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chore: finalize remaining project artifacts

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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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<text x="2600" y="118" class="title" text-anchor="middle">LinuxCNC 数据系统核心原理</text>
<text x="2600" y="176" class="subtitle" text-anchor="middle">INI / NML / Task / Interpreter / Motion Shared Memory / HAL / GUI</text>
<rect x="130" y="260" width="4940" height="660" rx="36" fill="#eef6ff" stroke="#9fb9d2" stroke-width="4"/>
<text x="164" y="326" class="section">1. 静态装配层：INI 决定系统如何启动</text>
<rect x="250" y="390" width="960" height="250" rx="18" fill="#ffffff" stroke="#386d9d" stroke-width="4"/>
<text x="730.0" y="434" class="boxtitle" text-anchor="middle">INI 文件</text>
<text x="278" y="474" class="boxbody">机器拓扑、KINS、JOINTS、TRAJ、DISPLAY、HALFILE、HA</text>
<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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<text x="1970.0" y="434" class="boxtitle" text-anchor="middle">scripts/linuxcnc</text>
<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>
<text x="1538" y="536" class="boxbody">配置和 GUI。</text>
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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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<path d="M 2430 515 L 2730 515" fill="none" stroke="#203a53" stroke-width="6" marker-end="url(#arrow)"/>
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<rect x="130" y="1020" width="4940" height="940" rx="36" fill="#f8f3ff" stroke="#b59ad7" stroke-width="4"/>
<text x="164" y="1086" class="section">2. NML：跨进程命令 / 状态 / 错误总线</text>
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<text x="715.0" y="1224" class="boxtitle" text-anchor="middle">emcCommand</text>
<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>
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<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>
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<text x="1350.0" y="1287.0" class="label" text-anchor="middle">命令</text>
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<text x="2590.0" y="1287.0" class="label" text-anchor="middle">状态汇总</text>
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<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>
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<text x="164" y="2126" class="section">3. Task / Interpreter：把人的意图转成规范动作</text>
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<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>
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<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>
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<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>
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<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>
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<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 -&gt; SET_AUX_OUTPUT_VALUE -&gt; EMC_MOTION_SET_AOUT。</text>
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<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>
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<text x="164" y="3226" class="section">4. Motion Shared Memory：非实时 task 与实时 motion 的边界</text>
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<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>
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<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>
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<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>
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<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>
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<text x="1440.0" y="3452.0" class="label" text-anchor="middle">执行后反馈</text>
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<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>
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<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>
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<text x="164" y="4346" class="section">5. Realtime Motion + HAL：周期执行与机器信号网络</text>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<text x="164" y="5526" class="section">6. 状态回流与 GUI 显示</text>
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<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>
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<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>
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<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>
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<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>
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<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>
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