chore: finalize remaining project artifacts
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wangdequan
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项目分析/5axis-xyzbc-trt-sim执行流程图.md
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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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