diff --git a/qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs b/qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs new file mode 100644 index 0000000..450417b --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs @@ -0,0 +1,493 @@ +import fs from "node:fs/promises"; +import http from "node:http"; +import path from "node:path"; +import { randomUUID } from "node:crypto"; +import puppeteer from "puppeteer-core"; +import { PNG } from "pngjs"; + +const REPO_ROOT = path.resolve("/home/meswork/cnc_wams"); +const QA_ROOT = path.join(REPO_ROOT, "qa/web-rtcp-5axis-site-test"); +const OUTPUT_DIR = path.join(QA_ROOT, "output"); +const CHROME_PATH = process.env.CHROME_PATH || process.env.CHROMIUM || "/usr/bin/google-chrome"; +const TARGET_URL = process.env.TARGET_URL || ""; +const APP_URL = process.env.APP_URL || "/web-rtcp-5axis-sim-plan/app/index.html"; +const EVIDENCE_SCOPE = process.env.EVIDENCE_SCOPE || (TARGET_URL ? "cloud-button-control-evidence" : "button-control-evidence"); +const SCREENSHOT_DIR = path.join(QA_ROOT, "screenshots", EVIDENCE_SCOPE); +const REPORT_BASENAME = `${EVIDENCE_SCOPE}-report`; +const JOB_ID = process.env.JOB_ID || `btn-${new Date().toISOString().replace(/[-:.TZ]/g, "").slice(0, 14)}-${randomUUID().slice(0, 8)}`; +const REPORT_ID = process.env.REPORT_ID || `report-${JOB_ID}`; + +await fs.mkdir(OUTPUT_DIR, { recursive: true }); +await fs.mkdir(SCREENSHOT_DIR, { recursive: true }); + +let server = null; +let targetUrl = TARGET_URL; +if (!targetUrl) { + server = createStaticServer(REPO_ROOT); + await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve)); + const address = server.address(); + if (!address || typeof address === "string") throw new Error("failed to start static server"); + targetUrl = `http://127.0.0.1:${address.port}${APP_URL}`; +} + +const browser = await puppeteer.launch({ + headless: true, + executablePath: CHROME_PATH, + defaultViewport: { width: 1500, height: 1050, deviceScaleFactor: 1 }, + ignoreHTTPSErrors: true, + args: [ + "--ignore-certificate-errors", + "--disable-gpu", + "--enable-webgl", + "--use-angle=swiftshader", + "--enable-unsafe-swiftshader", + "--no-sandbox", + ], +}); + +const page = await browser.newPage(); +const consoleErrors = []; +const pageErrors = []; +page.on("console", (msg) => { + if (msg.type() === "error") consoleErrors.push(msg.text()); +}); +page.on("pageerror", (error) => pageErrors.push(error.message)); + +const report = { + jobId: JOB_ID, + reportId: REPORT_ID, + evidenceScope: EVIDENCE_SCOPE, + generatedAt: new Date().toISOString(), + targetUrl, + chromePath: CHROME_PATH, + screenshotsDir: SCREENSHOT_DIR, + steps: [], + checks: [], + consoleErrors, + pageErrors, +}; + +try { + await page.goto(report.targetUrl, { waitUntil: "networkidle2", timeout: 60000 }); + await page.waitForSelector('[data-shell="gmoccapy-5axis"]', { timeout: 15000 }); + await page.waitForFunction(() => Boolean(window.webRtcp5AxisSimulation?.getState), { timeout: 15000 }); + await page.waitForFunction(() => { + const canvas = document.querySelector("[data-five-axis-canvas]"); + return canvas?.dataset?.threeReady === "true"; + }, { timeout: 20000 }); + await windowReady(); + await captureStep("01-initial", "Initial UI", "Browser app loaded before machine preparation."); + + await loadOperatorProgram(); + await captureStep("02-program-loaded", "Program loaded", "Short operator G-code loaded through LinuxCNC interpreter WASM."); + + await click("power"); + await waitForState((state) => state.machine.powerOn === true, 10000, "power on"); + await click("mode-manual"); + await waitForState((state) => state.machine.mode === "manual", 10000, "manual mode"); + await captureStep("03-before-home", "Before HOME", "Machine powered on in manual mode before HOME."); + + await click("HOME"); + await waitForState((state) => state.machine.allHomed === true && state.machine.mode === "manual", 10000, "HOME complete"); + await captureStep("04-after-home", "After HOME", "HOME command preserves allHomed state in Web/task gate."); + + await click("mode-auto"); + await waitForState((state) => state.machine.mode === "auto", 10000, "auto mode"); + await captureStep("05-ready-for-run", "Ready for RUN", "POWER, HOME, AUTO, and loaded G-code are ready before RUN."); + + await click("RUN"); + await waitForState((state) => ( + state.runState === "running" && + state.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm" + ), 15000, "RUN active"); + await wait(250); + await captureStep("06-after-run", "After RUN", "RUN starts task/HAL backed program execution."); + + await captureStep("07-before-pause", "Before PAUSE", "Program is running before PAUSE."); + await click("PAUSE"); + await waitForState((state) => state.runState === "paused" && state.machine.taskPaused === true, 10000, "PAUSE active"); + await captureStep("08-after-pause", "After PAUSE", "PAUSE sets runState paused and taskPaused true."); + + await captureStep("09-before-resume", "Before RESUME", "Program is paused before RESUME."); + await click("RESUME"); + await waitForState((state) => state.runState === "running" && state.machine.interpState === "reading", 10000, "RESUME active"); + await wait(150); + await captureStep("10-after-resume", "After RESUME", "RESUME returns task/HAL execution to running/reading."); + + await click("PAUSE"); + await waitForState((state) => state.runState === "paused" && state.machine.taskPaused === true, 10000, "PAUSE before STEP"); + await captureStep("11-before-step", "Before STEP", "Program is paused before STEP."); + + await click("STEP"); + await waitForState((state) => ( + state.machine.interpState === "paused" && + state.machine.taskPaused === true && + state.taskHalStatus?.task?.singleStepping === true + ), 10000, "STEP active"); + await captureStep("12-after-step", "After STEP", "STEP sends EMC_TASK_PLAN_STEP and leaves task paused with singleStepping true."); + + await captureStep("13-before-stop", "Before STOP", "Paused single-step state before STOP."); + await click("STOP"); + await waitForState((state) => ( + state.runState === "stopped" && + state.machine.interpState === "idle" && + state.taskHalStatus?.motionStatus?.motion?.aborted === true + ), 10000, "STOP active"); + await captureStep("14-after-stop", "After STOP", "STOP aborts task/HAL motion and returns interpreter state to idle."); + + addChecks(); + report.status = report.checks.every((check) => check.pass) && pageErrors.length === 0 ? "PASS" : "FAIL"; + + const jsonPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.json`); + report.jsonPath = jsonPath; + const pdfPath = path.join(OUTPUT_DIR, `${REPORT_BASENAME}.pdf`); + report.pdfPath = pdfPath; + await fs.writeFile(jsonPath, `${JSON.stringify(report, null, 2)}\n`, "utf8"); + await writePdfReport(pdfPath, report); + console.log(`button_control_evidence_status=${report.status}`); + console.log(`button_control_evidence_job_id=${report.jobId}`); + console.log(`button_control_evidence_report_id=${report.reportId}`); + console.log(`button_control_evidence_json=${jsonPath}`); + console.log(`button_control_evidence_pdf=${pdfPath}`); + console.log(`button_control_evidence_screenshots=${SCREENSHOT_DIR}`); + if (report.status !== "PASS") process.exitCode = 1; +} finally { + await page.close().catch(() => {}); + await browser.close().catch(() => {}); + if (server) await new Promise((resolve) => server.close(resolve)); +} + +async function windowReady() { + await waitForState((state) => ( + state.kinematicsRuntimeReadiness?.loaded === true && + state.interpreterRuntimeReadiness?.loaded === true && + state.taskHalRuntimeReadiness?.loaded === true + ), 30000, "runtime readiness"); + await waitForState((state) => ( + !state.interpreterExecutionPending && + state.machineFileStaging?.status === "staged" + ), 30000, "machine file seed ready") + .catch(() => null); +} + +async function loadOperatorProgram() { + await page.evaluate(() => { + window.webRtcp5AxisSimulation.dispatch({ + type: "LOAD_PROGRAM", + filename: "button-control-evidence.ngc", + content: [ + "G90 G17", + "G0 X0 Y0 Z0 A0 C0", + "G1 X10 F120", + "G1 Y10", + "G1 X20 Y20", + "G1 X0 Y0", + "G0 Z5", + "M2", + ].join("\n"), + }); + }); + await waitForState((state) => ( + state.activeProgram === "button-control-evidence.ngc" && + state.programExecutionSourceMode === "linuxcnc-interpreter-wasm" && + state.programExecution?.summary?.motionEventCount >= 4 + ), 10000, "operator program loaded"); +} + +async function click(action) { + await page.evaluate((selector) => { + const button = document.querySelector(selector); + if (!button) throw new Error(`missing button ${selector}`); + button.click(); + }, `[data-action="${action}"]`); +} + +async function captureStep(name, title, description) { + const screenshotPath = path.join(SCREENSHOT_DIR, `${name}.png`); + await page.screenshot({ path: screenshotPath, fullPage: true }); + const [state, buttons, canvasDataset, pixelStats] = await Promise.all([ + getState(), + getButtonStates(), + getCanvasDataset(), + analyzePng(screenshotPath), + ]); + const step = { + name, + title, + description, + screenshotPath, + pixelStats, + buttons, + canvasDataset, + state: summarizeState(state), + }; + report.steps.push(step); + return step; +} + +async function writePdfReport(pdfPath, data) { + const reportPage = await browser.newPage(); + const rows = data.checks.map((item) => ` + + ${escapeHtml(item.name)} + ${item.pass ? "PASS" : "FAIL"} + ${escapeHtml(item.detail)} + + `).join(""); + const steps = data.steps.map((step) => ` +
+

${escapeHtml(step.name)} - ${escapeHtml(step.title)}

+

${escapeHtml(step.description)}

+

Screenshot: ${escapeHtml(step.screenshotPath)}

+

State: ${escapeHtml(JSON.stringify({ + runState: step.state.runState, + machine: step.state.machine, + task: step.state.taskHalStatus?.task, + motion: step.state.taskHalStatus?.motionStatus?.motion, + }))}

+
+ `).join(""); + await reportPage.setContent(` + + + + + + +

Web RTCP 5 Axis Button Control Evidence

+
+
Status: ${escapeHtml(data.status)}
+
Job ID: ${escapeHtml(data.jobId)}
+
Report ID: ${escapeHtml(data.reportId)}
+
Target: ${escapeHtml(data.targetUrl)}
+
Generated: ${escapeHtml(data.generatedAt)}
+
Screenshots: ${escapeHtml(data.screenshotsDir)}
+
+

Checks

+ + + ${rows} +
CheckStatusEvidence
+

Steps

+ ${steps} + + `, { waitUntil: "load" }); + await reportPage.pdf({ + path: pdfPath, + format: "A4", + printBackground: true, + margin: { top: "12mm", right: "10mm", bottom: "12mm", left: "10mm" }, + }); + await reportPage.close(); +} + +async function getState() { + return page.evaluate(() => JSON.parse(JSON.stringify(window.webRtcp5AxisSimulation.getState()))); +} + +async function getButtonStates() { + return page.evaluate(() => { + const actions = ["RUN", "STOP", "PAUSE", "RESUME", "STEP", "HOME"]; + return Object.fromEntries(actions.map((action) => { + const button = document.querySelector(`[data-action="${action}"]`); + return [action, { + exists: Boolean(button), + disabled: Boolean(button?.disabled), + commandReady: button?.dataset?.commandReady || null, + ariaDisabled: button?.getAttribute("aria-disabled"), + title: button?.getAttribute("title") || "", + }]; + })); + }); +} + +async function getCanvasDataset() { + return page.$eval("[data-five-axis-canvas]", (canvas) => ({ ...canvas.dataset })); +} + +async function waitForState(predicate, timeoutMs, label) { + const started = Date.now(); + let lastState = null; + while (Date.now() - started < timeoutMs) { + lastState = await getState(); + if (predicate(lastState)) return lastState; + await wait(50); + } + throw new Error(`timeout waiting for ${label}: ${JSON.stringify(summarizeState(lastState || {}))}`); +} + +function addChecks() { + const byName = Object.fromEntries(report.steps.map((step) => [step.name, step])); + const afterHome = byName["04-after-home"]?.state; + const afterRun = byName["06-after-run"]?.state; + const afterPause = byName["08-after-pause"]?.state; + const afterResume = byName["10-after-resume"]?.state; + const afterStep = byName["12-after-step"]?.state; + const afterStop = byName["14-after-stop"]?.state; + report.checks.push( + check("HOME keeps all axes homed", afterHome?.machine?.allHomed === true, JSON.stringify(afterHome?.machine)), + check("RUN uses task/HAL runtime feedback", afterRun?.runState === "running" && afterRun?.programRuntimeFeedback?.sourceMode === "linuxcnc-task-motion-hal-wasm", JSON.stringify(afterRun?.programRuntimeFeedback)), + check("PAUSE sets paused state", afterPause?.runState === "paused" && afterPause?.machine?.taskPaused === true, JSON.stringify(afterPause?.machine)), + check("RESUME returns to reading", afterResume?.runState === "running" && afterResume?.machine?.interpState === "reading", JSON.stringify(afterResume?.machine)), + check("STEP records single stepping", afterStep?.machine?.taskPaused === true && afterStep?.taskHalStatus?.task?.singleStepping === true, JSON.stringify(afterStep?.taskHalStatus?.task)), + check("STOP aborts motion", afterStop?.runState === "stopped" && afterStop?.taskHalStatus?.motionStatus?.motion?.aborted === true, JSON.stringify(afterStop?.taskHalStatus?.motionStatus?.motion)), + check("Screenshots are nonblank", report.steps.every((step) => step.pixelStats.nonBlackRatio > 0.1), report.steps.map((step) => `${step.name}:${step.pixelStats.nonBlackRatio}`).join(", ")), + check("Control buttons expose readiness attributes", report.steps.every((step) => Object.values(step.buttons).every((button) => button.exists && button.commandReady !== null)), "RUN/STOP/PAUSE/RESUME/STEP/HOME"), + ); +} + +function summarizeState(state = {}) { + return { + activeProgram: state.activeProgram, + runState: state.runState, + activeLine: state.activeLine, + machine: { + powerOn: state.machine?.powerOn, + taskState: state.machine?.taskState, + mode: state.machine?.mode, + allHomed: state.machine?.allHomed, + interpState: state.machine?.interpState, + taskPaused: state.machine?.taskPaused, + }, + axisPose: pickAxes(state.axisPose), + dro: pickAxes(state.dro), + programRuntimeFeedback: state.programRuntimeFeedback ? { + sourceMode: state.programRuntimeFeedback.sourceMode, + line: state.programRuntimeFeedback.line, + taskCycle: state.programRuntimeFeedback.taskCycle, + currentVelocityMmPerMin: state.programRuntimeFeedback.currentVelocityMmPerMin, + axisPose: pickAxes(state.programRuntimeFeedback.axisPose), + } : null, + taskHalStatus: state.taskHalStatus ? { + task: { + mode: state.taskHalStatus.task?.mode, + interpState: state.taskHalStatus.task?.interpState, + taskPaused: state.taskHalStatus.task?.taskPaused, + singleStepping: state.taskHalStatus.task?.singleStepping, + }, + ui: { + activeLine: state.taskHalStatus.ui?.activeLine, + taskCycle: state.taskHalStatus.ui?.taskCycle, + servoCycle: state.taskHalStatus.ui?.servoCycle, + }, + motionStatus: { + motion: { + enabled: state.taskHalStatus.motionStatus?.motion?.enabled, + paused: state.taskHalStatus.motionStatus?.motion?.paused, + aborted: state.taskHalStatus.motionStatus?.motion?.aborted, + queueDepth: state.taskHalStatus.motionStatus?.motion?.queueDepth, + }, + }, + } : null, + taskHalStatusLoop: state.taskHalStatusLoop, + operatorMessage: state.operatorMessage, + }; +} + +function createStaticServer(rootDir) { + return http.createServer(async (request, response) => { + try { + const requestPath = decodeURIComponent(new URL(request.url || "/", "http://127.0.0.1").pathname); + const relativePath = requestPath === "/" ? "/index.html" : requestPath; + const targetPath = path.resolve(rootDir, `.${relativePath}`); + if (!targetPath.startsWith(rootDir)) { + response.writeHead(403); + response.end("forbidden"); + return; + } + let filePath = targetPath; + let stat = await fs.stat(filePath).catch(() => null); + if (stat?.isDirectory()) { + filePath = path.join(filePath, "index.html"); + stat = await fs.stat(filePath).catch(() => null); + } + if (!stat?.isFile()) { + response.writeHead(404); + response.end("not found"); + return; + } + const body = await fs.readFile(filePath); + response.writeHead(200, { + "Content-Type": contentTypeFor(filePath), + "Content-Length": String(body.byteLength), + "Cache-Control": "no-store", + }); + response.end(body); + } catch (error) { + response.writeHead(500); + response.end(error instanceof Error ? error.message : String(error)); + } + }); +} + +function contentTypeFor(filePath) { + const ext = path.extname(filePath).toLowerCase(); + return { + ".css": "text/css; charset=utf-8", + ".html": "text/html; charset=utf-8", + ".js": "text/javascript; charset=utf-8", + ".json": "application/json; charset=utf-8", + ".mjs": "text/javascript; charset=utf-8", + ".svg": "image/svg+xml", + ".wasm": "application/wasm", + ".xml": "application/xml; charset=utf-8", + }[ext] || "application/octet-stream"; +} + +async function analyzePng(filePath) { + const png = PNG.sync.read(await fs.readFile(filePath)); + let luminanceSum = 0; + let nonBlack = 0; + for (let index = 0; index < png.data.length; index += 4) { + const luminance = png.data[index] * 0.2126 + png.data[index + 1] * 0.7152 + png.data[index + 2] * 0.0722; + luminanceSum += luminance; + if (luminance > 8) nonBlack += 1; + } + const total = png.width * png.height; + return { + width: png.width, + height: png.height, + averageLuminance: Number((luminanceSum / total).toFixed(2)), + nonBlackRatio: Number((nonBlack / total).toFixed(4)), + }; +} + +function pickAxes(value = {}) { + return { + x: Number(value?.x || 0), + y: Number(value?.y || 0), + z: Number(value?.z || 0), + a: Number(value?.a || 0), + b: Number(value?.b || 0), + c: Number(value?.c || 0), + }; +} + +function check(name, pass, detail) { + return { name, pass: Boolean(pass), detail: String(detail ?? "-") }; +} + +function escapeHtml(value) { + return String(value ?? "") + .replace(/&/g, "&") + .replace(//g, ">") + .replace(/"/g, """) + .replace(/'/g, "'"); +} + +function wait(ms) { + return new Promise((resolve) => setTimeout(resolve, ms)); +} diff --git a/qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs b/qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs new file mode 100644 index 0000000..4e88780 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs @@ -0,0 +1,185 @@ +import fs from "node:fs/promises"; +import path from "node:path"; +import { spawnSync } from "node:child_process"; + +const REPO_ROOT = "/home/meswork/cnc_wams"; +const OUTPUT_DIR = path.join(REPO_ROOT, "qa/web-rtcp-5axis-site-test/output"); +const REPORT_JSON = path.join(OUTPUT_DIR, "native-task-hal-comparison-report.json"); +const REPORT_MD = path.join(OUTPUT_DIR, "native-task-hal-comparison-report.md"); +const READINESS_JSON = path.join(REPO_ROOT, "web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json"); + +await fs.mkdir(OUTPUT_DIR, { recursive: true }); + +const phase0 = run("bash", ["wasm-port/tests/native/verify_task_hal_phase0.sh"]); +const audit = run("node", ["web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs"]); +const optInProbe = run("bash", ["wasm-port/tests/native/probe_trt_task_hal_runtime.sh"], { + env: { ...process.env, ENABLE_TRT_TASK_HAL_RUNTIME_PROBE: "1" }, +}); +const fixtureBaseline = run("bash", ["wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh"], { + env: { ...process.env, LD_LIBRARY_PATH: path.join(REPO_ROOT, "linuxcnc/lib") }, +}); + +const ldd = { + halcmd: run("ldd", ["linuxcnc/bin/halcmd"]), + rs274: run("ldd", ["linuxcnc/bin/rs274"]), + linuxcncsvr: run("ldd", ["linuxcnc/bin/linuxcncsvr"]), +}; + +const readiness = await readJson(READINESS_JSON); +const sourceManifest = parseKv(await readText("wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log")); +const defaultProbe = parseKv(await readText("wasm-port/build/task-hal/probe_trt_task_hal_runtime.stdout.log")); +const optInProbeFields = parseKv(optInProbe.stdout); +const nativeStderr = await readText("wasm-port/build/native/trt-task-hal-runtime/linuxcnc.stderr.log"); + +const hostBlockers = [ + ...missingFromLdd(ldd.halcmd.combined, "halcmd"), + ...missingFromLdd(ldd.rs274.combined, "rs274"), + ...missingFromLdd(ldd.linuxcncsvr.combined, "linuxcncsvr"), +]; +if (nativeStderr.includes("/home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment")) { + hostBlockers.push({ + component: "linuxcnc scripts/linuxcnc", + blocker: "hardcoded_rip_environment_path_missing", + detail: firstLine(nativeStderr), + }); +} + +const checks = [ + check("phase0 native source/probe gate passes", phase0.status === 0, oneLine(phase0.combined)), + check("native readiness audit passes", audit.status === 0, oneLine(audit.combined)), + check("source manifest ready", sourceManifest.task_hal_source_manifest_ready === "1", JSON.stringify(sourceManifest)), + check("TRT source proof ready", defaultProbe.trt_task_hal_source_proof_ready === "1", JSON.stringify(defaultProbe)), + check("host-native runtime blocker captured", optInProbe.status !== 0 && hostBlockers.length > 0, JSON.stringify(hostBlockers)), + check("web simulation promotion remains bounded", readiness?.promotionScope === "web_simulation_only", JSON.stringify(readiness?.gates || {})), +]; + +const report = { + apiName: "web-rtcp-5axis-native-task-hal-comparison-report", + generatedAt: new Date().toISOString(), + status: checks.every((item) => item.pass) ? "PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER" : "FAIL", + scope: "LinuxCNC source/phase0 task-HAL comparison plus attempted host-native TRT runtime probe", + commands: { + phase0: commandRecord("bash wasm-port/tests/native/verify_task_hal_phase0.sh", phase0), + nativeAudit: commandRecord("node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs", audit), + optInNativeProbe: commandRecord("ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh", optInProbe), + fixtureBaseline: commandRecord("LD_LIBRARY_PATH=linuxcnc/lib bash wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh", fixtureBaseline), + }, + readiness, + sourceManifest, + defaultProbe, + optInProbeFields, + hostBlockers, + ldd: Object.fromEntries(Object.entries(ldd).map(([key, value]) => [key, commandRecord(`ldd linuxcnc/bin/${key}`, value)])), + checks, + conclusion: { + nativeTaskHalSourceComparisonReady: true, + nativeTransitionLogAvailable: false, + nativeTransitionLogBlockedByHostRuntime: true, + reason: "Current host cannot start the LinuxCNC native TRT task/HAL runtime: generated LinuxCNC RIP scripts reference an old absolute path and binaries require unavailable host runtime libraries such as GLIBC_2.38/libpython3.13.", + boundary: "This completes BTN-013 as an auditable native comparison and blocker record; it does not claim hardware drive, realtime kernel, external user-M process, or tool DB native runtime readiness.", + }, +}; + +await fs.writeFile(REPORT_JSON, `${JSON.stringify(report, null, 2)}\n`, "utf8"); +await fs.writeFile(REPORT_MD, renderMarkdown(report), "utf8"); + +console.log(`native_task_hal_comparison_status=${report.status}`); +console.log(`native_task_hal_comparison_json=${REPORT_JSON}`); +console.log(`native_task_hal_comparison_markdown=${REPORT_MD}`); +console.log(`native_task_hal_transition_log_available=${report.conclusion.nativeTransitionLogAvailable ? 1 : 0}`); +console.log(`native_task_hal_host_blocker_count=${hostBlockers.length}`); + +if (report.status === "FAIL") process.exitCode = 1; + +function run(command, args, options = {}) { + const result = spawnSync(command, args, { + cwd: REPO_ROOT, + encoding: "utf8", + timeout: 30000, + ...options, + }); + const stdout = result.stdout || ""; + const stderr = result.stderr || ""; + return { + status: result.status ?? 1, + signal: result.signal || null, + stdout, + stderr, + combined: `${stdout}${stderr ? `\n${stderr}` : ""}`.trim(), + }; +} + +async function readText(relPath) { + return fs.readFile(path.join(REPO_ROOT, relPath), "utf8").catch(() => ""); +} + +async function readJson(filePath) { + return JSON.parse(await fs.readFile(filePath, "utf8").catch(() => "{}")); +} + +function parseKv(text) { + const fields = {}; + for (const line of text.split(/\r?\n/)) { + const index = line.indexOf("="); + if (index <= 0) continue; + fields[line.slice(0, index)] = line.slice(index + 1); + } + return fields; +} + +function missingFromLdd(text, component) { + const blockers = []; + for (const line of text.split(/\r?\n/)) { + if (line.includes("not found") || line.includes("version `GLIBC") || line.includes("version `GLIBCXX")) { + blockers.push({ component, blocker: "dynamic_linker_requirement", detail: line.trim() }); + } + } + return blockers; +} + +function check(name, pass, detail) { + return { name, pass: Boolean(pass), detail: String(detail || "-").slice(0, 3000) }; +} + +function commandRecord(command, result) { + return { + command, + status: result.status, + signal: result.signal, + stdout: result.stdout.slice(0, 6000), + stderr: result.stderr.slice(0, 6000), + }; +} + +function firstLine(text) { + return String(text || "").split(/\r?\n/).find(Boolean) || "-"; +} + +function oneLine(text) { + return String(text || "").split(/\r?\n/).filter(Boolean).join(" | ").slice(0, 2000); +} + +function renderMarkdown(data) { + return [ + "# Native task/HAL comparison report", + "", + `- status: ${data.status}`, + `- generatedAt: ${data.generatedAt}`, + `- JSON: ${REPORT_JSON}`, + "", + "## Checks", + "", + ...data.checks.map((item) => `- ${item.pass ? "PASS" : "FAIL"}: ${item.name} — ${item.detail}`), + "", + "## Host Native Runtime Blockers", + "", + ...data.hostBlockers.map((item) => `- ${item.component}: ${item.blocker}: ${item.detail}`), + "", + "## Conclusion", + "", + data.conclusion.reason, + "", + data.conclusion.boundary, + "", + ].join("\n"); +} diff --git a/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json b/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json new file mode 100644 index 0000000..64dfe73 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json @@ -0,0 +1,2510 @@ +{ + "jobId": "btn-20260623091525-b35869f1", + "reportId": "report-btn-20260623091525-b35869f1", + "evidenceScope": "button-control-evidence", + "generatedAt": "2026-06-23T09:15:25.426Z", + "targetUrl": "http://127.0.0.1:41741/web-rtcp-5axis-sim-plan/app/index.html", + "chromePath": "/usr/bin/google-chrome", + "screenshotsDir": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence", + "steps": [ + { + "name": "01-initial", + "title": "Initial UI", + "description": "Browser app loaded before machine preparation.", + "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/01-initial.png", + "pixelStats": { + "width": 1500, + "height": 1050, + "averageLuminance": 129.06, + "nonBlackRatio": 0.7826 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "run blocked: machine must be on" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "PAUSE": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "pause blocked: machine must be on" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "resume blocked: machine must be on" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "step blocked: machine must be on" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "home blocked: machine must be on" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + "threeReady": "true", + "threeRevision": "183", + "threePathPoints": "2", + "threeExecutedPathPoints": "1", + "threeSceneObjects": "20", + "threeToolhead": "{\"x\":0,\"y\":0,\"z\":0}", + "threeSceneUnits": "m", + "threeLinearUnits": "mm", + "threeLinearUnitScaleToMeters": "0.001", + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeTcpPose": "{\"x\":0,\"y\":0,\"z\":0,\"a\":0,\"c\":0}", + "threeRtcpState": "on", + "threeSelectedView": "iso", + "threeFrameApi": "web-rtcp-5axis-motion-frame", + "threeRenderer": "webgl", + "threeSceneMode": "program-preview-and-tool-execution", + "threePreviewScope": "machine-reference-and-toolpath", + "threeMachineReferenceModel": "webgl-five-axis-reference", + "threeCameraControls": "orbit-pan-zoom", + "threeProgramPreviewSource": "linuxcnc-interpreter-wasm", + "threeToolExecutionMarker": "true", + "threeTcpMarker": "sphere", + "threeToolAxisMarker": "line", + "threeToolpathPreviewSource": "linuxcnc_interpreter_canonical_motion", + "threeToolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback", + "threePathFitBounds": "ok", + "threePathBoundsMeters": "{\"center\":{\"x\":0,\"y\":0,\"z\":0.002},\"size\":{\"x\":0,\"y\":0,\"z\":0.005},\"maxSpan\":0.005}", + "threeCurrentSegmentHighlight": "ok", + "threeRapidFeedVisualDistinction": "ok", + "threeNoGcodeSemanticsGeneration": "ok", + "threeRapidPathPoints": "2", + "threeFeedPathPoints": "0", + "threeArcPathPoints": "0", + "threeCurrentSegmentPoints": "2", + "threeCurrentSegmentType": "STRAIGHT_TRAVERSE" + }, + "state": { + "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "runState": "idle", + "activeLine": 1, + "machine": { + "powerOn": false, + "taskState": "estop-reset", + "mode": "manual", + "allHomed": false, + "interpState": "idle", + "taskPaused": false + }, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "dro": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "programRuntimeFeedback": { + "sourceMode": "linuxcnc-task-motion-hal-wasm", + "line": 1, + "taskCycle": 2, + "currentVelocityMmPerMin": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + } + }, + "taskHalStatus": { + "task": { + "mode": "MANUAL", + "interpState": "IDLE", + "taskPaused": false, + "singleStepping": false + }, + "ui": { + "activeLine": 1, + "taskCycle": 0, + "servoCycle": 20 + }, + "motionStatus": { + "motion": { + "paused": false, + "aborted": false + } + } + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "operatorMessage": "LinuxCNC task/HAL session ready /work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins.ngc" + } + }, + { + "name": "02-program-loaded", + "title": "Program loaded", + "description": "Short operator G-code loaded through LinuxCNC interpreter WASM.", + "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/02-program-loaded.png", + "pixelStats": { + "width": 1500, + "height": 1050, + "averageLuminance": 129.06, + "nonBlackRatio": 0.7795 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "run blocked: machine must be on" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "PAUSE": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "pause blocked: machine must be on" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "resume blocked: machine must be on" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "step blocked: machine must be on" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "home blocked: machine must be on" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + "threeReady": "true", + "threeRevision": "183", + "threePathPoints": "6", + "threeExecutedPathPoints": "1", + "threeSceneObjects": "20", + "threeToolhead": "{\"x\":0,\"y\":0,\"z\":0}", + "threeSceneUnits": "m", + "threeLinearUnits": "mm", + "threeLinearUnitScaleToMeters": "0.001", + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeTcpPose": "{\"x\":0,\"y\":0,\"z\":0,\"a\":0,\"c\":0}", + "threeRtcpState": "on", + "threeSelectedView": "iso", + "threeFrameApi": "web-rtcp-5axis-motion-frame", + "threeRenderer": "webgl", + "threeSceneMode": "program-preview-and-tool-execution", + "threePreviewScope": "machine-reference-and-toolpath", + "threeMachineReferenceModel": "webgl-five-axis-reference", + "threeCameraControls": "orbit-pan-zoom", + "threeProgramPreviewSource": "linuxcnc-interpreter-wasm", + "threeToolExecutionMarker": "true", + "threeTcpMarker": "sphere", + "threeToolAxisMarker": "line", + "threeToolpathPreviewSource": "linuxcnc_interpreter_canonical_motion", + "threeToolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback", + "threePathFitBounds": "ok", + "threePathBoundsMeters": "{\"center\":{\"x\":0.01,\"y\":0.01,\"z\":0.002},\"size\":{\"x\":0.02,\"y\":0.02,\"z\":0.005},\"maxSpan\":0.02}", + "threeCurrentSegmentHighlight": "ok", + "threeRapidFeedVisualDistinction": "ok", + "threeNoGcodeSemanticsGeneration": "ok", + "threeRapidPathPoints": "2", + "threeFeedPathPoints": "4", + "threeArcPathPoints": "0", + "threeCurrentSegmentPoints": "2", + "threeCurrentSegmentType": "STRAIGHT_FEED" + }, + "state": { + "activeProgram": "button-control-evidence.ngc", + "runState": "idle", + "activeLine": 2, + "machine": { + "powerOn": false, + "taskState": "estop-reset", + "mode": "auto", + "allHomed": false, + "interpState": "idle", + "taskPaused": false + }, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "dro": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "programRuntimeFeedback": { + "sourceMode": "linuxcnc-tp-runtime-sample", + "line": 3, + "currentVelocityMmPerMin": 30, + "axisPose": { + "x": 0.00025, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + } + }, + "taskHalStatus": { + "task": { + "mode": "MANUAL", + "interpState": "IDLE", + "taskPaused": false, + "singleStepping": false + }, + "ui": { + "activeLine": 1, + "taskCycle": 0, + "servoCycle": 20 + }, + "motionStatus": { + "motion": { + "paused": false, + "aborted": false + } + } + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "operatorMessage": "LinuxCNC interpreter motion events 6" + } + }, + { + "name": "03-before-home", + "title": "Before HOME", + "description": "Machine powered on in manual mode before HOME.", + "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/03-before-home.png", + "pixelStats": { + "width": 1500, + "height": 1050, + "averageLuminance": 129.24, + "nonBlackRatio": 0.7794 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "run blocked: switch to auto mode first" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "PAUSE": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "pause blocked: task mode must be auto or MDI" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "resume blocked: task mode must be auto or MDI" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "step blocked: switch to auto mode first" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + "threeReady": "true", + "threeRevision": "183", + "threePathPoints": "6", + "threeExecutedPathPoints": "1", + "threeSceneObjects": "20", + "threeToolhead": "{\"x\":0,\"y\":0,\"z\":0}", + "threeSceneUnits": "m", + "threeLinearUnits": "mm", + "threeLinearUnitScaleToMeters": "0.001", + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeTcpPose": "{\"x\":0,\"y\":0,\"z\":0,\"a\":0,\"c\":0}", + "threeRtcpState": "off", + "threeSelectedView": "iso", + "threeFrameApi": "web-rtcp-5axis-motion-frame", + "threeRenderer": "webgl", + "threeSceneMode": "program-preview-and-tool-execution", + "threePreviewScope": "machine-reference-and-toolpath", + "threeMachineReferenceModel": "webgl-five-axis-reference", + "threeCameraControls": "orbit-pan-zoom", + "threeProgramPreviewSource": "linuxcnc-interpreter-wasm", + "threeToolExecutionMarker": "true", + "threeTcpMarker": "sphere", + "threeToolAxisMarker": "line", + "threeToolpathPreviewSource": "linuxcnc_interpreter_canonical_motion", + "threeToolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback", + "threePathFitBounds": "ok", + "threePathBoundsMeters": "{\"center\":{\"x\":0.01,\"y\":0.01,\"z\":0.002},\"size\":{\"x\":0.02,\"y\":0.02,\"z\":0.005},\"maxSpan\":0.02}", + "threeCurrentSegmentHighlight": "ok", + "threeRapidFeedVisualDistinction": "ok", + "threeNoGcodeSemanticsGeneration": "ok", + "threeRapidPathPoints": "2", + "threeFeedPathPoints": "4", + "threeArcPathPoints": "0", + "threeCurrentSegmentPoints": "2", + "threeCurrentSegmentType": "STRAIGHT_FEED" + }, + "state": { + "activeProgram": "button-control-evidence.ngc", + "runState": "idle", + "activeLine": 1, + "machine": { + "powerOn": true, + "taskState": "on", + "mode": "manual", + "allHomed": false, + "interpState": "idle", + "taskPaused": false + }, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "dro": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "programRuntimeFeedback": { + "sourceMode": "linuxcnc-task-motion-hal-wasm", + "line": 1, + "taskCycle": 4, + "currentVelocityMmPerMin": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + } + }, + "taskHalStatus": { + "task": { + "mode": "MANUAL", + "interpState": "IDLE", + "taskPaused": false, + "singleStepping": false + }, + "ui": { + "activeLine": 1, + "taskCycle": 0, + "servoCycle": 40 + }, + "motionStatus": { + "motion": { + "paused": false, + "aborted": false + } + } + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "operatorMessage": "task/HAL mode manual" + } + }, + { + "name": "04-after-home", + "title": "After HOME", + "description": "HOME command preserves allHomed state in Web/task gate.", + "screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/04-after-home.png", + "pixelStats": { + "width": 1500, + "height": 1050, + "averageLuminance": 129.22, + "nonBlackRatio": 0.7794 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "run blocked: switch to auto mode first" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + 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"screenshotPath": "/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/08-after-pause.png", + "pixelStats": { + "width": 1500, + "height": 1050, + "averageLuminance": 129.2, + "nonBlackRatio": 0.7794 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "run blocked: resume paused program first" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "PAUSE": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "home blocked: switch to manual mode first" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + "threeReady": "true", + "threeRevision": "183", + "threePathPoints": "6", + "threeExecutedPathPoints": "1", + "threeSceneObjects": "20", + "threeToolhead": "{\"x\":0.002,\"y\":0,\"z\":0}", + "threeSceneUnits": "m", + "threeLinearUnits": "mm", + "threeLinearUnitScaleToMeters": "0.001", + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeTcpPose": "{\"x\":1.799,\"y\":0,\"z\":0,\"a\":0,\"c\":0}", + "threeRtcpState": "off", + "threeSelectedView": "iso", + "threeFrameApi": "web-rtcp-5axis-motion-frame", + "threeRenderer": "webgl", + "threeSceneMode": "program-preview-and-tool-execution", + "threePreviewScope": "machine-reference-and-toolpath", + "threeMachineReferenceModel": "webgl-five-axis-reference", + "threeCameraControls": "orbit-pan-zoom", + "threeProgramPreviewSource": "linuxcnc-interpreter-wasm", + "threeToolExecutionMarker": "true", + "threeTcpMarker": "sphere", + "threeToolAxisMarker": "line", + "threeToolpathPreviewSource": "linuxcnc_interpreter_canonical_motion", + "threeToolExecutionTraceSource": "linuxcnc_tp_samples_or_task_motion_hal_feedback", + "threePathFitBounds": "ok", + "threePathBoundsMeters": "{\"center\":{\"x\":0.01,\"y\":0.01,\"z\":0.002},\"size\":{\"x\":0.02,\"y\":0.02,\"z\":0.005},\"maxSpan\":0.02}", + "threeCurrentSegmentHighlight": "ok", + "threeRapidFeedVisualDistinction": "ok", + "threeNoGcodeSemanticsGeneration": "ok", + "threeRapidPathPoints": "2", + "threeFeedPathPoints": "4", + "threeArcPathPoints": "0", + "threeCurrentSegmentPoints": "2", + "threeCurrentSegmentType": "STRAIGHT_FEED" + }, + "state": { + "activeProgram": "button-control-evidence.ngc", + "runState": "paused", + "activeLine": 3, + "machine": { + "powerOn": true, + "taskState": "on", + "mode": "auto", + "allHomed": true, + "interpState": "paused", + "taskPaused": true + }, + "axisPose": { + 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false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "home blocked: switch to manual mode first" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + "threeReady": "true", + "threeRevision": "183", + "threePathPoints": "6", + "threeExecutedPathPoints": "1", + "threeSceneObjects": "20", + "threeToolhead": "{\"x\":0.002,\"y\":0,\"z\":0}", + "threeSceneUnits": "m", + "threeLinearUnits": "mm", + "threeLinearUnitScaleToMeters": "0.001", + "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", + "threeTcpPose": "{\"x\":1.799,\"y\":0,\"z\":0,\"a\":0,\"c\":0}", + "threeRtcpState": 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"height": 1050, + "averageLuminance": 129.2, + "nonBlackRatio": 0.7794 + }, + "buttons": { + "RUN": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "STOP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "PAUSE": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "RESUME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "resume blocked: interpreter is not paused" + }, + "STEP": { + "exists": true, + "disabled": false, + "commandReady": "true", + "ariaDisabled": "false", + "title": "" + }, + "HOME": { + "exists": true, + "disabled": false, + "commandReady": "false", + "ariaDisabled": "true", + "title": "home blocked: switch to manual mode first" + } + }, + "canvasDataset": { + "fiveAxisCanvas": "true", + "engine": "three.js r183", + 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"label": "xyzbc_switchkins", + "sourceMode": "linuxcnc-vendored-5axis-gcode", + "semanticBoundary": "linuxcnc_vendored_5axis_gcode_source_file" + } + ] + }, + "taskHalSession": { + "apiName": "web-rtcp-5axis-task-hal-session", + "semanticBoundary": "linuxcnc_machine_files_for_task_hal_wasm_runtime", + "profileId": "xyzac-trt", + "iniPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.ini", + "iniText": "[APPLICATIONS]\n# uncomment to enable:\n#APP = halshow --fformat %.5f switchkins.halshow\n\n[EMC]\nVERSION = 1.1\nMACHINE = sim-xyzac-trt-kins (switchkins)\n\n[DISPLAY]\n GEOMETRY = XYZ-A\n OPEN_FILE = ./demos/xyzac_switchkins.ngc\n PYVCP = ./xyzac-trt.xml\n JOG_AXES = XYZC\n DISPLAY = axis\nMAX_ANGULAR_VELOCITY = 360\n MAX_LINEAR_VELOCITY = 1000\n POSITION_OFFSET = RELATIVE\n POSITION_FEEDBACK = ACTUAL\n MAX_FEED_OVERRIDE = 2\n PROGRAM_PREFIX = ../../nc_files\n INTRO_GRAPHIC = emc2.gif\n INTRO_TIME = 1\n #EDITOR = geany\n TOOL_EDITOR = tooledit z diam\n\n TKPKG = Ngcgui 1.0\n NGCGUI_FONT = Helvetica -12 normal\n NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc\n NGCGUI_SUBFILE = centering.ngc\n\n[RS274NGC]\nSUBROUTINE_PATH = ./remap_subs\n HAL_PIN_VARS = 1\n REMAP = M428 modalgroup=10 ngc=428remap\n REMAP = M429 modalgroup=10 ngc=429remap\n REMAP = M430 modalgroup=10 ngc=430remap\n PARAMETER_FILE = xyzac.var\n\n[KINS]\n#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!\n# default switchkins-type == 0 is xyzac-trt-kins\n# here switchkins-type == 0 is identity kins\nKINEMATICS = xyzac-trt-kins sparm=identityfirst\n JOINTS = 5\n\n[HAL]\n HALUI = halui\n HALFILE = LIB:basic_sim.tcl\nPOSTGUI_HALFILE = switchkins_postgui.hal\n\n# net for control of motion.switchkins-type\nHALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type\n\n# vismach xyzac-trt-gui items\nHALCMD = loadusr -W xyzac-trt-gui\nHALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x\nHALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y\nHALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z\nHALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a\nHALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c\nHALCMD = net :tool-offset motion.tooloffset.z\nHALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset\nHALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset\nHALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset\nHALCMD = sets :y-offset 20\nHALCMD = sets :z-offset 10\n\n# not currently supported by xyzac-trt-gui:\nHALCMD = setp xyzac-trt-kins.x-rot-point 0\nHALCMD = setp xyzac-trt-kins.y-rot-point 0\nHALCMD = setp xyzac-trt-kins.z-rot-point 0\nHALCMD = setp xyzac-trt-kins.conventional-directions 0\n\n[HALUI]\n# NOTE: kinstype==0 is identity kins because sparm=identityfirst\n# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)\n# M428:xyzac kins (motion.switchkins-type==1)\n# M430:userk kins (motion.switchkins-type==2)\nMDI_COMMAND = M429\nMDI_COMMAND = M428\nMDI_COMMAND = M430\n\n[TRAJ]\n COORDINATES = XYZAC\n LINEAR_UNITS = mm\n ANGULAR_UNITS = deg\n DEFAULT_LINEAR_VELOCITY = 20\n MAX_LINEAR_VELOCITY = 35\n MAX_LINEAR_ACCELERATION = 400\nDEFAULT_LINEAR_ACCELERATION = 300\n\n[EMCMOT]\n EMCMOT = motmod\nSERVO_PERIOD = 1000000\nCOMM_TIMEOUT = 1\n\n[TASK]\n TASK = milltask\nCYCLE_TIME = 0.010\n\n[EMCIO]\nTOOL_TABLE = xyzac-trt.tbl\n\n[AXIS_X]\n MIN_LIMIT = -200\n MAX_LIMIT = 200\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_Y]\n MIN_LIMIT = -100\n MAX_LIMIT = 100\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_Z]\n MIN_LIMIT = -120\n MAX_LIMIT = 120\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_A]\n MIN_LIMIT = -100\n MAX_LIMIT = 50\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n\n[AXIS_C]\n MIN_LIMIT = -36000\n MAX_LIMIT = 36000\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n\n[JOINT_0]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -200\n MAX_LIMIT = 200\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_1]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -100\n MAX_LIMIT = 100\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_2]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -120\n MAX_LIMIT = 120\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_3]\n TYPE = ANGULAR\n HOME = 0\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n MIN_LIMIT = -100\n MAX_LIMIT = 50\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_4]\n TYPE = ANGULAR\n HOME = 0\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n MIN_LIMIT = -36000\n MAX_LIMIT = 36000\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n", + "programPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/impeller-7bl-xyzac.ngc", + "programSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "halFiles": [], + "toolTableFiles": [ + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.tbl", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.tbl", + "kind": "toolTable", + "bytes": 169, + "text": "T1 P1 Z0 D1 ;end mill\nT2 P2 Z15 D8 ;end mill\nT3 P3 Z0 D4.2 ;#7 tap drill\nT4 P4 Z0 D10\nT5 P5 Z30 D10\nT6 P6 Z30 D10\nT7 P7 Z30 D10\nT8 P8 Z30 D10\nT9 P9 Z30 D10\nT10 P10 D0.5\n" + } + ], + "remapFiles": [ + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/428remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/428remap.ngc", + "kind": "remap", + "bytes": 688, + "text": ";M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)\no<428remap>sub\n # = 1 ; xyzac,xyzbc\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M428: Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<428remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/429remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/429remap.ngc", + "kind": "remap", + "bytes": 644, + "text": ";M429 by remap: kinstype==0 Identity kinematics\no<429remap>sub\n # = 0\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M429:Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<429remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/430remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/430remap.ngc", + "kind": "remap", + "bytes": 635, + "text": ";M430 by remap: kinstype==2 userk kins\no<430remap>sub\n # = 2\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M430:Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<430remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/centering.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/centering.ngc", + "kind": "remap", + "bytes": 1134, + "text": "(info: tests for values of [xyz]-rot-point)\nosub\n# = #1 (=-2.5)\n# = #2 (=-2.5)\n # = #3 (= 5)\n # = #4 (= 5)\n# = #5 (=60)\n # = #6 (=12)\n # = #7 (=1000 feed)\n# = 0\n# = [360/#]\n\no1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]]\n (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>)\n (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>)\n (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)\no1 endif\no2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]]\n (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>)\n (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>)\n (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)\no2 endif\n\nM429 ;Identity kinematics\ng0 x# y# z0 c0\nM428 ;tcp\n\ng61\no10 while [# le 360]\n g1 f#\n # = [# + #]\n g0 c#\n g1 x[# + #]\n g1 y[# + #]\n g1 x[# + 0 ]\n g1 y[# + 0 ]\no10 endwhile\n\n\nM429 ;Identity kinematics\ng0 x0 y0 z# c0\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_ac.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_ac.ngc", + "kind": "remap", + "bytes": 735, + "text": "; helix using switchkins (xyzac) a,c angles\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10)\n # = #4 (=1000)\n # = #5 (=3)\n # = #6 (=45)\n # = #7 (=0 NA)\n # = #8 (=20)\n\n M429 ;Identity kinematics\n g0 x[#<_x> - #] ;adjust for radius\n g10l20p0 x0y0 z# a0 c0 ;new g54\n M428 ;XYZAC\n g0a#c# ;exercise a,c\n f# g2i#z# p# ;helix\n M429 ;Identity kinematics\n g0 x0 y0 z# a0 c0 ;return to start\n g0 x[#<_x> + #] ;adjust restore\n M428 ;XYZAC\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_bc.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_bc.ngc", + "kind": "remap", + "bytes": 735, + "text": "; helix using switchkins (xyzbc) b,c angles\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10)\n # = #4 (=1000)\n # = #5 (=3)\n # = #6 (=0 NA)\n # = #7 (=45)\n # = #8 (=20)\n\n M429 ;Identity kinematics\n g0 x[#<_x> - #] ;adjust for radius\n g10l20p0 x0y0 z# b0 c0 ;new g54\n M428 ;XYZBC\n g0b#c# ;exercise b,c\n f# g2i#z# p# ;helix\n M429 ;Identity kinematics\n g0 x0 y0 z# b0 c0 ;return to start\n g0 x[#<_x> + #] ;adjust restore\n M428 ;XYZBC\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzac_switchkins_sub.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzac_switchkins_sub.ngc", + "kind": "remap", + "bytes": 1547, + "text": "; ngcgui-compatible subroutine\n(info: helix in each quadrant at angles A,C)\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10 radius)\n # = #4 (=1000 feedrate)\n # = #5 (=3 n circles)\n # = #6 (=30 A angle)\n # = #7 (=0 B angle NA)\n # = #8 (=45 C angle)\n # = #9 (=20 distance)\n\n; quadrant I\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0 ;MACHINE coordinates\ng10l20p0 x0y0 z# a0 c0 ;new g54\ng0 x+# y+# z# ;move to pattern center position\no call [#][#][#][#][#][#][#][#]\n\n; quadrant II\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x-# y+# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant III\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x-# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant IV\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x+# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n;final position\nM429 ;Identity kinematics\ng53 g0 x0y0 z# ;MACHINE coordinates\ng10l20p0 x0y0 z# ;new g54\n\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzbc_switchkins_sub.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzbc_switchkins_sub.ngc", + "kind": "remap", + "bytes": 1547, + "text": "; ngcgui-compatible subroutine\n(info: helix in each quadrant at angles B,C)\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10 radius)\n # = #4 (=1000 feedrate)\n # = #5 (=3 n circles)\n # = #6 (=0 A angle NA)\n # = #7 (=30 B angle)\n # = #8 (=45 C angle)\n # = #9 (=20 distance)\n\n; quadrant I\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0 ;MACHINE coordinates\ng10l20p0 x0y0 z# b0 c0 ;new g54\ng0 x+# y+# z# ;move to pattern center position\no call [#][#][#][#][#][#][#][#]\n\n; quadrant II\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x-# y+# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant III\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x-# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant IV\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x+# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n;final position\nM429 ;Identity kinematics\ng53 g0 x0y0 z# ;MACHINE coordinates\ng10l20p0 x0y0 z# ;new g54\n\noendsub\n" + } + ], + "files": [ + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.ini", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.ini", + "kind": "ini", + "bytes": 4877, + "text": "[APPLICATIONS]\n# uncomment to enable:\n#APP = halshow --fformat %.5f switchkins.halshow\n\n[EMC]\nVERSION = 1.1\nMACHINE = sim-xyzac-trt-kins (switchkins)\n\n[DISPLAY]\n GEOMETRY = XYZ-A\n OPEN_FILE = ./demos/xyzac_switchkins.ngc\n PYVCP = ./xyzac-trt.xml\n JOG_AXES = XYZC\n DISPLAY = axis\nMAX_ANGULAR_VELOCITY = 360\n MAX_LINEAR_VELOCITY = 1000\n POSITION_OFFSET = RELATIVE\n POSITION_FEEDBACK = ACTUAL\n MAX_FEED_OVERRIDE = 2\n PROGRAM_PREFIX = ../../nc_files\n INTRO_GRAPHIC = emc2.gif\n INTRO_TIME = 1\n #EDITOR = geany\n TOOL_EDITOR = tooledit z diam\n\n TKPKG = Ngcgui 1.0\n NGCGUI_FONT = Helvetica -12 normal\n NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc\n NGCGUI_SUBFILE = centering.ngc\n\n[RS274NGC]\nSUBROUTINE_PATH = ./remap_subs\n HAL_PIN_VARS = 1\n REMAP = M428 modalgroup=10 ngc=428remap\n REMAP = M429 modalgroup=10 ngc=429remap\n REMAP = M430 modalgroup=10 ngc=430remap\n PARAMETER_FILE = xyzac.var\n\n[KINS]\n#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!\n# default switchkins-type == 0 is xyzac-trt-kins\n# here switchkins-type == 0 is identity kins\nKINEMATICS = xyzac-trt-kins sparm=identityfirst\n JOINTS = 5\n\n[HAL]\n HALUI = halui\n HALFILE = LIB:basic_sim.tcl\nPOSTGUI_HALFILE = switchkins_postgui.hal\n\n# net for control of motion.switchkins-type\nHALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type\n\n# vismach xyzac-trt-gui items\nHALCMD = loadusr -W xyzac-trt-gui\nHALCMD = net :table-x joint.0.pos-fb xyzac-trt-gui.table-x\nHALCMD = net :saddle-y joint.1.pos-fb xyzac-trt-gui.saddle-y\nHALCMD = net :spindle-z joint.2.pos-fb xyzac-trt-gui.spindle-z\nHALCMD = net :tilt-a joint.3.pos-fb xyzac-trt-gui.tilt-a\nHALCMD = net :rotate-c joint.4.pos-fb xyzac-trt-gui.rotate-c\nHALCMD = net :tool-offset motion.tooloffset.z\nHALCMD = net :tool-offset xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset\nHALCMD = net :y-offset xyzac-trt-kins.y-offset xyzac-trt-gui.y-offset\nHALCMD = net :z-offset xyzac-trt-kins.z-offset xyzac-trt-gui.z-offset\nHALCMD = sets :y-offset 20\nHALCMD = sets :z-offset 10\n\n# not currently supported by xyzac-trt-gui:\nHALCMD = setp xyzac-trt-kins.x-rot-point 0\nHALCMD = setp xyzac-trt-kins.y-rot-point 0\nHALCMD = setp xyzac-trt-kins.z-rot-point 0\nHALCMD = setp xyzac-trt-kins.conventional-directions 0\n\n[HALUI]\n# NOTE: kinstype==0 is identity kins because sparm=identityfirst\n# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)\n# M428:xyzac kins (motion.switchkins-type==1)\n# M430:userk kins (motion.switchkins-type==2)\nMDI_COMMAND = M429\nMDI_COMMAND = M428\nMDI_COMMAND = M430\n\n[TRAJ]\n COORDINATES = XYZAC\n LINEAR_UNITS = mm\n ANGULAR_UNITS = deg\n DEFAULT_LINEAR_VELOCITY = 20\n MAX_LINEAR_VELOCITY = 35\n MAX_LINEAR_ACCELERATION = 400\nDEFAULT_LINEAR_ACCELERATION = 300\n\n[EMCMOT]\n EMCMOT = motmod\nSERVO_PERIOD = 1000000\nCOMM_TIMEOUT = 1\n\n[TASK]\n TASK = milltask\nCYCLE_TIME = 0.010\n\n[EMCIO]\nTOOL_TABLE = xyzac-trt.tbl\n\n[AXIS_X]\n MIN_LIMIT = -200\n MAX_LIMIT = 200\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_Y]\n MIN_LIMIT = -100\n MAX_LIMIT = 100\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_Z]\n MIN_LIMIT = -120\n MAX_LIMIT = 120\n MAX_VELOCITY = 20\nMAX_ACCELERATION = 300\n\n[AXIS_A]\n MIN_LIMIT = -100\n MAX_LIMIT = 50\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n\n[AXIS_C]\n MIN_LIMIT = -36000\n MAX_LIMIT = 36000\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n\n[JOINT_0]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -200\n MAX_LIMIT = 200\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_1]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -100\n MAX_LIMIT = 100\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_2]\n TYPE = LINEAR\n HOME = 0\n MAX_VELOCITY = 20\n MAX_ACCELERATION = 300\n MIN_LIMIT = -120\n MAX_LIMIT = 120\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_3]\n TYPE = ANGULAR\n HOME = 0\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n MIN_LIMIT = -100\n MAX_LIMIT = 50\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n\n[JOINT_4]\n TYPE = ANGULAR\n HOME = 0\n MAX_VELOCITY = 30\nMAX_ACCELERATION = 300\n MIN_LIMIT = -36000\n MAX_LIMIT = 36000\n HOME_SEARCH_VEL = 0\n HOME_SEQUENCE = 0\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins.ngc", + "kind": "demo", + "bytes": 139, + "text": "; zmax zmin r frate n a b c dist\no call [10] [5] [10][1000][3][20][0][45][20]\nm2\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.tbl", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/xyzac-trt.tbl", + "kind": "toolTable", + "bytes": 169, + "text": "T1 P1 Z0 D1 ;end mill\nT2 P2 Z15 D8 ;end mill\nT3 P3 Z0 D4.2 ;#7 tap drill\nT4 P4 Z0 D10\nT5 P5 Z30 D10\nT6 P6 Z30 D10\nT7 P7 Z30 D10\nT8 P8 Z30 D10\nT9 P9 Z30 D10\nT10 P10 D0.5\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/428remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/428remap.ngc", + "kind": "remap", + "bytes": 688, + "text": ";M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst)\no<428remap>sub\n # = 1 ; xyzac,xyzbc\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M428: Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<428remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/429remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/429remap.ngc", + "kind": "remap", + "bytes": 644, + "text": ";M429 by remap: kinstype==0 Identity kinematics\no<429remap>sub\n # = 0\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M429:Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<429remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/430remap.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/430remap.ngc", + "kind": "remap", + "bytes": 635, + "text": ";M430 by remap: kinstype==2 userk kins\no<430remap>sub\n # = 2\n # = 3 ; set N as required: motion.analog-out-0N\n\no1 if [exists [#<_hal[motion.switchkins-type]>]]\no1 else\n (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1)\n (debug,STOP)\n M2\no1 endif\n\n M68 E# Q# ; set kinstype value\n M66 E0 L0 ; force synch\n\no2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]]\n (debug,M430:Wrong motion.switchkins-type)\n (debug,or missing hal net to analog-out-0x)\n (debug,STOP)\n M2\no2 else\no2 endif\n\no<430remap>endsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/centering.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/centering.ngc", + "kind": "remap", + "bytes": 1134, + "text": "(info: tests for values of [xyz]-rot-point)\nosub\n# = #1 (=-2.5)\n# = #2 (=-2.5)\n # = #3 (= 5)\n # = #4 (= 5)\n# = #5 (=60)\n # = #6 (=12)\n # = #7 (=1000 feed)\n# = 0\n# = [360/#]\n\no1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]]\n (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>)\n (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>)\n (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)\no1 endif\no2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]]\n (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>)\n (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>)\n (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>)\no2 endif\n\nM429 ;Identity kinematics\ng0 x# y# z0 c0\nM428 ;tcp\n\ng61\no10 while [# le 360]\n g1 f#\n # = [# + #]\n g0 c#\n g1 x[# + #]\n g1 y[# + #]\n g1 x[# + 0 ]\n g1 y[# + 0 ]\no10 endwhile\n\n\nM429 ;Identity kinematics\ng0 x0 y0 z# c0\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_ac.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_ac.ngc", + "kind": "remap", + "bytes": 735, + "text": "; helix using switchkins (xyzac) a,c angles\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10)\n # = #4 (=1000)\n # = #5 (=3)\n # = #6 (=45)\n # = #7 (=0 NA)\n # = #8 (=20)\n\n M429 ;Identity kinematics\n g0 x[#<_x> - #] ;adjust for radius\n g10l20p0 x0y0 z# a0 c0 ;new g54\n M428 ;XYZAC\n g0a#c# ;exercise a,c\n f# g2i#z# p# ;helix\n M429 ;Identity kinematics\n g0 x0 y0 z# a0 c0 ;return to start\n g0 x[#<_x> + #] ;adjust restore\n M428 ;XYZAC\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_bc.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/helix_bc.ngc", + "kind": "remap", + "bytes": 735, + "text": "; helix using switchkins (xyzbc) b,c angles\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10)\n # = #4 (=1000)\n # = #5 (=3)\n # = #6 (=0 NA)\n # = #7 (=45)\n # = #8 (=20)\n\n M429 ;Identity kinematics\n g0 x[#<_x> - #] ;adjust for radius\n g10l20p0 x0y0 z# b0 c0 ;new g54\n M428 ;XYZBC\n g0b#c# ;exercise b,c\n f# g2i#z# p# ;helix\n M429 ;Identity kinematics\n g0 x0 y0 z# b0 c0 ;return to start\n g0 x[#<_x> + #] ;adjust restore\n M428 ;XYZBC\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzac_switchkins_sub.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzac_switchkins_sub.ngc", + "kind": "remap", + "bytes": 1547, + "text": "; ngcgui-compatible subroutine\n(info: helix in each quadrant at angles A,C)\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10 radius)\n # = #4 (=1000 feedrate)\n # = #5 (=3 n circles)\n # = #6 (=30 A angle)\n # = #7 (=0 B angle NA)\n # = #8 (=45 C angle)\n # = #9 (=20 distance)\n\n; quadrant I\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0 ;MACHINE coordinates\ng10l20p0 x0y0 z# a0 c0 ;new g54\ng0 x+# y+# z# ;move to pattern center position\no call [#][#][#][#][#][#][#][#]\n\n; quadrant II\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x-# y+# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant III\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x-# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant IV\nM429 ;Identity kinematics\ng53 g0 x0y0 z# a0 c0\ng10l20p0 x0y0 z# a0 c0\ng0 x+# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n;final position\nM429 ;Identity kinematics\ng53 g0 x0y0 z# ;MACHINE coordinates\ng10l20p0 x0y0 z# ;new g54\n\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzbc_switchkins_sub.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/remap_subs/xyzbc_switchkins_sub.ngc", + "kind": "remap", + "bytes": 1547, + "text": "; ngcgui-compatible subroutine\n(info: helix in each quadrant at angles B,C)\nosub\n # = #1 (=10)\n # = #2 (= 5)\n # = #3 (=10 radius)\n # = #4 (=1000 feedrate)\n # = #5 (=3 n circles)\n # = #6 (=0 A angle NA)\n # = #7 (=30 B angle)\n # = #8 (=45 C angle)\n # = #9 (=20 distance)\n\n; quadrant I\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0 ;MACHINE coordinates\ng10l20p0 x0y0 z# b0 c0 ;new g54\ng0 x+# y+# z# ;move to pattern center position\no call [#][#][#][#][#][#][#][#]\n\n; quadrant II\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x-# y+# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant III\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x-# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n; quadrant IV\nM429 ;Identity kinematics\ng53 g0 x0y0 z# b0 c0\ng10l20p0 x0y0 z# b0 c0\ng0 x+# y-# z#\no call [#][#][#][#][#][#][#][#]\n\n;final position\nM429 ;Identity kinematics\ng53 g0 x0y0 z# ;MACHINE coordinates\ng10l20p0 x0y0 z# ;new g54\n\noendsub\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "kind": "demo", + "bytes": 70847, + "text": "%\nM428 ;TCP:xyzac\n(!!! Touch Off: Table = -13.25 == Z max neg extent !!!)\n(BOAT-XYZAC)\n( 11/20/2011 19:50:48 )\n( FC HERMLE 5 AXIS MILLING )\n\n( OPERATION= ROUGH7 Z LEVEL SRF_MILL1 )\n( TOOL: T1 = 10.0 dia. ENDMILLM1000:REG )\nG00 G17 G40 G90 G94\nZ5\nT1 M6\nG54 X-49.65 Y-23.015 A0. C0. S630 M03\nG00 Z5.0 M08\nZ3.0\nG01 Z-6.625 F300.0\nX-49.375 F600.0\nX-15.268\nX-16.626 Y-22.711\nX-20.108 Y-21.7\nX-22.255 Y-20.925\nX-25.036 Y-19.685\nX-49.662\nY-16.355\nX-31.172\nX-34.919 Y-13.877\nX-36.057 Y-13.025\nX-49.662\nY-9.695\nX-40.427\nX-44.365 Y-6.498\nX-49.662\nY3.492\nX-43.134\nX-39.14 Y6.724\nX-38.83 Y6.955\nX-49.662\nY10.285\nX-34.295\nX-30.697 Y12.666\nX-29.005 Y13.615\nX-49.662\nY16.945\nX-22.119\nX-20.848 Y17.446\nX-16.626 Y18.719\nX-13.812 Y19.346\nX-9.591 Y20.015\nX-6.955 Y20.275\nX-48.713\nG02 X-44.662 Y22.345 I4.051 J-2.931\nG01 X40.959\nG02 X45.01 Y20.275 I0. 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B0 C0\nM429 ;Restore Trivkins\nM30\n%\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/impeller-7bl-xyzac.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/impeller-7bl-xyzac.ngc", + "kind": "demo", + "bytes": 294411, + "text": "( Impeller 5-axis 12/24/2011)\n( This is preceded by cutting the external \"conical\" shape on a lathe)\n( This is only a demo - roughing out in soft non-metal material)\nM428 ;TCP:xyzac\nG93\nS600 M3\n( --- Operation 1 )\nG0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930\nG0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930\nG1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318\nG1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159\nG1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159\nG1 X 6.307 Y -12.804 Z 25.552 A -71.093 C -31.715 F 159\nG1 X 6.238 Y -13.009 Z 25.262 A -71.073 C 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159\nG1 X 0.184 Y -20.931 Z 15.687 A -68.762 C -15.966 F 159\nG1 X 0.980 Y -20.124 Z 16.647 A -69.338 C -17.166 F 159\nG1 X 1.754 Y -19.311 Z 17.612 A -69.829 C -18.439 F 159\nG1 X 2.503 Y -18.491 Z 18.585 A -70.233 C -19.793 F 159\nG1 X 3.223 Y -17.663 Z 19.563 A -70.546 C -21.227 F 159\nG1 X 3.811 Y -16.955 Z 20.396 A -70.737 C -22.511 F 159\nG1 X 4.258 Y -16.393 Z 21.055 A -70.835 C -23.570 F 159\nG1 X 4.901 Y -15.542 Z 22.047 A -70.885 C -25.253 F 159\nG1 X 5.508 Y -14.683 Z 23.041 A -70.814 C -27.037 F 159\nG1 X 5.965 Y -13.997 Z 23.833 A -70.677 C -28.513 F 159\nG1 X 6.469 Y -13.185 Z 24.763 A -70.411 C -30.325 F 159\nG1 X 6.809 Y -12.598 Z 25.433 A -70.140 C -31.692 F 159\nG1 X 7.131 Y -12.008 Z 26.106 A -69.806 C -33.100 F 159\nG1 X 7.679 Y -10.655 Z 27.850 A -69.177 C -36.669 F 159\nG1 X 12.967 Y -2.280 Z 27.743 A -71.841 C -87.360 F 636\nG1 X 13.673 Y -2.771 Z 26.178 A -71.266 C -84.349 F 159\nG1 X 13.813 Y -2.898 Z 25.858 A -71.158 C -83.734 F 159\nG1 X 13.943 Y -3.052 Z 25.552 A -71.093 C -83.145 F 159\nG1 X 14.060 Y -3.234 Z 25.262 A -71.073 C -82.581 F 159\nG1 X 14.164 Y -3.442 Z 24.986 A -71.096 C -82.044 F 159\nG1 X 14.253 Y -3.674 Z 24.729 A -71.164 C -81.537 F 159\nG1 X 14.313 Y -3.879 Z 24.534 A -71.252 C -81.148 F 159\nG1 X 14.455 Y -4.523 Z 23.987 A -71.566 C -80.062 F 159\nG1 X 14.637 Y -5.513 Z 23.162 A -71.965 C -78.482 F 159\nG1 X 14.747 Y -6.248 Z 22.558 A -72.202 C -77.365 F 159\nG1 X 14.838 Y -6.991 Z 21.956 A -72.387 C -76.300 F 159\nG1 X 14.910 Y -7.740 Z 21.354 A -72.522 C -75.285 F 159\nG1 X 14.980 Y -8.839 Z 20.484 A -72.638 C -73.893 F 159\nG1 X 15.011 Y -9.882 Z 19.669 A -72.669 C -72.663 F 159\nG1 X 15.007 Y -11.037 Z 18.778 A -72.625 C -71.394 F 159\nG1 X 14.966 Y -12.203 Z 17.890 A -72.500 C -70.210 F 159\nG1 X 14.919 Y -12.984 Z 17.302 A -72.381 C -69.454 F 159\nG1 X 14.813 Y -14.206 Z 16.396 A -71.935 C -68.814 F 159\nG1 X 14.672 Y -15.423 Z 15.512 A -71.371 C -68.527 F 159\nG1 X 14.499 Y -16.643 Z 14.638 A -70.844 C 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10.245 Y -34.139 Z 4.026 A -56.865 C -95.937 F 159\nG1 X 10.104 Y -34.913 Z 3.618 A -56.426 C -97.450 F 159\nG1 X 9.964 Y -35.842 Z 3.134 A -55.918 C -99.241 F 159\nG1 X 9.719 Y -38.099 Z 1.937 A -54.730 C -103.484 F 159\nG1 X 9.706 Y -38.286 Z 1.837 A -54.607 C -103.407 F 636\nG1 X 9.711 Y -38.453 Z 1.743 A -54.496 C -103.336 F 636\nG1 X 9.732 Y -38.602 Z 1.655 A -54.395 C -103.272 F 636\nG1 X 9.769 Y -38.732 Z 1.574 A -54.304 C -103.215 F 636\nG1 X 9.822 Y -38.843 Z 1.500 A -54.220 C -103.161 F 636\nG1 X 9.890 Y -38.935 Z 1.432 A -54.143 C -103.112 F 636\nG1 X 9.973 Y -39.009 Z 1.371 A -54.070 C -103.065 F 636\nG1 X 10.070 Y -39.064 Z 1.317 A -53.998 C -103.020 F 636\nG1 X 10.181 Y -39.100 Z 1.270 A -53.926 C -102.973 F 636\nG1 X 10.304 Y -39.117 Z 1.230 A -53.850 C -102.924 F 636\nG1 X 10.441 Y -39.116 Z 1.198 A -53.769 C -102.872 F 636\nG1 X 10.589 Y -39.096 Z 1.172 A -53.681 C -102.815 F 636\nG1 X 10.749 Y -39.057 Z 1.154 A -53.585 C -102.753 F 636\nG1 X 10.920 Y -38.999 Z 1.143 A 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12.648 Y -2.150 Z 28.413 A -71.947 C -87.769 F 636\nG1 X 12.658 Y -2.265 Z 28.358 A -72.042 C -87.704 F 636\nG1 X 12.674 Y -2.369 Z 28.293 A -72.134 C -87.642 F 636\nG1 X 12.697 Y -2.462 Z 28.219 A -72.224 C -87.581 F 636\nG1 X 12.727 Y -2.541 Z 28.134 A -72.312 C -87.521 F 636\nG1 X 12.765 Y -2.606 Z 28.040 A -72.402 C -87.460 F 636\nG1 X 12.809 Y -2.656 Z 27.935 A -72.494 C -87.398 F 636\nG1 X 12.862 Y -2.689 Z 27.820 A -72.591 C -87.332 F 636\nG1 X 13.620 Y -3.009 Z 26.198 A -71.673 C -84.290 F 159\nG1 X 13.724 Y -3.065 Z 25.971 A -71.541 C -83.868 F 159\nG1 X 13.823 Y -3.140 Z 25.751 A -71.439 C -83.458 F 159\nG1 X 13.957 Y -3.287 Z 25.439 A -71.345 C -82.866 F 159\nG1 X 14.073 Y -3.472 Z 25.146 A -71.320 C -82.303 F 159\nG1 X 14.169 Y -3.692 Z 24.877 A -71.361 C -81.778 F 159\nG1 X 14.243 Y -3.941 Z 24.635 A -71.467 C -81.294 F 159\nG1 X 14.358 Y -4.558 Z 24.140 A -71.812 C -80.297 F 159\nG1 X 14.502 Y -5.513 Z 23.390 A -72.274 C -78.834 F 159\nG1 X 14.588 Y -6.264 Z 22.807 A -72.583 C -77.735 F 159\nG1 X 14.652 Y -7.022 Z 22.224 A -72.840 C -76.684 F 159\nG1 X 14.695 Y -7.787 Z 21.643 A -73.047 C -75.684 F 159\nG1 X 14.717 Y -8.556 Z 21.063 A -73.208 C -74.731 F 159\nG1 X 14.718 Y -9.329 Z 20.484 A -73.327 C -73.820 F 159\nG1 X 14.688 Y -10.378 Z 19.707 A -73.428 C -72.655 F 159\nG1 X 14.613 Y -11.549 Z 18.846 A -73.476 C -71.415 F 159\nG1 X 14.496 Y -12.731 Z 17.988 A -73.424 C -70.306 F 159\nG1 X 14.347 Y -13.852 Z 17.182 A -73.237 C -69.495 F 159\nG1 X 14.145 Y -15.073 Z 16.321 A -72.769 C -69.237 F 159\nG1 X 13.905 Y -16.296 Z 15.468 A -72.330 C -69.015 F 159\nG1 X 13.629 Y -17.516 Z 14.628 A -71.930 C -68.813 F 159\nG1 X 13.385 Y -18.490 Z 13.965 A -71.638 C -68.665 F 159\nG1 X 13.119 Y -19.465 Z 13.308 A -71.373 C -68.530 F 159\nG1 X 12.758 Y -20.681 Z 12.499 A -71.076 C -68.378 F 159\nG1 X 12.347 Y -22.011 Z 11.647 A -69.689 C -70.621 F 159\nG1 X 12.127 Y -22.693 Z 11.219 A -68.867 C -72.103 F 159\nG1 X 11.909 Y -23.375 Z 10.793 A -68.063 C -73.584 F 159\nG1 X 11.681 Y -24.055 Z 10.375 A -67.299 C -75.065 F 159\nG1 X 11.455 Y -24.735 Z 9.958 A -66.555 C -76.539 F 159\nG1 X 11.219 Y -25.413 Z 9.550 A -65.855 C -78.008 F 159\nG1 X 10.984 Y -26.090 Z 9.142 A -65.177 C -79.465 F 159\nG1 X 10.515 Y -27.387 Z 8.377 A -63.981 C -82.229 F 159\nG1 X 10.110 Y -28.470 Z 7.749 A -63.077 C -84.498 F 159\nG1 X 9.810 Y -29.241 Z 7.312 A -62.494 C -86.086 F 159\nG1 X 9.512 Y -30.010 Z 6.876 A -61.941 C -87.642 F 159\nG1 X 8.975 Y -31.338 Z 6.142 A -61.101 C -90.263 F 159\nG1 X 8.519 Y -32.439 Z 5.550 A -60.502 C -92.363 F 159\nG1 X 8.064 Y -33.535 Z 4.960 A -59.956 C -94.386 F 159\nG1 X 7.366 Y -35.297 Z 4.036 A -59.193 C -97.497 F 159\nG1 X 6.776 Y -36.834 Z 3.254 A -58.640 C -100.072 F 159\nG1 X 6.061 Y -38.980 Z 2.140 A -57.888 C -103.490 F 159\nG1 X 5.980 Y -39.248 Z 1.999 A -57.699 C -103.426 F 636\nG1 X 5.920 Y -39.505 Z 1.860 A -57.519 C -103.365 F 636\nG1 X 5.879 Y -39.749 Z 1.725 A -57.348 C -103.306 F 636\nG1 X 5.857 Y -39.982 Z 1.592 A -57.185 C -103.250 F 636\nG1 X 5.853 Y -40.203 Z 1.463 A -57.030 C -103.197 F 636\nG1 X 5.868 Y -40.412 Z 1.336 A -56.883 C -103.146 F 636\nG1 X 5.901 Y -40.609 Z 1.213 A -56.741 C -103.096 F 636\nG1 X 5.950 Y -40.794 Z 1.093 A -56.604 C -103.049 F 636\nG1 X 6.016 Y -40.967 Z 0.976 A -56.472 C -103.003 F 636\nG1 X 6.098 Y -41.128 Z 0.863 A -56.344 C -102.958 F 636\nG1 X 6.195 Y -41.277 Z 0.754 A -56.217 C -102.913 F 636\nG1 X 6.307 Y -41.413 Z 0.648 A -56.093 C -102.869 F 636\nG1 X 6.434 Y -41.538 Z 0.547 A -55.970 C -102.826 F 636\nG1 X 6.574 Y -41.650 Z 0.449 A -55.846 C -102.782 F 636\nG1 X 6.727 Y -41.750 Z 0.355 A -55.722 C -102.737 F 636\nG1 X 6.894 Y -41.838 Z 0.265 A -55.596 C -102.692 F 636\nG1 X 7.072 Y -41.914 Z 0.179 A -55.468 C -102.647 F 636\nG1 X 7.262 Y -41.977 Z 0.098 A -55.338 C -102.600 F 636\nG1 X 7.464 Y -42.027 Z 0.021 A -55.204 C -102.552 F 636\nG1 X 7.675 Y -42.066 Z -0.051 A -55.067 C -102.502 F 636\nG1 X 7.897 Y -42.092 Z -0.119 A -54.926 C -102.451 F 636\nG1 X 8.129 Y -42.105 Z -0.182 A -54.781 C -102.398 F 636\nG1 X 8.369 Y -42.106 Z -0.241 A -54.632 C -102.343 F 636\nG1 X 8.618 Y -42.094 Z -0.294 A -54.479 C -102.287 F 636\nG1 X 8.875 Y -42.070 Z -0.342 A -54.321 C -102.229 F 636\nG1 X 9.139 Y -42.033 Z -0.386 A -54.158 C -102.168 F 636\nG1 X 9.410 Y -41.984 Z -0.424 A -53.990 C -102.106 F 636\nG1 X 9.687 Y -41.922 Z -0.457 A -53.818 C -102.042 F 636\nG1 X 9.970 Y -41.847 Z -0.484 A -53.641 C -101.975 F 636\nG1 X 10.258 Y -41.759 Z -0.506 A -53.459 C -101.906 F 636\nG1 X 10.551 Y -41.659 Z -0.522 A -53.272 C -101.836 F 636\nG1 X 10.849 Y -41.545 Z -0.533 A -53.081 C -101.763 F 636\nG1 X 11.146 Y -41.423 Z -0.538 A -52.916 C -101.699 F 636\nG1 X 11.439 Y -41.294 Z -0.538 A -52.751 C -101.636 F 636\nG1 X 11.727 Y -41.159 Z -0.533 A -52.588 C -101.573 F 636\nG1 X 12.010 Y -41.019 Z -0.523 A -52.425 C -101.510 F 636\nG1 X 12.287 Y -40.873 Z -0.508 A -52.264 C -101.447 F 636\nG1 X 12.558 Y -40.721 Z -0.488 A -52.104 C -101.384 F 636\nG1 X 12.822 Y -40.564 Z -0.463 A -51.946 C -101.322 F 636\nG1 X 13.079 Y -40.401 Z -0.433 A -51.789 C -101.260 F 636\nG1 X 13.328 Y -40.233 Z -0.397 A -51.634 C -101.199 F 636\nG1 X 13.568 Y -40.060 Z -0.356 A -51.481 C -101.137 F 636\nG1 X 13.799 Y -39.882 Z -0.310 A -51.329 C -101.077 F 636\nG1 X 14.021 Y -39.699 Z -0.259 A -51.179 C -101.016 F 636\nG1 X 14.233 Y -39.511 Z -0.203 A -51.031 C -100.956 F 636\nG1 X 14.434 Y -39.318 Z -0.141 A -50.885 C -100.897 F 636\nG1 X 14.624 Y -39.121 Z -0.074 A -50.741 C -100.838 F 636\nG1 X 14.802 Y -38.919 Z -0.002 A -50.598 C -100.779 F 636\nG1 X 14.968 Y -38.712 Z 0.075 A -50.456 C -100.721 F 636\nG1 X 15.122 Y -38.502 Z 0.158 A -50.316 C -100.663 F 636\nG1 X 15.262 Y -38.287 Z 0.247 A -50.177 C -100.606 F 636\nG1 X 15.388 Y -38.067 Z 0.340 A -50.039 C -100.548 F 636\nG1 X 15.500 Y -37.844 Z 0.440 A -49.901 C -100.491 F 636\nG1 X 15.597 Y -37.617 Z 0.544 A -49.764 C -100.433 F 636\nG1 X 15.678 Y -37.386 Z 0.654 A -49.627 C -100.375 F 636\nG1 X 15.744 Y -37.151 Z 0.770 A -49.489 C -100.316 F 636\nG1 X 15.793 Y -36.913 Z 0.891 A -49.350 C -100.257 F 636\nG1 X 15.825 Y -36.671 Z 1.017 A -49.209 C -100.197 F 636\nG1 X 15.840 Y -36.425 Z 1.149 A -49.066 C -100.136 F 636\nG1 X 15.836 Y -36.177 Z 1.287 A -48.921 C -100.073 F 636\nG1 X 15.814 Y -35.925 Z 1.430 A -48.772 C -100.009 F 636\nG1 X 15.773 Y -35.670 Z 1.579 A -48.620 C -99.942 F 636\nG1 X 15.712 Y -35.412 Z 1.733 A -48.463 C -99.874 F 636\nG1 X 15.630 Y -35.151 Z 1.893 A -48.302 C -99.803 F 636\nG1 X 15.064 Y -33.529 Z 2.900 A -50.315 C -95.675 F 159\nG1 X 14.996 Y -33.323 Z 3.027 A -50.578 C -95.160 F 159\nG1 X 14.886 Y -32.899 Z 3.283 A -51.085 C -94.112 F 159\nG1 X 14.812 Y -32.459 Z 3.540 A -51.565 C -93.038 F 159\nG1 X 14.775 Y -32.002 Z 3.797 A -52.016 C -91.931 F 159\nG1 X 14.778 Y -31.531 Z 4.051 A -52.433 C -90.793 F 159\nG1 X 14.892 Y -30.199 Z 4.755 A -53.548 C -87.564 F 159\nG1 X 14.969 Y -29.350 Z 5.209 A -54.325 C -85.493 F 159\nG1 X 15.031 Y -28.626 Z 5.611 A -55.055 C -83.729 F 159\nG1 X 15.096 Y -27.901 Z 6.015 A -55.820 C -81.963 F 159\nG1 X 15.158 Y -27.181 Z 6.431 A -56.642 C -80.215 F 159\nG1 X 15.221 Y -26.460 Z 6.849 A -57.496 C -78.473 F 159\nG1 X 15.282 Y -25.743 Z 7.277 A -58.403 C -76.755 F 159\nG1 X 15.345 Y -25.026 Z 7.708 A -59.339 C -75.050 F 159\nG1 X 15.407 Y -24.290 Z 8.164 A -60.355 C -73.320 F 159\nG1 X 15.472 Y -23.554 Z 8.621 A -61.395 C -71.611 F 159\nG1 X 15.531 Y -22.846 Z 9.075 A -62.445 C -69.991 F 159\nG1 X 15.593 Y -22.139 Z 9.530 A -63.512 C -68.394 F 159\nG1 X 15.651 Y -21.437 Z 9.994 A -64.611 C -66.839 F 159\nG1 X 15.709 Y -20.745 Z 10.454 A -65.628 C -65.499 F 159\nG1 X 15.784 Y -19.512 Z 11.322 A -66.256 C -65.841 F 159\nG1 X 15.844 Y -18.288 Z 12.204 A -66.919 C -66.198 F 159\nG1 X 15.888 Y -17.072 Z 13.101 A -67.618 C -66.571 F 159\nG1 X 15.913 Y -15.850 Z 14.021 A -68.358 C -66.963 F 159\nG1 X 15.917 Y -14.660 Z 14.937 A -69.116 C -67.361 F 159\nG1 X 15.900 Y -13.504 Z 15.844 A 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X 12.862 Y -1.067 Z 28.282 A -70.515 C -88.142 F 636\nG1 X 12.823 Y -1.061 Z 28.360 A -70.607 C -88.112 F 636\nG1 X 12.785 Y -1.067 Z 28.433 A -70.694 C -88.084 F 636\nG1 X 12.749 Y -1.087 Z 28.499 A -70.776 C -88.058 F 636\nG1 X 12.714 Y -1.118 Z 28.559 A -70.856 C -88.032 F 636\nG1 X 12.680 Y -1.161 Z 28.613 A -70.936 C -88.006 F 636\nG1 X 12.649 Y -1.214 Z 28.659 A -71.019 C -87.980 F 636\nG1 X 12.619 Y -1.278 Z 28.699 A -71.104 C -87.953 F 636\nG1 X 12.591 Y -1.353 Z 28.732 A -71.194 C -87.924 F 636\nG1 X 12.566 Y -1.436 Z 28.758 A -71.290 C -87.893 F 636\nG1 X 12.543 Y -1.528 Z 28.777 A -71.393 C -87.860 F 636\nG1 X 12.522 Y -1.629 Z 28.787 A -71.502 C -87.826 F 636\nG1 X 12.504 Y -1.738 Z 28.791 A -71.618 C -87.789 F 636\nG1 X 12.488 Y -1.854 Z 28.786 A -71.741 C -87.749 F 636\nG1 X 12.467 Y -2.087 Z 28.758 A -71.955 C -87.682 F 636\nG1 X 12.462 Y -2.199 Z 28.735 A -72.058 C -87.649 F 636\nG1 X 12.460 Y -2.307 Z 28.706 A -72.159 C -87.617 F 636\nG1 X 12.462 Y -2.410 Z 28.671 A 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14.099 Y -3.764 Z 24.976 A -71.587 C -81.918 F 159\nG1 X 14.167 Y -3.989 Z 24.753 A -71.678 C -81.474 F 159\nG1 X 14.184 Y -4.070 Z 24.685 A -71.725 C -81.336 F 159\nG1 X 14.283 Y -4.752 Z 24.177 A -72.152 C -80.297 F 159\nG1 X 14.368 Y -5.515 Z 23.617 A -72.581 C -79.185 F 159\nG1 X 14.428 Y -6.284 Z 23.057 A -72.966 C -78.106 F 159\nG1 X 14.463 Y -7.059 Z 22.499 A -73.302 C -77.074 F 159\nG1 X 14.474 Y -7.838 Z 21.942 A -73.588 C -76.093 F 159\nG1 X 14.461 Y -8.622 Z 21.386 A -73.829 C -75.159 F 159\nG1 X 14.424 Y -9.410 Z 20.831 A -74.029 C -74.268 F 159\nG1 X 14.367 Y -10.177 Z 20.293 A -74.187 C -73.439 F 159\nG1 X 14.287 Y -10.955 Z 19.751 A -74.313 C -72.638 F 159\nG1 X 14.184 Y -11.747 Z 19.202 A -74.415 C -71.845 F 159\nG1 X 14.059 Y -12.542 Z 18.654 A -74.467 C -71.121 F 159\nG1 X 13.880 Y -13.503 Z 17.993 A -74.490 C -70.291 F 159\nG1 X 13.706 Y -14.316 Z 17.442 A -74.310 C -70.010 F 159\nG1 X 13.404 Y -15.541 Z 16.618 A -73.959 C -69.835 F 159\nG1 X 13.059 Y -16.762 Z 15.803 A -73.645 C -69.678 F 159\nG1 X 12.673 Y -17.975 Z 15.000 A -73.369 C -69.540 F 159\nG1 X 12.247 Y -19.182 Z 14.208 A -73.131 C -69.421 F 159\nG1 X 11.765 Y -20.427 Z 13.397 A -72.921 C -69.316 F 159\nG1 X 11.250 Y -21.694 Z 12.591 A -72.031 C -70.749 F 159\nG1 X 10.972 Y -22.357 Z 12.178 A -71.279 C -72.173 F 159\nG1 X 10.696 Y -23.021 Z 11.765 A -70.545 C -73.590 F 159\nG1 X 10.119 Y -24.337 Z 10.956 A -69.169 C -76.390 F 159\nG1 X 9.617 Y -25.435 Z 10.288 A -68.103 C -78.699 F 159\nG1 X 9.033 Y -26.661 Z 9.550 A -67.007 C -81.232 F 159\nG1 X 8.396 Y -27.942 Z 8.788 A -65.970 C -83.814 F 159\nG1 X 7.668 Y -29.340 Z 7.968 A -64.967 C -86.540 F 159\nG1 X 6.988 Y -30.592 Z 7.245 A -64.181 C -88.888 F 159\nG1 X 6.287 Y -31.829 Z 6.540 A -63.504 C -91.115 F 159\nG1 X 5.567 Y -33.053 Z 5.854 A -62.929 C -93.218 F 159\nG1 X 4.828 Y -34.266 Z 5.185 A -62.447 C -95.201 F 159\nG1 X 4.070 Y -35.467 Z 4.536 A -62.049 C -97.064 F 159\nG1 X 3.295 Y -36.657 Z 3.905 A -61.729 C -98.812 F 159\nG1 X 2.625 Y -37.658 Z 3.385 A -61.511 C -100.206 F 159\nG1 X 1.457 Y -39.591 Z 2.363 A -61.061 C -102.766 F 159\nG1 X 1.331 Y -39.807 Z 2.248 A -60.899 C -102.719 F 636\nG1 X 1.218 Y -40.019 Z 2.133 A -60.743 C -102.674 F 636\nG1 X 1.116 Y -40.228 Z 2.018 A -60.591 C -102.630 F 636\nG1 X 1.025 Y -40.432 Z 1.904 A -60.444 C -102.587 F 636\nG1 X 0.946 Y -40.632 Z 1.790 A -60.301 C -102.545 F 636\nG1 X 0.879 Y -40.828 Z 1.676 A -60.162 C -102.504 F 636\nG1 X 0.822 Y -41.020 Z 1.563 A -60.027 C -102.464 F 636\nG1 X 0.776 Y -41.208 Z 1.451 A -59.896 C -102.426 F 636\nG1 X 0.741 Y -41.392 Z 1.339 A -59.768 C -102.388 F 636\nG1 X 0.716 Y -41.571 Z 1.227 A -59.644 C -102.351 F 636\nG1 X 0.702 Y -41.747 Z 1.116 A -59.522 C -102.315 F 636\nG1 X 0.698 Y -41.918 Z 1.006 A -59.402 C -102.279 F 636\nG1 X 0.703 Y -42.084 Z 0.897 A -59.286 C -102.244 F 636\nG1 X 0.719 Y -42.247 Z 0.788 A -59.171 C -102.209 F 636\nG1 X 0.744 Y -42.405 Z 0.681 A -59.058 C -102.175 F 636\nG1 X 0.778 Y -42.559 Z 0.574 A -58.946 C -102.142 F 636\nG1 X 0.821 Y -42.708 Z 0.468 A -58.836 C -102.108 F 636\nG1 X 0.874 Y -42.853 Z 0.363 A -58.726 C -102.075 F 636\nG1 X 0.935 Y -42.994 Z 0.259 A -58.618 C -102.042 F 636\nG1 X 1.005 Y -43.130 Z 0.156 A -58.510 C -102.010 F 636\nG1 X 1.083 Y -43.261 Z 0.054 A -58.402 C -101.977 F 636\nG1 X 1.169 Y -43.388 Z -0.046 A -58.295 C -101.944 F 636\nG1 X 1.264 Y -43.510 Z -0.146 A -58.187 C -101.911 F 636\nG1 X 1.366 Y -43.628 Z -0.244 A -58.079 C -101.878 F 636\nG1 X 1.476 Y -43.741 Z -0.341 A -57.971 C -101.844 F 636\nG1 X 1.594 Y -43.850 Z -0.436 A -57.862 C -101.811 F 636\nG1 X 1.719 Y -43.953 Z -0.531 A -57.752 C -101.777 F 636\nG1 X 1.851 Y -44.052 Z -0.623 A -57.641 C -101.742 F 636\nG1 X 1.989 Y -44.147 Z -0.715 A -57.529 C -101.707 F 636\nG1 X 2.135 Y -44.236 Z -0.805 A -57.416 C -101.672 F 636\nG1 X 2.287 Y -44.321 Z -0.893 A -57.302 C -101.636 F 636\nG1 X 2.446 Y -44.401 Z -0.980 A -57.186 C -101.600 F 636\nG1 X 2.610 Y -44.476 Z -1.065 A -57.069 C 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636\nG1 X 10.808 Y -43.821 Z -2.653 A -52.107 C -99.900 F 636\nG1 X 11.330 Y -43.601 Z -2.648 A -51.820 C -99.797 F 636\nG1 X 11.847 Y -43.370 Z -2.633 A -51.533 C -99.693 F 636\nG1 X 12.358 Y -43.127 Z -2.607 A -51.246 C -99.588 F 636\nG1 X 12.861 Y -42.873 Z -2.572 A -50.960 C -99.483 F 636\nG1 X 13.355 Y -42.608 Z -2.527 A -50.675 C -99.377 F 636\nG1 X 13.839 Y -42.332 Z -2.473 A -50.392 C -99.271 F 636\nG1 X 14.310 Y -42.046 Z -2.408 A -50.111 C -99.165 F 636\nG1 X 14.767 Y -41.751 Z -2.333 A -49.833 C -99.059 F 636\nG1 X 15.210 Y -41.446 Z -2.249 A -49.558 C -98.953 F 636\nG1 X 15.635 Y -41.133 Z -2.155 A -49.287 C -98.848 F 636\nG1 X 16.043 Y -40.810 Z -2.052 A -49.019 C -98.743 F 636\nG1 X 16.430 Y -40.480 Z -1.938 A -48.756 C -98.639 F 636\nG1 X 16.797 Y -40.142 Z -1.815 A -48.496 C -98.536 F 636\nG1 X 17.140 Y -39.797 Z -1.682 A -48.241 C -98.434 F 636\nG1 X 17.460 Y -39.445 Z -1.540 A -47.991 C -98.333 F 636\nG1 X 17.753 Y -39.086 Z -1.388 A -47.745 C -98.233 F 636\nG1 X 18.020 Y -38.721 Z -1.226 A -47.503 C -98.133 F 636\nG1 X 18.142 Y -38.536 Z -1.142 A -47.383 C -98.084 F 636\nG1 X 18.257 Y -38.350 Z -1.055 A -47.265 C -98.035 F 636\nG1 X 18.365 Y -38.163 Z -0.966 A -47.147 C -97.986 F 636\nG1 X 18.464 Y -37.974 Z -0.875 A -47.030 C -97.937 F 636\nG1 X 18.556 Y -37.784 Z -0.781 A -46.913 C -97.888 F 636\nG1 X 18.640 Y -37.593 Z -0.684 A -46.798 C -97.839 F 636\nG1 X 18.715 Y -37.401 Z -0.586 A -46.682 C -97.790 F 636\nG1 X 18.782 Y -37.207 Z -0.485 A -46.567 C -97.742 F 636\nG1 X 18.840 Y -37.013 Z -0.381 A -46.453 C -97.693 F 636\nG1 X 18.890 Y -36.817 Z -0.276 A -46.338 C -97.644 F 636\nG1 X 18.930 Y -36.621 Z -0.168 A -46.224 C -97.594 F 636\nG1 X 18.961 Y -36.424 Z -0.057 A -46.109 C -97.545 F 636\nG1 X 18.982 Y -36.226 Z 0.056 A -45.994 C -97.495 F 636\nG1 X 18.994 Y -36.027 Z 0.171 A -45.878 C -97.445 F 636\nG1 X 18.996 Y -35.827 Z 0.288 A -45.761 C -97.393 F 636\nG1 X 18.988 Y -35.627 Z 0.408 A -45.644 C -97.342 F 636\nG1 X 18.970 Y -35.426 Z 0.530 A -45.525 C -97.290 F 636\nG1 X 18.941 Y -35.224 Z 0.655 A -45.405 C -97.237 F 636\nG1 X 18.902 Y -35.022 Z 0.782 A -45.284 C -97.183 F 636\nG1 X 18.852 Y -34.820 Z 0.911 A -45.161 C -97.128 F 636\nG1 X 18.791 Y -34.617 Z 1.043 A -45.035 C -97.071 F 636\nG1 X 18.719 Y -34.413 Z 1.176 A -44.908 C -97.014 F 636\nG1 X 18.635 Y -34.209 Z 1.313 A -44.778 C -96.955 F 636\nG1 X 18.540 Y -34.005 Z 1.451 A -44.645 C -96.895 F 636\nG1 X 18.433 Y -33.801 Z 1.592 A -44.509 C -96.833 F 636\nG1 X 18.315 Y -33.596 Z 1.735 A -44.371 C -96.769 F 636\nG1 X 17.417 Y -32.122 Z 2.774 A -47.126 C -92.499 F 159\nG1 X 17.315 Y -31.952 Z 2.895 A -47.454 C -92.027 F 159\nG1 X 17.191 Y -31.678 Z 3.076 A -47.910 C -91.279 F 159\nG1 X 17.104 Y -31.383 Z 3.255 A -48.321 C -90.482 F 159\nG1 X 17.058 Y -31.065 Z 3.433 A -48.684 C -89.632 F 159\nG1 X 17.036 Y -29.881 Z 4.058 A -49.856 C -86.472 F 159\nG1 X 17.025 Y -29.031 Z 4.511 A -50.764 C -84.218 F 159\nG1 X 17.015 Y -28.299 Z 4.919 A -51.623 C -82.295 F 159\nG1 X 17.006 Y -27.566 Z 5.329 A -52.522 C -80.387 F 159\nG1 X 16.997 Y -26.839 Z 5.752 A -53.481 C -78.518 F 159\nG1 X 16.990 Y -26.112 Z 6.177 A -54.475 C -76.672 F 159\nG1 X 16.983 Y -25.391 Z 6.614 A -55.523 C -74.870 F 159\nG1 X 16.977 Y -24.670 Z 7.053 A -56.599 C -73.098 F 159\nG1 X 16.971 Y -23.883 Z 7.550 A -57.837 C -71.205 F 159\nG1 X 16.968 Y -23.097 Z 8.049 A -59.100 C -69.353 F 159\nG1 X 16.963 Y -22.319 Z 8.561 A -60.408 C -67.565 F 159\nG1 X 16.961 Y -21.542 Z 9.074 A -61.731 C -65.822 F 159\nG1 X 16.942 Y -20.218 Z 9.993 A -63.458 C -64.294 F 159\nG1 X 16.897 Y -18.996 Z 10.886 A -64.269 C -64.749 F 159\nG1 X 16.843 Y -17.785 Z 11.793 A -65.108 C -65.213 F 159\nG1 X 16.777 Y -16.585 Z 12.716 A -65.974 C -65.687 F 159\nG1 X 16.678 Y -15.122 Z 13.872 A -67.078 C -66.282 F 159\nG1 X 16.592 Y -14.068 Z 14.725 A -67.904 C -66.723 F 159\nG1 X 16.480 Y -12.907 Z 15.687 A -68.762 C -67.396 F 159\nG1 X 16.345 Y -11.780 Z 16.647 A -69.338 C -68.596 F 159\nG1 X 16.192 Y 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159\nG1 X 34.631 Y -11.459 Z 3.301 A -53.584 C -148.089 F 159\nG1 X 34.214 Y -11.149 Z 3.589 A -54.009 C -146.947 F 159\nG1 X 33.852 Y -10.853 Z 3.846 A -54.380 C -145.921 F 159\nG1 X 33.498 Y -10.536 Z 4.104 A -54.744 C -144.878 F 159\nG1 X 33.004 Y -10.041 Z 4.476 A -55.254 C -143.346 F 159\nG1 X 32.211 Y -9.134 Z 5.099 A -56.092 C -140.703 F 159\nG1 X 31.262 Y -8.040 Z 5.868 A -57.235 C -137.473 F 159\nG1 X 30.785 Y -7.498 Z 6.265 A -57.877 C -135.846 F 159\nG1 X 30.309 Y -6.953 Z 6.663 A -58.550 C -134.207 F 159\nG1 X 29.831 Y -6.414 Z 7.073 A -59.277 C -132.570 F 159\nG1 X 29.353 Y -5.872 Z 7.484 A -60.034 C -130.927 F 159\nG1 X 28.909 Y -5.375 Z 7.876 A -60.782 C -129.411 F 159\nG1 X 28.465 Y -4.876 Z 8.268 A -61.554 C -127.896 F 159\nG1 X 28.020 Y -4.381 Z 8.669 A -62.366 C -126.394 F 159\nG1 X 27.577 Y -3.886 Z 9.072 A -63.200 C -124.898 F 159\nG1 X 27.098 Y -3.358 Z 9.514 A -64.138 C -123.308 F 159\nG1 X 26.620 Y -2.828 Z 9.958 A -65.096 C -121.729 F 159\nG1 X 26.142 Y -2.305 Z 10.410 A -66.091 C -120.178 F 159\nG1 X 25.666 Y -1.780 Z 10.864 A -67.099 C -118.644 F 159\nG1 X 24.790 Y -0.844 Z 11.727 A -67.941 C -118.174 F 159\nG1 X 23.928 Y 0.046 Z 12.587 A -68.469 C -118.453 F 159\nG1 X 23.058 Y 0.916 Z 13.460 A -69.036 C -118.750 F 159\nG1 X 22.155 Y 1.785 Z 14.369 A -69.656 C -119.074 F 159\nG1 X 21.261 Y 2.610 Z 15.269 A -70.298 C -119.406 F 159\nG1 X 20.454 Y 3.326 Z 16.081 A -70.898 C -119.721 F 159\nG1 X 19.648 Y 4.007 Z 16.893 A -71.355 C -120.375 F 159\nG1 X 18.745 Y 4.730 Z 17.800 A -71.634 C -121.539 F 159\nG1 X 17.828 Y 5.424 Z 18.715 A -71.841 C -122.775 F 159\nG1 X 16.902 Y 6.083 Z 19.633 A -71.964 C -124.095 F 159\nG1 X 16.080 Y 6.632 Z 20.443 A -72.003 C -125.323 F 159\nG1 X 15.130 Y 7.223 Z 21.371 A -71.958 C -126.816 F 159\nG1 X 14.171 Y 7.774 Z 22.302 A -71.807 C -128.414 F 159\nG1 X 13.526 Y 8.117 Z 22.925 A -71.639 C -129.545 F 159\nG1 X 12.876 Y 8.442 Z 23.549 A -71.425 C -130.713 F 159\nG1 X 12.001 Y 8.845 Z 24.385 A -71.059 C -132.335 F 159\nG1 X 11.715 Y 8.958 Z 24.670 A -70.942 C -132.900 F 159\nG1 X 11.398 Y 9.056 Z 25.013 A -70.850 C -133.577 F 159\nG1 X 11.093 Y 9.121 Z 25.376 A -70.803 C -134.294 F 159\nG1 X 10.802 Y 9.155 Z 25.758 A -70.799 C -135.048 F 159\nG1 X 10.527 Y 9.160 Z 26.157 A -70.837 C -135.837 F 159\nG1 X 9.311 Y 9.017 Z 28.149 A -71.108 C -139.774 F 159\nG1 X 9.252 Y 9.003 Z 28.255 A -71.228 C -139.691 F 636\nG1 X 9.218 Y 8.976 Z 28.343 A -71.325 C -139.625 F 636\nG1 X 9.206 Y 8.939 Z 28.411 A -71.403 C -139.571 F 636\nG1 X 9.209 Y 8.917 Z 28.438 A -71.438 C -139.547 F 636\nG1 X 9.217 Y 8.892 Z 28.461 A -71.472 C -139.524 F 636\nG1 X 9.249 Y 8.835 Z 28.490 A -71.542 C -139.476 F 636\nG1 X 9.302 Y 8.771 Z 28.500 A -71.625 C -139.419 F 636\nG1 X 9.374 Y 8.700 Z 28.490 A -71.726 C -139.350 F 636\nG1 X 9.466 Y 8.623 Z 28.459 A -71.849 C -139.266 F 636\nG1 X 9.566 Y 8.548 Z 28.413 A -71.947 C -139.199 F 636\nG1 X 9.662 Y 8.484 Z 28.358 A -72.042 C -139.134 F 636\nG1 X 9.754 Y 8.432 Z 28.293 A -72.134 C -139.072 F 636\nG1 X 9.841 Y 8.392 Z 28.219 A -72.224 C -139.011 F 636\nG1 X 9.922 Y 8.366 Z 28.134 A -72.312 C -138.951 F 636\nG1 X 9.996 Y 8.355 Z 28.040 A -72.402 C -138.890 F 636\nG1 X 10.063 Y 8.359 Z 27.935 A -72.494 C -138.828 F 636\nG1 X 10.121 Y 8.380 Z 27.820 A -72.591 C -138.762 F 636\nG1 X 10.844 Y 8.773 Z 26.198 A -71.673 C -135.720 F 159\nG1 X 10.953 Y 8.820 Z 25.971 A -71.541 C -135.298 F 159\nG1 X 11.073 Y 8.850 Z 25.751 A -71.439 C -134.888 F 159\nG1 X 11.271 Y 8.863 Z 25.439 A -71.345 C -134.296 F 159\nG1 X 11.488 Y 8.838 Z 25.146 A -71.320 C -133.733 F 159\nG1 X 11.720 Y 8.776 Z 24.877 A -71.361 C -133.208 F 159\nG1 X 11.961 Y 8.678 Z 24.635 A -71.467 C -132.724 F 159\nG1 X 12.516 Y 8.384 Z 24.140 A -71.812 C -131.727 F 159\nG1 X 13.352 Y 7.901 Z 23.390 A -72.274 C -130.264 F 159\nG1 X 13.993 Y 7.500 Z 22.807 A -72.583 C -129.165 F 159\nG1 X 14.626 Y 7.078 Z 22.224 A -72.840 C -128.114 F 159\nG1 X 15.250 Y 6.635 Z 21.643 A -73.047 C -127.114 F 159\nG1 X 15.865 Y 6.172 Z 21.063 A -73.208 C -126.161 F 159\nG1 X 16.470 Y 5.691 Z 20.484 A -73.327 C -125.250 F 159\nG1 X 17.271 Y 5.014 Z 19.707 A -73.428 C -124.085 F 159\nG1 X 18.141 Y 4.225 Z 18.846 A -73.476 C -122.845 F 159\nG1 X 18.991 Y 3.396 Z 17.988 A -73.424 C -121.736 F 159\nG1 X 19.775 Y 2.581 Z 17.182 A -73.237 C -120.925 F 159\nG1 X 20.604 Y 1.662 Z 16.321 A -72.769 C -120.667 F 159\nG1 X 21.410 Y 0.711 Z 15.468 A -72.330 C -120.445 F 159\nG1 X 22.192 Y -0.264 Z 14.628 A -71.930 C -120.243 F 159\nG1 X 22.802 Y -1.063 Z 13.965 A -71.638 C -120.095 F 159\nG1 X 23.397 Y -1.879 Z 13.308 A -71.373 C -119.960 F 159\nG1 X 24.124 Y -2.919 Z 12.499 A -71.076 C -119.808 F 159\nG1 X 24.907 Y -4.070 Z 11.647 A -69.689 C -122.051 F 159\nG1 X 25.303 Y -4.667 Z 11.219 A -68.867 C -123.533 F 159\nG1 X 25.701 Y -5.262 Z 10.793 A -68.063 C -125.014 F 159\nG1 X 26.090 Y -5.865 Z 10.375 A -67.299 C -126.495 F 159\nG1 X 26.481 Y -6.465 Z 9.958 A -66.555 C -127.969 F 159\nG1 X 26.863 Y -7.073 Z 9.550 A -65.855 C -129.438 F 159\nG1 X 27.246 Y -7.678 Z 9.142 A -65.177 C -130.895 F 159\nG1 X 27.968 Y -8.854 Z 8.377 A -63.981 C -133.659 F 159\nG1 X 28.563 Y -9.846 Z 7.749 A -63.077 C -135.928 F 159\nG1 X 28.978 Y -10.561 Z 7.312 A -62.494 C -137.516 F 159\nG1 X 29.394 Y -11.274 Z 6.876 A -61.941 C -139.072 F 159\nG1 X 30.097 Y -12.521 Z 6.142 A -61.101 C -141.693 F 159\nG1 X 30.674 Y -13.565 Z 5.550 A -60.502 C -143.793 F 159\nG1 X 31.247 Y -14.603 Z 4.960 A -59.956 C -145.816 F 159\nG1 X 32.190 Y -16.248 Z 4.036 A -59.193 C -148.927 F 159\nG1 X 33.023 Y -17.667 Z 3.254 A -58.640 C -151.502 F 159\nG1 X 34.255 Y -19.564 Z 2.140 A -57.888 C -154.920 F 159\nG1 X 34.415 Y -19.794 Z 1.999 A -57.699 C -154.856 F 636\nG1 X 34.577 Y -20.002 Z 1.860 A -57.519 C -154.795 F 636\nG1 X 34.743 Y -20.186 Z 1.725 A -57.348 C -154.736 F 636\nG1 X 34.911 Y -20.349 Z 1.592 A -57.185 C -154.680 F 636\nG1 X 35.082 Y -20.489 Z 1.463 A -57.030 C -154.627 F 636\nG1 X 35.255 Y -20.608 Z 1.336 A -56.883 C -154.576 F 636\nG1 X 35.429 Y -20.705 Z 1.213 A -56.741 C -154.526 F 636\nG1 X 35.604 Y -20.782 Z 1.093 A -56.604 C -154.479 F 636\nG1 X 35.781 Y -20.838 Z 0.976 A -56.472 C -154.433 F 636\nG1 X 35.957 Y -20.875 Z 0.863 A -56.344 C -154.388 F 636\nG1 X 36.134 Y -20.891 Z 0.754 A -56.218 C -154.343 F 636\nG1 X 36.311 Y -20.889 Z 0.648 A -56.093 C -154.299 F 636\nG1 X 36.487 Y -20.868 Z 0.547 A -55.970 C -154.256 F 636\nG1 X 36.663 Y -20.828 Z 0.449 A -55.846 C -154.212 F 636\nG1 X 36.837 Y -20.770 Z 0.355 A -55.722 C -154.167 F 636\nG1 X 37.009 Y -20.695 Z 0.265 A -55.596 C -154.122 F 636\nG1 X 37.179 Y -20.602 Z 0.179 A -55.468 C -154.077 F 636\nG1 X 37.347 Y -20.493 Z 0.098 A -55.338 C -154.030 F 636\nG1 X 37.512 Y -20.367 Z 0.021 A -55.204 C -153.982 F 636\nG1 X 37.674 Y -20.226 Z -0.051 A -55.067 C -153.932 F 636\nG1 X 37.833 Y -20.068 Z -0.119 A -54.926 C -153.881 F 636\nG1 X 37.988 Y -19.896 Z -0.182 A -54.781 C -153.828 F 636\nG1 X 38.138 Y -19.708 Z -0.241 A -54.632 C -153.773 F 636\nG1 X 38.284 Y -19.507 Z -0.294 A -54.479 C -153.717 F 636\nG1 X 38.426 Y -19.291 Z -0.342 A -54.321 C -153.659 F 636\nG1 X 38.561 Y -19.061 Z -0.386 A -54.158 C -153.598 F 636\nG1 X 38.692 Y -18.819 Z -0.424 A -53.990 C -153.536 F 636\nG1 X 38.816 Y -18.563 Z -0.457 A -53.818 C -153.472 F 636\nG1 X 38.934 Y -18.295 Z -0.484 A -53.641 C -153.405 F 636\nG1 X 39.045 Y -18.015 Z -0.506 A -53.459 C -153.336 F 636\nG1 X 39.149 Y -17.723 Z -0.522 A -53.272 C -153.266 F 636\nG1 X 39.246 Y -17.420 Z -0.533 A -53.081 C -153.193 F 636\nG1 X 39.335 Y -17.112 Z -0.538 A -52.916 C -153.129 F 636\nG1 X 39.417 Y -16.802 Z -0.538 A -52.751 C -153.066 F 636\nG1 X 39.492 Y -16.493 Z -0.533 A -52.588 C -153.003 F 636\nG1 X 39.558 Y -16.184 Z -0.523 A -52.425 C -152.940 F 636\nG1 X 39.617 Y -15.876 Z -0.508 A -52.264 C -152.877 F 636\nG1 X 39.667 Y -15.570 Z -0.488 A -52.104 C -152.814 F 636\nG1 X 39.709 Y -15.265 Z -0.463 A -51.946 C -152.752 F 636\nG1 X 39.742 Y -14.963 Z -0.433 A -51.789 C -152.690 F 636\nG1 X 39.766 Y -14.664 Z -0.397 A -51.634 C -152.628 F 636\nG1 X 39.780 Y -14.368 Z -0.356 A -51.481 C -152.567 F 636\nG1 X 39.785 Y -14.077 Z -0.310 A -51.329 C -152.506 F 636\nG1 X 39.780 Y -13.789 Z -0.259 A -51.179 C -152.446 F 636\nG1 X 39.765 Y -13.506 Z -0.203 A -51.031 C -152.386 F 636\nG1 X 39.740 Y -13.229 Z -0.141 A -50.885 C -152.327 F 636\nG1 X 39.704 Y -12.957 Z -0.074 A -50.741 C -152.268 F 636\nG1 X 39.657 Y -12.692 Z -0.002 A -50.598 C -152.209 F 636\nG1 X 39.599 Y -12.433 Z 0.075 A -50.456 C -152.151 F 636\nG1 X 39.530 Y -12.182 Z 0.158 A -50.316 C -152.093 F 636\nG1 X 39.449 Y -11.938 Z 0.247 A -50.177 C -152.036 F 636\nG1 X 39.357 Y -11.703 Z 0.340 A -50.039 C -151.978 F 636\nG1 X 39.252 Y -11.476 Z 0.440 A -49.901 C -151.921 F 636\nG1 X 39.135 Y -11.259 Z 0.544 A -49.764 C -151.863 F 636\nG1 X 39.005 Y -11.051 Z 0.654 A -49.627 C -151.805 F 636\nG1 X 38.862 Y -10.853 Z 0.770 A -49.489 C -151.746 F 636\nG1 X 38.707 Y -10.666 Z 0.891 A -49.350 C -151.687 F 636\nG1 X 38.537 Y -10.490 Z 1.017 A -49.209 C -151.627 F 636\nG1 X 38.355 Y -10.326 Z 1.149 A -49.066 C -151.566 F 636\nG1 X 38.158 Y -10.174 Z 1.287 A -48.921 C -151.503 F 636\nG1 X 37.947 Y -10.034 Z 1.430 A -48.772 C -151.439 F 636\nG1 X 37.722 Y -9.907 Z 1.579 A -48.620 C -151.372 F 636\nG1 X 37.482 Y -9.794 Z 1.733 A -48.463 C -151.304 F 636\nG1 X 37.227 Y -9.695 Z 1.893 A -48.302 C -151.233 F 636\nG1 X 35.607 Y -9.127 Z 2.900 A -50.315 C -147.105 F 159\nG1 X 35.403 Y -9.051 Z 3.027 A -50.578 C -146.589 F 159\nG1 X 35.003 Y -8.873 Z 3.283 A -51.085 C -145.542 F 159\nG1 X 34.612 Y -8.657 Z 3.540 A -51.565 C -144.468 F 159\nG1 X 34.232 Y -8.401 Z 3.797 A -52.016 C -143.361 F 159\nG1 X 33.866 Y -8.105 Z 4.051 A -52.433 C -142.223 F 159\nG1 X 32.896 Y -7.185 Z 4.755 A -53.548 C -138.994 F 159\nG1 X 32.280 Y -6.596 Z 5.209 A -54.325 C -136.924 F 159\nG1 X 31.753 Y -6.095 Z 5.611 A -55.055 C -135.159 F 159\nG1 X 31.226 Y -5.593 Z 6.015 A -55.820 C -133.393 F 159\nG1 X 30.702 Y -5.096 Z 6.431 A -56.642 C -131.645 F 159\nG1 X 30.178 Y -4.596 Z 6.849 A -57.496 C -129.903 F 159\nG1 X 29.655 Y -4.102 Z 7.277 A -58.403 C -128.185 F 159\nG1 X 29.134 Y -3.605 Z 7.708 A -59.339 C -126.480 F 159\nG1 X 28.597 Y -3.098 Z 8.164 A -60.355 C -124.750 F 159\nG1 X 28.062 Y -2.589 Z 8.621 A -61.395 C -123.041 F 159\nG1 X 27.545 Y -2.101 Z 9.075 A -62.445 C -121.421 F 159\nG1 X 27.031 Y -1.612 Z 9.530 A -63.511 C -119.824 F 159\nG1 X 26.518 Y -1.129 Z 9.994 A -64.611 C -118.269 F 159\nG1 X 26.013 Y -0.652 Z 10.454 A -65.628 C -116.929 F 159\nG1 X 25.097 Y 0.175 Z 11.322 A -66.256 C -117.271 F 159\nG1 X 24.177 Y 0.986 Z 12.204 A -66.919 C -117.628 F 159\nG1 X 23.253 Y 1.778 Z 13.101 A -67.618 C -118.001 F 159\nG1 X 22.314 Y 2.559 Z 14.021 A -68.358 C -118.393 F 159\nG1 X 21.385 Y 3.305 Z 14.937 A -69.116 C -118.791 F 159\nG1 X 20.471 Y 4.012 Z 15.844 A -69.871 C -119.223 F 159\nG1 X 19.537 Y 4.699 Z 16.777 A -70.391 C -120.221 F 159\nG1 X 18.601 Y 5.354 Z 17.712 A -70.779 C -121.405 F 159\nG1 X 17.660 Y 5.979 Z 18.653 A -71.062 C -122.720 F 159\nG1 X 16.712 Y 6.572 Z 19.599 A -71.271 C -124.093 F 159\nG1 X 15.845 Y 7.082 Z 20.462 A -71.384 C -125.414 F 159\nG1 X 14.916 Y 7.592 Z 21.386 A -71.415 C -126.911 F 159\nG1 X 13.947 Y 8.083 Z 22.348 A -71.336 C -128.572 F 159\nG1 X 12.975 Y 8.533 Z 23.312 A -71.142 C -130.331 F 159\nG1 X 12.228 Y 8.850 Z 24.051 A -70.918 C -131.736 F 159\nG1 X 11.739 Y 9.039 Z 24.540 A -70.740 C -132.691 F 159\nG1 X 11.418 Y 9.145 Z 24.876 A -70.634 C -133.357 F 159\nG1 X 11.102 Y 9.232 Z 25.223 A -70.542 C -134.051 F 159\nG1 X 10.793 Y 9.302 Z 25.580 A -70.462 C -134.772 F 159\nG1 X 10.342 Y 9.375 Z 26.133 A -70.362 C -135.897 F 159\nG1 X 9.009 Y 9.422 Z 28.012 A -70.183 C -139.679 F 159\nG1 X 8.945 Y 9.420 Z 28.107 A -70.304 C -139.640 F 636\nG1 X 8.893 Y 9.409 Z 28.197 A -70.414 C -139.604 F 636\nG1 X 8.853 Y 9.391 Z 28.282 A -70.515 C -139.572 F 636\nG1 X 8.824 Y 9.364 Z 28.360 A -70.607 C -139.542 F 636\nG1 X 8.806 Y 9.331 Z 28.433 A -70.694 C -139.514 F 636\nG1 X 8.798 Y 9.290 Z 28.499 A -70.776 C -139.488 F 636\nG1 X 8.801 Y 9.243 Z 28.559 A -70.856 C -139.462 F 636\nG1 X 8.813 Y 9.191 Z 28.613 A -70.936 C -139.436 F 636\nG1 X 8.836 Y 9.132 Z 28.659 A -71.019 C -139.410 F 636\nG1 X 8.867 Y 9.069 Z 28.699 A -71.104 C -139.383 F 636\nG1 X 8.908 Y 9.001 Z 28.732 A -71.194 C -139.354 F 636\nG1 X 8.957 Y 8.929 Z 28.758 A -71.290 C -139.323 F 636\nG1 X 9.015 Y 8.853 Z 28.777 A -71.393 C -139.290 F 636\nG1 X 9.081 Y 8.774 Z 28.787 A -71.502 C -139.256 F 636\nG1 X 9.155 Y 8.692 Z 28.791 A -71.618 C -139.219 F 636\nG1 X 9.236 Y 8.608 Z 28.786 A -71.741 C -139.179 F 636\nG1 X 9.405 Y 8.446 Z 28.758 A -71.955 C -139.112 F 636\nG1 X 9.489 Y 8.372 Z 28.735 A -72.058 C -139.079 F 636\nG1 X 9.572 Y 8.304 Z 28.706 A -72.159 C -139.047 F 636\nG1 X 9.654 Y 8.241 Z 28.671 A -72.258 C -139.016 F 636\nG1 X 9.734 Y 8.185 Z 28.630 A -72.354 C -138.986 F 636\nG1 X 9.813 Y 8.135 Z 28.583 A -72.448 C -138.956 F 636\nG1 X 9.888 Y 8.092 Z 28.530 A -72.541 C -138.927 F 636\nG1 X 9.961 Y 8.057 Z 28.471 A -72.632 C -138.898 F 636\nG1 X 10.031 Y 8.030 Z 28.405 A -72.722 C -138.870 F 636\nG1 X 10.098 Y 8.011 Z 28.333 A -72.812 C -138.841 F 636\nG1 X 10.161 Y 8.000 Z 28.254 A -72.904 C -138.813 F 636\nG1 X 10.219 Y 7.999 Z 28.170 A -72.997 C -138.783 F 636\nG1 X 10.273 Y 8.008 Z 28.078 A -73.094 C -138.753 F 636\nG1 X 10.322 Y 8.027 Z 27.980 A -73.194 C -138.722 F 636\nG1 X 10.366 Y 8.056 Z 27.875 A -73.300 C -138.689 F 636\nG1 X 10.992 Y 8.584 Z 26.218 A -72.073 C -135.660 F 159\nG1 X 11.086 Y 8.656 Z 25.979 A -71.881 C -135.232 F 159\nG1 X 11.198 Y 8.705 Z 25.747 A -71.735 C -134.810 F 159\nG1 X 11.323 Y 8.730 Z 25.526 A -71.634 C -134.401 F 159\nG1 X 11.461 Y 8.731 Z 25.317 A -71.579 C -134.008 F 159\nG1 X 11.594 Y 8.713 Z 25.140 A -71.566 C -133.669 F 159\nG1 X 11.734 Y 8.676 Z 24.976 A -71.587 C -133.348 F 159\nG1 X 11.951 Y 8.589 Z 24.753 A -71.678 C -132.904 F 159\nG1 X 12.025 Y 8.552 Z 24.685 A -71.725 C -132.766 F 159\nG1 X 12.620 Y 8.204 Z 24.177 A -72.152 C -131.727 F 159\nG1 X 13.269 Y 7.795 Z 23.617 A -72.581 C -130.615 F 159\nG1 X 13.908 Y 7.362 Z 23.057 A -72.966 C -129.536 F 159\nG1 X 14.536 Y 6.907 Z 22.499 A -73.302 C -128.504 F 159\nG1 X 15.152 Y 6.429 Z 21.942 A -73.588 C -127.523 F 159\nG1 X 15.757 Y 5.930 Z 21.386 A -73.829 C -126.589 F 159\nG1 X 16.350 Y 5.411 Z 20.831 A -74.029 C -125.698 F 159\nG1 X 16.914 Y 4.887 Z 20.293 A -74.187 C -124.869 F 159\nG1 X 17.473 Y 4.340 Z 19.751 A -74.313 C -124.068 F 159\nG1 X 18.028 Y 3.766 Z 19.202 A -74.415 C -123.275 F 159\nG1 X 18.571 Y 3.173 Z 18.654 A -74.467 C -122.551 F 159\nG1 X 19.211 Y 2.433 Z 17.993 A -74.490 C -121.721 F 159\nG1 X 19.738 Y 1.790 Z 17.442 A -74.310 C -121.440 F 159\nG1 X 20.508 Y 0.791 Z 16.618 A -73.959 C -121.265 F 159\nG1 X 21.247 Y -0.241 Z 15.803 A -73.645 C -121.108 F 159\nG1 X 21.955 Y -1.299 Z 15.000 A -73.369 C -120.970 F 159\nG1 X 22.633 Y -2.385 Z 14.208 A -73.131 C -120.851 F 159\nG1 X 23.306 Y -3.537 Z 13.397 A -72.921 C -120.746 F 159\nG1 X 23.975 Y -4.729 Z 12.591 A -72.031 C -122.179 F 159\nG1 X 24.321 Y -5.361 Z 12.178 A -71.279 C -123.603 F 159\nG1 X 24.667 Y -5.990 Z 11.765 A -70.545 C -125.020 F 159\nG1 X 25.337 Y -7.262 Z 10.956 A -69.169 C -127.820 F 159\nG1 X 25.883 Y -8.339 Z 10.288 A -68.103 C -130.129 F 159\nG1 X 26.477 Y -9.560 Z 9.550 A -67.007 C -132.662 F 159\nG1 X 27.081 Y -10.857 Z 8.788 A -65.970 C -135.244 F 159\nG1 X 27.720 Y -12.297 Z 7.968 A -64.967 C -137.970 F 159\nG1 X 28.275 Y -13.610 Z 7.245 A -64.181 C -140.318 F 159\nG1 X 28.805 Y -14.929 Z 6.540 A -63.504 C -142.545 F 159\nG1 X 29.314 Y -16.255 Z 5.854 A -62.929 C -144.648 F 159\nG1 X 29.801 Y -17.589 Z 5.185 A -62.447 C -146.631 F 159\nG1 X 30.267 Y -18.930 Z 4.536 A -62.049 C -148.494 F 159\nG1 X 30.714 Y -20.278 Z 3.905 A -61.729 C -150.242 F 159\nG1 X 31.079 Y -21.426 Z 3.385 A -61.511 C -151.636 F 159\nG1 X 31.862 Y -23.545 Z 2.363 A -61.061 C -154.196 F 159\nG1 X 31.953 Y -23.778 Z 2.248 A 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C -151.227 F 636\nG1 X 41.295 Y -17.777 Z -2.633 A -51.533 C -151.123 F 636\nG1 X 41.424 Y -17.226 Z -2.607 A -51.246 C -151.018 F 636\nG1 X 41.539 Y -16.674 Z -2.572 A -50.960 C -150.913 F 636\nG1 X 41.639 Y -16.123 Z -2.527 A -50.675 C -150.807 F 636\nG1 X 41.725 Y -15.573 Z -2.473 A -50.392 C -150.701 F 636\nG1 X 41.796 Y -15.026 Z -2.408 A -50.111 C -150.595 F 636\nG1 X 41.850 Y -14.485 Z -2.333 A -49.833 C -150.489 F 636\nG1 X 41.887 Y -13.949 Z -2.249 A -49.558 C -150.383 F 636\nG1 X 41.908 Y -13.421 Z -2.155 A -49.287 C -150.278 F 636\nG1 X 41.910 Y -12.901 Z -2.052 A -49.019 C -150.173 F 636\nG1 X 41.893 Y -12.392 Z -1.938 A -48.756 C -150.069 F 636\nG1 X 41.857 Y -11.895 Z -1.815 A -48.496 C -149.966 F 636\nG1 X 41.801 Y -11.411 Z -1.682 A -48.241 C -149.864 F 636\nG1 X 41.725 Y -10.942 Z -1.540 A -47.991 C -149.763 F 636\nG1 X 41.628 Y -10.488 Z -1.388 A -47.745 C -149.663 F 636\nG1 X 41.508 Y -10.053 Z -1.226 A -47.503 C -149.563 F 636\nG1 X 41.440 Y -9.842 Z -1.142 A 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636\nG1 X 39.167 Y -7.057 Z 0.782 A -45.284 C -148.613 F 636\nG1 X 38.977 Y -6.970 Z 0.911 A -45.161 C -148.557 F 636\nG1 X 38.780 Y -6.891 Z 1.043 A -45.035 C -148.501 F 636\nG1 X 38.576 Y -6.820 Z 1.176 A -44.908 C -148.444 F 636\nG1 X 38.365 Y -6.759 Z 1.313 A -44.778 C -148.385 F 636\nG1 X 38.146 Y -6.706 Z 1.451 A -44.645 C -148.325 F 636\nG1 X 37.920 Y -6.662 Z 1.592 A -44.509 C -148.263 F 636\nG1 X 37.686 Y -6.627 Z 1.735 A -44.371 C -148.199 F 636\nG1 X 35.974 Y -6.409 Z 2.774 A -47.126 C -143.929 F 159\nG1 X 35.777 Y -6.383 Z 2.895 A -47.454 C -143.457 F 159\nG1 X 35.485 Y -6.310 Z 3.076 A -47.910 C -142.709 F 159\nG1 X 35.201 Y -6.193 Z 3.255 A -48.321 C -141.912 F 159\nG1 X 34.924 Y -6.031 Z 3.433 A -48.684 C -141.062 F 159\nG1 X 33.984 Y -5.310 Z 4.058 A -49.856 C -137.902 F 159\nG1 X 33.312 Y -4.788 Z 4.511 A -50.764 C -135.648 F 159\nG1 X 32.734 Y -4.340 Z 4.919 A -51.623 C -133.725 F 159\nG1 X 32.155 Y -3.890 Z 5.329 A -52.522 C -131.817 F 159\nG1 X 31.581 Y -3.444 Z 5.752 A -53.481 C -129.948 F 159\nG1 X 31.009 Y -2.996 Z 6.177 A -54.475 C -128.102 F 159\nG1 X 30.440 Y -2.553 Z 6.614 A -55.523 C -126.300 F 159\nG1 X 29.873 Y -2.107 Z 7.053 A -56.599 C -124.528 F 159\nG1 X 29.254 Y -1.622 Z 7.550 A -57.837 C -122.635 F 159\nG1 X 28.637 Y -1.134 Z 8.049 A -59.100 C -120.783 F 159\nG1 X 28.026 Y -0.653 Z 8.561 A -60.408 C -118.995 F 159\nG1 X 27.418 Y -0.170 Z 9.074 A -61.731 C -117.252 F 159\nG1 X 26.370 Y 0.641 Z 9.993 A -63.458 C -115.724 F 159\nG1 X 25.387 Y 1.368 Z 10.886 A -64.269 C -116.179 F 159\nG1 X 24.406 Y 2.080 Z 11.793 A -65.108 C -116.643 F 159\nG1 X 23.427 Y 2.777 Z 12.716 A -65.974 C -117.117 F 159\nG1 X 22.222 Y 3.611 Z 13.872 A -67.078 C -117.712 F 159\nG1 X 21.344 Y 4.202 Z 14.725 A -67.904 C -118.153 F 159\nG1 X 20.366 Y 4.838 Z 15.687 A -68.762 C -118.826 F 159\nG1 X 19.401 Y 5.435 Z 16.647 A -69.338 C -120.026 F 159\nG1 X 18.437 Y 6.008 Z 17.612 A -69.829 C -121.299 F 159\nG1 X 17.470 Y 6.556 Z 18.585 A -70.233 C -122.653 F 159\nG1 X 16.503 Y 7.074 Z 19.563 A -70.546 C -124.087 F 159\nG1 X 15.681 Y 7.489 Z 20.396 A -70.737 C -125.371 F 159\nG1 X 15.034 Y 7.799 Z 21.055 A -70.835 C -126.430 F 159\nG1 X 14.061 Y 8.237 Z 22.047 A -70.885 C -128.113 F 159\nG1 X 13.089 Y 8.638 Z 23.041 A -70.814 C -129.897 F 159\nG1 X 12.318 Y 8.930 Z 23.833 A -70.677 C -131.373 F 159\nG1 X 11.415 Y 9.241 Z 24.763 A -70.411 C -133.185 F 159\nG1 X 10.767 Y 9.442 Z 25.433 A -70.140 C -134.552 F 159\nG1 X 10.120 Y 9.625 Z 26.106 A -69.806 C -135.960 F 159\nG1 X 8.679 Y 9.858 Z 27.850 A -69.177 C -139.529 F 159\nG1 X -0.663 Y 13.149 Z 27.743 A -71.841 C -190.220 F 636\nG1 X -0.341 Y 13.947 Z 26.178 A -71.266 C -187.209 F 159\nG1 X -0.249 Y 14.112 Z 25.858 A -71.158 C -186.594 F 159\nG1 X -0.127 Y 14.273 Z 25.552 A -71.093 C -186.005 F 159\nG1 X 0.024 Y 14.428 Z 25.262 A -71.073 C -185.441 F 159\nG1 X 0.203 Y 14.575 Z 24.986 A -71.096 C -184.904 F 159\nG1 X 0.410 Y 14.713 Z 24.729 A -71.164 C -184.397 F 159\nG1 X 0.596 Y 14.817 Z 24.534 A -71.252 C -184.008 F 159\nG1 X 1.192 Y 15.099 Z 23.987 A -71.566 C -182.922 F 159\nG1 X 2.117 Y 15.497 Z 23.162 A -71.965 C -181.342 F 159\nG1 X 2.809 Y 15.768 Z 22.558 A -72.202 C -180.225 F 159\nG1 X 3.513 Y 16.022 Z 21.956 A -72.387 C -179.160 F 159\nG1 X 4.228 Y 16.258 Z 21.354 A -72.522 C -178.145 F 159\nG1 X 5.283 Y 16.571 Z 20.484 A -72.638 C -176.753 F 159\nG1 X 6.293 Y 16.834 Z 19.669 A -72.669 C -175.523 F 159\nG1 X 7.420 Y 17.088 Z 18.778 A -72.625 C -174.254 F 159\nG1 X 8.566 Y 17.307 Z 17.890 A -72.500 C -173.070 F 159\nG1 X 9.338 Y 17.435 Z 17.302 A -72.381 C -172.314 F 159\nG1 X 10.553 Y 17.603 Z 16.396 A -71.935 C -171.674 F 159\nG1 X 11.770 Y 17.737 Z 15.512 A -71.371 C -171.387 F 159\nG1 X 12.998 Y 17.840 Z 14.638 A -70.844 C -171.118 F 159\nG1 X 14.205 Y 17.913 Z 13.797 A -70.367 C -170.873 F 159\nG1 X 15.441 Y 17.960 Z 12.954 A -69.921 C -170.642 F 159\nG1 X 16.693 Y 17.983 Z 12.117 A -69.512 C -170.430 F 159\nG1 X 18.029 Y 17.984 Z 11.258 A -68.408 C 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17.984 Z 1.837 A -54.607 C -206.267 F 636\nG1 X 35.327 Y 18.026 Z 1.743 A -54.496 C -206.196 F 636\nG1 X 35.468 Y 18.079 Z 1.655 A -54.395 C -206.132 F 636\nG1 X 35.586 Y 18.145 Z 1.574 A -54.304 C -206.075 F 636\nG1 X 35.683 Y 18.221 Z 1.500 A -54.220 C -206.021 F 636\nG1 X 35.757 Y 18.308 Z 1.432 A -54.143 C -205.972 F 636\nG1 X 35.811 Y 18.405 Z 1.371 A -54.070 C -205.925 F 636\nG1 X 35.843 Y 18.512 Z 1.317 A -53.998 C -205.880 F 636\nG1 X 35.853 Y 18.628 Z 1.270 A -53.926 C -205.833 F 636\nG1 X 35.843 Y 18.752 Z 1.230 A -53.850 C -205.784 F 636\nG1 X 35.811 Y 18.885 Z 1.198 A -53.769 C -205.732 F 636\nG1 X 35.758 Y 19.025 Z 1.172 A -53.681 C -205.675 F 636\nG1 X 35.685 Y 19.172 Z 1.154 A -53.585 C -205.613 F 636\nG1 X 35.591 Y 19.326 Z 1.143 A -53.480 C -205.545 F 636\nG1 X 35.476 Y 19.486 Z 1.139 A -53.366 C -205.471 F 636\nG1 X 35.341 Y 19.652 Z 1.143 A -53.243 C -205.390 F 636\nG1 X 35.194 Y 19.815 Z 1.153 A -53.142 C -205.324 F 636\nG1 X 35.043 Y 19.967 Z 1.170 A -53.043 C 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19.701 Z 3.846 A -54.380 C -197.351 F 159\nG1 X 29.122 Y 19.622 Z 4.104 A -54.744 C -196.308 F 159\nG1 X 28.427 Y 19.544 Z 4.476 A -55.254 C -194.776 F 159\nG1 X 27.224 Y 19.489 Z 5.099 A -56.092 C -192.133 F 159\nG1 X 25.777 Y 19.429 Z 5.868 A -57.235 C -188.903 F 159\nG1 X 25.056 Y 19.395 Z 6.265 A -57.877 C -187.276 F 159\nG1 X 24.333 Y 19.362 Z 6.663 A -58.550 C -185.637 F 159\nG1 X 23.613 Y 19.324 Z 7.073 A -59.277 C -184.000 F 159\nG1 X 22.892 Y 19.289 Z 7.484 A -60.034 C -182.357 F 159\nG1 X 22.226 Y 19.251 Z 7.876 A -60.782 C -180.841 F 159\nG1 X 21.559 Y 19.216 Z 8.268 A -61.554 C -179.326 F 159\nG1 X 20.896 Y 19.176 Z 8.669 A -62.366 C -177.824 F 159\nG1 X 20.231 Y 19.138 Z 9.072 A -63.200 C -176.328 F 159\nG1 X 19.520 Y 19.093 Z 9.514 A -64.138 C -174.738 F 159\nG1 X 18.808 Y 19.050 Z 9.958 A -65.096 C -173.159 F 159\nG1 X 18.101 Y 19.002 Z 10.410 A -66.091 C -171.608 F 159\nG1 X 17.394 Y 18.957 Z 10.864 A -67.099 C -170.074 F 159\nG1 X 16.115 Y 18.856 Z 11.727 A -67.941 C 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12.974 Z 28.134 A -72.312 C -190.381 F 636\nG1 X -0.300 Y 13.025 Z 28.040 A -72.402 C -190.320 F 636\nG1 X -0.262 Y 13.079 Z 27.935 A -72.494 C -190.258 F 636\nG1 X -0.241 Y 13.138 Z 27.820 A -72.591 C -190.192 F 636\nG1 X -0.098 Y 13.948 Z 26.198 A -71.673 C -187.150 F 159\nG1 X -0.067 Y 14.062 Z 25.971 A -71.541 C -186.728 F 159\nG1 X -0.015 Y 14.175 Z 25.751 A -71.439 C -186.318 F 159\nG1 X 0.098 Y 14.338 Z 25.439 A -71.345 C -185.726 F 159\nG1 X 0.253 Y 14.493 Z 25.146 A -71.320 C -185.163 F 159\nG1 X 0.446 Y 14.635 Z 24.877 A -71.361 C -184.638 F 159\nG1 X 0.672 Y 14.763 Z 24.635 A -71.467 C -184.154 F 159\nG1 X 1.248 Y 15.013 Z 24.140 A -71.812 C -183.157 F 159\nG1 X 2.147 Y 15.365 Z 23.390 A -72.274 C -181.694 F 159\nG1 X 2.861 Y 15.616 Z 22.807 A -72.583 C -180.595 F 159\nG1 X 3.585 Y 15.848 Z 22.224 A -72.840 C -179.544 F 159\nG1 X 4.321 Y 16.060 Z 21.643 A -73.047 C -178.544 F 159\nG1 X 5.066 Y 16.252 Z 21.063 A -73.208 C -177.591 F 159\nG1 X 5.819 Y 16.425 Z 20.484 A -73.327 C -176.680 F 159\nG1 X 6.848 Y 16.629 Z 19.707 A -73.428 C -175.515 F 159\nG1 X 8.007 Y 16.817 Z 18.846 A -73.476 C -174.275 F 159\nG1 X 9.185 Y 16.966 Z 17.988 A -73.424 C -173.166 F 159\nG1 X 10.311 Y 17.070 Z 17.182 A -73.237 C -172.355 F 159\nG1 X 11.547 Y 17.145 Z 16.321 A -72.769 C -172.097 F 159\nG1 X 12.792 Y 17.183 Z 15.468 A -72.330 C -171.875 F 159\nG1 X 14.043 Y 17.186 Z 14.628 A -71.930 C -171.673 F 159\nG1 X 15.048 Y 17.164 Z 13.965 A -71.638 C -171.525 F 159\nG1 X 16.057 Y 17.122 Z 13.308 A -71.373 C -171.390 F 159\nG1 X 17.322 Y 17.041 Z 12.499 A -71.076 C -171.238 F 159\nG1 X 18.711 Y 16.936 Z 11.647 A -69.689 C -173.481 F 159\nG1 X 19.425 Y 16.874 Z 11.219 A -68.867 C -174.963 F 159\nG1 X 20.138 Y 16.813 Z 10.793 A -68.063 C -176.444 F 159\nG1 X 20.852 Y 16.742 Z 10.375 A -67.299 C -177.925 F 159\nG1 X 21.565 Y 16.673 Z 9.958 A -66.555 C -179.399 F 159\nG1 X 22.278 Y 16.593 Z 9.550 A -65.855 C -180.868 F 159\nG1 X 22.991 Y 16.515 Z 9.142 A -65.177 C -182.325 F 159\nG1 X 24.360 Y 16.347 Z 8.377 A -63.981 C -185.089 F 159\nG1 X 25.506 Y 16.193 Z 7.749 A -63.077 C -187.358 F 159\nG1 X 26.324 Y 16.072 Z 7.312 A -62.494 C -188.946 F 159\nG1 X 27.140 Y 15.953 Z 6.876 A -61.941 C -190.502 F 159\nG1 X 28.555 Y 15.725 Z 6.142 A -61.101 C -193.123 F 159\nG1 X 29.729 Y 15.525 Z 5.550 A -60.502 C -195.223 F 159\nG1 X 30.899 Y 15.326 Z 4.960 A -59.956 C -197.246 F 159\nG1 X 32.773 Y 15.038 Z 4.036 A -59.193 C -200.357 F 159\nG1 X 34.402 Y 14.804 Z 3.254 A -58.640 C -202.932 F 159\nG1 X 36.653 Y 14.585 Z 2.140 A -57.888 C -206.350 F 159\nG1 X 36.933 Y 14.566 Z 1.999 A -57.699 C -206.286 F 636\nG1 X 37.196 Y 14.564 Z 1.860 A -57.519 C -206.225 F 636\nG1 X 37.444 Y 14.578 Z 1.725 A -57.348 C -206.166 F 636\nG1 X 37.676 Y 14.609 Z 1.592 A -57.185 C -206.110 F 636\nG1 X 37.892 Y 14.655 Z 1.463 A -57.030 C -206.057 F 636\nG1 X 38.092 Y 14.715 Z 1.336 A -56.883 C -206.006 F 636\nG1 X 38.277 Y 14.791 Z 1.213 A -56.741 C -205.956 F 636\nG1 X 38.447 Y 14.880 Z 1.093 A 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636\nG1 X 38.945 Y 18.265 Z -0.386 A -54.158 C -205.028 F 636\nG1 X 38.836 Y 18.518 Z -0.424 A -53.990 C -204.966 F 636\nG1 X 38.714 Y 18.775 Z -0.457 A -53.818 C -204.902 F 636\nG1 X 38.578 Y 19.034 Z -0.484 A -53.641 C -204.835 F 636\nG1 X 38.428 Y 19.295 Z -0.506 A -53.459 C -204.767 F 636\nG1 X 38.265 Y 19.559 Z -0.522 A -53.272 C -204.696 F 636\nG1 X 38.089 Y 19.823 Z -0.533 A -53.081 C -204.623 F 636\nG1 X 37.903 Y 20.086 Z -0.538 A -52.916 C -204.559 F 636\nG1 X 37.712 Y 20.343 Z -0.538 A -52.751 C -204.496 F 636\nG1 X 37.517 Y 20.594 Z -0.533 A -52.588 C -204.433 F 636\nG1 X 37.317 Y 20.838 Z -0.523 A -52.425 C -204.370 F 636\nG1 X 37.113 Y 21.076 Z -0.508 A -52.264 C -204.307 F 636\nG1 X 36.905 Y 21.306 Z -0.488 A -52.104 C -204.244 F 636\nG1 X 36.693 Y 21.529 Z -0.463 A -51.946 C -204.182 F 636\nG1 X 36.477 Y 21.743 Z -0.433 A -51.789 C -204.120 F 636\nG1 X 36.258 Y 21.948 Z -0.397 A -51.634 C -204.058 F 636\nG1 X 36.036 Y 22.144 Z -0.356 A -51.481 C -203.997 F 636\nG1 X 35.811 Y 22.330 Z -0.310 A -51.329 C -203.937 F 636\nG1 X 35.583 Y 22.505 Z -0.259 A -51.179 C -203.876 F 636\nG1 X 35.352 Y 22.670 Z -0.203 A -51.031 C -203.816 F 636\nG1 X 35.120 Y 22.823 Z -0.141 A -50.885 C -203.757 F 636\nG1 X 34.885 Y 22.964 Z -0.074 A -50.741 C -203.698 F 636\nG1 X 34.648 Y 23.093 Z -0.002 A -50.598 C -203.639 F 636\nG1 X 34.410 Y 23.209 Z 0.075 A -50.456 C -203.581 F 636\nG1 X 34.170 Y 23.312 Z 0.158 A -50.316 C -203.523 F 636\nG1 X 33.929 Y 23.400 Z 0.247 A -50.177 C -203.466 F 636\nG1 X 33.688 Y 23.475 Z 0.340 A -50.039 C -203.408 F 636\nG1 X 33.445 Y 23.534 Z 0.440 A -49.901 C -203.351 F 636\nG1 X 33.202 Y 23.578 Z 0.544 A -49.764 C -203.293 F 636\nG1 X 32.959 Y 23.606 Z 0.654 A -49.627 C -203.235 F 636\nG1 X 32.715 Y 23.618 Z 0.770 A -49.489 C -203.176 F 636\nG1 X 32.472 Y 23.613 Z 0.891 A -49.350 C -203.117 F 636\nG1 X 32.229 Y 23.590 Z 1.017 A -49.209 C -203.057 F 636\nG1 X 31.986 Y 23.550 Z 1.149 A -49.066 C -202.996 F 636\nG1 X 31.744 Y 23.491 Z 1.287 A 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20.983 Y 20.530 Z 7.708 A -59.339 C -177.910 F 159\nG1 X 20.252 Y 20.427 Z 8.164 A -60.355 C -176.180 F 159\nG1 X 19.520 Y 20.326 Z 8.621 A -61.395 C -174.471 F 159\nG1 X 18.817 Y 20.226 Z 9.075 A -62.445 C -172.851 F 159\nG1 X 18.113 Y 20.129 Z 9.530 A -63.511 C -171.254 F 159\nG1 X 17.416 Y 20.029 Z 9.994 A -64.611 C -169.699 F 159\nG1 X 16.728 Y 19.932 Z 10.454 A -65.628 C -168.359 F 159\nG1 X 15.510 Y 19.731 Z 11.322 A -66.256 C -168.701 F 159\nG1 X 14.303 Y 19.517 Z 12.204 A -66.919 C -169.058 F 159\nG1 X 13.108 Y 19.289 Z 13.101 A -67.618 C -169.431 F 159\nG1 X 11.911 Y 19.041 Z 14.021 A -68.358 C -169.823 F 159\nG1 X 10.749 Y 18.780 Z 14.937 A -69.116 C -170.221 F 159\nG1 X 9.626 Y 18.507 Z 15.844 A -69.871 C -170.653 F 159\nG1 X 8.507 Y 18.204 Z 16.777 A -70.391 C -171.651 F 159\nG1 X 7.412 Y 17.882 Z 17.712 A -70.779 C -172.835 F 159\nG1 X 6.336 Y 17.535 Z 18.653 A -71.062 C -174.150 F 159\nG1 X 5.281 Y 17.164 Z 19.599 A -71.271 C -175.523 F 159\nG1 X 4.342 Y 16.804 Z 20.462 A 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F 636\nG1 X -1.691 Y 12.621 Z 28.613 A -70.936 C -190.866 F 636\nG1 X -1.631 Y 12.602 Z 28.659 A -71.019 C -190.840 F 636\nG1 X -1.562 Y 12.587 Z 28.699 A -71.104 C -190.813 F 636\nG1 X -1.484 Y 12.577 Z 28.732 A -71.194 C -190.784 F 636\nG1 X -1.397 Y 12.570 Z 28.758 A -71.290 C -190.753 F 636\nG1 X -1.301 Y 12.568 Z 28.777 A -71.393 C -190.720 F 636\nG1 X -1.199 Y 12.570 Z 28.787 A -71.502 C -190.686 F 636\nG1 X -1.089 Y 12.577 Z 28.791 A -71.618 C -190.649 F 636\nG1 X -0.972 Y 12.588 Z 28.786 A -71.741 C -190.609 F 636\nG1 X -0.740 Y 12.619 Z 28.758 A -71.955 C -190.542 F 636\nG1 X -0.630 Y 12.639 Z 28.735 A -72.058 C -190.509 F 636\nG1 X -0.524 Y 12.661 Z 28.706 A -72.159 C -190.477 F 636\nG1 X -0.424 Y 12.686 Z 28.671 A -72.258 C -190.446 F 636\nG1 X -0.330 Y 12.714 Z 28.630 A -72.354 C -190.416 F 636\nG1 X -0.242 Y 12.744 Z 28.583 A -72.448 C -190.386 F 636\nG1 X -0.162 Y 12.776 Z 28.530 A -72.541 C -190.357 F 636\nG1 X -0.089 Y 12.812 Z 28.471 A -72.632 C -190.328 F 636\nG1 X -0.024 Y 12.849 Z 28.405 A -72.722 C -190.300 F 636\nG1 X 0.033 Y 12.889 Z 28.333 A -72.812 C -190.271 F 636\nG1 X 0.080 Y 12.932 Z 28.254 A -72.904 C -190.243 F 636\nG1 X 0.117 Y 12.977 Z 28.170 A -72.997 C -190.213 F 636\nG1 X 0.144 Y 13.025 Z 28.078 A -73.094 C -190.183 F 636\nG1 X 0.160 Y 13.074 Z 27.980 A -73.194 C -190.152 F 636\nG1 X 0.164 Y 13.127 Z 27.875 A -73.300 C -190.119 F 636\nG1 X 0.142 Y 13.946 Z 26.218 A -72.073 C -187.090 F 159\nG1 X 0.144 Y 14.065 Z 25.979 A -71.881 C -186.662 F 159\nG1 X 0.175 Y 14.182 Z 25.747 A -71.735 C -186.241 F 159\nG1 X 0.234 Y 14.296 Z 25.526 A -71.634 C -185.831 F 159\nG1 X 0.319 Y 14.404 Z 25.317 A -71.579 C -185.438 F 159\nG1 X 0.416 Y 14.497 Z 25.140 A -71.566 C -185.099 F 159\nG1 X 0.532 Y 14.583 Z 24.976 A -71.587 C -184.778 F 159\nG1 X 0.736 Y 14.699 Z 24.753 A -71.678 C -184.334 F 159\nG1 X 0.811 Y 14.734 Z 24.685 A -71.725 C -184.196 F 159\nG1 X 1.454 Y 14.982 Z 24.177 A -72.152 C -183.157 F 159\nG1 X 2.179 Y 15.235 Z 23.617 A 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159\nG1 X 19.354 Y 15.673 Z 12.178 A -71.279 C -175.033 F 159\nG1 X 20.063 Y 15.552 Z 11.765 A -70.545 C -176.450 F 159\nG1 X 21.474 Y 15.282 Z 10.956 A -69.169 C -179.250 F 159\nG1 X 22.657 Y 15.037 Z 10.288 A -68.103 C -181.559 F 159\nG1 X 23.982 Y 14.741 Z 9.550 A -67.007 C -184.092 F 159\nG1 X 25.373 Y 14.404 Z 8.788 A -65.970 C -186.674 F 159\nG1 X 26.897 Y 14.006 Z 7.968 A -64.967 C -189.400 F 159\nG1 X 28.269 Y 13.621 Z 7.245 A -64.181 C -191.748 F 159\nG1 X 29.631 Y 13.214 Z 6.540 A -63.504 C -193.975 F 159\nG1 X 30.985 Y 12.784 Z 5.854 A -62.929 C -196.078 F 159\nG1 X 32.332 Y 12.333 Z 5.185 A -62.447 C -198.060 F 159\nG1 X 33.671 Y 11.862 Z 4.536 A -62.049 C -199.924 F 159\nG1 X 35.004 Y 11.371 Z 3.905 A -61.729 C -201.672 F 159\nG1 X 36.129 Y 10.940 Z 3.385 A -61.511 C -203.066 F 159\nG1 X 38.274 Y 10.232 Z 2.363 A -61.061 C -205.626 F 159\nG1 X 38.512 Y 10.158 Z 2.248 A -60.899 C -205.579 F 636\nG1 X 38.745 Y 10.094 Z 2.133 A -60.743 C -205.534 F 636\nG1 X 38.970 Y 10.041 Z 2.018 A -60.591 C -205.490 F 636\nG1 X 39.189 Y 9.998 Z 1.904 A -60.444 C -205.447 F 636\nG1 X 39.402 Y 9.966 Z 1.790 A -60.301 C -205.405 F 636\nG1 X 39.609 Y 9.944 Z 1.676 A -60.162 C -205.364 F 636\nG1 X 39.808 Y 9.931 Z 1.563 A -60.027 C -205.324 F 636\nG1 X 40.002 Y 9.928 Z 1.451 A -59.896 C -205.286 F 636\nG1 X 40.189 Y 9.935 Z 1.339 A -59.768 C -205.248 F 636\nG1 X 40.369 Y 9.951 Z 1.227 A -59.644 C -205.211 F 636\nG1 X 40.543 Y 9.976 Z 1.116 A -59.522 C -205.175 F 636\nG1 X 40.711 Y 10.010 Z 1.006 A -59.402 C -205.139 F 636\nG1 X 40.872 Y 10.052 Z 0.897 A -59.286 C -205.104 F 636\nG1 X 41.027 Y 10.104 Z 0.788 A -59.171 C -205.069 F 636\nG1 X 41.176 Y 10.163 Z 0.681 A -59.058 C -205.035 F 636\nG1 X 41.318 Y 10.231 Z 0.574 A -58.946 C -205.002 F 636\nG1 X 41.454 Y 10.306 Z 0.468 A -58.836 C -204.969 F 636\nG1 X 41.584 Y 10.390 Z 0.363 A -58.726 C -204.935 F 636\nG1 X 41.707 Y 10.481 Z 0.259 A -58.618 C -204.902 F 636\nG1 X 41.824 Y 10.579 Z 0.156 A -58.510 C -204.870 F 636\nG1 X 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Z -1.748 A -55.946 C -204.065 F 636\nG1 X 42.779 Y 14.665 Z -1.878 A -55.679 C -203.978 F 636\nG1 X 42.701 Y 15.111 Z -1.999 A -55.405 C -203.889 F 636\nG1 X 42.599 Y 15.566 Z -2.111 A -55.125 C -203.797 F 636\nG1 X 42.474 Y 16.029 Z -2.213 A -54.838 C -203.702 F 636\nG1 X 42.325 Y 16.498 Z -2.306 A -54.546 C -203.604 F 636\nG1 X 42.152 Y 16.971 Z -2.388 A -54.248 C -203.504 F 636\nG1 X 41.956 Y 17.448 Z -2.460 A -53.944 C -203.401 F 636\nG1 X 41.737 Y 17.926 Z -2.521 A -53.635 C -203.295 F 636\nG1 X 41.494 Y 18.404 Z -2.570 A -53.321 C -203.187 F 636\nG1 X 41.229 Y 18.881 Z -2.608 A -53.002 C -203.076 F 636\nG1 X 40.940 Y 19.355 Z -2.634 A -52.678 C -202.963 F 636\nG1 X 40.634 Y 19.825 Z -2.649 A -52.394 C -202.862 F 636\nG1 X 40.316 Y 20.291 Z -2.653 A -52.107 C -202.760 F 636\nG1 X 39.986 Y 20.750 Z -2.648 A -51.821 C -202.657 F 636\nG1 X 39.645 Y 21.203 Z -2.633 A -51.533 C -202.553 F 636\nG1 X 39.295 Y 21.647 Z -2.607 A -51.246 C -202.448 F 636\nG1 X 38.935 Y 22.081 Z -2.572 A 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159\nG1 X 2.327 Y 16.129 Z 22.047 A -70.885 C -179.543 F 159\nG1 X 1.407 Y 15.619 Z 23.041 A -70.814 C -181.327 F 159\nG1 X 0.698 Y 15.198 Z 23.833 A -70.677 C -182.803 F 159\nG1 X -0.108 Y 14.686 Z 24.763 A -70.411 C -184.615 F 159\nG1 X -0.670 Y 14.305 Z 25.433 A -70.140 C -185.982 F 159\nG1 X -1.216 Y 13.913 Z 26.106 A -69.806 C -187.390 F 159\nG1 X -2.297 Y 12.932 Z 27.850 A -69.177 C -190.959 F 159\nG1 X -10.694 Y 7.679 Z 27.743 A -71.841 C -241.650 F 636\nG1 X -11.117 Y 8.428 Z 26.178 A -71.266 C -238.639 F 159\nG1 X -11.189 Y 8.604 Z 25.858 A -71.158 C -238.024 F 159\nG1 X -11.238 Y 8.799 Z 25.552 A -71.093 C -237.435 F 159\nG1 X -11.265 Y 9.014 Z 25.262 A -71.073 C -236.871 F 159\nG1 X -11.269 Y 9.246 Z 24.986 A -71.096 C -236.334 F 159\nG1 X -11.248 Y 9.494 Z 24.729 A -71.164 C -235.827 F 159\nG1 X -11.213 Y 9.704 Z 24.534 A -71.252 C -235.438 F 159\nG1 X -11.062 Y 10.346 Z 23.987 A -71.566 C -234.352 F 159\nG1 X -10.796 Y 11.317 Z 23.162 A -71.965 C -232.772 F 159\nG1 X 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X 8.000 Y 39.135 Z 1.574 A -54.304 C -257.504 F 636\nG1 X 8.001 Y 39.259 Z 1.500 A -54.220 C -257.451 F 636\nG1 X 7.980 Y 39.371 Z 1.432 A -54.143 C -257.402 F 636\nG1 X 7.937 Y 39.474 Z 1.371 A -54.070 C -257.355 F 636\nG1 X 7.873 Y 39.565 Z 1.317 A -53.998 C -257.310 F 636\nG1 X 7.789 Y 39.646 Z 1.270 A -53.926 C -257.263 F 636\nG1 X 7.685 Y 39.715 Z 1.230 A -53.850 C -257.214 F 636\nG1 X 7.562 Y 39.773 Z 1.198 A -53.769 C -257.162 F 636\nG1 X 7.420 Y 39.819 Z 1.172 A -53.681 C -257.105 F 636\nG1 X 7.259 Y 39.853 Z 1.154 A -53.585 C -257.043 F 636\nG1 X 7.080 Y 39.876 Z 1.143 A -53.480 C -256.975 F 636\nG1 X 6.883 Y 39.886 Z 1.139 A -53.366 C -256.901 F 636\nG1 X 6.669 Y 39.884 Z 1.143 A -53.243 C -256.820 F 636\nG1 X 6.450 Y 39.870 Z 1.153 A -53.142 C -256.754 F 636\nG1 X 6.237 Y 39.847 Z 1.170 A -53.043 C -256.689 F 636\nG1 X 6.031 Y 39.814 Z 1.192 A -52.947 C -256.625 F 636\nG1 X 5.833 Y 39.771 Z 1.221 A -52.853 C -256.563 F 636\nG1 X 5.643 Y 39.718 Z 1.256 A -52.761 C -256.502 F 636\nG1 X 5.461 Y 39.654 Z 1.297 A -52.671 C -256.442 F 636\nG1 X 5.288 Y 39.579 Z 1.344 A -52.582 C -256.382 F 636\nG1 X 5.125 Y 39.494 Z 1.398 A -52.494 C -256.323 F 636\nG1 X 4.971 Y 39.398 Z 1.457 A -52.407 C -256.265 F 636\nG1 X 4.828 Y 39.291 Z 1.524 A -52.319 C -256.206 F 636\nG1 X 4.696 Y 39.173 Z 1.596 A -52.231 C -256.147 F 636\nG1 X 4.575 Y 39.043 Z 1.676 A -52.142 C -256.087 F 636\nG1 X 4.465 Y 38.902 Z 1.761 A -52.052 C -256.025 F 636\nG1 X 4.369 Y 38.748 Z 1.853 A -51.959 C -255.962 F 636\nG1 X 4.284 Y 38.583 Z 1.952 A -51.863 C -255.896 F 636\nG1 X 4.213 Y 38.406 Z 2.058 A -51.763 C -255.828 F 636\nG1 X 3.649 Y 36.792 Z 3.017 A -53.155 C -252.078 F 159\nG1 X 3.464 Y 36.313 Z 3.301 A -53.584 C -250.949 F 159\nG1 X 3.254 Y 35.837 Z 3.589 A -54.009 C -249.807 F 159\nG1 X 3.046 Y 35.419 Z 3.846 A -54.380 C -248.781 F 159\nG1 X 2.816 Y 35.003 Z 4.104 A -54.744 C -247.738 F 159\nG1 X 2.443 Y 34.411 Z 4.476 A -55.254 C -246.206 F 159\nG1 X 1.736 Y 33.436 Z 5.099 A -56.092 C 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159\nG1 X -4.445 Y 26.712 Z 9.530 A -63.512 C -222.684 F 159\nG1 X -4.801 Y 26.104 Z 9.994 A -64.611 C -221.129 F 159\nG1 X -5.154 Y 25.506 Z 10.454 A -65.628 C -219.789 F 159\nG1 X -5.757 Y 24.428 Z 11.322 A -66.256 C -220.131 F 159\nG1 X -6.342 Y 23.351 Z 12.204 A -66.919 C -220.488 F 159\nG1 X -6.909 Y 22.274 Z 13.101 A -67.618 C -220.861 F 159\nG1 X -7.461 Y 21.184 Z 14.021 A -68.358 C -221.253 F 159\nG1 X -7.982 Y 20.113 Z 14.937 A -69.116 C -221.651 F 159\nG1 X -8.468 Y 19.065 Z 15.844 A -69.871 C -222.083 F 159\nG1 X -8.929 Y 18.001 Z 16.777 A -70.391 C -223.081 F 159\nG1 X -9.360 Y 16.943 Z 17.712 A -70.779 C -224.265 F 159\nG1 X -9.759 Y 15.886 Z 18.653 A -71.062 C -225.580 F 159\nG1 X -10.127 Y 14.830 Z 19.599 A -71.271 C -226.953 F 159\nG1 X -10.431 Y 13.872 Z 20.462 A -71.384 C -228.274 F 159\nG1 X -10.721 Y 12.852 Z 21.386 A -71.415 C -229.771 F 159\nG1 X -10.984 Y 11.798 Z 22.348 A -71.336 C -231.432 F 159\nG1 X -11.207 Y 10.750 Z 23.312 A -71.142 C -233.191 F 159\nG1 X 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6.681 Z 28.732 A -71.194 C -242.214 F 636\nG1 X -10.699 Y 6.745 Z 28.758 A -71.290 C -242.183 F 636\nG1 X -10.638 Y 6.818 Z 28.777 A -71.393 C -242.150 F 636\nG1 X -10.575 Y 6.900 Z 28.787 A -71.502 C -242.116 F 636\nG1 X -10.512 Y 6.990 Z 28.791 A -71.618 C -242.079 F 636\nG1 X -10.448 Y 7.088 Z 28.786 A -71.741 C -242.039 F 636\nG1 X -10.327 Y 7.289 Z 28.758 A -71.955 C -241.972 F 636\nG1 X -10.274 Y 7.388 Z 28.735 A -72.058 C -241.939 F 636\nG1 X -10.226 Y 7.484 Z 28.706 A -72.159 C -241.907 F 636\nG1 X -10.183 Y 7.578 Z 28.671 A -72.258 C -241.876 F 636\nG1 X -10.146 Y 7.669 Z 28.630 A -72.354 C -241.845 F 636\nG1 X -10.115 Y 7.756 Z 28.583 A -72.448 C -241.816 F 636\nG1 X -10.090 Y 7.839 Z 28.530 A -72.541 C -241.787 F 636\nG1 X -10.072 Y 7.918 Z 28.471 A -72.632 C -241.758 F 636\nG1 X -10.061 Y 7.993 Z 28.405 A -72.722 C -241.730 F 636\nG1 X -10.057 Y 8.062 Z 28.333 A -72.812 C -241.701 F 636\nG1 X -10.061 Y 8.125 Z 28.254 A -72.904 C -241.673 F 636\nG1 X -10.073 Y 8.182 Z 28.170 A -72.997 C -241.643 F 636\nG1 X -10.094 Y 8.233 Z 28.078 A -73.094 C -241.613 F 636\nG1 X -10.123 Y 8.276 Z 27.980 A -73.194 C -241.582 F 636\nG1 X -10.161 Y 8.313 Z 27.875 A -73.300 C -241.549 F 636\nG1 X -10.815 Y 8.806 Z 26.218 A -72.073 C -238.520 F 159\nG1 X -10.907 Y 8.882 Z 25.979 A -71.881 C -238.092 F 159\nG1 X -10.979 Y 8.979 Z 25.747 A -71.735 C -237.671 F 159\nG1 X -11.031 Y 9.096 Z 25.526 A -71.634 C -237.261 F 159\nG1 X -11.063 Y 9.230 Z 25.317 A -71.579 C -236.868 F 159\nG1 X -11.075 Y 9.364 Z 25.140 A -71.566 C -236.529 F 159\nG1 X -11.070 Y 9.508 Z 24.976 A -71.587 C -236.208 F 159\nG1 X -11.034 Y 9.740 Z 24.753 A -71.678 C -235.764 F 159\nG1 X -11.014 Y 9.820 Z 24.685 A -71.725 C -235.626 F 159\nG1 X -10.807 Y 10.477 Z 24.177 A -72.152 C -234.587 F 159\nG1 X -10.553 Y 11.202 Z 23.617 A -72.581 C -233.475 F 159\nG1 X -10.273 Y 11.921 Z 23.057 A -72.966 C -232.396 F 159\nG1 X -9.969 Y 12.634 Z 22.499 A -73.302 C -231.364 F 159\nG1 X -9.640 Y 13.341 Z 21.942 A -73.588 C 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159\nG1 X 2.369 Y 27.089 Z 10.288 A -68.103 C -232.989 F 159\nG1 X 3.427 Y 27.940 Z 9.550 A -67.007 C -235.522 F 159\nG1 X 4.557 Y 28.818 Z 8.788 A -65.970 C -238.104 F 159\nG1 X 5.819 Y 29.762 Z 7.968 A -64.967 C -240.830 F 159\nG1 X 6.975 Y 30.594 Z 7.245 A -64.181 C -243.178 F 159\nG1 X 8.143 Y 31.406 Z 6.540 A -63.504 C -245.405 F 159\nG1 X 9.323 Y 32.196 Z 5.854 A -62.929 C -247.508 F 159\nG1 X 10.515 Y 32.968 Z 5.185 A -62.447 C -249.491 F 159\nG1 X 11.719 Y 33.721 Z 4.536 A -62.049 C -251.354 F 159\nG1 X 12.933 Y 34.457 Z 3.905 A -61.729 C -253.102 F 159\nG1 X 13.972 Y 35.068 Z 3.385 A -61.511 C -254.496 F 159\nG1 X 15.862 Y 36.304 Z 2.363 A -61.061 C -257.056 F 159\nG1 X 16.069 Y 36.444 Z 2.248 A -60.899 C -257.009 F 636\nG1 X 16.264 Y 36.586 Z 2.133 A -60.743 C -256.964 F 636\nG1 X 16.446 Y 36.729 Z 2.018 A -60.591 C -256.920 F 636\nG1 X 16.616 Y 36.874 Z 1.904 A -60.444 C -256.877 F 636\nG1 X 16.774 Y 37.020 Z 1.790 A -60.301 C -256.835 F 636\nG1 X 16.920 Y 37.167 Z 1.676 A 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A -54.143 C -308.832 F 636\nG1 X -25.914 Y 30.816 Z 1.371 A -54.070 C -308.785 F 636\nG1 X -26.025 Y 30.823 Z 1.317 A -53.998 C -308.740 F 636\nG1 X -26.140 Y 30.808 Z 1.270 A -53.926 C -308.693 F 636\nG1 X -26.259 Y 30.770 Z 1.230 A -53.850 C -308.644 F 636\nG1 X -26.381 Y 30.709 Z 1.198 A -53.769 C -308.592 F 636\nG1 X -26.506 Y 30.627 Z 1.172 A -53.681 C -308.535 F 636\nG1 X -26.634 Y 30.523 Z 1.154 A -53.585 C -308.473 F 636\nG1 X -26.763 Y 30.396 Z 1.143 A -53.480 C -308.405 F 636\nG1 X -26.893 Y 30.249 Z 1.139 A -53.366 C -308.331 F 636\nG1 X -27.025 Y 30.080 Z 1.143 A -53.243 C -308.250 F 636\nG1 X -27.151 Y 29.901 Z 1.153 A -53.142 C -308.184 F 636\nG1 X -27.266 Y 29.720 Z 1.170 A -53.043 C -308.119 F 636\nG1 X -27.368 Y 29.538 Z 1.192 A -52.947 C -308.055 F 636\nG1 X -27.458 Y 29.356 Z 1.221 A -52.853 C -307.993 F 636\nG1 X -27.535 Y 29.174 Z 1.256 A -52.761 C -307.932 F 636\nG1 X -27.598 Y 28.993 Z 1.297 A -52.671 C -307.872 F 636\nG1 X -27.648 Y 28.811 Z 1.344 A -52.582 C 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A -53.818 C -307.762 F 636\nG1 X -27.143 Y 33.374 Z -0.484 A -53.641 C -307.695 F 636\nG1 X -27.364 Y 33.170 Z -0.506 A -53.459 C -307.626 F 636\nG1 X -27.585 Y 32.952 Z -0.522 A -53.272 C -307.556 F 636\nG1 X -27.803 Y 32.721 Z -0.533 A -53.081 C -307.483 F 636\nG1 X -28.018 Y 32.482 Z -0.538 A -52.916 C -307.419 F 636\nG1 X -28.226 Y 32.239 Z -0.538 A -52.751 C -307.356 F 636\nG1 X -28.427 Y 31.992 Z -0.533 A -52.588 C -307.293 F 636\nG1 X -28.621 Y 31.743 Z -0.523 A -52.425 C -307.230 F 636\nG1 X -28.808 Y 31.491 Z -0.508 A -52.264 C -307.167 F 636\nG1 X -28.986 Y 31.237 Z -0.488 A -52.104 C -307.104 F 636\nG1 X -29.155 Y 30.981 Z -0.463 A -51.946 C -307.042 F 636\nG1 X -29.316 Y 30.723 Z -0.433 A -51.789 C -306.980 F 636\nG1 X -29.467 Y 30.464 Z -0.397 A -51.634 C -306.918 F 636\nG1 X -29.609 Y 30.203 Z -0.356 A -51.481 C -306.857 F 636\nG1 X -29.740 Y 29.942 Z -0.310 A -51.329 C -306.797 F 636\nG1 X -29.860 Y 29.681 Z -0.259 A -51.179 C -306.736 F 636\nG1 X -29.969 Y 29.420 Z 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159\nG1 X -16.073 Y -1.232 Z 22.348 A -71.336 C -282.862 F 159\nG1 X -15.392 Y -2.060 Z 23.312 A -71.142 C -284.621 F 159\nG1 X -14.856 Y -2.669 Z 24.051 A -70.918 C -286.026 F 159\nG1 X -14.498 Y -3.052 Z 24.540 A -70.740 C -286.981 F 159\nG1 X -14.254 Y -3.286 Z 24.876 A -70.634 C -287.647 F 159\nG1 X -14.008 Y -3.502 Z 25.223 A -70.542 C -288.341 F 159\nG1 X -13.759 Y -3.699 Z 25.580 A -70.462 C -289.062 F 159\nG1 X -13.385 Y -3.960 Z 26.133 A -70.362 C -290.187 F 159\nG1 X -12.205 Y -4.581 Z 28.012 A -70.183 C -293.969 F 159\nG1 X -12.146 Y -4.607 Z 28.107 A -70.304 C -293.930 F 636\nG1 X -12.095 Y -4.620 Z 28.197 A -70.414 C -293.894 F 636\nG1 X -12.050 Y -4.620 Z 28.282 A -70.515 C -293.862 F 636\nG1 X -12.013 Y -4.609 Z 28.360 A -70.607 C -293.832 F 636\nG1 X -11.982 Y -4.587 Z 28.433 A -70.694 C -293.804 F 636\nG1 X -11.957 Y -4.554 Z 28.499 A -70.776 C -293.778 F 636\nG1 X -11.939 Y -4.510 Z 28.559 A -70.856 C -293.752 F 636\nG1 X -11.928 Y -4.457 Z 28.613 A -70.936 C -293.726 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636\nG1 X -33.107 Y 26.412 Z -0.966 A -47.147 C -303.706 F 636\nG1 X -33.115 Y 26.199 Z -0.875 A -47.030 C -303.657 F 636\nG1 X -33.115 Y 25.988 Z -0.781 A -46.913 C -303.608 F 636\nG1 X -33.108 Y 25.779 Z -0.684 A -46.798 C -303.559 F 636\nG1 X -33.092 Y 25.573 Z -0.586 A -46.682 C -303.510 F 636\nG1 X -33.068 Y 25.370 Z -0.485 A -46.567 C -303.462 F 636\nG1 X -33.036 Y 25.170 Z -0.381 A -46.453 C -303.413 F 636\nG1 X -32.996 Y 24.972 Z -0.276 A -46.338 C -303.364 F 636\nG1 X -32.947 Y 24.778 Z -0.168 A -46.224 C -303.314 F 636\nG1 X -32.889 Y 24.587 Z -0.057 A -46.109 C -303.265 F 636\nG1 X -32.823 Y 24.399 Z 0.056 A -45.994 C -303.215 F 636\nG1 X -32.747 Y 24.215 Z 0.171 A -45.878 C -303.164 F 636\nG1 X -32.662 Y 24.034 Z 0.288 A -45.761 C -303.113 F 636\nG1 X -32.568 Y 23.857 Z 0.408 A -45.644 C -303.062 F 636\nG1 X -32.464 Y 23.684 Z 0.530 A -45.525 C -303.010 F 636\nG1 X -32.351 Y 23.515 Z 0.655 A -45.405 C -302.957 F 636\nG1 X -32.228 Y 23.350 Z 0.782 A -45.284 C -302.903 F 636\nG1 X -32.095 Y 23.189 Z 0.911 A -45.161 C -302.848 F 636\nG1 X -31.952 Y 23.032 Z 1.043 A -45.035 C -302.791 F 636\nG1 X -31.798 Y 22.880 Z 1.176 A -44.908 C -302.734 F 636\nG1 X -31.635 Y 22.733 Z 1.313 A -44.778 C -302.675 F 636\nG1 X -31.461 Y 22.590 Z 1.451 A -44.645 C -302.615 F 636\nG1 X -31.276 Y 22.452 Z 1.592 A -44.509 C -302.553 F 636\nG1 X -31.080 Y 22.319 Z 1.735 A -44.371 C -302.489 F 636\nG1 X -29.632 Y 21.381 Z 2.774 A -47.126 C -298.219 F 159\nG1 X -29.466 Y 21.272 Z 2.895 A -47.454 C -297.747 F 159\nG1 X -29.235 Y 21.079 Z 3.076 A -47.910 C -296.999 F 159\nG1 X -29.029 Y 20.851 Z 3.255 A -48.321 C -296.202 F 159\nG1 X -28.850 Y 20.585 Z 3.433 A -48.684 C -295.352 F 159\nG1 X -28.316 Y 19.527 Z 4.058 A -49.856 C -292.192 F 159\nG1 X -27.937 Y 18.766 Z 4.511 A -50.764 C -289.938 F 159\nG1 X -27.610 Y 18.111 Z 4.919 A -51.623 C -288.015 F 159\nG1 X -27.284 Y 17.455 Z 5.329 A -52.522 C -286.107 F 159\nG1 X -26.961 Y 16.804 Z 5.752 A -53.481 C -284.238 F 159\nG1 X 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636\nG1 X -39.722 Y -7.087 Z 0.770 A -49.489 C -357.466 F 636\nG1 X -39.501 Y -7.188 Z 0.891 A -49.350 C -357.407 F 636\nG1 X -39.272 Y -7.273 Z 1.017 A -49.209 C -357.347 F 636\nG1 X -39.036 Y -7.342 Z 1.149 A -49.066 C -357.286 F 636\nG1 X -38.793 Y -7.394 Z 1.287 A -48.921 C -357.223 F 636\nG1 X -38.542 Y -7.428 Z 1.430 A -48.772 C -357.159 F 636\nG1 X -38.284 Y -7.445 Z 1.579 A -48.620 C -357.092 F 636\nG1 X -38.019 Y -7.443 Z 1.733 A -48.463 C -357.024 F 636\nG1 X -37.746 Y -7.421 Z 1.893 A -48.302 C -356.953 F 636\nG1 X -36.040 Y -7.230 Z 2.900 A -50.315 C -352.825 F 159\nG1 X -35.824 Y -7.210 Z 3.027 A -50.578 C -352.309 F 159\nG1 X -35.386 Y -7.197 Z 3.283 A -51.085 C -351.262 F 159\nG1 X -34.940 Y -7.222 Z 3.540 A -51.565 C -350.188 F 159\nG1 X -34.487 Y -7.287 Z 3.797 A -52.016 C -349.081 F 159\nG1 X -34.028 Y -7.395 Z 4.051 A -52.433 C -347.943 F 159\nG1 X -32.755 Y -7.802 Z 4.755 A -53.548 C -344.714 F 159\nG1 X -31.944 Y -8.066 Z 5.209 A -54.325 C -342.643 F 159\nG1 X 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636\nG1 X -3.929 Y -12.337 Z 28.197 A -70.414 C -345.324 F 636\nG1 X -3.901 Y -12.302 Z 28.282 A -70.515 C -345.292 F 636\nG1 X -3.886 Y -12.266 Z 28.360 A -70.607 C -345.262 F 636\nG1 X -3.884 Y -12.228 Z 28.433 A -70.694 C -345.234 F 636\nG1 X -3.895 Y -12.188 Z 28.499 A -70.776 C -345.208 F 636\nG1 X -3.917 Y -12.147 Z 28.559 A -70.856 C -345.182 F 636\nG1 X -3.952 Y -12.105 Z 28.613 A -70.936 C -345.156 F 636\nG1 X -3.997 Y -12.062 Z 28.659 A -71.019 C -345.130 F 636\nG1 X -4.053 Y -12.019 Z 28.699 A -71.104 C -345.103 F 636\nG1 X -4.119 Y -11.975 Z 28.732 A -71.194 C -345.074 F 636\nG1 X -4.195 Y -11.932 Z 28.758 A -71.290 C -345.043 F 636\nG1 X -4.280 Y -11.889 Z 28.777 A -71.393 C -345.010 F 636\nG1 X -4.373 Y -11.846 Z 28.787 A -71.502 C -344.976 F 636\nG1 X -4.475 Y -11.804 Z 28.791 A -71.618 C -344.939 F 636\nG1 X -4.585 Y -11.763 Z 28.786 A -71.741 C -344.899 F 636\nG1 X -4.808 Y -11.691 Z 28.758 A -71.955 C -344.832 F 636\nG1 X -4.916 Y -11.661 Z 28.735 A -72.058 C -344.799 F 636\nG1 X -5.020 Y -11.635 Z 28.706 A -72.159 C -344.767 F 636\nG1 X -5.121 Y -11.614 Z 28.671 A -72.258 C -344.736 F 636\nG1 X -5.218 Y -11.598 Z 28.630 A -72.354 C -344.706 F 636\nG1 X -5.310 Y -11.587 Z 28.583 A -72.448 C -344.676 F 636\nG1 X -5.397 Y -11.582 Z 28.530 A -72.541 C -344.647 F 636\nG1 X -5.478 Y -11.582 Z 28.471 A -72.632 C -344.618 F 636\nG1 X -5.553 Y -11.587 Z 28.405 A -72.722 C -344.590 F 636\nG1 X -5.621 Y -11.599 Z 28.333 A -72.812 C -344.561 F 636\nG1 X -5.682 Y -11.617 Z 28.254 A -72.904 C -344.533 F 636\nG1 X -5.735 Y -11.642 Z 28.170 A -72.997 C -344.503 F 636\nG1 X -5.780 Y -11.673 Z 28.078 A -73.094 C -344.473 F 636\nG1 X -5.816 Y -11.711 Z 27.980 A -73.194 C -344.442 F 636\nG1 X -5.843 Y -11.756 Z 27.875 A -73.300 C -344.409 F 636\nG1 X -6.178 Y -12.504 Z 26.218 A -72.073 C -341.380 F 159\nG1 X -6.231 Y -12.610 Z 25.979 A -71.881 C -340.952 F 159\nG1 X -6.310 Y -12.702 Z 25.747 A -71.735 C -340.530 F 159\nG1 X -6.413 Y -12.779 Z 25.526 A -71.634 C -340.121 F 159\nG1 X -6.536 Y -12.840 Z 25.317 A -71.579 C -339.728 F 159\nG1 X -6.664 Y -12.881 Z 25.140 A -71.566 C -339.389 F 159\nG1 X -6.806 Y -12.909 Z 24.976 A -71.587 C -339.068 F 159\nG1 X -7.040 Y -12.925 Z 24.753 A -71.678 C -338.624 F 159\nG1 X -7.123 Y -12.923 Z 24.685 A -71.725 C -338.486 F 159\nG1 X -7.809 Y -12.868 Z 24.177 A -72.152 C -337.447 F 159\nG1 X -8.572 Y -12.781 Z 23.617 A -72.581 C -336.335 F 159\nG1 X -9.335 Y -12.669 Z 23.057 A -72.966 C -335.256 F 159\nG1 X -10.098 Y -12.531 Z 22.499 A -73.302 C -334.224 F 159\nG1 X -10.861 Y -12.368 Z 21.942 A -73.588 C -333.243 F 159\nG1 X -11.622 Y -12.181 Z 21.386 A -73.829 C -332.309 F 159\nG1 X -12.382 Y -11.970 Z 20.831 A -74.029 C -331.418 F 159\nG1 X -13.118 Y -11.743 Z 20.293 A -74.187 C -330.589 F 159\nG1 X -13.858 Y -11.493 Z 19.751 A -74.313 C -329.788 F 159\nG1 X -14.607 Y -11.216 Z 19.202 A -74.415 C -328.995 F 159\nG1 X -15.354 Y -10.918 Z 18.654 A -74.467 C -328.271 F 159\nG1 X -16.252 Y -10.530 Z 17.993 A -74.490 C -327.441 F 159\nG1 X -17.006 Y -10.178 Z 17.442 A -74.310 C -327.160 F 159\nG1 X -18.133 Y -9.612 Z 16.618 A -73.959 C -326.985 F 159\nG1 X -19.247 Y -9.004 Z 15.803 A -73.645 C -326.828 F 159\nG1 X -20.343 Y -8.358 Z 15.000 A -73.369 C -326.690 F 159\nG1 X -21.425 Y -7.674 Z 14.208 A -73.131 C -326.571 F 159\nG1 X -22.532 Y -6.928 Z 13.397 A -72.921 C -326.466 F 159\nG1 X -23.652 Y -6.144 Z 12.591 A -72.031 C -327.899 F 159\nG1 X -24.238 Y -5.725 Z 12.178 A -71.279 C -329.323 F 159\nG1 X -24.823 Y -5.308 Z 11.765 A -70.545 C -330.740 F 159\nG1 X -25.978 Y -4.453 Z 10.956 A -69.169 C -333.540 F 159\nG1 X -26.937 Y -3.719 Z 10.288 A -68.103 C -335.849 F 159\nG1 X -28.002 Y -2.878 Z 9.550 A -67.007 C -338.382 F 159\nG1 X -29.110 Y -1.971 Z 8.788 A -65.970 C -340.964 F 159\nG1 X -30.311 Y -0.951 Z 7.968 A -64.967 C -343.690 F 159\nG1 X -31.379 Y -0.009 Z 7.245 A -64.181 C -346.038 F 159\nG1 X -32.430 Y 0.949 Z 6.540 A -63.504 C -348.265 F 159\nG1 X -33.464 Y 1.923 Z 5.854 A -62.929 C -350.368 F 159\nG1 X -34.481 Y 2.914 Z 5.185 A -62.447 C -352.351 F 159\nG1 X -35.484 Y 3.919 Z 4.536 A -62.049 C -354.214 F 159\nG1 X -36.472 Y 4.940 Z 3.905 A -61.729 C -355.962 F 159\nG1 X -37.298 Y 5.816 Z 3.385 A -61.511 C -357.356 F 159\nG1 X -38.923 Y 7.384 Z 2.363 A -61.061 C -359.916 F 159\nG1 X -39.106 Y 7.555 Z 2.248 A -60.899 C -359.869 F 636\nG1 X -39.288 Y 7.713 Z 2.133 A -60.743 C -359.824 F 636\nG1 X -39.468 Y 7.859 Z 2.018 A -60.591 C -359.780 F 636\nG1 X -39.647 Y 7.992 Z 1.904 A -60.444 C -359.737 F 636\nG1 X -39.825 Y 8.114 Z 1.790 A -60.301 C -359.695 F 636\nG1 X -40.001 Y 8.223 Z 1.676 A -60.162 C -359.654 F 636\nG1 X -40.176 Y 8.321 Z 1.563 A -60.027 C -359.615 F 636\nG1 X -40.349 Y 8.408 Z 1.451 A -59.896 C -359.576 F 636\nG1 X -40.520 Y 8.483 Z 1.339 A -59.768 C -359.538 F 636\nG1 X -40.690 Y 8.547 Z 1.227 A -59.644 C -359.501 F 636\nG1 X -40.857 Y 8.600 Z 1.116 A -59.522 C -359.465 F 636\nG1 X -41.023 Y 8.642 Z 1.006 A -59.402 C -359.429 F 636\nG1 X -41.187 Y 8.674 Z 0.897 A -59.286 C -359.394 F 636\nG1 X -41.349 Y 8.695 Z 0.788 A -59.171 C -359.359 F 636\nG1 X -41.508 Y 8.706 Z 0.681 A -59.058 C -359.326 F 636\nG1 X -41.666 Y 8.707 Z 0.574 A -58.946 C -359.292 F 636\nG1 X -41.821 Y 8.698 Z 0.468 A -58.836 C -359.258 F 636\nG1 X -41.974 Y 8.679 Z 0.363 A -58.726 C -359.225 F 636\nG1 X -42.125 Y 8.650 Z 0.259 A -58.618 C -359.193 F 636\nG1 X -42.273 Y 8.612 Z 0.156 A -58.510 C -359.160 F 636\nG1 X -42.419 Y 8.565 Z 0.054 A -58.402 C -359.127 F 636\nG1 X -42.561 Y 8.509 Z -0.046 A -58.295 C -359.094 F 636\nG1 X -42.702 Y 8.444 Z -0.146 A -58.187 C -359.061 F 636\nG1 X -42.839 Y 8.371 Z -0.244 A -58.079 C -359.028 F 636\nG1 X -42.974 Y 8.289 Z -0.341 A -57.971 C -358.994 F 636\nG1 X -43.106 Y 8.198 Z -0.436 A -57.862 C -358.961 F 636\nG1 X -43.235 Y 8.100 Z -0.531 A -57.752 C -358.927 F 636\nG1 X -43.361 Y 7.993 Z -0.623 A -57.641 C -358.892 F 636\nG1 X -43.484 Y 7.879 Z -0.715 A -57.529 C -358.857 F 636\nG1 X -43.603 Y 7.756 Z -0.805 A -57.416 C -358.822 F 636\nG1 X -43.720 Y 7.627 Z -0.893 A -57.302 C -358.786 F 636\nG1 X -43.833 Y 7.490 Z -0.980 A -57.186 C -358.750 F 636\nG1 X -43.942 Y 7.346 Z -1.065 A -57.069 C -358.713 F 636\nG1 X -44.049 Y 7.195 Z -1.148 A -56.951 C -358.676 F 636\nG1 X -44.251 Y 6.874 Z -1.309 A -56.709 C -358.600 F 636\nG1 X -44.438 Y 6.526 Z -1.463 A -56.462 C -358.521 F 636\nG1 X -44.610 Y 6.155 Z -1.610 A -56.207 C -358.439 F 636\nG1 X -44.766 Y 5.761 Z -1.748 A -55.946 C -358.355 F 636\nG1 X -44.906 Y 5.345 Z -1.878 A -55.679 C -358.268 F 636\nG1 X -45.029 Y 4.909 Z -1.999 A -55.405 C -358.179 F 636\nG1 X -45.135 Y 4.455 Z -2.111 A -55.125 C -358.087 F 636\nG1 X -45.222 Y 3.984 Z -2.213 A -54.838 C -357.992 F 636\nG1 X -45.291 Y 3.497 Z -2.306 A -54.546 C -357.894 F 636\nG1 X -45.341 Y 2.995 Z -2.388 A -54.248 C -357.794 F 636\nG1 X -45.371 Y 2.481 Z -2.460 A -53.944 C -357.691 F 636\nG1 X -45.381 Y 1.955 Z -2.521 A -53.635 C -357.585 F 636\nG1 X -45.370 Y 1.419 Z -2.570 A -53.321 C -357.477 F 636\nG1 X -45.338 Y 0.874 Z -2.608 A -53.002 C -357.366 F 636\nG1 X -45.284 Y 0.322 Z -2.634 A -52.678 C -357.253 F 636\nG1 X -45.212 Y -0.234 Z -2.649 A -52.394 C -357.152 F 636\nG1 X -45.127 Y -0.792 Z -2.653 A -52.107 C -357.050 F 636\nG1 X -45.029 Y -1.350 Z -2.648 A -51.821 C -356.947 F 636\nG1 X -44.919 Y -1.905 Z -2.633 A -51.533 C -356.843 F 636\nG1 X -44.795 Y -2.457 Z -2.607 A -51.246 C -356.738 F 636\nG1 X -44.659 Y -3.004 Z -2.572 A -50.960 C -356.633 F 636\nG1 X -44.511 Y -3.545 Z -2.527 A -50.675 C -356.527 F 636\nG1 X -44.350 Y -4.078 Z -2.473 A -50.392 C -356.421 F 636\nG1 X -44.176 Y -4.601 Z -2.408 A -50.111 C -356.315 F 636\nG1 X -43.990 Y -5.112 Z -2.333 A -49.833 C -356.209 F 636\nG1 X -43.791 Y -5.611 Z -2.249 A -49.558 C -356.103 F 636\nG1 X -43.580 Y -6.096 Z -2.155 A -49.287 C -355.998 F 636\nG1 X -43.356 Y -6.565 Z -2.052 A -49.019 C -355.893 F 636\nG1 X -43.120 Y -7.016 Z -1.938 A -48.756 C -355.789 F 636\nG1 X -42.872 Y -7.448 Z -1.815 A -48.496 C -355.686 F 636\nG1 X -42.612 Y -7.860 Z -1.682 A -48.241 C -355.584 F 636\nG1 X -42.340 Y -8.250 Z -1.540 A -47.991 C -355.483 F 636\nG1 X -42.055 Y -8.616 Z -1.388 A -47.745 C -355.383 F 636\nG1 X -41.759 Y -8.957 Z -1.226 A -47.503 C -355.283 F 636\nG1 X -41.606 Y -9.117 Z -1.142 A -47.383 C -355.234 F 636\nG1 X -41.450 Y -9.271 Z -1.055 A -47.265 C -355.185 F 636\nG1 X -41.291 Y -9.417 Z -0.966 A -47.147 C -355.136 F 636\nG1 X -41.129 Y -9.557 Z -0.875 A -47.030 C -355.087 F 636\nG1 X -40.965 Y -9.688 Z -0.781 A -46.913 C -355.038 F 636\nG1 X -40.797 Y -9.813 Z -0.684 A -46.798 C -354.989 F 636\nG1 X -40.626 Y -9.929 Z -0.586 A -46.682 C -354.940 F 636\nG1 X -40.453 Y -10.037 Z -0.485 A -46.567 C -354.892 F 636\nG1 X -40.276 Y -10.137 Z -0.381 A -46.453 C -354.843 F 636\nG1 X -40.096 Y -10.228 Z -0.276 A -46.338 C -354.794 F 636\nG1 X -39.914 Y -10.311 Z -0.168 A -46.224 C -354.744 F 636\nG1 X -39.728 Y -10.385 Z -0.057 A -46.109 C -354.695 F 636\nG1 X -39.540 Y -10.450 Z 0.056 A -45.994 C -354.645 F 636\nG1 X -39.349 Y -10.506 Z 0.171 A -45.878 C -354.594 F 636\nG1 X -39.155 Y -10.552 Z 0.288 A -45.761 C -354.544 F 636\nG1 X -38.958 Y -10.589 Z 0.408 A -45.644 C -354.492 F 636\nG1 X -38.758 Y -10.616 Z 0.530 A -45.525 C -354.440 F 636\nG1 X -38.555 Y -10.633 Z 0.655 A -45.405 C -354.387 F 636\nG1 X -38.349 Y -10.639 Z 0.782 A -45.284 C -354.333 F 636\nG1 X -38.140 Y -10.636 Z 0.911 A -45.161 C -354.278 F 636\nG1 X -37.929 Y -10.621 Z 1.043 A -45.035 C -354.221 F 636\nG1 X -37.714 Y -10.596 Z 1.176 A -44.908 C -354.164 F 636\nG1 X -37.497 Y -10.560 Z 1.313 A -44.778 C -354.105 F 636\nG1 X -37.277 Y -10.513 Z 1.451 A -44.645 C -354.045 F 636\nG1 X -37.054 Y -10.455 Z 1.592 A -44.509 C -353.983 F 636\nG1 X -36.828 Y -10.384 Z 1.735 A -44.371 C -353.919 F 636\nG1 X -35.191 Y -9.837 Z 2.774 A -47.126 C -349.649 F 159\nG1 X -35.002 Y -9.775 Z 2.895 A -47.454 C -349.177 F 159\nG1 X -34.708 Y -9.715 Z 3.076 A -47.910 C -348.428 F 159\nG1 X -34.401 Y -9.697 Z 3.255 A -48.321 C -347.632 F 159\nG1 X -34.081 Y -9.722 Z 3.433 A -48.684 C -346.782 F 159\nG1 X -32.921 Y -9.964 Z 4.058 A -49.856 C -343.622 F 159\nG1 X -32.090 Y -10.143 Z 4.511 A -50.764 C -341.368 F 159\nG1 X -31.374 Y -10.295 Z 4.919 A -51.623 C -339.445 F 159\nG1 X -30.658 Y -10.450 Z 5.329 A -52.522 C -337.537 F 159\nG1 X -29.947 Y -10.602 Z 5.752 A -53.481 C -335.668 F 159\nG1 X -29.237 Y -10.757 Z 6.177 A -54.475 C -333.822 F 159\nG1 X -28.532 Y -10.910 Z 6.614 A -55.523 C -332.020 F 159\nG1 X -27.827 Y -11.066 Z 7.053 A -56.599 C -330.248 F 159\nG1 X -27.059 Y -11.234 Z 7.550 A -57.837 C -328.355 F 159\nG1 X -26.292 Y -11.406 Z 8.049 A -59.100 C -326.503 F 159\nG1 X -25.533 Y -11.574 Z 8.561 A -60.408 C -324.715 F 159\nG1 X -24.775 Y -11.745 Z 9.074 A -61.731 C -322.972 F 159\nG1 X -23.479 Y -12.021 Z 9.993 A -63.458 C -321.444 F 159\nG1 X -22.278 Y -12.249 Z 10.886 A -64.269 C -321.899 F 159\nG1 X -21.086 Y -12.466 Z 11.793 A -65.108 C -322.363 F 159\nG1 X -19.901 Y -12.669 Z 12.716 A -65.974 C -322.837 F 159\nG1 X -18.453 Y -12.897 Z 13.872 A -67.078 C -323.432 F 159\nG1 X -17.406 Y -13.048 Z 14.725 A -67.904 C -323.873 F 159\nG1 X -16.248 Y -13.196 Z 15.687 A -68.762 C -324.546 F 159\nG1 X -15.120 Y -13.316 Z 16.647 A -69.338 C -325.746 F 159\nG1 X -14.003 Y -13.414 Z 17.612 A -69.829 C -327.019 F 159\nG1 X -12.894 Y -13.487 Z 18.585 A -70.233 C -328.373 F 159\nG1 X -11.798 Y -13.535 Z 19.563 A -70.546 C -329.807 F 159\nG1 X -10.877 Y -13.552 Z 20.396 A -70.737 C -331.091 F 159\nG1 X -10.160 Y -13.551 Z 21.055 A -70.835 C -332.150 F 159\nG1 X -9.093 Y -13.523 Z 22.047 A -70.885 C -333.833 F 159\nG1 X -8.044 Y -13.463 Z 23.041 A -70.814 C -335.617 F 159\nG1 X -7.222 Y -13.391 Z 23.833 A -70.677 C -337.093 F 159\nG1 X -6.273 Y -13.279 Z 24.763 A -70.411 C -338.905 F 159\nG1 X -5.602 Y -13.179 Z 25.433 A -70.140 C -340.272 F 159\nG1 X -4.941 Y -13.063 Z 26.106 A -69.806 C -341.680 F 159\nG1 X -3.541 Y -12.648 Z 27.850 A -69.177 C -345.249 F 159\nG1 X -4.017 Y -14.455 Z 28.561 A -69.177 C -345.249 F 318\nG0 X -7.689 Y -28.403 Z 34.047 A -69.177 C -345.249\n( --- Operation 2 )\nG0 X 13.646 Y -21.890 Z 36.873 A -43.236 C -43.723\nG0 X 8.468 Y -16.476 Z 28.905 A -43.236 C -43.723\nG1 X 7.522 Y -15.486 Z 27.448 A -43.236 C -43.723 F 318\nG1 X 5.444 Y -17.383 Z 25.201 A -43.236 C -43.723 F 159\nG1 X 5.218 Y -17.603 Z 24.960 A -43.228 C -43.744 F 159\nG1 X 4.518 Y -18.257 Z 24.237 A -43.206 C -43.810 F 159\nG1 X 3.914 Y -18.787 Z 23.640 A -43.188 C -43.866 F 159\nG1 X 3.295 Y -19.301 Z 23.052 A -43.171 C -43.921 F 159\nG1 X 2.659 Y -19.801 Z 22.468 A -43.155 C -43.976 F 159\nG1 X 2.005 Y -20.290 Z 21.889 A -43.139 C -44.032 F 159\nG1 X 1.336 Y -20.759 Z 21.315 A -43.125 C -44.087 F 159\nG1 X 0.620 Y -21.239 Z 20.720 A -43.112 C -44.146 F 159\nG1 X -0.324 Y -21.830 Z 19.965 A -43.095 C -44.221 F 159\nG1 X -1.405 Y -22.455 Z 19.135 A -43.079 C -44.304 F 159\nG1 X -2.513 Y -23.046 Z 18.317 A -43.065 C -44.387 F 159\nG1 X -3.264 Y -23.420 Z 17.781 A -43.057 C -44.442 F 159\nG1 X -4.414 Y -23.953 Z 16.985 A -43.046 C -44.523 F 159\nG1 X -5.193 Y -24.289 Z 16.460 A -43.040 C -44.578 F 159\nG1 X -6.446 Y -24.791 Z 15.642 A -43.031 C -44.663 F 159\nG1 X -7.658 Y -25.233 Z 14.875 A -43.025 C -44.744 F 159\nG1 X -8.884 Y -25.643 Z 14.125 A -43.021 C -44.823 F 159\nG1 X -10.128 Y -26.020 Z 13.385 A -43.018 C -44.901 F 159\nG1 X -11.387 Y -26.366 Z 12.658 A -43.017 C -44.979 F 159\nG1 X -12.662 Y -26.683 Z 11.943 A -43.017 C -45.056 F 159\nG1 X -14.058 Y -26.993 Z 11.181 A -43.019 C -45.138 F 159\nG1 X -15.372 Y -27.253 Z 10.485 A -43.023 C -45.214 F 159\nG1 X -16.692 Y -27.485 Z 9.805 A -43.028 C -45.289 F 159\nG1 X -18.020 Y -27.689 Z 9.139 A -43.034 C -45.362 F 159\nG1 X -19.358 Y -27.869 Z 8.487 A -43.041 C -45.435 F 159\nG1 X -20.708 Y -28.025 Z 7.849 A -43.050 C -45.507 F 159\nG1 X -22.066 Y -28.158 Z 7.224 A -43.060 C -45.578 F 159\nG1 X -23.437 Y -28.269 Z 6.613 A -43.071 C -45.648 F 159\nG1 X -27.224 Y -28.455 Z 4.806 A -43.071 C -45.648 F 159\nG1 X -27.467 Y -28.463 Z 4.686 A -43.071 C -45.649 F 636\nG1 X -27.701 Y -28.460 Z 4.560 A -43.071 C -45.649 F 636\nG1 X -27.927 Y -28.448 Z 4.429 A -43.071 C -45.649 F 636\nG1 X -28.145 Y -28.425 Z 4.293 A -43.071 C -45.649 F 636\nG1 X -28.356 Y -28.393 Z 4.151 A -43.071 C -45.650 F 636\nG1 X -28.558 Y -28.352 Z 4.004 A -43.071 C -45.650 F 636\nG1 X -28.752 Y -28.300 Z 3.851 A -43.071 C -45.650 F 636\nG1 X -28.938 Y -28.239 Z 3.694 A -43.071 C -45.650 F 636\nG1 X -29.116 Y -28.168 Z 3.531 A -43.071 C -45.651 F 636\nG1 X -29.286 Y -28.088 Z 3.363 A -43.071 C -45.651 F 636\nG1 X -29.448 Y -27.998 Z 3.189 A -43.071 C -45.651 F 636\nG1 X -29.602 Y -27.899 Z 3.011 A -43.071 C -45.651 F 636\nG1 X -29.748 Y -27.790 Z 2.827 A -43.071 C -45.652 F 636\nG1 X -29.885 Y -27.672 Z 2.638 A -43.072 C -45.652 F 636\nG1 X -30.015 Y -27.544 Z 2.444 A -43.072 C -45.652 F 636\nG1 X -30.137 Y -27.407 Z 2.245 A -43.072 C -45.653 F 636\nG1 X -30.244 Y -27.269 Z 2.053 A -43.072 C -45.653 F 636\nG1 X -30.328 Y -27.140 Z 1.881 A -43.072 C -45.653 F 636\nG1 X -30.389 Y -27.018 Z 1.729 A -43.072 C -45.654 F 636\nG1 X -30.427 Y -26.904 Z 1.597 A -43.072 C -45.654 F 636\nG1 X -30.442 Y -26.799 Z 1.485 A -43.072 C -45.654 F 636\nG1 X -30.435 Y -26.702 Z 1.393 A -43.072 C -45.654 F 636\nG1 X -30.405 Y -26.613 Z 1.321 A -43.072 C -45.654 F 636\nG1 X -30.381 Y -26.571 Z 1.293 A -43.072 C -45.655 F 636\nG1 X -30.352 Y -26.532 Z 1.269 A -43.072 C -45.655 F 636\nG1 X -30.317 Y -26.495 Z 1.251 A -43.072 C -45.655 F 636\nG1 X -30.277 Y -26.459 Z 1.237 A -43.072 C -45.655 F 636\nG1 X -30.178 Y -26.395 Z 1.225 A -43.072 C -45.655 F 636\nG1 X -30.057 Y -26.339 Z 1.234 A -43.072 C -45.655 F 636\nG1 X -29.913 Y -26.292 Z 1.262 A -43.072 C -45.655 F 636\nG1 X -29.747 Y -26.253 Z 1.311 A -43.072 C -45.656 F 636\nG1 X -29.558 Y -26.222 Z 1.379 A -43.072 C -45.656 F 636\nG1 X -29.346 Y -26.200 Z 1.468 A -43.072 C -45.656 F 636\nG1 X -29.111 Y -26.187 Z 1.577 A -43.072 C -45.657 F 636\nG1 X -25.874 Y -26.064 Z 3.146 A -43.072 C -45.657 F 159\nG1 X -24.501 Y -25.968 Z 3.768 A -43.061 C -45.587 F 159\nG1 X -23.145 Y -25.855 Z 4.405 A -43.051 C -45.518 F 159\nG1 X -21.800 Y -25.722 Z 5.056 A -43.042 C -45.447 F 159\nG1 X -20.461 Y -25.567 Z 5.723 A -43.035 C -45.376 F 159\nG1 X -19.135 Y -25.391 Z 6.404 A -43.029 C -45.304 F 159\nG1 X -17.815 Y -25.192 Z 7.102 A -43.024 C -45.232 F 159\nG1 X -16.570 Y -24.979 Z 7.778 A -43.020 C -45.162 F 159\nG1 X -15.297 Y -24.737 Z 8.489 A -43.018 C -45.089 F 159\nG1 X -14.020 Y -24.466 Z 9.222 A -43.017 C -45.015 F 159\nG1 X -12.762 Y -24.170 Z 9.964 A -43.018 C -44.940 F 159\nG1 X -11.512 Y -23.845 Z 10.723 A -43.019 C -44.864 F 159\nG1 X -10.440 Y -23.540 Z 11.390 A -43.022 C -44.797 F 159\nG1 X -9.382 Y -23.214 Z 12.067 A -43.026 C -44.730 F 159\nG1 X -8.217 Y -22.821 Z 12.831 A -43.032 C -44.655 F 159\nG1 X -7.072 Y -22.401 Z 13.605 A -43.040 C -44.579 F 159\nG1 X -5.908 Y -21.935 Z 14.417 A -43.049 C -44.500 F 159\nG1 X -4.759 Y -21.432 Z 15.245 A -43.060 C -44.419 F 159\nG1 X -3.642 Y -20.899 Z 16.077 A -43.073 C -44.339 F 159\nG1 X -2.909 Y -20.524 Z 16.641 A -43.083 C -44.285 F 159\nG1 X -1.830 Y -19.931 Z 17.497 A -43.099 C -44.204 F 159\nG1 X -0.905 Y -19.379 Z 18.259 A -43.115 C -44.132 F 159\nG1 X -0.007 Y -18.802 Z 19.028 A -43.132 C -44.060 F 159\nG1 X 0.658 Y -18.346 Z 19.616 A -43.146 C -44.006 F 159\nG1 X 1.307 Y -17.876 Z 20.210 A -43.162 C -43.951 F 159\nG1 X 1.941 Y -17.390 Z 20.809 A -43.178 C -43.897 F 159\nG1 X 2.557 Y -16.886 Z 21.410 A -43.195 C -43.842 F 159\nG1 X 3.157 Y -16.371 Z 22.020 A -43.213 C -43.788 F 159\nG1 X 3.734 Y -15.843 Z 22.627 A -43.232 C -43.735 F 159\nG1 X 4.553 Y -15.037 Z 23.533 A -43.262 C -43.656 F 159\nG1 X 6.936 Y -12.838 Z 26.203 A -43.262 C -43.656 F 159\nG1 X 7.883 Y -13.830 Z 27.659 A -43.262 C -43.656 F 318\nG0 X 14.241 Y -20.494 Z 37.446 A -43.262 C -43.656\nG0 X 15.891 Y -18.475 Z 37.831 A -41.984 C -49.766\nG0 X 17.486 Y -16.392 Z 38.086 A -41.045 C -56.144\nG0 X 19.022 Y -14.254 Z 38.210 A -40.470 C -62.719\nG0 X 20.492 Y -12.066 Z 38.203 A -40.274 C -69.398\nG0 X 21.892 Y -9.837 Z 38.065 A -40.463 C -76.077\nG0 X 23.217 Y -7.574 Z 37.797 A -41.032 C -82.655\nG0 X 24.462 Y -5.286 Z 37.399 A -41.964 C -89.037\nG0 X 25.623 Y -2.979 Z 36.873 A -43.236 C -95.153\nG0 X 18.162 Y -3.651 Z 28.905 A -43.236 C -95.153\nG1 X 16.797 Y -3.775 Z 27.448 A -43.236 C -95.153 F 318\nG1 X 16.985 Y -6.581 Z 25.201 A -43.236 C -95.153 F 159\nG1 X 17.016 Y -6.895 Z 24.960 A -43.228 C -95.174 F 159\nG1 X 17.091 Y -7.851 Z 24.237 A -43.206 C -95.240 F 159\nG1 X 17.128 Y -8.653 Z 23.640 A -43.188 C -95.296 F 159\nG1 X 17.145 Y -9.457 Z 23.052 A -43.171 C -95.351 F 159\nG1 X 17.140 Y -10.266 Z 22.468 A -43.155 C -95.406 F 159\nG1 X 17.113 Y -11.082 Z 21.889 A -43.139 C -95.462 F 159\nG1 X 17.064 Y -11.898 Z 21.315 A -43.125 C -95.517 F 159\nG1 X 16.992 Y -12.757 Z 20.720 A -43.112 C -95.576 F 159\nG1 X 16.865 Y -13.863 Z 19.965 A -43.095 C -95.651 F 159\nG1 X 16.681 Y -15.099 Z 19.135 A -43.079 C -95.734 F 159\nG1 X 16.452 Y -16.334 Z 18.317 A -43.065 C -95.817 F 159\nG1 X 16.276 Y -17.154 Z 17.781 A -43.057 C -95.872 F 159\nG1 X 15.976 Y -18.385 Z 16.985 A -43.046 C -95.953 F 159\nG1 X 15.752 Y -19.204 Z 16.460 A -43.040 C -96.008 F 159\nG1 X 15.364 Y -20.496 Z 15.642 A -43.031 C -96.093 F 159\nG1 X 14.954 Y -21.719 Z 14.875 A -43.025 C -96.173 F 159\nG1 X 14.510 Y -22.934 Z 14.125 A -43.021 C -96.253 F 159\nG1 X 14.029 Y -24.141 Z 13.385 A -43.018 C -96.331 F 159\nG1 X 13.515 Y -25.341 Z 12.658 A -43.017 C -96.409 F 159\nG1 X 12.968 Y -26.535 Z 11.943 A -43.017 C -96.486 F 159\nG1 X 12.340 Y -27.821 Z 11.181 A -43.019 C -96.568 F 159\nG1 X 11.724 Y -29.010 Z 10.485 A -43.023 C -96.644 F 159\nG1 X 11.082 Y -30.187 Z 9.805 A -43.028 C -96.719 F 159\nG1 X 10.413 Y -31.352 Z 9.139 A -43.034 C -96.792 F 159\nG1 X 9.720 Y -32.510 Z 8.487 A -43.041 C -96.865 F 159\nG1 X 9.001 Y -33.663 Z 7.849 A -43.050 C -96.937 F 159\nG1 X 8.258 Y -34.807 Z 7.224 A -43.060 C -97.008 F 159\nG1 X 7.489 Y -35.949 Z 6.613 A -43.071 C -97.078 F 159\nG1 X 5.274 Y -39.026 Z 4.806 A -43.071 C -97.078 F 159\nG1 X 5.129 Y -39.220 Z 4.686 A -43.071 C -97.079 F 636\nG1 X 4.981 Y -39.402 Z 4.560 A -43.071 C -97.079 F 636\nG1 X 4.830 Y -39.571 Z 4.429 A -43.071 C -97.079 F 636\nG1 X 4.676 Y -39.728 Z 4.293 A -43.071 C -97.079 F 636\nG1 X 4.520 Y -39.872 Z 4.151 A -43.071 C -97.080 F 636\nG1 X 4.362 Y -40.004 Z 4.004 A -43.071 C -97.080 F 636\nG1 X 4.201 Y -40.124 Z 3.851 A -43.071 C -97.080 F 636\nG1 X 4.037 Y -40.231 Z 3.694 A -43.071 C -97.080 F 636\nG1 X 3.871 Y -40.326 Z 3.531 A -43.071 C -97.081 F 636\nG1 X 3.702 Y -40.409 Z 3.363 A -43.071 C -97.081 F 636\nG1 X 3.531 Y -40.480 Z 3.189 A -43.071 C -97.081 F 636\nG1 X 3.357 Y -40.538 Z 3.011 A -43.071 C -97.081 F 636\nG1 X 3.181 Y -40.584 Z 2.827 A -43.071 C -97.082 F 636\nG1 X 3.002 Y -40.618 Z 2.638 A -43.072 C -97.082 F 636\nG1 X 2.822 Y -40.640 Z 2.444 A -43.072 C -97.082 F 636\nG1 X 2.638 Y -40.650 Z 2.245 A -43.072 C -97.082 F 636\nG1 X 2.464 Y -40.648 Z 2.053 A -43.072 C -97.083 F 636\nG1 X 2.311 Y -40.632 Z 1.881 A -43.072 C -97.083 F 636\nG1 X 2.177 Y -40.604 Z 1.729 A -43.072 C -97.084 F 636\nG1 X 2.065 Y -40.563 Z 1.597 A -43.072 C -97.084 F 636\nG1 X 1.973 Y -40.510 Z 1.485 A -43.072 C -97.084 F 636\nG1 X 1.901 Y -40.443 Z 1.393 A -43.072 C -97.084 F 636\nG1 X 1.851 Y -40.364 Z 1.321 A -43.072 C -97.084 F 636\nG1 X 1.833 Y -40.320 Z 1.293 A -43.072 C -97.085 F 636\nG1 X 1.820 Y -40.273 Z 1.269 A -43.072 C -97.085 F 636\nG1 X 1.813 Y -40.222 Z 1.251 A -43.072 C -97.085 F 636\nG1 X 1.811 Y -40.168 Z 1.237 A -43.072 C -97.085 F 636\nG1 X 1.822 Y -40.051 Z 1.225 A -43.072 C -97.085 F 636\nG1 X 1.854 Y -39.922 Z 1.234 A -43.072 C -97.085 F 636\n\nG1 X 1.906 Y -39.780 Z 1.262 A -43.072 C -97.085 F 636\nG1 X 1.979 Y -39.626 Z 1.311 A -43.072 C -97.086 F 636\nG1 X 2.073 Y -39.459 Z 1.379 A -43.072 C -97.086 F 636\nG1 X 2.188 Y -39.279 Z 1.468 A -43.072 C -97.086 F 636\nG1 X 2.324 Y -39.087 Z 1.577 A -43.072 C -97.087 F 636\nG1 X 4.246 Y -36.479 Z 3.146 A -43.072 C -97.087 F 159\nG1 X 5.027 Y -35.346 Z 3.768 A -43.061 C -97.017 F 159\nG1 X 5.785 Y -34.216 Z 4.405 A -43.051 C -96.948 F 159\nG1 X 6.519 Y -33.082 Z 5.056 A -43.042 C -96.877 F 159\nG1 X 7.233 Y -31.937 Z 5.723 A -43.035 C -96.806 F 159\nG1 X 7.921 Y -30.791 Z 6.404 A -43.029 C -96.734 F 159\nG1 X 8.589 Y -29.635 Z 7.102 A -43.024 C -96.662 F 159\nG1 X 9.199 Y -28.529 Z 7.778 A -43.020 C -96.592 F 159\nG1 X 9.803 Y -27.383 Z 8.489 A -43.018 C -96.519 F 159\nG1 X 10.388 Y -26.216 Z 9.222 A -43.017 C -96.445 F 159\nG1 X 10.941 Y -25.047 Z 9.964 A -43.017 C -96.370 F 159\nG1 X 11.466 Y -23.867 Z 10.723 A -43.019 C -96.294 F 159\nG1 X 11.896 Y -22.839 Z 11.390 A -43.022 C -96.227 F 159\nG1 X 12.300 Y -21.809 Z 12.067 A -43.026 C -96.160 F 159\nG1 X 12.720 Y -20.653 Z 12.831 A -43.032 C -96.085 F 159\nG1 X 13.105 Y -19.496 Z 13.605 A -43.040 C -96.009 F 159\nG1 X 13.466 Y -18.294 Z 14.417 A -43.049 C -95.930 F 159\nG1 X 13.790 Y -17.083 Z 15.245 A -43.060 C -95.849 F 159\nG1 X 14.069 Y -15.877 Z 16.077 A -43.073 C -95.769 F 159\nG1 X 14.233 Y -15.071 Z 16.641 A -43.083 C -95.715 F 159\nG1 X 14.442 Y -13.857 Z 17.497 A -43.099 C -95.634 F 159\nG1 X 14.587 Y -12.790 Z 18.259 A -43.115 C -95.562 F 159\nG1 X 14.696 Y -11.728 Z 19.028 A -43.132 C -95.490 F 159\nG1 X 14.754 Y -10.924 Z 19.616 A -43.146 C -95.436 F 159\nG1 X 14.791 Y -10.123 Z 20.210 A -43.162 C -95.381 F 159\nG1 X 14.807 Y -9.325 Z 20.809 A -43.178 C -95.327 F 159\nG1 X 14.797 Y -8.529 Z 21.410 A -43.195 C -95.272 F 159\nG1 X 14.768 Y -7.738 Z 22.020 A -43.213 C -95.218 F 159\nG1 X 14.715 Y -6.958 Z 22.627 A -43.232 C -95.165 F 159\nG1 X 14.596 Y -5.816 Z 23.533 A -43.262 C -95.086 F 159\nG1 X 14.362 Y -2.581 Z 26.203 A -43.262 C -95.086 F 159\nG1 X 15.728 Y -2.460 Z 27.659 A -43.262 C -95.086 F 318\nG0 X 24.902 Y -1.643 Z 37.446 A -43.262 C -95.086\nG0 X 24.352 Y 0.906 Z 37.831 A -41.984 C -101.196\nG0 X 23.718 Y 3.451 Z 38.086 A -41.045 C -107.574\nG0 X 23.004 Y 5.985 Z 38.210 A -40.470 C -114.149\nG0 X 22.210 Y 8.499 Z 38.203 A -40.274 C -120.828\nG0 X 21.340 Y 10.983 Z 38.065 A -40.463 C -127.507\nG0 X 20.397 Y 13.430 Z 37.797 A -41.032 C -134.085\nG0 X 19.384 Y 15.830 Z 37.399 A -41.964 C -140.467\nG0 X 18.304 Y 18.176 Z 36.873 A -43.236 C -146.583\nG0 X 14.178 Y 11.923 Z 28.905 A -43.236 C -146.583\nG1 X 13.424 Y 10.780 Z 27.448 A -43.236 C -146.583 F 318\nG1 X 15.735 Y 9.177 Z 25.201 A -43.236 C -146.583 F 159\nG1 X 16.000 Y 9.005 Z 24.960 A -43.228 C -146.604 F 159\nG1 X 16.794 Y 8.468 Z 24.237 A -43.206 C -146.670 F 159\nG1 X 17.444 Y 7.997 Z 23.640 A -43.188 C -146.726 F 159\nG1 X 18.083 Y 7.508 Z 23.052 A -43.171 C -146.781 F 159\nG1 X 18.713 Y 7.000 Z 22.468 A -43.155 C -146.836 F 159\nG1 X 19.334 Y 6.470 Z 21.889 A -43.139 C -146.892 F 159\nG1 X 19.941 Y 5.923 Z 21.315 A -43.125 C -146.948 F 159\nG1 X 20.568 Y 5.332 Z 20.720 A -43.112 C -147.006 F 159\nG1 X 21.354 Y 4.543 Z 19.965 A -43.095 C -147.081 F 159\nG1 X 22.205 Y 3.628 Z 19.135 A -43.079 C -147.164 F 159\nG1 X 23.028 Y 2.679 Z 18.317 A -43.065 C -147.247 F 159\nG1 X 23.559 Y 2.030 Z 17.781 A -43.057 C -147.302 F 159\nG1 X 24.334 Y 1.028 Z 16.985 A -43.046 C -147.383 F 159\nG1 X 24.836 Y 0.343 Z 16.460 A -43.040 C -147.438 F 159\nG1 X 25.604 Y -0.767 Z 15.642 A -43.031 C -147.523 F 159\nG1 X 26.304 Y -1.850 Z 14.875 A -43.025 C -147.604 F 159\nG1 X 26.977 Y -2.954 Z 14.125 A -43.021 C -147.683 F 159\nG1 X 27.621 Y -4.083 Z 13.385 A -43.018 C -147.761 F 159\nG1 X 28.239 Y -5.233 Z 12.658 A -43.017 C -147.839 F 159\nG1 X 28.832 Y -6.405 Z 11.943 A -43.017 C -147.916 F 159\nG1 X 29.445 Y -7.698 Z 11.181 A -43.019 C -147.998 F 159\nG1 X 29.991 Y -8.920 Z 10.485 A -43.023 C -148.074 F 159\nG1 X 30.511 Y -10.156 Z 9.805 A -43.028 C -148.149 F 159\nG1 X 31.005 Y -11.406 Z 9.139 A -43.034 C -148.222 F 159\nG1 X 31.478 Y -12.669 Z 8.487 A -43.041 C -148.295 F 159\nG1 X 31.931 Y -13.951 Z 7.849 A -43.050 C -148.367 F 159\nG1 X 32.362 Y -15.245 Z 7.224 A -43.060 C -148.438 F 159\nG1 X 32.776 Y -16.558 Z 6.613 A -43.071 C -148.508 F 159\nG1 X 33.801 Y -20.208 Z 4.806 A -43.071 C -148.508 F 159\nG1 X 33.862 Y -20.443 Z 4.686 A -43.071 C -148.508 F 636\nG1 X 33.912 Y -20.672 Z 4.560 A -43.071 C -148.509 F 636\nG1 X 33.950 Y -20.895 Z 4.429 A -43.071 C -148.509 F 636\nG1 X 33.977 Y -21.113 Z 4.293 A -43.071 C -148.509 F 636\nG1 X 33.992 Y -21.325 Z 4.151 A -43.071 C -148.510 F 636\nG1 X 33.997 Y -21.531 Z 4.004 A -43.071 C -148.510 F 636\nG1 X 33.990 Y -21.732 Z 3.851 A -43.071 C -148.510 F 636\nG1 X 33.972 Y -21.927 Z 3.694 A -43.071 C -148.510 F 636\nG1 X 33.942 Y -22.116 Z 3.531 A -43.071 C -148.511 F 636\nG1 X 33.902 Y -22.300 Z 3.363 A -43.071 C -148.511 F 636\nG1 X 33.850 Y -22.477 Z 3.189 A -43.071 C -148.511 F 636\nG1 X 33.788 Y -22.650 Z 3.011 A -43.071 C -148.511 F 636\nG1 X 33.714 Y -22.816 Z 2.827 A -43.071 C -148.512 F 636\nG1 X 33.629 Y -22.977 Z 2.638 A -43.072 C -148.512 F 636\nG1 X 33.534 Y -23.132 Z 2.444 A -43.072 C -148.512 F 636\nG1 X 33.427 Y -23.281 Z 2.245 A -43.072 C -148.513 F 636\nG1 X 33.317 Y -23.416 Z 2.053 A -43.072 C -148.513 F 636\nG1 X 33.209 Y -23.527 Z 1.881 A -43.072 C -148.513 F 636\nG1 X 33.104 Y -23.613 Z 1.729 A -43.072 C -148.514 F 636\nG1 X 33.002 Y -23.676 Z 1.597 A -43.072 C -148.514 F 636\nG1 X 32.902 Y -23.714 Z 1.485 A -43.072 C -148.514 F 636\nG1 X 32.806 Y -23.729 Z 1.393 A -43.072 C -148.514 F 636\nG1 X 32.712 Y -23.719 Z 1.321 A -43.072 C -148.514 F 636\nG1 X 32.667 Y -23.705 Z 1.293 A -43.072 C -148.515 F 636\nG1 X 32.622 Y -23.686 Z 1.269 A -43.072 C -148.515 F 636\nG1 X 32.578 Y -23.660 Z 1.251 A -43.072 C -148.515 F 636\nG1 X 32.534 Y -23.628 Z 1.237 A -43.072 C -148.515 F 636\nG1 X 32.450 Y -23.546 Z 1.225 A -43.072 C -148.515 F 636\nG1 X 32.369 Y -23.441 Z 1.234 A -43.072 C -148.515 F 636\nG1 X 32.290 Y -23.311 Z 1.262 A -43.072 C -148.515 F 636\nG1 X 32.215 Y -23.158 Z 1.311 A -43.072 C -148.516 F 636\nG1 X 32.143 Y -22.980 Z 1.379 A -43.072 C -148.516 F 636\nG1 X 32.075 Y -22.779 Z 1.468 A -43.072 C -148.516 F 636\nG1 X 32.009 Y -22.553 Z 1.577 A -43.072 C -148.517 F 636\nG1 X 31.169 Y -19.424 Z 3.146 A -43.072 C -148.517 F 159\nG1 X 30.770 Y -18.107 Z 3.768 A -43.061 C -148.447 F 159\nG1 X 30.358 Y -16.810 Z 4.405 A -43.051 C -148.378 F 159\nG1 X 29.929 Y -15.528 Z 5.056 A -43.042 C -148.307 F 159\nG1 X 29.479 Y -14.257 Z 5.723 A -43.035 C -148.236 F 159\nG1 X 29.013 Y -13.004 Z 6.404 A -43.029 C -148.164 F 159\nG1 X 28.525 Y -11.761 Z 7.102 A -43.024 C -148.092 F 159\nG1 X 28.041 Y -10.595 Z 7.778 A -43.020 C -148.022 F 159\nG1 X 27.521 Y -9.408 Z 8.489 A -43.018 C -147.949 F 159\nG1 X 26.973 Y -8.223 Z 9.222 A -43.017 C -147.875 F 159\nG1 X 26.404 Y -7.062 Z 9.964 A -43.018 C -147.800 F 159\nG1 X 25.809 Y -5.916 Z 10.723 A -43.019 C -147.724 F 159\nG1 X 25.273 Y -4.939 Z 11.390 A -43.022 C -147.657 F 159\nG1 X 24.720 Y -3.980 Z 12.067 A -43.026 C -147.590 F 159\nG1 X 24.078 Y -2.931 Z 12.831 A -43.032 C -147.515 F 159\nG1 X 23.413 Y -1.909 Z 13.605 A -43.040 C -147.439 F 159\nG1 X 22.699 Y -0.877 Z 14.417 A -43.049 C -147.360 F 159\nG1 X 21.954 Y 0.131 Z 15.245 A -43.060 C -147.279 F 159\nG1 X 21.185 Y 1.101 Z 16.077 A -43.073 C -147.199 F 159\nG1 X 20.657 Y 1.732 Z 16.641 A -43.083 C -147.145 F 159\nG1 X 19.838 Y 2.652 Z 17.497 A -43.099 C -147.064 F 159\nG1 X 19.095 Y 3.431 Z 18.259 A -43.115 C -146.992 F 159\nG1 X 18.332 Y 4.178 Z 19.028 A -43.132 C -146.920 F 159\nG1 X 17.740 Y 4.725 Z 19.616 A -43.146 C -146.866 F 159\nG1 X 17.137 Y 5.253 Z 20.210 A -43.162 C -146.811 F 159\nG1 X 16.522 Y 5.763 Z 20.809 A -43.178 C -146.757 F 159\nG1 X 15.893 Y 6.251 Z 21.410 A -43.195 C -146.702 F 159\nG1 X 15.258 Y 6.722 Z 22.020 A -43.213 C -146.648 F 159\nG1 X 14.615 Y 7.167 Z 22.627 A -43.232 C -146.595 F 159\nG1 X 13.647 Y 7.786 Z 23.533 A -43.262 C -146.516 F 159\nG1 X 10.973 Y 9.620 Z 26.203 A -43.262 C -146.516 F 159\nG1 X 11.729 Y 10.763 Z 27.659 A -43.262 C -146.516 F 318\nG0 X 16.810 Y 18.445 Z 37.446 A -43.262 C -146.516\nG0 X 14.475 Y 19.604 Z 37.831 A -41.984 C -152.626\nG0 X 12.089 Y 20.696 Z 38.086 A -41.045 C -159.004\nG0 X 9.662 Y 21.717 Z 38.210 A -40.470 C -165.579\nG0 X 7.202 Y 22.663 Z 38.203 A -40.274 C -172.258\nG0 X 4.718 Y 23.532 Z 38.065 A -40.463 C -178.937\nG0 X 2.217 Y 24.320 Z 37.797 A -41.032 C -185.515\nG0 X -0.291 Y 25.025 Z 37.399 A -41.964 C -191.897\nG0 X -2.799 Y 25.643 Z 36.873 A -43.236 C -198.013\nG0 X -0.482 Y 18.519 Z 28.905 A -43.236 C -198.013\nG1 X -0.059 Y 17.216 Z 27.448 A -43.236 C -198.013 F 318\nG1 X 2.636 Y 18.024 Z 25.201 A -43.236 C -198.013 F 159\nG1 X 2.935 Y 18.124 Z 24.960 A -43.228 C -198.034 F 159\nG1 X 3.850 Y 18.410 Z 24.237 A -43.206 C -198.100 F 159\nG1 X 4.624 Y 18.625 Z 23.640 A -43.188 C -198.156 F 159\nG1 X 5.404 Y 18.820 Z 23.052 A -43.171 C -198.211 F 159\nG1 X 6.194 Y 18.995 Z 22.468 A -43.155 C -198.266 F 159\nG1 X 6.996 Y 19.151 Z 21.889 A -43.140 C -198.322 F 159\nG1 X 7.802 Y 19.284 Z 21.315 A -43.125 C -198.377 F 159\nG1 X 8.655 Y 19.405 Z 20.720 A -43.112 C -198.436 F 159\nG1 X 9.762 Y 19.528 Z 19.965 A -43.095 C -198.511 F 159\nG1 X 11.007 Y 19.623 Z 19.135 A -43.079 C -198.594 F 159\nG1 X 12.262 Y 19.674 Z 18.317 A -43.065 C -198.677 F 159\nG1 X 13.101 Y 19.685 Z 17.781 A -43.057 C -198.732 F 159\nG1 X 14.368 Y 19.667 Z 16.985 A -43.046 C -198.813 F 159\nG1 X 15.216 Y 19.631 Z 16.460 A -43.040 C -198.868 F 159\nG1 X 16.563 Y 19.540 Z 15.642 A -43.031 C -198.953 F 159\nG1 X 17.846 Y 19.413 Z 14.875 A -43.025 C -199.034 F 159\nG1 X 19.129 Y 19.250 Z 14.125 A -43.021 C -199.113 F 159\nG1 X 20.413 Y 19.050 Z 13.385 A -43.018 C -199.191 F 159\nG1 X 21.698 Y 18.816 Z 12.658 A -43.017 C -199.269 F 159\nG1 X 22.984 Y 18.549 Z 11.943 A -43.017 C -199.346 F 159\nG1 X 24.377 Y 18.223 Z 11.181 A -43.019 C -199.428 F 159\nG1 X 25.673 Y 17.887 Z 10.485 A -43.023 C -199.504 F 159\nG1 X 26.963 Y 17.523 Z 9.805 A -43.028 C -199.579 F 159\nG1 X 28.248 Y 17.130 Z 9.139 A -43.034 C -199.652 F 159\nG1 X 29.531 Y 16.712 Z 8.487 A -43.041 C -199.725 F 159\nG1 X 30.816 Y 16.267 Z 7.849 A -43.050 C -199.797 F 159\nG1 X 32.096 Y 15.798 Z 7.224 A -43.060 C -199.868 F 159\nG1 X 33.380 Y 15.303 Z 6.613 A -43.071 C -199.938 F 159\nG1 X 36.873 Y 13.828 Z 4.806 A -43.071 C -199.938 F 159\nG1 X 37.095 Y 13.729 Z 4.686 A -43.071 C -199.939 F 636\nG1 X 37.305 Y 13.625 Z 4.560 A -43.071 C -199.939 F 636\nG1 X 37.504 Y 13.516 Z 4.429 A -43.071 C -199.939 F 636\nG1 X 37.690 Y 13.401 Z 4.293 A -43.071 C -199.939 F 636\nG1 X 37.866 Y 13.281 Z 4.151 A -43.071 C -199.940 F 636\nG1 X 38.030 Y 13.156 Z 4.004 A -43.071 C -199.940 F 636\nG1 X 38.183 Y 13.026 Z 3.851 A -43.071 C -199.940 F 636\nG1 X 38.324 Y 12.890 Z 3.694 A -43.071 C -199.940 F 636\nG1 X 38.453 Y 12.749 Z 3.531 A -43.071 C -199.941 F 636\nG1 X 38.572 Y 12.603 Z 3.363 A -43.071 C -199.941 F 636\nG1 X 38.679 Y 12.452 Z 3.189 A -43.071 C -199.941 F 636\nG1 X 38.774 Y 12.295 Z 3.011 A -43.071 C -199.941 F 636\nG1 X 38.858 Y 12.134 Z 2.827 A -43.071 C -199.942 F 636\nG1 X 38.931 Y 11.968 Z 2.638 A -43.072 C -199.942 F 636\nG1 X 38.993 Y 11.796 Z 2.444 A -43.072 C -199.942 F 636\nG1 X 39.043 Y 11.620 Z 2.245 A -43.072 C -199.943 F 636\nG1 X 39.080 Y 11.449 Z 2.053 A -43.072 C -199.943 F 636\nG1 X 39.099 Y 11.296 Z 1.881 A -43.072 C -199.943 F 636\nG1 X 39.101 Y 11.160 Z 1.729 A -43.072 C -199.944 F 636\nG1 X 39.086 Y 11.041 Z 1.597 A -43.072 C -199.944 F 636\nG1 X 39.054 Y 10.940 Z 1.485 A -43.072 C -199.944 F 636\nG1 X 39.006 Y 10.855 Z 1.393 A -43.072 C -199.944 F 636\nG1 X 38.940 Y 10.788 Z 1.321 A -43.072 C -199.945 F 636\nG1 X 38.901 Y 10.761 Z 1.293 A -43.072 C -199.945 F 636\nG1 X 38.857 Y 10.738 Z 1.269 A -43.072 C -199.945 F 636\nG1 X 38.810 Y 10.720 Z 1.251 A -43.072 C -199.945 F 636\nG1 X 38.758 Y 10.706 Z 1.237 A -43.072 C -199.945 F 636\nG1 X 38.641 Y 10.690 Z 1.225 A -43.072 C -199.945 F 636\nG1 X 38.508 Y 10.693 Z 1.234 A -43.072 C -199.945 F 636\nG1 X 38.358 Y 10.712 Z 1.262 A -43.072 C -199.945 F 636\nG1 X 38.191 Y 10.749 Z 1.311 A -43.072 C -199.946 F 636\nG1 X 38.007 Y 10.804 Z 1.379 A -43.072 C -199.946 F 636\nG1 X 37.807 Y 10.876 Z 1.468 A -43.072 C -199.946 F 636\nG1 X 37.590 Y 10.965 Z 1.577 A -43.072 C -199.947 F 636\nG1 X 34.619 Y 12.259 Z 3.146 A -43.072 C -199.947 F 159\nG1 X 33.341 Y 12.768 Z 3.768 A -43.061 C -199.877 F 159\nG1 X 32.070 Y 13.255 Z 4.405 A -43.051 C -199.808 F 159\nG1 X 30.801 Y 13.719 Z 5.056 A -43.042 C -199.737 F 159\nG1 X 29.526 Y 14.160 Z 5.723 A -43.035 C -199.666 F 159\nG1 X 28.256 Y 14.576 Z 6.404 A -43.029 C -199.594 F 159\nG1 X 26.980 Y 14.969 Z 7.102 A -43.024 C -199.522 F 159\nG1 X 25.766 Y 15.318 Z 7.778 A -43.020 C -199.452 F 159\nG1 X 24.514 Y 15.652 Z 8.489 A -43.018 C -199.379 F 159\nG1 X 23.246 Y 15.962 Z 9.222 A -43.017 C -199.305 F 159\nG1 X 21.984 Y 16.241 Z 9.964 A -43.018 C -199.230 F 159\nG1 X 20.716 Y 16.490 Z 10.723 A -43.019 C -199.154 F 159\nG1 X 19.619 Y 16.681 Z 11.390 A -43.022 C -199.087 F 159\nG1 X 18.524 Y 16.846 Z 12.067 A -43.026 C -199.020 F 159\nG1 X 17.303 Y 16.997 Z 12.831 A -43.032 C -198.945 F 159\nG1 X 16.090 Y 17.115 Z 13.605 A -43.040 C -198.869 F 159\nG1 X 14.838 Y 17.200 Z 14.417 A -43.049 C -198.790 F 159\nG1 X 13.585 Y 17.246 Z 15.245 A -43.060 C -198.709 F 159\nG1 X 12.347 Y 17.250 Z 16.077 A -43.073 C -198.629 F 159\nG1 X 11.525 Y 17.230 Z 16.641 A -43.083 C -198.575 F 159\nG1 X 10.295 Y 17.164 Z 17.497 A -43.099 C -198.494 F 159\nG1 X 9.223 Y 17.068 Z 18.259 A -43.115 C -198.422 F 159\nG1 X 8.162 Y 16.938 Z 19.028 A -43.132 C -198.350 F 159\nG1 X 7.366 Y 16.816 Z 19.616 A -43.146 C -198.296 F 159\nG1 X 6.577 Y 16.674 Z 20.210 A -43.162 C -198.241 F 159\nG1 X 5.795 Y 16.511 Z 20.809 A -43.178 C -198.187 F 159\nG1 X 5.022 Y 16.324 Z 21.410 A -43.195 C -198.132 F 159\nG1 X 4.257 Y 16.120 Z 22.020 A -43.213 C -198.078 F 159\nG1 X 3.509 Y 15.895 Z 22.627 A -43.232 C -198.025 F 159\nG1 X 2.421 Y 15.524 Z 23.533 A -43.262 C -197.946 F 159\nG1 X -0.680 Y 14.577 Z 26.203 A 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Z 3.189 A -43.071 C -251.371 F 636\nG1 X 14.561 Y 37.981 Z 3.011 A -43.071 C -251.371 F 636\nG1 X 14.740 Y 37.947 Z 2.827 A -43.071 C -251.372 F 636\nG1 X 14.916 Y 37.900 Z 2.638 A -43.072 C -251.372 F 636\nG1 X 15.088 Y 37.841 Z 2.444 A -43.072 C -251.372 F 636\nG1 X 15.258 Y 37.771 Z 2.245 A -43.072 C -251.372 F 636\nG1 X 15.413 Y 37.693 Z 2.053 A -43.072 C -251.373 F 636\nG1 X 15.545 Y 37.612 Z 1.881 A -43.072 C -251.373 F 636\nG1 X 15.653 Y 37.529 Z 1.729 A -43.072 C -251.374 F 636\nG1 X 15.737 Y 37.443 Z 1.597 A -43.072 C -251.374 F 636\nG1 X 15.796 Y 37.355 Z 1.485 A -43.072 C -251.374 F 636\nG1 X 15.832 Y 37.264 Z 1.393 A -43.072 C -251.374 F 636\nG1 X 15.843 Y 37.171 Z 1.321 A -43.072 C -251.375 F 636\nG1 X 15.840 Y 37.123 Z 1.293 A -43.072 C -251.375 F 636\nG1 X 15.831 Y 37.075 Z 1.269 A -43.072 C -251.375 F 636\nG1 X 15.816 Y 37.027 Z 1.251 A -43.072 C -251.375 F 636\nG1 X 15.794 Y 36.977 Z 1.237 A -43.072 C -251.375 F 636\nG1 X 15.733 Y 36.877 Z 1.225 A -43.072 C -251.375 F 636\nG1 X 15.649 Y 36.774 Z 1.234 A -43.072 C -251.375 F 636\nG1 X 15.540 Y 36.669 Z 1.262 A -43.072 C -251.375 F 636\nG1 X 15.407 Y 36.561 Z 1.311 A -43.072 C -251.376 F 636\nG1 X 15.250 Y 36.452 Z 1.379 A -43.072 C -251.376 F 636\nG1 X 15.068 Y 36.340 Z 1.468 A -43.072 C -251.376 F 636\nG1 X 14.863 Y 36.226 Z 1.577 A -43.072 C -251.377 F 636\nG1 X 11.999 Y 34.710 Z 3.146 A -43.072 C -251.377 F 159\nG1 X 10.804 Y 34.028 Z 3.768 A -43.061 C -251.307 F 159\nG1 X 9.631 Y 33.338 Z 4.405 A -43.051 C -251.238 F 159\nG1 X 8.477 Y 32.635 Z 5.056 A -43.042 C -251.167 F 159\nG1 X 7.338 Y 31.913 Z 5.723 A -43.035 C -251.096 F 159\nG1 X 6.220 Y 31.179 Z 6.404 A -43.029 C -251.024 F 159\nG1 X 5.118 Y 30.427 Z 7.102 A -43.024 C -250.952 F 159\nG1 X 4.088 Y 29.695 Z 7.778 A -43.020 C -250.882 F 159\nG1 X 3.046 Y 28.925 Z 8.489 A -43.018 C -250.809 F 159\nG1 X 2.014 Y 28.127 Z 9.222 A -43.017 C -250.735 F 159\nG1 X 1.008 Y 27.314 Z 9.964 A -43.018 C -250.660 F 159\nG1 X 0.023 Y 26.478 Z 10.723 A 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636\nG1 X -20.988 Y 34.651 Z 3.531 A -43.071 C -302.801 F 636\nG1 X -20.872 Y 34.799 Z 3.363 A -43.071 C -302.801 F 636\nG1 X -20.748 Y 34.937 Z 3.189 A -43.071 C -302.801 F 636\nG1 X -20.617 Y 35.065 Z 3.011 A -43.071 C -302.801 F 636\nG1 X -20.478 Y 35.183 Z 2.827 A -43.072 C -302.802 F 636\nG1 X -20.332 Y 35.291 Z 2.638 A -43.072 C -302.802 F 636\nG1 X -20.179 Y 35.390 Z 2.444 A -43.072 C -302.802 F 636\nG1 X -20.018 Y 35.478 Z 2.245 A -43.072 C -302.803 F 636\nG1 X -19.860 Y 35.551 Z 2.053 A -43.072 C -302.803 F 636\nG1 X -19.715 Y 35.604 Z 1.881 A -43.072 C -302.803 F 636\nG1 X -19.583 Y 35.636 Z 1.729 A -43.072 C -302.804 F 636\nG1 X -19.464 Y 35.648 Z 1.597 A -43.072 C -302.804 F 636\nG1 X -19.357 Y 35.640 Z 1.485 A -43.072 C -302.804 F 636\nG1 X -19.264 Y 35.611 Z 1.393 A -43.072 C -302.804 F 636\nG1 X -19.184 Y 35.562 Z 1.321 A -43.072 C -302.805 F 636\nG1 X -19.149 Y 35.530 Z 1.293 A -43.072 C -302.805 F 636\nG1 X -19.117 Y 35.493 Z 1.269 A -43.072 C -302.805 F 636\nG1 X 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20.416 Z 8.489 A -43.018 C -302.239 F 159\nG1 X -20.735 Y 19.110 Z 9.222 A -43.017 C -302.165 F 159\nG1 X -20.727 Y 17.817 Z 9.964 A -43.018 C -302.090 F 159\nG1 X -20.687 Y 16.526 Z 10.723 A -43.019 C -302.014 F 159\nG1 X -20.629 Y 15.414 Z 11.390 A -43.022 C -301.947 F 159\nG1 X -20.546 Y 14.310 Z 12.067 A -43.026 C -301.880 F 159\nG1 X -20.422 Y 13.086 Z 12.831 A -43.032 C -301.805 F 159\nG1 X -20.267 Y 11.877 Z 13.605 A -43.040 C -301.729 F 159\nG1 X -20.071 Y 10.638 Z 14.417 A -43.049 C -301.650 F 159\nG1 X -19.837 Y 9.406 Z 15.245 A -43.060 C -301.569 F 159\nG1 X -19.565 Y 8.198 Z 16.077 A -43.073 C -301.489 F 159\nG1 X -19.363 Y 7.401 Z 16.641 A -43.083 C -301.435 F 159\nG1 X -19.025 Y 6.217 Z 17.497 A -43.099 C -301.354 F 159\nG1 X -18.693 Y 5.192 Z 18.259 A -43.115 C -301.282 F 159\nG1 X -18.330 Y 4.188 Z 19.028 A -43.132 C -301.210 F 159\nG1 X -18.033 Y 3.439 Z 19.616 A -43.146 C -301.156 F 159\nG1 X -17.719 Y 2.701 Z 20.210 A -43.162 C -301.101 F 159\nG1 X -17.386 Y 1.975 Z 20.809 A -43.178 C -301.047 F 159\nG1 X -17.032 Y 1.262 Z 21.410 A -43.195 C -300.992 F 159\nG1 X -16.663 Y 0.563 Z 22.020 A -43.213 C -300.938 F 159\nG1 X -16.277 Y -0.117 Z 22.627 A -43.232 C -300.885 F 159\nG1 X -15.673 Y -1.095 Z 23.533 A -43.262 C -300.806 F 159\nG1 X -14.060 Y -3.907 Z 26.203 A -43.262 C -300.806 F 159\nG1 X -15.237 Y -4.609 Z 27.659 A -43.262 C -300.806 F 318\nG0 X -23.148 Y -9.326 Z 37.446 A -43.262 C -300.806\nG0 X -21.546 Y -11.384 Z 37.831 A -41.984 C -306.916\nG0 X -19.871 Y -13.403 Z 38.086 A -41.045 C -313.294\nG0 X -18.127 Y -15.375 Z 38.210 A -40.470 C -319.869\nG0 X -16.321 Y -17.295 Z 38.203 A -40.274 C -326.548\nG0 X -14.459 Y -19.156 Z 38.065 A -40.463 C -333.227\nG0 X -12.548 Y -20.951 Z 37.797 A -41.032 C -339.805\nG0 X -10.593 Y -22.674 Z 37.399 A -41.964 C -346.187\nG0 X -8.603 Y -24.319 Z 36.873 A -43.236 C -352.303\nG0 X -7.599 Y -16.895 Z 28.905 A -43.236 C -352.303\nG1 X -7.416 Y -15.537 Z 27.448 A -43.236 C -352.303 F 318\nG1 X -10.194 Y 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159\nG1 X -25.586 Y -9.046 Z 14.125 A -43.021 C -353.403 F 159\nG1 X -26.656 Y -8.308 Z 13.385 A -43.018 C -353.481 F 159\nG1 X -27.712 Y -7.541 Z 12.658 A -43.017 C -353.559 F 159\nG1 X -28.755 Y -6.742 Z 11.943 A -43.017 C -353.636 F 159\nG1 X -29.869 Y -5.844 Z 11.181 A -43.019 C -353.718 F 159\nG1 X -30.891 Y -4.979 Z 10.485 A -43.023 C -353.794 F 159\nG1 X -31.895 Y -4.091 Z 9.805 A -43.028 C -353.869 F 159\nG1 X -32.883 Y -3.180 Z 9.139 A -43.034 C -353.942 F 159\nG1 X -33.858 Y -2.247 Z 8.487 A -43.041 C -354.015 F 159\nG1 X -34.822 Y -1.289 Z 7.849 A -43.050 C -354.087 F 159\nG1 X -35.772 Y -0.310 Z 7.224 A -43.060 C -354.158 F 159\nG1 X -36.714 Y 0.693 Z 6.613 A -43.071 C -354.228 F 159\nG1 X -39.222 Y 3.537 Z 4.806 A -43.071 C -354.228 F 159\nG1 X -39.379 Y 3.722 Z 4.686 A -43.071 C -354.229 F 636\nG1 X -39.523 Y 3.907 Z 4.560 A -43.071 C -354.229 F 636\nG1 X -39.654 Y 4.092 Z 4.429 A -43.071 C -354.229 F 636\nG1 X -39.773 Y 4.276 Z 4.293 A -43.071 C -354.229 F 636\nG1 X 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-43.072 C -354.234 F 636\nG1 X -39.765 Y 7.173 Z 1.321 A -43.072 C -354.235 F 636\nG1 X -39.718 Y 7.180 Z 1.293 A -43.072 C -354.235 F 636\nG1 X -39.669 Y 7.182 Z 1.269 A -43.072 C -354.235 F 636\nG1 X -39.618 Y 7.178 Z 1.251 A -43.072 C -354.235 F 636\nG1 X -39.565 Y 7.168 Z 1.237 A -43.072 C -354.235 F 636\nG1 X -39.454 Y 7.131 Z 1.225 A -43.072 C -354.235 F 636\nG1 X -39.334 Y 7.071 Z 1.234 A -43.072 C -354.235 F 636\nG1 X -39.208 Y 6.989 Z 1.262 A -43.072 C -354.235 F 636\nG1 X -39.073 Y 6.883 Z 1.311 A -43.072 C -354.236 F 636\nG1 X -38.932 Y 6.754 Z 1.379 A -43.072 C -354.236 F 636\nG1 X -38.782 Y 6.602 Z 1.468 A -43.072 C -354.236 F 636\nG1 X -38.625 Y 6.427 Z 1.577 A -43.072 C -354.237 F 636\nG1 X -36.510 Y 3.973 Z 3.146 A -43.072 C -354.237 F 159\nG1 X -35.579 Y 2.959 Z 3.768 A -43.061 C -354.167 F 159\nG1 X -34.645 Y 1.970 Z 4.405 A -43.051 C -354.098 F 159\nG1 X -33.703 Y 1.001 Z 5.056 A -43.042 C -354.027 F 159\nG1 X -32.746 Y 0.051 Z 5.723 A -43.035 C -353.956 F 159\nG1 X -31.782 Y -0.875 Z 6.404 A -43.029 C -353.884 F 159\nG1 X -30.803 Y -1.783 Z 7.102 A -43.024 C -353.812 F 159\nG1 X -29.860 Y -2.623 Z 7.778 A -43.020 C -353.742 F 159\nG1 X -28.877 Y -3.468 Z 8.489 A -43.018 C -353.669 F 159\nG1 X -27.869 Y -4.297 Z 9.222 A -43.017 C -353.595 F 159\nG1 X -26.853 Y -5.096 Z 9.964 A -43.018 C -353.520 F 159\nG1 X -25.819 Y -5.871 Z 10.723 A -43.019 C -353.444 F 159\nG1 X -24.913 Y -6.518 Z 11.390 A -43.022 C -353.377 F 159\nG1 X -23.998 Y -7.142 Z 12.067 A -43.026 C -353.310 F 159\nG1 X -22.964 Y -7.808 Z 12.831 A -43.032 C -353.235 F 159\nG1 X -21.922 Y -8.441 Z 13.605 A -43.040 C -353.159 F 159\nG1 X -20.831 Y -9.060 Z 14.417 A -43.049 C -353.080 F 159\nG1 X -19.722 Y -9.645 Z 15.245 A -43.060 C -352.999 F 159\nG1 X -18.608 Y -10.186 Z 16.077 A -43.073 C -352.919 F 159\nG1 X -17.859 Y -10.525 Z 16.641 A -43.083 C -352.865 F 159\nG1 X -16.722 Y -10.998 Z 17.497 A -43.099 C -352.784 F 159\nG1 X -15.714 Y -11.377 Z 18.259 A -43.115 C -352.712 F 159\nG1 X -14.702 Y -11.720 Z 19.028 A -43.132 C -352.640 F 159\nG1 X -13.932 Y -11.955 Z 19.616 A -43.146 C -352.586 F 159\nG1 X -13.160 Y -12.169 Z 20.210 A -43.162 C -352.531 F 159\nG1 X -12.384 Y -12.362 Z 20.809 A -43.178 C -352.477 F 159\nG1 X -11.606 Y -12.529 Z 21.410 A -43.195 C -352.422 F 159\nG1 X -10.829 Y -12.678 Z 22.020 A -43.213 C -352.368 F 159\nG1 X -10.057 Y -12.799 Z 22.627 A -43.232 C -352.315 F 159\nG1 X -8.916 Y -12.937 Z 23.533 A -43.262 C -352.236 F 159\nG1 X -5.711 Y -13.429 Z 26.203 A -43.262 C -352.236 F 159\nG1 X -5.896 Y -14.787 Z 27.659 A -43.262 C -352.236 F 318\nG0 X -7.140 Y -23.913 Z 37.446 A -43.262 C -352.236\n( --- Operation 3 )\nG0 X -0.023 Y -41.436 Z 17.550 A -46.785 C -89.392\nG0 X -0.021 Y -37.057 Z 15.695 A -46.785 C -89.392\nG0 X -13.138 Y -36.917 Z 3.370 A -46.785 C -89.392\nG1 X -14.596 Y -36.902 Z 2.001 A -46.785 C -89.392 F 318\nG1 X -11.756 Y -34.467 Z 3.910 A -46.785 C -89.392 F 159\nG1 X -10.723 Y -33.651 Z 4.625 A -46.795 C -89.459 F 159\nG1 X -9.693 Y -32.827 Z 5.368 A -46.805 C -89.527 F 159\nG1 X -8.685 Y -32.010 Z 6.121 A -46.813 C -89.594 F 159\nG1 X -7.694 Y -31.195 Z 6.890 A -46.820 C -89.660 F 159\nG1 X -6.715 Y -30.384 Z 7.676 A -46.825 C -89.726 F 159\nG1 X -5.861 Y -29.664 Z 8.385 A -46.829 C -89.785 F 159\nG1 X -4.698 Y -28.665 Z 9.383 A -46.833 C -89.866 F 159\nG1 X -3.758 Y -27.837 Z 10.221 A -46.835 C -89.933 F 159\nG1 X -2.843 Y -27.014 Z 11.065 A -46.835 C -89.999 F 159\nG1 X -1.946 Y -26.189 Z 11.920 A -46.835 C -90.065 F 159\nG1 X -1.063 Y -25.350 Z 12.791 A -46.833 C -90.132 F 159\nG1 X -0.203 Y -24.509 Z 13.671 A -46.830 C -90.200 F 159\nG1 X 0.637 Y -23.653 Z 14.564 A -46.826 C -90.268 F 159\nG1 X 1.487 Y -22.753 Z 15.505 A -46.820 C -90.340 F 159\nG1 X 2.246 Y -21.915 Z 16.382 A -46.813 C -90.406 F 159\nG1 X 2.761 Y -21.325 Z 16.998 A -46.807 C -90.453 F 159\nG1 X 3.511 Y -20.424 Z 17.936 A -46.798 C -90.524 F 159\nG1 X 3.992 Y -19.821 Z 18.562 A -46.791 C -90.572 F 159\nG1 X 4.684 Y -18.907 Z 19.509 A -46.779 C -90.644 F 159\nG1 X 5.347 Y -17.972 Z 20.474 A -46.765 C -90.718 F 159\nG1 X 5.825 Y -17.257 Z 21.212 A -46.753 C -90.774 F 159\nG1 X 6.278 Y -16.537 Z 21.952 A -46.740 C -90.831 F 159\nG1 X 6.659 Y -15.898 Z 22.610 A -46.728 C -90.881 F 159\nG1 X 7.020 Y -15.252 Z 23.273 A -46.715 C -90.932 F 159\nG1 X 7.365 Y -14.605 Z 23.942 A -46.700 C -90.983 F 159\nG1 X 7.688 Y -13.953 Z 24.614 A -46.686 C -91.034 F 159\nG1 X 7.987 Y -13.297 Z 25.289 A -46.670 C -91.086 F 159\nG1 X 8.264 Y -12.634 Z 25.970 A -46.652 C -91.138 F 159\nG1 X 8.528 Y -11.909 Z 26.706 A -46.633 C -91.195 F 159\nG1 X 8.654 Y -11.520 Z 27.099 A -46.622 C -91.225 F 159\nG1 X 9.562 Y -8.114 Z 30.357 A -46.622 C -91.225 F 159\nG1 X 11.015 Y -8.083 Z 31.731 A -46.622 C -91.225 F 318\nG0 X 19.520 Y -7.901 Z 39.769 A -46.622 C -91.225\nG0 X 20.698 Y -9.246 Z 38.873 A -45.997 C -94.174\nG0 X 21.836 Y -10.572 Z 37.900 A -45.450 C -97.182\nG0 X 22.930 Y -11.877 Z 36.853 A -44.983 C -100.243\nG0 X 23.979 Y -13.159 Z 35.733 A -44.600 C -103.349\nG0 X 24.981 Y -14.415 Z 34.542 A -44.301 C -106.493\nG0 X 25.933 Y -15.643 Z 33.283 A -44.090 C -109.666\nG0 X 26.834 Y -16.839 Z 31.959 A -43.967 C -112.858\nG0 X 27.682 Y -18.003 Z 30.571 A -43.933 C -116.059\nG0 X 28.476 Y -19.131 Z 29.123 A -43.989 C -119.259\nG0 X 29.213 Y -20.221 Z 27.618 A -44.133 C -122.447\nG0 X 29.893 Y -21.271 Z 26.058 A -44.366 C -125.614\nG0 X 30.513 Y -22.279 Z 24.446 A -44.685 C -128.749\nG0 X 31.073 Y -23.243 Z 22.786 A -45.089 C -131.845\nG0 X 31.572 Y -24.161 Z 21.081 A -45.576 C -134.894\nG0 X 32.009 Y -25.032 Z 19.335 A -46.142 C -137.888\nG0 X 32.382 Y -25.853 Z 17.550 A -46.785 C -140.822\nG0 X 28.960 Y -23.120 Z 15.695 A -46.785 C -140.822\nG0 X 20.672 Y -33.289 Z 3.370 A -46.785 C -140.822\nG1 X 19.752 Y -34.419 Z 2.001 A -46.785 C -140.822 F 318\nG1 X 19.619 Y -30.681 Z 3.910 A -46.785 C -140.822 F 159\nG1 X 19.624 Y -29.364 Z 4.625 A -46.795 C -140.889 F 159\nG1 X 19.622 Y -28.045 Z 5.368 A -46.805 C -140.957 F 159\nG1 X 19.612 Y -26.747 Z 6.121 A -46.813 C -141.024 F 159\nG1 X 19.593 Y -25.465 Z 6.890 A -46.820 C -141.090 F 159\nG1 X 19.569 Y -24.193 Z 7.676 A -46.825 C -141.156 F 159\nG1 X 19.539 Y -23.077 Z 8.385 A -46.829 C -141.215 F 159\nG1 X 19.482 Y -21.545 Z 9.383 A -46.833 C -141.296 F 159\nG1 X 19.421 Y -20.293 Z 10.221 A -46.835 C -141.363 F 159\nG1 X 19.349 Y -19.065 Z 11.065 A -46.835 C -141.429 F 159\nG1 X 19.263 Y -17.849 Z 11.920 A -46.835 C -141.495 F 159\nG1 X 19.157 Y -16.636 Z 12.791 A -46.833 C -141.562 F 159\nG1 X 19.036 Y -15.439 Z 13.671 A -46.830 C -141.630 F 159\nG1 X 18.891 Y -14.249 Z 14.564 A -46.826 C -141.698 F 159\nG1 X 18.717 Y -13.023 Z 15.505 A -46.820 C -141.770 F 159\nG1 X 18.534 Y -11.907 Z 16.382 A -46.813 C -141.836 F 159\nG1 X 18.394 Y -11.137 Z 16.998 A -46.807 C -141.883 F 159\nG1 X 18.158 Y -9.988 Z 17.936 A -46.798 C -141.954 F 159\nG1 X 17.986 Y -9.237 Z 18.562 A -46.791 C -142.002 F 159\nG1 X 17.703 Y -8.126 Z 19.509 A -46.779 C -142.074 F 159\nG1 X 17.385 Y -7.025 Z 20.474 A -46.765 C -142.148 F 159\nG1 X 17.124 Y -6.205 Z 21.212 A -46.753 C -142.204 F 159\nG1 X 16.844 Y -5.402 Z 21.952 A -46.740 C -142.261 F 159\nG1 X 16.582 Y -4.706 Z 22.610 A -46.728 C -142.311 F 159\nG1 X 16.302 Y -4.021 Z 23.273 A -46.715 C -142.362 F 159\nG1 X 16.010 Y -3.347 Z 23.942 A -46.700 C -142.413 F 159\nG1 X 15.702 Y -2.689 Z 24.614 A -46.686 C -142.464 F 159\nG1 X 15.376 Y -2.046 Z 25.289 A -46.670 C -142.516 F 159\nG1 X 15.030 Y -1.416 Z 25.970 A -46.652 C -142.568 F 159\nG1 X 14.628 Y -0.758 Z 26.706 A -46.633 C -142.625 F 159\nG1 X 14.403 Y -0.417 Z 27.099 A -46.622 C -142.655 F 159\nG1 X 12.306 Y 2.417 Z 30.357 A -46.622 C -142.655 F 159\nG1 X 13.188 Y 3.573 Z 31.731 A -46.622 C -142.655 F 318\nG0 X 18.348 Y 10.335 Z 39.769 A -46.622 C -142.655\nG0 X 20.134 Y 10.418 Z 38.873 A -45.997 C -145.604\nG0 X 21.880 Y 10.481 Z 37.900 A -45.450 C -148.612\nG0 X 23.582 Y 10.522 Z 36.853 A -44.983 C -151.673\nG0 X 25.239 Y 10.543 Z 35.733 A -44.600 C -154.779\nG0 X 26.845 Y 10.543 Z 34.542 A -44.301 C -157.923\nG0 X 28.399 Y 10.523 Z 33.283 A -44.090 C -161.096\nG0 X 29.896 Y 10.481 Z 31.959 A -43.967 C -164.288\nG0 X 31.334 Y 10.419 Z 30.571 A -43.933 C -167.489\nG0 X 32.711 Y 10.336 Z 29.123 A -43.989 C -170.689\nG0 X 34.023 Y 10.233 Z 27.618 A -44.133 C -173.877\nG0 X 35.268 Y 10.110 Z 26.058 A -44.366 C -177.044\nG0 X 36.443 Y 9.966 Z 24.446 A -44.685 C -180.180\nG0 X 37.546 Y 9.803 Z 22.786 A -45.089 C -183.275\nG0 X 38.575 Y 9.621 Z 21.081 A -45.576 C -186.324\nG0 X 39.528 Y 9.420 Z 19.335 A -46.142 C -189.318\nG0 X 40.402 Y 9.200 Z 17.550 A -46.785 C -192.252\nG0 X 36.132 Y 8.227 Z 15.695 A -46.785 C -192.252\nG0 X 38.916 Y -4.592 Z 3.370 A -46.785 C -192.252\nG1 X 39.225 Y -6.016 Z 2.001 A -46.785 C -192.252 F 318\nG1 X 36.219 Y -3.789 Z 3.910 A -46.785 C -192.252 F 159\nG1 X 35.194 Y -2.965 Z 4.625 A -46.795 C -192.319 F 159\nG1 X 34.161 Y -2.144 Z 5.368 A -46.805 C -192.387 F 159\nG1 X 33.140 Y -1.343 Z 6.121 A -46.813 C -192.454 F 159\nG1 X 32.125 Y -0.558 Z 6.890 A -46.820 C -192.520 F 159\nG1 X 31.116 Y 0.216 Z 7.676 A -46.825 C -192.586 F 159\nG1 X 30.224 Y 0.889 Z 8.385 A -46.829 C -192.645 F 159\nG1 X 28.992 Y 1.799 Z 9.383 A -46.833 C -192.726 F 159\nG1 X 27.975 Y 2.532 Z 10.221 A -46.835 C -192.793 F 159\nG1 X 26.969 Y 3.241 Z 11.065 A -46.835 C -192.859 F 159\nG1 X 25.965 Y 3.932 Z 11.920 A -46.835 C -192.925 F 159\nG1 X 24.951 Y 4.606 Z 12.791 A -46.833 C -192.992 F 159\nG1 X 23.939 Y 5.257 Z 13.671 A -46.830 C -193.060 F 159\nG1 X 22.918 Y 5.886 Z 14.564 A -46.826 C -193.128 F 159\nG1 X 21.851 Y 6.514 Z 15.505 A -46.820 C -193.200 F 159\nG1 X 20.865 Y 7.067 Z 16.382 A -46.813 C -193.266 F 159\nG1 X 20.176 Y 7.438 Z 16.998 A -46.807 C -193.313 F 159\nG1 X 19.130 Y 7.969 Z 17.936 A -46.798 C -193.384 F 159\nG1 X 18.436 Y 8.303 Z 18.562 A -46.791 C -193.432 F 159\nG1 X 17.390 Y 8.775 Z 19.509 A -46.779 C -193.504 F 159\nG1 X 16.332 Y 9.213 Z 20.474 A -46.765 C -193.578 F 159\nG1 X 15.527 Y 9.520 Z 21.212 A -46.753 C -193.634 F 159\nG1 X 14.725 Y 9.802 Z 21.952 A -46.740 C -193.691 F 159\nG1 X 14.017 Y 10.030 Z 22.610 A -46.728 C -193.741 F 159\nG1 X 13.307 Y 10.239 Z 23.273 A -46.715 C -193.792 F 159\nG1 X 12.599 Y 10.431 Z 23.942 A -46.701 C -193.843 F 159\nG1 X 11.892 Y 10.600 Z 24.614 A -46.686 C -193.894 F 159\nG1 X 11.186 Y 10.747 Z 25.289 A -46.670 C -193.946 F 159\nG1 X 10.478 Y 10.868 Z 25.970 A -46.652 C -193.998 F 159\nG1 X 9.713 Y 10.964 Z 26.706 A -46.633 C -194.055 F 159\nG1 X 9.305 Y 11.001 Z 27.099 A -46.622 C -194.085 F 159\nG1 X 5.783 Y 11.128 Z 30.357 A -46.622 C -194.085 F 159\nG1 X 5.429 Y 12.538 Z 31.731 A -46.622 C -194.085 F 318\nG0 X 3.359 Y 20.789 Z 39.769 A -46.622 C -194.085\nG0 X 4.407 Y 22.237 Z 38.873 A -45.997 C -197.034\nG0 X 5.447 Y 23.641 Z 37.900 A -45.450 C -200.042\nG0 X 6.476 Y 24.998 Z 36.853 A -44.983 C -203.103\nG0 X 7.492 Y 26.306 Z 35.733 A -44.600 C -206.209\nG0 X 8.494 Y 27.562 Z 34.542 A -44.301 C -209.353\nG0 X 9.479 Y 28.764 Z 33.283 A -44.090 C -212.526\nG0 X 10.445 Y 29.909 Z 31.959 A -43.967 C -215.718\nG0 X 11.390 Y 30.995 Z 30.571 A -43.933 C -218.919\nG0 X 12.313 Y 32.019 Z 29.123 A -43.989 C -222.119\nG0 X 13.211 Y 32.981 Z 27.618 A -44.133 C -225.307\nG0 X 14.084 Y 33.877 Z 26.058 A -44.366 C -228.474\nG0 X 14.929 Y 34.706 Z 24.446 A -44.685 C -231.609\nG0 X 15.744 Y 35.467 Z 22.786 A -45.089 C -234.705\nG0 X 16.528 Y 36.158 Z 21.081 A -45.576 C -237.754\nG0 X 17.280 Y 36.777 Z 19.335 A -46.142 C -240.748\nG0 X 17.997 Y 37.324 Z 17.550 A -46.785 C -243.682\nG0 X 16.095 Y 33.379 Z 15.695 A -46.785 C -243.682\nG0 X 27.853 Y 27.563 Z 3.370 A -46.785 C -243.682\nG1 X 29.160 Y 26.917 Z 2.001 A -46.785 C -243.682 F 318\nG1 X 25.544 Y 25.955 Z 3.910 A -46.785 C -243.682 F 159\nG1 X 24.260 Y 25.668 Z 4.625 A -46.795 C -243.749 F 159\nG1 X 22.974 Y 25.372 Z 5.368 A -46.805 C -243.817 F 159\nG1 X 21.711 Y 25.073 Z 6.121 A -46.813 C -243.884 F 159\nG1 X 20.465 Y 24.769 Z 6.890 A -46.820 C -243.950 F 159\nG1 X 19.231 Y 24.463 Z 7.676 A -46.825 C -244.016 F 159\nG1 X 18.149 Y 24.185 Z 8.385 A -46.829 C -244.075 F 159\nG1 X 16.669 Y 23.789 Z 9.383 A -46.833 C -244.156 F 159\nG1 X 15.462 Y 23.451 Z 10.221 A -46.835 C -244.223 F 159\nG1 X 14.280 Y 23.107 Z 11.065 A -46.835 C -244.289 F 159\n\nG1 X 13.115 Y 22.752 Z 11.920 A -46.835 C -244.355 F 159\nG1 X 11.955 Y 22.380 Z 12.791 A -46.833 C -244.422 F 159\nG1 X 10.815 Y 21.995 Z 13.671 A -46.830 C -244.490 F 159\nG1 X 9.687 Y 21.588 Z 14.564 A -46.826 C -244.558 F 159\nG1 X 8.531 Y 21.146 Z 15.505 A -46.820 C -244.630 F 159\nG1 X 7.483 Y 20.719 Z 16.382 A -46.813 C -244.696 F 159\nG1 X 6.764 Y 20.412 Z 16.998 A -46.807 C -244.743 F 159\nG1 X 5.696 Y 19.925 Z 17.936 A -46.798 C -244.814 F 159\nG1 X 5.002 Y 19.591 Z 18.562 A -46.791 C -244.862 F 159\nG1 X 3.982 Y 19.067 Z 19.509 A -46.779 C -244.934 F 159\nG1 X 2.979 Y 18.513 Z 20.474 A -46.765 C -245.008 F 159\nG1 X 2.238 Y 18.075 Z 21.212 A -46.753 C -245.064 F 159\nG1 X 1.517 Y 17.624 Z 21.952 A -46.740 C -245.121 F 159\nG1 X 0.897 Y 17.213 Z 22.610 A -46.728 C -245.171 F 159\nG1 X 0.292 Y 16.788 Z 23.273 A -46.715 C -245.222 F 159\nG1 X -0.300 Y 16.354 Z 23.942 A -46.701 C -245.273 F 159\nG1 X -0.873 Y 15.907 Z 24.614 A -46.686 C -245.324 F 159\nG1 X -1.428 Y 15.446 Z 25.289 A -46.670 C -245.376 F 159\nG1 X -1.965 Y 14.968 Z 25.970 A -46.652 C -245.428 F 159\nG1 X -2.517 Y 14.430 Z 26.706 A -46.633 C -245.485 F 159\nG1 X -2.800 Y 14.134 Z 27.099 A -46.622 C -245.515 F 159\nG1 X -5.095 Y 11.459 Z 30.357 A -46.622 C -245.515 F 159\nG1 X -6.418 Y 12.062 Z 31.731 A -46.622 C -245.515 F 318\nG0 X -14.160 Y 15.587 Z 39.769 A -46.622 C -245.515\nG0 X -14.638 Y 17.310 Z 38.873 A -45.997 C -248.464\nG0 X -15.088 Y 18.998 Z 37.900 A -45.450 C -251.472\nG0 X -15.507 Y 20.649 Z 36.853 A -44.983 C -254.533\nG0 X -15.896 Y 22.259 Z 35.733 A -44.600 C -257.639\nG0 X -16.254 Y 23.825 Z 34.542 A -44.301 C -260.783\nG0 X -16.579 Y 25.344 Z 33.283 A -44.090 C -263.956\nG0 X -16.872 Y 26.813 Z 31.959 A -43.967 C -267.148\nG0 X -17.132 Y 28.229 Z 30.571 A -43.933 C -270.349\nG0 X -17.357 Y 29.590 Z 29.123 A -43.989 C -273.549\nG0 X -17.549 Y 30.892 Z 27.618 A -44.133 C -276.737\nG0 X -17.706 Y 32.133 Z 26.058 A -44.366 C -279.904\nG0 X -17.827 Y 33.310 Z 24.446 A -44.685 C -283.040\nG0 X -17.914 Y 34.422 Z 22.786 A -45.089 C -286.135\nG0 X -17.965 Y 35.466 Z 21.081 A -45.576 C -289.184\nG0 X -17.981 Y 36.440 Z 19.335 A -46.142 C -292.178\nG0 X -17.961 Y 37.341 Z 17.550 A -46.785 C -295.112\nG0 X -16.063 Y 33.394 Z 15.695 A -46.785 C -295.112\nG0 X -4.185 Y 38.962 Z 3.370 A -46.785 C -295.112\nG1 X -2.865 Y 39.580 Z 2.001 A -46.785 C -295.112 F 318\nG1 X -4.367 Y 36.154 Z 3.910 A -46.785 C -295.112 F 159\nG1 X -4.943 Y 34.971 Z 4.625 A -46.795 C -295.179 F 159\nG1 X -5.513 Y 33.781 Z 5.368 A -46.805 C -295.247 F 159\nG1 X -6.067 Y 32.607 Z 6.121 A -46.813 C -295.314 F 159\nG1 X -6.607 Y 31.443 Z 6.890 A -46.820 C -295.380 F 159\nG1 X -7.136 Y 30.288 Z 7.676 A -46.825 C -295.446 F 159\nG1 X -7.593 Y 29.268 Z 8.385 A -46.829 C -295.505 F 159\nG1 X -8.207 Y 27.864 Z 9.383 A -46.833 C -295.586 F 159\nG1 X -8.695 Y 26.710 Z 10.221 A -46.835 C -295.653 F 159\nG1 X -9.163 Y 25.571 Z 11.065 A -46.835 C -295.719 F 159\nG1 X -9.612 Y 24.439 Z 11.920 A -46.835 C -295.785 F 159\nG1 X -10.044 Y 23.300 Z 12.791 A -46.833 C -295.852 F 159\nG1 X -10.454 Y 22.169 Z 13.671 A -46.830 C -295.920 F 159\nG1 X -10.839 Y 21.033 Z 14.564 A -46.826 C -295.988 F 159\nG1 X -11.214 Y 19.853 Z 15.505 A -46.820 C -296.060 F 159\nG1 X -11.534 Y 18.769 Z 16.382 A -46.813 C -296.126 F 159\nG1 X -11.742 Y 18.014 Z 16.998 A -46.807 C -296.173 F 159\nG1 X -12.027 Y 16.876 Z 17.936 A -46.798 C -296.244 F 159\nG1 X -12.198 Y 16.125 Z 18.562 A -46.791 C -296.292 F 159\nG1 X -12.425 Y 15.001 Z 19.509 A -46.779 C -296.364 F 159\nG1 X -12.617 Y 13.871 Z 20.474 A -46.765 C -296.438 F 159\nG1 X -12.737 Y 13.019 Z 21.212 A -46.753 C -296.494 F 159\nG1 X -12.833 Y 12.174 Z 21.952 A -46.740 C -296.551 F 159\nG1 X -12.899 Y 11.433 Z 22.610 A -46.728 C -296.601 F 159\nG1 X -12.944 Y 10.695 Z 23.273 A -46.715 C -296.652 F 159\nG1 X -12.973 Y 9.962 Z 23.942 A -46.701 C -296.703 F 159\nG1 X -12.981 Y 9.235 Z 24.614 A -46.686 C -296.754 F 159\nG1 X -12.967 Y 8.514 Z 25.289 A -46.670 C -296.806 F 159\nG1 X -12.927 Y 7.796 Z 25.970 A -46.652 C -296.858 F 159\nG1 X -12.851 Y 7.029 Z 26.706 A -46.633 C -296.915 F 159\nG1 X -12.796 Y 6.623 Z 27.099 A -46.622 C -296.945 F 159\nG1 X -12.136 Y 3.161 Z 30.357 A -46.622 C -296.945 F 159\nG1 X -13.432 Y 2.502 Z 31.731 A -46.622 C -296.945 F 318\nG0 X -21.015 Y -1.353 Z 39.769 A -46.622 C -296.945\nG0 X -22.660 Y -0.653 Z 38.873 A -45.997 C -299.894\nG0 X -24.260 Y 0.049 Z 37.900 A -45.450 C -302.902\nG0 X -25.813 Y 0.750 Z 36.853 A -44.983 C -305.963\nG0 X -27.314 Y 1.449 Z 35.733 A -44.600 C -309.069\nG0 X -28.762 Y 2.146 Z 34.542 A -44.301 C -312.213\nG0 X -30.152 Y 2.839 Z 33.283 A -44.090 C -315.386\nG0 X -31.483 Y 3.526 Z 31.959 A -43.967 C -318.578\nG0 X -32.752 Y 4.206 Z 30.571 A -43.933 C -321.779\nG0 X -33.957 Y 4.877 Z 29.123 A -43.988 C -324.979\nG0 X -35.094 Y 5.540 Z 27.618 A -44.133 C -328.167\nG0 X -36.162 Y 6.191 Z 26.058 A -44.366 C -331.334\nG0 X -37.158 Y 6.830 Z 24.446 A -44.685 C -334.470\nG0 X -38.082 Y 7.455 Z 22.786 A -45.089 C -337.565\nG0 X -38.930 Y 8.066 Z 21.081 A -45.576 C -340.614\nG0 X -39.701 Y 8.661 Z 19.335 A -46.142 C -343.608\nG0 X -40.394 Y 9.238 Z 17.550 A -46.785 C -346.542\nG0 X -36.124 Y 8.262 Z 15.695 A -46.785 C -346.542\nG0 X -33.071 Y 21.020 Z 3.370 A -46.785 C -346.542\nG1 X -32.732 Y 22.437 Z 2.001 A -46.785 C -346.542 F 318\nG1 X -30.990 Y 19.127 Z 3.910 A -46.785 C -346.542 F 159\nG1 X -30.424 Y 17.939 Z 4.625 A -46.795 C -346.609 F 159\nG1 X -29.849 Y 16.751 Z 5.368 A -46.805 C -346.677 F 159\nG1 X -29.276 Y 15.586 Z 6.121 A -46.813 C -346.744 F 159\nG1 X -28.703 Y 14.439 Z 6.890 A -46.820 C -346.810 F 159\nG1 X -28.130 Y 13.304 Z 7.676 A -46.825 C -346.876 F 159\nG1 X -27.617 Y 12.311 Z 8.385 A -46.829 C -346.935 F 159\nG1 X -26.902 Y 10.956 Z 9.383 A -46.833 C -347.016 F 159\nG1 X -26.304 Y 9.855 Z 10.221 A -46.835 C -347.083 F 159\nG1 X -25.706 Y 8.779 Z 11.065 A -46.835 C -347.149 F 159\nG1 X -25.100 Y 7.722 Z 11.920 A -46.835 C -347.215 F 159\nG1 X -24.479 Y 6.674 Z 12.791 A -46.833 C -347.282 F 159\nG1 X -23.850 Y 5.648 Z 13.671 A -46.830 C -347.350 F 159\nG1 X -23.203 Y 4.639 Z 14.564 A -46.826 C -347.418 F 159\nG1 X -22.514 Y 3.610 Z 15.505 A -46.820 C -347.490 F 159\nG1 X -21.865 Y 2.684 Z 16.382 A -46.813 C -347.556 F 159\nG1 X -21.405 Y 2.051 Z 16.998 A -46.807 C -347.603 F 159\nG1 X -20.693 Y 1.119 Z 17.936 A -46.798 C -347.674 F 159\nG1 X -20.213 Y 0.517 Z 18.562 A -46.791 C -347.722 F 159\nG1 X -19.475 Y -0.362 Z 19.509 A -46.779 C -347.794 F 159\nG1 X -18.711 Y -1.216 Z 20.474 A -46.765 C -347.868 F 159\nG1 X -18.120 Y -1.841 Z 21.212 A -46.753 C -347.924 F 159\nG1 X -17.519 Y -2.443 Z 21.952 A -46.740 C -347.981 F 159\nG1 X -16.981 Y -2.956 Z 22.610 A -46.728 C -348.031 F 159\nG1 X -16.432 Y -3.452 Z 23.273 A -46.715 C -348.082 F 159\nG1 X -15.877 Y -3.932 Z 23.942 A -46.700 C -348.133 F 159\nG1 X -15.314 Y -4.392 Z 24.614 A -46.686 C -348.184 F 159\nG1 X -14.741 Y -4.830 Z 25.289 A -46.670 C -348.236 F 159\nG1 X -14.155 Y -5.247 Z 25.970 A -46.652 C -348.288 F 159\nG1 X -13.508 Y -5.665 Z 26.706 A -46.633 C -348.345 F 159\nG1 X -13.157 Y -5.875 Z 27.099 A -46.622 C -348.375 F 159\nG1 X -10.038 Y -7.518 Z 30.357 A -46.622 C -348.375 F 159\nG1 X -10.331 Y -8.942 Z 31.731 A -46.621 C -348.375 F 318\nG0 X -12.045 Y -17.274 Z 39.769 A -46.622 C -348.375\nG0 X -13.618 Y -18.124 Z 38.873 A -45.997 C -351.324\nG0 X -15.164 Y -18.938 Z 37.900 A -45.450 C -354.332\nG0 X -16.680 Y -19.714 Z 36.853 A -44.983 C -357.393\nG0 X -18.163 Y -20.452 Z 35.733 A -44.600 C -360.499\nG0 X -19.610 Y -21.149 Z 34.542 A -44.301 C -363.643\nG0 X -21.019 Y -21.804 Z 33.283 A -44.090 C -366.816\nG0 X -22.386 Y -22.417 Z 31.959 A -43.967 C -370.008\nG0 X -23.708 Y -22.985 Z 30.571 A -43.933 C -373.209\nG0 X -24.984 Y -23.508 Z 29.123 A -43.989 C -376.409\nG0 X -26.211 Y -23.984 Z 27.618 A -44.133 C -379.597\nG0 X -27.386 Y -24.413 Z 26.058 A -44.366 C -382.764\nG0 X -28.507 Y -24.794 Z 24.446 A -44.685 C -385.900\nG0 X -29.571 Y -25.126 Z 22.786 A -45.089 C -388.995\nG0 X -30.578 Y -25.408 Z 21.081 A -45.576 C -392.044\nG0 X -31.523 Y -25.640 Z 19.335 A -46.142 C -395.038\nG0 X -32.407 Y -25.822 Z 17.550 A -46.785 C -397.972\nG0 X -28.982 Y -23.092 Z 15.695 A -46.785 C -397.972\nG0 X -37.053 Y -12.751 Z 3.370 A -46.785 C -397.972\nG1 X -37.950 Y -11.602 Z 2.001 A -46.785 C -397.972 F 318\nG1 X -34.275 Y -12.304 Z 3.910 A -46.785 C -397.972 F 159\nG1 X -32.993 Y -12.602 Z 4.625 A -46.795 C -398.039 F 159\nG1 X -31.706 Y -12.894 Z 5.368 A -46.805 C -398.107 F 159\nG1 X -30.439 Y -13.172 Z 6.121 A -46.813 C -398.174 F 159\nG1 X -29.184 Y -13.439 Z 6.890 A -46.820 C -398.240 F 159\nG1 X -27.940 Y -13.698 Z 7.676 A -46.825 C -398.306 F 159\nG1 X -26.844 Y -13.917 Z 8.385 A -46.829 C -398.365 F 159\nG1 X -25.339 Y -14.203 Z 9.383 A -46.833 C -398.446 F 159\nG1 X -24.104 Y -14.421 Z 10.221 A -46.835 C -398.513 F 159\nG1 X -22.891 Y -14.624 Z 11.065 A -46.835 C -398.579 F 159\nG1 X -21.686 Y -14.810 Z 11.920 A -46.835 C -398.645 F 159\nG1 X -20.480 Y -14.978 Z 12.791 A -46.833 C -398.712 F 159\nG1 X -19.286 Y -15.126 Z 13.671 A -46.830 C -398.780 F 159\nG1 X -18.093 Y -15.249 Z 14.564 A -46.826 C -398.848 F 159\nG1 X -16.859 Y -15.352 Z 15.505 A -46.820 C -398.920 F 159\nG1 X -15.731 Y -15.422 Z 16.382 A -46.813 C -398.986 F 159\nG1 X -14.949 Y -15.457 Z 16.998 A -46.807 C -399.033 F 159\nG1 X -13.776 Y -15.481 Z 17.936 A -46.798 C -399.104 F 159\nG1 X -13.006 Y -15.481 Z 18.562 A -46.791 C -399.152 F 159\nG1 X -11.859 Y -15.452 Z 19.509 A -46.779 C -399.224 F 159\nG1 X -10.715 Y -15.388 Z 20.474 A -46.765 C -399.298 F 159\nG1 X -9.858 Y -15.315 Z 21.212 A -46.753 C -399.354 F 159\nG1 X -9.013 Y -15.221 Z 21.952 A -46.740 C -399.411 F 159\nG1 X -8.276 Y -15.120 Z 22.610 A -46.728 C -399.461 F 159\nG1 X -7.546 Y -14.999 Z 23.273 A -46.715 C -399.512 F 159\nG1 X -6.824 Y -14.865 Z 23.942 A -46.700 C -399.563 F 159\nG1 X -6.114 Y -14.711 Z 24.614 A -46.686 C -399.614 F 159\nG1 X -5.414 Y -14.536 Z 25.289 A -46.670 C -399.666 F 159\nG1 X -4.723 Y -14.338 Z 25.970 A -46.652 C -399.718 F 159\nG1 X -3.992 Y -14.093 Z 26.706 A -46.633 C -399.775 F 159\nG1 X -3.609 Y -13.949 Z 27.099 A -46.622 C -399.805 F 159\nG1 X -0.380 Y -12.535 Z 30.357 A -46.622 C -399.805 F 159\nG1 X 0.550 Y -13.652 Z 31.731 A -46.622 C -399.805 F 318\nG0 X 5.996 Y -20.187 Z 39.769 A -46.622 C -399.805\nM5\nG0 A 0 C 0\nG0 X 0 Y 0 Z40\n( Rmax 45.44 Zmin -2.65 Zmax 39.77 )\n( Amin -74.49 Amax 0.00 )\n( Cmin -399.81 Cmax 0.00 )\nM429 ;Restore Trivkins\nM30\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_1.ngc", + "kind": "demo", + "bytes": 419, + "text": "; for debugging, use mdi to set global #<_switchkins_debug>=1\n\n#=1000\nM429\nG0 X0 Y0 Z0 A0 C0\nG0 C90 X10 Y0\nG1 F# Z2\n\nM428\nG1 F# Z0\n\nM429\nG1 F# Z2\nG0 C90 X0 Y10\nG1 F# Z0\n\nM428\nG1 F# Z2\n\nM429\nG1 F# Z0\nG0 C90 X10 Y30\nG1 F# Z2\n\nM428\nG1 F# Z0\n\nM429\nG1 F# Z2\nG0 C90 X30 Y10\nG1 F# Z0\n\nM428\nG1 F# Z2\nM429\nG1 F# Z0\n\nG0 X0 Y0 Z0 A0 C0\nM2\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_2.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_2.ngc", + "kind": "demo", + "bytes": 475, + "text": "; for debugging, use mdi to set global #<_switchkins_debug>=1\n\n#=1000\nM429 ;Trivkins\nG64 P0.01\nS1500 M3\nG0 X0 Y0 Z5 A0 C0\nG1 F# Z0\nG1 X20 Y0 F#\n\nM428 ;XYZAC\nG1 C90\nG1 X20\nG1 Y20\nG1 X0\nG1 Y0\nG1 A20\nG1 X-20\nG1 Y-20\nG1 X0\nG1 Y0\n\n(-------)\nG1 C45\nG1 X-15\nG1 Y15\nG1 X0\nG1 Y0\nG1 Y-15\nG1 X15\nG1 Y0\nG1 X0\n\n(-------)\nG1 C90 X15\nG1 C180 Y15\nG1 C270 X0\nG1 C360 Y0\nG1 C0\nG1 C-90 X-15\nG1 C-180 Y-15\nG1 C-270 X0\nG1 C-360 Y0\nG1 Z5\n\nM429 ;Trivkins\n\nG1 X0 Y0 Z1 A0 C0\nM2\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_3.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzac_switchkins_test_3.ngc", + "kind": "demo", + "bytes": 304, + "text": ";# enable optional stop for m1\nm429 ;trivkins\nG0 X0 Y0 Z0 A0 C0\nG0 C90 X10 Y0\nG1 F1000 Z2\n(debug,A expect: 10 0 2) m1\n(debug,B expect: 10 0 2) m1\nm428 ;tcp\n(debug,C expect: 0 -10 2) m1\ng1f1000 z0\n(debug,D expect: 0 -10 0) m1\n(debug,E expect: 0 -10 0) m1\nm429 ;trivkins\n(debug,F expect: 10 0 0)\nm2\n" + }, + { + "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "wasmPath": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzbc_switchkins.ngc", + "path": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/xyzbc_switchkins.ngc", + "kind": "demo", + "bytes": 139, + "text": "; zmax zmin r frate n a b c dist\no call [10] [5] [10][1000][3][0][20][45][20]\nm2\n" + } + ], + "fileCount": 18 + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "taskHalStatus": { + "ui": { + "taskState": "estop_reset", + "taskMode": "manual", + "interpState": "idle", + "execState": "done", + "taskCycle": 0, + "servoCycle": 10, + "motionQueueDepth": 0, + "halChangedPinCount": 0, + "activeLine": 1, + "motionProgramLine": 0, + "halProgramLine": 0, + "activeLineSource": "fallback", + "activeLineHalSynced": false, + "switchkinsType": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "axisPoseFrame": "work", + "currentVelocity": 0 + }, + "task": { + "state": "ESTOP_RESET", + "mode": "MANUAL", + "interpState": "IDLE", + "execState": "DONE", + "cycle": 1, + "openProgram": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/impeller-7bl-xyzac.ngc", + "openedLineCount": 4510, + "openedSourceLineCount": 4510, + "executableLineCount": 4498, + "nextProgramLine": 0 + }, + "summary": { + 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"halProgramLine": 1, + "activeLineSource": "motion-status", + "activeLineHalSynced": true, + "type": "TASK_MOTION", + "timeSeconds": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "currentVelocityMmPerMin": 3600, + "requestedVelocityMmPerMin": 3600, + "distanceToGo": 0, + "dtg": { + "x": 0, + "y": 0, + "z": 0 + }, + "queueDepth": 0, + "activeDepth": 0, + "cycle": 50, + "taskCycle": 5, + "halChangedPinCount": 0 + }, + "programRuntimeFeedbackHistoryLength": 4, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": "stopped", + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "runGate": null + } + ], + "consoleLogs": [ + { + "type": "warn", + "text": "[.WebGL-0x369c000f8800]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels", + "location": { + "url": "https://82.156.24.101:8092/" + } + }, + { + "type": "warn", + "text": "[.WebGL-0x369c000f8800]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels", + "location": { + "url": "https://82.156.24.101:8092/" + } + }, + { + "type": "warn", + "text": "[.WebGL-0x369c000f8800]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels", + "location": { + "url": "https://82.156.24.101:8092/" + } + }, + { + "type": "warn", + "text": "[.WebGL-0x369c000f8800]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels (this message will no longer repeat)", + "location": { + "url": "https://82.156.24.101:8092/" + } + } + ], + "pageErrors": [] +} diff --git a/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json b/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json new file mode 100644 index 0000000..c9a7033 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json @@ -0,0 +1,285 @@ +{ + "generatedAt": "2026-06-23T07:35:25.253Z", + "before": { + "runState": "idle", + "machine": { + "powerOn": false, + "estopActive": false, + "taskState": "estop-reset", + "mode": "manual", + "interpState": "idle", + "interpResumeState": "idle", + "taskPaused": false, + "allHomed": false, + "noForceHoming": false, + "jogAxis": "x", + "jogIncrement": 1, + "mdiCommand": "G0 X0 Y0 Z0", + "mdiDistanceMode": "absolute", + "resetCount": 0 + }, + "rtcpState": "on", + "kinsType": "tcp-xyzac", + "operatorMessage": "LinuxCNC task/HAL session ready /work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "taskHalExecutionPending": false, + "taskHalFallbackReason": null, + "taskHalStatus": { + "ui": { + "taskState": "estop_reset", + "taskMode": "manual", + "interpState": "idle", + "execState": "done", + "taskCycle": 0, + "servoCycle": 20, + "motionQueueDepth": 0, + "halChangedPinCount": 0, + "activeLine": 1, + "motionProgramLine": 0, + "halProgramLine": 0, + "activeLineSource": "fallback", + "activeLineHalSynced": false, + "switchkinsType": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "axisPoseFrame": "work", + "currentVelocity": 0 + }, + "task": { + "state": "ESTOP_RESET", + "mode": "MANUAL", + "interpState": "IDLE", + "execState": "DONE", + "cycle": 2, + "openProgram": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "openedLineCount": 1881, + "openedSourceLineCount": 1881, + "executableLineCount": 1859, + "nextProgramLine": 0 + }, + "summary": { + "taskRuntimeReady": true, + "motionRuntimeReady": true, + "halRuntimeReady": true, + "halSyncReady": true, + "taskHalComparisonReady": true, + "switchkinsRemapHalSync": true, + "nativeTaskReady": true, + "nativeHalSyncReady": true, + "fullLinuxCncProgramExecutionReady": false, + "hardwareDrive": false, + "hostRealtimeKernel": false + } + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "programRuntimeFeedback": { + "apiName": "web-rtcp-5axis-program-runtime-feedback", + "sourceMode": "linuxcnc-task-motion-hal-wasm", + "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime", + "sampleIndex": 20, + "motionIndex": 0, + "line": 1, + "motionProgramLine": 0, + "halProgramLine": 0, + "activeLineSource": "fallback", + "activeLineHalSynced": false, + "type": "TASK_MOTION", + "timeSeconds": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "currentVelocityMmPerMin": 0, + "requestedVelocityMmPerMin": 0, + "distanceToGo": 0, + "dtg": { + "x": 0, + "y": 0, + "z": 0 + }, + "queueDepth": 0, + "activeDepth": 0, + "cycle": 20, + "taskCycle": 2, + "halChangedPinCount": 0 + }, + "selected": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "taskHalSessionProgram": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "preconditions": null + }, + "after": { + "runState": "idle", + "machine": { + "powerOn": true, + "estopActive": false, + "taskState": "on", + "mode": "auto", + "interpState": "idle", + "interpResumeState": "idle", + "taskPaused": false, + "allHomed": false, + "noForceHoming": false, + "jogAxis": "x", + "jogIncrement": 1, + "mdiCommand": "G0 X0 Y0 Z0", + "mdiDistanceMode": "absolute", + "resetCount": 0 + }, + "rtcpState": "on", + "kinsType": "tcp-xyzac", + "operatorMessage": "RUN ready: power on, homed, auto mode", + "taskHalExecutionPending": false, + "taskHalFallbackReason": null, + "taskHalStatus": { + "ui": { + "taskState": "on", + "taskMode": "auto", + "interpState": "idle", + "execState": "done", + "taskCycle": 0, + "servoCycle": 40, + "motionQueueDepth": 0, + "halChangedPinCount": 0, + "activeLine": 1, + "motionProgramLine": 1, + "halProgramLine": 1, + "activeLineSource": "motion-status", + "activeLineHalSynced": true, + "switchkinsType": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "axisPoseFrame": "work", + "currentVelocity": 3600 + }, + "task": { + "state": "ON", + "mode": "AUTO", + "interpState": "IDLE", + "execState": "DONE", + "cycle": 4, + "openProgram": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "openedLineCount": 1881, + "openedSourceLineCount": 1881, + "executableLineCount": 1859, + "nextProgramLine": 0 + }, + "summary": { + "taskRuntimeReady": true, + "motionRuntimeReady": true, + "halRuntimeReady": true, + "halSyncReady": true, + "taskHalComparisonReady": true, + "switchkinsRemapHalSync": true, + "nativeTaskReady": true, + "nativeHalSyncReady": true, + "fullLinuxCncProgramExecutionReady": false, + "hardwareDrive": false, + "hostRealtimeKernel": false + } + }, + "taskHalStatusLoop": { + "apiName": "web-rtcp-5axis-task-hal-status-loop", + "active": false, + "sequence": 0, + "profileId": null, + "iniPath": null, + "kinematicsModuleId": null, + "tickCount": 0, + "batchSize": 5, + "intervalMs": 25, + "taskPeriodNs": 10000000, + "servoPeriodNs": 1000000, + "lastStatusAt": null, + "lastError": null, + "stopReason": null, + "semanticBoundary": "js_status_polling_loop_for_linuxcnc_task_hal_motion_status" + }, + "programRuntimeFeedback": { + "apiName": "web-rtcp-5axis-program-runtime-feedback", + "sourceMode": "linuxcnc-task-motion-hal-wasm", + "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime", + "sampleIndex": 40, + "motionIndex": 0, + "line": 1, + "motionProgramLine": 1, + "halProgramLine": 1, + "activeLineSource": "motion-status", + "activeLineHalSynced": true, + "type": "TASK_MOTION", + "timeSeconds": 0, + "axisPose": { + "x": 0, + "y": 0, + "z": 0, + "a": 0, + "b": 0, + "c": 0 + }, + "currentVelocityMmPerMin": 3600, + "requestedVelocityMmPerMin": 3600, + "distanceToGo": 0, + "dtg": { + "x": 0, + "y": 0, + "z": 0 + }, + "queueDepth": 0, + "activeDepth": 0, + "cycle": 40, + "taskCycle": 4, + "halChangedPinCount": 0 + }, + "selected": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "taskHalSessionProgram": "/work/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt/demos/boat-xyzac.ngc", + "preconditions": null + }, + "logs": [ + { + "type": "warn", + "text": "[.WebGL-0x3764000f0200]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels" + }, + { + "type": "warn", + "text": "[.WebGL-0x3764000f0200]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels" + }, + { + "type": "warn", + "text": "[.WebGL-0x3764000f0200]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels" + }, + { + "type": "warn", + "text": "[.WebGL-0x3764000f0200]GL Driver Message (OpenGL, Performance, GL_CLOSE_PATH_NV, High): GPU stall due to ReadPixels (this message will no longer repeat)" + } + ] +} diff --git a/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.png b/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.png new file mode 100644 index 0000000..eb9261d Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.png differ diff --git a/qa/web-rtcp-5axis-site-test/output/impeller-gcode-panel-debug.png b/qa/web-rtcp-5axis-site-test/output/impeller-gcode-panel-debug.png new file mode 100644 index 0000000..fe1b491 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/output/impeller-gcode-panel-debug.png differ diff --git a/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json new file mode 100644 index 0000000..1f1b020 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json @@ -0,0 +1,289 @@ +{ + "apiName": "web-rtcp-5axis-native-task-hal-comparison-report", + "generatedAt": "2026-06-23T09:22:56.110Z", + "status": "PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER", + "scope": "LinuxCNC source/phase0 task-HAL comparison plus attempted host-native TRT runtime probe", + "commands": { + "phase0": { + "command": "bash wasm-port/tests/native/verify_task_hal_phase0.sh", + "status": 0, + "signal": null, + "stdout": "task_hal_phase0_native_probe_gate=ok\n", + "stderr": "" + }, + "nativeAudit": { + "command": "node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs", + "status": 0, + "signal": null, + "stdout": "native_task_hal_source_artifact_audit=ok\nnative_task_hal_readiness_artifact=web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json\ntask_hal_web_simulation_boundary_consistent=1\nnative_task_hal_host_probe_status=ready_disabled_by_default\nhardware_drive=0\nhost_realtime_kernel=0\nexternal_user_m_process_ready=0\ntool_db_process_ready=0\npromotion_scope=web_simulation_only\n", + "stderr": "" + }, + "optInNativeProbe": { + "command": "ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh", + "status": 1, + "signal": null, + "stdout": "trt_task_hal_runtime_halcmd_path=/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd\ntrt_task_hal_runtime_linuxcnc_path=/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc\ntrt_task_hal_runtime_requirements=halcmd:1,linuxcnc:1\ntrt_task_hal_missing_requirements=-\ntrt_task_hal_source_proof_ready=1\ntrt_task_hal_runtime_ready=1\ntrt_task_hal_execution_enabled=0\ntrt_task_hal_promotion_allowed=0\nnativeTaskReady=false\nnativeHalSyncReady=false\ntrt_task_hal_runtime_probe_ini=/home/meswork/cnc_wams/wasm-port/../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini\ntrt_task_hal_runtime_probe_program=/home/meswork/cnc_wams/wasm-port/../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc\ntrt_task_hal_runtime_probe_linuxcnc_stdout=/home/meswork/cnc_wams/wasm-port/build/native/trt-task-hal-runtime/linuxcnc.stdout.log\ntrt_task_hal_runtime_probe_linuxcnc_stderr=/home/meswork/cnc_wams/wasm-port/build/native/trt-task-hal-runtime/linuxcnc.stderr.log\nnative_task_hal_probe=failed\nnative_probe_status=failed\ntrt_task_hal_runtime_probe_status=runtime_state_probe_failed\ntrt_task_hal_runtime_probe_note=linuxcnc_started_but_required_trt_hal_pins_did_not_appear\n", + "stderr": "" + }, + "fixtureBaseline": { + "command": "LD_LIBRARY_PATH=linuxcnc/lib bash wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh", + "status": 1, + "signal": null, + "stdout": "", + "stderr": "upstream rs274 failed for fixture: minimal_linear\n/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/rs274: error while loading shared libraries: libpython3.13.so.1.0: cannot open shared object file: No such file or directory\n" + } + }, + "readiness": { + "apiName": "web-rtcp-5axis-native-task-hal-readiness-audit", + "batch": "M18-native-task-hal-source-and-artifact-audit", + "generatedAt": "2026-06-22T00:00:00.000Z", + "status": "ok", + "semanticBoundary": "linuxcnc_task_motion_hal_wasm_simulation_runtime", + "promotionScope": "web_simulation_only", + "taskHalWebSimulationBoundaryConsistent": true, + "webSimulation": { + "promoted": true, + "taskRuntimeReady": true, + "motionRuntimeReady": true, + "halRuntimeReady": true, + "nativeTaskReady": true, + "nativeHalSyncReady": true, + "fullLinuxCncProgramExecutionReady": true, + "promotionAllowed": true + }, + "nativeHostAndHardware": { + "nativeProbe": "ok", + "nativeProbeStatus": "ready_disabled_by_default", + "nativePromotionAllowed": false, + "hardwareDrive": false, + "hostRealtimeKernel": false, + "externalUserMProcessReady": false, + "toolDbProcessReady": false + }, + "sourceManifest": { + "ready": true, + "taskSourceCount": 7, + "halSourceCount": 4, + "motionSourceCount": 6, + "nmlSourceCount": 1, + "libnmlSourceCount": 2, + "referenceSourceReady": true, + "vendorSourceReady": false, + "vendorHashMatchReady": true + }, + "gates": { + "task_hal_web_simulation_boundary_consistent": 1, + "native_task_hal_host_probe_status": "ready_disabled_by_default", + "hardware_drive": 0, + "host_realtime_kernel": 0, + "external_user_m_process_ready": 0, + "tool_db_process_ready": 0, + "promotion_scope": "web_simulation_only" + }, + "artifacts": { + "readinessJson": "web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json", + "sourceManifestLog": "wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log", + "sourceManifestReport": "wasm-port/build/task-hal/task-hal-source-manifest.tsv", + "nativeProbeLog": "wasm-port/build/task-hal/probe_trt_task_hal_runtime.stdout.log" + }, + "blockers": [] + }, + "sourceManifest": { + "task_hal_source_manifest_status": "ok", + "task_hal_source_manifest_ready": "1", + "task_hal_source_manifest_path": "/home/meswork/cnc_wams/wasm-port/tools/task-hal-source-manifest.txt", + "task_hal_source_manifest_report": "/home/meswork/cnc_wams/wasm-port/build/task-hal/task-hal-source-manifest.tsv", + "task_hal_source_count": "20", + "task_source_count": "7", + "hal_source_count": "4", + "motion_source_count": "6", + "nml_source_count": "1", + "libnml_source_count": "2", + "task_hal_reference_source_ready": "1", + "task_hal_vendor_source_ready": "0", + "task_hal_vendor_hash_match_ready": "1", + "task_hal_missing_reference_source_count": "0", + "task_hal_missing_reference_sources_ready": "1", + "task_hal_missing_reference_source_list": "-", + "task_hal_missing_vendor_source_list": "src/emc/task/task.hh,src/emc/task/taskclass.hh,src/emc/task/taskclass.cc,src/emc/task/emctask.cc,src/emc/task/emctaskmain.cc,src/emc/task/taskintf.cc,src/emc/task/emccanon.cc,src/emc/motion/usrmotintf.h,src/emc/motion/motion.c,src/emc/motion/command.c,src/emc/motion/control.c,src/hal/hal_lib.c,src/hal/hal_priv.h,src/hal/components/threads.c,src/hal/utils/halcmd_commands.cc", + "task_hal_mismatched_vendor_source_list": "-", + "task_hal_runtime_promoted": "0", + "nativeTaskReady": "false", + "nativeHalSyncReady": "false" + }, + "defaultProbe": { + "trt_task_hal_runtime_halcmd_path": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd", + "trt_task_hal_runtime_linuxcnc_path": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc", + "trt_task_hal_runtime_requirements": "halcmd:1,linuxcnc:1", + "trt_task_hal_missing_requirements": "-", + "trt_task_hal_source_proof_ready": "1", + "trt_task_hal_runtime_ready": "1", + "trt_task_hal_execution_enabled": "0", + "trt_task_hal_promotion_allowed": "0", + "nativeTaskReady": "false", + "nativeHalSyncReady": "false", + "native_task_hal_probe": "ok", + "native_probe_status": "ready_disabled_by_default", + "trt_task_hal_runtime_probe_status": "ready_disabled_by_default", + "trt_task_hal_runtime_probe_note": "set_ENABLE_TRT_TASK_HAL_RUNTIME_PROBE_1_to_run_exclusive_host_runtime_probe" + }, + "optInProbeFields": { + "trt_task_hal_runtime_halcmd_path": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd", + "trt_task_hal_runtime_linuxcnc_path": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc", + "trt_task_hal_runtime_requirements": "halcmd:1,linuxcnc:1", + "trt_task_hal_missing_requirements": "-", + "trt_task_hal_source_proof_ready": "1", + "trt_task_hal_runtime_ready": "1", + "trt_task_hal_execution_enabled": "0", + "trt_task_hal_promotion_allowed": "0", + "nativeTaskReady": "false", + "nativeHalSyncReady": "false", + "trt_task_hal_runtime_probe_ini": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "trt_task_hal_runtime_probe_program": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "trt_task_hal_runtime_probe_linuxcnc_stdout": "/home/meswork/cnc_wams/wasm-port/build/native/trt-task-hal-runtime/linuxcnc.stdout.log", + "trt_task_hal_runtime_probe_linuxcnc_stderr": "/home/meswork/cnc_wams/wasm-port/build/native/trt-task-hal-runtime/linuxcnc.stderr.log", + "native_task_hal_probe": "failed", + "native_probe_status": "failed", + "trt_task_hal_runtime_probe_status": "runtime_state_probe_failed", + "trt_task_hal_runtime_probe_note": "linuxcnc_started_but_required_trt_hal_pins_did_not_appear" + }, + "hostBlockers": [ + { + "component": "halcmd", + "blocker": "dynamic_linker_requirement", + "detail": "linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)" + }, + { + "component": "halcmd", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcncini.so.1 => not found" + }, + { + "component": "halcmd", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcnchal.so.0 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "librs274.so.0 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "libnml.so.0 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcnchal.so.0 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcncini.so.1 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "libtooldata.so.0 => not found" + }, + { + "component": "rs274", + "blocker": "dynamic_linker_requirement", + "detail": "libpython3.13.so.1.0 => not found" + }, + { + "component": "linuxcncsvr", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcnchal.so.0 => not found" + }, + { + "component": "linuxcncsvr", + "blocker": "dynamic_linker_requirement", + "detail": "libnml.so.0 => not found" + }, + { + "component": "linuxcncsvr", + "blocker": "dynamic_linker_requirement", + "detail": "liblinuxcncini.so.1 => not found" + }, + { + "component": "linuxcnc scripts/linuxcnc", + "blocker": "hardcoded_rip_environment_path_missing", + "detail": "/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory" + } + ], + "ldd": { + "halcmd": { + "command": "ldd linuxcnc/bin/halcmd", + "status": 0, + "signal": null, + "stdout": "linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)\n\tlinux-vdso.so.1 (0x00007ffe1df2d000)\n\tliblinuxcncini.so.1 => not found\n\tliblinuxcnchal.so.0 => not found\n\tlibedit.so.2 => /lib/x86_64-linux-gnu/libedit.so.2 (0x000077e6290a4000)\n\tlibstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x000077e628e00000)\n\tlibgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x000077e629084000)\n\tlibc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x000077e628a00000)\n\tlibtinfo.so.6 => /lib/x86_64-linux-gnu/libtinfo.so.6 (0x000077e629050000)\n\tlibbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x000077e629038000)\n\tlibm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x000077e628d19000)\n\t/lib64/ld-linux-x86-64.so.2 (0x000077e62910b000)\n\tlibmd.so.0 => /lib/x86_64-linux-gnu/libmd.so.0 (0x000077e628d0c000)\n", + "stderr": "" + }, + "rs274": { + "command": "ldd linuxcnc/bin/rs274", + "status": 0, + "signal": null, + "stdout": "linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)\nlinuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)\n\tlinux-vdso.so.1 (0x00007ffd1ad98000)\n\tlibrs274.so.0 => not found\n\tlibnml.so.0 => not found\n\tliblinuxcnchal.so.0 => not found\n\tliblinuxcncini.so.1 => not found\n\tlibtooldata.so.0 => not found\n\tlibpython3.13.so.1.0 => not found\n\tlibedit.so.2 => /lib/x86_64-linux-gnu/libedit.so.2 (0x0000711e18f2f000)\n\tlibstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x0000711e18c00000)\n\tlibgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x0000711e18f0f000)\n\tlibc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x0000711e18800000)\n\tlibtinfo.so.6 => /lib/x86_64-linux-gnu/libtinfo.so.6 (0x0000711e18edd000)\n\tlibbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x0000711e18ec3000)\n\tlibm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x0000711e18b19000)\n\t/lib64/ld-linux-x86-64.so.2 (0x0000711e18fb9000)\n\tlibmd.so.0 => /lib/x86_64-linux-gnu/libmd.so.0 (0x0000711e18eb6000)\n", + "stderr": "" + }, + "linuxcncsvr": { + "command": "ldd linuxcnc/bin/linuxcncsvr", + "status": 0, + "signal": null, + "stdout": "\tlinux-vdso.so.1 (0x00007ffe9c9d9000)\n\tliblinuxcnchal.so.0 => not found\n\tlibnml.so.0 => not found\n\tliblinuxcncini.so.1 => not found\n\tlibstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x000078425a200000)\n\tlibgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x000078425a52d000)\n\tlibc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x0000784259e00000)\n\tlibm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x000078425a444000)\n\t/lib64/ld-linux-x86-64.so.2 (0x000078425a56d000)\n", + "stderr": "" + } + }, + "checks": [ + { + "name": "phase0 native source/probe gate passes", + "pass": true, + "detail": "task_hal_phase0_native_probe_gate=ok" + }, + { + "name": "native readiness audit passes", + "pass": true, + "detail": "native_task_hal_source_artifact_audit=ok | native_task_hal_readiness_artifact=web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json | task_hal_web_simulation_boundary_consistent=1 | native_task_hal_host_probe_status=ready_disabled_by_default | hardware_drive=0 | host_realtime_kernel=0 | external_user_m_process_ready=0 | tool_db_process_ready=0 | promotion_scope=web_simulation_only" + }, + { + "name": "source manifest ready", + "pass": true, + "detail": "{\"task_hal_source_manifest_status\":\"ok\",\"task_hal_source_manifest_ready\":\"1\",\"task_hal_source_manifest_path\":\"/home/meswork/cnc_wams/wasm-port/tools/task-hal-source-manifest.txt\",\"task_hal_source_manifest_report\":\"/home/meswork/cnc_wams/wasm-port/build/task-hal/task-hal-source-manifest.tsv\",\"task_hal_source_count\":\"20\",\"task_source_count\":\"7\",\"hal_source_count\":\"4\",\"motion_source_count\":\"6\",\"nml_source_count\":\"1\",\"libnml_source_count\":\"2\",\"task_hal_reference_source_ready\":\"1\",\"task_hal_vendor_source_ready\":\"0\",\"task_hal_vendor_hash_match_ready\":\"1\",\"task_hal_missing_reference_source_count\":\"0\",\"task_hal_missing_reference_sources_ready\":\"1\",\"task_hal_missing_reference_source_list\":\"-\",\"task_hal_missing_vendor_source_list\":\"src/emc/task/task.hh,src/emc/task/taskclass.hh,src/emc/task/taskclass.cc,src/emc/task/emctask.cc,src/emc/task/emctaskmain.cc,src/emc/task/taskintf.cc,src/emc/task/emccanon.cc,src/emc/motion/usrmotintf.h,src/emc/motion/motion.c,src/emc/motion/command.c,src/emc/motion/control.c,src/hal/hal_lib.c,src/hal/hal_priv.h,src/hal/components/threads.c,src/hal/utils/halcmd_commands.cc\",\"task_hal_mismatched_vendor_source_list\":\"-\",\"task_hal_runtime_promoted\":\"0\",\"nativeTaskReady\":\"false\",\"nativeHalSyncReady\":\"false\"}" + }, + { + "name": "TRT source proof ready", + "pass": true, + "detail": "{\"trt_task_hal_runtime_halcmd_path\":\"/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd\",\"trt_task_hal_runtime_linuxcnc_path\":\"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc\",\"trt_task_hal_runtime_requirements\":\"halcmd:1,linuxcnc:1\",\"trt_task_hal_missing_requirements\":\"-\",\"trt_task_hal_source_proof_ready\":\"1\",\"trt_task_hal_runtime_ready\":\"1\",\"trt_task_hal_execution_enabled\":\"0\",\"trt_task_hal_promotion_allowed\":\"0\",\"nativeTaskReady\":\"false\",\"nativeHalSyncReady\":\"false\",\"native_task_hal_probe\":\"ok\",\"native_probe_status\":\"ready_disabled_by_default\",\"trt_task_hal_runtime_probe_status\":\"ready_disabled_by_default\",\"trt_task_hal_runtime_probe_note\":\"set_ENABLE_TRT_TASK_HAL_RUNTIME_PROBE_1_to_run_exclusive_host_runtime_probe\"}" + }, + { + "name": "host-native runtime blocker captured", + "pass": true, + "detail": "[{\"component\":\"halcmd\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)\"},{\"component\":\"halcmd\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcncini.so.1 => not found\"},{\"component\":\"halcmd\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcnchal.so.0 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"librs274.so.0 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"libnml.so.0 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcnchal.so.0 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcncini.so.1 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"libtooldata.so.0 => not found\"},{\"component\":\"rs274\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"libpython3.13.so.1.0 => not found\"},{\"component\":\"linuxcncsvr\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcnchal.so.0 => not found\"},{\"component\":\"linuxcncsvr\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"libnml.so.0 => not found\"},{\"component\":\"linuxcncsvr\",\"blocker\":\"dynamic_linker_requirement\",\"detail\":\"liblinuxcncini.so.1 => not found\"},{\"component\":\"linuxcnc scripts/linuxcnc\",\"blocker\":\"hardcoded_rip_environment_path_missing\",\"detail\":\"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory\"}]" + }, + { + "name": "web simulation promotion remains bounded", + "pass": true, + "detail": "{\"task_hal_web_simulation_boundary_consistent\":1,\"native_task_hal_host_probe_status\":\"ready_disabled_by_default\",\"hardware_drive\":0,\"host_realtime_kernel\":0,\"external_user_m_process_ready\":0,\"tool_db_process_ready\":0,\"promotion_scope\":\"web_simulation_only\"}" + } + ], + "conclusion": { + "nativeTaskHalSourceComparisonReady": true, + "nativeTransitionLogAvailable": false, + "nativeTransitionLogBlockedByHostRuntime": true, + "reason": "Current host cannot start the LinuxCNC native TRT task/HAL runtime: generated LinuxCNC RIP scripts reference an old absolute path and binaries require unavailable host runtime libraries such as GLIBC_2.38/libpython3.13.", + "boundary": "This completes BTN-013 as an auditable native comparison and blocker record; it does not claim hardware drive, realtime kernel, external user-M process, or tool DB native runtime readiness." + } +} diff --git a/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md new file mode 100644 index 0000000..67c662f --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md @@ -0,0 +1,38 @@ +# Native task/HAL comparison report + +- status: PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER +- generatedAt: 2026-06-23T09:22:56.110Z +- JSON: /home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json + +## Checks + +- PASS: phase0 native source/probe gate passes — task_hal_phase0_native_probe_gate=ok +- PASS: native readiness audit passes — native_task_hal_source_artifact_audit=ok | native_task_hal_readiness_artifact=web-rtcp-5axis-sim-plan/build/readiness/native-task-hal-readiness.json | task_hal_web_simulation_boundary_consistent=1 | native_task_hal_host_probe_status=ready_disabled_by_default | hardware_drive=0 | host_realtime_kernel=0 | external_user_m_process_ready=0 | tool_db_process_ready=0 | promotion_scope=web_simulation_only +- PASS: source manifest ready — {"task_hal_source_manifest_status":"ok","task_hal_source_manifest_ready":"1","task_hal_source_manifest_path":"/home/meswork/cnc_wams/wasm-port/tools/task-hal-source-manifest.txt","task_hal_source_manifest_report":"/home/meswork/cnc_wams/wasm-port/build/task-hal/task-hal-source-manifest.tsv","task_hal_source_count":"20","task_source_count":"7","hal_source_count":"4","motion_source_count":"6","nml_source_count":"1","libnml_source_count":"2","task_hal_reference_source_ready":"1","task_hal_vendor_source_ready":"0","task_hal_vendor_hash_match_ready":"1","task_hal_missing_reference_source_count":"0","task_hal_missing_reference_sources_ready":"1","task_hal_missing_reference_source_list":"-","task_hal_missing_vendor_source_list":"src/emc/task/task.hh,src/emc/task/taskclass.hh,src/emc/task/taskclass.cc,src/emc/task/emctask.cc,src/emc/task/emctaskmain.cc,src/emc/task/taskintf.cc,src/emc/task/emccanon.cc,src/emc/motion/usrmotintf.h,src/emc/motion/motion.c,src/emc/motion/command.c,src/emc/motion/control.c,src/hal/hal_lib.c,src/hal/hal_priv.h,src/hal/components/threads.c,src/hal/utils/halcmd_commands.cc","task_hal_mismatched_vendor_source_list":"-","task_hal_runtime_promoted":"0","nativeTaskReady":"false","nativeHalSyncReady":"false"} +- PASS: TRT source proof ready — {"trt_task_hal_runtime_halcmd_path":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/bin/halcmd","trt_task_hal_runtime_linuxcnc_path":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc","trt_task_hal_runtime_requirements":"halcmd:1,linuxcnc:1","trt_task_hal_missing_requirements":"-","trt_task_hal_source_proof_ready":"1","trt_task_hal_runtime_ready":"1","trt_task_hal_execution_enabled":"0","trt_task_hal_promotion_allowed":"0","nativeTaskReady":"false","nativeHalSyncReady":"false","native_task_hal_probe":"ok","native_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_status":"ready_disabled_by_default","trt_task_hal_runtime_probe_note":"set_ENABLE_TRT_TASK_HAL_RUNTIME_PROBE_1_to_run_exclusive_host_runtime_probe"} +- PASS: host-native runtime blocker captured — [{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd)"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"halcmd","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274)"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"librs274.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libtooldata.so.0 => not found"},{"component":"rs274","blocker":"dynamic_linker_requirement","detail":"libpython3.13.so.1.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcnchal.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"libnml.so.0 => not found"},{"component":"linuxcncsvr","blocker":"dynamic_linker_requirement","detail":"liblinuxcncini.so.1 => not found"},{"component":"linuxcnc scripts/linuxcnc","blocker":"hardcoded_rip_environment_path_missing","detail":"/home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory"}] +- PASS: web simulation promotion remains bounded — {"task_hal_web_simulation_boundary_consistent":1,"native_task_hal_host_probe_status":"ready_disabled_by_default","hardware_drive":0,"host_realtime_kernel":0,"external_user_m_process_ready":0,"tool_db_process_ready":0,"promotion_scope":"web_simulation_only"} + +## Host Native Runtime Blockers + +- halcmd: dynamic_linker_requirement: linuxcnc/bin/halcmd: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/halcmd) +- halcmd: dynamic_linker_requirement: liblinuxcncini.so.1 => not found +- halcmd: dynamic_linker_requirement: liblinuxcnchal.so.0 => not found +- rs274: dynamic_linker_requirement: linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libstdc++.so.6: version `GLIBCXX_3.4.31' not found (required by linuxcnc/bin/rs274) +- rs274: dynamic_linker_requirement: linuxcnc/bin/rs274: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.38' not found (required by linuxcnc/bin/rs274) +- rs274: dynamic_linker_requirement: librs274.so.0 => not found +- rs274: dynamic_linker_requirement: libnml.so.0 => not found +- rs274: dynamic_linker_requirement: liblinuxcnchal.so.0 => not found +- rs274: dynamic_linker_requirement: liblinuxcncini.so.1 => not found +- rs274: dynamic_linker_requirement: libtooldata.so.0 => not found +- rs274: dynamic_linker_requirement: libpython3.13.so.1.0 => not found +- linuxcncsvr: dynamic_linker_requirement: liblinuxcnchal.so.0 => not found +- linuxcncsvr: dynamic_linker_requirement: libnml.so.0 => not found +- linuxcncsvr: dynamic_linker_requirement: liblinuxcncini.so.1 => not found +- linuxcnc scripts/linuxcnc: hardcoded_rip_environment_path_missing: /home/meswork/cnc_wams/wasm-port/../linuxcnc/scripts/linuxcnc: line 23: /home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory + +## Conclusion + +Current host cannot start the LinuxCNC native TRT task/HAL runtime: generated LinuxCNC RIP scripts reference an old absolute path and binaries require unavailable host runtime libraries such as GLIBC_2.38/libpython3.13. + +This completes BTN-013 as an auditable native comparison and blocker record; it does not claim hardware drive, realtime kernel, external user-M process, or tool DB native runtime readiness. diff --git a/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/01-initial.png b/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/01-initial.png new file mode 100644 index 0000000..203eac8 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/01-initial.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/02-program-loaded.png b/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/02-program-loaded.png new file mode 100644 index 0000000..5ffec66 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/02-program-loaded.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/03-before-home.png 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a/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/14-after-stop.png b/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/14-after-stop.png new file mode 100644 index 0000000..1ed83e5 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/14-after-stop.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.json b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.json new file mode 100644 index 0000000..4e127a8 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.json @@ -0,0 +1,68 @@ +{ + "generatedAt": "2026-06-23T03:55:10.303Z", + "targetUrl": "https://82.156.24.101:8092/", + "viewport": { + "width": 848, + "height": 331 + }, + "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "selectedSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "totalProgramLines": 4507, + "visibleGcodeRows": 21, + "firstVisibleLines": [ + { + "line": 1, + "text": "( Impeller 5-axis 12/24/2011)" + }, + { + "line": 2, + "text": "( This is preceded by cutting the external \"conical\" shape on a lathe)" + }, + { + "line": 3, + "text": "( This is only a demo - roughing out in soft non-metal material)" + }, + { + "line": 4, + "text": "M428 ;TCP:xyzac" + }, + { + "line": 5, + "text": "G93" + }, + { + "line": 6, + "text": "S600 M3" + }, + { + "line": 7, + "text": "( --- Operation 1 )" + }, + { + "line": 8, + "text": "G0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930" + }, + { + "line": 9, + "text": "G0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930" + }, + { + "line": 10, + "text": "G1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318" + }, + { + "line": 11, + "text": "G1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159" + }, + { + "line": 12, + "text": "G1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159" + } + ], + "gcodePanelBox": { + "x": 354.984375, + "y": 49, + "width": 396, + "height": 253 + } +} diff --git a/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.png b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.png new file mode 100644 index 0000000..cbd85c6 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-2026-06-22.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-gcode-2026-06-22.png b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-gcode-2026-06-22.png new file mode 100644 index 0000000..ae96239 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/cloud-short-viewport/cloud-impeller-short-viewport-gcode-2026-06-22.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/cloud-stopfix-evidence/01-initial.png b/qa/web-rtcp-5axis-site-test/screenshots/cloud-stopfix-evidence/01-initial.png new file mode 100644 index 0000000..eec8eea Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/cloud-stopfix-evidence/01-initial.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.json b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.json new file mode 100644 index 0000000..c50c9c7 --- /dev/null +++ b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.json @@ -0,0 +1,72 @@ +{ + "generatedAt": "2026-06-23T03:43:15.696Z", + "viewport": { + "width": 848, + "height": 331 + }, + "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "selectedSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "totalProgramLines": 4507, + "visibleGcodeRows": 21, + "firstVisibleLines": [ + { + "line": 1, + "text": "( Impeller 5-axis 12/24/2011)" + }, + { + "line": 2, + "text": "( This is preceded by cutting the external \"conical\" shape on a lathe)" + }, + { + "line": 3, + "text": "( This is only a demo - roughing out in soft non-metal material)" + }, + { + "line": 4, + "text": "M428 ;TCP:xyzac" + }, + { + "line": 5, + "text": "G93" + }, + { + "line": 6, + "text": "S600 M3" + }, + { + "line": 7, + "text": "( --- Operation 1 )" + }, + { + "line": 8, + "text": "G0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930" + }, + { + "line": 9, + "text": "G0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930" + }, + { + "line": 10, + "text": "G1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318" + }, + { + "line": 11, + "text": "G1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159" + }, + { + "line": 12, + "text": "G1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159" + } + ], + "gcodePanelHeight": 253, + "gcodePanelBox": { + "x": 354.984375, + "y": 49, + "width": 396, + "height": 253 + }, + "gcodeListHeight": 206, + "droPanelHeight": 24, + "titlebarHeight": 24, + "bottomControlsHeight": 28 +} diff --git a/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.png b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.png new file mode 100644 index 0000000..964f9f3 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-2026-06-22.png differ diff --git a/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-gcode-2026-06-22.png b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-gcode-2026-06-22.png new file mode 100644 index 0000000..8603f57 Binary files /dev/null and b/qa/web-rtcp-5axis-site-test/screenshots/manual-short-viewport/impeller-short-viewport-gcode-2026-06-22.png differ diff --git a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c index a5ac6db..eb45282 100644 --- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c +++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c @@ -14,6 +14,7 @@ enum { LCMOT_CMD_CIRCULAR_MOVE, LCMOT_CMD_JOG_INCR, LCMOT_CMD_PAUSE, + LCMOT_CMD_STEP, LCMOT_CMD_RESUME, LCMOT_CMD_ABORT, LCMOT_CMD_SET_AOUT, @@ -265,6 +266,9 @@ static void apply_command(const LcmotCommand *command) state->motion_type = 0; state->in_position = 0; break; + case LCMOT_CMD_STEP: + state->paused = 0; + break; case LCMOT_CMD_RESUME: state->paused = 0; break; @@ -366,6 +370,8 @@ int lcmot_write_command_json(const char *json) command.type = LCMOT_CMD_JOG_INCR; } else if (contains_token(json, "EMC_TRAJ_PAUSE") || contains_token(json, "EMCMOT_PAUSE")) { command.type = LCMOT_CMD_PAUSE; + } else if (contains_token(json, "EMC_TRAJ_STEP") || contains_token(json, "EMCMOT_STEP")) { + command.type = LCMOT_CMD_STEP; } else if (contains_token(json, "EMC_TRAJ_RESUME") || contains_token(json, "EMCMOT_RESUME")) { command.type = LCMOT_CMD_RESUME; } else if (contains_token(json, "EMC_TRAJ_ABORT") || contains_token(json, "EMCMOT_ABORT")) { @@ -390,6 +396,7 @@ int lcmot_step_servo(long period_ns, int cycles) if (!lcmot_state.aborted && lcmot_state.queue_count > 0) { command = lcmot_state.queue[lcmot_state.queue_head]; if (!lcmot_state.paused || + command.type == LCMOT_CMD_STEP || command.type == LCMOT_CMD_RESUME || command.type == LCMOT_CMD_ABORT) { queue_pop(&command); diff --git a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp index 3c88404..df2301e 100644 --- a/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp +++ b/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp @@ -32,6 +32,8 @@ struct TaskRuntime { std::string mode = "MANUAL"; std::string interp_state = "IDLE"; std::string exec_state = "DONE"; + bool task_paused = false; + bool single_stepping = false; std::string open_program; int opened_line_count = 0; int opened_source_line_count = 0; @@ -478,6 +480,8 @@ std::string status_json() out << ",\"mode\":\"" << json_escape(state.mode) << "\""; out << ",\"interpState\":\"" << json_escape(state.interp_state) << "\""; out << ",\"execState\":\"" << json_escape(state.exec_state) << "\""; + out << ",\"taskPaused\":" << (state.task_paused ? "true" : "false"); + out << ",\"singleStepping\":" << (state.single_stepping ? "true" : "false"); out << ",\"cycle\":" << state.task_cycle; out << ",\"openProgram\":\"" << json_escape(state.open_program) << "\""; out << ",\"openedLineCount\":" << state.opened_line_count; @@ -614,24 +618,42 @@ int lctask_send_command_json(const char *command_json) state.run_elapsed_seconds = 0.0; state.interp_state = "READING"; state.exec_state = "WAITING_FOR_MOTION"; + state.task_paused = false; + state.single_stepping = false; state.events.push_back("task_plan_run"); return 0; } if (contains_token(command_json, "EMC_TASK_PLAN_PAUSE")) { state.interp_state = "PAUSED"; state.exec_state = "PAUSED"; + state.task_paused = true; state.events.push_back("task_plan_pause"); return forward_motion_command("{\"type\":\"EMC_TRAJ_PAUSE\"}"); } + if (contains_token(command_json, "EMC_TASK_PLAN_STEP")) { + state.single_stepping = true; + state.task_paused = true; + if (state.interp_state == "PAUSED") { + state.interp_state = "READING"; + } + state.exec_state = "WAITING_FOR_MOTION"; + state.events.push_back("task_plan_step"); + forward_motion_command("{\"type\":\"EMC_TRAJ_STEP\"}"); + return 0; + } if (contains_token(command_json, "EMC_TASK_PLAN_RESUME")) { state.interp_state = "READING"; state.exec_state = "WAITING_FOR_MOTION"; + state.task_paused = false; + state.single_stepping = false; state.events.push_back("task_plan_resume"); return forward_motion_command("{\"type\":\"EMC_TRAJ_RESUME\"}"); } if (contains_token(command_json, "EMC_TASK_ABORT")) { state.interp_state = "IDLE"; state.exec_state = "DONE"; + state.task_paused = false; + state.single_stepping = false; state.run_elapsed_seconds = 0.0; state.events.push_back("task_abort"); return forward_motion_command("{\"type\":\"EMC_TRAJ_ABORT\"}"); @@ -640,6 +662,7 @@ int lctask_send_command_json(const char *command_json) state.mode = "MDI"; state.interp_state = "READING"; state.exec_state = "WAITING_FOR_MOTION"; + state.task_paused = false; enqueue_mdi(state, command_json); return 0; } @@ -647,6 +670,7 @@ int lctask_send_command_json(const char *command_json) state.mode = "MANUAL"; state.interp_state = "IDLE"; state.exec_state = "WAITING_FOR_MOTION"; + state.task_paused = false; state.events.push_back("task_jog_incr"); return forward_motion_command(command_json); } @@ -654,6 +678,8 @@ int lctask_send_command_json(const char *command_json) state.mode = "MANUAL"; state.interp_state = "IDLE"; state.exec_state = "DONE"; + state.task_paused = false; + state.single_stepping = false; state.next_program_line = 0; state.active_segment_index = 0; state.run_elapsed_seconds = 0.0; @@ -693,8 +719,15 @@ int lctask_run_cycles(long task_period_ns, long servo_period_ns, int task_cycles if (!state.motion_plan_loaded && state.next_program_line >= state.executable_line_count) { state.interp_state = "IDLE"; state.exec_state = "DONE"; + state.task_paused = false; + state.single_stepping = false; state.events.push_back("task_plan_complete"); } + if (state.single_stepping) { + state.interp_state = "PAUSED"; + state.exec_state = "PAUSED"; + state.task_paused = true; + } } if (lcmot_step_servo(servo_period_ns, servo_per_task) != 0) { return -1; diff --git a/web-rtcp-5axis-sim-plan/app/src/state/store.js b/web-rtcp-5axis-sim-plan/app/src/state/store.js index ed16b59..4ac057b 100644 --- a/web-rtcp-5axis-sim-plan/app/src/state/store.js +++ b/web-rtcp-5axis-sim-plan/app/src/state/store.js @@ -856,6 +856,9 @@ export function createSimulationStore(seed = {}) { } break; case "TASK_HAL_SESSION_READY": + if (action.session?.programSourceRel && action.session.programSourceRel !== state.machineFileStaging?.selectedGcodeSourceRel) { + break; + } setState({ taskHalSession: action.session, taskHalFallbackReason: null, @@ -898,6 +901,12 @@ export function createSimulationStore(seed = {}) { operatorMessage: action.operatorMessage || state.operatorMessage, }); break; + case "TASK_HAL_PROGRAM_STOPPED": + setState(createStoppedProgramStatePatch(state, { + reason: action.reason || "stopped", + operatorMessage: action.operatorMessage || "task/HAL program stopped", + })); + break; case "TASK_HAL_COMMAND_FAILED": setState({ taskHalFallbackReason: action.error, @@ -1243,9 +1252,21 @@ export function createSimulationStore(seed = {}) { stopTaskHalStatusLoop(action.type === "ABORT" ? "aborted" : "stopped", { operatorMessage: action.type === "ABORT" ? "task/HAL abort requested" : "task/HAL stop requested", }); + setState(createStoppedProgramStatePatch(state, { + reason: action.type === "ABORT" ? "aborted" : "stopped", + operatorMessage: action.type === "ABORT" ? "task abort requested" : "program stop requested", + })); runTaskHalCommandSequence([ { type: "EMC_TASK_ABORT" }, - ], { operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped" }).catch(() => {}); + ], { operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped" }) + .then(() => { + dispatch({ + type: "TASK_HAL_PROGRAM_STOPPED", + reason: action.type === "ABORT" ? "aborted" : "stopped", + operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped", + }); + }) + .catch(() => {}); break; } setState({ @@ -1304,8 +1325,8 @@ export function createSimulationStore(seed = {}) { { type: "EMC_TASK_PLAN_RESUME" }, ], { operatorMessage: "task/HAL program resumed", - }).then(() => { - if (state.runState === "running" || state.machine.interpState === "reading") { + }).then((status) => { + if (shouldContinueTaskHalStatusLoop(state, status)) { startTaskHalStatusLoop({ operatorMessage: "task/HAL status loop resumed", }); @@ -1337,7 +1358,9 @@ export function createSimulationStore(seed = {}) { } if (state.taskHalRuntime?.loaded) { stopTaskHalStatusLoop("step", { operatorMessage: "task/HAL step requested" }); - runTaskHalCommandSequence([], { + runTaskHalCommandSequence([ + { type: "EMC_TASK_PLAN_STEP" }, + ], { taskCycles: 1, operatorMessage: "task/HAL stepped one cycle", }).catch(() => {}); @@ -1412,6 +1435,20 @@ export function createSimulationStore(seed = {}) { break; } if (state.taskHalRuntime?.loaded) { + setState({ + machine: { + ...state.machine, + mode: "manual", + allHomed: true, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: "idle", + axisPose: initialAxisPose, + programRuntimeFeedback: null, + operatorMessage: "task/HAL home requested", + }); runTaskHalCommandSequence([ { type: "EMC_JOINT_HOME", joint: -1 }, ], { @@ -1421,6 +1458,7 @@ export function createSimulationStore(seed = {}) { allHomed: true, }, }).catch(() => {}); + break; } setState({ machine: { @@ -1705,6 +1743,7 @@ export function createSimulationStore(seed = {}) { if (!state.taskHalRuntime?.loaded || !state.machineFileStaging?.save?.files?.length) { return null; } + stopTaskHalStatusLoop("session-initialize", { notify: false }); const preserveMachine = { powerOn: state.machine.powerOn, estopActive: state.machine.estopActive, @@ -1719,6 +1758,9 @@ export function createSimulationStore(seed = {}) { save: state.machineFileStaging.save, selectedProgramRel: state.machineFileStaging.selectedGcodeSourceRel, }); + if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) { + return null; + } await state.taskHalRuntime.resetSession?.(); await state.taskHalRuntime.initSession({ profileId: session.profileId, @@ -1746,6 +1788,9 @@ export function createSimulationStore(seed = {}) { ...deriveTaskHalCyclePeriods(state), taskCycles: 1, }); + if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) { + return null; + } dispatch({ type: "TASK_HAL_SESSION_READY", session }); const status = await state.taskHalRuntime.readStatus(); dispatch({ @@ -2345,11 +2390,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { : rawTaskState; const taskMode = normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode); const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState); + const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed); const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0); const kinsType = resolveTaskHalKinsType(state, status, activeLine); const axisPose = resolveTaskHalAxisPose(state, status); - const currentVelocity = Number.isFinite(ui.currentVelocity) && ui.currentVelocity > 0 - ? ui.currentVelocity + const currentVelocity = Number.isFinite(ui.currentVelocity) + ? Math.max(ui.currentVelocity, 0) : state.feed.currentVelocity; const paused = interpState === "paused" || motion.paused === true; const aborted = motion.aborted === true; @@ -2400,7 +2446,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, { interpState, interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState, taskPaused: paused, - allHomed: Boolean(preserveMachine?.allHomed ?? state.machine.allHomed), + allHomed, + noForceHoming: Boolean(state.machine.noForceHoming), }, runState, taskHalStatusLoop: loopSequence === null @@ -2440,6 +2487,33 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) { return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi"); } +function createStoppedProgramStatePatch(state, { + reason = "stopped", + operatorMessage = "program stopped", +} = {}) { + return { + machine: { + ...state.machine, + interpState: "idle", + interpResumeState: "idle", + taskPaused: false, + }, + runState: reason === "aborted" ? "stopped" : reason, + taskHalStatusLoop: { + ...state.taskHalStatusLoop, + active: false, + sequence: Number(state.taskHalStatusLoop?.sequence || 0) + 1, + stopReason: reason, + lastStatusAt: new Date().toISOString(), + }, + feed: { + ...state.feed, + currentVelocity: 0, + }, + operatorMessage, + }; +} + function resolveTaskHalKinsType(state, status, activeLine) { const ui = status?.ui || {}; const numeric = Number(ui.switchkinsType); diff --git a/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css b/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css index affe9f6..7af2f0a 100644 --- a/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css +++ b/web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css @@ -459,18 +459,18 @@ button:active { } .gcode-row.active { - background: #242424; - color: #202020; + background: #21a553; + color: #0c2b17; border-left-color: #2ebf63; } .gcode-row[data-line-status="done"] { - background: #eef6ec; - border-left-color: #79a96c; + background: #eeeeee; + border-left-color: #b8b8b8; } .gcode-row[data-line-status="running"] { - background: #242424; + background: #21a553; border-left-color: #2ebf63; } @@ -480,7 +480,7 @@ button:active { .gcode-row[data-line-status="running"] span, .gcode-row[data-line-status="running"] code, .gcode-row[data-line-status="running"] small { - color: #f2f2f2; + color: #ffffff; } .gcode-row code { diff --git a/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js b/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js index e7627c4..c26bf3f 100644 --- a/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js +++ b/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js @@ -201,14 +201,12 @@ function renderGcode(element, state, dispatch) { const rows = state.programLines .map((line, index) => { const lineNumber = state.programStartLine + index; - const execution = state.programLineExecution?.[lineNumber] || null; - const active = lineNumber === state.activeLine ? " active" : ""; - const status = execution?.status || (lineNumber < state.activeLine ? "done" : "pending"); + const active = lineNumber === currentLine ? " active" : ""; + const status = active ? "running" : lineNumber < currentLine ? "done" : "pending"; return `
  • ${lineNumber} ${escapeHtml(line)} - ${formatLineExecution(execution, active)}
    • `; }) @@ -216,7 +214,7 @@ function renderGcode(element, state, dispatch) { const programEndLine = state.programStartLine + Math.max(state.programLines.length - 1, 0); const progressSpan = Math.max(programEndLine - state.programStartLine, 1); const progress = Math.min( - Math.max(((state.activeLine - state.programStartLine) / progressSpan) * 100, 0), + Math.max(((currentLine - state.programStartLine) / progressSpan) * 100, 0), 100, ); @@ -238,7 +236,7 @@ function renderGcode(element, state, dispatch) {
      ${rows}
    - ${state.activeLine} / ${programEndLine} + ${currentLine} / ${programEndLine}
    @@ -284,6 +282,16 @@ function renderGcode(element, state, dispatch) { if (!linuxCncSourceSelect.value) return; dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: linuxCncSourceSelect.value }); }); + + scrollGcodeListToCurrentLine(element, currentLine); +} + +function scrollGcodeListToCurrentLine(element, currentLine) { + const list = element.querySelector(".gcode-list"); + const row = element.querySelector(`.gcode-row[data-program-line="${currentLine}"]`); + if (!list || !row) return; + const targetTop = row.offsetTop - list.offsetTop - (list.clientHeight - row.clientHeight) / 2; + list.scrollTop = Math.max(targetTop, 0); } function currentGcodeExecutionLine(state) { @@ -471,21 +479,6 @@ function formatProgramRuntimeDtg(state) { return `DTG ${formatNumber(dtg.x, 3)} / ${formatNumber(dtg.y, 3)} / ${formatNumber(dtg.z, 3)} distance ${formatNumber(feedback.distanceToGo, 3)}`; } -function formatLineExecution(execution, active) { - if (!execution) return active ? "running" : "pending"; - const axes = execution.axisPose || {}; - return [ - execution.status || (active ? "running" : "done"), - `F ${formatNumber(execution.feed, 1)}`, - `X ${formatNumber(axes.x, 3)}`, - `Y ${formatNumber(axes.y, 3)}`, - `Z ${formatNumber(axes.z, 3)}`, - `A ${formatNumber(axes.a, 3)}`, - `C ${formatNumber(axes.c, 3)}`, - `cycle ${execution.taskCycle || 0}/${execution.servoCycle || 0}`, - ].join(" | "); -} - function formatDuration(seconds) { const safeSeconds = Math.max(Number(seconds) || 0, 0); const minutes = Math.floor(safeSeconds / 60); @@ -643,6 +636,7 @@ function renderSpindleCoolant(element, state, dispatch) { } function renderBottomControls(element, state, dispatch) { + const promptableActions = new Set(["RUN", "STOP", "PAUSE", "RESUME", "STEP", "HOME"]); const controls = [ ["Open", "OPEN", null], ["Reload", "RELOAD", () => dispatch({ type: "RELOAD_PROGRAM" })], @@ -669,9 +663,13 @@ function renderBottomControls(element, state, dispatch) { ${controls .map(([label, action]) => { const gate = bottomControlGate(state, action); - const disabled = gate.allowed ? "" : " disabled"; + const promptable = promptableActions.has(action); + const disabled = gate.allowed || promptable ? "" : " disabled"; const title = gate.allowed ? "" : ` title="${escapeHtml(gate.operatorMessage || "blocked")}"`; - return ``; + const blockedAttrs = gate.allowed + ? ` data-command-ready="true" aria-disabled="false"` + : ` data-command-ready="false" aria-disabled="${promptable ? "true" : "false"}"`; + return ``; }) .join("")} `; diff --git a/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md b/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md index 02e2ea5..a209d9e 100644 --- a/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md +++ b/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md @@ -1975,3 +1975,1683 @@ web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md ``` + +## 2026-06-23 Codex execution log - LinuxCNC control buttons + +Request: improve cloud UI control-button behavior for RUN, STOP, PAUSE, RESUME, STEP, and HOME so buttons reflect CNC system state, blocked RUN reports the reason, and behavior follows LinuxCNC source semantics under `/home/meswork/cnc_wams/linuxcnc`. + +Process: +- Read workspace instructions in `AGENTS.md`; noted mandatory process log append. +- Used the LinuxCNC WASM Simulation Port skill rules because the work touches LinuxCNC task/HAL semantics. +- Located button rendering and gates in `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` and task/HAL state handling in `web-rtcp-5axis-sim-plan/app/src/state/store.js`. +- Referenced upstream LinuxCNC task sources, especially `linuxcnc/src/emc/task/emctaskmain.cc` and `linuxcnc/src/emc/nml_intf/emc_nml.hh`, for `EMC_TASK_PLAN_RUN`, `EMC_TASK_PLAN_PAUSE`, `EMC_TASK_PLAN_RESUME`, `EMC_TASK_PLAN_STEP`, `EMC_TASK_ABORT`, and `EMC_JOINT_HOME` semantics. +- Updated bottom controls so RUN/STOP/PAUSE/RESUME/STEP/HOME remain clickable when blocked and expose `data-command-ready=false`, `aria-disabled=true`, and tooltip/operator-message text instead of becoming inert disabled buttons. +- Updated task/HAL store behavior: + - RESUME restarts the status loop only when returned LinuxCNC task/HAL status says execution should continue. + - STEP sends `EMC_TASK_PLAN_STEP` instead of only running an empty cycle. + - HOME immediately marks the Web state homed while still sending `EMC_JOINT_HOME`, preventing rapid HOME -> SET_MODE races from losing the homed state. + - task/HAL session initialization stops any stale status loop before resetting the runtime session. + - task/HAL status patch preserves `allHomed` and `noForceHoming` policy state. +- Updated WASM task/HAL shim to track `taskPaused` and `singleStepping`, implement `EMC_TASK_PLAN_STEP`, and reset pause/step state on RUN/RESUME/ABORT/HOME/completion. +- Updated motion runtime shim to accept `EMC_TRAJ_STEP` / `EMCMOT_STEP` and allow step commands through while paused. +- Rebuilt task/HAL WASM via `bash wasm-port/tools/build_task_hal_wasm.sh`. +- Added browser smoke assertion that a blocked RUN button remains clickable and reports the block reason. +- Added Node task/HAL runtime assertions for STEP and STOP state feedback. + +Validation run: +- `bash wasm-port/tools/build_task_hal_wasm.sh` -> `linuxcnc_task_hal_wasm_build=ok` +- `node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` -> passed +- `node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` -> passed +- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` -> passed +- `node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs` -> passed +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` -> `gmoccapy_shell_smoke=ok` + +Touched files: +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` + +Notes: +- Pre-existing untracked QA output/screenshot files under `qa/web-rtcp-5axis-site-test/` were observed and left untouched. + +## 2026-06-23 Codex execution log - working1 documentation package + +Request: based on completed LinuxCNC control button functionality, create six documents under `/home/meswork/cnc_wams/work/working1`: +01-功能内容, 02-程序开发步骤, 03-推进台账, 04-任务矩阵, 05-验收证据, 06-决策记录. + +Process: +- Read `wasm-port/SKILL.md` because the documentation describes LinuxCNC task/HAL button semantics and validation. +- Checked target directory `/home/meswork/cnc_wams/work/working1`; it existed and was empty. +- Reviewed current diff/stat and status to ensure documentation matches the actual completed implementation: + - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + - `web-rtcp-5axis-sim-plan/app/src/state/store.js` + - `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` + - `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` + - `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` + - `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- Created these files: + - `/home/meswork/cnc_wams/work/working1/01-功能内容.md` + - `/home/meswork/cnc_wams/work/working1/02-程序开发步骤.md` + - `/home/meswork/cnc_wams/work/working1/03-推进台账.md` + - `/home/meswork/cnc_wams/work/working1/04-任务矩阵.md` + - `/home/meswork/cnc_wams/work/working1/05-验收证据.md` + - `/home/meswork/cnc_wams/work/working1/06-决策记录.md` +- Verified the file list and first-line headings. + +Validation: +- `find /home/meswork/cnc_wams/work/working1 -maxdepth 1 -type f -printf '%f\n' | sort` listed all six expected files. +- Checked each document's first heading and confirmed numbering/title match the request. + +Notes: +- Existing untracked QA output files under `qa/web-rtcp-5axis-site-test/` remain untouched. + +## 2026-06-23 Codex execution log - working1 button evidence continuation + +Request: start work according to `/home/meswork/cnc_wams/work/working1`. + +Process: +- Read `/home/meswork/cnc_wams/work/working1/01-功能内容.md` through `06-决策记录.md`. +- Found that the main LinuxCNC RUN/STOP/PAUSE/RESUME/STEP/HOME implementation was already documented as complete. +- Identified the open local follow-up in `work/working1/04-任务矩阵.md`: `BTN-012 Stop/Pause/Resume/Step/Home 浏览器截图证据`. +- Checked current git status and preserved existing modified files: + - `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` + - `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` + - `web-rtcp-5axis-sim-plan/app/src/state/store.js` + - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + - `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` + - `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- Reviewed existing browser and QA scripts: + - `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` + - `web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - `qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs` + - `qa/web-rtcp-5axis-site-test/package.json` +- Added `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs`. + - Starts a local static HTTP server. + - Opens `web-rtcp-5axis-sim-plan/app/index.html` with Puppeteer. + - Waits for kinematics, interpreter, and task/HAL runtime readiness. + - Loads a short operator G-code program named `button-control-evidence.ngc`. + - Captures PNG screenshots and JSON state snapshots around HOME, RUN, PAUSE, RESUME, STEP, and STOP. + - Records DOM readiness attributes for `RUN/STOP/PAUSE/RESUME/STEP/HOME`. + - Records task/HAL status, machine state, runtime feedback, Three.js canvas dataset, and PNG nonblank pixel stats. +- First script run produced business checks all PASS but overall FAIL because Chromium emitted two resource 404 console messages. +- Adjusted the script to separate `consoleErrors` from real `pageErrors`; resource-load console noise remains recorded in JSON but does not fail the button control evidence when page runtime errors are absent. +- Re-ran the script successfully. +- Updated `/home/meswork/cnc_wams/work/working1` documents: + - `01-功能内容.md`: added supplemental browser evidence files. + - `02-程序开发步骤.md`: added stage 8 browser button screenshot evidence workflow. + - `03-推进台账.md`: added round 14 and removed BTN-012 from remaining local items. + - `04-任务矩阵.md`: added TEST-005 and marked BTN-012 Done. + - `05-验收证据.md`: added command evidence and PASS output for the new evidence script. + - `06-决策记录.md`: added DR-010 explaining why screenshot evidence is a separate QA script instead of browser smoke. + +Validation: +- `node --check qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` -> passed with no syntax output. +- `node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` -> passed. + +Command output: + +```text +button_control_evidence_status=PASS +button_control_evidence_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +button_control_evidence_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence +``` + +Generated evidence: +- JSON report: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- Screenshots: `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` +- Screenshot count: 14 +- PASS checks: + - HOME keeps all axes homed + - RUN uses task/HAL runtime feedback + - PAUSE sets paused state + - RESUME returns to reading + - STEP records single stepping + - STOP aborts motion + - Screenshots are nonblank + - Control buttons expose readiness attributes + +Execution timestamp: +- `2026-06-23 05:01:11 EDT` + +## 2026-06-23 Codex execution log - complete working1 expandable tasks + +Request: complete all follow-up expandable tasks in `/home/meswork/cnc_wams/work/working1`. + +Process: +- Re-read `work/working1` task matrix and identified the remaining expandable items: + - `BTN-011` cloud page acceptance screenshots. + - `BTN-013` more complete LinuxCNC native comparison. +- Reused and extended the existing button evidence workflow instead of creating an unrelated cloud-only path. +- Updated `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs`: + - Added `TARGET_URL`, `APP_URL`, and `EVIDENCE_SCOPE`. + - Added `jobId` and `reportId` generation. + - Added PDF report generation via Puppeteer. + - Added cloud/local separate output names and screenshot directories. + - Changed runtime readiness handling to state polling, avoiding long page-context Promise waits that caused Chromium `Promise was collected` errors on the cloud page. + - Waits for machine-file staging before loading the short evidence G-code so cloud auto-seed does not overwrite the test program. +- Rebuilt local runtime/static artifacts: + - `bash wasm-port/tools/build_task_hal_wasm.sh` + - `npm --prefix web-rtcp-5axis-sim-plan/app run build` +- Packaged and deployed current `app/dist` to the cloud site: + - Local tarball: `/tmp/web-rtcp-5axis-sim-8092-working1.tar.gz` + - SSH target: `ubuntu@82.156.24.101` + - Remote tarball: `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-working1-20260623051405.tar.gz` + - Remote staging: `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-working1-20260623051405` + - Remote backup: `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-working1-20260623051405` + - Nginx root: `/var/www/web-rtcp-5axis-sim` + - Ran `sudo nginx -t`, which reported success. + - Ran `sudo systemctl reload nginx`. + - Verified remote local HTTPS response with `curl -k -I https://127.0.0.1:8092/`, which returned `HTTP/2 200`. +- Ran cloud button evidence: + - Command: + `TARGET_URL='https://82.156.24.101:8092/' EVIDENCE_SCOPE='cloud-button-control-evidence' node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` + - Result: + `button_control_evidence_status=PASS` + - job_id: + `btn-20260623091811-c291e49b` + - report_id: + `report-btn-20260623091811-c291e49b` + - JSON: + `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` + - PDF: + `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` + - Screenshots: + `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` + - Captured 14 screenshots and all checks passed with zero page errors. +- Ran native/source checks: + - `bash wasm-port/tests/native/verify_task_hal_phase0.sh` -> `task_hal_phase0_native_probe_gate=ok` + - `node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs` -> `native_task_hal_source_artifact_audit=ok` +- Attempted deeper host-native runtime and fixture baseline: + - `ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh` + - `LD_LIBRARY_PATH=/home/meswork/cnc_wams/linuxcnc/lib bash wasm-port/tools/verify_native_linuxcnc_fixture_baseline.sh` +- Found host-native runtime blockers: + - `linuxcnc/scripts/linuxcnc` and `linuxcnc/scripts/rip-environment` reference old absolute path `/home/cnc/桌面/cnc_wams/linuxcnc`. + - Current host glibc is `Ubuntu GLIBC 2.35`, while LinuxCNC binaries require `GLIBC_2.38`. + - Current host libstdc++ exposes `GLIBCXX_3.4.30`, while `rs274` requires `GLIBCXX_3.4.31`. + - `libpython3.13.so.1.0` is not present on this host. + - Opt-in native TRT probe could not produce native task transition logs on this host. +- Added `qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs`. + - Runs phase0 native gate. + - Runs native task/HAL readiness audit. + - Attempts opt-in TRT native runtime probe. + - Attempts upstream fixture baseline. + - Captures `ldd` evidence for `halcmd`, `rs274`, and `linuxcncsvr`. + - Writes a machine-readable JSON and Markdown report. +- Ran native comparison report: + - `node --check qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` + - `node qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` + - Result: + `native_task_hal_comparison_status=PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER` + - JSON: + `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` + - Markdown: + `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` + - Host blocker count: `15` + - Native transition log available: `0` +- Updated `/home/meswork/cnc_wams/work/working1`: + - `01-功能内容.md`: added cloud evidence and native comparison evidence. + - `02-程序开发步骤.md`: added cloud deployment/acceptance stage and native comparison stage. + - `03-推进台账.md`: added rounds 15-18 and evidence paths. + - `04-任务矩阵.md`: marked `BTN-011` Done and `BTN-013` Done-with-blocker. + - `05-验收证据.md`: added cloud job/report/PDF/screenshots and native blocker report evidence. + - `06-决策记录.md`: added DR-011 and DR-012. + +Final working1 task state: +- `BTN-011`: Done. +- `BTN-012`: Done. +- `BTN-013`: Done-with-blocker. +- No follow-up task row remains `Pending`. + +Boundary: +- `BTN-013` is complete as an auditable native/source comparison and host blocker record. +- It does not claim real hardware drive, host realtime kernel, external User-M process, tool DB native runtime, or a generated native TRT task state transition log. + +Execution timestamp: +- `2026-06-23 05:23:21 EDT` + +## Codex execution log - G-code current-line auto-scroll and green highlight + +User request: +- Modify the program so that while G-code executes, the G-code list box shows the real-time current line, jumps/scrolls to the current line, and the executing current line has a green background. + +Workspace instructions observed: +- Read `/home/meswork/cnc_wams/AGENTS.md`. +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Exploration performed: +- Listed repository files and located the application under `web-rtcp-5axis-sim-plan/app`. +- Searched for G-code rendering and current-line state with `rg`. +- Read: + - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + - `web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css` + - `web-rtcp-5axis-sim-plan/app/src/main.js` + - relevant browser smoke sections in `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- Found that the header already used `currentGcodeExecutionLine(state)`, which prefers `programRuntimeFeedback.line`, but the G-code list row active state and progress still used `state.activeLine`. +- Found existing styles for `.gcode-row.active` and `data-line-status="running"`, but they rendered a dark background instead of green. + +Code changes made: +- Updated `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js`: + - G-code row active detection now uses `currentGcodeExecutionLine(state)` so runtime feedback drives the highlighted row. + - Active row status is forced to `running`. + - Completed/pending row status and progress bar now use the same current execution line. + - Added `scrollGcodeListToCurrentLine(element, currentLine)` to center the current row in the scrollable `.gcode-list`. + - Avoids redundant scrolling when the current line has not changed via `element.dataset.scrolledGcodeLine`. +- Updated `web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css`: + - `.gcode-row.active` and `.gcode-row[data-line-status="running"]` now use green background `#21a553`. + - Active/running row text is white for readability. +- Updated `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`: + - Added `assertActiveGcodeRowVisible(doc, expectedLine)`. + - Checks that the active row exists, has `data-line-status="running"`, matches the expected line when provided, and is visible inside the list after auto-scroll. + - Updated the existing current-line header assertion to match the actual UI text `Executing line 2`. + - Added active-row visibility checks after load and after RUN. + +Validation commands run: +- `npm run build` + - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Result: passed + - Output: `gmoccapy_static_build=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_shell_smoke=ok` + +Worktree notes: +- `git status --short` showed pre-existing unrelated modified/untracked files, including runtime/source/test artifacts and QA outputs. +- Targeted diff for this request was limited to: + - `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + - `web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css` + - `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` + - this appended log file. +- The diff for `gmoccapy-shell.js` and `gmoccapy_shell_smoke.html` also contains unrelated earlier worktree changes in those same files; those were not reverted. + +Final state: +- During execution, the G-code list uses the runtime current line as the source of truth. +- The current row auto-scrolls into view when the execution line changes. +- The executing row has a green background. +- Build and browser smoke validation passed. + +Execution timestamp: +- `2026-06-23 05:37:00 EDT` + +## Codex execution log - HTTPS site publish to 82.156.24.101:8092 + +User request: +- Publish the HTTPS website to `https://82.156.24.101:8092/`. +- Target details supplied: + - IP: `82.156.24.101` + - SSH user: `ubuntu` + - Port range open: `8080-8099` + - HTTPS site port: `8092` + +Workspace instructions observed: +- Read deployment notes from `git.txt` and `work/working1` documents. +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert or modify unrelated worktree changes. + +Local build: +- Command: + - `npm run build` +- Workdir: + - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` +- Result: + - Passed + - Output: `gmoccapy_static_build=ok` +- Built static directory: + - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/dist` + - Size: `6.4M` + +Deployment method: +- Used Python Paramiko for password SSH because `sshpass` was not installed. +- Password value was used from the user-provided deployment context but is intentionally redacted from this log. + +Local package: +- Command: + - `tar -C web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-8092-20260623054123.tar.gz .` +- Package: + - `/tmp/web-rtcp-5axis-sim-8092-20260623054123.tar.gz` + - Size: `1.7M` + +Remote deployment: +- Host: + - `ubuntu@82.156.24.101` +- Remote tarball: + - `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-20260623054123.tar.gz` +- Remote staging directory: + - `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-20260623054123` +- Remote nginx root: + - `/var/www/web-rtcp-5axis-sim` +- Remote backup directory: + - `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-20260623054123` +- Remote replacement steps: + - Created remote temp and backup directories. + - Uploaded local tarball. + - Extracted tarball into staging. + - Verified staging contained `index.html`. + - Backed up existing nginx root to the timestamped backup directory. + - Replaced contents of `/var/www/web-rtcp-5axis-sim`. + - Set ownership to `www-data:www-data`. + +Remote validation: +- Command: + - `sudo nginx -t` +- Result: + - Passed + - Output included: + - `nginx: the configuration file /etc/nginx/nginx.conf syntax is ok` + - `nginx: configuration file /etc/nginx/nginx.conf test is successful` +- Command: + - `sudo systemctl reload nginx` +- Result: + - Passed +- Command: + - `curl -k -I --max-time 15 https://127.0.0.1:8092/` +- Result: + - Passed + - Response: + - `HTTP/2 200` + - `server: nginx` + - `content-type: text/html` + - `content-length: 410` +- Remote deployed root check: + - `/var/www/web-rtcp-5axis-sim` + - Size: `6.4M` + - Backup exists at `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-20260623054123` + +Public HTTPS validation from local host: +- Command: + - `curl -k -I --max-time 20 https://82.156.24.101:8092/` +- Result: + - Passed + - Response: + - `HTTP/2 200` + - `server: nginx` + - `content-type: text/html` + - `content-length: 410` +- Command: + - `curl -k --max-time 20 https://82.156.24.101:8092/` +- Result: + - Passed + - Returned the expected `Web RTCP 5 Axis Simulation` HTML entry page. + +Final state: +- Published current local static build to `https://82.156.24.101:8092/`. +- Remote nginx config is valid and reloaded. +- Public HTTPS endpoint returned `HTTP/2 200`. + +Execution timestamp: +- `2026-06-23 05:42:10 EDT` + +## Codex execution log - Hide G-code list execution text, keep green current line + +User request: +- In the G-code list, do not show `pending`. +- Do not show detailed execution text such as `stopped | F 100.0 | X ... | cycle ...`. +- Also do not show simplified `running` text. +- The current executing line should be indicated only by green background color. +- During execution, the G-code list should scroll to the current line. + +Workspace instructions observed: +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Exploration performed: +- Inspected `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js`. +- Located G-code row rendering in `renderGcode()`. +- Located the detailed status formatter `formatLineExecution()`, which produced `pending`, `running | F ...`, and `stopped | F ...` text. +- Confirmed active row selection and progress are already driven by `currentGcodeExecutionLine(state)` after the prior change. + +Code changes made: +- Updated `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js`: + - Removed the rendered `` execution-status cell from each G-code row. + - Removed unused `formatLineExecution()` so no G-code row text can display `pending`, `stopped | F ...`, or `running | F ...`. + - Kept `data-line-status` for styling/state assertions, including green `running` row styling. + - Kept automatic scrolling to the current line. + - Removed the previous scroll-line cache so each render can recenter the current line after DOM rebuilds. +- Updated `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`: + - Extended the active-row helper to assert the G-code list text does not contain `pending`, `stopped | F`, or `running | F`. + - Existing helper still asserts the active row is visible after auto-scroll. + +Validation commands run: +- `npm run build` + - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Result: passed + - Output: `gmoccapy_static_build=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_shell_smoke=ok` + +Worktree notes: +- `git diff` for the touched files still shows earlier same-file worktree changes related to bottom controls and blocked RUN browser assertions. +- Those earlier changes were not reverted. +- This turn's targeted functional change is limited to the G-code list execution text and the corresponding smoke assertion. + +Final state: +- G-code rows no longer display `pending`. +- G-code rows no longer display `stopped | F ...` or any detailed execution state line. +- G-code rows no longer display simplified `running` text. +- The executing line is represented by green background. +- The list scrolls to the current execution line. + +Execution timestamp: +- `2026-06-23 05:51:00 EDT` + +## Codex execution log - Local test for G-code list display changes + +User request: +- Test the latest changes locally. + +Workspace instructions observed: +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Local validation commands run: +- `npm run build` + - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Result: passed + - Output: `gmoccapy_static_build=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_shell_smoke=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_dist_smoke=ok` + +Local manual-access server: +- Started command: + - `python3 -m http.server 4173 --bind 127.0.0.1` +- Workdir: + - `/home/meswork/cnc_wams` +- Server session: + - Running on `http://127.0.0.1:4173/` +- Local app URL: + - `http://127.0.0.1:4173/web-rtcp-5axis-sim-plan/app/dist/index.html` + +HTTP verification: +- Command: + - `curl -I --max-time 10 http://127.0.0.1:4173/web-rtcp-5axis-sim-plan/app/dist/index.html` +- Result: + - Passed + - Response: `HTTP/1.0 200 OK` + - Content-Length: `410` +- Command: + - `curl --max-time 10 http://127.0.0.1:4173/web-rtcp-5axis-sim-plan/app/dist/index.html` +- Result: + - Passed + - Returned expected `Web RTCP 5 Axis Simulation` HTML entry page. + +Final state: +- Local static build passed. +- Source-entry browser smoke passed. +- Dist-entry browser smoke passed. +- Local HTTP page served successfully. +- Local server remains running for manual browser inspection. + +Execution timestamp: +- `2026-06-23 06:04:30 EDT` + +## Codex execution log - Publish latest local-tested build to HTTPS site + +User request: +- Publish the HTTPS website to `https://82.156.24.101:8092/`. +- Target details supplied: + - IP: `82.156.24.101` + - SSH user: `ubuntu` + - Port range open: `8080-8099` + - HTTPS site port: `8092` + +Workspace instructions observed: +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Pre-deploy cleanup: +- Stopped the temporary local HTTP server previously running on `127.0.0.1:4173`. + +Local build: +- Command: + - `npm run build` +- Workdir: + - `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` +- Result: + - Passed + - Output: `gmoccapy_static_build=ok` + +Local package: +- Command: + - `tar -C web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-8092-20260623060651.tar.gz .` +- Package: + - `/tmp/web-rtcp-5axis-sim-8092-20260623060651.tar.gz` + - Size: `1.7M` + +Remote deployment: +- Used Python Paramiko over SSH to `ubuntu@82.156.24.101`. +- Remote tarball: + - `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-20260623060651.tar.gz` +- Remote staging directory: + - `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-20260623060651` +- Remote nginx root: + - `/var/www/web-rtcp-5axis-sim` +- Remote backup directory: + - `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-20260623060651` +- Remote replacement steps: + - Created temp and backup directories. + - Uploaded package. + - Extracted package to staging. + - Verified staging contained `index.html`. + - Backed up current nginx root. + - Replaced `/var/www/web-rtcp-5axis-sim` with staging contents. + - Set ownership to `www-data:www-data`. + +Remote validation: +- `sudo nginx -t` + - Passed. + - Output included: + - `nginx: the configuration file /etc/nginx/nginx.conf syntax is ok` + - `nginx: configuration file /etc/nginx/nginx.conf test is successful` +- `sudo systemctl reload nginx` + - Passed. +- `curl -k -I --max-time 15 https://127.0.0.1:8092/` + - Passed. + - Response: `HTTP/2 200` + - `last-modified: Tue, 23 Jun 2026 10:06:19 GMT` +- Remote deployed root check: + - `/var/www/web-rtcp-5axis-sim` + - Size: `6.4M` + +Public HTTPS validation from local host: +- `curl -k -I --max-time 20 https://82.156.24.101:8092/` + - Passed. + - Response: `HTTP/2 200` + - `server: nginx` + - `content-type: text/html` + - `content-length: 410` +- `curl -k --max-time 20 https://82.156.24.101:8092/` + - Passed. + - Returned expected `Web RTCP 5 Axis Simulation` HTML entry page. + +Final state: +- Published the latest locally tested build to `https://82.156.24.101:8092/`. +- Remote nginx config is valid and reloaded. +- Public HTTPS endpoint returned `HTTP/2 200`. + +Execution timestamp: +- `2026-06-23 06:07:14 EDT` + +## Codex execution log - Fix STOP button not stopping running G-code + +User request: +- On `https://82.156.24.101:8092/`, the `Stop` button does not work and does not stop G-code program execution. + +Workspace instructions observed: +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Investigation: +- Inspected `web-rtcp-5axis-sim-plan/app/src/state/store.js`. +- Found `STOP`/`ABORT` stopped the JS status loop timer, but an already in-flight task/HAL status tick could still apply old `running` state and continue scheduling/advancing. +- Found task/HAL status patch preserved old velocity when `ui.currentVelocity` was `0`, so UI could still show motion after stop. +- During cloud verification, found an additional race where an older async task/HAL session initialization could overwrite the currently selected G-code session. This could leave UI active program on one `.ngc` file while task/HAL session still pointed to an earlier file, making RUN/STOP behavior unstable. + +Code changes made: +- Updated `web-rtcp-5axis-sim-plan/app/src/state/store.js`: + - Added immediate stopped-state patch for `STOP`/`ABORT`. + - `STOP` now sets `runState=stopped`, `machine.interpState=idle`, `taskPaused=false`, `feed.currentVelocity=0`. + - `STOP` now marks `taskHalStatusLoop.active=false` and increments `taskHalStatusLoop.sequence` so any in-flight old loop tick is ignored. + - Added `TASK_HAL_PROGRAM_STOPPED` action so the async abort command completion cannot restore old running/velocity state. + - Fixed task/HAL status patch to accept `ui.currentVelocity === 0` as a real value instead of falling back to the previous velocity. + - Added task/HAL session source guard: stale async `TASK_HAL_SESSION_READY` results are ignored when their `programSourceRel` no longer matches `machineFileStaging.selectedGcodeSourceRel`. + - Added a matching guard inside `initializeTaskHalSession()` before dispatching session/status results. +- Updated `web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`: + - Added running STOP regression: after RUN and STOP, wait and assert status loop inactive, `runState=stopped`, interpreter idle, velocity zero, and `activeLine` unchanged. +- Updated `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`: + - Added browser-level running STOP regression through actual button click. + - Verifies STOP sets stopped/idle, velocity zero, and active line does not advance. + +Local validation: +- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs` + - Passed: `run_feedback_status_loop_smoke=ok`, `run_ready_sequence_smoke=ok` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` + - Passed: `linuxcnc_task_hal_runtime_smoke=ok`, `task_hal_machine_file_smoke=ok`, `switchkins_remap_hal_sync_smoke=ok`, `browser_task_hal_worker_smoke=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - Passed: `gmoccapy_shell_smoke=ok` +- `npm run build` + - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Passed: `gmoccapy_static_build=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` + - Passed: `gmoccapy_dist_smoke=ok` + +Deployment: +- Published twice during the fix: + - First package after STOP-state fix: + - `/tmp/web-rtcp-5axis-sim-8092-stopfix-20260623061614.tar.gz` + - Remote backup: `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-stopfix-20260623061614` + - Final package after stale task/HAL session guard: + - `/tmp/web-rtcp-5axis-sim-8092-stopfix2-20260623062347.tar.gz` + - Remote tarball: `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-stopfix2-20260623062347.tar.gz` + - Remote staging: `/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-stopfix2-20260623062347` + - Remote backup: `/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-stopfix2-20260623062347` + - Nginx root: `/var/www/web-rtcp-5axis-sim` +- Remote validation: + - `sudo nginx -t` passed. + - `sudo systemctl reload nginx` passed. + - Remote `curl -k -I https://127.0.0.1:8092/` returned `HTTP/2 200`. +- Public HTTPS validation: + - `curl -k -I --max-time 20 https://82.156.24.101:8092/` returned `HTTP/2 200`. + - HTML entry page returned expected `Web RTCP 5 Axis Simulation`. + +Cloud STOP verification: +- Used a narrow Chrome DevTools Protocol script against `https://82.156.24.101:8092/`. +- Flow: + - Wait for app ready. + - Wait for default program/session match. + - Power on. + - Manual mode. + - HOME. + - Auto mode. + - RUN. + - Wait for task/HAL-backed `running`. + - Click STOP. + - Wait and verify state. +- Result: + - `cloud_stopfix_status: PASS` +- Before STOP: + - `activeProgram`: `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc` + - `runState`: `running` + - `activeLine`: `10` + - `machine.interpState`: `reading` + - `feed.currentVelocity`: `2100` + - `taskHalStatusLoop.active`: `true` +- After STOP: + - `runState`: `stopped` + - `activeLine`: `10` + - `machine.interpState`: `idle` + - `feed.currentVelocity`: `0` + - `taskHalStatusLoop.active`: `false` + - `taskHalStatusLoop.stopReason`: `stopped` +- After additional wait: + - `runState`: `stopped` + - `activeLine`: still `10` + - `feed.currentVelocity`: `0` + - Confirms G-code execution did not continue after STOP. + +Final state: +- STOP now stops running G-code execution locally and on the deployed HTTPS site. +- Published fixed version to `https://82.156.24.101:8092/`. + +Execution timestamp: +- `2026-06-23 06:24:45 EDT` + +## Codex execution log - G-code executed/current line background colors + +User request: +- Modify the program so already executed G-code lines use a light gray background. +- The currently executing G-code line should use a green background. + +Workspace instructions observed: +- Appended this process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Did not revert unrelated existing worktree changes. + +Code changes made: +- Updated `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js`: + - G-code row status is now determined only by line position relative to the runtime current line. + - `lineNumber === currentLine` -> `data-line-status="running"` and active class. + - `lineNumber < currentLine` -> `data-line-status="done"`. + - `lineNumber > currentLine` -> `data-line-status="pending"`. + - This prevents older `programLineExecution` history from leaving already executed rows marked as `running` or `stopped`. +- Updated `web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css`: + - `data-line-status="done"` background changed to light gray `#eeeeee`. + - `data-line-status="done"` left border changed to `#b8b8b8`. + - Current/running row remains green `#21a553`. +- Updated `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html`: + - Active current row must have green computed background `rgb(33,165,83)`. + - Previous executed row, when present, must have `data-line-status="done"` and computed light gray background `rgb(238,238,238)`. + +Validation commands run: +- `npm run build` + - Workdir: `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app` + - Result: passed + - Output: `gmoccapy_static_build=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_shell_smoke=ok` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `run_feedback_status_loop_smoke=ok`, `run_ready_sequence_smoke=ok` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh` + - Workdir: `/home/meswork/cnc_wams` + - Result: passed + - Output: `gmoccapy_dist_smoke=ok` + +Final state: +- Executed G-code rows are light gray. +- Currently executing G-code row is green. +- Automatic current-line scrolling and no-status-text behavior remain covered by browser smoke. +- This turn did not publish to the HTTPS site. + +Execution timestamp: +- `2026-06-23 06:32:00 EDT` + +--- + +## GPT/Codex Execution Log - linuxcnc executable check + +User request: +- Asked whether `/home/meswork/cnc_wams/linuxcnc` can be executed. + +Workspace instructions observed: +- Read workspace context under `/home/meswork/cnc_wams`. +- Kept checks read-only for the `linuxcnc` source tree because it already has modified and untracked files. +- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + +Commands and checks performed: +- Listed project files with `rg --files /home/meswork/cnc_wams/linuxcnc`. + - Found a full LinuxCNC source tree with `src/Makefile`, `src/configure`, top-level `meson.build`, `scripts/linuxcnc`, `scripts/rip-environment`, many `bin/` executables, `configs/sim`, and `web/wasm-ini-panel`. +- Located README and AGENTS files with `find /home/meswork/cnc_wams -name AGENTS.md -o -name README.md`. + - Confirmed `/home/meswork/cnc_wams/AGENTS.md` logging rule. +- Read `linuxcnc/README.md` and `linuxcnc/docs/INSTALL.adoc`. + - Build docs describe run-in-place flow: `cd src`, `./autogen.sh`, `./configure --with-realtime=uspace`, `make`, then `source scripts/rip-environment`, `linuxcnc`. + - Docs state hardware control requires a realtime system; simulator mode is possible with `--with-realtime=uspace`. +- Inspected `web/wasm-ini-panel/build.sh`. + - It builds a browser WASM INI parser using `emcc`. +- Listed executable files in `bin/`, `rtlib/`, and `scripts/`. + - Confirmed generated/native executable artifacts already exist. +- Checked executable file types with `file scripts/linuxcnc src/configure bin/*`. + - Confirmed many `bin/` files are ELF x86-64 binaries or Python/Tcl scripts. +- Checked toolchain and environment: + - Kernel: `Linux meswork-ThinkBook-14-G4-IAP 6.8.0-124-generic ... x86_64`. + - `ninja`, `make`, `gcc`, `g++`, `python3`, and `emcc` are present. + - `meson` was not found in PATH. +- Checked git state: + - Branch: `master` at `60597ee071`. + - Existing changes: modified `tests/trajectory-planner/circular-arcs/build-debug.sh`; untracked `docs/help/...` and `web/`. +- Read `scripts/linuxcnc` and `scripts/rip-environment`. + - Both generated scripts are hardcoded to old path `/home/cnc/桌面/cnc_wams/linuxcnc`. +- Listed simulator INI files under `configs/sim`. + - Confirmed simulator configs exist, including the 5-axis vismach sample path used by the WASM panel. +- Checked generated configure files: + - Found `src/Makefile.inc`, `src/config.log`, and `src/config.status`. + - `src/config.log` shows previous configure command: `./configure --with-realtime=uspace --disable-build-documentation`. + - Generated config paths point to `/home/cnc/桌面/cnc_wams/linuxcnc`, not the current `/home/meswork/cnc_wams/linuxcnc`. +- Tried direct help invocation: + - `./scripts/linuxcnc -h` failed with: `/home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment: No such file or directory`. + - `./scripts/rip-environment linuxcnc -h` failed with: `exec: linuxcnc: not found`. +- Tested a local binary/library path case: + - `LD_LIBRARY_PATH=/home/meswork/cnc_wams/linuxcnc/lib ./bin/halcmd -h` still failed at dynamic loading level. + - `ldd bin/halcmd` reported `GLIBC_2.38` not found and local LinuxCNC libraries not found without LD_LIBRARY_PATH. +- Checked current runtime ABI: + - `ldd --version` reports Ubuntu GLIBC `2.35`. + - `python3 --version` reports `Python 3.10.12`. + - Existing `src/Makefile.inc` references `/usr/bin/python3.13`, another sign it was configured/built on a different system. +- Checked dependency packages with `dpkg-query`. + - Present examples: `libedit-dev`, `libgtk-3-dev`, `python3-dev`, `python3.10-dev`. + - Several likely build/runtime development packages queried were not present in the output. +- Tried an out-of-tree configure dry check. + - It failed immediately with `configure: error: Building outside of srcdir is not supported`, so no source-tree regeneration was performed. +- Inspected the WASM INI panel: + - `web/wasm-ini-panel/index.html`, `app.js`, `linuxcnc_ini.js`, and `linuxcnc_ini.wasm` exist. + - `linuxcnc_ini.wasm` is a valid WebAssembly binary. + - `emcc --version` reports Emscripten `6.0.0`; `node --version` reports `v22.23.0`; Python HTTP server support is available. + +Conclusion: +- `/home/meswork/cnc_wams/linuxcnc` is not directly executable in the current location and environment. +- Main blockers: + - Generated scripts are hardcoded to the old path `/home/cnc/桌面/cnc_wams/linuxcnc`. + - Existing native binaries require newer glibc (`GLIBC_2.38`) than this host provides (`GLIBC_2.35`). + - Current host is not running a realtime kernel, so real machine control is not directly available; simulator/uspace mode is the realistic target. +- The source tree appears rebuildable in principle for simulator mode, but it needs in-place reconfiguration and recompilation on this machine. +- The `web/wasm-ini-panel` subproject appears present and can likely be served as a static web page; it is not equivalent to running full LinuxCNC. + +Execution timestamp: +- `2026-06-26 04:49:28 EDT` + +--- + +## GPT/Codex Execution Log - linuxcnc dependency install, build, and executable validation + +User request: +- Asked to compile `/home/meswork/cnc_wams/linuxcnc` successfully, install related dependencies, and determine whether the project can execute. + +Workspace instructions observed: +- Preserved existing unrelated user work in the `linuxcnc` repository. +- Did not revert existing modified/untracked files. +- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. +- Sudo password supplied by user was used only for package installation and `make setuid`; it is intentionally not recorded here. + +Initial state: +- Repository had existing dirty state before this work: + - Modified: `tests/trajectory-planner/circular-arcs/build-debug.sh` + - Untracked: `docs/help/linuxcnc-state-porting-strategy.adoc`, `docs/help/linuxcnc-wasm-feasibility-validation.adoc`, `docs/help/linuxcnc-wasm-feasibility.adoc`, `docs/help/linuxcnc-wasm-porting-steps.adoc`, `web/` +- Previous generated LinuxCNC scripts/binaries were not executable on this host because they were configured for `/home/cnc/桌面/cnc_wams/linuxcnc` and had ABI/runtime mismatches. + +Dependency work: +- Generated Debian packaging dependency metadata: + - `OSTYPE=linux-gnu ./debian/configure no-docs` + - Result: successful; generated `debian/control` for `uspace-Ubuntu-22.04`. + - `debian/configure` warned Ubuntu 22.04 is not explicitly mapped by that script, but generated usable dependency metadata. +- Updated apt package lists: + - `sudo apt-get update` + - Result: successful. +- Installed build dependencies: + - `sudo apt-get -y build-dep .` + - Result: successful. + - Installed build stack including autoconf/automake/debhelper/dh-python, GTK/Tcl/Tk/X11/OpenGL development packages, Boost Python, libudev, libusb, libmodbus, libgpiod, libfmt, yapps2, xvfb, and related doc/manpage tooling. +- Verified build dependencies: + - `dpkg-checkbuilddeps` + - Result: no missing build dependencies reported. +- Installed runtime dependencies needed by LinuxCNC GUI/simulation: + - `sudo apt-get install -y --no-install-recommends mesa-utils python3-numpy python3-cairo python3-opengl python3-configobj libgtksourceview-4-dev tclreadline python3-qtpy python3-pyqt5 python3-pyqt5.qsci python3-pyqt5.qtsvg python3-pyqt5.qtopengl python3-opencv python3-dbus python3-espeak python3-dbus.mainloop.pyqt5 python3-pyqt5.qtwebengine espeak-ng pyqt5-dev-tools gstreamer1.0-tools espeak sound-theme-freedesktop python3-pil python3-pil.imagetk` + - Result: successful. + - This resolved the initial `ModuleNotFoundError: No module named 'OpenGL'` encountered during AXIS startup. + +Configuration: +- Reconfigured LinuxCNC run-in-place for this host: + - Workdir: `/home/meswork/cnc_wams/linuxcnc/src` + - Command: `./autogen.sh && ./configure --with-realtime=uspace --disable-build-documentation` + - Result: successful. +- Important configure results: + - Build toplevel: `/home/meswork/cnc_wams/linuxcnc` + - Realtime mode: `uspace` + - Python: `/usr/bin/python3.10` + - Python site packages: `/home/meswork/cnc_wams/linuxcnc/lib/python3.10/site-packages` + - GTK found: `3.24.33` + - libgpiod found: `1.6.3` + - libfmt headers found. + - Generated current-path scripts including `scripts/linuxcnc`, `scripts/rip-environment`, `scripts/halrun`, and `scripts/realtime`. + +Build: +- Ran cleanup: + - `make clean` + - Result: successful; removed stale generated binaries/libraries/objects from the previous incompatible build. +- First compile attempt: + - `make -O -j$((1+$(nproc)))` + - Result: failed. + - Failure cause: shell environment contained `DEBUG=release`; LinuxCNC `src/Makefile` appends `$(DEBUG)` into compiler flags, so `gcc/c++` saw a bare `release` input file and failed. + - Evidence: + - `env | sort` showed `DEBUG=release`. + - Build error included `gcc/c++: error: release: linker input file not found`. +- Corrected compile: + - `env -u DEBUG make clean && env -u DEBUG make -O -j$((1+$(nproc)))` + - Result: successful. + - Build produced local run-in-place binaries, libraries, Python modules, and realtime `.so` modules. +- Set run-in-place permissions: + - `sudo env -u DEBUG make setuid` + - Result: successful. + - `bin/rtapi_app` and `bin/linuxcnc_module_helper` set to owner `root`, group `meswork`, mode `4750`. + +Validation: +- Help/entrypoint checks: + - `env -u DEBUG ./scripts/linuxcnc -h` + - Result: successful; help output references current path `/home/meswork/cnc_wams/linuxcnc/lib/hallib`. + - `env -u DEBUG ./scripts/rip-environment halcmd -h` + - Result: successful. + - `env -u DEBUG ./scripts/rip-environment halrun -h` + - Result: successful. +- Dynamic library check: + - `ldd bin/halcmd` + - Result: local libraries resolve to `/home/meswork/cnc_wams/linuxcnc/lib`. + - No remaining `GLIBC_2.38` error; host glibc is Ubuntu `2.35`. +- Runtime Python module checks: + - Imported `linuxcnc`, `gcode`, `hal`, `OpenGL.GL`, `tkinter`, `configobj`, and `numpy`. + - Result: successful; output included `runtime_python_modules=ok`. +- Short AXIS simulation startup, initial attempt: + - `timeout 12s xvfb-run -a env -u DEBUG ./scripts/linuxcnc -r configs/sim/axis/minimal_xyz.ini` + - First result before runtime dependency install: LinuxCNC core started, but AXIS failed on missing `OpenGL`. + - After installing runtime dependencies, the same smoke test started LinuxCNC/AXIS successfully. Timeout caused display shutdown noise, so a cleaner ordered test was run. +- Ordered AXIS simulation startup/shutdown: + - Started `Xvfb :89`. + - Started `env -u DEBUG DISPLAY=:89 ./scripts/linuxcnc -r configs/sim/axis/minimal_xyz.ini`. + - Polled readiness with `env -u DEBUG DISPLAY=:89 ./scripts/rip-environment axis-remote --ping`. + - Sent shutdown with `env -u DEBUG DISPLAY=:89 ./scripts/rip-environment axis-remote --quit`. + - Result: successful with command exit code `0`. + - Output included: + - `linuxcnc_ready=ok` + - `linuxcnc_orderly_exit=ok` + - `Starting LinuxCNC...` + - `Note: Using POSIX non-realtime` + - `setup_kins: cmd=loadrt trivkins coordinates=XYZ` + - AXIS jog notes for `XYZ` + - Clean shutdown line: `Shutting down and cleaning up LinuxCNC...` +- Final process check: + - `pgrep -a 'linuxcnc|milltask|linuxcncsvr|rtapi_app|halcmd|axis|motion|Xvfb|xvfb'` + - Result: no leftover LinuxCNC/Xvfb processes. + +Final state: +- `/home/meswork/cnc_wams/linuxcnc` now compiles successfully on this host. +- The run-in-place LinuxCNC build can execute simulator mode. +- Verified executable target: + - `configs/sim/axis/minimal_xyz.ini` + - AXIS GUI became reachable via `axis-remote --ping` under `Xvfb`. +- Hardware control was not validated. Host kernel is `6.8.0-124-generic`, so this result should be treated as POSIX/uspace simulator execution, not real machine realtime hardware readiness. +- Important operational note: + - Build commands should use `env -u DEBUG ...` or avoid exporting `DEBUG=release`, because LinuxCNC Makefile treats `DEBUG` as compiler flags. + +Execution timestamp: +- `2026-06-26 05:24:07 EDT` + +--- + +## GPT/Codex Execution Log - launch LinuxCNC five-axis simulation case + +User request: +- Asked to start a five-axis machine case. + +Workspace instructions observed: +- Preserved existing repository state. +- Appended this execution process log to `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`. + +Discovery: +- Checked display environment: + - `DISPLAY=:0` + - `XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.GF85Q3` + - `WAYLAND_DISPLAY=wayland-0` + - `XDG_SESSION_TYPE=wayland` +- Listed available five-axis LinuxCNC simulation configs under `configs/sim`. +- Candidate configs found included: + - `configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini` + - `configs/sim/axis/vismach/5axis/bridgemill/5axis.ini` + - `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` + - `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` + - TWP/nutating five-axis examples under `table-rotary_spindle-rotary-nutating`. + +First attempt: +- Started `table-dual-rotary/xyzab-tdr.ini` on the desktop display. +- Command pattern: + - `env -u DEBUG DISPLAY=:0 XAUTHORITY=... /home/meswork/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc xyzab-tdr.ini` +- Result: + - LinuxCNC backend started and loaded `xyzab_tdr_kins`. + - `linuxcncsvr` and `rtapi_app` remained. + - `axis` and `xyzab-tdr-gui` did not remain alive. +- Cleanup: + - Used `halrun -U`, killed stale backend PIDs, and removed stale `/tmp/linuxcnc.lock` when no active LinuxCNC processes remained. + +Second attempt: +- Started `bridgemill/5axis.ini` from: + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` +- Initial command used background process in a short-lived shell. +- Result: + - Backend started and loaded `5axiskins coordinates=xyzbcwy`. + - `axis` and `5axisgui` appeared briefly but exited when the launching shell ended, leaving only orphan backend processes. +- Diagnosis: + - The background launch was tied to the transient shell/session; GUI children were not kept alive. +- Cleanup: + - Used `halrun -U`, killed stale backend PIDs, and removed stale `/tmp/linuxcnc.lock`. + +Successful launch: +- Started the `bridgemill` five-axis case detached from the transient shell with `setsid`. +- Workdir: + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/bridgemill` +- Command pattern: + - `setsid env -u DEBUG DISPLAY=:0 XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.GF85Q3 /home/meswork/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc -r 5axis.ini >/tmp/linuxcnc-5axis-bridgemill-desktop.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-trt.log 2>&1 /tmp/linuxcnc-gmoccapy-5-axis-xab.log 2>&1 -f ` before entering `Gtk.main()`. +- Inspected gmoccapy communication callbacks: + - `_periodic()` calls `self.stat.poll()` and `self.error_channel.poll()`. + - E-stop/on/mode buttons call `self.command.state(...)` and `self.command.mode(...)`. + - Jog controls call `self.command.jog(...)`. + - Homing calls `self.command.home(...)` / `self.command.unhome(...)`. + - Spindle controls call `self.command.spindle(...)` and `self.command.spindleoverride(...)`. + - Coolant controls call `self.command.flood(...)` / `self.command.mist(...)`. + - Feed/rapid overrides call `self.command.feedrate(...)` / `self.command.rapidrate(...)`. + - MDI/auto controls call `self.command.mdi(...)`, `self.command.auto(...)`, and `self.command.abort()`. +- Inspected gmoccapy HAL pin creation: + - Hardware button pins: `gmoccapy.h-button.*`, `gmoccapy.v-button.*`. + - Jog pins: `gmoccapy.jog.axis.jog--plus/minus`, increment pins, and velocity pins. + - Override pins: feed/spindle/jog/rapid count and analog pins. + - Tool/change pins: `tooloffset-x`, `tooloffset-z`, `toolchange-*`. + - Program progress pins: `program.length`, `program.current-line`, `program.progress`. + - Error/message pins: `error`, `delete-message`. +- Inspected `common/hal_glib.py`: + - `GPin` polls HAL pin values and emits `value-changed` events. + - `GStat` wraps LinuxCNC status polling and emits GTK/GObject status signals. +- Inspected `gladevcp/makepins.py`: + - `GladePanel` scans Glade HAL widgets, creates HAL pins, and periodically updates them. +- Inspected LinuxCNC launcher: + - `/home/meswork/cnc_wams/linuxcnc/scripts/linuxcnc` + - Confirmed startup order: export `CONFIG_DIR`/`INI_FILE_NAME`, start `linuxcncsvr`, start realtime/HAL, load `tpmod`/`homemod`, start `milltask`, start `halui`, execute HALFILEs, `halcmd start`, then run `gmoccapy -ini `. +- Inspected task/NML implementation: + - `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` + - Confirmed `milltask` opens NML channels `emcCommand`, `emcStatus`, and `emcError`. + - Confirmed main task loop reads command buffer, plans/executes task, updates motion/task status, and writes `emcStatus`. +- Inspected Python REMAP files: + - `python/toplevel.py` + - `python/remap.py` + - `python/stdglue.py` + - Determined these affect interpreter-side M6/M61 behavior, not the primary GUI/backend communication channel. + +Deliverable created: +- `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` + +Document contents: +- Describes the INI role and five-axis simulation setup. +- Documents LinuxCNC startup sequence from `linuxcnc ` to `gmoccapy`. +- Explains each HAL file and postgui HAL timing. +- Explains gmoccapy initialization, HAL component creation, and polling loop. +- Details the three communication mechanisms: + - NML command/status/error channels. + - HAL shared-memory pins/signals. + - Interpreter Python REMAP path. +- Gives concrete operation chains for power-on, jog, spindle, coolant, MDI/auto, and REMAP. +- Includes a text architecture diagram and key source-file index. + +Verification: +- Confirmed document exists and has 616 lines: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- Previewed the start of the document to verify correct Chinese Markdown content. + +Final state: +- Analysis document written successfully in the requested directory. +- No LinuxCNC runtime processes were started or stopped during this analysis turn. + +--- + +## 2026-06-26 09:07 EDT - gmoccapy G-code execution conditions, interlocks, and button logic update + +User request: +- Continue improving `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md`. +- Add analysis of machine conditions for executing G-code. +- Add full interlock relationships for power-on, emergency stop, auto/manual/MDI, homing, limits, interpreter state, and related machine states. +- Add full control logic for data/system/interface buttons. + +Execution process: +- Continued from the existing document created in the previous turn: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- Re-read gmoccapy UI and backend control code to verify the state machine and button callbacks before editing: + - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` + - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` + - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` +- Commands used for source inspection and verification included: + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '5550,5905p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '5905,6135p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '720,900p'` + - `nl -ba linuxcnc/share/gmoccapy/gmoccapy.glade | sed -n '7200,7335p'` + - `nl -ba linuxcnc/share/gmoccapy/gmoccapy.glade | sed -n '7335,7425p'` + - `rg -n "class EMC_Action|hal_tgl_pause|EMC_Action_Pause|EMC_Action_Step|EMC_Action_Stop|EMC_Action_Reload|EMC_Action_Open" linuxcnc/lib/python linuxcnc/src/emc/usr_intf -g '*.py'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '3185,3265p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '6135,6325p'` + - `nl -ba linuxcnc/lib/python/gladevcp/hal_actions.py | sed -n '330,475p'` + - `nl -ba linuxcnc/lib/python/gladevcp/hal_filechooser.py | sed -n '180,245p'` + - `rg -n "hal_tgl_pause|hal_action_step|hal_action_stop|hal_action_reload|hal_action_open|hal_action_save|hal_action_saveas|hal_action" linuxcnc/share/gmoccapy/gmoccapy.glade` + - `rg -n "btn_use_current|use_current|file_loaded|program_open|program.length" linuxcnc/bin/gmoccapy linuxcnc/share/gmoccapy/gmoccapy.glade` + - `nl -ba linuxcnc/lib/python/gladevcp/hal_actions.py | sed -n '459,510p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '4145,4185p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '3505,3575p'` + - `nl -ba linuxcnc/share/gmoccapy/gmoccapy.glade | sed -n '5488,5530p'` + - `rg -n "NO_FORCE_HOMING|POSITION_FILE|PROGRAM_PREFIX|MDI_COMMAND|USER_COMMAND_FILE|MACRO|DEFAULT_LINEAR_VELOCITY|MAX_LINEAR_VELOCITY|CYCLE_TIME" linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini linuxcnc/configs/sim/gmoccapy/*.ini` + - `rg -n "def no_force_homing|get_no_force_homing|NO_FORCE_HOMING|home_all" linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py linuxcnc/bin/gmoccapy` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '1040,1148p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '1148,1235p'` + - `rg -n "def on_btn_exit|btn_exit|on_btn_homing|on_btn_touch|on_btn_tool|on_btn_back|home_back|_on_btn_home_back|on_btn_block_height|on_btn_index" linuxcnc/bin/gmoccapy` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '4250,4355p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '4780,5015p'` + - `rg -n "macro|MDI|hal_mdihistory|mdi\\(" linuxcnc/bin/gmoccapy | sed -n '1,120p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '4480,4780p'` + - `rg -n "hal_mdihistory|MDIHistory|mdi-history|submit|activate" linuxcnc/lib/python/gladevcp linuxcnc/share/gmoccapy/gmoccapy.glade | head -n 80` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '3350,3405p'` + - `nl -ba linuxcnc/lib/python/gladevcp/hal_mdihistory.py | sed -n '145,190p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '3400,3465p'` + - `rg -n "def restart_dialog|start_line|run_from_line" linuxcnc/src/emc/usr_intf/gmoccapy linuxcnc/bin/gmoccapy` + - `nl -ba linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py | sed -n '204,275p'` + - `nl -ba linuxcnc/bin/gmoccapy | sed -n '6475,6505p'` +- Key findings confirmed: + - Current INI has `[TRAJ] NO_FORCE_HOMING = 0`, so this config requires all axes to be homed before normal MDI/Auto/Touch/Tool access. + - E-stop and power buttons call `command.state(STATE_ESTOP/STATE_ESTOP_RESET/STATE_ON/STATE_OFF)` and then rely on LinuxCNC status feedback to confirm or revert GUI state. + - Manual/MDI/Auto buttons call `command.mode(...)`; actual page switching and enable/disable behavior is driven by `GStat` status callbacks. + - `all-homed` enables MDI, Auto, Tool, Touch, and switch-mode controls; `not-all-homed` disables them and returns to joint mode unless `NO_FORCE_HOMING` is enabled. + - `interp-idle` re-enables safe controls and sets Run enabled / Stop disabled. + - `interp-run` disables mode switches, setup, load, edit, tool/touch, optional block, and many spindle controls, and sets Run disabled / Stop enabled. + - `btn_run` callback directly calls `command.auto(AUTO_RUN, self.start_line)`; file/state readiness is mainly enforced by button sensitivity, keyboard checks, gladevcp actions, and LinuxCNC backend validation. + - `btn_from_line` only updates `start_line`; the later Run action performs `AUTO_RUN` from that line. + - Pause, Step, Stop, Reload, and Open are partly handled by gladevcp Action classes, not only gmoccapy callbacks. + - MDI history submits with `ensure_mode(MODE_MDI)` and `command.mdi(cmd)`. + - Macro buttons generate `O call [params...]` and send it through MDI. + - Touch Off and tool Touch Off temporarily switch to MDI, send `G10`/`G43` commands, reload as needed, then return to Manual. + - Tool change/index buttons use MDI commands such as `Tn M6` and `M61 Qn`. + - Spindle/coolant/feed/rapid controls call LinuxCNC command APIs, with additional guards during emergency stop and interpreter reading/waiting. + - Hardware button HAL pins trigger the current visible software button by position and inherit that button's sensitivity/interlocks. + - The `optional-stop` and `blockdelete` HAL pin callbacks are crossed in this source: `optional-stop` drives `tbtn_optional_blocks` / `set_block_delete()`, while `blockdelete` calls `set_optional_stop()`. + +Document updates made: +- Added `## 9. G 代码执行条件和状态互锁`. +- Added analysis of: + - Three layers of protection: GUI sensitivity, gladevcp Action checks, LinuxCNC backend validation. + - Normal Auto G-code execution chain from startup through run. + - MDI and macro execution conditions. + - Task states: `STATE_ESTOP`, `STATE_ESTOP_RESET`, `STATE_OFF`, `STATE_ON`. + - Mode states: Manual, MDI, Auto. + - Homing and joint/world motion mode interlocks. + - Interpreter idle/run/pause interlocks. + - Limit and ignore-limits handling. + - Special page interlocks for setup, file load, edit, offset edit, and tool edit. +- Added `## 10. 界面按钮和控制逻辑`. +- Added button/control tables for: + - Top power and mode buttons. + - Manual, homing, jogging. + - Touch Off and offset buttons. + - Auto page and file execution buttons. + - MDI, macro, and virtual keyboard buttons. + - Tool and tool-change buttons. + - Spindle, coolant, feed, rapid, and override controls. + - Hardware buttons and HAL inputs. + - Setup/data/system buttons. + - Overall control-flow diagram. +- Renumbered source index to `## 11. 关键源文件索引`. +- Added additional source references to the index: + - `gmoccapy.glade` + - `dialogs.py` + - `hal_actions.py` + - `hal_filechooser.py` + - `hal_mdihistory.py` + +Verification: +- Checked document structure and keyword coverage with `rg`. +- Previewed the added sections with `sed`. +- Ran `git diff --check -- work/working3/gmoccapy_XYZAB_execution_analysis.md`; no whitespace or patch-format problems were reported. +- Confirmed updated document length: + - `999 work/working3/gmoccapy_XYZAB_execution_analysis.md` +- Checked worktree status for affected paths: + - `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` modified. + - `work/working3/gmoccapy_XYZAB_execution_analysis.md` untracked, as expected for the generated deliverable. + +Final state: +- The requested interlock and button-control analysis has been added to: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- No LinuxCNC runtime process was started or stopped during this update. + +--- + +## 2026-06-26 09:20 EDT - Per-button gmoccapy function cross-check + +User request: +- Further cross-check every button's function. +- Complete the analysis document. + +Execution process: +- Continued editing: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- Extracted all static clickable controls from: + - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` +- Static clickable control extraction included: + - `GtkButton` + - `GtkToggleButton` + - `GtkRadioButton` + - `GtkCheckButton` + - `GtkFileChooserButton` + - `GtkColorButton` + - `GtkFontButton` + - gladevcp Action objects such as `EMC_Action_Reload`, `EMC_Action_Stop`, and `EMC_ToggleAction_Pause` +- Counted Glade static controls: + - 7 gladevcp Action objects. + - 126 static clickable/configurable controls. +- Cross-checked extracted Glade IDs against handler definitions in: + - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` +- Cross-checked dynamic buttons created at runtime: + - Homing buttons from `_make_ref_axis_button`. + - Touch Off buttons from `_make_touch_button`. + - Axis/joint jog buttons from `_make_jog_button` and `_make_joints_button`. + - Jog increment buttons from `_make_jog_increments`. + - Macro buttons from `_make_macro_button`. + - OffsetPage dynamic buttons added in `_init_offsetpage`. + - ToolEdit internal buttons reconnected in `_init_tooleditor`. + - Hardware button HAL pins handled by `_button_pin_changed`. +- Confirmed current XYZAB-specific dynamic conditions from: + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- Current configuration-specific findings: + - Axis list is `X Y Z A B`. + - Joint count is 5. + - `NO_FORCE_HOMING = 0`. + - `[TOOLSENSOR]` is not defined, so the Touch Off `Block Height` dynamic button is not created for this config. + - `[MACROS]` defines five actual macro buttons: + - `i_am_lost` + - `halo_world` + - `jog_around` + - `increment xinc yinc` + - `go_to_position X-pos Y-pos Z-pos` + +Commands used for cross-checking: +- Extract all static clickable controls from Glade: + - Python `xml.etree.ElementTree` script over `linuxcnc/share/gmoccapy/gmoccapy.glade` +- Count Glade clickable/control objects: + - `rg -n " spindle_stop` +- Copied: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png` +- Updated counts: + - Inventory rows from 210 to 211. + - Copied image files from 111 to 112. + +Main analysis document update: +- Appended section: + - `## 13. 按钮图标整理索引` +- Updated file: + - `/home/meswork/cnc_wams/work/working3/gmoccapy_XYZAB_execution_analysis.md` +- The section points to: + - `button_icon_inventory.md` + - `button_icon_inventory.csv` + - copied `files/` directory + +Representative copied file validation: +- `macro_0__macro_image.png`: + - PNG, 567 x 378 +- `macro_4__macro_image.png`: + - PNG, 567 x 378 +- `img_open__open_file__32.svg`: + - SVG +- `img_run__play__32.png`: + - PNG, 48 x 48 +- `img_spindle_stop__spindle_stop__48.png`: + - PNG, 48 x 48 + +Final state: +- Button icon inventory and actual icon copies are saved in the documentation directory. +- The main gmoccapy execution-analysis document now links to the icon inventory. +- No LinuxCNC runtime process was started or stopped. diff --git a/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html b/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html index 829fdd3..c7b8d27 100644 --- a/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html +++ b/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html @@ -44,6 +44,43 @@ } return win.webRtcp5AxisSimulation.getState(); } + function assertActiveGcodeRowVisible(doc, expectedLine) { + const activeRow = doc.querySelector(".gcode-row.active"); + const list = doc.querySelector(".gcode-list"); + if (!activeRow || !list) { + throw new Error("missing active G-code row or list"); + } + if (expectedLine && activeRow.dataset.programLine !== String(expectedLine)) { + throw new Error(`active G-code row should be line ${expectedLine}, got ${activeRow.dataset.programLine}`); + } + if (activeRow.dataset.lineStatus !== "running") { + throw new Error(`active G-code row should be running, got ${activeRow.dataset.lineStatus}`); + } + const activeBackground = getComputedStyle(activeRow).backgroundColor.replace(/\s/g, ""); + if (activeBackground !== "rgb(33,165,83)") { + throw new Error(`active G-code row should be green, got ${activeBackground}`); + } + const previousLine = Number(activeRow.dataset.programLine || 0) - 1; + const previousRow = doc.querySelector(`.gcode-row[data-program-line="${previousLine}"]`); + if (previousRow) { + const previousBackground = getComputedStyle(previousRow).backgroundColor.replace(/\s/g, ""); + if (previousRow.dataset.lineStatus !== "done") { + throw new Error(`executed G-code row should be done, got ${previousRow.dataset.lineStatus}`); + } + if (previousBackground !== "rgb(238,238,238)") { + throw new Error(`executed G-code row should be light gray, got ${previousBackground}`); + } + } + const listText = list.textContent; + if (/\bpending\b|\bstopped\s+\|\s+F\b|\brunning\s+\|\s+F\b/.test(listText)) { + throw new Error("G-code list should not render execution status text"); + } + const rowBounds = activeRow.getBoundingClientRect(); + const listBounds = list.getBoundingClientRect(); + if (rowBounds.bottom < listBounds.top || rowBounds.top > listBounds.bottom) { + throw new Error(`active G-code row ${activeRow.dataset.programLine} is not visible after auto-scroll`); + } + } async function runSmoke() { await new Promise((resolve, reject) => { @@ -236,10 +273,18 @@ throw new Error("initial machine state should show power off"); } - win.webRtcp5AxisSimulation.dispatch({ type: "RUN" }); + const initiallyBlockedRunButton = doc.querySelector('[data-action="RUN"]'); + if ( + initiallyBlockedRunButton.disabled || + initiallyBlockedRunButton.dataset.commandReady !== "false" || + initiallyBlockedRunButton.getAttribute("aria-disabled") !== "true" + ) { + throw new Error("RUN button should remain clickable and marked blocked before power on"); + } + initiallyBlockedRunButton.click(); await wait(50); if (!win.webRtcp5AxisSimulation.getState().operatorMessage.includes("blocked")) { - throw new Error("RUN should be blocked before power on"); + throw new Error("RUN button should report why execution is blocked before power on"); } doc.querySelector('[data-action="power"]').click(); await wait(50); @@ -489,12 +534,10 @@ if (!doc.querySelector('[data-session-persistence="status"]')?.textContent.includes("opfs unavailable")) { throw new Error("session save status did not render OPFS unavailable fallback"); } - if (doc.querySelector('[data-active-program-line]')?.textContent !== "Current line 2") { + if (doc.querySelector('[data-active-program-line]')?.textContent !== "Executing line 2") { throw new Error("loaded program did not render first LinuxCNC motion line"); } - if (doc.querySelector(".gcode-row.active")?.dataset.programLine !== "2") { - throw new Error("loaded program active row should be first LinuxCNC motion line"); - } + assertActiveGcodeRowVisible(doc, 2); win.webRtcp5AxisSimulation.dispatch({ type: "RUN" }); await wait(250); @@ -510,6 +553,25 @@ if (Number(doc.querySelector(".gcode-row.active")?.dataset.programLine || 0) < 2) { throw new Error("RUN did not highlight a LinuxCNC task/HAL motion line"); } + assertActiveGcodeRowVisible(doc); + const stopLineBefore = win.webRtcp5AxisSimulation.getState().activeLine; + doc.querySelector('[data-action="STOP"]').click(); + await wait(150); + const stoppedState = win.webRtcp5AxisSimulation.getState(); + if (stoppedState.runState !== "stopped" || stoppedState.machine.interpState !== "idle") { + throw new Error(`STOP did not stop the running G-code program: ${stoppedState.runState}/${stoppedState.machine.interpState}`); + } + if (stoppedState.feed.currentVelocity !== 0) { + throw new Error(`STOP did not zero current velocity: ${stoppedState.feed.currentVelocity}`); + } + if (stoppedState.activeLine !== stopLineBefore) { + throw new Error(`STOP allowed G-code execution to continue: ${stopLineBefore} -> ${stoppedState.activeLine}`); + } + doc.querySelector('[data-action="RUN"]').click(); + await wait(250); + if (win.webRtcp5AxisSimulation.getState().runState !== "running") { + throw new Error("RUN did not restart after STOP"); + } canvas = doc.querySelector("[data-five-axis-canvas]"); if ( Number(canvas.dataset.threeExecutedPathPoints ?? 0) < 1 || diff --git a/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs b/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs index 33572a5..3b0a3fc 100644 --- a/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs +++ b/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs @@ -119,6 +119,20 @@ store.dispatch({ type: "RESUME" }); await waitForTaskHal(store); assert.equal(store.getState().machine.interpState, "reading"); +store.dispatch({ type: "STEP" }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.machine.interpState, "paused"); +assert.equal(state.machine.taskPaused, true); +assert.equal(state.taskHalStatus.task.singleStepping, true); + +store.dispatch({ type: "STOP" }); +await waitForTaskHal(store); +state = store.getState(); +assert.equal(state.runState, "stopped"); +assert.equal(state.machine.interpState, "idle"); +assert.equal(state.taskHalStatus.motionStatus.motion.aborted, true); + console.log("linuxcnc_task_hal_runtime_smoke=ok"); console.log("task_hal_machine_file_smoke=ok"); console.log("switchkins_remap_hal_sync_smoke=ok"); diff --git a/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs b/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs index 68ffb80..d7da3e3 100644 --- a/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs +++ b/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs @@ -199,8 +199,16 @@ async function verifyRunReadySequence({ profileId, sourceRel }) { assert.notEqual(state.operatorMessage, "run blocked: home machine first"); assert.equal(state.machine.allHomed, true); + const activeLineBeforeStop = state.activeLine; store.dispatch({ type: "STOP" }); await waitForTaskHalCommand(store); + await new Promise((resolve) => setTimeout(resolve, 120)); + state = store.getState(); + assert.equal(state.taskHalStatusLoop.active, false); + assert.equal(state.runState, "stopped"); + assert.equal(state.machine.interpState, "idle"); + assert.equal(state.feed.currentVelocity, 0); + assert.equal(state.activeLine, activeLineBeforeStop); } async function waitForTaskHalCommand(store) { diff --git a/work/working1/01-功能内容.md b/work/working1/01-功能内容.md new file mode 100644 index 0000000..ba26798 --- /dev/null +++ b/work/working1/01-功能内容.md @@ -0,0 +1,112 @@ +# 01-功能内容 + +## 功能目标 + +完善 Web RTCP 五轴仿真页面的数控控制按钮互相功能，使按钮状态和点击反馈真实反映 LinuxCNC task/HAL 控制状态。 + +本轮优先完成的按钮： + +- Run +- Stop +- Pause +- Resume +- Step +- Home + +## 已实现内容 + +1. Run 条件检查和提示 + - 当执行条件不具备时，Run 按钮保持可点击。 + - 点击后通过 `operatorMessage` 提示具体原因，例如机器未上电、未切到 AUTO、未 Home、task/HAL runtime 未就绪、未加载 LinuxCNC machine-file G-code 等。 + - 前端按钮增加 `data-command-ready` 和 `aria-disabled` 状态，避免按钮被禁用后无法给出提示。 + +2. Stop + - Web store 发送 `EMC_TASK_ABORT`。 + - task/HAL 状态回到 idle/stopped。 + - motion runtime 标记 aborted，并清空/停止执行队列。 + +3. Pause + - Web store 发送 `EMC_TASK_PLAN_PAUSE`。 + - task/HAL runtime 将解释器状态置为 `PAUSED`。 + - motion runtime 接收 `EMC_TRAJ_PAUSE`，运动状态进入 paused。 + +4. Resume + - Web store 发送 `EMC_TASK_PLAN_RESUME`。 + - 仅当返回的 LinuxCNC task/HAL 状态仍应继续运行时，才恢复 task/HAL status loop。 + - 避免 Resume 后在已完成、已停止或不应运行的状态下继续轮询。 + +5. Step + - Web store 发送 `EMC_TASK_PLAN_STEP`，不再只跑空 cycle。 + - task/HAL runtime 记录 `singleStepping=true` 和 `taskPaused=true`。 + - motion runtime 增加 `EMC_TRAJ_STEP` / `EMCMOT_STEP` 支持，在 paused 状态下允许 step 命令通过。 + +6. Home + - Web store 发送 `EMC_JOINT_HOME`。 + - Home 后立即保持 Web 侧 `allHomed=true`，防止快速 `HOME -> SET_MODE` 时序丢失已归零状态。 + - task/HAL 状态 patch 保留 `allHomed` 和 `noForceHoming`。 + - task/HAL session 初始化时停止旧 status loop，防止旧循环覆盖新 session 状态。 + +## LinuxCNC 源码依据 + +参考 LinuxCNC 源程序： + +- `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` +- `/home/meswork/cnc_wams/linuxcnc/src/emc/nml_intf/emc_nml.hh` +- `/home/meswork/cnc_wams/linuxcnc/src/emc/nml_intf/emc.hh` + +对应命令语义： + +- `EMC_TASK_PLAN_RUN` +- `EMC_TASK_PLAN_PAUSE` +- `EMC_TASK_PLAN_RESUME` +- `EMC_TASK_PLAN_STEP` +- `EMC_TASK_ABORT` +- `EMC_JOINT_HOME` +- `EMC_TRAJ_PAUSE` +- `EMC_TRAJ_RESUME` +- `EMC_TRAJ_STEP` +- `EMC_TRAJ_ABORT` + +## 修改文件 + +- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `/home/meswork/cnc_wams/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `/home/meswork/cnc_wams/wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` + +## 当前完成状态 + +状态：已完成并通过选定严格测试。 + +补充验收：已新增本地浏览器按钮流程取证，覆盖 Home、Run、Pause、Resume、Step、Stop 点击前后状态截图和 JSON 报告。 + +取证文件： + +- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf` +- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` + +云端补充验收： + +- 已重新部署当前静态站点到 `https://82.156.24.101:8092/`。 +- 已使用同一按钮流程脚本采集云端 Home、Run、Pause、Resume、Step、Stop 点击前后状态。 +- 云端报告状态：`PASS` +- job_id：`btn-20260623091811-c291e49b` +- report_id：`report-btn-20260623091811-c291e49b` +- 云端 JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` +- 云端 PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` +- 云端截图：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` + +Native 对照补充验收： + +- 已生成 native task/HAL 对照报告。 +- 报告状态：`PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER` +- 报告文件： + - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` + - `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` +- 结论：LinuxCNC source/phase0/native readiness audit 对照通过；host-native TRT runtime 状态转换日志因当前主机 native runtime 依赖阻塞无法生成。 + +注意：本轮仍不声明真实硬件驱动、host realtime kernel、外部 User-M process 或 tool DB native runtime 已具备；这些边界在 native 对照报告中明确记录。 diff --git a/work/working1/02-程序开发步骤.md b/work/working1/02-程序开发步骤.md new file mode 100644 index 0000000..74177b3 --- /dev/null +++ b/work/working1/02-程序开发步骤.md @@ -0,0 +1,279 @@ +# 02-程序开发步骤 + +## 阶段 1：确认语义来源 + +1. 阅读 workspace 规则和 LinuxCNC WASM port 规则。 +2. 确认本轮不能新增独立 CNC 语义，必须以 LinuxCNC 源码为语义依据。 +3. 查阅 LinuxCNC task 源码： + - `linuxcnc/src/emc/task/emctaskmain.cc` + - `linuxcnc/src/emc/nml_intf/emc_nml.hh` + - `linuxcnc/src/emc/nml_intf/emc.hh` +4. 确认按钮对应的 LinuxCNC command： + - Run -> `EMC_TASK_PLAN_RUN` + - Stop -> `EMC_TASK_ABORT` + - Pause -> `EMC_TASK_PLAN_PAUSE` + - Resume -> `EMC_TASK_PLAN_RESUME` + - Step -> `EMC_TASK_PLAN_STEP` + - Home -> `EMC_JOINT_HOME` + +## 阶段 2：前端按钮状态调整 + +文件： + +- `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + +步骤： + +1. 找到 bottom controls 渲染逻辑。 +2. 增加 promptable action 列表： + - `RUN` + - `STOP` + - `PAUSE` + - `RESUME` + - `STEP` + - `HOME` +3. 这些按钮在 blocked 时不再设置 HTML `disabled`。 +4. blocked 状态通过以下属性体现： + - `data-command-ready="false"` + - `aria-disabled="true"` + - `title="... blocked reason ..."` +5. 点击后仍 dispatch 原 action，由 store gate 返回真实阻塞原因。 + +## 阶段 3：Web store 命令行为调整 + +文件： + +- `web-rtcp-5axis-sim-plan/app/src/state/store.js` + +步骤： + +1. Resume + - 发送 `EMC_TASK_PLAN_RESUME`。 + - 根据返回 status 调用 `shouldContinueTaskHalStatusLoop()`。 + - 只有仍处于 reading/mdi 等应继续状态时才重启 status loop。 + +2. Step + - 从空 command sequence 改为发送 `EMC_TASK_PLAN_STEP`。 + - 保留单步后 paused 状态。 + +3. Home + - 在 task/HAL runtime 存在时，先在 Web 状态中标记： + - `mode="manual"` + - `allHomed=true` + - `interpState="idle"` + - `taskPaused=false` + - 再异步发送 `EMC_JOINT_HOME`。 + - 修复快速 `HOME -> SET_MODE` 导致 Home 状态丢失的问题。 + +4. Session reset + - `initializeTaskHalSession()` 开始时停止旧 `taskHalStatusLoop`。 + - 避免旧运行循环覆盖新 session 或 MDI/Step 状态。 + +5. Status patch + - `applyTaskHalStatusPatch()` 保留 `allHomed`。 + - 同时保留 `noForceHoming`，避免 gate 状态回退。 + +## 阶段 4：WASM task/HAL runtime 补齐 + +文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` + +步骤： + +1. 在 `TaskRuntime` 中增加： + - `task_paused` + - `single_stepping` +2. 在 `status_json()` 输出： + - `task.taskPaused` + - `task.singleStepping` +3. 在 command handler 中补齐： + - `EMC_TASK_PLAN_STEP` + - RUN/RESUME/ABORT/HOME/completion 时清理 pause/step 状态。 +4. Step 行为： + - 设置 `single_stepping=true` + - 设置 `task_paused=true` + - 发送 `EMC_TRAJ_STEP` + - cycle 后回到 paused。 + +## 阶段 5：WASM motion runtime 补齐 + +文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` + +步骤： + +1. 增加 `LCMOT_CMD_STEP`。 +2. 解析： + - `EMC_TRAJ_STEP` + - `EMCMOT_STEP` +3. paused 状态下允许 STEP 命令通过 queue gate。 +4. apply step 时短暂解除 paused，使单步命令可以推进。 + +## 阶段 6：测试覆盖 + +修改测试： + +- `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` + +新增/强化验证： + +1. blocked Run 按钮不能被 HTML disabled，应可点击并提示原因。 +2. Pause 后 `runState=paused`。 +3. Resume 后恢复 running/reading 状态。 +4. Step 后： + - `machine.interpState="paused"` + - `machine.taskPaused=true` + - `taskHalStatus.task.singleStepping=true` +5. Stop 后： + - `runState="stopped"` + - `machine.interpState="idle"` + - `motion.aborted=true` + +## 阶段 7：构建与验证 + +执行： + +```bash +bash wasm-port/tools/build_task_hal_wasm.sh +node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs +node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs +node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs +node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs +bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh +``` + +结果：全部通过。 + +## 阶段 8：浏览器按钮截图取证 + +新增文件： + +- `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` + +步骤： + +1. 启动本地静态 HTTP server，打开 `web-rtcp-5axis-sim-plan/app/index.html`。 +2. 等待 kinematics、interpreter、task/HAL runtime ready。 +3. 加载短 G-code 程序 `button-control-evidence.ngc`。 +4. 按顺序采集： + - 初始界面 + - 程序加载后 + - Home 前后 + - Run 前后 + - Pause 前后 + - Resume 前后 + - Step 前后 + - Stop 前后 +5. 每个步骤记录： + - PNG 截图 + - `RUN/STOP/PAUSE/RESUME/STEP/HOME` 按钮 DOM readiness 属性 + - Web store machine/run/taskHalStatus 状态 + - Three.js canvas dataset + - PNG 非黑像素统计 +6. 输出 JSON 报告： + +```text +/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +``` + +验证命令： + +```bash +node --check qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +``` + +结果： + +```text +button_control_evidence_status=PASS +``` + +## 阶段 9：云端部署与按钮验收 + +步骤： + +1. 重建当前静态站点： + +```bash +bash wasm-port/tools/build_task_hal_wasm.sh +npm --prefix web-rtcp-5axis-sim-plan/app run build +``` + +2. 打包 `web-rtcp-5axis-sim-plan/app/dist`： + +```bash +tar -C web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-8092-working1.tar.gz . +``` + +3. 通过 SSH/paramiko 发布到云端 nginx root： + +```text +host=82.156.24.101 +user=ubuntu +root=/var/www/web-rtcp-5axis-sim +``` + +4. 云端执行： + +```bash +sudo nginx -t +sudo systemctl reload nginx +curl -k -I https://127.0.0.1:8092/ +``` + +5. 对公网 URL 运行按钮流程取证： + +```bash +TARGET_URL='https://82.156.24.101:8092/' \ +EVIDENCE_SCOPE='cloud-button-control-evidence' \ +node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +``` + +结果： + +```text +button_control_evidence_status=PASS +button_control_evidence_job_id=btn-20260623091811-c291e49b +button_control_evidence_report_id=report-btn-20260623091811-c291e49b +button_control_evidence_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json +button_control_evidence_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf +button_control_evidence_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence +``` + +## 阶段 10：LinuxCNC native 对照报告 + +新增文件： + +- `qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` + +步骤： + +1. 运行 phase0 native source/probe gate。 +2. 运行 Web native task/HAL readiness audit。 +3. 尝试运行 opt-in TRT native runtime probe。 +4. 尝试运行 upstream `rs274` fixture baseline。 +5. 记录 `halcmd`、`rs274`、`linuxcncsvr` 动态库依赖。 +6. 输出 native 对照 JSON/Markdown 报告。 + +命令： + +```bash +node --check qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs +node qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs +``` + +结果： + +```text +native_task_hal_comparison_status=PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER +native_task_hal_comparison_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json +native_task_hal_comparison_markdown=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md +native_task_hal_transition_log_available=0 +native_task_hal_host_blocker_count=15 +``` + +说明：当前主机不能启动 LinuxCNC native TRT task/HAL runtime，原因包括 RIP 脚本硬编码旧绝对路径 `/home/cnc/桌面/cnc_wams/linuxcnc`，以及二进制依赖当前主机缺失的 `GLIBC_2.38`、`GLIBCXX_3.4.31`、`libpython3.13.so.1.0` 等 runtime 条件。因此 BTN-013 的完成形态是 native/source 对照审计和 host blocker 证据，不声明真实 host-native 状态转换日志已生成。 diff --git a/work/working1/03-推进台账.md b/work/working1/03-推进台账.md new file mode 100644 index 0000000..4ca73d4 --- /dev/null +++ b/work/working1/03-推进台账.md @@ -0,0 +1,85 @@ +# 03-推进台账 + +## 本轮目标 + +完成 Web RTCP 五轴仿真页面中 Run、Stop、Pause、Resume、Step、Home 按钮的互相功能，使按钮真实反映 LinuxCNC task/HAL 状态。Run 不满足条件时必须给出明确提示。 + +## 推进记录 + +| 轮次 | 做了什么 | 改了哪些文件 | 验证了什么 | 下一步 | +|---|---|---|---|---| +| 1 | 阅读 workspace 和 LinuxCNC WASM port 规则，确认必须以 LinuxCNC 源码作为语义依据 | 无 | 确认 `AGENTS.md` 和 `wasm-port/SKILL.md` 规则 | 定位按钮和状态代码 | +| 2 | 查找按钮渲染、状态 store、task/HAL runtime、motion runtime | 无 | 定位 `gmoccapy-shell.js`、`store.js`、task/HAL WASM shim | 对照 LinuxCNC 源码 | +| 3 | 对照 LinuxCNC 源码确认命令语义 | 无 | 确认 `RUN/PAUSE/RESUME/STEP/ABORT/HOME` 对应 LinuxCNC command | 修改 UI gate | +| 4 | 调整按钮 blocked 行为，Run/Stop/Pause/Resume/Step/Home blocked 时仍可点击 | `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` | blocked Run 可以点击并产生 operatorMessage | 修改 store 命令 | +| 5 | 修改 store 中 Resume、Step、Home、session reset 和 status patch 行为 | `web-rtcp-5axis-sim-plan/app/src/state/store.js` | Step 发送 `EMC_TASK_PLAN_STEP`，Home 状态不丢失 | 修改 WASM runtime | +| 6 | task/HAL runtime 增加 paused/single-stepping 状态和 `EMC_TASK_PLAN_STEP` | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` | task status 输出 `taskPaused`、`singleStepping` | 修改 motion runtime | +| 7 | motion runtime 增加 `EMC_TRAJ_STEP` / `EMCMOT_STEP` | `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` | paused 状态下 step 命令可以通过 | 重建 WASM | +| 8 | 重建 task/HAL WASM | 生成/更新 build artifact | `linuxcnc_task_hal_wasm_build=ok` | 跑 Node/WASM 测试 | +| 9 | 跑 WASM 和 Node 测试，发现 MDI `M428` 状态被旧时序影响 | `store.js` | 定位 Home 快速切模式导致 `allHomed` 丢失 | 修复 Home race | +| 10 | 修复 Home race：task/HAL HOME 先同步 Web homed 状态，再发 runtime command | `store.js` | `verify_linuxcnc_task_hal_runtime.mjs` 通过 | 增强测试 | +| 11 | 增加 STEP/STOP task/HAL 状态断言 | `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` | Step/Stop 状态可验收 | 增加浏览器断言 | +| 12 | 增加浏览器 blocked Run button 可点击断言 | `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` | blocked Run 不再 disabled，点击后提示原因 | 记录日志 | +| 13 | 追加 GPT/Codex 过程日志 | `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` | 满足 workspace logging rule | 生成交付文档 | +| 14 | 新增浏览器按钮流程取证脚本，采集 Home/Run/Pause/Resume/Step/Stop 点击前后截图和状态报告 | `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` | `button_control_evidence_status=PASS`，生成 14 张截图和 JSON 报告 | 更新工作文档和日志 | +| 15 | 参数化按钮取证脚本，增加 `TARGET_URL`、云端独立输出、job_id、report_id、PDF 报告 | `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` | 本地取证仍 PASS，并生成 PDF | 部署云端 | +| 16 | 重建并部署当前静态站点到 `https://82.156.24.101:8092/` | `web-rtcp-5axis-sim-plan/app/dist`；远端 `/var/www/web-rtcp-5axis-sim` | `nginx -t` 成功；远端 `curl -k -I https://127.0.0.1:8092/` 返回 `HTTP/2 200` | 跑云端按钮验收 | +| 17 | 对云端页面运行按钮流程取证 | `qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json`；`cloud-button-control-evidence-report.pdf`；`screenshots/cloud-button-control-evidence/*.png` | `button_control_evidence_status=PASS`，job_id/report_id 已生成 | 做 native 对照 | +| 18 | 生成 LinuxCNC native task/HAL 对照报告，记录 source/phase0 audit 和 host-native runtime blocker | `qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs`；`native-task-hal-comparison-report.json`；`native-task-hal-comparison-report.md` | `native_task_hal_comparison_status=PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER` | 更新文档和日志 | + +## 最终改动文件 + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` +- `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- `qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf` +- `qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/*.png` +- `qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` +- `qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` +- `qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/*.png` +- `qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` +- `qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` +- `qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` +- `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + +## 最终验证 + +通过： + +- `bash wasm-port/tools/build_task_hal_wasm.sh` +- `node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs` +- `bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` +- `node --check qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `TARGET_URL='https://82.156.24.101:8092/' EVIDENCE_SCOPE='cloud-button-control-evidence' node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `bash wasm-port/tests/native/verify_task_hal_phase0.sh` +- `node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs` +- `node --check qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` +- `node qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` + +新增浏览器取证结果： + +- `button_control_evidence_status=PASS` +- JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- 截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` +- PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf` +- 云端 JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` +- 云端 PDF：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` +- 云端截图目录：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` +- 云端 job_id：`btn-20260623091811-c291e49b` +- 云端 report_id：`report-btn-20260623091811-c291e49b` +- Native 对照 JSON：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` +- Native 对照 Markdown：`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` + +## 遗留事项 + +1. `work/working1` 中 BTN-001 到 BTN-013 已全部有验收或 blocker 证据。 +2. 当前仍不声明真实硬件、host realtime kernel、外部 User-M process 或 tool DB native runtime 已具备；native host runtime 的阻塞原因已记录在 native 对照报告中。 diff --git a/work/working1/04-任务矩阵.md b/work/working1/04-任务矩阵.md new file mode 100644 index 0000000..41066d3 --- /dev/null +++ b/work/working1/04-任务矩阵.md @@ -0,0 +1,50 @@ +# 04-任务矩阵 + +## 状态说明 + +- Done：已实现并有测试证据。 +- Partial：部分实现，需要继续扩展。 +- Pending：未开始。 +- Done-with-blocker：验收报告已完成，且明确记录当前主机/外部条件阻塞，不再作为本轮未完成项。 + +## 任务矩阵 + +| 编号 | 任务 | 状态 | 验收标准 | 验收证据 | +|---|---|---|---|---| +| BTN-001 | Run blocked 时仍可点击 | Done | Run 按钮不被 HTML disabled；`data-command-ready=false`；点击后出现 blocked 原因 | `gmoccapy_shell_smoke.html`；`verify_gmoccapy_shell_browser.sh` | +| BTN-002 | Run 执行条件检查 | Done | 未上电、未 AUTO、未 Home、runtime 未就绪、未选 G-code 等条件会阻止执行并提示 | `verify_run_preconditions.mjs`；`verify_rtcp_store.mjs` | +| BTN-003 | Run 正常执行 | Done | 条件满足后进入 task/HAL run，产生 runtime feedback，状态来自 `linuxcnc-task-motion-hal-wasm` | `verify_linuxcnc_task_hal_runtime.mjs`；browser smoke | +| BTN-004 | Stop 功能 | Done | 点击 Stop 后发送 `EMC_TASK_ABORT`，runState 为 stopped，motion aborted 为 true | `verify_linuxcnc_task_hal_runtime.mjs` | +| BTN-005 | Pause 功能 | Done | 点击 Pause 后 task/HAL interpState 为 paused，motion paused 为 true | `verify_linuxcnc_task_hal_runtime.mjs`；browser smoke | +| BTN-006 | Resume 功能 | Done | 点击 Resume 后发送 `EMC_TASK_PLAN_RESUME`；仅在状态允许时恢复 status loop | `verify_linuxcnc_task_hal_runtime.mjs`；browser smoke | +| BTN-007 | Step 功能 | Done | 点击 Step 后发送 `EMC_TASK_PLAN_STEP`，singleStepping 为 true，状态保持 paused | `verify_linuxcnc_task_hal_runtime.mjs` | +| BTN-008 | Home 功能 | Done | 点击 Home 后发送 `EMC_JOINT_HOME`，Web/task gate 保留 allHomed，快速切模式不丢状态 | `verify_linuxcnc_task_hal_runtime.mjs`；`verify_run_preconditions.mjs` | +| BTN-009 | 按钮 UI 状态标识 | Done | 按钮根据 gate 输出 `data-command-ready`、`aria-disabled`、title | `gmoccapy-shell.js`；browser smoke | +| BTN-010 | LinuxCNC 源码语义映射 | Done | 文档和实现引用 LinuxCNC task command 语义，不新增独立 CNC 行为 | `linuxcnc-task-policy.js` sourceReferences；本工作文档 | +| RUNTIME-001 | task/HAL paused 状态输出 | Done | status JSON 输出 `taskPaused` | `linuxcnc_task_hal_wasm.cpp`；WASM/Node 测试 | +| RUNTIME-002 | task/HAL single stepping 状态输出 | Done | status JSON 输出 `singleStepping` | `verify_linuxcnc_task_hal_runtime.mjs` | +| RUNTIME-003 | motion runtime 支持 step | Done | `EMC_TRAJ_STEP` / `EMCMOT_STEP` 可进入 queue 并在 paused 时通过 | `linuxcnc_motion_runtime.c`；WASM/Node 测试 | +| TEST-001 | WASM runtime 测试 | Done | `verify_task_hal_wasm.mjs` 通过 | 命令输出 | +| TEST-002 | Node task/HAL 测试 | Done | `verify_linuxcnc_task_hal_runtime.mjs` 通过 | 命令输出 | +| TEST-003 | Run precondition 测试 | Done | `verify_run_preconditions.mjs` 通过 | 命令输出 | +| TEST-004 | Browser smoke 测试 | Done | `verify_gmoccapy_shell_browser.sh` 通过 | 命令输出 | +| TEST-005 | Browser 按钮流程截图取证 | Done | Home/Run/Pause/Resume/Step/Stop 点击前后状态截图和 JSON 报告生成，检查项全部 PASS | `capture-button-control-evidence.mjs`；`button-control-evidence-report.json`；`screenshots/button-control-evidence/` | +| TEST-006 | 云端按钮流程截图取证 | Done | `https://82.156.24.101:8092/` 页面 Home/Run/Pause/Resume/Step/Stop 流程 PASS，生成 job_id/report_id/PDF/截图 | `cloud-button-control-evidence-report.json`；`cloud-button-control-evidence-report.pdf`；`screenshots/cloud-button-control-evidence/` | +| TEST-007 | LinuxCNC native task/HAL 对照报告 | Done-with-blocker | source/phase0/native readiness audit 通过；opt-in host-native runtime probe 的阻塞原因被记录 | `native-task-hal-comparison-report.json`；`native-task-hal-comparison-report.md` | +| DOC-001 | 过程日志 | Done | 追加到 `gptlog-process/gpdlog.md` | `gpdlog.md` | +| DOC-002 | 工作交付文档 | Done | 在 `work/working1` 创建 6 份文档 | 本目录 | + +## 防重复规则 + +1. 后续如果继续改这些按钮，先检查 BTN-001 到 BTN-010 的状态，避免重复实现已有 gate。 +2. 不要重新写一套 JavaScript CNC 状态机替代 LinuxCNC task/HAL command。 +3. 新增按钮时必须先建立 LinuxCNC command/source mapping，再接入 store 和 tests。 +4. 修改 runtime 行为时必须同时更新 WASM/Node/browser 至少一层测试。 + +## 后续可扩展任务 + +| 编号 | 任务 | 状态 | 验收标准 | +|---|---|---|---| +| BTN-011 | 云端页面验收截图 | Done | `https://82.156.24.101:8092/` 部署后截图和报告证明按钮行为 | +| BTN-012 | Stop/Pause/Resume/Step/Home 浏览器截图证据 | Done | 浏览器报告包含每个按钮点击前后状态截图 | +| BTN-013 | 更完整 LinuxCNC native 对照 | Done-with-blocker | native/source 对照和 opt-in host-native runtime blocker 报告完成；当前主机不能生成 native task 状态转换日志 | diff --git a/work/working1/05-验收证据.md b/work/working1/05-验收证据.md new file mode 100644 index 0000000..8786e29 --- /dev/null +++ b/work/working1/05-验收证据.md @@ -0,0 +1,280 @@ +# 05-验收证据 + +## 验收范围 + +本轮验收覆盖： + +- Run 条件不具备时可点击并提示原因。 +- Run 条件满足后进入 task/HAL 执行。 +- Stop、Pause、Resume、Step、Home 按钮驱动 task/HAL runtime。 +- 按钮状态来自 LinuxCNC task policy 和 task/HAL status，而不是固定 UI 状态。 + +## 命令证据 + +### 1. 构建 task/HAL WASM + +命令： + +```bash +bash wasm-port/tools/build_task_hal_wasm.sh +``` + +结果： + +```text +linuxcnc_task_hal_wasm_build=ok +``` + +### 2. WASM task/HAL runtime 测试 + +命令： + +```bash +node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs +``` + +结果： + +```text +linuxcnc_task_runtime_smoke=ok +task_status_from_linuxcnc_runtime=ok +task_commands_drive_motion_runtime=ok +mdi_jog_task_motion_hal_sync=ok +``` + +### 3. Web store + task/HAL runtime 测试 + +命令： + +```bash +node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs +``` + +结果： + +```text +linuxcnc_task_hal_runtime_smoke=ok +task_hal_machine_file_smoke=ok +switchkins_remap_hal_sync_smoke=ok +browser_task_hal_worker_smoke=ok +``` + +覆盖点： + +- Run task/HAL feedback。 +- MDI `M428` 后 `switchkinsType=1`。 +- Home 后 Jog 保持坐标连续。 +- Pause 后 `interpState=paused`。 +- Resume 后 `interpState=reading`。 +- Step 后 `singleStepping=true`。 +- Stop 后 `motion.aborted=true`。 + +### 4. Run preconditions 测试 + +命令： + +```bash +node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs +``` + +结果： + +```text +run_preconditions_ini_profile_smoke=ok +run_preconditions_kinematics_smoke=ok +run_preconditions_machine_file_smoke=ok +``` + +覆盖点： + +- LinuxCNC INI 未加载时阻止 Run。 +- task/HAL runtime 未就绪时阻止 Run。 +- 未开机、未 AUTO、未 Home 时阻止 Run。 +- 未选择 machine-file G-code 时阻止 Run。 + +### 5. Store 回归测试 + +命令： + +```bash +node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs +``` + +结果： + +```text +rtcp_store_smoke=ok +``` + +### 6. 浏览器 smoke 测试 + +命令： + +```bash +bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh +``` + +结果： + +```text +gmoccapy_shell_smoke=ok +``` + +覆盖点： + +- 页面渲染完整。 +- task/HAL runtime worker 就绪。 +- blocked Run 按钮不 disabled。 +- blocked Run 按钮有 `data-command-ready=false` 和 `aria-disabled=true`。 +- 点击 blocked Run 后输出 blocked 原因。 +- Pause/Resume browser workflow 正常。 + +### 7. 浏览器按钮流程截图取证 + +命令： + +```bash +node --check qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +``` + +结果： + +```text +button_control_evidence_status=PASS +button_control_evidence_job_id=btn-20260623091525-b35869f1 +button_control_evidence_report_id=report-btn-20260623091525-b35869f1 +button_control_evidence_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json +button_control_evidence_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf +button_control_evidence_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence +``` + +覆盖点： + +- Home 后 `allHomed=true`，保持 manual/idle 状态。 +- Run 后 `runState=running`，runtime feedback 来源为 `linuxcnc-task-motion-hal-wasm`。 +- Pause 后 `runState=paused`，`taskPaused=true`。 +- Resume 后恢复 `runState=running` 和 `interpState=reading`。 +- Step 后 `singleStepping=true`，并保持 paused。 +- Stop 后 `runState=stopped`，`motion.aborted=true`。 +- 14 张截图非空，且每一步记录 `RUN/STOP/PAUSE/RESUME/STEP/HOME` 的 readiness 属性。 + +### 8. 云端部署与按钮流程验收 + +部署命令摘要： + +```bash +bash wasm-port/tools/build_task_hal_wasm.sh +npm --prefix web-rtcp-5axis-sim-plan/app run build +tar -C web-rtcp-5axis-sim-plan/app/dist -czf /tmp/web-rtcp-5axis-sim-8092-working1.tar.gz . +``` + +云端发布： + +```text +host=82.156.24.101 +user=ubuntu +nginx root=/var/www/web-rtcp-5axis-sim +remote tar=/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-working1-20260623051405.tar.gz +remote staging=/home/ubuntu/tmp/web-rtcp-5axis-sim-8092-working1-20260623051405 +remote backup=/home/ubuntu/tmp/web-rtcp-backups/web-rtcp-5axis-sim-before-working1-20260623051405 +``` + +云端验证： + +```text +sudo nginx -t -> nginx: configuration file /etc/nginx/nginx.conf test is successful +curl -k -I https://127.0.0.1:8092/ -> HTTP/2 200 +``` + +公网按钮流程取证命令： + +```bash +TARGET_URL='https://82.156.24.101:8092/' \ +EVIDENCE_SCOPE='cloud-button-control-evidence' \ +node qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs +``` + +结果： + +```text +button_control_evidence_status=PASS +button_control_evidence_job_id=btn-20260623091811-c291e49b +button_control_evidence_report_id=report-btn-20260623091811-c291e49b +button_control_evidence_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json +button_control_evidence_pdf=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf +button_control_evidence_screenshots=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence +``` + +### 9. LinuxCNC native task/HAL 对照报告 + +命令： + +```bash +bash wasm-port/tests/native/verify_task_hal_phase0.sh +node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs +node --check qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs +node qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs +``` + +结果： + +```text +task_hal_phase0_native_probe_gate=ok +native_task_hal_source_artifact_audit=ok +native_task_hal_comparison_status=PASS_WITH_HOST_NATIVE_RUNTIME_BLOCKER +native_task_hal_comparison_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json +native_task_hal_comparison_markdown=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md +native_task_hal_transition_log_available=0 +native_task_hal_host_blocker_count=15 +``` + +阻塞证据摘要： + +- `linuxcnc/scripts/linuxcnc` 和 `linuxcnc/scripts/rip-environment` 硬编码旧路径 `/home/cnc/桌面/cnc_wams/linuxcnc`。 +- `linuxcnc/bin/halcmd` 要求当前主机没有的 `GLIBC_2.38`。 +- `linuxcnc/bin/rs274` 要求当前主机没有的 `GLIBC_2.38`、`GLIBCXX_3.4.31` 和 `libpython3.13.so.1.0`。 +- 当前主机 glibc 为 `Ubuntu GLIBC 2.35`，`libstdc++` 只到 `GLIBCXX_3.4.30`。 + +结论：BTN-013 已形成可复核 native/source 对照和 host-native blocker 证据；不声明 native task 状态转换日志已生成。 + +## 页面证据 + +本轮执行的是本地和云端 browser 验收： + +- 页面入口：`web-rtcp-5axis-sim-plan/app/index.html` +- 云端入口：`https://82.156.24.101:8092/` +- 浏览器验证脚本：`web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh` +- 按钮流程取证脚本：`qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- 按钮流程 JSON：`qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.json` +- 按钮流程 PDF：`qa/web-rtcp-5axis-site-test/output/button-control-evidence-report.pdf` +- 按钮流程截图目录：`qa/web-rtcp-5axis-site-test/screenshots/button-control-evidence/` +- 云端按钮流程 JSON：`qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.json` +- 云端按钮流程 PDF：`qa/web-rtcp-5axis-site-test/output/cloud-button-control-evidence-report.pdf` +- 云端按钮流程截图目录：`qa/web-rtcp-5axis-site-test/screenshots/cloud-button-control-evidence/` +- Native 对照 JSON：`qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.json` +- Native 对照 Markdown：`qa/web-rtcp-5axis-site-test/output/native-task-hal-comparison-report.md` + +## 文件证据 + +实现文件： + +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` +- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` +- `web-rtcp-5axis-sim-plan/app/src/state/store.js` +- `web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` + +测试文件： + +- `web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html` +- `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs` +- `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs` +- `qa/web-rtcp-5axis-site-test/capture-native-task-hal-comparison.mjs` + +过程日志： + +- `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` + +## 验收结论 + +本轮功能已通过 WASM、Node、browser 三层验证。按钮行为已从单纯 UI 操作提升为 LinuxCNC task/HAL 状态驱动的控制流程。 diff --git a/work/working1/06-决策记录.md b/work/working1/06-决策记录.md new file mode 100644 index 0000000..ade5695 --- /dev/null +++ b/work/working1/06-决策记录.md @@ -0,0 +1,187 @@ +# 06-决策记录 + +## DR-001：按钮 blocked 时保持可点击 + +决策：Run、Stop、Pause、Resume、Step、Home 在 gate blocked 时不设置 HTML `disabled`。 + +原因： + +- 用户要求点击 Run 时，如果执行条件不具备，请提示。 +- HTML disabled 按钮无法触发 click，用户拿不到具体阻塞原因。 +- 保持按钮可点击，同时用 `data-command-ready=false`、`aria-disabled=true`、title 和 operatorMessage 表达 blocked 状态，更符合操作员界面需求。 + +影响： + +- blocked 按钮仍能 dispatch action。 +- store gate 是最终裁决点。 +- UI 可以显示真实阻塞原因。 + +## DR-002：按钮语义以 LinuxCNC task command 为准 + +决策：不新增独立 JavaScript CNC 行为，按钮映射 LinuxCNC command。 + +映射： + +- Run -> `EMC_TASK_PLAN_RUN` +- Stop -> `EMC_TASK_ABORT` +- Pause -> `EMC_TASK_PLAN_PAUSE` +- Resume -> `EMC_TASK_PLAN_RESUME` +- Step -> `EMC_TASK_PLAN_STEP` +- Home -> `EMC_JOINT_HOME` + +原因： + +- `wasm-port/SKILL.md` 要求 LinuxCNC 源码是语义源。 +- LinuxCNC task 状态、解释器状态、pause/resume/step 行为已有明确实现。 +- Web 端只应做 runtime edge adapter 和 UI 显示。 + +参考： + +- `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` +- `/home/meswork/cnc_wams/linuxcnc/src/emc/nml_intf/emc_nml.hh` + +## DR-003：Step 必须发送 `EMC_TASK_PLAN_STEP` + +决策：Step 不再只执行空 task cycle，必须发送 `EMC_TASK_PLAN_STEP`。 + +原因： + +- LinuxCNC 中单步由 `EMC_TASK_PLAN_STEP`、`single_stepping`、`steppingWait` 等状态控制。 +- 空 cycle 不能表达 operator step command，也不能作为验收依据。 + +影响： + +- task/HAL runtime 增加 `singleStepping` 状态。 +- motion runtime 增加 `EMC_TRAJ_STEP` 支持。 +- Node 测试验证 `singleStepping=true`。 + +## DR-004：Resume 后是否重启 status loop 由返回状态决定 + +决策：Resume command 完成后，用 `shouldContinueTaskHalStatusLoop(state, status)` 判断是否恢复轮询。 + +原因： + +- 旧逻辑只看旧 state，可能在已经完成、停止或状态不应继续时重启 loop。 +- LinuxCNC task/HAL status 是更可信的数据来源。 + +影响： + +- 减少旧 status loop 覆盖新命令状态的风险。 +- Pause/Resume 更接近 LinuxCNC task 状态。 + +## DR-005：Home 在 Web 状态中立即标记 homed + +决策：task/HAL HOME dispatch 时，先同步 Web 侧 machine 状态，再异步发送 `EMC_JOINT_HOME`。 + +原因： + +- 前端操作可能快速执行 `HOME -> SET_MODE auto/mdi`。 +- 如果只等异步 task/HAL status 返回，后续 mode command 可能覆盖 Home 状态，导致 Run 或 MDI 被错误阻止。 +- 这是 standalone Web runtime 的异步边界适配，不改变 LinuxCNC Home 命令语义。 + +影响： + +- `allHomed=true` 不会因快速模式切换丢失。 +- task/HAL runtime 仍会收到 `EMC_JOINT_HOME`。 + +## DR-006：初始化 task/HAL session 时停止旧 status loop + +决策：`initializeTaskHalSession()` 开始时停止旧 `taskHalStatusLoop`。 + +原因： + +- session reset 会重置 task/HAL runtime。 +- 旧 status loop 如果继续运行，可能把旧运行状态覆盖到新 session 或 MDI command 上。 + +影响： + +- MDI `M428` 后 `switchkinsType=1` 不会被旧 loop 覆盖。 +- 新 session 状态边界更清晰。 + +## DR-007：保留 `allHomed` 和 `noForceHoming` + +决策：`applyTaskHalStatusPatch()` 在合并 task/HAL status 时保留 Web policy 状态中的 `allHomed` 和 `noForceHoming`。 + +原因： + +- 当前 standalone task/HAL status JSON 不完整表达所有 LinuxCNC homing policy 细节。 +- Web task policy gate 需要这些字段判断 Run/MDI 是否允许。 + +影响： + +- Run gate 不会因为 status patch 丢失 homed/policy 信息而错误阻止。 + +## DR-008：本轮不做真实硬件控制 + +决策：只完善 Web/WASM standalone simulation task/HAL 状态，不接入真实硬件。 + +原因： + +- 项目边界明确：Web simulation，不驱动真实硬件。 +- `wasm-port/SKILL.md` 明确 realtime scheduling、driver、native HAL runtime internals 是替换边界。 + +影响： + +- 验收以 WASM/Node/browser simulation 为准。 +- 后续若要硬件级对照，应另建 native LinuxCNC 验收任务。 + +## DR-009：云端验收另行执行 + +决策：本轮文档记录本地严格测试证据；云端 `https://82.156.24.101:8092/` 需要部署后单独采集。后续已执行部署和云端取证，见 DR-011。 + +原因： + +- 本轮代码和测试在本地 workspace 完成。 +- 未执行云端部署命令，也未产生云端 job_id/report_id/PDF。 + +影响： + +- 当前功能代码已完成。 +- 云端验收截图/报告已在后续步骤补齐。 + +## DR-010：按钮流程截图取证独立于 browser smoke + +决策：新增 `qa/web-rtcp-5axis-site-test/capture-button-control-evidence.mjs`，不把截图取证逻辑塞进 `gmoccapy_shell_smoke.html`。 + +原因： + +- browser smoke 用于快速回归，职责是发现核心渲染和行为回退。 +- 按钮流程取证会启动 Puppeteer、采集 PNG、分析像素并写 JSON，执行成本和输出体积更大。 +- 独立脚本可以稳定保留 Home/Run/Pause/Resume/Step/Stop 的验收证据，同时不拖慢常规 smoke。 + +影响： + +- BTN-012 的验收入口是独立 QA 命令。 +- 截图和 JSON 报告保存在 `qa/web-rtcp-5axis-site-test/` 下，可用于交付或人工复核。 + +## DR-011：云端 BTN-011 以同一按钮流程脚本验收 + +决策：使用参数化后的 `capture-button-control-evidence.mjs` 对 `https://82.156.24.101:8092/` 运行同一套 Home/Run/Pause/Resume/Step/Stop 验收。 + +原因： + +- 同一脚本能保证本地和云端验收标准一致。 +- 云端验收必须包含 job_id、report_id、PDF、截图和 JSON。 +- 云端 machine-file seed 比本地慢，脚本改为轮询 runtime readiness 和 staging 状态，避免 Puppeteer 长 Promise 被回收。 + +影响： + +- BTN-011 已完成。 +- 云端报告为 `PASS`，job_id 为 `btn-20260623091811-c291e49b`。 + +## DR-012：BTN-013 以 native/source 对照和 host blocker 报告完成 + +决策：不把当前主机无法运行的 host-native TRT task/HAL runtime 伪装成已通过；BTN-013 的完成产物是 `native-task-hal-comparison-report.json/md`。 + +原因： + +- 默认 phase0 native source/probe gate 和 Web native readiness audit 均通过。 +- opt-in native runtime probe 尝试后失败，`linuxcnc.stderr.log` 显示 LinuxCNC RIP 脚本引用旧绝对路径 `/home/cnc/桌面/cnc_wams/linuxcnc/scripts/rip-environment`。 +- `ldd` 显示当前主机还缺少 `GLIBC_2.38`、`GLIBCXX_3.4.31`、`libpython3.13.so.1.0` 等 native runtime 依赖。 +- 在这些 host 条件未满足前，无法生成真实 native LinuxCNC task 状态转换日志。 + +影响： + +- BTN-013 标记为 `Done-with-blocker`。 +- 本轮仍只声明 Web/WASM simulation boundary 的 task/HAL 行为完成。 +- 真实 host realtime/hardware/external process/tool DB native runtime 仍不提升为完成状态。 diff --git a/work/working3/gmoccapy_XYZAB_execution_analysis.md b/work/working3/gmoccapy_XYZAB_execution_analysis.md new file mode 100644 index 0000000..fad8f27 --- /dev/null +++ b/work/working3/gmoccapy_XYZAB_execution_analysis.md @@ -0,0 +1,1287 @@ +# gmoccapy_XYZAB.ini 执行过程与界面通信分析 + +分析对象： + +`/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` + +结论先行：这个配置不是一个单独程序，而是一套 LinuxCNC 运行配置。`linuxcnc ` 先启动 LinuxCNC 后台进程、实时运动模块和 HAL 网络，再启动 `gmoccapy` GTK 界面。界面与后台的主要通信不是 HTTP/TCP API，而是 LinuxCNC 的三类本地机制： + +1. NML 命令/状态/错误通道：`linuxcnc.command()` 发命令，`linuxcnc.stat()` 读状态，`linuxcnc.error_channel()` 读错误。 +2. HAL 共享内存引脚/信号网络：`gmoccapy` 自己注册 HAL component 和引脚，`POSTGUI_HALFILE` 把界面引脚接入实时/用户空间 HAL 网络。 +3. 解释器 Python REMAP：`[PYTHON]` 和 `[RS274NGC] REMAP` 在 `milltask` 内部影响 G-code 解释/换刀流程，不是 GUI 主通信链路。 + +## 1. 配置角色 + +`gmoccapy_XYZAB.ini` 定义一台五轴仿真机： + +- GUI：`[DISPLAY] DISPLAY = gmoccapy`。 +- 轮询周期：`[DISPLAY] CYCLE_TIME = 100`，即界面约每 100 ms 轮询一次 LinuxCNC 状态。 +- 任务进程：`[TASK] TASK = milltask`。 +- 实时运动模块：`[EMCMOT] EMCMOT = motmod`。 +- 运动周期：`BASE_PERIOD = 100000` ns，`SERVO_PERIOD = 1000000` ns。 +- 坐标：`[TRAJ] COORDINATES = X Y Z A B`。 +- 运动学：`[KINS] KINEMATICS = trivkins coordinates=xyzab`，`JOINTS = 5`。 +- 主 HAL 文件： + - `core_sim_XYZAB.hal` + - `spindle_sim.hal` + - `simulated_home.hal` +- GUI 创建完成后执行的 HAL 文件： + - `gmoccapy_postgui.hal` +- HAL 用户接口： + - `[HAL] HALUI = halui` + +## 2. LinuxCNC 启动顺序 + +入口通常是： + +```bash +linuxcnc /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini +``` + +启动脚本路径： + +`/home/meswork/cnc_wams/linuxcnc/scripts/linuxcnc` + +关键过程如下。 + +### 2.1 解析 INI 和导出环境 + +启动脚本先检查 INI，然后设置： + +- `CONFIG_DIR=` +- `INI_FILE_NAME=` +- `PATH=$CONFIG_DIR/bin:$PATH` + +后续的 Python 模块、HAL 文件解析和 `gmoccapy.getiniinfo` 都依赖这些环境变量。 + +脚本从 INI 读取： + +- `[EMCMOT] EMCMOT` -> `motmod` +- `[TASK] TASK` -> `milltask` +- `[HAL] HALUI` -> `halui` +- `[DISPLAY] DISPLAY` -> `gmoccapy` + +### 2.2 启动后台和实时系统 + +脚本执行的后台启动顺序是： + +1. 启动 `linuxcncsvr -ini `。脚本注释说明该进程默认持有/创建 NML buffers。 +2. 启动 realtime/RTAPI/HAL。 +3. 加载 `tpmod`、`homemod`。 +4. 启动任务进程： + + ```bash + halcmd loadusr -Wn inihal milltask -ini + ``` + +5. 启动 HALUI： + + ```bash + halcmd loadusr -Wn halui halui -ini + ``` + +6. 依次执行 `[HAL] HALFILE`： + + ```bash + halcmd -i -f core_sim_XYZAB.hal + halcmd -i -f spindle_sim.hal + halcmd -i -f simulated_home.hal + ``` + +7. `halcmd start` 启动实时线程。 +8. 最后以前台方式启动显示程序： + + ```bash + gmoccapy -ini + ``` + +实际运行文件是： + +`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` + +它与源码副本 `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` 只有 shebang Python 版本不同，主体逻辑一致。 + +## 3. HAL 文件执行过程 + +### 3.1 core_sim_XYZAB.hal + +该文件建立五轴仿真运动核心： + +- `loadrt [KINS]KINEMATICS` 加载 `trivkins coordinates=xyzab`。 +- `loadrt [EMCMOT]EMCMOT ... num_joints=[KINS]JOINTS unlock_joints_mask=16` 加载 `motmod`。 +- 把 `motion-command-handler` 和 `motion-controller` 加入 `servo-thread`。 +- 将仿真轴命令位置直接回环到反馈： + +```hal +net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb ddt_x.in +net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb ddt_y.in +net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb ddt_z.in +net Apos joint.3.motor-pos-cmd => joint.3.motor-pos-fb +net Bpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb +``` + +这说明该配置没有真实伺服驱动，运动命令立即变成反馈，用于仿真。 + +同时它还建立： + +- 急停回环： + +```hal +net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in +``` + +- 换刀准备/完成回环： + +```hal +net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared +net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed +``` + +- 主轴方向、冷却液信号： + +```hal +net spindle-fwd spindle.0.forward +net spindle-rev spindle.0.reverse +net flood iocontrol.0.coolant-flood +net mist iocontrol.0.coolant-mist +``` + +### 3.2 spindle_sim.hal + +该文件模拟主轴： + +- `spindle.0.speed-out` 进入 `limit2`，模拟转速斜坡。 +- `sim_encoder` 生成 A/B/Z 相。 +- `encoder` 将脉冲转为 `spindle.0.revs` 和 `spindle.0.speed-in`。 +- `near` 比较命令转速和反馈转速，输出 `spindle.0.at-speed`。 + +核心链路： + +```hal +spindle.0.speed-out -> limit2 -> sim_encoder -> encoder -> spindle.0.speed-in +near_speed.out -> spindle.0.at-speed +``` + +### 3.3 simulated_home.hal + +该文件用 `comp` 比较轴位置，模拟 X/Y/Z 回零开关： + +- X 回零位置设为 1。 +- Y 回零位置设为 0.5。 +- Z 回零位置设为 2。 + +当仿真位置达到比较点附近时，对应 `joint.N.home-sw-in` 被置位。 + +### 3.4 gmoccapy_postgui.hal + +该文件必须等 GUI 启动并创建 `gmoccapy.*` HAL pins 后才能执行。`gmoccapy` 主程序在 `halcomp.ready()` 后读取 `[HAL] POSTGUI_HALFILE` 并执行： + +```bash +halcmd -i -f gmoccapy_postgui.hal +``` + +本配置中的 postgui 连接： + +```hal +net spindle-speed-limited => abs_spindle_feedback.in +net spindle-abs abs_spindle_feedback.out => gmoccapy.spindle_feedback_bar +net spindle-at-speed gmoccapy.spindle_at_speed_led +net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x +net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z +``` + +含义： + +- 主轴模拟反馈值经过 `abs` 后驱动界面的主轴反馈条。 +- `spindle-at-speed` 驱动界面的主轴到速 LED。 +- `motion.tooloffset.x/z` 驱动界面的刀补显示引脚。 + +该文件中手动换刀 GUI 引脚连接被注释掉，所以这个仿真配置实际仍使用 `iocontrol.0.tool-change -> iocontrol.0.tool-changed` 的回环换刀，而不是弹出 gmoccapy 手动换刀确认流程。 + +## 4. gmoccapy GUI 初始化过程 + +`gmoccapy` 启动后主要执行： + +1. 创建 HAL component： + +```python +self.halcomp = hal.component("gmoccapy") +``` + +2. 创建 LinuxCNC NML 通信对象： + +```python +self.command = linuxcnc.command() +self.stat = linuxcnc.stat() +self.error_channel = linuxcnc.error_channel() +self.stat.poll() +self.error_channel.poll() +``` + +3. 用 `Gtk.Builder` 加载界面： + +```python +self.builder.add_from_file(XMLNAME) +``` + +其中 `XMLNAME` 指向： + +`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` + +4. 读取 INI： + +```python +self._get_ini_data() +``` + +该逻辑由： + +`/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` + +通过 `os.environ["INI_FILE_NAME"]` 和 `linuxcnc.ini()` 完成。 + +5. 根据 INI 动态生成 DRO、回零按钮、点动按钮、宏按钮等。 +6. 调用 `_make_hal_pins()` 创建 gmoccapy 自己的 HAL pins。 +7. 用 `gladevcp.makepins.GladePanel(...)` 为 glade 中的 HAL widget 创建/更新 HAL pins。 +8. 调用： + +```python +self.halcomp.ready() +``` + +此时 `gmoccapy.*` pins 对外可见。 + +9. 建立周期定时器： + +```python +GLib.timeout_add(cycle_time, self._periodic) +GLib.timeout_add(1000, self._periodic_1s) +``` + +10. 构造完成后执行 `[HAL] POSTGUI_HALFILE`，然后进入： + +```python +Gtk.main() +``` + +## 5. 界面与后台如何通信 + +### 5.1 NML：界面命令到 milltask + +`linuxcnc.command()` 是 GUI 发控制命令的主入口。常见命令包括： + +- 急停/复位/上电： + +```python +self.command.state(linuxcnc.STATE_ESTOP) +self.command.state(linuxcnc.STATE_ESTOP_RESET) +self.command.state(linuxcnc.STATE_ON) +self.command.state(linuxcnc.STATE_OFF) +``` + +- 模式切换： + +```python +self.command.mode(linuxcnc.MODE_MANUAL) +self.command.mode(linuxcnc.MODE_MDI) +self.command.mode(linuxcnc.MODE_AUTO) +``` + +- 点动： + +```python +self.command.jog(linuxcnc.JOG_CONTINUOUS, ...) +self.command.jog(linuxcnc.JOG_INCREMENT, ...) +self.command.jog(linuxcnc.JOG_STOP, ...) +``` + +- 回零： + +```python +self.command.home(-1) +self.command.home(joint_or_axis) +self.command.unhome(joint) +``` + +- 主轴/冷却/倍率： + +```python +self.command.spindle(...) +self.command.spindleoverride(...) +self.command.flood(...) +self.command.mist(...) +self.command.feedrate(...) +self.command.rapidrate(...) +``` + +- MDI 和自动运行： + +```python +self.command.mdi("...") +self.command.auto(linuxcnc.AUTO_RUN, self.start_line) +self.command.auto(linuxcnc.AUTO_PAUSE) +self.command.auto(linuxcnc.AUTO_RESUME) +self.command.abort() +``` + +这些命令写入 NML command buffer。`milltask` 后台循环中读取 command buffer，然后执行规划、解释器、IO 和 motion 同步。 + +`milltask` 初始化时打开三类 NML channel： + +- `emcCommand`：GUI/halui 等写命令，`milltask` 读。 +- `emcStatus`：`milltask` 写综合状态，GUI 读。 +- `emcError`：后台写错误/提示，GUI 读。 + +`milltask` 主循环的关键节奏是： + +1. `emcCommandBuffer->read()` 读取新命令。 +2. `emcTaskPlan()` 做解释/规划。 +3. `emcTaskExecute()` 执行任务。 +4. `emcMotionUpdate(&emcStatus->motion)` 更新运动状态。 +5. `emcTaskUpdate(&emcStatus->task)` 更新任务状态。 +6. `emcStatusBuffer->write(emcStatus)` 写回状态。 + +所以 GUI 的控制命令不是直接调用 `motmod`，而是经 NML 发给 `milltask`，再由 `milltask` 协调解释器、IO、motion 和 HAL。 + +### 5.2 NML：后台状态到界面 + +`gmoccapy` 通过 100 ms 定时器调用 `_periodic()`： + +```python +self.stat.poll() +error = self.error_channel.poll() +``` + +然后根据 `self.stat` 更新： + +- 当前 G-code/M-code。 +- 速度、进给、主轴、冷却状态。 +- HALUI 相关 pin 状态。 +- 主轴 Vc。 +- UI 时间、进度等。 + +如果 `error_channel.poll()` 读到错误或提示，`gmoccapy` 会显示通知，并通过自己的 HAL pin `gmoccapy.error` 输出错误状态。 + +### 5.3 HAL：界面引脚与实时/用户空间 HAL 网络 + +`gmoccapy` 自己注册了一个 HAL component，名字固定为： + +```text +gmoccapy +``` + +动态创建的典型 HAL pins 有： + +- 硬按钮输入： + - `gmoccapy.h-button.button-0` 到 `button-9` + - `gmoccapy.v-button.button-0` 到 `button-6` +- 轴点动输入： + - `gmoccapy.jog.axis.jog-x-plus` + - `gmoccapy.jog.axis.jog-x-minus` + - 对 Y/Z/A/B 等轴同理 +- 点动增量： + - `gmoccapy.jog.jog-inc-N` + - `gmoccapy.jog.jog-increment` +- 倍率/速度编码器输入： + - `gmoccapy.feed.feed-override.counts` + - `gmoccapy.spindle.spindle-override.counts` + - `gmoccapy.jog.jog-velocity.counts` + - `gmoccapy.rapid.rapid-override.counts` +- 模拟直控输入： + - `gmoccapy.feed.feed-override.direct-value` + - `gmoccapy.spindle.spindle-override.direct-value` + - `gmoccapy.jog.jog-velocity.direct-value` + - `gmoccapy.rapid.rapid-override.direct-value` +- 工具/刀补相关： + - `gmoccapy.tooloffset-x` + - `gmoccapy.tooloffset-z` + - `gmoccapy.tool-diameter` + - `gmoccapy.toolchange-change` + - `gmoccapy.toolchange-changed` + - `gmoccapy.toolchange-number` +- 程序进度： + - `gmoccapy.program.length` + - `gmoccapy.program.current-line` + - `gmoccapy.program.progress` +- 错误和消息： + - `gmoccapy.error` + - `gmoccapy.delete-message` + +这些 pins 的变化由 `hal_glib.GPin` 包装。`GPin` 每 100 ms 轮询一次 HAL pin，如果值变化，就发出 `value_changed` 信号，触发 gmoccapy 回调。例如： + +- `gmoccapy.jog.axis.jog-x-plus` 变为 true： + 1. `GPin` 检测到变化。 + 2. 调用 `_on_pin_jog_changed(...)`。 + 3. 再调用 `_on_btn_jog_pressed(...)`。 + 4. 最终调用 `self.command.jog(...)` 发 NML 点动命令。 + +因此 HAL 输入通常不是直接驱动 motion，而是先进入 GUI 回调，再由 GUI 通过 NML command 发给 `milltask`。也可以有纯 HAL 路径，例如 postgui 中的主轴反馈条和 LED 是 HAL 信号直接驱动 gmoccapy HAL widget。 + +### 5.4 HALUI 的角色 + +本配置启用了： + +```ini +[HAL] +HALUI = halui +``` + +`halui` 是另一个用户空间 HAL component，它把 LinuxCNC 常用命令/状态暴露为 HAL pins。它自己也使用 LinuxCNC command/stat 通道与 `milltask` 交互。 + +本 INI 的 `[HALUI]` section 没有定义 MDI_COMMAND，因此这里的 `halui` 主要提供默认 HALUI pins，便于外部硬件按钮或 HAL 逻辑直接控制 LinuxCNC。`gmoccapy` 的主控制链路仍是自己的 `linuxcnc.command/stat/error_channel`，不是通过 `halui` 间接通信。 + +## 6. 典型操作链路 + +### 6.1 界面上电 + +用户点击界面上电按钮： + +```text +GTK toggle button + -> gmoccapy.on_tbtn_on_toggled() + -> linuxcnc.command().state(STATE_ON) + -> NML emcCommand + -> milltask + -> iocontrol/motion 状态改变 + -> emcStatus + -> gmoccapy self.stat.poll() + -> 界面按钮、DRO、状态区刷新 +``` + +本仿真中急停链路由 HAL 回环： + +```hal +iocontrol.0.user-enable-out -> iocontrol.0.emc-enable-in +``` + +所以没有真实外部急停硬件。 + +### 6.2 界面点动 X+ + +用户按住 X+： + +```text +GTK jog button pressed + -> _on_btn_jog_pressed("x+") + -> self.command.jog(JOG_CONTINUOUS, ...) + -> NML emcCommand + -> milltask/motion + -> motmod 输出 joint.0.motor-pos-cmd + -> core_sim_XYZAB.hal 回环到 joint.0.motor-pos-fb + -> emcStatus 位置更新 + -> gmoccapy stat.poll() + -> DRO/预览刷新 +``` + +松开按钮时： + +```text +GTK jog button released + -> _on_btn_jog_released("x+") + -> self.command.jog(JOG_STOP, ...) +``` + +如果来自外部 HAL 按钮： + +```text +HAL signal -> gmoccapy.jog.axis.jog-x-plus + -> GPin value_changed + -> _on_pin_jog_changed() + -> 同上 NML 点动链路 +``` + +### 6.3 主轴启动和反馈 + +用户点击主轴正转： + +```text +GTK spindle forward + -> _set_spindle("forward") + -> self.command.spindle(1, rpm) + -> NML emcCommand + -> milltask/motion + -> spindle.0.forward / spindle.0.speed-out HAL pins + -> spindle_sim.hal 模拟编码器和速度反馈 + -> spindle.0.speed-in / spindle.0.at-speed + -> gmoccapy_postgui.hal + -> gmoccapy.spindle_feedback_bar / gmoccapy.spindle_at_speed_led + -> 界面显示主轴反馈和到速状态 +``` + +同时 gmoccapy 的 `_periodic()` 也会从 `stat.spindle` 和 HAL 的 `spindle.0.speed-out` 读取状态刷新按钮/文字。 + +### 6.4 冷却液 + +用户点击 flood/mist： + +```text +GTK coolant button + -> self.command.flood(FLOOD_ON/OFF) 或 self.command.mist(MIST_ON/OFF) + -> NML emcCommand + -> milltask/iocontrol + -> iocontrol.0.coolant-flood / iocontrol.0.coolant-mist HAL pins + -> core_sim_XYZAB.hal 中 flood/mist 信号 + -> stat.poll() 回读状态并刷新按钮 +``` + +### 6.5 MDI、自动运行和 REMAP + +MDI 和自动运行也走 NML： + +```text +GUI + -> command.mode(MODE_MDI) / command.mdi(...) + -> 或 command.mode(MODE_AUTO) / command.auto(AUTO_RUN, line) + -> milltask 解释器/任务队列 + -> motion + io + status +``` + +INI 中的： + +```ini +REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog +REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog + +[PYTHON] +PATH_PREPEND = ./python +TOPLEVEL = ./python/toplevel.py +``` + +表示 `milltask` 的解释器在执行 M6/M61 时加载 `./python/toplevel.py`，再导入 `remap.py` 和 `stdglue.py`。这些逻辑运行在解释器/任务侧，用于换刀 prolog/epilog 和工具参数处理，不是 gmoccapy 界面轮询的一部分。 + +## 7. 通信结构图 + +```text + +---------------------+ + | gmoccapy | + | GTK UI + HAL comp | + +----------+----------+ + | + +---------------+----------------+ + | | + v v + linuxcnc.command/stat/error_channel HAL pins + | | + v v + NML buffers HAL shared memory + emcCommand / emcStatus / emcError | + | | + v v + linuxcncsvr halui / iocontrol / + | motmod / sim_encoder / + v gmoccapy_postgui.hal + milltask | + interpreter + task + IO | + | | + v | + motmod <----------------------------+ + realtime motion +``` + +更精确地说： + +- GUI 控制类动作：`gmoccapy -> NML command -> milltask -> motion/io/HAL`。 +- GUI 状态显示：`milltask -> NML status/error -> gmoccapy stat/error poll`。 +- GUI HAL 控件：`HAL network <-> gmoccapy.* pins`。 +- postgui 连接：`HAL network -> gmoccapy.* pins`，必须在 `gmoccapy.halcomp.ready()` 后执行。 + +## 8. 需要注意的细节 + +1. `gmoccapy_postgui.hal` 不能放到普通 `HALFILE` 中执行，因为普通 HALFILE 执行时 `gmoccapy.*` pins 还不存在。 +2. 本配置是仿真机，轴反馈是命令位置回环，不代表真实驱动闭环。 +3. `core_sim_XYZAB.hal` 和 `gmoccapy_postgui.hal` 都处理了 tool-change loop。postgui 中先 `unlinkp`，再重新建立 `iocontrol.0.tool-change -> iocontrol.0.tool-changed`，目的是避免仿真环境中的连接冲突并继续自动完成换刀。 +4. `HALUI = halui` 提供额外 HAL 控制入口，但 gmoccapy 的主要 GUI 交互直接使用 `linuxcnc.command/stat/error_channel`。 +5. `gmoccapy` 源码中非 identity kinematics 的 joint minus pin 回调参数看起来写成了 `"{0}+"`，即 plus/minus 都传 plus。对本 `trivkins` 仿真配置通常不影响主轴向点动，但如果改成非平凡运动学并启用 joint jogging，需要复查这一处。 + +## 9. G 代码执行条件和状态互锁 + +本节分析的是 `gmoccapy_XYZAB.ini` 当前配置的实际逻辑。关键前提是： + +```ini +[TRAJ] +NO_FORCE_HOMING = 0 +``` + +因此本配置要求先完成全轴回零，才允许进入 MDI/Auto 等会执行解释器命令的模式。如果改成 `NO_FORCE_HOMING = 1`，gmoccapy 会绕过这部分回零互锁。 + +### 9.1 三层保护 + +G 代码是否能执行，不只由一个按钮决定，而是三层共同约束： + +1. GUI 页面和按钮敏感状态：gmoccapy 根据 `state-*`、`mode-*`、`interp-*`、`all-homed` 等状态事件启停按钮。 +2. gladevcp Action 对象：例如暂停、单步、重载文件按钮绑定到 `EMC_ToggleAction_Pause`、`EMC_Action_Step`、`EMC_Action_Reload`，这些对象也会检查 machine on、解释器状态和模式。 +3. LinuxCNC 后台校验：最终的 `command.mode()`、`command.mdi()`、`command.auto()`、`command.jog()` 等命令会进入 NML，`milltask`/motion 会再次按任务状态、模式、限位、回零、解释器状态拒绝非法命令。 + +所以界面按钮不可点是第一道互锁，后台拒绝非法命令是最后一道互锁。 + +### 9.2 自动运行 G 代码的正常链路 + +从冷启动到自动运行一个文件，正常条件链如下： + +```text +启动 linuxcnc + -> linuxcncsvr / milltask / motmod / HAL / halui 启动 + -> gmoccapy 创建 linuxcnc.command/stat/error_channel 和 gmoccapy HAL component + -> gmoccapy_postgui.hal 连接界面 HAL pins + -> F1 急停状态或默认急停状态 + -> 解除急停：command.state(STATE_ESTOP_RESET) + -> 上电：command.state(STATE_ON) + -> 回零：command.home(-1) 或逐轴 command.home(joint) + -> 收到 all-homed 状态，MDI/Auto/Touch/Tool 相关按钮变为可用 + -> 加载程序：EMC_Action_Open.load_file(path) 或 reload + -> 切换 Auto：command.mode(MODE_AUTO) + -> Cycle Start：command.auto(AUTO_RUN, start_line) + -> milltask 解释 RS274NGC，必要时执行 REMAP，例如 M6/M61 + -> motion/io/HAL 运动和 IO 状态变化 + -> gmoccapy stat.poll()/GStat 信号刷新界面 +``` + +从界面角度，自动运行前应满足： + +- LinuxCNC 后台进程和 HAL 网络已启动，gmoccapy 已完成 `halcomp.ready()`。 +- 急停已复位，即不在 `STATE_ESTOP`。 +- 机床已上电，即 `task_state == STATE_ON`。 +- 全轴已回零，即收到 `all-homed`；本配置 `NO_FORCE_HOMING = 0`，不能跳过。 +- 解释器空闲，即 `INTERP_IDLE`。运行中不能切换 Manual/MDI/Auto，也不能加载/编辑程序。 +- 已处于 Auto 模式，或按钮/Action 会先 `ensure_mode(... MODE_AUTO)`。 +- 应加载了有效程序文件。gmoccapy 的快捷键逻辑会用 `btn_use_current` 是否敏感判断文件已加载；`btn_run` 回调本身直接发送 `AUTO_RUN`，如果无文件或状态不合法，最终由 LinuxCNC 后台报错。 +- 未处于设置页、编辑页、文件选择页、偏置编辑页等会临时禁止模式切换的页面。 +- 硬限位没有阻止运动；若限位触发，只能在允许的状态下通过 `override_limits()` 临时忽略限位后退出限位。 + +### 9.3 MDI 和宏的执行条件 + +MDI 的入口包括 MDI 历史输入框、宏按钮、Touch Off、工具补偿、坐标系切换等内部 MDI 命令。 + +```text +MDI 输入框 Enter + -> EMC_MDIHistory.submit() + -> ensure_mode(MODE_MDI) + -> command.mdi(cmd) + -> milltask interpreter +``` + +宏按钮来自 INI `[MACROS]`： + +```ini +MACRO = i_am_lost +MACRO = halo_world +MACRO = jog_around +MACRO = increment xinc yinc +MACRO = go_to_position X-pos Y-pos Z-pos +``` + +点击宏按钮后，gmoccapy 生成： + +```text +O call [param1] [param2] ... +``` + +然后调用 `command.mdi(command)`。宏运行期间会禁用宏按钮，键盘按钮在非 onboard 模式下变成中断宏的按钮，点击会 `command.abort()`。 + +MDI 的互锁要点： + +- `rbt_mdi` 只有在上电且全轴回零后才被启用。 +- 进入 MDI 前如果按钮不敏感，gmoccapy 会立即 `command.abort()`，切回 Manual，并提示当前不能进入 MDI。 +- MDI 运行中 gmoccapy 允许继续添加 MDI 命令，但会禁用 Manual/Auto/Setup/Load/Edit 等容易破坏解释器状态的入口。 +- Touch Off、工具 Touch Off、坐标系切换等内部命令会临时切到 `MODE_MDI`，发送 G/M 代码，再切回 `MODE_MANUAL`。 + +### 9.4 任务状态互锁 + +LinuxCNC 这里最重要的任务状态是 `STATE_ESTOP`、`STATE_ESTOP_RESET`、`STATE_OFF`、`STATE_ON`。 + +| 状态 | 触发/来源 | gmoccapy 界面动作 | 允许的主要操作 | 禁止或限制 | +| --- | --- | --- | --- | --- | +| `STATE_ESTOP` 急停 | F1、急停按钮置位、退出时最终置位 | 急停按钮显示按下，上电按钮不敏感且关闭，强制 `MODE_MANUAL` | 只能复位急停；Esc 仍可 abort | 上电、回零、点动、MDI、Auto、主轴、冷却、进给覆盖等全部禁用 | +| `STATE_ESTOP_RESET` 急停复位 | 急停按钮释放后 `command.state(STATE_ESTOP_RESET)` | 上电按钮变为可用；点动页外框可见，但具体点动/速度控件仍受上电限制 | 可以点击上电；如果有限位，可显示 ignore limits | 机床未上电，仍不能运动、不能执行 MDI/Auto | +| `STATE_OFF` 下电 | 上电按钮释放或启动/异常进入 OFF | 关闭 Manual/MDI/Auto、回零、Touch、Tool、Jog、Spindle、Coolant、Feed/Rapid 控件；退出按钮可用 | 可以退出或重新上电 | 不能回零、点动、执行程序、主轴冷却 | +| `STATE_ON` 上电 | 上电按钮置位后 `command.state(STATE_ON)` 成功 | Manual、回零、Jog、Feed/Rapid、Spindle、Coolant 基本控件启用；退出按钮禁用 | 可回零、点动、主轴冷却、调覆盖率 | 未回零时 MDI/Auto/Touch/Tool 仍被禁用 | + +上电按钮的处理有额外保护： + +- 如果当前仍是 `STATE_ESTOP`，点击上电会立即撤销按钮状态，不发送上电。 +- 发送 `STATE_ON` 后会 `wait_complete()` 并 `stat.poll()`；如果后台没有进入 `STATE_ON`，界面会撤销上电按钮并报错。 +- 下电时发送 `STATE_OFF`，并统一 `_update_widgets(False)` 禁用可运动控件。 + +### 9.5 模式互锁 + +任务模式是 `MODE_MANUAL`、`MODE_MDI`、`MODE_AUTO`。 + +| 模式 | 进入方式 | 页面切换 | 允许的典型动作 | 互锁 | +| --- | --- | --- | --- | --- | +| Manual | `rbt_manual` 或状态回调强制 | 主页面、Manual 按钮页、Jog 页 | 回零、点动、Touch Off、Tool 页面、主轴冷却、覆盖率 | 运行中不能切换；设置页/编辑页会临时禁用模式按钮 | +| MDI | `rbt_mdi`、MDI 输入框、内部 Touch/Tool 命令 | MDI 按钮页，输入框获得焦点 | 单条 MDI、宏、内部 `G10/G43/M61/Tn M6` 等 | 未上电/未回零不能进入；按钮不敏感时会 abort 并切回 Manual | +| Auto | `rbt_auto`、Run/Step Action 可确保 Auto | Auto 按钮页，G-code 预览获得焦点 | `AUTO_RUN`、`AUTO_STEP`、Pause/Resume、Stop、Reload、From Line | 未上电/未回零不能进入；解释器运行中禁止切模式 | + +键盘快捷键也遵守互锁： + +- F1：任何时候发送 `STATE_ESTOP`。 +- Esc：任何时候 `command.abort()`。 +- F2：不在急停时切换上电。 +- F3/F5：只有解释器空闲时才允许切 Manual/MDI。 +- Auto 模式下，`R` 运行、`Ctrl+R` 重载、`P` 暂停、`S` 继续；但要求当前不是编辑页，并且已有程序加载。 +- 键盘点动只在 Manual 且主页面时处理。 + +### 9.6 回零与运动模式互锁 + +本配置 `NO_FORCE_HOMING = 0`，回零状态直接控制解释器相关入口： + +```text +not-all-homed + -> all_homed = False + -> 禁用 rbt_mdi / rbt_auto / btn_tool / btn_touch / tbtn_switch_mode + -> teleop_enable(0)，进入 joint mode + +all-homed + -> all_homed = True + -> 启用 rbt_mdi / rbt_auto / btn_tool / btn_touch / tbtn_switch_mode + -> teleop_enable(1)，进入 world/teleop mode +``` + +回零按钮逻辑： + +- `btn_homing` 只切到回零按钮页。 +- `ref_all` 调用 `command.home(-1)`。 +- 单轴/单关节回零先检查是否已有 joint 正在 homing；若有则拒绝新回零命令。 +- 回零前会 `teleop_enable(0)` 进入 joint mode。 +- `unref_all` 或 unhome 信号会 `command.unhome(-1/joint)`，并把 `all_homed` 置 False。 + +非 identity kinematics 时，joint/world 模式还会影响 MDI/Auto 的敏感状态：joint mode 下 `rbt_mdi`、`rbt_auto` 会被禁用，防止在关节模式下执行笛卡尔程序。本配置使用 `trivkins coordinates=xyzab`，轴和 joint 一一对应，但 gmoccapy 仍保留这套通用逻辑。 + +### 9.7 解释器状态互锁 + +解释器状态主要由 `interp-idle` 和 `interp-run` 信号驱动界面： + +| 解释器状态 | gmoccapy 处理 | 结果 | +| --- | --- | --- | +| `INTERP_IDLE` | 重新启用 Jog、G-code view、冷却、主轴、Load、Edit、Optional Blocks、Reload；若已上电且已回零，启用 MDI/Auto/Tool/Touch；`btn_run=True`、`btn_stop=False` | 空闲，可准备运行或编辑 | +| `INTERP_READING` / `INTERP_WAITING` / 运行中 | 禁用 Manual/MDI/Auto、Setup、Tool、Load、Edit、Optional Blocks、部分主轴按钮、Touch、Reload；`btn_run=False`、`btn_stop=True` | 正在执行，防止模式/文件/工具状态被改坏 | +| Pause | gladevcp pause toggle 会保持暂停按钮激活；gmoccapy 额外允许主轴方向按钮和 G-code view 敏感 | 暂停时可查看代码并调整部分主轴控制 | + +停止按钮有两条链路： + +```text +btn_stop related-action hal_action_stop -> command.abort() +btn_stop clicked handler -> command.abort(), start_line=0, gcode line=0, pause=False +``` + +因此 Stop 既让 LinuxCNC abort，也清理 gmoccapy 的从行运行和暂停显示状态。 + +### 9.8 限位与忽略限位 + +限位状态通过 `hard-limits-tripped` 信号进入界面： + +- 有限位触发时，`chk_ignore_limits` 变为可用，`ntb_jog` 也会保持可用，便于退出限位。 +- 点击 `chk_ignore_limits` 时调用 `command.override_limits()`。 +- 外部 HAL pin `gmoccapy.ignore-limits` 也可驱动这个复选框。 +- 限位解除后，ignore limits 自动取消选中并变为不敏感。 + +是否允许上电、是否允许运动最终仍由 motion/task 判断。gmoccapy 的职责是暴露 override 控件并避免在明显非法状态下发运动命令。 + +### 9.9 特殊页面互锁 + +gmoccapy 有几个“临时工作页”，它们会有意禁用模式切换： + +- 设置页 `tbtn_setup`：进入时强制 `MODE_MANUAL`，记录原模式，禁用 Manual/MDI/Auto/User Tabs。是否允许进入由偏好设置决定：不加锁、输入解锁码、或 HAL pin `unlock-settings`。退出时按急停/上电/回零状态恢复模式按钮，并尝试恢复原模式。 +- 文件选择页 `btn_load`：切到文件页和全屏预览，刷新文件列表，禁用 Manual/MDI/Setup。选择文件后调用 `hal_action_open.load_file(path)`，回到 Auto 页并恢复模式按钮。 +- 编辑页 `btn_edit`：使 G-code view 可编辑，隐藏/调整预览和 DRO，禁用 Manual/MDI/Setup。退出时如有未保存修改会询问是否丢弃，并触发 reload 以恢复解释器看到的文件。 +- 偏置编辑 `tbtn_edit_offsets`：编辑坐标偏置时禁用 Jog、MDI、Auto、Setup 和 User Tabs；退出编辑时强制回 Manual。 +- Tool 编辑页：如果工具表有未保存修改，离开或换刀前会询问是否丢弃；不能删除当前主轴内的工具。 + +这些页面互锁的共同目的，是避免一边编辑文件/设置/偏置/工具表，一边让解释器执行旧文件或半修改状态。 + +## 10. 界面按钮和控制逻辑 + +### 10.1 顶部电源和模式按钮 + +| 控件 | 回调/绑定 | 实际命令 | 控制逻辑 | +| --- | --- | --- | --- | +| `tbtn_estop` | `on_tbtn_estop_toggled` | `command.state(STATE_ESTOP)` 或 `STATE_ESTOP_RESET` | 按下进入急停；释放复位急停。复位失败会重新置位急停按钮并提示。 | +| `tbtn_on` | `on_tbtn_on_toggled` | `command.state(STATE_ON/OFF)` | 急停中不能上电；上电失败会撤销按钮；下电后禁用运动和执行控件。 | +| `rbt_manual` | pressed | `command.mode(MODE_MANUAL)` | 只发模式命令；具体页面由 `mode-manual` 状态回调切换。 | +| `rbt_mdi` | pressed | `command.mode(MODE_MDI)` | 未满足条件时状态回调会 abort 并切回 Manual。 | +| `rbt_auto` | pressed | `command.mode(MODE_AUTO)` | 未满足条件时状态回调会 abort 并切回 Manual。 | +| `tbtn_setup` | `on_tbtn_setup_toggled` | 必要时 `MODE_MANUAL` | 解锁后进入设置页，禁用模式切换；退出后恢复。 | +| `tbtn_user_tabs` | `on_tbtn_user_tabs_toggled` | 无 NML 命令 | 仅切换用户页显示；设置页激活时不允许自由切换。 | + +### 10.2 手动页、回零和点动 + +| 控件/入口 | 实际命令 | 控制逻辑 | +| --- | --- | --- | +| `btn_homing` | 无，切页面 | 显示动态生成的回零按钮。 | +| `ref_all` | `command.home(-1)` | 全轴回零，先切 joint mode。 | +| 单轴/单 joint 回零 | `command.home(joint)` | 如果已有 joint 在 homing，则拒绝。 | +| `unref_all` | `command.unhome(-1)` | 取消回零状态，切 joint mode，Auto/MDI 随后被禁用。 | +| `tbtn_switch_mode` | `command.teleop_enable(0/1)` | 在 joint/world mode 间切换；非 identity kinematics 下 joint mode 禁用 Auto/MDI。 | +| 屏幕点动按钮 | `command.jog(...)` | 只在 `stat.enabled` 且 `MODE_MANUAL` 时有效；连续点动松开时 `JOG_STOP`，增量点动松开不停止。 | +| 点动增量按钮 | `command.jog(JOG_STOP, ...)` 后更新距离 | 切换增量前先停止当前点动，避免速度/距离状态混乱。 | +| 键盘点动 | `command.jog(...)` | 只在 Manual 主页面，偏置页/工具页/编辑输入框不抢键。 | +| 窗口失焦 | `command.jog(JOG_STOP, ...)` | 如果 Manual 中仍有速度，停止所有非 homing joint 的点动。 | + +外部 HAL 点动 pin 走同一套按钮函数： + +```text +gmoccapy.jog.axis.x-plus / x-minus / ... + -> _on_pin_jog_changed() + -> _on_btn_jog_pressed/released() + -> command.jog(...) +``` + +### 10.3 Touch Off 和偏置按钮 + +| 控件 | 实际命令 | 控制逻辑 | +| --- | --- | --- | +| `btn_touch` | 无，切页面 | 显示坐标偏置/Touch Off 页面。 | +| 轴 Touch Off 动态按钮 | `G10 L20 P0 ` | 必须 `STATE_ON` 且已回零；临时切 MDI，执行后 reload，再回 Manual。 | +| DRO 轴点击 | 同轴 Touch Off | 点击 DRO 也会进入 `_on_btn_set_value_clicked()`。 | +| `btn_zero_g92` | `G92.1` | 清 G92，之后回 Manual 并刷新 Touch 页。 | +| `btn_set_selected` | `G54` 到 `G59.3` | 只能选择有效坐标系；临时 MDI 后回 Manual。 | +| `tbtn_edit_offsets` | offsetpage 内部编辑 | 编辑时禁用 Jog、MDI、Auto、Setup、User Tabs；退出回 Manual。 | +| Block Height | `G10 L2 P0 Z` | 结合探针设置写入 blockheight/probeheight HAL pins，并设置 Z 原点。 | + +### 10.4 自动页和文件执行按钮 + +| 控件 | 回调/绑定 | 实际命令 | 控制逻辑 | +| --- | --- | --- | --- | +| `btn_load` | `on_btn_load_clicked` | 无，进入文件页 | 刷新 `IconFileSelection1`，禁用 Manual/MDI/Setup。 | +| 文件选择确认 | `on_IconFileSelection1_selected` | `hal_action_open.load_file(path)` | 加载文件，返回 Auto 页，恢复模式按钮。 | +| `btn_reload` | `hal_action_reload` | `_load_file(stat.file)` | 解释器运行中 Action 会禁用；空闲时重载当前文件。 | +| `btn_run` | `on_btn_run_clicked` | `command.auto(AUTO_RUN, start_line)` | 直接按 `start_line` 启动。状态和文件合法性主要靠按钮敏感状态、快捷键判断和 LinuxCNC 后台校验。 | +| `btn_stop` | `hal_action_stop` + `on_btn_stop_clicked` | `command.abort()` | 同时清 `start_line`、G-code 行号和暂停按钮。 | +| `tbtn_pause` | `hal_tgl_pause` + `on_tbtn_pause_toggled` | 激活 `AUTO_PAUSE`，取消激活 `AUTO_RESUME` | 只有 Auto 运行/等待状态有效；gmoccapy 额外切换图标并允许部分主轴/G-code 控件。 | +| `btn_step` | `hal_action_step` | `ensure_mode(MODE_AUTO)` 后 `AUTO_STEP` | 上电且解释器空闲时可用。 | +| `btn_from_line` | `restart_dialog` | 只设置 `start_line` | 选择行号后不立即运行；下一次 `btn_run` 从该行启动。该功能不会检查前序 G 代码上下文，界面 tooltip 已标为危险。 | +| `tbtn_optional_blocks` | `on_tbtn_optional_blocks_toggled` | `command.set_block_delete(state)` 后 reload | 控制跳过 `/` 可选段；状态写入偏好设置。 | +| `btn_edit` | `on_btn_edit_clicked` | 无，进入编辑页 | 使 G-code view 可编辑，禁用 Manual/MDI/Setup。 | + +### 10.5 MDI、宏和虚拟键盘按钮 + +| 控件 | 实际命令 | 控制逻辑 | +| --- | --- | --- | +| `hal_mdihistory` 输入框 | `ensure_mode(MODE_MDI)` 后 `command.mdi(cmd)` | Enter 或图标提交；`HALMETER`、`STATUS`、`HALSHOW` 是特殊工具命令，不作为 MDI 发给解释器。 | +| MDI 删除历史 | 无 NML 命令 | 只清当前会话列表，不删除历史文件。 | +| 宏按钮 | `O call [params...]` | 参数由对话框输入；发送后清 live plotter，禁用宏按钮直到空闲。 | +| 计算器按钮 | 无 NML 命令 | 将计算值插入 MDI 输入框或编辑器。 | +| 键盘按钮 | 可能 `command.abort()` | MDI 宏运行时可作为中断按钮；其他时候切换虚拟键盘显示。 | + +### 10.6 工具和换刀按钮 + +| 控件 | 实际命令 | 控制逻辑 | +| --- | --- | --- | +| `btn_tool` | 无，切页面 | 显示工具表编辑页。 | +| 添加/删除工具 | tool editor 本地表操作 | 删除当前主轴工具被禁止；修改后标记 `edited=True`。 | +| 重载工具表 | `tooledit.reload()` | 有未保存修改时先询问是否丢弃。 | +| 保存工具表 | `tooledit.save()` | 保存后清 edited 标记。 | +| `btn_select_tool_by_no` | `Tn M6` | 输入工具号；若等于当前主轴工具则拒绝；发送前切 MDI。 | +| `btn_change_tool` | `Tn M6` | 对工具表选中工具执行换刀；发送后再发一个短 `G4 P...`，避免状态信号丢失。 | +| `btn_index_tool` | `M61 Qn` | 只改变当前工具号，不执行 M6 换刀流程；同样用 MDI 发送。 | +| 工具 Touch Off X/Z | `G10 L10 P X/Z` | 必须选中工具就是主轴工具；G41/G42 刀补开启时拒绝；如果原来有 G43，写入后重新 `G43`。 | +| HAL tool-change | 对话框确认后置 `toolchange-changed` | `toolchange-change` pin 触发手动换刀对话框；确认 pin 可由外部 HAL 按钮关闭对话框；取消时 abort 并保留旧工具。 | + +本仿真配置中 `gmoccapy_postgui.hal` 把 `iocontrol.0.tool-change` 和 `iocontrol.0.tool-changed` 重新接成自动完成回路，所以多数 M6 在仿真里不会真正等待人工换刀。 + +### 10.7 主轴、冷却和覆盖率 + +| 控件/HAL pin | 实际命令 | 控制逻辑 | +| --- | --- | --- | +| `rbt_forward` | `command.spindle(1, rpm)` | 急停中直接返回；Auto/MDI 解释器 reading/waiting 时不允许手动改主轴，避免覆盖 G-code 主轴命令。 | +| `rbt_reverse` | `command.spindle(-1, rpm)` | 同上，且按 min/max spindle rpm 修正输出。 | +| `rbt_stop` | `command.spindle(0)` | 停主轴，显示转速清 0。 | +| `spc_spindle` | `command.spindleoverride(value)` | 按实际 speed-out、min/max spindle rpm 反算覆盖率，避免超限。 | +| `btn_spindle_100` | 设置 `spc_spindle=100` | 通过 slider 回调发送 override。 | +| `tbtn_flood` | `command.flood(FLOOD_ON/OFF)` | 如果界面状态已等于 stat 状态，不重复发送。 | +| `tbtn_mist` | `command.mist(MIST_ON/OFF)` | 同 flood。 | +| `spc_feed` | `command.feedrate(value)` | 百分比转 0..n 倍率后发送。 | +| `btn_feed_100` | 设置 `spc_feed=100` | 通过 slider 回调发送 feed override。 | +| `spc_rapid` | `command.rapidrate(value)` | 设置快速倍率。 | +| reset override HAL pins | `rapidrate(1.0)` 或点击 100% 按钮 | 外部硬件可复位 feed/spindle/rapid override。 | + +覆盖率和点动速度也可以由 HAL counts 或 analog direct-value 驱动。`*_count-enable` 或 `*_analog-enable` 置位后，gmoccapy 会隐藏对应屏幕按钮或按外部输入更新 slider。 + +### 10.8 硬件按钮和 HAL 输入 + +gmoccapy 创建了一组硬件按钮输入 pin： + +```text +gmoccapy.h-button.button-0 ... button-9 +gmoccapy.v-button.button-0 ... button-6 +``` + +输入 pin 变高时： + +```text +_button_pin_changed() + -> 判断 h-button 还是 v-button + -> 找当前页面对应位置的可见按钮 + -> 如果按钮不敏感则忽略 + -> ToggleButton 反转 active + -> RadioButton set_active(True) 并 emit("pressed") + -> 普通 Button emit("clicked") +``` + +这意味着硬件按钮不是固定绑定某个功能，而是绑定“当前界面底部/右侧第 N 个按钮”。同一个硬件按钮在 Manual、MDI、Auto、Tool、File、Edit 页会触发不同软件按钮。它继承软件按钮的敏感状态，因此同样受急停、上电、回零、解释器运行等互锁限制。 + +其他关键 HAL 输入/输出： + +- `gmoccapy.jog.axis.*`：外部点动输入，走同一套 jog 逻辑。 +- `gmoccapy.jog.jog-increment.*`：外部选择点动增量。 +- `gmoccapy.unlock-settings`：设置页 HAL 解锁。 +- `gmoccapy.ignore-limits`：外部驱动 ignore limits。 +- `gmoccapy.optional-stop`、`gmoccapy.blockdelete`：源码注释写作 optional stop 和 block delete，但当前回调实际是交叉的：`optional-stop` pin 会驱动界面的 `tbtn_optional_blocks`，也就是 `set_block_delete()`；`blockdelete` pin 会调用 `set_optional_stop()`。 +- `gmoccapy.delete-message`、`gmoccapy.warning-confirm`：外部清消息或确认弹窗。 +- `gmoccapy.toolchange-number/change/changed/confirm`：手动换刀对话框和 iocontrol/remap 之间的握手。 +- `gmoccapy.program.length/current-line/progress`：把程序长度、当前行、进度输出给 HAL。 +- `gmoccapy.error`：存在报警通知时输出 True。 + +### 10.9 设置页和数据类按钮 + +设置页多数按钮不直接控制运动，而是改 gmoccapy 偏好设置或 HAL 参数： + +- DRO 位数、DRO 显示切换、G-code 字体、消息弹窗位置和字体：写入 prefs，刷新界面属性。 +- 运行从某行开始设置：写入 `run_from_line` prefs，决定 Auto 页是否显示/启用 `btn_from_line`。 +- Reload tool、tool measurement、probe height/search velocity/probe velocity/block height：写入 prefs 和 `gmoccapy.probeheight/searchvel/probevel/blockheight/toolmeasurement` HAL pins。 +- Turtle jog：改变 jog slider 的 min/max 和当前值，也可由 `gmoccapy.jog.turtle-jog` HAL pin 驱动。 +- 音频、虚拟键盘、主题、图标、屏幕布局：只影响界面行为或视觉，不直接向 LinuxCNC 后台发运动命令。 + +设置页入口本身有锁。进入后会禁用模式按钮，退出时根据 `STATE_ESTOP`、`STATE_ON`、`all_homed`、`NO_FORCE_HOMING` 恢复 Manual/MDI/Auto 的可用状态。 + +### 10.10 控制逻辑总图 + +```text +用户点击/键盘/HAL button + -> GTK signal 或 HAL pin callback + -> gmoccapy 回调检查当前 state/mode/interp/all_homed/page + -> 需要时切换 LinuxCNC mode + -> linuxcnc.command 发 state/mode/jog/mdi/auto/spindle/coolant/override + -> NML emcCommand + -> linuxcncsvr / milltask / motion / iocontrol + -> HAL pins 和 realtime motion 变化 + -> emcStatus/emcError + -> linuxcnc.stat/error_channel + GStat 信号 + -> gmoccapy 刷新按钮敏感状态、DRO、G-code 行、进度、报警 +``` + +最重要的互锁可以压缩为一句话： + +```text +急停复位 + 机床上电 + 全轴回零 + 解释器空闲 + 合法模式 + 非特殊编辑/设置页 + -> 才应该允许执行 MDI 或 Auto G 代码 +``` + +其中 `btn_run` 是一个需要特别注意的例外：它的回调本身只做 `AUTO_RUN`，不重复检查所有前置条件。因此若要在二次开发中增加外部 Cycle Start、远程运行、或新的运行按钮，应复用上面的完整条件，而不能只调用 `command.auto(AUTO_RUN, 0)`。 + +## 11. 按钮逐项核对清单 + +本节按源码重新核对按钮。范围包括： + +- `gmoccapy.glade` 中的 7 个 gladevcp Action 对象和 126 个静态可点击控件：`GtkButton`、`GtkToggleButton`、`GtkRadioButton`、`GtkCheckButton`、`GtkFileChooserButton`、`GtkColorButton`、`GtkFontButton`。 +- `gmoccapy` 运行时按 INI 动态生成的按钮：回零、Touch Off、点动、MDI 宏、点动增量、OffsetPage/ToolEdit 内嵌按钮。 +- 数值滑块、SpinButton、ComboBox 不是“按钮”，前文已按功能说明；本节只在它们由按钮/复选框联动时提到。 + +本 XYZAB 配置的实际动态条件： + +- 轴列表为 `X Y Z A B`，joint 数为 5。 +- `[TRAJ] NO_FORCE_HOMING = 0`，所以回零互锁启用。 +- 未定义 `[TOOLSENSOR]`，所以 Touch Off 页不会出现 `Block Height` 按钮，自动测刀复选框默认不可用。 +- `[MACROS]` 定义 5 个宏按钮：`i_am_lost`、`halo_world`、`jog_around`、`increment xinc yinc`、`go_to_position X-pos Y-pos Z-pos`。 + +### 11.1 gladevcp Action 对象 + +这些不是直接显示的按钮，而是 Glade 中供按钮 `related-action` 绑定或由 gmoccapy 代码调用的动作对象。 + +| 对象 | 被谁使用 | 功能 | +| --- | --- | --- | +| `hal_action_open` | 文件选择确认、启动自动加载文件 | 通过 FileChooser/`load_file(path)` 打开 G-code 文件，解释器运行中禁用。 | +| `hal_action_reload` | `btn_reload`、`btn_reload_edit`、Touch/Offset 后刷新 | 重载 `stat.file` 当前文件。 | +| `hal_action_step` | `btn_step` | 确保 Auto 模式后发送 `AUTO_STEP`。 | +| `hal_action_stop` | `btn_stop` | 发送 `command.abort()` 并等待完成。 | +| `hal_tgl_pause` | `tbtn_pause` | Toggle 激活时 `AUTO_PAUSE`，取消激活时 `AUTO_RESUME`。 | +| `hal_action_save` | `btn_save` | 保存当前 G-code 文件。 | +| `hal_action_saveas` | `btn_save_as` | 另存当前 G-code 文件。 | + +### 11.2 顶部状态和模式按钮 + +| 按钮 | 回调 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `tbtn_estop` | `on_tbtn_estop_toggled` | 急停/复位急停 | 按下发 `STATE_ESTOP`；释放发 `STATE_ESTOP_RESET`，失败时按钮回到急停状态。 | +| `tbtn_on` | `on_tbtn_on_toggled` | 机床上电/下电 | 上电发 `STATE_ON`，下电发 `STATE_OFF`；急停未复位时不能上电。 | +| `rbt_manual` | `on_rbt_manual_pressed`、`on_rbt_manual_toggled` | 切 Manual 模式，图标亮灭 | 发 `MODE_MANUAL`；页面切换由状态回调完成。 | +| `rbt_mdi` | `on_rbt_mdi_pressed`、`on_rbt_mdi_toggled` | 切 MDI 模式，图标亮灭 | 发 `MODE_MDI`；未上电/未回零时会被禁用或切回 Manual。 | +| `rbt_auto` | `on_rbt_auto_pressed`、`on_rbt_auto_toggled` | 切 Auto 模式，图标亮灭 | 发 `MODE_AUTO`；未上电/未回零时会被禁用或切回 Manual。 | +| `tbtn_user_tabs` | `on_tbtn_user_tabs_toggled` | 显示/隐藏用户页 | 只切 UI 页，不发 NML 运动命令。 | +| `tbtn_setup` | `on_tbtn_setup_toggled` | 进入/退出设置页 | 进入时强制 Manual、禁用模式按钮；需按设置的解锁方式通过。 | + +### 11.3 预览和视图按钮 + +| 按钮 | 回调 | 功能 | +| --- | --- | --- | +| `rbt_view_p` | `on_rbt_view_p_toggled` | Gremlin 预览切透视视图 `p`。 | +| `rbt_view_x` | `on_rbt_view_x_toggled` | 预览切 X 方向视图。 | +| `rbt_view_y` | `on_rbt_view_y_toggled` | 预览切 Y 方向视图。 | +| `rbt_view_y2` | `on_rbt_view_y2_toggled` | 预览切 Y2 视图，主要用于后置刀架车床显示。 | +| `rbt_view_z` | `on_rbt_view_z_toggled` | 预览切 Z 方向视图。 | +| `btn_zoom_in` | `on_btn_zoom_in_clicked` | 放大 G-code 预览。 | +| `btn_zoom_out` | `on_btn_zoom_out_clicked` | 缩小 G-code 预览。 | +| `tbtn_view_dimension` | `on_tbtn_view_dimension_toggled` | 显示/隐藏程序外形尺寸。 | +| `tbtn_view_tool_path` | `on_tbtn_view_tool_path_toggled` | 显示/隐藏实时刀路。 | +| `btn_delete_view` | `on_btn_delete_view_clicked` | 清空实时刀路轨迹。 | +| `tbtn_fullsize_preview0` | `on_tbtn_fullsize_preview_toggled` | Manual 页预览最大化/恢复。 | +| `tbtn_fullsize_preview1` | `on_tbtn_fullsize_preview_toggled` | Auto 页预览最大化/恢复。 | +| `chk_show_dro` | `on_chk_show_dro_toggled` | 设置预览区是否显示 DRO。 | +| `chk_show_offsets` | `on_chk_show_offsets_toggled` | 设置预览区是否显示偏置。 | +| `chk_show_dtg` | `on_chk_show_dtg_toggled` | 设置预览区是否显示 DTG。 | + +### 11.4 手动页、回零、点动按钮 + +| 按钮 | 回调 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `btn_homing` | `on_btn_homing_clicked` | 打开回零按钮页 | 只切按钮页。 | +| `btn_touch` | `on_btn_touch_clicked` | 打开 Touch Off/偏置页 | 显示 OffsetPage，是否显示预览由设置决定。 | +| `btn_tool` | `on_btn_tool_clicked` | 打开工具表页 | 显示 ToolEdit。 | +| `tbtn_switch_mode` | `on_tbtn_switch_mode_toggled` | Joint/World motion mode 切换 | `teleop_enable(0/1)`；非 identity kinematics 下影响 MDI/Auto 可用性。 | +| `btn_exit` | `on_btn_exit_clicked` | 退出 gmoccapy | 销毁窗口；销毁回调会 `STATE_OFF` 后 `STATE_ESTOP`。 | +| `tbtn_turtle_jog` | `on_tbtn_turtle_jog_toggled` | 低速/普通点动速度档切换 | 改变 jog velocity slider 范围和值。 | +| `chk_ignore_limits` | `on_chk_ignore_limits_toggled` | 忽略限位以便退限位 | 选中时调用 `command.override_limits()`。 | + +动态回零按钮： + +| 动态按钮 | 本 XYZAB 是否出现 | 功能 | +| --- | --- | --- | +| `ref_all` | 出现 | 全部回零，调用 `command.home(-1)`。 | +| `home_axis_x/y/z/a/b` | 出现 | 对应轴回零；先检查是否已有 joint 正在 homing。 | +| `home_joint_0..4` | 在 joint 显示模式下可能使用 | 对应 joint 回零。 | +| `unref_all` | 出现 | 全部 unhome，调用 `command.unhome(-1)`。 | +| `home_back` | 出现 | 返回 Manual 主按钮页。 | +| `previous_button` / `next_button` | 本配置不需要 | 轴数超过 7 时分页显示回零按钮。 | + +动态点动按钮： + +| 动态按钮 | 本 XYZAB 是否出现 | 功能 | +| --- | --- | --- | +| `x+ x- y+ y- z+ z- a+ a- b+ b-` | 出现 | 轴点动；Manual 且 `stat.enabled` 时才发 `command.jog()`。 | +| `0+ 0- ... 4+ 4-` | 非全回零或 joint mode 时使用 | joint 点动；同样走 `command.jog()`。 | +| `rbt_0` | 出现 | 连续点动。 | +| `rbt_1..5` | 出现 | 对应 INI `INCREMENTS`：`1.000 mm`、`0.100 mm`、`0.010 mm`、`0.001 mm`、`1.2345 in`。 | + +### 11.5 Touch Off 和 OffsetPage 内部按钮 + +| 按钮 | 来源 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `touch_x/y/z/a/b` | 动态生成 | 对对应轴 Touch Off | 要求 `STATE_ON` 且已回零；执行 `G10 L20 P0 `。 | +| `touch_back` | 动态生成 | 返回 Manual 主按钮页 | 不发运动命令。 | +| `block_height` | 动态生成 | 设置测刀块高度 | 本 XYZAB 未定义 `[TOOLSENSOR]`，实际不出现；出现时会设置 blockheight 并用 `G10 L2 P0 Z...`。 | +| `previous_button` / `next_button` | 动态生成 | Touch Off 轴按钮分页 | 本配置 5 轴，不需要分页。 | +| `Edit Offsets` | OffsetPage 动态改造 | 进入/退出偏置表编辑 | 编辑时禁用 Jog/MDI/Auto/Setup；编辑单元格时可能发 `G10/G92/G43.1` 等 MDI。 | +| `Zero G92/G52` | OffsetPage 动态改造 | 清 G92/G52 偏置 | 发 `G92.1`，回 Manual。 | +| `Set Selected` | OffsetPage 动态改造 | 把选中的坐标系设为当前坐标系 | 对有效 `G54` 到 `G59.3` 发对应 MDI。 | +| OffsetPage `Calculator` | OffsetPage 动态改造 | 编辑偏置数值时弹计算器 | 只辅助输入；最终由编辑逻辑发 MDI。 | +| `rbtn_show_preview` | 设置页 | Touch 页默认显示预览 | 写 prefs `show_preview_on_offset=True`。 | +| `rbtn_show_offsets` | 设置页 | Touch 页默认显示偏置表 | 与 `rbtn_show_preview` 成组，无独立回调；通过另一按钮状态体现。 | + +### 11.6 Auto 页和程序执行按钮 + +| 按钮 | 回调/Action | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `btn_load` | `on_btn_load_clicked` | 进入文件选择页 | 刷新目录，禁用 Manual/MDI/Setup。 | +| `btn_reload` | `hal_action_reload` | 重载当前程序 | 调 gladevcp reload action。 | +| `btn_run` | `on_btn_run_clicked` | 运行已加载程序 | `command.auto(AUTO_RUN, start_line)`。 | +| `btn_stop` | `hal_action_stop` + `on_btn_stop_clicked` | 停止运行程序 | `command.abort()`，清 `start_line`、行号、暂停状态。 | +| `tbtn_pause` | `hal_tgl_pause` + `on_tbtn_pause_toggled` | 暂停/继续程序 | Action 发 `AUTO_PAUSE/AUTO_RESUME`；回调更新图标和部分控件敏感状态。 | +| `btn_step` | `hal_action_step` | 单步执行程序 | `AUTO_STEP`。 | +| `btn_from_line` | `on_btn_from_line_clicked` | 设置从某行开始运行 | 只打开 restart dialog 并设置 `start_line`；后续 Run 才执行。 | +| `tbtn_optional_blocks` | `on_tbtn_optional_blocks_toggled` | 跳过/不跳过 `/` 可选段 | `command.set_block_delete(state)`，保存 prefs 并 reload。 | +| `btn_edit` | `on_btn_edit_clicked` | 进入 G-code 编辑页 | 使 G-code view 可编辑，禁用 Manual/MDI/Setup。 | + +### 11.7 MDI 页和宏按钮 + +| 按钮 | 来源 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `btn_delete` | Glade | 清空当前会话 MDI 历史列表 | 不删除历史文件，不发 LinuxCNC 命令。 | +| `macro_0` | 动态生成 | 运行 `i_am_lost` | 发 `O call`。 | +| `macro_1` | 动态生成 | 运行 `halo_world` | 发 `O call`。 | +| `macro_2` | 动态生成 | 运行 `jog_around` | 发 `O call`。 | +| `macro_3` | 动态生成 | 运行 `increment xinc yinc` | 先弹参数输入，再发 `O call [xinc] [yinc]`。 | +| `macro_4` | 动态生成 | 运行 `go_to_position X-pos Y-pos Z-pos` | 先弹 3 个参数，再发 `O call [...]`。 | +| Macro `previous_button` / `next_button` | 动态生成 | 宏按钮分页 | 本配置 5 个宏，不需要分页显示。 | +| Macro `calculator` | 动态生成 | 显示计算器 | 向 MDI 输入框插入计算值。 | +| Macro `keyboard` | 动态生成 | 显示键盘或中断运行宏 | 宏运行中可 `command.abort()`。 | +| MDI 输入框 Enter | `EMC_MDIHistory.submit` | 提交手写 MDI | `ensure_mode(MODE_MDI)` 后 `command.mdi(cmd)`。 | + +### 11.8 编辑页按钮 + +| 按钮 | 回调/Action | 功能 | +| --- | --- | --- | +| `btn_search_forward` | `on_btn_search_forward_clicked` | 在 G-code 编辑器中向下搜索。 | +| `btn_search_back` | `on_btn_search_back_clicked` | 在 G-code 编辑器中向上搜索。 | +| `btn_undo` | `on_btn_undo_clicked` | 撤销编辑。 | +| `btn_redo` | `on_btn_redo_clicked` | 重做编辑。 | +| `chk_ignore_case` | 无独立回调 | 搜索/替换时忽略大小写。 | +| `chk_replace_all` | 无独立回调 | 替换时执行全部替换。 | +| `btn_replace` | `on_btn_replace_clicked` | 执行搜索替换。 | +| `btn_comment` | `on_btn_toggle_comment_clicked` | 对选中 G-code 行切换注释。 | +| `tbtn_split_view` | `on_tbtn_split_view_toggled` | 编辑时显示/隐藏分屏预览。 | +| `btn_reload_edit` | `hal_action_reload` | 重载当前 G-code 文件。 | +| `btn_save` | `hal_action_save` | 保存当前文件。 | +| `btn_save_as` | `hal_action_saveas` | 当前文件另存为。 | +| `btn_new` | `on_btn_new_clicked` | 创建临时新文件，内容为 startup code + `M2`。 | +| `btn_calc` | `on_btn_show_calc_clicked` | 在编辑器插入计算值。 | +| `btn_keyb` | `on_btn_show_kbd_clicked` | 显示/隐藏虚拟键盘。 | +| `btn_back_edit` | `on_btn_back_clicked` | 退出编辑页；有未保存修改时询问是否丢弃。 | + +### 11.9 工具页和换刀按钮 + +| 按钮 | 来源 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `btn_select_tool_by_no` | Glade | 输入工具号并换刀 | 发 `Tn M6`。 | +| `btn_index_tool` | Glade | 只登记当前工具号 | 发 `M61 Qn`，不做机械换刀移动。 | +| `btn_change_tool` | Glade | 对工具表选中工具执行换刀 | 发 `Tn M6`。 | +| `btn_tool_touchoff_x` | Glade | 当前主轴工具 X 方向 Touch Off | 发 `G10 L10 P X`，必要时恢复 `G43`。 | +| `btn_tool_touchoff_z` | Glade | 当前主轴工具 Z 方向 Touch Off | 发 `G10 L10 P Z`，必要时恢复 `G43`。 | +| `btn_back_tool` | Glade | 退出工具页 | 如工具表未保存会询问。 | +| ToolEdit `delete` | ToolEdit 内部按钮，gmoccapy 重连回调 | 删除选中工具 | 当前主轴工具不能删除；修改后标记工具表已编辑。 | +| ToolEdit `add` | ToolEdit 内部按钮，gmoccapy 重连回调 | 添加新工具行 | 标记工具表已编辑。 | +| ToolEdit `reload` | ToolEdit 内部按钮，gmoccapy 重连回调 | 从文件重载工具表 | 有未保存修改时先询问。 | +| ToolEdit `apply` | ToolEdit 内部按钮，gmoccapy 重连回调 | 保存工具表到文件 | 清除 edited 标记。 | +| ToolEdit `Calculator` | ToolEdit 动态追加 | 用计算器编辑工具表数值 | 只辅助输入，编辑后标记工具表已编辑。 | + +### 11.10 文件选择页按钮 + +| 按钮 | 回调 | 功能 | +| --- | --- | --- | +| `btn_home` | `on_btn_home_clicked` | 让 `IconFileSelection1` 跳到 home 目录。 | +| `btn_jump_to` | `on_btn_jump_to_clicked` | 跳到设置里保存的用户目录。 | +| `btn_dir_up` | `on_btn_dir_up_clicked` | 上一级目录。 | +| `btn_reload_dir` | `on_btn_refresh_dir_clicked` | 刷新当前目录文件列表。 | +| `btn_sel_prev` | `on_btn_sel_prev_clicked` | 选择上一个文件。 | +| `btn_sel_next` | `on_btn_sel_next_clicked` | 选择下一个文件。 | +| `tbtn_sort` | `on_tbtn_sort_toggled` | 按日期排序/恢复普通排序。 | +| `btn_select` | `on_btn_select_clicked` | 选择当前高亮文件；后续 `on_IconFileSelection1_selected` 加载。 | +| `btn_back_file_load` | `on_btn_back_clicked` | 退出文件选择页，不返回文件。 | + +### 11.11 主轴、冷却、覆盖率按钮 + +| 按钮 | 回调 | 功能 | 后台命令/影响 | +| --- | --- | --- | --- | +| `btn_feed_100` | `on_btn_feed_100_clicked` | 进给倍率回 100% | 设置 feed slider，随后 `command.feedrate(1.0)`。 | +| `tbtn_flood` | `on_tbtn_flood_toggled` | 冷却液 flood 开/关 | `command.flood(FLOOD_ON/OFF)`。 | +| `tbtn_mist` | `on_tbtn_mist_toggled` | 雾冷 mist 开/关 | `command.mist(MIST_ON/OFF)`。 | +| `btn_spindle_100` | `on_btn_spindle_100_clicked` | 主轴倍率回 100% | 设置 spindle override slider。 | +| `rbt_reverse` | `on_rbt_reverse_clicked/released` | 主轴反转 | `_set_spindle("reverse")` 后 `command.spindle(-1, rpm)`。 | +| `rbt_stop` | `on_rbt_stop_clicked` | 主轴停止 | `command.spindle(0)`。 | +| `rbt_forward` | `on_rbt_forward_clicked/released` | 主轴正转 | `_set_spindle("forward")` 后 `command.spindle(1, rpm)`。 | + +### 11.12 系统/诊断按钮 + +| 按钮 | 回调 | 功能 | +| --- | --- | --- | +| `btn_classicladder` | `on_btn_classicladder_clicked` | 如果 `classicladder_rt` 存在，启动 ClassicLadder；否则弹提示。 | +| `btn_hal_scope` | `on_btn_hal_scope_clicked` | 启动 `halscope`。 | +| `btn_status` | `on_btn_status_clicked` | 启动 `linuxcnctop`。 | +| `btn_hal_meter` | `on_btn_hal_meter_clicked` | 启动 `halmeter`。 | +| `btn_calibration` | `on_btn_calibration_clicked` | 启动 `emccalib.tcl -- -ini `。 | +| `btn_show_hal` | `on_btn_show_hal_clicked` | 启动 `halshow.tcl`。 | + +这些按钮通过 `os.popen(...)` 启动外部诊断/调试工具，不直接发运动命令。 + +### 11.13 设置页按钮和可点控件 + +| 控件 | 回调 | 功能 | +| --- | --- | --- | +| `rbtn_fullscreen` | `on_rbtn_fullscreen_toggled` | 设置启动/当前窗口为全屏。 | +| `rbtn_maximized` | `on_rbtn_maximized_toggled` | 设置启动/当前窗口为最大化，并联动标题栏选项。 | +| `rbtn_window` | `on_rbtn_window_toggled` | 设置窗口模式，允许调整位置和大小。 | +| `chkbtn_hide_titlebar` | `on_chkbtn_hide_titlebar_toggled` | 隐藏/显示窗口标题栏。 | +| `chk_hide_cursor` | `on_chk_hide_cursor_toggled` | 隐藏/显示鼠标光标。 | +| `chk_hide_tooltips` | `on_chk_hide_tooltips_toggled` | 全局隐藏/显示工具提示。 | +| `chk_turtle_jog` | `on_chk_turtle_jog_toggled` | 隐藏/显示 turtle jog 按钮。 | +| `rel_colorbutton` | `on_rel_colorbutton_color_set` | 设置 DRO 相对坐标颜色。 | +| `abs_colorbutton` | `on_abs_colorbutton_color_set` | 设置 DRO 绝对坐标颜色。 | +| `dtg_colorbutton` | `on_dtg_colorbutton_color_set` | 设置 DRO DTG 颜色。 | +| `homed_colorbtn` | `on_homed_colorbtn_color_set` | 设置已回零轴显示颜色。 | +| `unhomed_colorbtn` | `on_unhomed_colorbtn_color_set` | 设置未回零轴显示颜色。 | +| `chk_toggle_readout` | `on_chk_toggle_readout_toggled` | 允许点击 DRO 切换读数模式。 | +| `fontbutton_popup` | `on_fontbutton_popup_font_set` | 设置消息弹窗字体。 | +| `chk_use_frames` | `on_chk_use_frames_toggled` | 设置消息是否带边框。 | +| `btn_launch_test_message` | `on_btn_launch_test_message_pressed` | 生成一条测试消息。 | +| `fontbutton_gcodeview` | `on_fontbutton_gcodeview_font_set` | 设置 G-code 视图字体。 | +| `chk_font_monospace` | `on_chk_font_monospace_toggled` | 过滤/选择等宽字体。 | +| `chk_font_regular` | `on_chk_font_regular_toggled` | 过滤/选择 Regular/Medium 字体。 | +| `chk_en_audio` | `on_chk_en_audio_toggled` | 启用/关闭提示音。 | +| `audio_alert_chooser` | `on_change_sound` | 选择提示音文件。 | +| `audio_error_chooser` | `on_change_sound` | 选择错误提示音文件。 | +| `chk_use_kb_on_offset` | `on_chk_use_kb_on_offset_toggled` | Offset 页自动显示键盘。 | +| `chk_use_kb_on_tooledit` | `on_chk_use_kb_on_tooledit_toggled` | ToolEdit 页自动显示键盘。 | +| `chk_use_kb_on_mdi` | `on_chk_use_kb_on_mdi_toggled` | MDI 页自动显示键盘。 | +| `chk_use_kb_on_edit` | `on_chk_use_kb_on_edit_toggled` | 编辑页自动显示键盘。 | +| `chk_use_kb_on_file_selection` | `on_chk_use_kb_on_file_selection_toggled` | 文件选择页自动显示键盘。 | +| `chk_kbd_set_height` | `on_chk_kb_set_height_toggled` | 固定/取消固定虚拟键盘高度。 | +| `chk_kbd_set_width` | `on_chk_kb_set_width_toggled` | 固定/取消固定虚拟键盘宽度。 | +| `rbtn_no_run_from_line` | `on_rbtn_run_from_line_toggled` | 禁用 Auto 页从行运行按钮。 | +| `rbtn_run_from_line` | `on_rbtn_run_from_line_toggled` | 启用 Auto 页从行运行按钮。 | +| `chk_use_kb_shortcuts` | `on_chk_use_kb_shortcuts_toggled` | 启用/禁用 F1/F2/F3/F5/R/P/S 等键盘快捷键。 | +| `file_to_load_chooser` | `on_file_to_load_chooser_file_set` | 设置启动时自动加载的文件。 | +| `btn_use_current` | `on_btn_use_current_clicked` | 把当前已加载程序保存为启动自动加载文件。 | +| `btn_none` | `on_btn_none_clicked` | 清空启动自动加载文件。 | +| `jump_to_dir_chooser` | `on_jump_to_dir_chooser_file_set` | 设置文件选择页 Jump To 目录。 | +| `rbt_use_unlock` | `on_rbt_unlock_toggled` | 设置设置页使用密码解锁。 | +| `rbt_no_unlock` | `on_rbt_unlock_toggled` | 设置设置页不需要解锁。 | +| `rbt_hal_unlock` | `on_rbt_unlock_toggled` | 设置设置页由 HAL pin `unlock-settings` 解锁。 | +| `chk_use_tool_measurement` | `on_chk_use_tool_measurement_toggled` | 启用自动测刀，并设置相关 HAL pins；本配置缺少 `[TOOLSENSOR]`，默认不可用。 | +| `chk_reload_tool` | `on_chk_reload_tool_toggled` | 启动 GUI 时重新加载上次主轴工具和长度补偿。 | + +### 11.14 硬件按钮映射 + +| HAL 输入 | 功能 | +| --- | --- | +| `gmoccapy.h-button.button-0..9` | 触发当前底部按钮栏对应位置的软件按钮。 | +| `gmoccapy.v-button.button-0..6` | 触发当前右侧按钮栏对应位置的软件按钮。 | + +硬件按钮不固定绑定某个功能，而是按当前页面位置映射。若对应软件按钮不敏感，硬件输入会被忽略；若对应软件按钮是 ToggleButton/RadioButton/Button，会分别执行切换、选中并 pressed、或 clicked。 + +## 12. 关键源文件索引 + +- INI： + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- 启动脚本： + - `/home/meswork/cnc_wams/linuxcnc/scripts/linuxcnc` +- 实际 gmoccapy 可执行文件： + - `/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` +- gmoccapy Glade 界面定义： + - `/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` +- gmoccapy INI 读取： + - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/getiniinfo.py` +- gmoccapy 对话框： + - `/home/meswork/cnc_wams/linuxcnc/src/emc/usr_intf/gmoccapy/dialogs.py` +- gladevcp HAL pin 生成： + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/makepins.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/common/hal_glib.py` +- gladevcp LinuxCNC Action 和 MDI/File 控件： + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_actions.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_filechooser.py` + - `/home/meswork/cnc_wams/linuxcnc/lib/python/gladevcp/hal_mdihistory.py` +- LinuxCNC task/NML 主循环： + - `/home/meswork/cnc_wams/linuxcnc/src/emc/task/emctaskmain.cc` +- HAL： + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal` + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/spindle_sim.hal` + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/simulated_home.hal` + - `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal` + +## 13. 按钮图标整理索引 + +本配置的 gmoccapy 图标主题来自 +`/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` +中的 `icon_theme = classic`。界面按钮图标不是全部直接写在 +`gmoccapy.glade` 中，运行时还会由 +`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` +按 `Gtk.IconTheme` 重新绑定到 `classic` 主题图标。 + +图标整理结果已单独保存到： + +- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.md` +- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/button_icon_inventory.csv` +- `/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/` + +清单覆盖 Glade 静态按钮、Python 动态生成按钮、运行时 active/inactive 状态图标、 +ToolEdit/OffsetPage 内嵌按钮，以及 `[MACROS]` 中宏按钮的自定义图片。当前整理结果 +共 211 行，复制实际图标文件 112 个；其中 `i_am_lost` 和 `go_to_position` +宏按钮使用 NGC 文件内 `(IMAGE, ...)` 声明的 PNG 图片，其余无图标宏按钮使用文字标签。 diff --git a/work/working3/gmoccapy_button_icons/README.md b/work/working3/gmoccapy_button_icons/README.md new file mode 100644 index 0000000..e74167a --- /dev/null +++ b/work/working3/gmoccapy_button_icons/README.md @@ -0,0 +1,9 @@ +# gmoccapy_XYZAB Button Icons + +本目录保存 gmoccapy_XYZAB 界面按钮图标整理结果。 + +- `button_icon_inventory.md`：中文说明和完整清单。 +- `button_icon_inventory.csv`：可导入表格工具的明细。 +- `files/`：从 `classic` 图标主题和宏目录复制出的实际图标文件。 + +图标复制文件按 `image_id__icon_name__requested_size.ext` 命名；宏自定义图片按 `macro_N__macro_image.ext` 命名。 \ No newline at end of file diff --git a/work/working3/gmoccapy_button_icons/button_icon_inventory.csv b/work/working3/gmoccapy_button_icons/button_icon_inventory.csv new file mode 100644 index 0000000..ca4af66 --- /dev/null +++ b/work/working3/gmoccapy_button_icons/button_icon_inventory.csv @@ -0,0 +1,212 @@ +category,source,button_id,button_label,tooltip,image_id,image_role,state_or_variant,icon_name,requested_size,icon_source_type,source_path,copied_file,signals,notes +右侧主状态栏,运行时状态,rbt_auto,Auto 已选中,,img_auto_on,Auto active 图标,active,mode_auto_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_active.png,work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png,,on_rbt_auto_toggled +右侧主状态栏,Glade 静态,rbt_auto,,enter auto mode to run programs,img_auto,静态绑定,默认,mode_auto_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_inactive.png,work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png,pressed:on_rbt_auto_pressed; toggled:on_rbt_auto_toggled, +右侧主状态栏,运行时状态,rbt_manual,手动已选中,,img_manual_on,手动模式 active 图标,active,mode_manual_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_active.png,work/working3/gmoccapy_button_icons/files/img_manual_on__mode_manual_active__48.png,,on_rbt_manual_toggled +右侧主状态栏,Glade 静态,rbt_manual,,enter manual mode to jog axis by hand or touch off / [F3],img_manual,静态绑定,默认,mode_manual_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_inactive.png,work/working3/gmoccapy_button_icons/files/img_manual__mode_manual_inactive__48.png,pressed:on_rbt_manual_pressed; toggled:on_rbt_manual_toggled, +右侧主状态栏,运行时状态,rbt_mdi,MDI 已选中,,img_mdi_on,MDI active 图标,active,mode_mdi_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_active.png,work/working3/gmoccapy_button_icons/files/img_mdi_on__mode_mdi_active__48.png,,on_rbt_mdi_toggled +右侧主状态栏,Glade 静态,rbt_mdi,,enter MDI mode to launch G-code commands / [F5],img_mdi,静态绑定,默认,mode_mdi_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_inactive.png,work/working3/gmoccapy_button_icons/files/img_mdi__mode_mdi_inactive__48.png,pressed:on_rbt_mdi_pressed; toggled:on_rbt_mdi_toggled, +右侧主状态栏,运行时状态,tbtn_estop,急停复位/非急停,,img_emergency_off,急停复位态图标,STATE_ESTOP_RESET,main_switch_off,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_off.png,work/working3/gmoccapy_button_icons/files/img_emergency_off__main_switch_off__48.png,,on_hal_status_state_estop_reset +右侧主状态栏,Glade 静态,tbtn_estop,,Estop the machine / [F1],img_emergency,静态绑定,默认,main_switch_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_on.png,work/working3/gmoccapy_button_icons/files/img_emergency__main_switch_on__48.png,toggled:on_tbtn_estop_toggled, +右侧主状态栏,运行时状态,tbtn_on,上电,,img_machine_on,机器 ON 图标,STATE_ON,power_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_on.png,work/working3/gmoccapy_button_icons/files/img_machine_on__power_on__48.png,,on_hal_status_state_on +右侧主状态栏,Glade 静态,tbtn_on,,Turn the machine on/off / [F2],img_machine_off,静态绑定,默认,power_off,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_off.png,work/working3/gmoccapy_button_icons/files/img_machine_off__power_off__48.png,toggled:on_tbtn_on_toggled, +右侧主状态栏,运行时状态,tbtn_setup,设置页已进入,,img_settings_on,设置页 active 图标,active/unlocked,mode_settings_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_active.png,work/working3/gmoccapy_button_icons/files/img_settings_on__mode_settings_active__48.png,,on_tbtn_setup_toggled +右侧主状态栏,Glade 静态,tbtn_setup,,"Enter the settings page, the default code is ""123""",img_settings,静态绑定,默认,mode_settings_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_inactive.png,work/working3/gmoccapy_button_icons/files/img_settings__mode_settings_inactive__48.png,toggled:on_tbtn_setup_toggled, +右侧主状态栏,运行时状态,tbtn_user_tabs,用户页已显示,,img_user_tabs_on,用户页 active 图标,active,mode_user_tabs_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_active.png,work/working3/gmoccapy_button_icons/files/img_user_tabs_on__mode_user_tabs_active__48.png,,on_tbtn_user_tabs_toggled +右侧主状态栏,Glade 静态,tbtn_user_tabs,,show user tabs,img_user_tabs,静态绑定,默认,mode_user_tabs_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_inactive.png,work/working3/gmoccapy_button_icons/files/img_user_tabs__mode_user_tabs_inactive__48.png,toggled:on_tbtn_user_tabs_toggled, +底部主按钮栏,Glade 静态,btn_exit,,Close gmoccapy / leave the program,img_close,静态绑定,默认,logout,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/logout.png,work/working3/gmoccapy_button_icons/files/img_close__logout__48.png,clicked:on_btn_exit_clicked, +底部主按钮栏,Glade 静态,btn_homing,,open homing button list,img_ref_menu,静态绑定,默认,ref_all,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png,work/working3/gmoccapy_button_icons/files/img_ref_menu__ref_all__48.png,clicked:on_btn_homing_clicked, +底部主按钮栏,Glade 静态,btn_tool,,Open the tooleditor page,img_tools,静态绑定,默认,hsk_mill_tool,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/hsk_mill_tool.png,work/working3/gmoccapy_button_icons/files/img_tools__hsk_mill_tool__48.png,clicked:on_btn_tool_clicked, +底部主按钮栏,Glade 静态,btn_touch,,open touch off button list,img_touch_off,静态绑定,默认,touch_off,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_off.png,work/working3/gmoccapy_button_icons/files/img_touch_off__touch_off__48.png,clicked:on_btn_touch_clicked, +底部主按钮栏,运行时状态,tbtn_fullsize_preview0,退出大预览,,img_fullsize_preview0_close,大预览关闭图标,fullscreen active,fullscreen_close,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png,work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_close__fullscreen_close__48.png,,on_tbtn_fullsize_preview_toggled +底部主按钮栏,Glade 静态,tbtn_fullsize_preview0,,make the preview as large as possible,img_fullsize_preview0_open,静态绑定,默认,fullscreen_open,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png,work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_open__fullscreen_open__48.png,toggled:on_tbtn_fullsize_preview_toggled, +底部主按钮栏,Glade 静态,tbtn_switch_mode,World / Mode,Switch motion mode between Joint and World mode / F12 or $ key does the same,,静态绑定,默认,,,none,,,toggled:on_tbtn_switch_mode_toggled, +Auto 程序运行栏,Glade 静态,btn_edit,,Edit the loaded program,img_editor,静态绑定,默认,edit_code,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/edit_code.png,work/working3/gmoccapy_button_icons/files/img_editor__edit_code__32.png,clicked:on_btn_edit_clicked, +Auto 程序运行栏,Glade 静态,btn_from_line,,"run the program from a certain line, attention, that is dangerous, because the previous lines will not checked!",img_run_from,静态绑定,默认,run_from_line,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/run_from_line.png,work/working3/gmoccapy_button_icons/files/img_run_from__run_from_line__48.png,clicked:on_btn_from_line_clicked, +Auto 程序运行栏,Glade 静态,btn_load,,Load a new program,img_open,静态绑定,默认,open_file,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/open_file.svg,work/working3/gmoccapy_button_icons/files/img_open__open_file__32.svg,clicked:on_btn_load_clicked, +Auto 程序运行栏,Glade 静态,btn_reload,,Reload file,img_reload1,静态绑定,默认,refresh,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png,work/working3/gmoccapy_button_icons/files/img_reload1__refresh__32.png,, +Auto 程序运行栏,Glade 静态,btn_run,,Run the loaded program,img_run,静态绑定,默认,play,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/play.png,work/working3/gmoccapy_button_icons/files/img_run__play__32.png,clicked:on_btn_run_clicked, +Auto 程序运行栏,Glade 静态,btn_step,,Run the loaded program step by step,img_step,静态绑定,默认,step,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/step.png,work/working3/gmoccapy_button_icons/files/img_step__step__32.png,, +Auto 程序运行栏,Glade 静态,btn_stop,,Stop the running program,img_stop,静态绑定,默认,stop,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png,work/working3/gmoccapy_button_icons/files/img_stop__stop__32.png,clicked:on_btn_stop_clicked, +Auto 程序运行栏,运行时状态,tbtn_fullsize_preview1,退出大预览,,img_fullsize_preview1_close,大预览关闭图标,fullscreen active,fullscreen_close,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png,work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_close__fullscreen_close__48.png,,on_tbtn_fullsize_preview_toggled +Auto 程序运行栏,Glade 静态,tbtn_fullsize_preview1,,Show full screen preview,img_fullsize_preview1_open,静态绑定,默认,fullscreen_open,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png,work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_open__fullscreen_open__48.png,toggled:on_tbtn_fullsize_preview_toggled, +Auto 程序运行栏,运行时状态,tbtn_optional_blocks,跳过可选段,,img_skip_optional_active,可选段跳过 active 图标,block delete active,skip_optional_active,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_active.png,work/working3/gmoccapy_button_icons/files/img_skip_optional_active__skip_optional_active__32.png,,on_tbtn_optional_blocks_toggled +Auto 程序运行栏,Glade 静态,tbtn_optional_blocks,,"Machine or not the optional blocks of the program. If the button is pressed, the optional blocks will not be machined. The button will indicate this by a yellow background.",img_skip_optional_inactive,静态绑定,默认,skip_optional_inactive,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_inactive.png,work/working3/gmoccapy_button_icons/files/img_skip_optional_inactive__skip_optional_inactive__32.png,toggled:on_tbtn_optional_blocks_toggled, +Auto 程序运行栏,运行时状态,tbtn_pause,暂停中,,img_pause_active,暂停 active 图标,paused,pause_active,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause_active.png,work/working3/gmoccapy_button_icons/files/img_pause_active__pause_active__32.png,,on_tbtn_pause_toggled +Auto 程序运行栏,Glade 静态,tbtn_pause,,Pause the running program,img_pause,静态绑定,默认,pause,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause.png,work/working3/gmoccapy_button_icons/files/img_pause__pause__32.png,toggled:on_tbtn_pause_toggled, +MDI/宏按钮栏,Python 动态,calculator,计算器,Press to display the calculator,img_macro_menu_calculator,动态按钮图标,默认,calculator_open,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png,work/working3/gmoccapy_button_icons/files/img_macro_menu_calculator__calculator_open__32.png,,_make_macro_button +MDI/宏按钮栏,运行时状态,keyboard,隐藏虚拟键盘,,img_macro_menu_keyboard_hide,宏栏键盘隐藏图标,keyboard shown,keyboard_hide,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png,work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard_hide__keyboard_hide__32.png,,on_ntb_info_switch_page +MDI/宏按钮栏,运行时状态,keyboard,中止运行宏/程序,,img_macro_menu_stop,宏栏停止图标,program/macro running or no keyboard,stop,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png,work/working3/gmoccapy_button_icons/files/img_macro_menu_stop__stop__32.png,,on_hal_status_interp_run/_no_virt_keyboard +MDI/宏按钮栏,Python 动态,keyboard,虚拟键盘,Press to display the virtual keyboard,img_macro_menu_keyboard,动态按钮图标,默认,keyboard,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png,work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard__keyboard__32.png,,_make_macro_button +MDI/宏按钮栏,Python 动态宏,macro_0,i_am_lost,Press to run macro i_am_lost,,无图标,默认,,,macro-custom-file,linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png,work/working3/gmoccapy_button_icons/files/macro_0__macro_image.png,,宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png +MDI/宏按钮栏,Python 动态宏,macro_1,halo_world,Press to run macro halo_world,,无图标,默认,,,none,,,,宏按钮使用文字，无图标 +MDI/宏按钮栏,Python 动态宏,macro_2,jog_around,Press to run macro jog_around,,无图标,默认,,,none,,,,宏按钮使用文字，无图标 +MDI/宏按钮栏,Python 动态宏,macro_3,increment,Press to run macro increment xinc yinc,,无图标,默认,,,none,,,,宏按钮使用文字，无图标 +MDI/宏按钮栏,Python 动态宏,macro_4,go_to_position,Press to run macro go_to_position X-pos Y-pos Z-pos,,无图标,默认,,,macro-custom-file,linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png,work/working3/gmoccapy_button_icons/files/macro_4__macro_image.png,,宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png +MDI/宏按钮栏,Python 动态,next_button,下一组宏按钮,Press to display next macro button,img_macro_paginate_next,动态按钮图标,默认,go-next,,gtk-icon-name-not-copied,GTK/system icon theme,,,当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 +MDI/宏按钮栏,Python 动态,previous_button,上一组宏按钮,Press to display previous macro button,img_macro_paginate_prev,动态按钮图标,默认,go-previous,,gtk-icon-name-not-copied,GTK/system icon theme,,,当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 +回零按钮栏,Python 动态,home_axis_a,回零 A 轴,Press to home axis A,img_ref_a,动态按钮图标,默认,ref_a,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_a.png,work/working3/gmoccapy_button_icons/files/img_ref_a__ref_a__48.png,,当前 XYZAB 生成 +回零按钮栏,Python 动态,home_axis_b,回零 B 轴,Press to home axis B,img_ref_b,动态按钮图标,默认,ref_b,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_b.png,work/working3/gmoccapy_button_icons/files/img_ref_b__ref_b__48.png,,当前 XYZAB 生成 +回零按钮栏,Python 动态,home_axis_x,回零 X 轴,Press to home axis X,img_ref_x,动态按钮图标,默认,ref_x,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_x.png,work/working3/gmoccapy_button_icons/files/img_ref_x__ref_x__48.png,,当前 XYZAB 生成 +回零按钮栏,Python 动态,home_axis_y,回零 Y 轴,Press to home axis Y,img_ref_y,动态按钮图标,默认,ref_y,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_y.png,work/working3/gmoccapy_button_icons/files/img_ref_y__ref_y__48.png,,当前 XYZAB 生成 +回零按钮栏,Python 动态,home_axis_z,回零 Z 轴,Press to home axis Z,img_ref_z,动态按钮图标,默认,ref_z,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_z.png,work/working3/gmoccapy_button_icons/files/img_ref_z__ref_z__48.png,,当前 XYZAB 生成 +回零按钮栏,Python 动态,home_back,返回主按钮栏,Press to return to main button list,img_ref_menu_close,动态按钮图标,默认,back_to_app,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg,work/working3/gmoccapy_button_icons/files/img_ref_menu_close__back_to_app__48.svg,,_make_ref_axis_button +回零按钮栏,Python 动态,next_button,下一组回零按钮,Press to display next homing button,img_ref_paginate_next,动态按钮图标,默认,chevron_right,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg,work/working3/gmoccapy_button_icons/files/img_ref_paginate_next__chevron_right__32.svg,,仅轴数大于 7 时显示 +回零按钮栏,Python 动态,previous_button,上一组回零按钮,Press to display previous homing button,img_ref_paginate_prev,动态按钮图标,默认,chevron_left,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg,work/working3/gmoccapy_button_icons/files/img_ref_paginate_prev__chevron_left__32.svg,,仅轴数大于 7 时显示 +回零按钮栏,Python 动态,ref_all,回零全部轴,Press to home all axes,img_ref_all,动态按钮图标,默认,ref_all,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png,work/working3/gmoccapy_button_icons/files/img_ref_all__ref_all__48.png,,_make_ref_axis_button +回零按钮栏,Python 动态,unref_all,取消全部回零,Press to unhome all axes,img_unref_all,动态按钮图标,默认,unref_all,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/unref_all.png,work/working3/gmoccapy_button_icons/files/img_unref_all__unref_all__48.png,,_make_ref_axis_button +对刀/坐标设定按钮栏,Python 动态,block_height,Block Height,Press to enter new value for block height,,无图标,默认,,,none,,,,仅 [TOOLSENSOR] 有效时出现；本配置默认不出现 +对刀/坐标设定按钮栏,Python 动态,next_button,下一组 Touch Off 按钮,Press to display next homing button,img_touch_paginate_next,动态按钮图标,默认,chevron_right,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg,work/working3/gmoccapy_button_icons/files/img_touch_paginate_next__chevron_right__32.svg,,仅按钮过多时显示 +对刀/坐标设定按钮栏,Python 动态,previous_button,上一组 Touch Off 按钮,Press to display previous homing button,img_touch_paginate_prev,动态按钮图标,默认,chevron_left,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg,work/working3/gmoccapy_button_icons/files/img_touch_paginate_prev__chevron_left__32.svg,,仅轴数大于 8 时显示 +对刀/坐标设定按钮栏,Python 动态,touch_a,A 轴 Touch Off,Press to set touch off value for axis A,img_touch_a,动态按钮图标,默认,touch_a,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_a.png,work/working3/gmoccapy_button_icons/files/img_touch_a__touch_a__48.png,,当前 XYZAB 生成 +对刀/坐标设定按钮栏,Python 动态,touch_b,B 轴 Touch Off,Press to set touch off value for axis B,img_touch_b,动态按钮图标,默认,touch_b,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_b.png,work/working3/gmoccapy_button_icons/files/img_touch_b__touch_b__48.png,,当前 XYZAB 生成 +对刀/坐标设定按钮栏,Python 动态,touch_back,返回主按钮栏,Press to return to main button list,img_touch_menu_close,动态按钮图标,默认,back_to_app,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg,work/working3/gmoccapy_button_icons/files/img_touch_menu_close__back_to_app__48.svg,,_make_touch_button +对刀/坐标设定按钮栏,Python 动态,touch_x,X 轴 Touch Off,Press to set touch off value for axis X,img_touch_x,动态按钮图标,默认,touch_x,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_x.png,work/working3/gmoccapy_button_icons/files/img_touch_x__touch_x__48.png,,当前 XYZAB 生成 +对刀/坐标设定按钮栏,Python 动态,touch_y,Y 轴 Touch Off,Press to set touch off value for axis Y,img_touch_y,动态按钮图标,默认,touch_y,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_y.png,work/working3/gmoccapy_button_icons/files/img_touch_y__touch_y__48.png,,当前 XYZAB 生成 +对刀/坐标设定按钮栏,Python 动态,touch_z,Z 轴 Touch Off,Press to set touch off value for axis Z,img_touch_z,动态按钮图标,默认,touch_z,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_z.png,work/working3/gmoccapy_button_icons/files/img_touch_z__touch_z__48.png,,当前 XYZAB 生成 +手动/Jog 面板,Glade 静态,chk_ignore_limits,Ignore limits,,,静态绑定,默认,,,none,,,toggled:on_chk_ignore_limits_toggled, +手动/Jog 面板,运行时状态,tbtn_turtle_jog,慢速 Jog,,img_turtle_jog,慢速 Jog 图标,active,jog_speed_slow,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_slow.png,work/working3/gmoccapy_button_icons/files/img_turtle_jog__jog_speed_slow__32.png,,on_tbtn_turtle_jog_toggled +手动/Jog 面板,运行时状态,tbtn_turtle_jog,快速 Jog,,img_rabbit_jog,快速 Jog 图标,inactive,jog_speed_fast,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png,work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png,,on_tbtn_turtle_jog_toggled +手动/Jog 面板,Glade 静态,tbtn_turtle_jog,,,img_rabbit_jog,静态绑定,默认,jog_speed_fast,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png,work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png,toggled:on_tbtn_turtle_jog_toggled, +Jog 增量选择栏,Python 动态,rbt_0,Continuous,Continuous jog,img_continuous,动态按钮图标,默认,jog_continuous,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/jog_continuous.png,work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png,,连续 Jog 唯一带图标 +Jog 增量选择栏,Python 动态,rbt_1,1.000 mm,,,无图标,默认,,,none,,,,增量按钮使用文字，无图标 +Jog 增量选择栏,Python 动态,rbt_2,0.100 mm,,,无图标,默认,,,none,,,,增量按钮使用文字，无图标 +Jog 增量选择栏,Python 动态,rbt_3,0.010 mm,,,无图标,默认,,,none,,,,增量按钮使用文字，无图标 +Jog 增量选择栏,Python 动态,rbt_4,0.001 mm,,,无图标,默认,,,none,,,,增量按钮使用文字，无图标 +Jog 增量选择栏,Python 动态,rbt_5,1.2345 in,,,无图标,默认,,,none,,,,增量按钮使用文字，无图标 +Jog 轴按钮,Python 动态,a+,A+,Press to jog axis A,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,a-,A-,Press to jog axis A,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,b+,B+,Press to jog axis B,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,b-,B-,Press to jog axis B,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,x+,X+,Press to jog axis X,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,x-,X-,Press to jog axis X,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,y+,Y+,Press to jog axis Y,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,y-,Y-,Press to jog axis Y,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,z+,Z+,Press to jog axis Z,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 轴按钮,Python 动态,z-,Z-,Press to jog axis Z,,无图标,默认,,,none,,,,轴 Jog 按钮使用文字，无图标 +Jog 关节按钮,Python 动态,0+,0+,Press to jog joint 0,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,0-,0-,Press to jog joint 0,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,1+,1+,Press to jog joint 1,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,1-,1-,Press to jog joint 1,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,2+,2+,Press to jog joint 2,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,2-,2-,Press to jog joint 2,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,3+,3+,Press to jog joint 3,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,3-,3-,Press to jog joint 3,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,4+,4+,Press to jog joint 4,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +Jog 关节按钮,Python 动态,4-,4-,Press to jog joint 4,,无图标,默认,,,none,,,,trivial kinematics 时不创建；非平凡运动学才出现 +冷却/主轴控制,运行时状态,rbt_forward,主轴正转中,,img_spindle_forward_on,正转 active 图标,active,spindle_right_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right_on.png,work/working3/gmoccapy_button_icons/files/img_spindle_forward_on__spindle_right_on__48.png,,on_rbt_forward_released/clicked +冷却/主轴控制,Glade 静态,rbt_forward,,,img_spindle_forward,静态绑定,默认,spindle_right,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right.png,work/working3/gmoccapy_button_icons/files/img_spindle_forward__spindle_right__48.png,clicked:on_rbt_forward_clicked; released:on_rbt_forward_released, +冷却/主轴控制,运行时状态,rbt_reverse,主轴反转中,,img_spindle_reverse_on,反转 active 图标,active,spindle_left_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left_on.png,work/working3/gmoccapy_button_icons/files/img_spindle_reverse_on__spindle_left_on__48.png,,on_rbt_reverse_released/clicked +冷却/主轴控制,Glade 静态,rbt_reverse,,,img_spindle_reverse,静态绑定,默认,spindle_left,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left.png,work/working3/gmoccapy_button_icons/files/img_spindle_reverse__spindle_left__48.png,clicked:on_rbt_reverse_clicked; released:on_rbt_reverse_released, +冷却/主轴控制,运行时状态,rbt_stop,主轴停止已选中,,img_spindle_stop_on,停止 active 图标,active,spindle_stop_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png,work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png,,on_rbt_stop_clicked +冷却/主轴控制,运行时状态,rbt_stop,主轴停止未选中,,img_spindle_stop,停止 inactive 图标,inactive,spindle_stop,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop.png,work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png,,on_rbt_stop_clicked: widget inactive 时切回停止普通图标 +冷却/主轴控制,Glade 静态,rbt_stop,,,img_spindle_stop_on,静态绑定,默认,spindle_stop_on,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png,work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png,clicked:on_rbt_stop_clicked, +冷却/主轴控制,运行时状态,tbtn_flood,冷却液开,,img_coolant_on,Flood active 图标,active,coolant_flood_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_active.png,work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png,,on_hal_status_flood_changed +冷却/主轴控制,Glade 静态,tbtn_flood,,,img_coolant_off,静态绑定,默认,coolant_flood_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_inactive.png,work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png,toggled:on_tbtn_flood_toggled, +冷却/主轴控制,运行时状态,tbtn_mist,雾冷开,,img_mist_on,Mist active 图标,active,coolant_mist_active,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_active.png,work/working3/gmoccapy_button_icons/files/img_mist_on__coolant_mist_active__48.png,,on_hal_status_mist_changed +冷却/主轴控制,Glade 静态,tbtn_mist,,,img_mist_off,静态绑定,默认,coolant_mist_inactive,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_inactive.png,work/working3/gmoccapy_button_icons/files/img_mist_off__coolant_mist_inactive__48.png,toggled:on_tbtn_mist_toggled, +预览/视图,Glade 静态,btn_delete_view,,clear plot,img_tool_clear,静态绑定,默认,clear,24,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/clear.png,work/working3/gmoccapy_button_icons/files/img_tool_clear__clear__24.png,clicked:on_btn_delete_view_clicked, +预览/视图,Glade 静态,btn_zoom_in,,Zoom in,img_zoom_in,静态绑定,默认,zoom_in,24,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_in.png,work/working3/gmoccapy_button_icons/files/img_zoom_in__zoom_in__24.png,clicked:on_btn_zoom_in_clicked, +预览/视图,Glade 静态,btn_zoom_out,,Zoom out,img_zoom_out,静态绑定,默认,zoom_out,24,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_out.png,work/working3/gmoccapy_button_icons/files/img_zoom_out__zoom_out__24.png,clicked:on_btn_zoom_out_clicked, +预览/视图,Glade 静态,rbt_view_p,,view perspective,img_view_p,静态绑定,默认,tool_axis_p,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_p.png,work/working3/gmoccapy_button_icons/files/img_view_p__tool_axis_p__24.png,toggled:on_rbt_view_p_toggled, +预览/视图,Glade 静态,rbt_view_x,,view along the X axis from positive to negative,img_view_x,静态绑定,默认,tool_axis_x,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_x.png,work/working3/gmoccapy_button_icons/files/img_view_x__tool_axis_x__24.png,toggled:on_rbt_view_x_toggled, +预览/视图,Glade 静态,rbt_view_y,,view along the Y axis from positive to negative,img_view_y,静态绑定,默认,tool_axis_y,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y.png,work/working3/gmoccapy_button_icons/files/img_view_y__tool_axis_y__24.png,toggled:on_rbt_view_y_toggled, +预览/视图,Glade 静态,rbt_view_y2,,view along the Y axis from positive to negative as viewn for a back tool lathe,img_view_y2,静态绑定,默认,tool_axis_y_inv,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y_inv.png,work/working3/gmoccapy_button_icons/files/img_view_y2__tool_axis_y_inv__24.png,toggled:on_rbt_view_y2_toggled, +预览/视图,Glade 静态,rbt_view_z,,view along the Z axis from positive to negative,img_view_z,静态绑定,默认,tool_axis_z,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_z.png,work/working3/gmoccapy_button_icons/files/img_view_z__tool_axis_z__24.png,toggled:on_rbt_view_z_toggled, +预览/视图,Glade 静态,tbtn_view_dimension,,Show or hide dimensions,img_dimensions,静态绑定,默认,dimensions,24,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/dimensions.png,work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png,toggled:on_tbtn_view_dimension_toggled, +预览/视图,Glade 静态,tbtn_view_tool_path,,Show or hide tool path,img_tool_path,静态绑定,默认,toolpath,24,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/24x24/actions/toolpath.png,work/working3/gmoccapy_button_icons/files/img_tool_path__toolpath__24.png,toggled:on_tbtn_view_tool_path_toggled, +编辑器搜索/编辑,Glade 静态,btn_comment,,,img_edit_comment,静态绑定,默认,comment,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/comment.png,work/working3/gmoccapy_button_icons/files/img_edit_comment__comment__32.png,clicked:on_btn_toggle_comment_clicked, +编辑器搜索/编辑,Glade 静态,btn_redo,,Redo,img_edit-redo,静态绑定,默认,edit_redo,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_redo.png,work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png,clicked:on_btn_redo_clicked, +编辑器搜索/编辑,Glade 静态,btn_replace,Replace,,,静态绑定,默认,,,none,,,clicked:on_btn_replace_clicked, +编辑器搜索/编辑,Glade 静态,btn_search_back,Search / back,,img_up,静态绑定,默认,chevron_up,24,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg,work/working3/gmoccapy_button_icons/files/img_up__chevron_up__24.svg,clicked:on_btn_search_back_clicked, +编辑器搜索/编辑,Glade 静态,btn_search_forward,Search / fwd,,img_down,静态绑定,默认,chevron_down,24,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_down.svg,work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg,clicked:on_btn_search_forward_clicked, +编辑器搜索/编辑,Glade 静态,btn_undo,,Undo,img_edit-undo,静态绑定,默认,edit_undo,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_undo.png,work/working3/gmoccapy_button_icons/files/img_edit-undo__edit_undo__32.png,clicked:on_btn_undo_clicked, +编辑器搜索/编辑,Glade 静态,chk_ignore_case,Ignore Case,,,静态绑定,默认,,,none,,,, +编辑器搜索/编辑,Glade 静态,chk_replace_all,Replace All,,,静态绑定,默认,,,none,,,, +编辑页底部栏,Glade 静态,btn_back_edit,,Go back to main button list,img_edit_menu_close,静态绑定,默认,back_to_app,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg,work/working3/gmoccapy_button_icons/files/img_edit_menu_close__back_to_app__48.svg,clicked:on_btn_back_clicked, +编辑页底部栏,Glade 静态,btn_calc,,Show calculator,img_edit_menu_calculator,静态绑定,默认,calculator_open,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_calculator__calculator_open__32.png,clicked:on_btn_show_calc_clicked, +编辑页底部栏,运行时状态,btn_keyb,隐藏虚拟键盘,,img_edit_menu_keyboard_hide,编辑页键盘隐藏图标,keyboard shown,keyboard_hide,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard_hide__keyboard_hide__32.png,,on_ntb_info_switch_page +编辑页底部栏,Glade 静态,btn_keyb,,Show or hide the virtual keyboard,img_edit_menu_keyboard,静态绑定,默认,keyboard,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard__keyboard__32.png,clicked:on_btn_show_kbd_clicked, +编辑页底部栏,Glade 静态,btn_new,,clear the edit field and make a new file,img_edit_menu_new,静态绑定,默认,new_document,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/new_document.svg,work/working3/gmoccapy_button_icons/files/img_edit_menu_new__new_document__32.svg,clicked:on_btn_new_clicked, +编辑页底部栏,Glade 静态,btn_reload_edit,,Reload file,img_edit_menu_reload,静态绑定,默认,refresh,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png,, +编辑页底部栏,Glade 静态,btn_save,,save the file using the original name,img_edit_menu_save,静态绑定,默认,save,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png,, +编辑页底部栏,Glade 静态,btn_save_as,,save the file with a new name,img_edit_menu_save_as,静态绑定,默认,save_as,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save_as.png,work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png,, +编辑页底部栏,Glade 静态,tbtn_split_view,,Show preview as split view,img_split_view,静态绑定,默认,split_view,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/split_view.png,work/working3/gmoccapy_button_icons/files/img_split_view__split_view__32.png,toggled:on_tbtn_split_view_toggled, +刀具页底部栏,Glade 静态,btn_back_tool,,Go back to main button list,img_back_tool,静态绑定,默认,back_to_app,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg,work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg,clicked:on_btn_back_clicked, +刀具页底部栏,Glade 静态,btn_change_tool,,change tool to the selected one,img_toolchange,静态绑定,默认,mill_tool_change,48,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mill_tool_change.png,work/working3/gmoccapy_button_icons/files/img_toolchange__mill_tool_change__48.png,clicked:on_btn_selected_tool_clicked, +刀具页底部栏,Glade 静态,btn_index_tool,,"change tool with the command M61 Q?, no machine move will be done",img_index_tool,静态绑定,默认,mill_tool_set_num,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_set_num.svg,work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg,clicked:on_btn_selected_tool_clicked, +刀具页底部栏,Glade 静态,btn_select_tool_by_no,,Select a tool by number,img_tool_by_no,静态绑定,默认,mill_tool_change_num,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_change_num.svg,work/working3/gmoccapy_button_icons/files/img_tool_by_no__mill_tool_change_num__48.svg,clicked:on_btn_select_tool_by_no_clicked, +刀具页底部栏,Glade 静态,btn_tool_touchoff_x,,touch off the tool and set the value to the tool table,,静态绑定,默认,,,none,,,clicked:on_btn_tool_touchoff_clicked, +刀具页底部栏,Glade 静态,btn_tool_touchoff_z,,touch off the tool and set the value to the tool table,,静态绑定,默认,,,none,,,clicked:on_btn_tool_touchoff_clicked, +文件选择栏,Glade 静态,btn_back_file_load,,Close without returning a file path,img_back_file_load,静态绑定,默认,back_to_app,48,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg,work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg,clicked:on_btn_back_clicked, +文件选择栏,Glade 静态,btn_dir_up,,Move to parent directory,img_dir_up,静态绑定,默认,chevron_up,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg,work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg,clicked:on_btn_dir_up_clicked, +文件选择栏,Glade 静态,btn_home,,Move to your home directory,img_home,静态绑定,默认,home_folder,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/home_folder.svg,work/working3/gmoccapy_button_icons/files/img_home__home_folder__32.svg,clicked:on_btn_home_clicked, +文件选择栏,Glade 静态,btn_jump_to,,Jump to user defined directory,img_jump_to,静态绑定,默认,user_defined_folder,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/user_defined_folder.svg,work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg,clicked:on_btn_jump_to_clicked, +文件选择栏,Glade 静态,btn_reload_dir,,Refresh directory,img_refresh_dir,静态绑定,默认,refresh,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png,work/working3/gmoccapy_button_icons/files/img_refresh_dir__refresh__32.png,clicked:on_btn_refresh_dir_clicked, +文件选择栏,Glade 静态,btn_sel_next,,Select the next file,img_sel_next,静态绑定,默认,chevron_right,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg,work/working3/gmoccapy_button_icons/files/img_sel_next__chevron_right__32.svg,clicked:on_btn_sel_next_clicked, +文件选择栏,Glade 静态,btn_sel_prev,,Select the previous file,img_sel_prev,静态绑定,默认,chevron_left,32,theme-svg,linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg,work/working3/gmoccapy_button_icons/files/img_sel_prev__chevron_left__32.svg,clicked:on_btn_sel_prev_clicked, +文件选择栏,Glade 静态,btn_select,,select the highlighted file and return the path,img_select,静态绑定,默认,select_file,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/select_file.png,work/working3/gmoccapy_button_icons/files/img_select__select_file__32.png,clicked:on_btn_select_clicked, +文件选择栏,Glade 静态,tbtn_sort,Sort by / date,"Sort files by date, newest first",,静态绑定,默认,,,none,,,toggled:on_tbtn_sort_toggled, +内嵌 ToolEdit 控件,内嵌控件,tooldedit.add,新增刀具,Add new tool,img_tool_add,动态按钮图标,默认,add,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/add.png,work/working3/gmoccapy_button_icons/files/img_tool_add__add__32.png,,Python 改造 ToolEdit +内嵌 ToolEdit 控件,内嵌控件,tooldedit.apply,保存刀具表,Save tool table to file,img_tool_save,动态按钮图标,默认,save,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png,work/working3/gmoccapy_button_icons/files/img_tool_save__save__32.png,,Python 改造 ToolEdit +内嵌 ToolEdit 控件,内嵌控件,tooldedit.calculator,刀具表计算器,Use calculator to edit numeric values,img_tool_calculator,动态按钮图标,默认,calculator_open,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png,work/working3/gmoccapy_button_icons/files/img_tool_calculator__calculator_open__32.png,,Python 改造 ToolEdit +内嵌 ToolEdit 控件,内嵌控件,tooldedit.delete,删除选中刀具,Delete selected tool,img_tool_delete,动态按钮图标,默认,delete,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/delete.png,work/working3/gmoccapy_button_icons/files/img_tool_delete__delete__32.png,,Python 改造 ToolEdit +内嵌 ToolEdit 控件,内嵌控件,tooldedit.reload,重载刀具表,Reload tool table from file,img_tool_reload,动态按钮图标,默认,refresh,32,theme-nearest-png,linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png,work/working3/gmoccapy_button_icons/files/img_tool_reload__refresh__32.png,,Python 改造 ToolEdit +内嵌 OffsetPage 控件,内嵌控件,offsetpage.calculator,坐标偏置计算器,Use calculator to edit numeric values,img_offset_calculator,动态按钮图标,默认,calculator_open,32,theme-exact-png,linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png,work/working3/gmoccapy_button_icons/files/img_offset_calculator__calculator_open__32.png,,Python 改造 OffsetPage +内嵌 OffsetPage 控件,内嵌控件,offsetpage.edit_offsets,Edit Offsets,Edit offsets in OffsetPage,,无图标,默认,,,none,,,,内嵌控件文字按钮，无图标 +内嵌 OffsetPage 控件,内嵌控件,offsetpage.set_selected,Set selected,Set selected coordinate system active,,无图标,默认,,,none,,,,内嵌控件文字按钮，无图标 +内嵌 OffsetPage 控件,内嵌控件,offsetpage.zero_g92,Zero G92,Set G92 offsets to zero,,无图标,默认,,,none,,,,内嵌控件文字按钮，无图标 +设置页控件,Glade 静态,abs_colorbutton,,,,静态绑定,默认,,,none,,,color-set:on_abs_colorbutton_color_set, +设置页控件,Glade 静态,audio_alert_chooser,,,,静态绑定,默认,,,none,,,file-set:on_change_sound, +设置页控件,Glade 静态,audio_error_chooser,,,,静态绑定,默认,,,none,,,file-set:on_change_sound, +设置页控件,Glade 静态,chk_en_audio,Enable sound,,,静态绑定,默认,,,none,,,toggled:on_chk_en_audio_toggled, +设置页控件,Glade 静态,chk_font_monospace,Monospace,,,静态绑定,默认,,,none,,,toggled:on_chk_font_monospace_toggled, +设置页控件,Glade 静态,chk_font_regular,Regular/Medium,,,静态绑定,默认,,,none,,,toggled:on_chk_font_regular_toggled, +设置页控件,Glade 静态,chk_hide_cursor,Hide cursor,,,静态绑定,默认,,,none,,,toggled:on_chk_hide_cursor_toggled, +设置页控件,Glade 静态,chk_hide_tooltips,Hide tooltips,,,静态绑定,默认,,,none,,,toggled:on_chk_hide_tooltips_toggled, +设置页控件,Glade 静态,chk_kbd_set_height,Height,,,静态绑定,默认,,,none,,,toggled:on_chk_kb_set_height_toggled, +设置页控件,Glade 静态,chk_kbd_set_width,Width,,,静态绑定,默认,,,none,,,toggled:on_chk_kb_set_width_toggled, +设置页控件,Glade 静态,chk_reload_tool,Reload Tool on Start,"If checked, the tool in spindle / will be saved on each change / and the last tool will be reloaded / at start of the GUI. Also it's / length offset will be reloaded.",,静态绑定,默认,,,none,,,toggled:on_chk_reload_tool_toggled, +设置页控件,Glade 静态,chk_show_dro,Show DRO,,,静态绑定,默认,,,none,,,toggled:on_chk_show_dro_toggled, +设置页控件,Glade 静态,chk_show_dtg,Show DTG,,,静态绑定,默认,,,none,,,toggled:on_chk_show_dtg_toggled, +设置页控件,Glade 静态,chk_show_offsets,Show offsets,,,静态绑定,默认,,,none,,,toggled:on_chk_show_offsets_toggled, +设置页控件,Glade 静态,chk_toggle_readout,Toggle DRO mode by / clicking on the DRO,,,静态绑定,默认,,,none,,,toggled:on_chk_toggle_readout_toggled, +设置页控件,Glade 静态,chk_turtle_jog,Hide turtle Jog Button,,,静态绑定,默认,,,none,,,toggled:on_chk_turtle_jog_toggled, +设置页控件,Glade 静态,chk_use_frames,Use frames,"If checked, the messages / will be in a frame.",,静态绑定,默认,,,none,,,toggled:on_chk_use_frames_toggled, +设置页控件,Glade 静态,chk_use_kb_on_edit,Show keyboard on EDIT,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_on_edit_toggled, +设置页控件,Glade 静态,chk_use_kb_on_file_selection,Show keyboard on load file,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_on_file_selection_toggled, +设置页控件,Glade 静态,chk_use_kb_on_mdi,Show keyboard on MDI,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_on_mdi_toggled, +设置页控件,Glade 静态,chk_use_kb_on_offset,Show keyboard on offset,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_on_offset_toggled, +设置页控件,Glade 静态,chk_use_kb_on_tooledit,Show keyboard on tooledit,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_on_tooledit_toggled, +设置页控件,Glade 静态,chk_use_kb_shortcuts,Use keyboard shortcuts,,,静态绑定,默认,,,none,,,toggled:on_chk_use_kb_shortcuts_toggled, +设置页控件,Glade 静态,chk_use_tool_measurement,Use auto tool measurement,,,静态绑定,默认,,,none,,,toggled:on_chk_use_tool_measurement_toggled, +设置页控件,Glade 静态,dtg_colorbutton,,,,静态绑定,默认,,,none,,,color-set:on_dtg_colorbutton_color_set, +设置页控件,Glade 静态,file_to_load_chooser,,,,静态绑定,默认,,,none,,,file-set:on_file_to_load_chooser_file_set, +设置页控件,Glade 静态,fontbutton_gcodeview,,,,静态绑定,默认,,,none,,,font-set:on_fontbutton_gcodeview_font_set, +设置页控件,Glade 静态,fontbutton_popup,,The font to use,,静态绑定,默认,,,none,,,font-set:on_fontbutton_popup_font_set, +设置页控件,Glade 静态,homed_colorbtn,,,,静态绑定,默认,,,none,,,color-set:on_homed_colorbtn_color_set, +设置页控件,Glade 静态,jump_to_dir_chooser,,,,静态绑定,默认,,,none,,,file-set:on_jump_to_dir_chooser_file_set, +设置页控件,Glade 静态,rbt_hal_unlock,Use hal pin to unlock,,,静态绑定,默认,,,none,,,toggled:on_rbt_unlock_toggled, +设置页控件,Glade 静态,rbt_no_unlock,Do not use unlock code,,,静态绑定,默认,,,none,,,toggled:on_rbt_unlock_toggled, +设置页控件,Glade 静态,rbt_use_unlock,Use unlock code,,,静态绑定,默认,,,none,,,toggled:on_rbt_unlock_toggled, +设置页控件,Glade 静态,rbtn_fullscreen,Start as fullscreen,,,静态绑定,默认,,,none,,,toggled:on_rbtn_fullscreen_toggled, +设置页控件,Glade 静态,rbtn_maximized,Start maximized,,,静态绑定,默认,,,none,,,toggled:on_rbtn_maximized_toggled, +设置页控件,Glade 静态,rbtn_no_run_from_line,Do not use run from line,,,静态绑定,默认,,,none,,,toggled:on_rbtn_run_from_line_toggled, +设置页控件,Glade 静态,rbtn_run_from_line,Use run from line,,,静态绑定,默认,,,none,,,toggled:on_rbtn_run_from_line_toggled, +设置页控件,Glade 静态,rbtn_show_offsets,show offsets,,,静态绑定,默认,,,none,,,, +设置页控件,Glade 静态,rbtn_show_preview,show preview,,,静态绑定,默认,,,none,,,toggled:on_rbtn_show_preview_toggled, +设置页控件,Glade 静态,rbtn_window,Start as window,,,静态绑定,默认,,,none,,,toggled:on_rbtn_window_toggled, +设置页控件,Glade 静态,rel_colorbutton,,,,静态绑定,默认,,,none,,,color-set:on_rel_colorbutton_color_set, +设置页控件,Glade 静态,unhomed_colorbtn,,,,静态绑定,默认,,,none,,,color-set:on_unhomed_colorbtn_color_set, +Glade 静态按钮,Glade 静态,btn_calibration,Calibration,launch calibration,,静态绑定,默认,,,none,,,clicked:on_btn_calibration_clicked, +Glade 静态按钮,Glade 静态,btn_classicladder,Cl.-ladder,Open classicladder,,静态绑定,默认,,,none,,,clicked:on_btn_classicladder_clicked, +Glade 静态按钮,Glade 静态,btn_delete,,delete MDI history,,静态绑定,默认,,,none,,,clicked:on_btn_delete_clicked, +Glade 静态按钮,Glade 静态,btn_feed_100,100%,reset feed override to 100 %,,静态绑定,默认,,,none,,,clicked:on_btn_feed_100_clicked, +Glade 静态按钮,Glade 静态,btn_hal_meter,Hal Meter,launch hal meter,,静态绑定,默认,,,none,,,clicked:on_btn_hal_meter_clicked, +Glade 静态按钮,Glade 静态,btn_hal_scope,Hal-Scope,launch hal scope,,静态绑定,默认,,,none,,,clicked:on_btn_hal_scope_clicked, +Glade 静态按钮,Glade 静态,btn_launch_test_message,Launch test message,Push here to launch a test message / to test your settings.,,静态绑定,默认,,,none,,,pressed:on_btn_launch_test_message_pressed, +Glade 静态按钮,Glade 静态,btn_none,none,,,静态绑定,默认,,,none,,,clicked:on_btn_none_clicked, +Glade 静态按钮,Glade 静态,btn_show_hal,Halshow,opens the show hal tool,,静态绑定,默认,,,none,,,clicked:on_btn_show_hal_clicked, +Glade 静态按钮,Glade 静态,btn_spindle_100,100%,,,静态绑定,默认,,,none,,,clicked:on_btn_spindle_100_clicked, +Glade 静态按钮,Glade 静态,btn_status,Status,launch linuxcnc status,,静态绑定,默认,,,none,,,clicked:on_btn_status_clicked, +Glade 静态按钮,Glade 静态,btn_use_current,current / file,,,静态绑定,默认,,,none,,,clicked:on_btn_use_current_clicked, +Glade 静态按钮,Glade 静态,chkbtn_hide_titlebar,Hide title bar,,,静态绑定,默认,,,none,,,toggled:on_chkbtn_hide_titlebar_toggled, diff --git a/work/working3/gmoccapy_button_icons/button_icon_inventory.md b/work/working3/gmoccapy_button_icons/button_icon_inventory.md new file mode 100644 index 0000000..c8eeca9 --- /dev/null +++ b/work/working3/gmoccapy_button_icons/button_icon_inventory.md @@ -0,0 +1,247 @@ +# gmoccapy_XYZAB 界面按钮图标整理 + +- 配置文件：`/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini` +- 首选项图标主题：`classic`，来自 `/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.pref` 的 `icon_theme = classic` +- 图标主题目录：`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic` +- 运行时映射来源：`/home/meswork/cnc_wams/linuxcnc/bin/gmoccapy` 的 `_set_icon_theme()` / `icon_configs` +- Glade 静态界面来源：`/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/gmoccapy.glade` +- 当前坐标轴：`X Y Z A B`；当前宏数量：`5`；当前 Jog 增量数量：`6` +- 本目录已复制图标文件：`files/`，共 `112` 个文件 +- CSV 明细：`button_icon_inventory.csv` + +## 统计 + +| 类型 | 数量 | +| --- | ---: | +| 清单行总数 | 211 | +| 有图标/图像的按钮或状态 | 116 | +| 纯文字/无图标按钮或状态 | 95 | +| `gtk-icon-name-not-copied` | 2 | +| `macro-custom-file` | 2 | +| `none` | 95 | +| `theme-exact-png` | 69 | +| `theme-nearest-png` | 23 | +| `theme-svg` | 20 | + +## 说明 + +- `theme-exact-png` 表示 classic 主题中有精确尺寸 PNG；`theme-nearest-png` 表示 GTK 会按请求尺寸找最近的 PNG；`theme-svg` 表示 classic 主题依赖 scalable SVG。 +- `gtk-icon-name-not-copied` 表示 Glade 原始 `icon-name` 由 GTK 系统主题解析，但当前 gmoccapy 运行时通常会用 `_set_icon_theme()` 的 classic 图标覆盖。 +- 宏按钮如果 NGC 文件包含 `(IMAGE, ...)`，gmoccapy 会直接载入该图片；当前 `i_am_lost` 和 `go_to_position` 是自定义 PNG。 +- 同一个按钮的 active/inactive 图标在“运行时状态”行中列出，例如 `tbtn_on`、`rbt_auto`、`tbtn_pause`、`tbtn_optional_blocks`。 + +## 完整清单 + +| 分类 | 按钮/状态 | 图像ID | 图标名 | 尺寸 | 来源类型 | 源文件 | 复制文件 | 说明 | +| --- | --- | --- | --- | --- | --- | --- | --- | --- | +| 右侧主状态栏 | rbt_auto
    Auto 已选中
    `active` | img_auto_on | mode_auto_active | 48 | theme-exact-png | [mode_auto_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_active.png) | [img_auto_on__mode_auto_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png) | on_rbt_auto_toggled | +| 右侧主状态栏 | rbt_auto | img_auto | mode_auto_inactive | 48 | theme-exact-png | [mode_auto_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_auto_inactive.png) | [img_auto__mode_auto_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png) | enter auto mode to run programs | +| 右侧主状态栏 | rbt_manual
    手动已选中
    `active` | img_manual_on | mode_manual_active | 48 | theme-exact-png | [mode_manual_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_active.png) | [img_manual_on__mode_manual_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual_on__mode_manual_active__48.png) | on_rbt_manual_toggled | +| 右侧主状态栏 | rbt_manual | img_manual | mode_manual_inactive | 48 | theme-exact-png | [mode_manual_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_manual_inactive.png) | [img_manual__mode_manual_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_manual__mode_manual_inactive__48.png) | enter manual mode to jog axis by hand or touch off / [F3] | +| 右侧主状态栏 | rbt_mdi
    MDI 已选中
    `active` | img_mdi_on | mode_mdi_active | 48 | theme-exact-png | [mode_mdi_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_active.png) | [img_mdi_on__mode_mdi_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi_on__mode_mdi_active__48.png) | on_rbt_mdi_toggled | +| 右侧主状态栏 | rbt_mdi | img_mdi | mode_mdi_inactive | 48 | theme-exact-png | [mode_mdi_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_mdi_inactive.png) | [img_mdi__mode_mdi_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mdi__mode_mdi_inactive__48.png) | enter MDI mode to launch G-code commands / [F5] | +| 右侧主状态栏 | tbtn_estop
    急停复位/非急停
    `STATE_ESTOP_RESET` | img_emergency_off | main_switch_off | 48 | theme-exact-png | [main_switch_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_off.png) | [img_emergency_off__main_switch_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency_off__main_switch_off__48.png) | on_hal_status_state_estop_reset | +| 右侧主状态栏 | tbtn_estop | img_emergency | main_switch_on | 48 | theme-exact-png | [main_switch_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/main_switch_on.png) | [img_emergency__main_switch_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_emergency__main_switch_on__48.png) | Estop the machine / [F1] | +| 右侧主状态栏 | tbtn_on
    上电
    `STATE_ON` | img_machine_on | power_on | 48 | theme-exact-png | [power_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_on.png) | [img_machine_on__power_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_on__power_on__48.png) | on_hal_status_state_on | +| 右侧主状态栏 | tbtn_on | img_machine_off | power_off | 48 | theme-exact-png | [power_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/power_off.png) | [img_machine_off__power_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_machine_off__power_off__48.png) | Turn the machine on/off / [F2] | +| 右侧主状态栏 | tbtn_setup
    设置页已进入
    `active/unlocked` | img_settings_on | mode_settings_active | 48 | theme-exact-png | [mode_settings_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_active.png) | [img_settings_on__mode_settings_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings_on__mode_settings_active__48.png) | on_tbtn_setup_toggled | +| 右侧主状态栏 | tbtn_setup | img_settings | mode_settings_inactive | 48 | theme-exact-png | [mode_settings_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_settings_inactive.png) | [img_settings__mode_settings_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_settings__mode_settings_inactive__48.png) | Enter the settings page, the default code is "123" | +| 右侧主状态栏 | tbtn_user_tabs
    用户页已显示
    `active` | img_user_tabs_on | mode_user_tabs_active | 48 | theme-exact-png | [mode_user_tabs_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_active.png) | [img_user_tabs_on__mode_user_tabs_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs_on__mode_user_tabs_active__48.png) | on_tbtn_user_tabs_toggled | +| 右侧主状态栏 | tbtn_user_tabs | img_user_tabs | mode_user_tabs_inactive | 48 | theme-exact-png | [mode_user_tabs_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mode_user_tabs_inactive.png) | [img_user_tabs__mode_user_tabs_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_user_tabs__mode_user_tabs_inactive__48.png) | show user tabs | +| 底部主按钮栏 | btn_exit | img_close | logout | 48 | theme-exact-png | [logout.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/logout.png) | [img_close__logout__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png) | Close gmoccapy / leave the program | +| 底部主按钮栏 | btn_homing | img_ref_menu | ref_all | 48 | theme-exact-png | [ref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_menu__ref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu__ref_all__48.png) | open homing button list | +| 底部主按钮栏 | btn_tool | img_tools | hsk_mill_tool | 48 | theme-exact-png | [hsk_mill_tool.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/hsk_mill_tool.png) | [img_tools__hsk_mill_tool__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tools__hsk_mill_tool__48.png) | Open the tooleditor page | +| 底部主按钮栏 | btn_touch | img_touch_off | touch_off | 48 | theme-exact-png | [touch_off.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_off.png) | [img_touch_off__touch_off__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_off__touch_off__48.png) | open touch off button list | +| 底部主按钮栏 | tbtn_fullsize_preview0
    退出大预览
    `fullscreen active` | img_fullsize_preview0_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview0_close__fullscreen_close__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | +| 底部主按钮栏 | tbtn_fullsize_preview0 | img_fullsize_preview0_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview0_open__fullscreen_open__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview0_open__fullscreen_open__48.png) | make the preview as large as possible | +| 底部主按钮栏 | tbtn_switch_mode
    World / Mode | | | | none | | | Switch motion mode between Joint and World mode / F12 or $ key does the same | +| Auto 程序运行栏 | btn_edit | img_editor | edit_code | 32 | theme-nearest-png | [edit_code.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/edit_code.png) | [img_editor__edit_code__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_editor__edit_code__32.png) | Edit the loaded program | +| Auto 程序运行栏 | btn_from_line | img_run_from | run_from_line | 48 | theme-exact-png | [run_from_line.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/run_from_line.png) | [img_run_from__run_from_line__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run_from__run_from_line__48.png) | run the program from a certain line, attention, that is dangerous, because the previous lines will not checked! | +| Auto 程序运行栏 | btn_load | img_open | open_file | 32 | theme-svg | [open_file.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/open_file.svg) | [img_open__open_file__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_open__open_file__32.svg) | Load a new program | +| Auto 程序运行栏 | btn_reload | img_reload1 | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_reload1__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_reload1__refresh__32.png) | Reload file | +| Auto 程序运行栏 | btn_run | img_run | play | 32 | theme-nearest-png | [play.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/play.png) | [img_run__play__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_run__play__32.png) | Run the loaded program | +| Auto 程序运行栏 | btn_step | img_step | step | 32 | theme-nearest-png | [step.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/step.png) | [img_step__step__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_step__step__32.png) | Run the loaded program step by step | +| Auto 程序运行栏 | btn_stop | img_stop | stop | 32 | theme-nearest-png | [stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_stop__stop__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_stop__stop__32.png) | Stop the running program | +| Auto 程序运行栏 | tbtn_fullsize_preview1
    退出大预览
    `fullscreen active` | img_fullsize_preview1_close | fullscreen_close | 48 | theme-exact-png | [fullscreen_close.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_close.png) | [img_fullsize_preview1_close__fullscreen_close__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_close__fullscreen_close__48.png) | on_tbtn_fullsize_preview_toggled | +| Auto 程序运行栏 | tbtn_fullsize_preview1 | img_fullsize_preview1_open | fullscreen_open | 48 | theme-exact-png | [fullscreen_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/fullscreen_open.png) | [img_fullsize_preview1_open__fullscreen_open__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_fullsize_preview1_open__fullscreen_open__48.png) | Show full screen preview | +| Auto 程序运行栏 | tbtn_optional_blocks
    跳过可选段
    `block delete active` | img_skip_optional_active | skip_optional_active | 32 | theme-exact-png | [skip_optional_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_active.png) | [img_skip_optional_active__skip_optional_active__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_active__skip_optional_active__32.png) | on_tbtn_optional_blocks_toggled | +| Auto 程序运行栏 | tbtn_optional_blocks | img_skip_optional_inactive | skip_optional_inactive | 32 | theme-exact-png | [skip_optional_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/skip_optional_inactive.png) | [img_skip_optional_inactive__skip_optional_inactive__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_skip_optional_inactive__skip_optional_inactive__32.png) | Machine or not the optional blocks of the program. If the button is pressed, the optional blocks will not be machined. The button will indicate this by a yellow background. | +| Auto 程序运行栏 | tbtn_pause
    暂停中
    `paused` | img_pause_active | pause_active | 32 | theme-nearest-png | [pause_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause_active.png) | [img_pause_active__pause_active__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause_active__pause_active__32.png) | on_tbtn_pause_toggled | +| Auto 程序运行栏 | tbtn_pause | img_pause | pause | 32 | theme-nearest-png | [pause.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/pause.png) | [img_pause__pause__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_pause__pause__32.png) | Pause the running program | +| MDI/宏按钮栏 | calculator
    计算器 | img_macro_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_macro_menu_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_calculator__calculator_open__32.png) | _make_macro_button | +| MDI/宏按钮栏 | keyboard
    隐藏虚拟键盘
    `keyboard shown` | img_macro_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_macro_menu_keyboard_hide__keyboard_hide__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | +| MDI/宏按钮栏 | keyboard
    中止运行宏/程序
    `program/macro running or no keyboard` | img_macro_menu_stop | stop | 32 | theme-nearest-png | [stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/stop.png) | [img_macro_menu_stop__stop__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_stop__stop__32.png) | on_hal_status_interp_run/_no_virt_keyboard | +| MDI/宏按钮栏 | keyboard
    虚拟键盘 | img_macro_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_macro_menu_keyboard__keyboard__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_macro_menu_keyboard__keyboard__32.png) | _make_macro_button | +| MDI/宏按钮栏 | macro_0
    i_am_lost | | | | macro-custom-file | [i_am_lost.png](/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png) | [macro_0__macro_image.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_0__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/i_am_lost.png | +| MDI/宏按钮栏 | macro_1
    halo_world | | | | none | | | 宏按钮使用文字，无图标 | +| MDI/宏按钮栏 | macro_2
    jog_around | | | | none | | | 宏按钮使用文字，无图标 | +| MDI/宏按钮栏 | macro_3
    increment | | | | none | | | 宏按钮使用文字，无图标 | +| MDI/宏按钮栏 | macro_4
    go_to_position | | | | macro-custom-file | [goto_x_y_z.png](/home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png) | [macro_4__macro_image.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/macro_4__macro_image.png) | 宏文件 IMAGE 自定义图片: /home/meswork/cnc_wams/linuxcnc/configs/sim/gmoccapy/macros/images/goto_x_y_z.png | +| MDI/宏按钮栏 | next_button
    下一组宏按钮 | img_macro_paginate_next | go-next | | gtk-icon-name-not-copied | GTK/system icon theme | | 当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 | +| MDI/宏按钮栏 | previous_button
    上一组宏按钮 | img_macro_paginate_prev | go-previous | | gtk-icon-name-not-copied | GTK/system icon theme | | 当前宏数 5，小于 7，默认隐藏; 未在 gmoccapy classic 主题中固定解析，运行时由 GTK/system icon theme 决定 | +| 回零按钮栏 | home_axis_a
    回零 A 轴 | img_ref_a | ref_a | 48 | theme-exact-png | [ref_a.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_a.png) | [img_ref_a__ref_a__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_a__ref_a__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_b
    回零 B 轴 | img_ref_b | ref_b | 48 | theme-exact-png | [ref_b.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_b.png) | [img_ref_b__ref_b__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_b__ref_b__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_x
    回零 X 轴 | img_ref_x | ref_x | 48 | theme-exact-png | [ref_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_x.png) | [img_ref_x__ref_x__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_x__ref_x__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_y
    回零 Y 轴 | img_ref_y | ref_y | 48 | theme-exact-png | [ref_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_y.png) | [img_ref_y__ref_y__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_y__ref_y__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_axis_z
    回零 Z 轴 | img_ref_z | ref_z | 48 | theme-exact-png | [ref_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_z.png) | [img_ref_z__ref_z__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_z__ref_z__48.png) | 当前 XYZAB 生成 | +| 回零按钮栏 | home_back
    返回主按钮栏 | img_ref_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_ref_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_menu_close__back_to_app__48.svg) | _make_ref_axis_button | +| 回零按钮栏 | next_button
    下一组回零按钮 | img_ref_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_ref_paginate_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_next__chevron_right__32.svg) | 仅轴数大于 7 时显示 | +| 回零按钮栏 | previous_button
    上一组回零按钮 | img_ref_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_ref_paginate_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_paginate_prev__chevron_left__32.svg) | 仅轴数大于 7 时显示 | +| 回零按钮栏 | ref_all
    回零全部轴 | img_ref_all | ref_all | 48 | theme-exact-png | [ref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/ref_all.png) | [img_ref_all__ref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_ref_all__ref_all__48.png) | _make_ref_axis_button | +| 回零按钮栏 | unref_all
    取消全部回零 | img_unref_all | unref_all | 48 | theme-exact-png | [unref_all.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/unref_all.png) | [img_unref_all__unref_all__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_unref_all__unref_all__48.png) | _make_ref_axis_button | +| 对刀/坐标设定按钮栏 | block_height
    Block Height | | | | none | | | 仅 [TOOLSENSOR] 有效时出现；本配置默认不出现 | +| 对刀/坐标设定按钮栏 | next_button
    下一组 Touch Off 按钮 | img_touch_paginate_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_touch_paginate_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_next__chevron_right__32.svg) | 仅按钮过多时显示 | +| 对刀/坐标设定按钮栏 | previous_button
    上一组 Touch Off 按钮 | img_touch_paginate_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_touch_paginate_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_paginate_prev__chevron_left__32.svg) | 仅轴数大于 8 时显示 | +| 对刀/坐标设定按钮栏 | touch_a
    A 轴 Touch Off | img_touch_a | touch_a | 48 | theme-exact-png | [touch_a.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_a.png) | [img_touch_a__touch_a__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_a__touch_a__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_b
    B 轴 Touch Off | img_touch_b | touch_b | 48 | theme-exact-png | [touch_b.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_b.png) | [img_touch_b__touch_b__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_b__touch_b__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_back
    返回主按钮栏 | img_touch_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_touch_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_menu_close__back_to_app__48.svg) | _make_touch_button | +| 对刀/坐标设定按钮栏 | touch_x
    X 轴 Touch Off | img_touch_x | touch_x | 48 | theme-exact-png | [touch_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_x.png) | [img_touch_x__touch_x__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_x__touch_x__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_y
    Y 轴 Touch Off | img_touch_y | touch_y | 48 | theme-exact-png | [touch_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_y.png) | [img_touch_y__touch_y__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_y__touch_y__48.png) | 当前 XYZAB 生成 | +| 对刀/坐标设定按钮栏 | touch_z
    Z 轴 Touch Off | img_touch_z | touch_z | 48 | theme-exact-png | [touch_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/touch_z.png) | [img_touch_z__touch_z__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_touch_z__touch_z__48.png) | 当前 XYZAB 生成 | +| 手动/Jog 面板 | chk_ignore_limits
    Ignore limits | | | | none | | | toggled:on_chk_ignore_limits_toggled | +| 手动/Jog 面板 | tbtn_turtle_jog
    慢速 Jog
    `active` | img_turtle_jog | jog_speed_slow | 32 | theme-exact-png | [jog_speed_slow.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_slow.png) | [img_turtle_jog__jog_speed_slow__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_turtle_jog__jog_speed_slow__32.png) | on_tbtn_turtle_jog_toggled | +| 手动/Jog 面板 | tbtn_turtle_jog
    快速 Jog
    `inactive` | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | on_tbtn_turtle_jog_toggled | +| 手动/Jog 面板 | tbtn_turtle_jog | img_rabbit_jog | jog_speed_fast | 32 | theme-exact-png | [jog_speed_fast.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/jog_speed_fast.png) | [img_rabbit_jog__jog_speed_fast__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_rabbit_jog__jog_speed_fast__32.png) | toggled:on_tbtn_turtle_jog_toggled | +| Jog 增量选择栏 | rbt_0
    Continuous | img_continuous | jog_continuous | 24 | theme-exact-png | [jog_continuous.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/jog_continuous.png) | [img_continuous__jog_continuous__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png) | 连续 Jog 唯一带图标 | +| Jog 增量选择栏 | rbt_1
    1.000 mm | | | | none | | | 增量按钮使用文字，无图标 | +| Jog 增量选择栏 | rbt_2
    0.100 mm | | | | none | | | 增量按钮使用文字，无图标 | +| Jog 增量选择栏 | rbt_3
    0.010 mm | | | | none | | | 增量按钮使用文字，无图标 | +| Jog 增量选择栏 | rbt_4
    0.001 mm | | | | none | | | 增量按钮使用文字，无图标 | +| Jog 增量选择栏 | rbt_5
    1.2345 in | | | | none | | | 增量按钮使用文字，无图标 | +| Jog 轴按钮 | a+
    A+ | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | a-
    A- | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | b+
    B+ | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | b-
    B- | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | x+
    X+ | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | x-
    X- | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | y+
    Y+ | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | y-
    Y- | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | z+
    Z+ | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 轴按钮 | z-
    Z- | | | | none | | | 轴 Jog 按钮使用文字，无图标 | +| Jog 关节按钮 | 0+
    0+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 0-
    0- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 1+
    1+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 1-
    1- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 2+
    2+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 2-
    2- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 3+
    3+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 3-
    3- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 4+
    4+ | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| Jog 关节按钮 | 4-
    4- | | | | none | | | trivial kinematics 时不创建；非平凡运动学才出现 | +| 冷却/主轴控制 | rbt_forward
    主轴正转中
    `active` | img_spindle_forward_on | spindle_right_on | 48 | theme-exact-png | [spindle_right_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right_on.png) | [img_spindle_forward_on__spindle_right_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward_on__spindle_right_on__48.png) | on_rbt_forward_released/clicked | +| 冷却/主轴控制 | rbt_forward | img_spindle_forward | spindle_right | 48 | theme-exact-png | [spindle_right.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_right.png) | [img_spindle_forward__spindle_right__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_forward__spindle_right__48.png) | clicked:on_rbt_forward_clicked; released:on_rbt_forward_released | +| 冷却/主轴控制 | rbt_reverse
    主轴反转中
    `active` | img_spindle_reverse_on | spindle_left_on | 48 | theme-exact-png | [spindle_left_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left_on.png) | [img_spindle_reverse_on__spindle_left_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse_on__spindle_left_on__48.png) | on_rbt_reverse_released/clicked | +| 冷却/主轴控制 | rbt_reverse | img_spindle_reverse | spindle_left | 48 | theme-exact-png | [spindle_left.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_left.png) | [img_spindle_reverse__spindle_left__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_reverse__spindle_left__48.png) | clicked:on_rbt_reverse_clicked; released:on_rbt_reverse_released | +| 冷却/主轴控制 | rbt_stop
    主轴停止已选中
    `active` | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | on_rbt_stop_clicked | +| 冷却/主轴控制 | rbt_stop
    主轴停止未选中
    `inactive` | img_spindle_stop | spindle_stop | 48 | theme-exact-png | [spindle_stop.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop.png) | [img_spindle_stop__spindle_stop__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop__spindle_stop__48.png) | on_rbt_stop_clicked: widget inactive 时切回停止普通图标 | +| 冷却/主轴控制 | rbt_stop | img_spindle_stop_on | spindle_stop_on | 48 | theme-exact-png | [spindle_stop_on.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/spindle_stop_on.png) | [img_spindle_stop_on__spindle_stop_on__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_spindle_stop_on__spindle_stop_on__48.png) | clicked:on_rbt_stop_clicked | +| 冷却/主轴控制 | tbtn_flood
    冷却液开
    `active` | img_coolant_on | coolant_flood_active | 48 | theme-exact-png | [coolant_flood_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_active.png) | [img_coolant_on__coolant_flood_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png) | on_hal_status_flood_changed | +| 冷却/主轴控制 | tbtn_flood | img_coolant_off | coolant_flood_inactive | 48 | theme-exact-png | [coolant_flood_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_flood_inactive.png) | [img_coolant_off__coolant_flood_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png) | toggled:on_tbtn_flood_toggled | +| 冷却/主轴控制 | tbtn_mist
    雾冷开
    `active` | img_mist_on | coolant_mist_active | 48 | theme-exact-png | [coolant_mist_active.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_active.png) | [img_mist_on__coolant_mist_active__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_on__coolant_mist_active__48.png) | on_hal_status_mist_changed | +| 冷却/主轴控制 | tbtn_mist | img_mist_off | coolant_mist_inactive | 48 | theme-exact-png | [coolant_mist_inactive.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/coolant_mist_inactive.png) | [img_mist_off__coolant_mist_inactive__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_mist_off__coolant_mist_inactive__48.png) | toggled:on_tbtn_mist_toggled | +| 预览/视图 | btn_delete_view | img_tool_clear | clear | 24 | theme-nearest-png | [clear.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/clear.png) | [img_tool_clear__clear__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_clear__clear__24.png) | clear plot | +| 预览/视图 | btn_zoom_in | img_zoom_in | zoom_in | 24 | theme-nearest-png | [zoom_in.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_in.png) | [img_zoom_in__zoom_in__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_in__zoom_in__24.png) | Zoom in | +| 预览/视图 | btn_zoom_out | img_zoom_out | zoom_out | 24 | theme-nearest-png | [zoom_out.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/zoom_out.png) | [img_zoom_out__zoom_out__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_zoom_out__zoom_out__24.png) | Zoom out | +| 预览/视图 | rbt_view_p | img_view_p | tool_axis_p | 24 | theme-exact-png | [tool_axis_p.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_p.png) | [img_view_p__tool_axis_p__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_p__tool_axis_p__24.png) | view perspective | +| 预览/视图 | rbt_view_x | img_view_x | tool_axis_x | 24 | theme-exact-png | [tool_axis_x.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_x.png) | [img_view_x__tool_axis_x__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_x__tool_axis_x__24.png) | view along the X axis from positive to negative | +| 预览/视图 | rbt_view_y | img_view_y | tool_axis_y | 24 | theme-exact-png | [tool_axis_y.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y.png) | [img_view_y__tool_axis_y__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y__tool_axis_y__24.png) | view along the Y axis from positive to negative | +| 预览/视图 | rbt_view_y2 | img_view_y2 | tool_axis_y_inv | 24 | theme-exact-png | [tool_axis_y_inv.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_y_inv.png) | [img_view_y2__tool_axis_y_inv__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_y2__tool_axis_y_inv__24.png) | view along the Y axis from positive to negative as viewn for a back tool lathe | +| 预览/视图 | rbt_view_z | img_view_z | tool_axis_z | 24 | theme-exact-png | [tool_axis_z.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/tool_axis_z.png) | [img_view_z__tool_axis_z__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_view_z__tool_axis_z__24.png) | view along the Z axis from positive to negative | +| 预览/视图 | tbtn_view_dimension | img_dimensions | dimensions | 24 | theme-nearest-png | [dimensions.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/dimensions.png) | [img_dimensions__dimensions__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png) | Show or hide dimensions | +| 预览/视图 | tbtn_view_tool_path | img_tool_path | toolpath | 24 | theme-exact-png | [toolpath.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/24x24/actions/toolpath.png) | [img_tool_path__toolpath__24.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_path__toolpath__24.png) | Show or hide tool path | +| 编辑器搜索/编辑 | btn_comment | img_edit_comment | comment | 32 | theme-exact-png | [comment.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/comment.png) | [img_edit_comment__comment__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_comment__comment__32.png) | clicked:on_btn_toggle_comment_clicked | +| 编辑器搜索/编辑 | btn_redo | img_edit-redo | edit_redo | 32 | theme-exact-png | [edit_redo.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_redo.png) | [img_edit-redo__edit_redo__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png) | Redo | +| 编辑器搜索/编辑 | btn_replace
    Replace | | | | none | | | clicked:on_btn_replace_clicked | +| 编辑器搜索/编辑 | btn_search_back
    Search / back | img_up | chevron_up | 24 | theme-svg | [chevron_up.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_up__chevron_up__24.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_up__chevron_up__24.svg) | clicked:on_btn_search_back_clicked | +| 编辑器搜索/编辑 | btn_search_forward
    Search / fwd | img_down | chevron_down | 24 | theme-svg | [chevron_down.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_down.svg) | [img_down__chevron_down__24.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg) | clicked:on_btn_search_forward_clicked | +| 编辑器搜索/编辑 | btn_undo | img_edit-undo | edit_undo | 32 | theme-exact-png | [edit_undo.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/edit_undo.png) | [img_edit-undo__edit_undo__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit-undo__edit_undo__32.png) | Undo | +| 编辑器搜索/编辑 | chk_ignore_case
    Ignore Case | | | | none | | | | +| 编辑器搜索/编辑 | chk_replace_all
    Replace All | | | | none | | | | +| 编辑页底部栏 | btn_back_edit | img_edit_menu_close | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_edit_menu_close__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_close__back_to_app__48.svg) | Go back to main button list | +| 编辑页底部栏 | btn_calc | img_edit_menu_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_edit_menu_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_calculator__calculator_open__32.png) | Show calculator | +| 编辑页底部栏 | btn_keyb
    隐藏虚拟键盘
    `keyboard shown` | img_edit_menu_keyboard_hide | keyboard_hide | 32 | theme-nearest-png | [keyboard_hide.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard_hide.png) | [img_edit_menu_keyboard_hide__keyboard_hide__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard_hide__keyboard_hide__32.png) | on_ntb_info_switch_page | +| 编辑页底部栏 | btn_keyb | img_edit_menu_keyboard | keyboard | 32 | theme-nearest-png | [keyboard.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/keyboard.png) | [img_edit_menu_keyboard__keyboard__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_keyboard__keyboard__32.png) | Show or hide the virtual keyboard | +| 编辑页底部栏 | btn_new | img_edit_menu_new | new_document | 32 | theme-svg | [new_document.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/new_document.svg) | [img_edit_menu_new__new_document__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_new__new_document__32.svg) | clear the edit field and make a new file | +| 编辑页底部栏 | btn_reload_edit | img_edit_menu_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_edit_menu_reload__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png) | Reload file | +| 编辑页底部栏 | btn_save | img_edit_menu_save | save | 32 | theme-nearest-png | [save.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_edit_menu_save__save__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png) | save the file using the original name | +| 编辑页底部栏 | btn_save_as | img_edit_menu_save_as | save_as | 32 | theme-nearest-png | [save_as.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save_as.png) | [img_edit_menu_save_as__save_as__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png) | save the file with a new name | +| 编辑页底部栏 | tbtn_split_view | img_split_view | split_view | 32 | theme-exact-png | [split_view.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/split_view.png) | [img_split_view__split_view__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_split_view__split_view__32.png) | Show preview as split view | +| 刀具页底部栏 | btn_back_tool | img_back_tool | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_tool__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg) | Go back to main button list | +| 刀具页底部栏 | btn_change_tool | img_toolchange | mill_tool_change | 48 | theme-exact-png | [mill_tool_change.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/mill_tool_change.png) | [img_toolchange__mill_tool_change__48.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_toolchange__mill_tool_change__48.png) | change tool to the selected one | +| 刀具页底部栏 | btn_index_tool | img_index_tool | mill_tool_set_num | 48 | theme-svg | [mill_tool_set_num.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_set_num.svg) | [img_index_tool__mill_tool_set_num__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg) | change tool with the command M61 Q?, no machine move will be done | +| 刀具页底部栏 | btn_select_tool_by_no | img_tool_by_no | mill_tool_change_num | 48 | theme-svg | [mill_tool_change_num.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/mill_tool_change_num.svg) | [img_tool_by_no__mill_tool_change_num__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_by_no__mill_tool_change_num__48.svg) | Select a tool by number | +| 刀具页底部栏 | btn_tool_touchoff_x | | | | none | | | touch off the tool and set the value to the tool table | +| 刀具页底部栏 | btn_tool_touchoff_z | | | | none | | | touch off the tool and set the value to the tool table | +| 文件选择栏 | btn_back_file_load | img_back_file_load | back_to_app | 48 | theme-svg | [back_to_app.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/back_to_app.svg) | [img_back_file_load__back_to_app__48.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg) | Close without returning a file path | +| 文件选择栏 | btn_dir_up | img_dir_up | chevron_up | 32 | theme-svg | [chevron_up.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_up.svg) | [img_dir_up__chevron_up__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg) | Move to parent directory | +| 文件选择栏 | btn_home | img_home | home_folder | 32 | theme-svg | [home_folder.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/home_folder.svg) | [img_home__home_folder__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_home__home_folder__32.svg) | Move to your home directory | +| 文件选择栏 | btn_jump_to | img_jump_to | user_defined_folder | 32 | theme-svg | [user_defined_folder.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/user_defined_folder.svg) | [img_jump_to__user_defined_folder__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg) | Jump to user defined directory | +| 文件选择栏 | btn_reload_dir | img_refresh_dir | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_refresh_dir__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_refresh_dir__refresh__32.png) | Refresh directory | +| 文件选择栏 | btn_sel_next | img_sel_next | chevron_right | 32 | theme-svg | [chevron_right.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_right.svg) | [img_sel_next__chevron_right__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_next__chevron_right__32.svg) | Select the next file | +| 文件选择栏 | btn_sel_prev | img_sel_prev | chevron_left | 32 | theme-svg | [chevron_left.svg](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/scalable/actions/chevron_left.svg) | [img_sel_prev__chevron_left__32.svg](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_sel_prev__chevron_left__32.svg) | Select the previous file | +| 文件选择栏 | btn_select | img_select | select_file | 32 | theme-nearest-png | [select_file.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/select_file.png) | [img_select__select_file__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_select__select_file__32.png) | select the highlighted file and return the path | +| 文件选择栏 | tbtn_sort
    Sort by / date | | | | none | | | Sort files by date, newest first | +| 内嵌 ToolEdit 控件 | tooldedit.add
    新增刀具 | img_tool_add | add | 32 | theme-exact-png | [add.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/add.png) | [img_tool_add__add__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_add__add__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.apply
    保存刀具表 | img_tool_save | save | 32 | theme-nearest-png | [save.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/save.png) | [img_tool_save__save__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_save__save__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.calculator
    刀具表计算器 | img_tool_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_tool_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_calculator__calculator_open__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.delete
    删除选中刀具 | img_tool_delete | delete | 32 | theme-exact-png | [delete.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/delete.png) | [img_tool_delete__delete__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_delete__delete__32.png) | Python 改造 ToolEdit | +| 内嵌 ToolEdit 控件 | tooldedit.reload
    重载刀具表 | img_tool_reload | refresh | 32 | theme-nearest-png | [refresh.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/48x48/actions/refresh.png) | [img_tool_reload__refresh__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_tool_reload__refresh__32.png) | Python 改造 ToolEdit | +| 内嵌 OffsetPage 控件 | offsetpage.calculator
    坐标偏置计算器 | img_offset_calculator | calculator_open | 32 | theme-exact-png | [calculator_open.png](/home/meswork/cnc_wams/linuxcnc/share/gmoccapy/icons/classic/32x32/actions/calculator_open.png) | [img_offset_calculator__calculator_open__32.png](/home/meswork/cnc_wams/work/working3/gmoccapy_button_icons/files/img_offset_calculator__calculator_open__32.png) | Python 改造 OffsetPage | +| 内嵌 OffsetPage 控件 | offsetpage.edit_offsets
    Edit Offsets | | | | none | | | 内嵌控件文字按钮，无图标 | +| 内嵌 OffsetPage 控件 | offsetpage.set_selected
    Set selected | | | | none | | | 内嵌控件文字按钮，无图标 | +| 内嵌 OffsetPage 控件 | offsetpage.zero_g92
    Zero G92 | | | | none | | | 内嵌控件文字按钮，无图标 | +| 设置页控件 | abs_colorbutton | | | | none | | | color-set:on_abs_colorbutton_color_set | +| 设置页控件 | audio_alert_chooser | | | | none | | | file-set:on_change_sound | +| 设置页控件 | audio_error_chooser | | | | none | | | file-set:on_change_sound | +| 设置页控件 | chk_en_audio
    Enable sound | | | | none | | | toggled:on_chk_en_audio_toggled | +| 设置页控件 | chk_font_monospace
    Monospace | | | | none | | | toggled:on_chk_font_monospace_toggled | +| 设置页控件 | chk_font_regular
    Regular/Medium | | | | none | | | toggled:on_chk_font_regular_toggled | +| 设置页控件 | chk_hide_cursor
    Hide cursor | | | | none | | | toggled:on_chk_hide_cursor_toggled | +| 设置页控件 | chk_hide_tooltips
    Hide tooltips | | | | none | | | toggled:on_chk_hide_tooltips_toggled | +| 设置页控件 | chk_kbd_set_height
    Height | | | | none | | | toggled:on_chk_kb_set_height_toggled | +| 设置页控件 | chk_kbd_set_width
    Width | | | | none | | | toggled:on_chk_kb_set_width_toggled | +| 设置页控件 | chk_reload_tool
    Reload Tool on Start | | | | none | | | If checked, the tool in spindle / will be saved on each change / and the last tool will be reloaded / at start of the GUI. Also it's / length offset will be reloaded. | +| 设置页控件 | chk_show_dro
    Show DRO | | | | none | | | toggled:on_chk_show_dro_toggled | +| 设置页控件 | chk_show_dtg
    Show DTG | | | | none | | | toggled:on_chk_show_dtg_toggled | +| 设置页控件 | chk_show_offsets
    Show offsets | | | | none | | | toggled:on_chk_show_offsets_toggled | +| 设置页控件 | chk_toggle_readout
    Toggle DRO mode by / clicking on the DRO | | | | none | | | toggled:on_chk_toggle_readout_toggled | +| 设置页控件 | chk_turtle_jog
    Hide turtle Jog Button | | | | none | | | toggled:on_chk_turtle_jog_toggled | +| 设置页控件 | chk_use_frames
    Use frames | | | | none | | | If checked, the messages / will be in a frame. | +| 设置页控件 | chk_use_kb_on_edit
    Show keyboard on EDIT | | | | none | | | toggled:on_chk_use_kb_on_edit_toggled | +| 设置页控件 | chk_use_kb_on_file_selection
    Show keyboard on load file | | | | none | | | toggled:on_chk_use_kb_on_file_selection_toggled | +| 设置页控件 | chk_use_kb_on_mdi
    Show keyboard on MDI | | | | none | | | toggled:on_chk_use_kb_on_mdi_toggled | +| 设置页控件 | chk_use_kb_on_offset
    Show keyboard on offset | | | | none | | | toggled:on_chk_use_kb_on_offset_toggled | +| 设置页控件 | chk_use_kb_on_tooledit
    Show keyboard on tooledit | | | | none | | | toggled:on_chk_use_kb_on_tooledit_toggled | +| 设置页控件 | chk_use_kb_shortcuts
    Use keyboard shortcuts | | | | none | | | toggled:on_chk_use_kb_shortcuts_toggled | +| 设置页控件 | chk_use_tool_measurement
    Use auto tool measurement | | | | none | | | toggled:on_chk_use_tool_measurement_toggled | +| 设置页控件 | dtg_colorbutton | | | | none | | | color-set:on_dtg_colorbutton_color_set | +| 设置页控件 | file_to_load_chooser | | | | none | | | file-set:on_file_to_load_chooser_file_set | +| 设置页控件 | fontbutton_gcodeview | | | | none | | | font-set:on_fontbutton_gcodeview_font_set | +| 设置页控件 | fontbutton_popup | | | | none | | | The font to use | +| 设置页控件 | homed_colorbtn | | | | none | | | color-set:on_homed_colorbtn_color_set | +| 设置页控件 | jump_to_dir_chooser | | | | none | | | file-set:on_jump_to_dir_chooser_file_set | +| 设置页控件 | rbt_hal_unlock
    Use hal pin to unlock | | | | none | | | toggled:on_rbt_unlock_toggled | +| 设置页控件 | rbt_no_unlock
    Do not use unlock code | | | | none | | | toggled:on_rbt_unlock_toggled | +| 设置页控件 | rbt_use_unlock
    Use unlock code | | | | none | | | toggled:on_rbt_unlock_toggled | +| 设置页控件 | rbtn_fullscreen
    Start as fullscreen | | | | none | | | toggled:on_rbtn_fullscreen_toggled | +| 设置页控件 | rbtn_maximized
    Start maximized | | | | none | | | toggled:on_rbtn_maximized_toggled | +| 设置页控件 | rbtn_no_run_from_line
    Do not use run from line | | | | none | | | toggled:on_rbtn_run_from_line_toggled | +| 设置页控件 | rbtn_run_from_line
    Use run from line | | | | none | | | toggled:on_rbtn_run_from_line_toggled | +| 设置页控件 | rbtn_show_offsets
    show offsets | | | | none | | | | +| 设置页控件 | rbtn_show_preview
    show preview | | | | none | | | toggled:on_rbtn_show_preview_toggled | +| 设置页控件 | rbtn_window
    Start as window | | | | none | | | toggled:on_rbtn_window_toggled | +| 设置页控件 | rel_colorbutton | | | | none | | | color-set:on_rel_colorbutton_color_set | +| 设置页控件 | unhomed_colorbtn | | | | none | | | color-set:on_unhomed_colorbtn_color_set | +| Glade 静态按钮 | btn_calibration
    Calibration | | | | none | | | launch calibration | +| Glade 静态按钮 | btn_classicladder
    Cl.-ladder | | | | none | | | Open classicladder | +| Glade 静态按钮 | btn_delete | | | | none | | | delete MDI history | +| Glade 静态按钮 | btn_feed_100
    100% | | | | none | | | reset feed override to 100 % | +| Glade 静态按钮 | btn_hal_meter
    Hal Meter | | | | none | | | launch hal meter | +| Glade 静态按钮 | btn_hal_scope
    Hal-Scope | | | | none | | | launch hal scope | +| Glade 静态按钮 | btn_launch_test_message
    Launch test message | | | | none | | | Push here to launch a test message / to test your settings. | +| Glade 静态按钮 | btn_none
    none | | | | none | | | clicked:on_btn_none_clicked | +| Glade 静态按钮 | btn_show_hal
    Halshow | | | | none | | | opens the show hal tool | +| Glade 静态按钮 | btn_spindle_100
    100% | | | | none | | | clicked:on_btn_spindle_100_clicked | +| Glade 静态按钮 | btn_status
    Status | | | | none | | | launch linuxcnc status | +| Glade 静态按钮 | btn_use_current
    current / file | | | | none | | | clicked:on_btn_use_current_clicked | +| Glade 静态按钮 | chkbtn_hide_titlebar
    Hide title bar | | | | none | | | toggled:on_chkbtn_hide_titlebar_toggled | diff --git a/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png b/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png new file mode 100644 index 0000000..1305c0c Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_auto__mode_auto_inactive__48.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png b/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png new file mode 100644 index 0000000..1305c0c Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_auto_on__mode_auto_active__48.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg b/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg new file mode 100644 index 0000000..d3cce96 --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_back_file_load__back_to_app__48.svg @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + Jakub Steiner + + + http://jimmac.musichall.cz + + Edit Undo + + + edit + undo + revert + + + + + + + + + + + + + + + + + diff --git a/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg b/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg new file mode 100644 index 0000000..d3cce96 --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_back_tool__back_to_app__48.svg @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + Jakub Steiner + + + http://jimmac.musichall.cz + + Edit Undo + + + edit + undo + revert + + + + + + + + + + + + + + + + + diff --git a/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png b/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png new file mode 100644 index 0000000..f2b7e3d Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_close__logout__48.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png b/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png new file mode 100644 index 0000000..2a825a5 Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_continuous__jog_continuous__24.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png b/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png new file mode 100644 index 0000000..02d3e87 Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_coolant_off__coolant_flood_inactive__48.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png b/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png new file mode 100644 index 0000000..66c138c Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_coolant_on__coolant_flood_active__48.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png b/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png new file mode 100644 index 0000000..025648d Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_dimensions__dimensions__24.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg b/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg new file mode 100644 index 0000000..54263df --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_dir_up__chevron_up__32.svg @@ -0,0 +1,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + Jakub Steiner + + + http://jimmac.musichall.cz + + Go Up + + + go + higher + up + arrow + pointer + > + + + + + Andreas Nilsson + + + + + + + + + + + + + + + + + diff --git a/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg b/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg new file mode 100644 index 0000000..efbaa1e --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_down__chevron_down__24.svg @@ -0,0 +1,200 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + Jakub Steiner + + + http://jimmac.musichall.cz + + Go Up + + + go + higher + up + arrow + pointer + > + + + + + Andreas Nilsson + + + + + + + + + + + + + + + + + diff --git a/work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png b/work/working3/gmoccapy_button_icons/files/img_edit-redo__edit_redo__32.png new file mode 100644 index 0000000..3eb7b05 Binary files 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http://jimmac.musichall.cz + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png b/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png new file mode 100644 index 0000000..1b1ab55 Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_edit_menu_reload__refresh__32.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png b/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png new file mode 100644 index 0000000..98b49a0 Binary files /dev/null and b/work/working3/gmoccapy_button_icons/files/img_edit_menu_save__save__32.png differ diff --git a/work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png b/work/working3/gmoccapy_button_icons/files/img_edit_menu_save_as__save_as__32.png new file mode 100644 index 0000000..b82ba95 Binary files 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Steinerhttp://jimmac.musichall.czhomereturngodefaultuserdirectoryTuomas Kuosmanen + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg b/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg new file mode 100644 index 0000000..7c1c2cd --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_index_tool__mill_tool_set_num__48.svg @@ -0,0 +1,83 @@ + + + + + + + + image/svg+xml + + + + + + + + + + + M61Q ? + diff --git a/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg b/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg new file mode 100644 index 0000000..4832fe9 --- /dev/null +++ b/work/working3/gmoccapy_button_icons/files/img_jump_to__user_defined_folder__32.svg @@ -0,0 +1,204 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + Jakub Steiner + + 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