|
||||
-> xyzbc-trt-gui table/saddle/spindle/tilt/rotate pins
|
||||
-> Vismach 三维模型
|
||||
|
||||
kinstype.is-N
|
||||
-> pyvcp.multilabel
|
||||
-> SWITCHKINS 面板显示当前类型
|
||||
```
|
||||
|
||||
## 14. 关键结论
|
||||
|
||||
该仿真不是简单的五个独立轴显示程序，而是一个完整的 switchkins 示例：
|
||||
|
||||
1. 启动默认是 identity kinematics，因为 `sparm=identityfirst`。
|
||||
2. `M429` 选择 identity，即 `switchkins-type 0`。
|
||||
3. `M428` 选择 xyzbc TRT，即 `switchkins-type 1`。
|
||||
4. `M430` 选择 userk，即 `switchkins-type 2`。
|
||||
5. 运动学切换不是按钮直接写运动学模块，而是经过 `halui -> MDI -> remap -> M68 -> motion.analog-out-03 -> motion.switchkins-type`。
|
||||
6. `xyzbcKinematicsInverse()` 是 RTCP/TCP 行为的核心，它根据 XYZBC 指令、B/C 角度、转台偏置和刀长补偿计算 joint 目标。
|
||||
7. Vismach 使用 joint feedback 和同一组几何偏置显示机床模型，因此可视化结果跟运动学参数保持一致。
|
||||
8. 演示程序通过 identity 与 xyzbc TRT 之间反复切换，展示了在普通机床坐标定位和五轴 TCP 加工之间切换的完整过程。
|
||||
|
||||
## 15. 主要相关文件清单
|
||||
|
||||
配置入口：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
|
||||
```
|
||||
|
||||
HAL/GUI：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt_cmds.hal
|
||||
src/hal/user_comps/vismach/xyzbc-trt-gui.py
|
||||
bin/xyzbc-trt-gui
|
||||
```
|
||||
|
||||
G-code/remap：
|
||||
|
||||
```text
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
|
||||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
|
||||
```
|
||||
|
||||
运动学源码：
|
||||
|
||||
```text
|
||||
src/emc/kinematics/xyzbc-trt-kins.c
|
||||
src/emc/kinematics/trtfuncs.c
|
||||
src/emc/kinematics/switchkins.c
|
||||
src/emc/kinematics/userkfuncs.c
|
||||
include/kinematics.h
|
||||
```
|
||||
|
||||
motion/task/interpreter 相关：
|
||||
|
||||
```text
|
||||
src/emc/motion/motion.c
|
||||
src/emc/motion/control.c
|
||||
src/emc/motion/command.c
|
||||
src/emc/rs274ngc/interp_convert.cc
|
||||
src/emc/task/emccanon.cc
|
||||
src/emc/task/taskintf.cc
|
||||
```
|
||||
|
||||
启动脚本和 HAL 库：
|
||||
|
||||
```text
|
||||
scripts/linuxcnc
|
||||
scripts/rip-environment
|
||||
lib/hallib/basic_sim.tcl
|
||||
lib/hallib/sim_lib.tcl
|
||||
```
|
||||
|
||||
## 16. 与 LinuxCNC 数据系统核心原理的对应关系
|
||||
|
||||
`xyzbc-trt` 仿真可以看作 LinuxCNC 数据系统的一次完整穿透：从 INI 装配，到 NML 命令，到 task/interpreter，到 motion 实时共享内存，到 HAL pin/signal，再到 Vismach 显示。
|
||||
|
||||
### 16.1 INI 是装配入口
|
||||
|
||||
`xyzbc-trt.ini` 决定系统启动时要加载的主要对象：
|
||||
|
||||
```ini
|
||||
[DISPLAY] DISPLAY = axis
|
||||
[DISPLAY] PYVCP = ./xyzbc-trt.xml
|
||||
[DISPLAY] OPEN_FILE = ./demos/xyzbc_switchkins.ngc
|
||||
|
||||
[KINS] KINEMATICS = xyzbc-trt-kins sparm=identityfirst
|
||||
[KINS] JOINTS = 5
|
||||
|
||||
[TRAJ] COORDINATES = XYZBC
|
||||
|
||||
[HAL] HALFILE = LIB:basic_sim.tcl
|
||||
[HAL] POSTGUI_HALFILE = switchkins_postgui.hal
|
||||
```
|
||||
|
||||
INI 本身不做实时控制，它描述“系统应该如何装配”。真正的运行时数据交换由 NML、motion shared memory 和 HAL 完成。
|
||||
|
||||
### 16.2 NML 负责 GUI/halui/task 命令与状态
|
||||
|
||||
当用户点击 PyVCP 按钮时，按钮并不直接写 `motion.switchkins-type`。实际路径是：
|
||||
|
||||
```text
|
||||
PyVCP button
|
||||
-> halui.mdi-command-N
|
||||
-> halui 通过 NML 发送 MDI 命令
|
||||
-> milltask 接收命令
|
||||
-> interpreter 执行 M428/M429/M430 remap
|
||||
```
|
||||
|
||||
这体现了 LinuxCNC 的基本原则：GUI 和 halui 表达操作意图，task 负责调度和合法性，motion 负责实时执行。
|
||||
|
||||
### 16.3 Interpreter/Canonical 层把 M428 转成 motion 能执行的动作
|
||||
|
||||
`M428` 并不是 motion 原生命令，而是 remap 子程序：
|
||||
|
||||
```ngc
|
||||
M68 E3 Q1
|
||||
M66 E0 L0
|
||||
```
|
||||
|
||||
解释器把 `M68 E3 Q1` 转换为 canonical motion output command，最终由 task 发送给 motion：
|
||||
|
||||
```text
|
||||
M68 E3 Q1
|
||||
-> SET_AUX_OUTPUT_VALUE(3, 1)
|
||||
-> EMC_MOTION_SET_AOUT
|
||||
-> emcMotionSetAout()
|
||||
-> usrmotWriteEmcmotCommand()
|
||||
-> realtime motion command shared memory
|
||||
```
|
||||
|
||||
这说明 G-code 的作用不是直接改 HAL，而是通过解释器和 task 进入 motion。
|
||||
|
||||
### 16.4 Motion shared memory 是 task 和实时 motion 的边界
|
||||
|
||||
task 写入 `emcmot_command_t`，实时 motion 读取并执行。motion 每个 servo cycle 更新 `emcmot_status_t`，task 再把它汇总到 `EMC_STAT`。
|
||||
|
||||
在 `xyzbc-trt` 中，`M68 E3 Q1` 最终被 motion 执行为：
|
||||
|
||||
```text
|
||||
motion.analog-out-03 = 1
|
||||
```
|
||||
|
||||
然后 HAL 连接把这个值传给：
|
||||
|
||||
```text
|
||||
motion.switchkins-type = 1
|
||||
```
|
||||
|
||||
### 16.5 HAL 是实时信号网络
|
||||
|
||||
本配置最关键的 HAL net 是：
|
||||
|
||||
```hal
|
||||
net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
|
||||
```
|
||||
|
||||
它的本质是让两个 HAL pin 共享同一个 signal 值：
|
||||
|
||||
```text
|
||||
writer: motion.analog-out-03
|
||||
signal: :kinstype-select
|
||||
reader: motion.switchkins-type
|
||||
```
|
||||
|
||||
servo-thread 中 `handle_kinematicsSwitch()` 读取 `motion.switchkins-type`，发现从 0 变成 1 后调用：
|
||||
|
||||
```text
|
||||
kinematicsSwitch(1)
|
||||
```
|
||||
|
||||
于是当前运动学从 identity 切换到 xyzbc TRT。
|
||||
|
||||
### 16.6 Vismach 是 HAL 数据消费者
|
||||
|
||||
Vismach 模型不参与 NML，也不参与 motion command 调度。它作为 HAL 用户组件读取 pin：
|
||||
|
||||
```hal
|
||||
joint.0.pos-fb -> xyzbc-trt-gui.table-x
|
||||
joint.1.pos-fb -> xyzbc-trt-gui.saddle-y
|
||||
joint.2.pos-fb -> xyzbc-trt-gui.spindle-z
|
||||
joint.3.pos-fb -> xyzbc-trt-gui.tilt-b
|
||||
joint.4.pos-fb -> xyzbc-trt-gui.rotate-c
|
||||
```
|
||||
|
||||
因此 Vismach 显示的是 HAL 中的 joint feedback 快照，而不是直接读取 G-code 或 motion 内部轨迹队列。
|
||||
|
||||
### 16.7 该配置的数据链总图
|
||||
|
||||
```text
|
||||
INI 装配
|
||||
-> basic_sim.tcl 加载 motion/k 等 HAL 模块
|
||||
-> AXIS 创建 PyVCP
|
||||
-> PyVCP 按钮触发 halui MDI
|
||||
-> NML command 到 milltask
|
||||
-> interpreter 执行 M428/M429/M430 remap
|
||||
-> M68 变成 EMC_MOTION_SET_AOUT
|
||||
-> task 写 emcmot_command_t
|
||||
-> realtime motion 写 motion.analog-out-03
|
||||
-> HAL net 传给 motion.switchkins-type
|
||||
-> servo-thread 切换 kinematics
|
||||
-> inverse kinematics 生成 joint 目标
|
||||
-> 仿真 PID/mux 生成 joint feedback
|
||||
-> Vismach 读取 HAL feedback 显示机床
|
||||
-> motion status 汇总到 EMC_STAT
|
||||
-> AXIS/halui 显示状态
|
||||
```
|
||||
|
||||
详细通用原理见：
|
||||
|
||||
```text
|
||||
项目分析/LinuxCNC数据系统核心原理.md
|
||||
```
|
||||
BIN
项目分析/5axis-xyzbc-trt-sim高清流程图.png
Normal file
BIN
项目分析/5axis-xyzbc-trt-sim高清流程图.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.0 MiB |
284
项目分析/5axis-xyzbc-trt-sim高清流程图.svg
Normal file
284
项目分析/5axis-xyzbc-trt-sim高清流程图.svg
Normal file
@@ -0,0 +1,284 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" width="4800" height="7200" viewBox="0 0 4800 7200">
|
||||
|
||||
<defs>
|
||||
<marker id="arrow" markerWidth="18" markerHeight="18" refX="14" refY="6" orient="auto" markerUnits="strokeWidth">
|
||||
<path d="M2,2 L14,6 L2,10 Z" fill="#1f3b57"/>
|
||||
</marker>
|
||||
<style>
|
||||
svg { background: #ffffff; }
|
||||
text { font-family: Noto Sans CJK SC, DejaVu Sans, sans-serif; fill: #17212b; }
|
||||
.title { font-size: 76px; font-weight: 800; }
|
||||
.subtitle { font-size: 34px; fill: #52606d; }
|
||||
.section-title { font-size: 44px; font-weight: 800; fill: #24415f; }
|
||||
.box-title { font-size: 34px; font-weight: 800; }
|
||||
.box-text { font-size: 30px; font-weight: 650; }
|
||||
.box-small { font-size: 27px; fill: #35495e; }
|
||||
.note-title { font-size: 34px; font-weight: 800; fill: #7a4b00; }
|
||||
.note-text { font-size: 27px; fill: #5c440b; }
|
||||
.arrow-label { font-size: 26px; font-weight: 700; fill: #24415f; }
|
||||
.legend { font-size: 28px; fill: #34495e; }
|
||||
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|
||||
</defs>
|
||||
<rect x="0" y="0" width="4800" height="7200" fill="#ffffff"/>
|
||||
<text x="2400" y="120" class="title" text-anchor="middle">5axis-xyzbc-trt-sim 执行流程图</text>
|
||||
<text x="2400" y="178" class="subtitle" text-anchor="middle">LinuxCNC: xyzbc-trt.ini / switchkins / Vismach / PyVCP / M428-M429-M430</text>
|
||||
<rect x="120" y="260" width="4560" height="780" rx="36" fill="#eef6ff" stroke="#b8c7dc" stroke-width="4"/>
|
||||
<text x="154" y="330" class="section-title">1. 总体启动链路</text>
|
||||
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|
||||
<text x="460.0" y="434" class="box-title" text-anchor="middle">xyzbc-trt.desktop</text>
|
||||
<text x="238" y="484" class="box-small">快捷方式入口</text>
|
||||
<rect id="s2" x="820" y="390" width="520" height="150" rx="18" fill="#ffffff" stroke="#416788" stroke-width="4"/>
|
||||
<text x="1080.0" y="434" class="box-title" text-anchor="middle">rip-environment</text>
|
||||
<text x="848" y="484" class="box-small">设置 RIP 环境</text>
|
||||
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|
||||
<text x="1730.0" y="434" class="box-title" text-anchor="middle">scripts/linuxcnc</text>
|
||||
<text x="1478" y="484" class="box-small">读取 xyzbc-trt.ini</text>
|
||||
<rect id="s4" x="2120" y="390" width="520" height="150" rx="18" fill="#ffffff" stroke="#416788" stroke-width="4"/>
|
||||
<text x="2380.0" y="434" class="box-title" text-anchor="middle">linuxcncsvr</text>
|
||||
<text x="2148" y="484" class="box-small">NML 通道</text>
|
||||
<rect id="s5" x="2750" y="390" width="560" height="150" rx="18" fill="#ffffff" stroke="#416788" stroke-width="4"/>
|
||||
<text x="3030.0" y="434" class="box-title" text-anchor="middle">realtime / HAL</text>
|
||||
<text x="2778" y="484" class="box-small">加载 RTAPI/HAL</text>
|
||||
<rect id="s6" x="3420" y="390" width="500" height="150" rx="18" fill="#ffffff" stroke="#416788" stroke-width="4"/>
|
||||
<text x="3670.0" y="434" class="box-title" text-anchor="middle">milltask / halui</text>
|
||||
<text x="3448" y="484" class="box-small">任务与 MDI</text>
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<text x="4058" y="484" class="box-small">前台显示</text>
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<text x="478" y="784" class="box-small">[KINS] xyzbc-trt-kins sparm=identityfirst; [TRAJ]</text>
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<text x="478" y="818" class="box-small">XYZBC; [DISPLAY] axis + PyVCP; [HAL] basic_sim.tcl</text>
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<text x="2285.0" y="734" class="box-title" text-anchor="middle">HAL 加载</text>
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<text x="1788" y="784" class="box-small">basic_sim.tcl 建立仿真闭环; HALCMD 启动 Vismach</text>
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<text x="1788" y="818" class="box-small">并连接 pins</text>
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<text x="3595.0" y="734" class="box-title" text-anchor="middle">GUI 后置 HAL</text>
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<text x="3098" y="784" class="box-small">AXIS 创建 PyVCP 后执行 switchkins_postgui.hal</text>
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<text x="258" y="1374" class="box-small">读取</text>
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<text x="258" y="1408" class="box-small">coordinates/joints/servo</text>
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<text x="938" y="1408" class="box-small">sparm=identityfirst</text>
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<text x="1110.0" y="2344" class="box-title" text-anchor="middle">理想伺服仿真闭环</text>
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<text x="278" y="2394" class="box-small">joint.N.motor-pos-cmd -> JN_pid.command -> JN_mux.in1 -> joint.N.motor-pos-fb</text>
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<text x="2514" y="1210" class="section-title">3. switchkins 初始化</text>
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<text x="2618" y="1374" class="box-small">switchkinsSetup()</text>
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<text x="3378" y="1374" class="box-small">改变 type 顺序</text>
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<text x="2890.0" y="1664" class="box-title" text-anchor="middle">type 0</text>
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<text x="2658" y="1714" class="box-small">identity kinematics</text>
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<text x="3540.0" y="1664" class="box-title" text-anchor="middle">type 1</text>
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<text x="3308" y="1714" class="box-small">xyzbc TRT kinematics</text>
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<text x="3958" y="1714" class="box-small">userk kinematics</text>
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<text x="3480.0" y="1984" class="box-title" text-anchor="middle">HAL pins</text>
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<text x="2728" y="2034" class="box-small">kinstype.is-0/1/2; x/y/z-rot-point; x/y/z-offset; tool-offset;</text>
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<text x="3480.0" y="2324" class="box-title" text-anchor="middle">启动默认状态</text>
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<text x="2948" y="2374" class="box-small">switchkins_type = 0 -> identity</text>
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<text x="154" y="2800" class="section-title">4. PyVCP / M-code / motion.switchkins-type 切换链路</text>
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<text x="580.0" y="2924" class="box-title" text-anchor="middle">PyVCP SWITCHKINS 面板</text>
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<text x="268" y="2974" class="box-small">IDENTITY / TCP:XYZBC / userk</text>
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<text x="1410.0" y="2924" class="box-title" text-anchor="middle">switchkins_postgui.hal</text>
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<text x="1128" y="2974" class="box-small">按钮接入 halui.mdi-command</text>
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<text x="2190.0" y="2924" class="box-title" text-anchor="middle">halui MDI</text>
|
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<text x="1928" y="2974" class="box-small">执行 M429 / M428 / M430</text>
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<text x="2980.0" y="2924" class="box-title" text-anchor="middle">remap 子程序</text>
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<text x="2688" y="2974" class="box-small">429/428/430remap.ngc</text>
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<text x="3740.0" y="2924" class="box-title" text-anchor="middle">M68 E3 Qn</text>
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<text x="3508" y="2974" class="box-small">设置 analog out</text>
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<text x="4188" y="2974" class="box-small">同步解释器与 motion</text>
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<text x="850.0" y="3304" class="box-title" text-anchor="middle">M429</text>
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<text x="1810.0" y="3304" class="box-title" text-anchor="middle">M428</text>
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<text x="2770.0" y="3304" class="box-title" text-anchor="middle">M430</text>
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<text x="3760.0" y="3304" class="box-title" text-anchor="middle">motion.analog-out-03</text>
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<text x="3428" y="3354" class="box-small">HAL net :kinstype-select</text>
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<text x="2005.0" y="3134.0" class="arrow-label" text-anchor="middle">M428</text>
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<text x="2608" y="3794" class="box-small">servo-thread 每周期检测并调用</text>
|
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<text x="2608" y="3828" class="box-small">kinematicsSwitch(type)</text>
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<text x="154" y="4300" class="section-title">5. 运行时运动数据流与 Vismach 显示</text>
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<text x="948" y="4484" class="box-small">RS274NGC</text>
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<text x="3440.0" y="4434" class="box-title" text-anchor="middle">kinematicsInverse()</text>
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<text x="4008" y="4484" class="box-small">X/Y/Z/B/C joint 目标</text>
|
||||
<path d="M 760 4465 L 920 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 1440 4465 L 1600 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2120 4465 L 2280 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2900 4465 L 3060 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3820 4465 L 3980 4465" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect id="idinv" x="540" y="4840" width="760" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="920.0" y="4884" class="box-title" text-anchor="middle">type 0: identity</text>
|
||||
<text x="568" y="4934" class="box-small">一一映射</text>
|
||||
<rect id="trtinv" x="1510" y="4840" width="1040" height="210" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="2030.0" y="4884" class="box-title" text-anchor="middle">type 1: xyzbcKinematicsInverse</text>
|
||||
<text x="1538" y="4934" class="box-small">使用 B/C</text>
|
||||
<text x="1538" y="4968" class="box-small">角度、x-offset=-20、z-offset=-15、tool-offset、旋转</text>
|
||||
<text x="1538" y="5002" class="box-small">中心计算 joint</text>
|
||||
<rect id="userkinv" x="2760" y="4840" width="760" height="150" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="3140.0" y="4884" class="box-title" text-anchor="middle">type 2: userk</text>
|
||||
<text x="2788" y="4934" class="box-small">模板示例</text>
|
||||
<path d="M 3440 4540 L 3440 4720 L 920 4720 L 920 4840" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3440 4540 L 3440 4720 L 2030 4720 L 2030 4840" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3440 4540 L 3440 4720 L 3140 4720 L 3140 4840" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect id="fb" x="820" y="5260" width="1000" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="1320.0" y="5304" class="box-title" text-anchor="middle">仿真反馈闭环</text>
|
||||
<text x="848" y="5354" class="box-small">joint.N.motor-pos-cmd -> pid/mux2 -></text>
|
||||
<text x="848" y="5388" class="box-small">joint.N.motor-pos-fb</text>
|
||||
<rect id="vis" x="2140" y="5260" width="1000" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="2640.0" y="5304" class="box-title" text-anchor="middle">Vismach</text>
|
||||
<text x="2168" y="5354" class="box-small">joint feedback 驱动 table/saddle/spindle/B/C 模型</text>
|
||||
<rect id="panel" x="3460" y="5260" width="780" height="160" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="3850.0" y="5304" class="box-title" text-anchor="middle">PyVCP 状态</text>
|
||||
<text x="3488" y="5354" class="box-small">kinstype.is-N 显示当前运动学</text>
|
||||
<path d="M 4260 4540 L 1320 5260" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 1820 5340 L 2140 5340" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2980 3870 L 3850 5260" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)" stroke-dasharray="18 12"/>
|
||||
<rect x="3265.0" y="4517.0" width="300" height="46" rx="12" fill="#ffffff" opacity="0.92"/>
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<text x="3415.0" y="4549.0" class="arrow-label" text-anchor="middle">kinstype.is-N</text>
|
||||
<rect x="120" y="5860" width="4560" height="1060" rx="36" fill="#f7f7f7" stroke="#b8c7dc" stroke-width="4"/>
|
||||
<text x="154" y="5930" class="section-title">6. 自动打开的演示 G-code 流程</text>
|
||||
<rect id="d1" x="250" y="6020" width="660" height="150" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="580.0" y="6064" class="box-title" text-anchor="middle">xyzbc_switchkins.ngc</text>
|
||||
<text x="278" y="6114" class="box-small">AXIS OPEN_FILE</text>
|
||||
<rect id="d2" x="1080" y="6020" width="760" height="150" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="1460.0" y="6064" class="box-title" text-anchor="middle">xyzbc_switchkins_sub</text>
|
||||
<text x="1108" y="6114" class="box-small">四个象限重复</text>
|
||||
<rect id="d3" x="2010" y="6020" width="620" height="150" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="2320.0" y="6064" class="box-title" text-anchor="middle">M429 identity</text>
|
||||
<text x="2038" y="6114" class="box-small">安全定位 / 重设 G54</text>
|
||||
<rect id="d4" x="2800" y="6020" width="620" height="150" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="3110.0" y="6064" class="box-title" text-anchor="middle">helix_bc</text>
|
||||
<text x="2828" y="6114" class="box-small">准备螺旋插补</text>
|
||||
<rect id="d5" x="3590" y="6020" width="700" height="150" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="3940.0" y="6064" class="box-title" text-anchor="middle">M428 xyzbc TRT</text>
|
||||
<text x="3618" y="6114" class="box-small">B/C 倾斜后加工</text>
|
||||
<path d="M 910 6095 L 1080 6095" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 1840 6095 L 2010 6095" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2630 6095 L 2800 6095" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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||||
<path d="M 3420 6095 L 3590 6095" fill="none" stroke="#1f3b57" stroke-width="6" marker-end="url(#arrow)"/>
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||||
<rect x="360" y="6380" width="1780" height="330" rx="18" fill="#fff7e6" stroke="#d49b32" stroke-width="4"/>
|
||||
<text x="388" y="6426" class="note-title">演示循环</text>
|
||||
<text x="388" y="6470" class="note-text">每个象限先 M429 切回 identity。</text>
|
||||
<text x="388" y="6502" class="note-text">G53 回机床安全位置，G10 L20 P0 重设 G54。</text>
|
||||
<text x="388" y="6534" class="note-text">移动到象限中心后调用 helix_bc。</text>
|
||||
<rect x="2540" y="6380" width="1780" height="330" rx="18" fill="#fff7e6" stroke="#d49b32" stroke-width="4"/>
|
||||
<text x="2568" y="6426" class="note-title">helix_bc 核心</text>
|
||||
<text x="2568" y="6470" class="note-text">M428 切换到 xyzbc TRT。</text>
|
||||
<text x="2568" y="6502" class="note-text">G0 B#<b> C#<c> 设置转台角度。</text>
|
||||
<text x="2568" y="6534" class="note-text">G2 I#<r> Z#<zmin> P#<n> 执行螺旋插补。</text>
|
||||
<text x="2400" y="7080" class="legend" text-anchor="middle">输出文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.png；源文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.svg</text>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 25 KiB |
597
项目分析/LinuxCNC数据系统核心原理.md
Normal file
597
项目分析/LinuxCNC数据系统核心原理.md
Normal file
@@ -0,0 +1,597 @@
|
||||
# LinuxCNC 数据系统核心原理
|
||||
|
||||
本文从本质上解释 LinuxCNC 的数据系统。这里的“数据系统”不是单个数据库，也不是单个消息队列，而是由多个不同实时等级、不同生命周期、不同所有权的数据通道组合而成。
|
||||
|
||||
LinuxCNC 的核心设计目标是：把非实时的解释、界面、配置、任务调度，与实时运动控制隔离开，同时又让它们能以受控方式交换命令、状态和信号。
|
||||
|
||||
## 1. 一句话理解
|
||||
|
||||
LinuxCNC 的数据系统本质上分为五层：
|
||||
|
||||
1. **INI 配置数据**：启动时读取，决定机器拓扑、模块、限位、速度、GUI、HAL 文件。
|
||||
2. **NML 命令/状态数据**：跨进程通信总线，GUI、halui、task、server 通过它交换命令和状态。
|
||||
3. **Task/Interpreter 数据**：解释 G-code，维护模态状态、坐标系、刀补、运行队列，并把规范动作转成 motion/io 命令。
|
||||
4. **Motion 实时共享数据**：task 和实时 motion 模块之间的 command/status/config 共享内存。
|
||||
5. **HAL 信号数据**：实时和用户态组件共享的 pin/signal/parameter 网络，连接 motion、驱动、GUI、Vismach 和自定义组件。
|
||||
|
||||
简化图：
|
||||
|
||||
```text
|
||||
INI
|
||||
-> linuxcnc 启动脚本
|
||||
-> NML 通道 / HAL 模块 / GUI / task / motion
|
||||
|
||||
GUI / halui
|
||||
-> NML command
|
||||
-> milltask
|
||||
-> interpreter / canonical commands
|
||||
-> motion command shared memory
|
||||
-> realtime motion
|
||||
-> HAL pins/signals
|
||||
-> feedback/status
|
||||
-> EMC_STAT / GUI 显示
|
||||
```
|
||||
|
||||
## 2. 为什么 LinuxCNC 要分成这些数据系统
|
||||
|
||||
CNC 控制同时有两类完全不同的需求：
|
||||
|
||||
- **人机界面、G-code 解释、文件读取、坐标系管理**：逻辑复杂，但不要求微秒级确定性。
|
||||
- **伺服周期、轨迹插补、关节输出、限位、探针采样**：必须稳定、周期性、可预测。
|
||||
|
||||
因此 LinuxCNC 不能把所有数据都放在一个普通进程里处理。它将系统拆成多个进程和实时模块：
|
||||
|
||||
- GUI 可以慢一些，甚至短暂卡顿。
|
||||
- task 可以做解释器、队列、状态同步。
|
||||
- motion 必须按 servo period 周期运行。
|
||||
- HAL 负责把实时数据以 pin/signal 方式连接起来。
|
||||
|
||||
本质原则：
|
||||
|
||||
```text
|
||||
非实时层负责“决定要做什么”
|
||||
实时层负责“按确定周期执行”
|
||||
HAL 负责“把实时变量接到机器/仿真/GUI”
|
||||
NML 负责“进程之间传命令和状态”
|
||||
```
|
||||
|
||||
## 3. INI：启动配置数据
|
||||
|
||||
INI 是 LinuxCNC 的静态配置入口。它不是运行时主数据通道，而是启动时的装配说明书。
|
||||
|
||||
典型职责：
|
||||
|
||||
- 选择 GUI：`[DISPLAY] DISPLAY = axis`
|
||||
- 指定 G-code 自动打开文件：`[DISPLAY] OPEN_FILE = ...`
|
||||
- 指定运动学：`[KINS] KINEMATICS = ...`
|
||||
- 指定 joint 数：`[KINS] JOINTS = ...`
|
||||
- 指定坐标字母：`[TRAJ] COORDINATES = ...`
|
||||
- 指定实时 motion 模块参数：`[EMCMOT] SERVO_PERIOD = ...`
|
||||
- 指定 HAL 文件：`[HAL] HALFILE = ...`
|
||||
- 指定单条 HAL 命令：`[HAL] HALCMD = ...`
|
||||
- 指定 NML 文件：`[EMC] NML_FILE = ...`，默认常见为 `configs/common/linuxcnc.nml`
|
||||
|
||||
`scripts/linuxcnc` 使用 `inivar` 从 INI 中读取这些配置，然后按顺序启动 server、task、halui、HAL、GUI。
|
||||
|
||||
INI 的特点：
|
||||
|
||||
- 启动时影响很大。
|
||||
- 运行中多数值不会自动重新读取。
|
||||
- 很多 INI 项会被 task/motion 初始化代码转写到 NML 状态或 HAL pin 中。
|
||||
- INI 本身不负责实时连接，实时连接由 HAL 完成。
|
||||
|
||||
## 4. NML：跨进程命令/状态总线
|
||||
|
||||
NML 是 LinuxCNC 的进程间通信系统。它把 GUI、halui、task、server 等非实时进程连接起来。
|
||||
|
||||
默认 NML 配置可见：
|
||||
|
||||
```text
|
||||
configs/common/linuxcnc.nml
|
||||
```
|
||||
|
||||
其中定义了三个顶层 buffer：
|
||||
|
||||
```text
|
||||
emcCommand
|
||||
emcStatus
|
||||
emcError
|
||||
```
|
||||
|
||||
它们的本质职责：
|
||||
|
||||
- `emcCommand`：GUI/halui 发命令给 task。
|
||||
- `emcStatus`：task 汇总系统状态供 GUI/halui 读取。
|
||||
- `emcError`：错误和操作信息通道。
|
||||
|
||||
`linuxcncsvr` 是这些 NML channel 的 master/server。启动脚本注释也说明：`linuxcncsvr` 默认第一个启动，因为它创建/持有 NML channel。
|
||||
|
||||
## 5. EMC_STAT：GUI 看到的系统状态
|
||||
|
||||
LinuxCNC 顶层状态结构是 `EMC_STAT`，定义在：
|
||||
|
||||
```text
|
||||
src/emc/nml_intf/emc_nml.hh
|
||||
```
|
||||
|
||||
它聚合了：
|
||||
|
||||
```text
|
||||
EMC_STAT
|
||||
├─ EMC_TASK_STAT task
|
||||
├─ EMC_MOTION_STAT motion
|
||||
└─ EMC_IO_STAT io
|
||||
```
|
||||
|
||||
其中 motion 部分又包含：
|
||||
|
||||
```text
|
||||
EMC_MOTION_STAT
|
||||
├─ EMC_TRAJ_STAT traj
|
||||
├─ EMC_JOINT_STAT joint[]
|
||||
├─ EMC_AXIS_STAT axis[]
|
||||
├─ EMC_SPINDLE_STAT spindle[]
|
||||
├─ synch_di[]
|
||||
├─ synch_do[]
|
||||
├─ analog_input[]
|
||||
└─ analog_output[]
|
||||
```
|
||||
|
||||
GUI 看到的大部分状态都来自 `EMC_STAT`：
|
||||
|
||||
- 当前模式：manual/mdi/auto
|
||||
- 当前任务状态：estop/off/on
|
||||
- 当前执行状态：done/exec/error
|
||||
- 当前文件、当前行、读到哪一行
|
||||
- 当前 G-code/M-code 模态
|
||||
- 当前坐标系偏置、G92、刀补
|
||||
- 当前 commanded position
|
||||
- 当前 actual position
|
||||
- joint 状态
|
||||
- spindle 状态
|
||||
- motion queue 状态
|
||||
|
||||
AXIS 的 Python 扩展通过 `RCS_STAT_CHANNEL` 读取 `emcStatus`，poll 时将 `EMC_STAT` 复制到本地 Python 对象中。
|
||||
|
||||
## 6. EMC_COMMAND：GUI/halui 发出的命令
|
||||
|
||||
GUI、halui、外部客户端一般不会直接写 motion 共享内存，而是向 `emcCommand` NML channel 写命令。
|
||||
|
||||
例如：
|
||||
|
||||
- 上电/下电
|
||||
- 解除急停
|
||||
- 切换模式
|
||||
- MDI 命令
|
||||
- 打开程序
|
||||
- cycle start
|
||||
- pause/resume
|
||||
- jog
|
||||
|
||||
这些命令先进入 task。task 决定命令是否合法、当前状态是否允许执行，以及是否需要调用 interpreter 或 motion。
|
||||
|
||||
本质上：
|
||||
|
||||
```text
|
||||
GUI/halui 不直接控制伺服周期
|
||||
GUI/halui 发送意图
|
||||
task 负责调度和状态一致性
|
||||
motion 负责实时执行
|
||||
```
|
||||
|
||||
## 7. Task/Interpreter：命令解释和调度层
|
||||
|
||||
`milltask` 是 LinuxCNC 的任务协调进程。它同时处理：
|
||||
|
||||
- NML command
|
||||
- interpreter G-code 解释
|
||||
- motion command 发送
|
||||
- IO/tool/spindle/coolant 命令
|
||||
- task 状态同步
|
||||
- EMC_STAT 汇总更新
|
||||
|
||||
关键文件：
|
||||
|
||||
```text
|
||||
src/emc/task/emctaskmain.cc
|
||||
src/emc/task/taskintf.cc
|
||||
src/emc/rs274ngc/
|
||||
src/emc/task/emccanon.cc
|
||||
```
|
||||
|
||||
典型链路：
|
||||
|
||||
```text
|
||||
GUI cycle start
|
||||
-> NML emcCommand
|
||||
-> milltask
|
||||
-> interpreter 读取 G-code
|
||||
-> canonical commands
|
||||
-> taskintf.cc
|
||||
-> usrmotWriteEmcmotCommand()
|
||||
-> realtime motion shared memory
|
||||
```
|
||||
|
||||
解释器维护的不是简单的“当前行文本”，而是一套 CNC 模态状态：
|
||||
|
||||
- G 模态组
|
||||
- M 模态组
|
||||
- 坐标系 G54/G55/...
|
||||
- G92 偏置
|
||||
- 工件平面
|
||||
- 距离模式
|
||||
- 进给模式
|
||||
- 刀具长度补偿
|
||||
- 半径补偿
|
||||
- 子程序调用层级
|
||||
- 参数文件变量
|
||||
- remap 状态
|
||||
|
||||
这些数据在 task/interpreter 层处理，然后转成 motion 能理解的动作。
|
||||
|
||||
## 8. Canonical command：解释器和 motion 之间的语义桥
|
||||
|
||||
解释器不会直接操作 joint。它输出更抽象的“规范动作”：
|
||||
|
||||
- 直线移动
|
||||
- 圆弧移动
|
||||
- 设置速度
|
||||
- 设置主轴
|
||||
- 设置 IO
|
||||
- 设置 motion analog output
|
||||
- 等待输入
|
||||
- 换刀
|
||||
|
||||
例如 `M68 E3 Q1` 的链路是：
|
||||
|
||||
```text
|
||||
RS274NGC 解释 M68
|
||||
-> SET_AUX_OUTPUT_VALUE(3, 1)
|
||||
-> emccanon.cc 创建 EMC_MOTION_SET_AOUT
|
||||
-> taskintf.cc: emcMotionSetAout()
|
||||
-> usrmotWriteEmcmotCommand()
|
||||
-> motion command shared memory
|
||||
-> motion.analog-out-03 = 1
|
||||
```
|
||||
|
||||
这说明 G-code 不是直接写 HAL pin，而是通过解释器、canonical 层、task、motion，再由 motion 暴露 HAL pin。
|
||||
|
||||
## 9. Motion 共享内存：task 与实时 motion 的边界
|
||||
|
||||
实时 motion 的核心共享结构是：
|
||||
|
||||
```text
|
||||
src/emc/motion/motion_struct.h
|
||||
```
|
||||
|
||||
核心结构：
|
||||
|
||||
```c
|
||||
emcmot_struct_t {
|
||||
command_mutex;
|
||||
emcmot_command_t command;
|
||||
emcmot_status_t status;
|
||||
emcmot_config_t config;
|
||||
emcmot_error_t error;
|
||||
emcmot_internal_t internal;
|
||||
}
|
||||
```
|
||||
|
||||
这是一块 task 和 realtime motion 都能访问的共享内存区域。
|
||||
|
||||
其中：
|
||||
|
||||
- `emcmot_command_t`：task 写入，motion 读取。
|
||||
- `emcmot_status_t`：motion 周期更新，task 读取。
|
||||
- `emcmot_config_t`：机器配置和 motion 参数。
|
||||
- `emcmot_internal_t`：motion 内部轨迹规划/调试状态。
|
||||
|
||||
task 写 motion command 的路径：
|
||||
|
||||
```text
|
||||
taskintf.cc
|
||||
-> usrmotWriteEmcmotCommand()
|
||||
-> 加 command_mutex
|
||||
-> 复制 emcmot_command_t 到共享内存
|
||||
-> 等待 motion 回显 commandNumEcho
|
||||
```
|
||||
|
||||
motion status 读取有一个重要细节：`emcmot_status_t` 有 `head`/`tail` 字段。motion 更新状态时先改 `head`，完成后设置 `tail=head`。读取方复制后检查 `head == tail`，避免读到半更新的数据。
|
||||
|
||||
这是 LinuxCNC 实时数据一致性的关键手段之一。
|
||||
|
||||
## 10. Motion 实时循环：周期性状态机
|
||||
|
||||
motion 控制循环位于：
|
||||
|
||||
```text
|
||||
src/emc/motion/control.c
|
||||
```
|
||||
|
||||
每个 servo cycle 处理大致顺序：
|
||||
|
||||
```text
|
||||
读取 homing/input pins
|
||||
处理 switchkins 切换
|
||||
读取 HAL 输入
|
||||
执行 forward kinematics
|
||||
处理 probe
|
||||
检查 fault/limit
|
||||
确定运行模式
|
||||
处理 jog/homing
|
||||
轨迹规划取点
|
||||
inverse kinematics
|
||||
插补到 joint
|
||||
输出到 HAL
|
||||
更新 status
|
||||
heartbeat++
|
||||
```
|
||||
|
||||
它的本质职责：
|
||||
|
||||
- 在固定周期内维护运动状态。
|
||||
- 从轨迹规划器获取下一个笛卡尔点。
|
||||
- 调用运动学把笛卡尔位置转换为 joint 位置。
|
||||
- 输出 joint 命令、spindle、IO、状态 HAL pin。
|
||||
- 读取反馈、探针、限位、外部 offset 等 HAL pin。
|
||||
- 更新 `emcmot_status_t` 给 task 读取。
|
||||
|
||||
motion 不读取 G-code 文件，也不关心 AXIS 界面。它只执行已经被 task/interpreter 转换过的命令。
|
||||
|
||||
## 11. HAL：实时信号网络
|
||||
|
||||
HAL 是 LinuxCNC 最容易被误解的部分。它不是 NML，也不是普通配置文件。HAL 的本质是一个共享内存对象图：
|
||||
|
||||
```text
|
||||
HAL shared memory
|
||||
├─ component list
|
||||
├─ pin list
|
||||
├─ signal list
|
||||
├─ parameter list
|
||||
├─ function list
|
||||
└─ thread list
|
||||
```
|
||||
|
||||
这些结构定义在：
|
||||
|
||||
```text
|
||||
src/hal/hal_priv.h
|
||||
```
|
||||
|
||||
关键概念：
|
||||
|
||||
### Component
|
||||
|
||||
组件是 pin/function/parameter 的拥有者。例如：
|
||||
|
||||
- `motmod`
|
||||
- `pid`
|
||||
- `mux2`
|
||||
- `halui`
|
||||
- `xyzbc-trt-gui`
|
||||
- 自定义 `.comp`
|
||||
|
||||
组件调用 `hal_init()` 注册到 HAL。
|
||||
|
||||
### Pin
|
||||
|
||||
pin 是组件暴露的数据端口。每个 pin 有：
|
||||
|
||||
- 名字
|
||||
- 类型
|
||||
- 方向
|
||||
- 所属 component
|
||||
- 连接的 signal
|
||||
|
||||
方向包括：
|
||||
|
||||
- input
|
||||
- output
|
||||
- io
|
||||
|
||||
### Signal
|
||||
|
||||
signal 是多个 pin 共享的一块数据值。`net` 命令本质上是：
|
||||
|
||||
```text
|
||||
把多个 pin 的 data pointer 指向同一个 signal value
|
||||
```
|
||||
|
||||
例如：
|
||||
|
||||
```hal
|
||||
net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
|
||||
```
|
||||
|
||||
表示：
|
||||
|
||||
```text
|
||||
motion.analog-out-03 写 signal :kinstype-select
|
||||
motion.switchkins-type 读 signal :kinstype-select
|
||||
```
|
||||
|
||||
### Parameter
|
||||
|
||||
parameter 通常是配置量或调试量，可用 `setp` 设置。
|
||||
|
||||
### Function 和 Thread
|
||||
|
||||
实时组件导出 function，HAL thread 周期调用这些 function。
|
||||
|
||||
例如：
|
||||
|
||||
```hal
|
||||
addf motion-command-handler servo-thread
|
||||
addf motion-controller servo-thread
|
||||
addf J0_pid.do-pid-calcs servo-thread
|
||||
```
|
||||
|
||||
这决定了每个 servo period 内函数执行顺序。
|
||||
|
||||
## 12. HAL 与 NML 的本质区别
|
||||
|
||||
| 项目 | NML | HAL |
|
||||
| --- | --- | --- |
|
||||
| 本质 | 跨进程消息/状态通道 | 共享内存信号网络 |
|
||||
| 主要用途 | GUI、task、server 通信 | 实时组件连接 |
|
||||
| 数据形态 | command/status/error 消息 | pin/signal/parameter 值 |
|
||||
| 时间特性 | 非实时或软实时 | 可用于实时线程 |
|
||||
| 典型读写者 | AXIS、halui、milltask | motmod、驱动、pid、Vismach、halui |
|
||||
| 示例 | `emcCommand`, `emcStatus` | `motion.analog-out-03`, `joint.0.motor-pos-cmd` |
|
||||
|
||||
重要结论：
|
||||
|
||||
```text
|
||||
NML 表达“系统命令与系统状态”
|
||||
HAL 表达“机器信号与实时变量”
|
||||
```
|
||||
|
||||
## 13. 数据所有权原则
|
||||
|
||||
LinuxCNC 的数据系统依赖清晰的所有权。
|
||||
|
||||
典型规则：
|
||||
|
||||
- GUI 不直接写 joint command。
|
||||
- task 不直接修改 HAL 伺服输出。
|
||||
- motion 不解释 G-code。
|
||||
- HAL signal 通常只能有一个 writer。
|
||||
- motion status 由 realtime motion 写，task/GUI 读。
|
||||
- EMC_STAT 由 task 汇总写，GUI/halui 读。
|
||||
- INI 是启动配置，不是周期数据通道。
|
||||
|
||||
如果违反这些边界，系统会变得不可预测。
|
||||
|
||||
## 14. 数据刷新频率和一致性
|
||||
|
||||
不同数据有不同刷新频率：
|
||||
|
||||
- servo-thread：通常 1 ms 或更快。
|
||||
- task cycle：常见 10 ms 左右。
|
||||
- GUI poll：通常几十毫秒级。
|
||||
- NML status：由 task 汇总后供 GUI 读取。
|
||||
- HAL pin：实时线程中按 thread 周期更新。
|
||||
|
||||
所以 GUI 看到的位置不是“每个伺服周期的每一个点”，而是 task/GUI poll 后的状态快照。
|
||||
|
||||
这也是为什么实时控制必须在 motion/HAL 内完成，不能依赖 GUI。
|
||||
|
||||
## 15. xyzbc-trt 配置中的具体体现
|
||||
|
||||
以 `xyzbc-trt.ini` 为例：
|
||||
|
||||
### INI 层
|
||||
|
||||
```ini
|
||||
[KINS]
|
||||
KINEMATICS = xyzbc-trt-kins sparm=identityfirst
|
||||
JOINTS = 5
|
||||
|
||||
[TRAJ]
|
||||
COORDINATES = XYZBC
|
||||
|
||||
[HAL]
|
||||
HALFILE = LIB:basic_sim.tcl
|
||||
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
|
||||
```
|
||||
|
||||
INI 决定：
|
||||
|
||||
- 加载什么运动学模块。
|
||||
- 有多少 joint。
|
||||
- HAL 怎样连接。
|
||||
- GUI 加载什么面板。
|
||||
|
||||
### HAL 层
|
||||
|
||||
```hal
|
||||
motion.analog-out-03 -> motion.switchkins-type
|
||||
joint.N.pos-fb -> xyzbc-trt-gui.*
|
||||
motion.tooloffset.z -> xyzbc-trt-kins.tool-offset
|
||||
```
|
||||
|
||||
HAL 决定：
|
||||
|
||||
- M68 输出如何进入 switchkins。
|
||||
- joint feedback 如何驱动 Vismach。
|
||||
- 刀长补偿如何进入运动学。
|
||||
|
||||
### NML/task/interpreter 层
|
||||
|
||||
按下 PyVCP 按钮：
|
||||
|
||||
```text
|
||||
pyvcp button
|
||||
-> halui MDI command
|
||||
-> NML command
|
||||
-> milltask
|
||||
-> interpreter 执行 M428/M429/M430 remap
|
||||
```
|
||||
|
||||
### motion 层
|
||||
|
||||
`M68 E3 Q1` 最终写入：
|
||||
|
||||
```text
|
||||
motion.analog-out-03 = 1
|
||||
```
|
||||
|
||||
HAL 将其连接到：
|
||||
|
||||
```text
|
||||
motion.switchkins-type = 1
|
||||
```
|
||||
|
||||
motion servo cycle 检测到变化：
|
||||
|
||||
```text
|
||||
handle_kinematicsSwitch()
|
||||
-> kinematicsSwitch(1)
|
||||
-> 激活 xyzbcKinematicsInverse / Forward
|
||||
```
|
||||
|
||||
### Vismach 层
|
||||
|
||||
Vismach 不参与实时控制，只读取 HAL pin：
|
||||
|
||||
```text
|
||||
joint feedback + offset pins -> 三维模型变换
|
||||
```
|
||||
|
||||
它是 HAL 数据消费者，不是运动控制源。
|
||||
|
||||
## 16. 本质总结
|
||||
|
||||
LinuxCNC 数据系统的核心不是“一个中心数据库”，而是四种不同性质的数据机制协作：
|
||||
|
||||
1. **INI**：装配系统。
|
||||
2. **NML**：让进程交换命令、状态、错误。
|
||||
3. **Task/Interpreter**：把人的意图和 G-code 转换成规范动作。
|
||||
4. **Motion shared memory**：连接非实时 task 和实时 motion。
|
||||
5. **HAL**：把实时变量连接成机器信号网络。
|
||||
|
||||
最终形成一条严格分层的数据链：
|
||||
|
||||
```text
|
||||
人/程序意图
|
||||
-> NML command
|
||||
-> task/interpreter
|
||||
-> canonical command
|
||||
-> motion command shared memory
|
||||
-> realtime motion
|
||||
-> HAL pins/signals
|
||||
-> 机器/仿真反馈
|
||||
-> motion status
|
||||
-> EMC_STAT
|
||||
-> GUI/halui 显示
|
||||
```
|
||||
|
||||
理解这条链，就能解释 LinuxCNC 中大多数现象：
|
||||
|
||||
- 为什么 GUI 按钮通常不是直接控制实时变量。
|
||||
- 为什么 `M68` 可以改变 HAL pin。
|
||||
- 为什么 `motion.switchkins-type` 要通过 `motion.analog-out-03` 控制。
|
||||
- 为什么 Vismach 只需要连 HAL pin 就能显示机床。
|
||||
- 为什么 task 和 motion 之间要有 command/status 共享内存。
|
||||
- 为什么 HAL signal 通常要求单 writer。
|
||||
- 为什么实时动作不能依赖 GUI poll。
|
||||
BIN
项目分析/LinuxCNC数据系统核心原理高清流程图.png
Normal file
BIN
项目分析/LinuxCNC数据系统核心原理高清流程图.png
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Binary file not shown.
|
After Width: | Height: | Size: 947 KiB |
197
项目分析/LinuxCNC数据系统核心原理高清流程图.svg
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197
项目分析/LinuxCNC数据系统核心原理高清流程图.svg
Normal file
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|
||||
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|
||||
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||||
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|
||||
|
||||
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|
||||
<text x="2600" y="118" class="title" text-anchor="middle">LinuxCNC 数据系统核心原理</text>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<text x="278" y="505" class="boxbody">LCMD、NML_FILE。INI</text>
|
||||
<text x="278" y="536" class="boxbody">是启动装配说明，不是实时数据通道。</text>
|
||||
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|
||||
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|
||||
<text x="1538" y="474" class="boxbody">读取 INI，启动</text>
|
||||
<text x="1538" y="505" class="boxbody">linuxcncsvr、realtime、milltask、halui、HAL</text>
|
||||
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|
||||
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|
||||
<text x="3180.0" y="434" class="boxtitle" text-anchor="middle">模块装配</text>
|
||||
<text x="2758" y="474" class="boxbody">loadrt motmod / kinematics / pid /</text>
|
||||
<text x="2758" y="505" class="boxbody">驱动；loadusr halui / Vismach / GUI 组件。</text>
|
||||
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|
||||
<text x="4370.0" y="434" class="boxtitle" text-anchor="middle">初始参数落地</text>
|
||||
<text x="3938" y="474" class="boxbody">INI 值被转写到 task 状态、motion config、HAL</text>
|
||||
<text x="3938" y="505" class="boxbody">pin/param 或组件启动参数。</text>
|
||||
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|
||||
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|
||||
<text x="278" y="1264" class="boxbody">GUI、halui、外部客户端写入命令。典型命令：MDI、A</text>
|
||||
<text x="278" y="1295" class="boxbody">UTO_RUN、SET_MODE、SET_STATE、ABORT。</text>
|
||||
<rect x="1520" y="1180" width="900" height="250" rx="18" fill="#ffffff" stroke="#7a4eb0" stroke-width="4"/>
|
||||
<text x="1970.0" y="1224" class="boxtitle" text-anchor="middle">milltask</text>
|
||||
<text x="1548" y="1264" class="boxbody">读取 NML 命令，检查状态合法性，调度</text>
|
||||
<text x="1548" y="1295" class="boxbody">interpreter、motion、IO、tool、spindle。</text>
|
||||
<rect x="2760" y="1180" width="930" height="250" rx="18" fill="#ffffff" stroke="#7a4eb0" stroke-width="4"/>
|
||||
<text x="3225.0" y="1224" class="boxtitle" text-anchor="middle">emcStatus</text>
|
||||
<text x="2788" y="1264" class="boxbody">task 汇总 EMC_STAT：task、motion、io。GUI/halui</text>
|
||||
<text x="2788" y="1295" class="boxbody">读取该状态。</text>
|
||||
<rect x="4030" y="1180" width="780" height="250" rx="18" fill="#ffffff" stroke="#7a4eb0" stroke-width="4"/>
|
||||
<text x="4420.0" y="1224" class="boxtitle" text-anchor="middle">emcError</text>
|
||||
<text x="4058" y="1264" class="boxbody">错误、操作信息、诊断消息通道。</text>
|
||||
<path d="M 1180 1305 L 1520 1305" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="1160.0" y="1257.0" width="380" height="42" rx="10" fill="#ffffff" opacity="0.94"/>
|
||||
<text x="1350.0" y="1287.0" class="label" text-anchor="middle">命令</text>
|
||||
<path d="M 2420 1305 L 2760 1305" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="2400.0" y="1257.0" width="380" height="42" rx="10" fill="#ffffff" opacity="0.94"/>
|
||||
<text x="2590.0" y="1287.0" class="label" text-anchor="middle">状态汇总</text>
|
||||
<path d="M 3690 1305 L 4030 1305" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="3670.0" y="1257.0" width="380" height="42" rx="10" fill="#ffffff" opacity="0.94"/>
|
||||
<text x="3860.0" y="1287.0" class="label" text-anchor="middle">错误/信息</text>
|
||||
<rect x="580" y="1600" width="1180" height="190" rx="14" fill="#ffffff" stroke="#7a4eb0" stroke-width="3"/>
|
||||
<text x="1170.0" y="1636" class="smalltitle" text-anchor="middle">linuxcncsvr</text>
|
||||
<text x="602" y="1668" class="smallbody">NML channel master/server，通常最先启动。</text>
|
||||
<rect x="2260" y="1600" width="1420" height="190" rx="14" fill="#ffffff" stroke="#7a4eb0" stroke-width="3"/>
|
||||
<text x="2970.0" y="1636" class="smalltitle" text-anchor="middle">EMC_STAT</text>
|
||||
<text x="2282" y="1668" class="smallbody">EMC_TASK_STAT + EMC_MOTION_STAT + EMC_IO_STAT。</text>
|
||||
<rect x="130" y="2060" width="4940" height="1000" rx="36" fill="#fff8eb" stroke="#d49a35" stroke-width="4"/>
|
||||
<text x="164" y="2126" class="section">3. Task / Interpreter：把人的意图转成规范动作</text>
|
||||
<rect x="250" y="2220" width="880" height="260" rx="18" fill="#ffffff" stroke="#b36b00" stroke-width="4"/>
|
||||
<text x="690.0" y="2264" class="boxtitle" text-anchor="middle">GUI / halui 意图</text>
|
||||
<text x="278" y="2304" class="boxbody">按钮、MDI、自动运行、暂停、jog、模式切换。它</text>
|
||||
<text x="278" y="2335" class="boxbody">们表达意图，不直接控制 servo 周期。</text>
|
||||
<rect x="1420" y="2220" width="900" height="260" rx="18" fill="#ffffff" stroke="#b36b00" stroke-width="4"/>
|
||||
<text x="1870.0" y="2264" class="boxtitle" text-anchor="middle">Interpreter</text>
|
||||
<text x="1448" y="2304" class="boxbody">读取</text>
|
||||
<text x="1448" y="2335" class="boxbody">G-code，维护模态组、坐标系、G92、刀补、参数、r</text>
|
||||
<text x="1448" y="2366" class="boxbody">emap、子程序调用。</text>
|
||||
<rect x="2610" y="2220" width="920" height="260" rx="18" fill="#ffffff" stroke="#b36b00" stroke-width="4"/>
|
||||
<text x="3070.0" y="2264" class="boxtitle" text-anchor="middle">Canonical Commands</text>
|
||||
<text x="2638" y="2304" class="boxbody">直线、圆弧、主轴、IO、M68 analog</text>
|
||||
<text x="2638" y="2335" class="boxbody">output、换刀等规范动作。</text>
|
||||
<rect x="3820" y="2220" width="900" height="260" rx="18" fill="#ffffff" stroke="#b36b00" stroke-width="4"/>
|
||||
<text x="4270.0" y="2264" class="boxtitle" text-anchor="middle">taskintf.cc</text>
|
||||
<text x="3848" y="2304" class="boxbody">把规范动作转成 emcmot_command_t 或</text>
|
||||
<text x="3848" y="2335" class="boxbody">IO/tool/spindle 命令。</text>
|
||||
<path d="M 1130 2350 L 1420 2350" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2320 2350 L 2610 2350" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3530 2350 L 3820 2350" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="640" y="2700" width="1240" height="190" rx="14" fill="#ffffff" stroke="#b36b00" stroke-width="3"/>
|
||||
<text x="1260.0" y="2736" class="smalltitle" text-anchor="middle">例：M68 E3 Q1</text>
|
||||
<text x="662" y="2768" class="smallbody">解释器 -> SET_AUX_OUTPUT_VALUE -> EMC_MOTION_SET_AOUT。</text>
|
||||
<rect x="2350" y="2700" width="1320" height="190" rx="14" fill="#ffffff" stroke="#b36b00" stroke-width="3"/>
|
||||
<text x="3010.0" y="2736" class="smalltitle" text-anchor="middle">关键边界</text>
|
||||
<text x="2372" y="2768" class="smallbody">G-code 不直接写 HAL；它先进入 task/interpreter。</text>
|
||||
<rect x="130" y="3160" width="4940" height="1020" rx="36" fill="#eefaf1" stroke="#65a36f" stroke-width="4"/>
|
||||
<text x="164" y="3226" class="section">4. Motion Shared Memory：非实时 task 与实时 motion 的边界</text>
|
||||
<rect x="250" y="3320" width="1050" height="300" rx="18" fill="#ffffff" stroke="#3f7d4a" stroke-width="4"/>
|
||||
<text x="775.0" y="3364" class="boxtitle" text-anchor="middle">emcmot_command_t</text>
|
||||
<text x="278" y="3404" class="boxbody">task 写入，motion 读取。包含 command</text>
|
||||
<text x="278" y="3435" class="boxbody">code、pos、vel、acc、tool_offset、AOUT/DOUT、spindle</text>
|
||||
<text x="278" y="3466" class="boxbody">等命令参数。</text>
|
||||
<rect x="1580" y="3320" width="1030" height="300" rx="18" fill="#ffffff" stroke="#3f7d4a" stroke-width="4"/>
|
||||
<text x="2095.0" y="3364" class="boxtitle" text-anchor="middle">emcmot_status_t</text>
|
||||
<text x="1608" y="3404" class="boxbody">motion 周期更新，task 读取。包含</text>
|
||||
<text x="1608" y="3435" class="boxbody">carte_pos_cmd/fb、joint/axis/spindle、queue、analog_ou</text>
|
||||
<text x="1608" y="3466" class="boxbody">tput、heartbeat。</text>
|
||||
<rect x="2890" y="3320" width="920" height="300" rx="18" fill="#ffffff" stroke="#3f7d4a" stroke-width="4"/>
|
||||
<text x="3350.0" y="3364" class="boxtitle" text-anchor="middle">emcmot_config_t</text>
|
||||
<text x="2918" y="3404" class="boxbody">实时 motion 配置：joint 数、kinematics</text>
|
||||
<text x="2918" y="3435" class="boxbody">type、速度/加速度限制等。</text>
|
||||
<rect x="4090" y="3320" width="760" height="300" rx="18" fill="#ffffff" stroke="#3f7d4a" stroke-width="4"/>
|
||||
<text x="4470.0" y="3364" class="boxtitle" text-anchor="middle">head / tail</text>
|
||||
<text x="4118" y="3404" class="boxbody">读取 status 时检查 head ==</text>
|
||||
<text x="4118" y="3435" class="boxbody">tail，避免读到半更新快照。</text>
|
||||
<path d="M 1300 3470 L 1580 3470" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="1250.0" y="3422.0" width="380" height="42" rx="10" fill="#ffffff" opacity="0.94"/>
|
||||
<text x="1440.0" y="3452.0" class="label" text-anchor="middle">执行后反馈</text>
|
||||
<path d="M 2610 3470 L 2890 3470" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3810 3470 L 4090 3470" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="670" y="3840" width="1260" height="190" rx="14" fill="#ffffff" stroke="#3f7d4a" stroke-width="3"/>
|
||||
<text x="1300.0" y="3876" class="smalltitle" text-anchor="middle">usrmotWriteEmcmotCommand()</text>
|
||||
<text x="692" y="3908" class="smallbody">加 command_mutex，复制 command，等待 commandNumEcho。</text>
|
||||
<rect x="2530" y="3840" width="1320" height="190" rx="14" fill="#ffffff" stroke="#3f7d4a" stroke-width="3"/>
|
||||
<text x="3190.0" y="3876" class="smalltitle" text-anchor="middle">usrmotReadEmcmotStatus()</text>
|
||||
<text x="2552" y="3908" class="smallbody">复制 status，检查 head/tail 一致性。</text>
|
||||
<rect x="130" y="4280" width="4940" height="1080" rx="36" fill="#eef9f8" stroke="#4b9c9a" stroke-width="4"/>
|
||||
<text x="164" y="4346" class="section">5. Realtime Motion + HAL：周期执行与机器信号网络</text>
|
||||
<rect x="250" y="4440" width="920" height="300" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="710.0" y="4484" class="boxtitle" text-anchor="middle">servo-thread</text>
|
||||
<text x="278" y="4524" class="boxbody">固定周期运行。执行</text>
|
||||
<text x="278" y="4555" class="boxbody">motion-controller、PID、驱动、仿真组件等 HAL</text>
|
||||
<text x="278" y="4586" class="boxbody">function。</text>
|
||||
<rect x="1450" y="4440" width="980" height="300" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="1940.0" y="4484" class="boxtitle" text-anchor="middle">motion-controller</text>
|
||||
<text x="1478" y="4524" class="boxbody">轨迹取点、switchkins、forward/inverse</text>
|
||||
<text x="1478" y="4555" class="boxbody">kinematics、limits、probe、jog、homing、status。</text>
|
||||
<rect x="2710" y="4440" width="900" height="300" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="3160.0" y="4484" class="boxtitle" text-anchor="middle">HAL pins</text>
|
||||
<text x="2738" y="4524" class="boxbody">motion、joint、spindle、驱动、Vismach、halui</text>
|
||||
<text x="2738" y="4555" class="boxbody">都通过 pin 暴露实时变量。</text>
|
||||
<rect x="3890" y="4440" width="900" height="300" rx="18" fill="#ffffff" stroke="#2b7a78" stroke-width="4"/>
|
||||
<text x="4340.0" y="4484" class="boxtitle" text-anchor="middle">HAL signals</text>
|
||||
<text x="3918" y="4524" class="boxbody">net 命令将 pin 连接到同一 signal。通常一个</text>
|
||||
<text x="3918" y="4555" class="boxbody">writer，多个 reader。</text>
|
||||
<path d="M 1170 4590 L 1450 4590" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2430 4590 L 2710 4590" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3610 4590 L 3890 4590" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<rect x="520" y="5020" width="1200" height="190" rx="14" fill="#ffffff" stroke="#2b7a78" stroke-width="3"/>
|
||||
<text x="1120.0" y="5056" class="smalltitle" text-anchor="middle">HAL shared memory</text>
|
||||
<text x="542" y="5088" class="smallbody">component list / pin list / signal list / param list / function list /</text>
|
||||
<text x="542" y="5115" class="smallbody">thread list。</text>
|
||||
<rect x="2080" y="5020" width="1200" height="190" rx="14" fill="#ffffff" stroke="#2b7a78" stroke-width="3"/>
|
||||
<text x="2680.0" y="5056" class="smalltitle" text-anchor="middle">net 的本质</text>
|
||||
<text x="2102" y="5088" class="smallbody">把 pin data pointer 指向同一个 signal value。</text>
|
||||
<rect x="3620" y="5020" width="1040" height="190" rx="14" fill="#ffffff" stroke="#2b7a78" stroke-width="3"/>
|
||||
<text x="4140.0" y="5056" class="smalltitle" text-anchor="middle">实时原则</text>
|
||||
<text x="3642" y="5088" class="smallbody">控制闭环必须在 motion/HAL 内，不能依赖 GUI poll。</text>
|
||||
<rect x="130" y="5460" width="4940" height="900" rx="36" fill="#f6f7f9" stroke="#9da8b3" stroke-width="4"/>
|
||||
<text x="164" y="5526" class="section">6. 状态回流与 GUI 显示</text>
|
||||
<rect x="250" y="5620" width="920" height="250" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="710.0" y="5664" class="boxtitle" text-anchor="middle">motion status</text>
|
||||
<text x="278" y="5704" class="boxbody">实时 motion 更新 emcmot_status_t。</text>
|
||||
<rect x="1470" y="5620" width="920" height="250" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="1930.0" y="5664" class="boxtitle" text-anchor="middle">task update</text>
|
||||
<text x="1498" y="5704" class="boxbody">emcMotionUpdate() 将 motion status 汇总到</text>
|
||||
<text x="1498" y="5735" class="boxbody">EMC_MOTION_STAT。</text>
|
||||
<rect x="2690" y="5620" width="920" height="250" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="3150.0" y="5664" class="boxtitle" text-anchor="middle">EMC_STAT</text>
|
||||
<text x="2718" y="5704" class="boxbody">顶层状态：task + motion + io。写入 emcStatus</text>
|
||||
<text x="2718" y="5735" class="boxbody">NML。</text>
|
||||
<rect x="3910" y="5620" width="920" height="250" rx="18" fill="#ffffff" stroke="#5b6570" stroke-width="4"/>
|
||||
<text x="4370.0" y="5664" class="boxtitle" text-anchor="middle">GUI / halui</text>
|
||||
<text x="3938" y="5704" class="boxbody">poll</text>
|
||||
<text x="3938" y="5735" class="boxbody">emcStatus，显示位置、模式、状态、错误、队列、模</text>
|
||||
<text x="3938" y="5766" class="boxbody">态。</text>
|
||||
<path d="M 1170 5745 L 1470 5745" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 2390 5745 L 2690 5745" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 3610 5745 L 3910 5745" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
|
||||
<path d="M 4360 5620 L 4360 5350 L 390 5350 L 390 4740" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)" stroke-dasharray="18 12"/>
|
||||
<rect x="190" y="5298" width="400" height="42" rx="10" fill="#ffffff" opacity="0.94"/>
|
||||
<text x="390" y="5328" class="label" text-anchor="middle">HAL/Vismach 也可直接读 HAL</text>
|
||||
<text x="2600" y="6460" class="foot" text-anchor="middle">核心原则：NML 表达系统命令/状态；HAL 表达实时机器信号；motion shared memory 是 task 与实时控制的边界。</text>
|
||||
<text x="2600" y="6505" class="foot" text-anchor="middle">输出文件：项目分析/LinuxCNC数据系统核心原理高清流程图.png；源文件：项目分析/LinuxCNC数据系统核心原理高清流程图.svg</text>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 17 KiB |
184
项目分析/generate_linuxcnc_data_system_flowchart_svg.py
Normal file
184
项目分析/generate_linuxcnc_data_system_flowchart_svg.py
Normal file
@@ -0,0 +1,184 @@
|
||||
#!/usr/bin/env python3
|
||||
from html import escape
|
||||
|
||||
W = 5200
|
||||
H = 6600
|
||||
FONT = "Noto Sans CJK SC, DejaVu Sans, sans-serif"
|
||||
|
||||
|
||||
def units(s):
|
||||
return sum(2 if ord(ch) > 127 else 1 for ch in s)
|
||||
|
||||
|
||||
def wrap(text, max_units):
|
||||
result = []
|
||||
line = ""
|
||||
for token in text.split(" "):
|
||||
parts = [token]
|
||||
if units(token) > max_units:
|
||||
parts = []
|
||||
cur = ""
|
||||
for ch in token:
|
||||
if units(cur + ch) > max_units and cur:
|
||||
parts.append(cur)
|
||||
cur = ch
|
||||
else:
|
||||
cur += ch
|
||||
if cur:
|
||||
parts.append(cur)
|
||||
for part in parts:
|
||||
cand = part if not line else line + " " + part
|
||||
if units(cand) <= max_units:
|
||||
line = cand
|
||||
else:
|
||||
if line:
|
||||
result.append(line)
|
||||
line = part
|
||||
if line:
|
||||
result.append(line)
|
||||
return result
|
||||
|
||||
|
||||
class SVG:
|
||||
def __init__(self):
|
||||
self.out = []
|
||||
|
||||
def add(self, s):
|
||||
self.out.append(s)
|
||||
|
||||
def section(self, x, y, w, h, title, fill, stroke="#bdcbd8"):
|
||||
self.add(f'<rect x="{x}" y="{y}" width="{w}" height="{h}" rx="36" fill="{fill}" stroke="{stroke}" stroke-width="4"/>')
|
||||
self.add(f'<text x="{x+34}" y="{y+66}" class="section">{escape(title)}</text>')
|
||||
|
||||
def box(self, x, y, w, h, title, body, stroke, fill="#ffffff"):
|
||||
self.add(f'<rect x="{x}" y="{y}" width="{w}" height="{h}" rx="18" fill="{fill}" stroke="{stroke}" stroke-width="4"/>')
|
||||
self.add(f'<text x="{x+w/2}" y="{y+44}" class="boxtitle" text-anchor="middle">{escape(title)}</text>')
|
||||
ty = y + 84
|
||||
for line in wrap(body, max(12, int((w - 56) / 18))):
|
||||
self.add(f'<text x="{x+28}" y="{ty}" class="boxbody">{escape(line)}</text>')
|
||||
ty += 31
|
||||
|
||||
def small(self, x, y, w, h, title, body, stroke, fill="#ffffff"):
|
||||
self.add(f'<rect x="{x}" y="{y}" width="{w}" height="{h}" rx="14" fill="{fill}" stroke="{stroke}" stroke-width="3"/>')
|
||||
self.add(f'<text x="{x+w/2}" y="{y+36}" class="smalltitle" text-anchor="middle">{escape(title)}</text>')
|
||||
ty = y + 68
|
||||
for line in wrap(body, max(10, int((w - 42) / 16))):
|
||||
self.add(f'<text x="{x+22}" y="{ty}" class="smallbody">{escape(line)}</text>')
|
||||
ty += 27
|
||||
|
||||
def arrow(self, x1, y1, x2, y2, label=None, color="#203a53", dashed=False):
|
||||
dash = ' stroke-dasharray="18 12"' if dashed else ""
|
||||
self.add(f'<path d="M {x1} {y1} L {x2} {y2}" fill="none" stroke="{color}" stroke-width="6" marker-end="url(#arrow)"{dash}/>')
|
||||
if label:
|
||||
lx, ly = (x1 + x2) / 2, (y1 + y2) / 2
|
||||
self.add(f'<rect x="{lx-190}" y="{ly-48}" width="380" height="42" rx="10" fill="#ffffff" opacity="0.94"/>')
|
||||
self.add(f'<text x="{lx}" y="{ly-18}" class="label" text-anchor="middle">{escape(label)}</text>')
|
||||
|
||||
def poly(self, pts, label=None, color="#203a53", dashed=False):
|
||||
dash = ' stroke-dasharray="18 12"' if dashed else ""
|
||||
d = "M " + " L ".join(f"{x} {y}" for x, y in pts)
|
||||
self.add(f'<path d="{d}" fill="none" stroke="{color}" stroke-width="6" marker-end="url(#arrow)"{dash}/>')
|
||||
if label:
|
||||
x, y = pts[len(pts)//2]
|
||||
self.add(f'<rect x="{x-200}" y="{y-52}" width="400" height="42" rx="10" fill="#ffffff" opacity="0.94"/>')
|
||||
self.add(f'<text x="{x}" y="{y-22}" class="label" text-anchor="middle">{escape(label)}</text>')
|
||||
|
||||
def render(self):
|
||||
defs = f"""
|
||||
<defs>
|
||||
<marker id="arrow" markerWidth="18" markerHeight="18" refX="14" refY="6" orient="auto" markerUnits="strokeWidth">
|
||||
<path d="M2,2 L14,6 L2,10 Z" fill="#203a53"/>
|
||||
</marker>
|
||||
<style>
|
||||
svg {{ background: #ffffff; }}
|
||||
text {{ font-family: {FONT}; fill: #17212b; }}
|
||||
.title {{ font-size: 78px; font-weight: 850; }}
|
||||
.subtitle {{ font-size: 35px; fill: #53606c; }}
|
||||
.section {{ font-size: 43px; font-weight: 850; fill: #233d56; }}
|
||||
.boxtitle {{ font-size: 35px; font-weight: 850; }}
|
||||
.boxbody {{ font-size: 27px; fill: #33495d; }}
|
||||
.smalltitle {{ font-size: 29px; font-weight: 850; }}
|
||||
.smallbody {{ font-size: 24px; fill: #35495e; }}
|
||||
.label {{ font-size: 25px; font-weight: 750; fill: #25415d; }}
|
||||
.foot {{ font-size: 26px; fill: #52606d; }}
|
||||
</style>
|
||||
</defs>
|
||||
"""
|
||||
return f'<svg xmlns="http://www.w3.org/2000/svg" width="{W}" height="{H}" viewBox="0 0 {W} {H}">\n{defs}\n' + "\n".join(self.out) + "\n</svg>\n"
|
||||
|
||||
|
||||
s = SVG()
|
||||
s.add(f'<rect x="0" y="0" width="{W}" height="{H}" fill="#ffffff"/>')
|
||||
s.add('<text x="2600" y="118" class="title" text-anchor="middle">LinuxCNC 数据系统核心原理</text>')
|
||||
s.add('<text x="2600" y="176" class="subtitle" text-anchor="middle">INI / NML / Task / Interpreter / Motion Shared Memory / HAL / GUI</text>')
|
||||
|
||||
# Layers
|
||||
s.section(130, 260, 4940, 660, "1. 静态装配层：INI 决定系统如何启动", "#eef6ff", "#9fb9d2")
|
||||
s.box(250, 390, 960, 250, "INI 文件", "机器拓扑、KINS、JOINTS、TRAJ、DISPLAY、HALFILE、HALCMD、NML_FILE。INI 是启动装配说明，不是实时数据通道。", "#386d9d")
|
||||
s.box(1510, 390, 920, 250, "scripts/linuxcnc", "读取 INI，启动 linuxcncsvr、realtime、milltask、halui、HAL 配置和 GUI。", "#386d9d")
|
||||
s.box(2730, 390, 900, 250, "模块装配", "loadrt motmod / kinematics / pid / 驱动；loadusr halui / Vismach / GUI 组件。", "#386d9d")
|
||||
s.box(3910, 390, 920, 250, "初始参数落地", "INI 值被转写到 task 状态、motion config、HAL pin/param 或组件启动参数。", "#386d9d")
|
||||
s.arrow(1210, 515, 1510, 515)
|
||||
s.arrow(2430, 515, 2730, 515)
|
||||
s.arrow(3630, 515, 3910, 515)
|
||||
|
||||
s.section(130, 1020, 4940, 940, "2. NML：跨进程命令 / 状态 / 错误总线", "#f8f3ff", "#b59ad7")
|
||||
s.box(250, 1180, 930, 250, "emcCommand", "GUI、halui、外部客户端写入命令。典型命令：MDI、AUTO_RUN、SET_MODE、SET_STATE、ABORT。", "#7a4eb0")
|
||||
s.box(1520, 1180, 900, 250, "milltask", "读取 NML 命令，检查状态合法性，调度 interpreter、motion、IO、tool、spindle。", "#7a4eb0")
|
||||
s.box(2760, 1180, 930, 250, "emcStatus", "task 汇总 EMC_STAT：task、motion、io。GUI/halui 读取该状态。", "#7a4eb0")
|
||||
s.box(4030, 1180, 780, 250, "emcError", "错误、操作信息、诊断消息通道。", "#7a4eb0")
|
||||
s.arrow(1180, 1305, 1520, 1305, "命令")
|
||||
s.arrow(2420, 1305, 2760, 1305, "状态汇总")
|
||||
s.arrow(3690, 1305, 4030, 1305, "错误/信息")
|
||||
s.small(580, 1600, 1180, 190, "linuxcncsvr", "NML channel master/server，通常最先启动。", "#7a4eb0")
|
||||
s.small(2260, 1600, 1420, 190, "EMC_STAT", "EMC_TASK_STAT + EMC_MOTION_STAT + EMC_IO_STAT。", "#7a4eb0")
|
||||
|
||||
s.section(130, 2060, 4940, 1000, "3. Task / Interpreter：把人的意图转成规范动作", "#fff8eb", "#d49a35")
|
||||
s.box(250, 2220, 880, 260, "GUI / halui 意图", "按钮、MDI、自动运行、暂停、jog、模式切换。它们表达意图，不直接控制 servo 周期。", "#b36b00")
|
||||
s.box(1420, 2220, 900, 260, "Interpreter", "读取 G-code，维护模态组、坐标系、G92、刀补、参数、remap、子程序调用。", "#b36b00")
|
||||
s.box(2610, 2220, 920, 260, "Canonical Commands", "直线、圆弧、主轴、IO、M68 analog output、换刀等规范动作。", "#b36b00")
|
||||
s.box(3820, 2220, 900, 260, "taskintf.cc", "把规范动作转成 emcmot_command_t 或 IO/tool/spindle 命令。", "#b36b00")
|
||||
s.arrow(1130, 2350, 1420, 2350)
|
||||
s.arrow(2320, 2350, 2610, 2350)
|
||||
s.arrow(3530, 2350, 3820, 2350)
|
||||
s.small(640, 2700, 1240, 190, "例：M68 E3 Q1", "解释器 -> SET_AUX_OUTPUT_VALUE -> EMC_MOTION_SET_AOUT。", "#b36b00")
|
||||
s.small(2350, 2700, 1320, 190, "关键边界", "G-code 不直接写 HAL；它先进入 task/interpreter。", "#b36b00")
|
||||
|
||||
s.section(130, 3160, 4940, 1020, "4. Motion Shared Memory：非实时 task 与实时 motion 的边界", "#eefaf1", "#65a36f")
|
||||
s.box(250, 3320, 1050, 300, "emcmot_command_t", "task 写入，motion 读取。包含 command code、pos、vel、acc、tool_offset、AOUT/DOUT、spindle 等命令参数。", "#3f7d4a")
|
||||
s.box(1580, 3320, 1030, 300, "emcmot_status_t", "motion 周期更新，task 读取。包含 carte_pos_cmd/fb、joint/axis/spindle、queue、analog_output、heartbeat。", "#3f7d4a")
|
||||
s.box(2890, 3320, 920, 300, "emcmot_config_t", "实时 motion 配置：joint 数、kinematics type、速度/加速度限制等。", "#3f7d4a")
|
||||
s.box(4090, 3320, 760, 300, "head / tail", "读取 status 时检查 head == tail，避免读到半更新快照。", "#3f7d4a")
|
||||
s.arrow(1300, 3470, 1580, 3470, "执行后反馈")
|
||||
s.arrow(2610, 3470, 2890, 3470)
|
||||
s.arrow(3810, 3470, 4090, 3470)
|
||||
s.small(670, 3840, 1260, 190, "usrmotWriteEmcmotCommand()", "加 command_mutex，复制 command，等待 commandNumEcho。", "#3f7d4a")
|
||||
s.small(2530, 3840, 1320, 190, "usrmotReadEmcmotStatus()", "复制 status，检查 head/tail 一致性。", "#3f7d4a")
|
||||
|
||||
s.section(130, 4280, 4940, 1080, "5. Realtime Motion + HAL：周期执行与机器信号网络", "#eef9f8", "#4b9c9a")
|
||||
s.box(250, 4440, 920, 300, "servo-thread", "固定周期运行。执行 motion-controller、PID、驱动、仿真组件等 HAL function。", "#2b7a78")
|
||||
s.box(1450, 4440, 980, 300, "motion-controller", "轨迹取点、switchkins、forward/inverse kinematics、limits、probe、jog、homing、status。", "#2b7a78")
|
||||
s.box(2710, 4440, 900, 300, "HAL pins", "motion、joint、spindle、驱动、Vismach、halui 都通过 pin 暴露实时变量。", "#2b7a78")
|
||||
s.box(3890, 4440, 900, 300, "HAL signals", "net 命令将 pin 连接到同一 signal。通常一个 writer，多个 reader。", "#2b7a78")
|
||||
s.arrow(1170, 4590, 1450, 4590)
|
||||
s.arrow(2430, 4590, 2710, 4590)
|
||||
s.arrow(3610, 4590, 3890, 4590)
|
||||
s.small(520, 5020, 1200, 190, "HAL shared memory", "component list / pin list / signal list / param list / function list / thread list。", "#2b7a78")
|
||||
s.small(2080, 5020, 1200, 190, "net 的本质", "把 pin data pointer 指向同一个 signal value。", "#2b7a78")
|
||||
s.small(3620, 5020, 1040, 190, "实时原则", "控制闭环必须在 motion/HAL 内，不能依赖 GUI poll。", "#2b7a78")
|
||||
|
||||
s.section(130, 5460, 4940, 900, "6. 状态回流与 GUI 显示", "#f6f7f9", "#9da8b3")
|
||||
s.box(250, 5620, 920, 250, "motion status", "实时 motion 更新 emcmot_status_t。", "#5b6570")
|
||||
s.box(1470, 5620, 920, 250, "task update", "emcMotionUpdate() 将 motion status 汇总到 EMC_MOTION_STAT。", "#5b6570")
|
||||
s.box(2690, 5620, 920, 250, "EMC_STAT", "顶层状态：task + motion + io。写入 emcStatus NML。", "#5b6570")
|
||||
s.box(3910, 5620, 920, 250, "GUI / halui", "poll emcStatus，显示位置、模式、状态、错误、队列、模态。", "#5b6570")
|
||||
s.arrow(1170, 5745, 1470, 5745)
|
||||
s.arrow(2390, 5745, 2690, 5745)
|
||||
s.arrow(3610, 5745, 3910, 5745)
|
||||
s.poly([(4360, 5620), (4360, 5350), (390, 5350), (390, 4740)], "HAL/Vismach 也可直接读 HAL", dashed=True)
|
||||
|
||||
s.add('<text x="2600" y="6460" class="foot" text-anchor="middle">核心原则：NML 表达系统命令/状态；HAL 表达实时机器信号；motion shared memory 是 task 与实时控制的边界。</text>')
|
||||
s.add('<text x="2600" y="6505" class="foot" text-anchor="middle">输出文件：项目分析/LinuxCNC数据系统核心原理高清流程图.png；源文件：项目分析/LinuxCNC数据系统核心原理高清流程图.svg</text>')
|
||||
|
||||
with open("项目分析/LinuxCNC数据系统核心原理高清流程图.svg", "w", encoding="utf-8") as f:
|
||||
f.write(s.render())
|
||||
310
项目分析/generate_xyzbc_flowchart_svg.py
Normal file
310
项目分析/generate_xyzbc_flowchart_svg.py
Normal file
@@ -0,0 +1,310 @@
|
||||
#!/usr/bin/env python3
|
||||
from html import escape
|
||||
|
||||
|
||||
W = 4800
|
||||
H = 7200
|
||||
FONT = "Noto Sans CJK SC, DejaVu Sans, sans-serif"
|
||||
|
||||
|
||||
def text_width_units(s):
|
||||
units = 0
|
||||
for ch in s:
|
||||
units += 2 if ord(ch) > 127 else 1
|
||||
return units
|
||||
|
||||
|
||||
def wrap_text(text, max_units):
|
||||
words = []
|
||||
for part in text.split(" "):
|
||||
if text_width_units(part) <= max_units:
|
||||
words.append(part)
|
||||
continue
|
||||
current = ""
|
||||
for ch in part:
|
||||
if text_width_units(current + ch) > max_units and current:
|
||||
words.append(current)
|
||||
current = ch
|
||||
else:
|
||||
current += ch
|
||||
if current:
|
||||
words.append(current)
|
||||
|
||||
lines = []
|
||||
current = ""
|
||||
for word in words:
|
||||
candidate = word if not current else current + " " + word
|
||||
if text_width_units(candidate) <= max_units:
|
||||
current = candidate
|
||||
else:
|
||||
if current:
|
||||
lines.append(current)
|
||||
current = word
|
||||
if current:
|
||||
lines.append(current)
|
||||
return lines
|
||||
|
||||
|
||||
class Svg:
|
||||
def __init__(self):
|
||||
self.items = []
|
||||
|
||||
def add(self, s):
|
||||
self.items.append(s)
|
||||
|
||||
def section(self, x, y, w, h, title, color="#eef5ff"):
|
||||
self.add(
|
||||
f'<rect x="{x}" y="{y}" width="{w}" height="{h}" rx="36" '
|
||||
f'fill="{color}" stroke="#b8c7dc" stroke-width="4"/>'
|
||||
)
|
||||
self.add(
|
||||
f'<text x="{x + 34}" y="{y + 70}" class="section-title">{escape(title)}</text>'
|
||||
)
|
||||
|
||||
def box(self, node_id, x, y, w, h, title, body=None, fill="#ffffff", stroke="#416788"):
|
||||
self.add(
|
||||
f'<rect id="{node_id}" x="{x}" y="{y}" width="{w}" height="{h}" rx="18" '
|
||||
f'fill="{fill}" stroke="{stroke}" stroke-width="4"/>'
|
||||
)
|
||||
lines = wrap_text(title, max(10, int(w / 24)))
|
||||
ty = y + 44
|
||||
for i, line in enumerate(lines):
|
||||
klass = "box-title" if i == 0 else "box-text"
|
||||
self.add(f'<text x="{x + w / 2}" y="{ty}" class="{klass}" text-anchor="middle">{escape(line)}</text>')
|
||||
ty += 42
|
||||
if body:
|
||||
ty += 8
|
||||
for line in wrap_text(body, max(10, int(w / 20))):
|
||||
self.add(f'<text x="{x + 28}" y="{ty}" class="box-small">{escape(line)}</text>')
|
||||
ty += 34
|
||||
|
||||
def note(self, x, y, w, h, title, lines, fill="#fff7e6"):
|
||||
self.add(
|
||||
f'<rect x="{x}" y="{y}" width="{w}" height="{h}" rx="18" '
|
||||
f'fill="{fill}" stroke="#d49b32" stroke-width="4"/>'
|
||||
)
|
||||
self.add(f'<text x="{x + 28}" y="{y + 46}" class="note-title">{escape(title)}</text>')
|
||||
ty = y + 90
|
||||
for line in lines:
|
||||
for wrapped in wrap_text(line, max(10, int((w - 56) / 19))):
|
||||
self.add(f'<text x="{x + 28}" y="{ty}" class="note-text">{escape(wrapped)}</text>')
|
||||
ty += 32
|
||||
|
||||
def arrow(self, x1, y1, x2, y2, label=None, color="#1f3b57", dashed=False):
|
||||
dash = ' stroke-dasharray="18 12"' if dashed else ""
|
||||
self.add(
|
||||
f'<path d="M {x1} {y1} L {x2} {y2}" fill="none" stroke="{color}" '
|
||||
f'stroke-width="6" marker-end="url(#arrow)"{dash}/>'
|
||||
)
|
||||
if label:
|
||||
lx = (x1 + x2) / 2
|
||||
ly = (y1 + y2) / 2 - 16
|
||||
self.add(
|
||||
f'<rect x="{lx - 150}" y="{ly - 32}" width="300" height="46" rx="12" '
|
||||
f'fill="#ffffff" opacity="0.92"/>'
|
||||
)
|
||||
self.add(f'<text x="{lx}" y="{ly}" class="arrow-label" text-anchor="middle">{escape(label)}</text>')
|
||||
|
||||
def poly_arrow(self, points, label=None, color="#1f3b57", dashed=False):
|
||||
dash = ' stroke-dasharray="18 12"' if dashed else ""
|
||||
d = "M " + " L ".join(f"{x} {y}" for x, y in points)
|
||||
self.add(
|
||||
f'<path d="{d}" fill="none" stroke="{color}" stroke-width="6" '
|
||||
f'marker-end="url(#arrow)"{dash}/>'
|
||||
)
|
||||
if label:
|
||||
x, y = points[len(points) // 2]
|
||||
self.add(
|
||||
f'<rect x="{x - 170}" y="{y - 54}" width="340" height="46" rx="12" '
|
||||
f'fill="#ffffff" opacity="0.92"/>'
|
||||
)
|
||||
self.add(f'<text x="{x}" y="{y - 22}" class="arrow-label" text-anchor="middle">{escape(label)}</text>')
|
||||
|
||||
def render(self):
|
||||
defs = f"""
|
||||
<defs>
|
||||
<marker id="arrow" markerWidth="18" markerHeight="18" refX="14" refY="6" orient="auto" markerUnits="strokeWidth">
|
||||
<path d="M2,2 L14,6 L2,10 Z" fill="#1f3b57"/>
|
||||
</marker>
|
||||
<style>
|
||||
svg {{ background: #ffffff; }}
|
||||
text {{ font-family: {FONT}; fill: #17212b; }}
|
||||
.title {{ font-size: 76px; font-weight: 800; }}
|
||||
.subtitle {{ font-size: 34px; fill: #52606d; }}
|
||||
.section-title {{ font-size: 44px; font-weight: 800; fill: #24415f; }}
|
||||
.box-title {{ font-size: 34px; font-weight: 800; }}
|
||||
.box-text {{ font-size: 30px; font-weight: 650; }}
|
||||
.box-small {{ font-size: 27px; fill: #35495e; }}
|
||||
.note-title {{ font-size: 34px; font-weight: 800; fill: #7a4b00; }}
|
||||
.note-text {{ font-size: 27px; fill: #5c440b; }}
|
||||
.arrow-label {{ font-size: 26px; font-weight: 700; fill: #24415f; }}
|
||||
.legend {{ font-size: 28px; fill: #34495e; }}
|
||||
</style>
|
||||
</defs>
|
||||
"""
|
||||
return (
|
||||
f'<svg xmlns="http://www.w3.org/2000/svg" width="{W}" height="{H}" viewBox="0 0 {W} {H}">\n'
|
||||
+ defs
|
||||
+ "\n".join(self.items)
|
||||
+ "\n</svg>\n"
|
||||
)
|
||||
|
||||
|
||||
svg = Svg()
|
||||
|
||||
svg.add(f'<rect x="0" y="0" width="{W}" height="{H}" fill="#ffffff"/>')
|
||||
svg.add('<text x="2400" y="120" class="title" text-anchor="middle">5axis-xyzbc-trt-sim 执行流程图</text>')
|
||||
svg.add('<text x="2400" y="178" class="subtitle" text-anchor="middle">LinuxCNC: xyzbc-trt.ini / switchkins / Vismach / PyVCP / M428-M429-M430</text>')
|
||||
|
||||
# Section 1: startup
|
||||
svg.section(120, 260, 4560, 780, "1. 总体启动链路", "#eef6ff")
|
||||
startup = [
|
||||
("s1", 210, 390, 500, 150, "xyzbc-trt.desktop", "快捷方式入口"),
|
||||
("s2", 820, 390, 520, 150, "rip-environment", "设置 RIP 环境"),
|
||||
("s3", 1450, 390, 560, 150, "scripts/linuxcnc", "读取 xyzbc-trt.ini"),
|
||||
("s4", 2120, 390, 520, 150, "linuxcncsvr", "NML 通道"),
|
||||
("s5", 2750, 390, 560, 150, "realtime / HAL", "加载 RTAPI/HAL"),
|
||||
("s6", 3420, 390, 500, 150, "milltask / halui", "任务与 MDI"),
|
||||
("s7", 4030, 390, 520, 150, "AXIS GUI", "前台显示"),
|
||||
]
|
||||
for args in startup:
|
||||
svg.box(*args)
|
||||
for i in range(len(startup) - 1):
|
||||
x1 = startup[i][1] + startup[i][3]
|
||||
y1 = startup[i][2] + startup[i][4] / 2
|
||||
x2 = startup[i + 1][1]
|
||||
y2 = startup[i + 1][2] + startup[i + 1][4] / 2
|
||||
svg.arrow(x1, y1, x2, y2)
|
||||
|
||||
svg.box("ini", 450, 690, 1050, 230, "INI 核心项", "[KINS] xyzbc-trt-kins sparm=identityfirst; [TRAJ] XYZBC; [DISPLAY] axis + PyVCP; [HAL] basic_sim.tcl")
|
||||
svg.box("halcmd", 1760, 690, 1050, 230, "HAL 加载", "basic_sim.tcl 建立仿真闭环; HALCMD 启动 Vismach 并连接 pins")
|
||||
svg.box("postgui", 3070, 690, 1050, 230, "GUI 后置 HAL", "AXIS 创建 PyVCP 后执行 switchkins_postgui.hal")
|
||||
svg.arrow(1500, 805, 1760, 805)
|
||||
svg.arrow(2810, 805, 3070, 805)
|
||||
|
||||
# Section 2: HAL and kins
|
||||
svg.section(120, 1140, 2200, 1490, "2. basic_sim.tcl / 仿真 HAL", "#f2fbf2")
|
||||
svg.box("b1", 230, 1280, 520, 150, "basic_sim.tcl", "读取 coordinates/joints/servo period", "#ffffff", "#3f7d4a")
|
||||
svg.box("b2", 910, 1280, 560, 150, "setup_kins", "loadrt xyzbc-trt-kins sparm=identityfirst", "#ffffff", "#3f7d4a")
|
||||
svg.box("b3", 1590, 1280, 560, 150, "motmod", "num_joints=5 servo=1ms", "#ffffff", "#3f7d4a")
|
||||
svg.arrow(750, 1355, 910, 1355)
|
||||
svg.arrow(1470, 1355, 1590, 1355)
|
||||
|
||||
for i, label in enumerate(["pid J0..J4", "mux2 J0..J4", "sim_home_switch", "sim_spindle", "hal_manualtoolchange"]):
|
||||
x = 250 + (i % 2) * 870
|
||||
y = 1600 + (i // 2) * 230
|
||||
svg.box(f"bc{i}", x, y, 720, 150, label, "basic_sim.tcl 创建/连接", "#ffffff", "#3f7d4a")
|
||||
svg.poly_arrow([(1870, 1430), (1870, 1530), (610, 1530), (610, 1600)])
|
||||
svg.poly_arrow([(1870, 1430), (1870, 1530), (1480, 1530), (1480, 1600)])
|
||||
|
||||
svg.box("loop", 250, 2300, 1720, 190, "理想伺服仿真闭环", "joint.N.motor-pos-cmd -> JN_pid.command -> JN_mux.in1 -> joint.N.motor-pos-fb", "#ffffff", "#3f7d4a")
|
||||
svg.arrow(1110, 2210, 1110, 2300)
|
||||
|
||||
svg.section(2480, 1140, 2200, 1490, "3. switchkins 初始化", "#f9f3ff")
|
||||
svg.box("k1", 2590, 1280, 620, 150, "xyzbc-trt-kins", "switchkinsSetup()", "#ffffff", "#7246a3")
|
||||
svg.box("k2", 3350, 1280, 620, 150, "sparm=identityfirst", "改变 type 顺序", "#ffffff", "#7246a3")
|
||||
svg.arrow(3210, 1355, 3350, 1355)
|
||||
|
||||
svg.box("t0", 2630, 1620, 520, 150, "type 0", "identity kinematics", "#ffffff", "#7246a3")
|
||||
svg.box("t1", 3280, 1620, 520, 150, "type 1", "xyzbc TRT kinematics", "#ffffff", "#7246a3")
|
||||
svg.box("t2", 3930, 1620, 520, 150, "type 2", "userk kinematics", "#ffffff", "#7246a3")
|
||||
svg.poly_arrow([(3660, 1430), (3660, 1530), (2890, 1530), (2890, 1620)])
|
||||
svg.poly_arrow([(3660, 1430), (3660, 1530), (3540, 1530), (3540, 1620)])
|
||||
svg.poly_arrow([(3660, 1430), (3660, 1530), (4190, 1530), (4190, 1620)])
|
||||
|
||||
svg.box("pins", 2700, 1940, 1560, 180, "HAL pins", "kinstype.is-0/1/2; x/y/z-rot-point; x/y/z-offset; tool-offset; conventional-directions", "#ffffff", "#7246a3")
|
||||
svg.arrow(3540, 1770, 3480, 1940)
|
||||
svg.box("default", 2920, 2280, 1120, 160, "启动默认状态", "switchkins_type = 0 -> identity", "#ffffff", "#7246a3")
|
||||
svg.arrow(3480, 2120, 3480, 2280)
|
||||
|
||||
# Section 4: switching
|
||||
svg.section(120, 2730, 4560, 1400, "4. PyVCP / M-code / motion.switchkins-type 切换链路", "#fff8ee")
|
||||
svg.box("p1", 240, 2880, 680, 160, "PyVCP SWITCHKINS 面板", "IDENTITY / TCP:XYZBC / userk", "#ffffff", "#ba7a20")
|
||||
svg.box("p2", 1100, 2880, 620, 160, "switchkins_postgui.hal", "按钮接入 halui.mdi-command", "#ffffff", "#ba7a20")
|
||||
svg.box("p3", 1900, 2880, 580, 160, "halui MDI", "执行 M429 / M428 / M430", "#ffffff", "#ba7a20")
|
||||
svg.box("p4", 2660, 2880, 640, 160, "remap 子程序", "429/428/430remap.ngc", "#ffffff", "#ba7a20")
|
||||
svg.box("p5", 3480, 2880, 520, 160, "M68 E3 Qn", "设置 analog out", "#ffffff", "#ba7a20")
|
||||
svg.box("p6", 4160, 2880, 420, 160, "M66 E0 L0", "同步解释器与 motion", "#ffffff", "#ba7a20")
|
||||
for x1, x2 in [(920, 1100), (1720, 1900), (2480, 2660), (3300, 3480), (4000, 4160)]:
|
||||
svg.arrow(x1, 2960, x2, 2960)
|
||||
|
||||
svg.box("m429", 520, 3260, 660, 150, "M429", "type 0: identity", "#ffffff", "#ba7a20")
|
||||
svg.box("m428", 1480, 3260, 660, 150, "M428", "type 1: xyzbc TRT", "#ffffff", "#ba7a20")
|
||||
svg.box("m430", 2440, 3260, 660, 150, "M430", "type 2: userk", "#ffffff", "#ba7a20")
|
||||
svg.box("aout", 3400, 3260, 720, 150, "motion.analog-out-03", "HAL net :kinstype-select", "#ffffff", "#ba7a20")
|
||||
svg.arrow(850, 3040, 850, 3260, "M429")
|
||||
svg.arrow(2200, 3040, 1810, 3260, "M428")
|
||||
svg.arrow(2200, 3040, 2770, 3260, "M430")
|
||||
svg.arrow(1180, 3335, 3400, 3335, "Q0")
|
||||
svg.arrow(2140, 3335, 3400, 3335, "Q1")
|
||||
svg.arrow(3100, 3335, 3400, 3335, "Q2")
|
||||
|
||||
svg.box("swpin", 1580, 3700, 760, 170, "motion.switchkins-type", "float HAL input, 被截断为整数 type", "#ffffff", "#ba7a20")
|
||||
svg.box("handle", 2580, 3700, 820, 170, "handle_kinematicsSwitch()", "servo-thread 每周期检测并调用 kinematicsSwitch(type)", "#ffffff", "#ba7a20")
|
||||
svg.arrow(3760, 3410, 1960, 3700)
|
||||
svg.arrow(2340, 3785, 2580, 3785)
|
||||
|
||||
# Section 5: motion data
|
||||
svg.section(120, 4230, 4560, 1520, "5. 运行时运动数据流与 Vismach 显示", "#eef9f8")
|
||||
svg.box("gcode", 240, 4390, 520, 150, "G-code XYZBC", "程序指令", "#ffffff", "#2b7a78")
|
||||
svg.box("interp", 920, 4390, 520, 150, "interpreter", "RS274NGC", "#ffffff", "#2b7a78")
|
||||
svg.box("task", 1600, 4390, 520, 150, "milltask", "任务层", "#ffffff", "#2b7a78")
|
||||
svg.box("tp", 2280, 4390, 620, 150, "trajectory planner", "生成 carte_pos_cmd", "#ffffff", "#2b7a78")
|
||||
svg.box("inv", 3060, 4390, 760, 150, "kinematicsInverse()", "按当前 type 分派", "#ffffff", "#2b7a78")
|
||||
svg.box("joint", 3980, 4390, 560, 150, "joint targets", "X/Y/Z/B/C joint 目标", "#ffffff", "#2b7a78")
|
||||
for x1, x2 in [(760, 920), (1440, 1600), (2120, 2280), (2900, 3060), (3820, 3980)]:
|
||||
svg.arrow(x1, 4465, x2, 4465)
|
||||
|
||||
svg.box("idinv", 540, 4840, 760, 150, "type 0: identity", "一一映射", "#ffffff", "#2b7a78")
|
||||
svg.box("trtinv", 1510, 4840, 1040, 210, "type 1: xyzbcKinematicsInverse", "使用 B/C 角度、x-offset=-20、z-offset=-15、tool-offset、旋转中心计算 joint", "#ffffff", "#2b7a78")
|
||||
svg.box("userkinv", 2760, 4840, 760, 150, "type 2: userk", "模板示例", "#ffffff", "#2b7a78")
|
||||
svg.poly_arrow([(3440, 4540), (3440, 4720), (920, 4720), (920, 4840)])
|
||||
svg.poly_arrow([(3440, 4540), (3440, 4720), (2030, 4720), (2030, 4840)])
|
||||
svg.poly_arrow([(3440, 4540), (3440, 4720), (3140, 4720), (3140, 4840)])
|
||||
|
||||
svg.box("fb", 820, 5260, 1000, 160, "仿真反馈闭环", "joint.N.motor-pos-cmd -> pid/mux2 -> joint.N.motor-pos-fb", "#ffffff", "#2b7a78")
|
||||
svg.box("vis", 2140, 5260, 1000, 160, "Vismach", "joint feedback 驱动 table/saddle/spindle/B/C 模型", "#ffffff", "#2b7a78")
|
||||
svg.box("panel", 3460, 5260, 780, 160, "PyVCP 状态", "kinstype.is-N 显示当前运动学", "#ffffff", "#2b7a78")
|
||||
svg.arrow(4260, 4540, 1320, 5260)
|
||||
svg.arrow(1820, 5340, 2140, 5340)
|
||||
svg.arrow(2980, 3870, 3850, 5260, "kinstype.is-N", dashed=True)
|
||||
|
||||
# Section 6: demo
|
||||
svg.section(120, 5860, 4560, 1060, "6. 自动打开的演示 G-code 流程", "#f7f7f7")
|
||||
svg.box("d1", 250, 6020, 660, 150, "xyzbc_switchkins.ngc", "AXIS OPEN_FILE", "#ffffff", "#5b6570")
|
||||
svg.box("d2", 1080, 6020, 760, 150, "xyzbc_switchkins_sub", "四个象限重复", "#ffffff", "#5b6570")
|
||||
svg.box("d3", 2010, 6020, 620, 150, "M429 identity", "安全定位 / 重设 G54", "#ffffff", "#5b6570")
|
||||
svg.box("d4", 2800, 6020, 620, 150, "helix_bc", "准备螺旋插补", "#ffffff", "#5b6570")
|
||||
svg.box("d5", 3590, 6020, 700, 150, "M428 xyzbc TRT", "B/C 倾斜后加工", "#ffffff", "#5b6570")
|
||||
for x1, x2 in [(910, 1080), (1840, 2010), (2630, 2800), (3420, 3590)]:
|
||||
svg.arrow(x1, 6095, x2, 6095)
|
||||
|
||||
svg.note(
|
||||
360,
|
||||
6380,
|
||||
1780,
|
||||
330,
|
||||
"演示循环",
|
||||
[
|
||||
"每个象限先 M429 切回 identity。",
|
||||
"G53 回机床安全位置，G10 L20 P0 重设 G54。",
|
||||
"移动到象限中心后调用 helix_bc。",
|
||||
],
|
||||
)
|
||||
svg.note(
|
||||
2540,
|
||||
6380,
|
||||
1780,
|
||||
330,
|
||||
"helix_bc 核心",
|
||||
[
|
||||
"M428 切换到 xyzbc TRT。",
|
||||
"G0 B#<b> C#<c> 设置转台角度。",
|
||||
"G2 I#<r> Z#<zmin> P#<n> 执行螺旋插补。",
|
||||
],
|
||||
)
|
||||
|
||||
svg.add('<text x="2400" y="7080" class="legend" text-anchor="middle">输出文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.png；源文件: 项目分析/5axis-xyzbc-trt-sim高清流程图.svg</text>')
|
||||
|
||||
with open("项目分析/5axis-xyzbc-trt-sim高清流程图.svg", "w", encoding="utf-8") as f:
|
||||
f.write(svg.render())
|
||||
Reference in New Issue
Block a user