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同步五轴仿真文档和验证证据

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wangdequan
2026-06-26 09:45:39 -04:00
parent d5d96a8e5c
commit 8df191faa5
188 changed files with 19504 additions and 42 deletions
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285
qa/web-rtcp-5axis-site-test/output/cloud-run-ready-after.json Normal file
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{
"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,
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"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": {
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"y": 0,
"z": 0,
"a": 0,
"b": 0,
"c": 0
},
"currentVelocityMmPerMin": 0,
"requestedVelocityMmPerMin": 0,
"distanceToGo": 0,
"dtg": {
"x": 0,
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"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,
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"activeLineSource": "motion-status",
"activeLineHalSynced": true,
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"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)"
}
]
}