完善 xyzbc-trt 刀具偏置闭环
This commit is contained in:
mes123456
78
web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_xyzbc_trt_browser.sh
Executable file
78
web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_xyzbc_trt_browser.sh
Executable file
@@ -0,0 +1,78 @@
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#!/usr/bin/env bash
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set -euo pipefail
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ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)"
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PROJECT_DIR="$ROOT_DIR/web-rtcp-5axis-xyzbc-trt-sim-plan"
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CHROMIUM="${CHROMIUM:-$(command -v chromium || command -v chromium-browser || command -v google-chrome || command -v google-chrome-stable || true)}"
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if [[ -z "$CHROMIUM" ]]; then
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echo "missing Chromium-compatible browser; set CHROMIUM=/path/to/browser" >&2
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exit 1
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fi
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npm --prefix "$PROJECT_DIR/app" run build >/dev/null
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TMP_DIR="$(mktemp -d)"
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PORT_FILE="$TMP_DIR/port"
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SERVER_LOG="$TMP_DIR/server.log"
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CHROME_PROFILE="$TMP_DIR/chrome-profile"
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mkdir -p "$CHROME_PROFILE"
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cleanup() {
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if [[ -n "${SERVER_PID:-}" ]]; then
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kill "$SERVER_PID" 2>/dev/null || true
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wait "$SERVER_PID" 2>/dev/null || true
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fi
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rm -rf "$TMP_DIR"
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}
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trap cleanup EXIT
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python3 - <<'PY' "$ROOT_DIR" "$PORT_FILE" >"$SERVER_LOG" 2>&1 &
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import functools
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import http.server
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import pathlib
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import socketserver
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import sys
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root = pathlib.Path(sys.argv[1])
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port_file = pathlib.Path(sys.argv[2])
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handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(root))
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with socketserver.TCPServer(("127.0.0.1", 0), handler) as httpd:
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port_file.write_text(str(httpd.server_address[1]), encoding="ascii")
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httpd.serve_forever()
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PY
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SERVER_PID=$!
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for _ in $(seq 1 100); do
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[[ -s "$PORT_FILE" ]] && break
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sleep 0.05
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done
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if [[ ! -s "$PORT_FILE" ]]; then
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echo "xyzbc-trt browser smoke HTTP server did not start" >&2
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cat "$SERVER_LOG" >&2 || true
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exit 1
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fi
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PORT="$(cat "$PORT_FILE")"
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APP_PATH="../../app/dist/index.html"
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URL="http://127.0.0.1:$PORT/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html?app=$APP_PATH"
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OUT="$TMP_DIR/chromium-xyzbc-trt.out"
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"$CHROMIUM" \
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--headless=new \
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--disable-gpu \
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--no-sandbox \
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--user-data-dir="$CHROME_PROFILE" \
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--virtual-time-budget=15000 \
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--dump-dom \
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"$URL" >"$OUT" 2>&1
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if ! grep -Fq "xyzbc_trt_browser_smoke=ok" "$OUT"; then
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echo "xyzbc-trt browser smoke failed" >&2
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sed -n '1,260p' "$OUT" >&2
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exit 1
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fi
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echo "xyzbc_trt_browser_smoke=ok"
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@@ -0,0 +1,180 @@
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<!doctype html>
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<html lang="en">
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<head>
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<meta charset="utf-8" />
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<title>xyzbc-trt browser smoke</title>
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</head>
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<body>
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<pre id="result">xyzbc_trt_browser_smoke=pending</pre>
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<iframe id="app-frame" title="xyzbc-trt app"></iframe>
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<script type="module">
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const result = document.querySelector("#result");
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const frame = document.querySelector("#app-frame");
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const appSrc = new URLSearchParams(window.location.search).get("app") || "../../app/index.html";
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frame.src = appSrc;
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const wait = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
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async function runSmoke() {
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await new Promise((resolve, reject) => {
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frame.addEventListener("load", resolve, { once: true });
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frame.addEventListener("error", reject, { once: true });
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});
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const win = frame.contentWindow;
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const doc = frame.contentDocument;
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const runtimeErrors = [];
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win.addEventListener("error", (event) => {
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runtimeErrors.push(event.message || String(event.error || "window error"));
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});
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win.addEventListener("unhandledrejection", (event) => {
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runtimeErrors.push(event.reason?.message || String(event.reason || "unhandled rejection"));
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});
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await waitFor(() => win.webRtcp5AxisSimulation, "public simulation API");
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const api = win.webRtcp5AxisSimulation;
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const [kinematics, interpreter, taskHal] = await Promise.all([
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api.kinematicsRuntimeReady,
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api.interpreterRuntimeReady,
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api.taskHalRuntimeReady,
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]);
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assertRuntime(kinematics, {
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name: "kinematics",
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moduleId: "xyzbc-trt",
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required: ["loaded"],
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});
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if (kinematics.executionContext !== "worker") {
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throw new Error(`kinematics runtime should run in worker: ${JSON.stringify(kinematics)}`);
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}
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assertRuntime(interpreter, {
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name: "interpreter",
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required: ["loaded", "runProgramReady", "plannerRuntimeReady"],
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});
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if (interpreter.executionContext !== "worker") {
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throw new Error(`interpreter runtime should run in worker: ${JSON.stringify(interpreter)}`);
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}
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assertRuntime(taskHal, {
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name: "task/HAL",
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required: ["loaded", "taskRuntimeReady", "motionRuntimeReady", "halRuntimeReady"],
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});
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if (taskHal.executionContext !== "worker") {
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throw new Error(`task/HAL runtime should run in worker: ${JSON.stringify(taskHal)}`);
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}
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await api.machineFileSeedReady;
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await waitFor(() => {
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const state = api.getState();
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return !state.interpreterExecutionPending
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&& state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm"
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&& state.machineFileStaging?.status === "staged";
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}, "default xyzbc program preview");
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const state = api.getState();
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if (state.machineProfile !== "xyzbc-trt" || state.profile?.traj?.coordinates !== "XYZBC") {
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throw new Error(`default profile mismatch: ${state.machineProfile}/${state.profile?.traj?.coordinates}`);
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}
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if (state.profile?.kinematicsModuleId !== "xyzbc-trt") {
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throw new Error(`profile kinematics module mismatch: ${state.profile?.kinematicsModuleId}`);
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}
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if (state.machineFileStaging?.profileId !== "xyzbc-trt") {
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throw new Error(`staging profile mismatch: ${state.machineFileStaging?.profileId}`);
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}
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if (!state.machineFileStaging?.gcodeSources?.some((source) => source.filename === "xyzbc_switchkins.ngc")) {
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throw new Error("staged sources missing xyzbc_switchkins.ngc");
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}
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if (!state.machineFileStaging?.gcodeSources?.some((source) => source.filename === "boat-xyzbc.ngc")) {
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throw new Error("staged sources missing boat-xyzbc.ngc");
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}
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if (state.programExecution?.summary?.motionEventCount < 1) {
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throw new Error(`default program did not produce canonical motion: ${JSON.stringify(state.programExecution?.summary)}`);
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}
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const canvas = await waitFor(() => doc.querySelector("[data-five-axis-canvas]"), "preview canvas");
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await waitFor(() => canvas.dataset.threeReady === "true" && Number(canvas.dataset.threePathPoints || 0) > 0, "Three.js dataset");
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if (
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canvas.dataset.threeRenderer !== "webgl" ||
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canvas.dataset.threeFrameApi !== "web-rtcp-5axis-motion-frame" ||
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canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
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canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
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canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
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canvas.dataset.threeProgramPreviewSource !== "linuxcnc-interpreter-wasm" ||
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canvas.dataset.threeVismachPinDrivenModel !== "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins"
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) {
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throw new Error(`unexpected canvas dataset: ${JSON.stringify(canvas.dataset)}`);
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}
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if (Number(canvas.dataset.threeSceneObjects || 0) < 12) {
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throw new Error(`scene object count too low: ${canvas.dataset.threeSceneObjects}`);
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}
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const vismachPins = JSON.parse(canvas.dataset.threeVismachPins || "{}");
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for (const pin of ["table-x", "saddle-y", "spindle-z", "tilt-b", "rotate-c", "tool-offset", "x-offset", "z-offset"]) {
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if (!Number.isFinite(Number(vismachPins[pin]))) {
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throw new Error(`missing Vismach pin ${pin}: ${JSON.stringify(vismachPins)}`);
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}
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}
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const vismachTransforms = JSON.parse(canvas.dataset.threeVismachTransforms || "{}");
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if (
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vismachTransforms.table?.sourcePins?.[0] !== "table-x" ||
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vismachTransforms.saddle?.sourcePins?.[0] !== "saddle-y" ||
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vismachTransforms.spindle?.sourcePins?.[0] !== "spindle-z" ||
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vismachTransforms.tilt?.sourcePins?.[0] !== "tilt-b" ||
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vismachTransforms.rotary?.sourcePins?.[0] !== "rotate-c" ||
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!vismachTransforms.tool?.sourcePins?.includes("tool-offset")
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) {
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throw new Error(`Vismach transform source pins mismatch: ${JSON.stringify(vismachTransforms)}`);
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}
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assertCanvasNonblank(canvas);
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if (runtimeErrors.length > 0) {
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throw new Error(`runtime errors: ${runtimeErrors.join(" | ")}`);
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}
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result.textContent = "xyzbc_trt_browser_smoke=ok";
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}
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function assertRuntime(readiness, { name, moduleId = null, required }) {
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for (const key of required) {
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if (readiness?.[key] !== true) {
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throw new Error(`${name} runtime missing ${key}: ${JSON.stringify(readiness)}`);
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}
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}
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if (moduleId && readiness?.moduleId !== moduleId) {
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throw new Error(`${name} runtime module mismatch: ${JSON.stringify(readiness)}`);
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}
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}
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async function waitFor(predicate, label) {
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for (let attempt = 0; attempt < 240; attempt += 1) {
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const value = predicate();
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if (value) return value;
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await wait(50);
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}
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throw new Error(`timed out waiting for ${label}`);
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}
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function assertCanvasNonblank(canvas) {
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const context = canvas.getContext("webgl2") || canvas.getContext("webgl") || canvas.getContext("2d");
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if (!context) {
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throw new Error("preview canvas has no readable context");
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}
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const width = canvas.width;
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const height = canvas.height;
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if (width <= 0 || height <= 0) {
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throw new Error(`preview canvas has invalid size ${width}x${height}`);
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}
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if (context.readPixels) {
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const pixels = new Uint8Array(4);
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context.readPixels(Math.floor(width / 2), Math.floor(height / 2), 1, 1, context.RGBA, context.UNSIGNED_BYTE, pixels);
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if (pixels.some((value) => value !== 0)) return;
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}
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const imageData = canvas.toDataURL("image/png");
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if (!imageData || imageData.length < 2000) {
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throw new Error("preview canvas appears blank");
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}
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}
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runSmoke().catch((error) => {
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result.textContent = `xyzbc_trt_browser_smoke=fail ${error.stack || error.message || error}`;
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});
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</script>
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</body>
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</html>
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@@ -17,6 +17,11 @@ import {
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import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
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import { createSimulationStore } from "../../app/src/state/store.js";
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import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
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import { buildVismachModelState, XYZBC_TRT_VISMACH_PINS } from "../../app/src/runtime/vismach-model-state.js";
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import {
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applyToolCommandSequence,
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createToolRuntimeState,
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} from "../../app/src/runtime/tool-db-simulation.js";
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const profile = getFiveAxisProfile();
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@@ -30,6 +35,19 @@ assert.equal(profile.machineFileStaging.defaultProgramFilename, "xyzbc_switchkin
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assert.equal(profile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp");
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assert.ok(profile.halPins.includes("xyzbc-trt-kins.x-offset"));
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assert.ok(profile.halPins.includes("motion.switchkins-type"));
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assert.deepEqual(profile.hal.halcmd.feedbackNets.map((net) => net.signal), [
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"table-x",
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"saddle-y",
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"spindle-z",
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"tilt-b",
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"rotate-c",
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]);
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assert.deepEqual(profile.hal.halcmd.offsetNets.map((net) => net.target), [
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"xyzbc-trt-kins.tool-offset",
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"xyzbc-trt-gui.tool-offset",
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"xyzbc-trt-gui.x-offset",
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"xyzbc-trt-gui.z-offset",
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]);
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assert.deepEqual(profile.samplePrograms, [
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
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@@ -80,6 +98,7 @@ assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/h
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assert.ok(staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"));
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assert.ok(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc"));
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assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var") && file.kind === "parameters"), true);
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assert.equal(staged.save.files.find((file) => file.sourceRel.endsWith("xyzbc-trt.tbl")).text.includes("T2 P2 Z10 D8"), true);
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const selectedPlan = selectMachineFileProgram(
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staged.plan,
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@@ -145,6 +164,58 @@ assert.equal(state.sessionName, "xyzbc-trt-web-session");
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assert.equal(state.kinematicsRuntimeReadiness, null);
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const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() });
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const toolOffsetDb = applyToolCommandSequence(store.getState().toolDbSimulation, [
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{ code: "T", toolNumber: 2 },
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{ code: "M6" },
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{ code: "G43", h: 2 },
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]);
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const toolRuntimeState = createToolRuntimeState(toolOffsetDb, {
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fallbackToolLength: state.toolPreview.length,
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});
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assert.equal(toolRuntimeState.ready, true);
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assert.equal(toolRuntimeState.activeOffsetApplied, true);
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assert.equal(toolRuntimeState.activeToolNumber, 2);
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assert.equal(toolRuntimeState.activePocket, 2);
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assert.equal(toolRuntimeState.currentTool.offset.z, 10);
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assert.equal(toolRuntimeState.currentTool.diameter, 8);
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assert.equal(toolRuntimeState.kinematics.toolOffsetZ, 10);
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assert.equal(toolRuntimeState.kinematics.halPin, "motion.tooloffset.z");
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assert.deepEqual(toolRuntimeState.kinematics.downstreamPins, [
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"xyzbc-trt-kins.tool-offset",
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"xyzbc-trt-gui.tool-offset",
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]);
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assert.equal(toolRuntimeState.pathTool.id, 2);
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assert.equal(toolRuntimeState.pathTool.pocket, 2);
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assert.equal(toolRuntimeState.pathTool.length, 10);
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assert.equal(toolRuntimeState.pathTool.diameter, 8);
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assert.equal(toolRuntimeState.vismach.toolOffset, 10);
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const vismachState = buildVismachModelState({
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...state,
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axisPose: { x: 12.5, y: -6.25, z: 3.75, b: 35, c: -90 },
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toolPreview: { ...state.toolPreview, length: 84.019 },
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toolRuntimeState,
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});
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assert.deepEqual(Object.keys(vismachState.pins), XYZBC_TRT_VISMACH_PINS);
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assert.equal(vismachState.pins["table-x"], 12.5);
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assert.equal(vismachState.pins["saddle-y"], -6.25);
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assert.equal(vismachState.pins["spindle-z"], 3.75);
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assert.equal(vismachState.pins["tilt-b"], 35);
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assert.equal(vismachState.pins["rotate-c"], -90);
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assert.equal(vismachState.pins["x-offset"], -20);
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assert.equal(vismachState.pins["z-offset"], -15);
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assert.equal(vismachState.pins["tool-offset"], 10);
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assert.deepEqual(vismachState.transforms.table.sourcePins, ["table-x"]);
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assert.deepEqual(vismachState.transforms.saddle.sourcePins, ["saddle-y"]);
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assert.deepEqual(vismachState.transforms.spindle.sourcePins, ["spindle-z"]);
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assert.deepEqual(vismachState.transforms.tilt.sourcePins, ["tilt-b"]);
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assert.deepEqual(vismachState.transforms.rotary.sourcePins, ["rotate-c"]);
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assert.deepEqual(vismachState.transforms.tool.sourcePins, ["tool-offset", "x-offset", "z-offset"]);
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assert.equal(vismachState.transforms.tool.translate.x, -20);
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assert.equal(vismachState.transforms.tool.translate.z, -25);
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assert.equal(vismachState.halNets.length, 9);
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assert.equal(vismachState.semanticBoundary, "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins");
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const stagedState = store.getState();
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assert.equal(storeStage.save.profileId, "xyzbc-trt");
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assert.equal(stagedState.machineFileStaging.profileId, "xyzbc-trt");
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