完善 xyzbc-trt 刀具偏置闭环

web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs

@@ -17,6 +17,11 @@ import {
 import { getFiveAxisProfile } from "../../app/src/profiles/index.js";
 import { createSimulationStore } from "../../app/src/state/store.js";
 import { createLinuxCncTaskHalSdk } from "../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js";
+import { buildVismachModelState, XYZBC_TRT_VISMACH_PINS } from "../../app/src/runtime/vismach-model-state.js";
+import {
+  applyToolCommandSequence,
+  createToolRuntimeState,
+} from "../../app/src/runtime/tool-db-simulation.js";
 
 const profile = getFiveAxisProfile();
 
@@ -30,6 +35,19 @@ assert.equal(profile.machineFileStaging.defaultProgramFilename, "xyzbc_switchkin
 assert.equal(profile.panelSchema.id, "xyzbc-trt-switchkins-pyvcp");
 assert.ok(profile.halPins.includes("xyzbc-trt-kins.x-offset"));
 assert.ok(profile.halPins.includes("motion.switchkins-type"));
+assert.deepEqual(profile.hal.halcmd.feedbackNets.map((net) => net.signal), [
+  "table-x",
+  "saddle-y",
+  "spindle-z",
+  "tilt-b",
+  "rotate-c",
+]);
+assert.deepEqual(profile.hal.halcmd.offsetNets.map((net) => net.target), [
+  "xyzbc-trt-kins.tool-offset",
+  "xyzbc-trt-gui.tool-offset",
+  "xyzbc-trt-gui.x-offset",
+  "xyzbc-trt-gui.z-offset",
+]);
 assert.deepEqual(profile.samplePrograms, [
   "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
   "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc",
@@ -80,6 +98,7 @@ assert.ok(staged.save.files.some((file) => file.sourceRel.endsWith("remap_subs/h
 assert.ok(staged.save.gcodeSources.some((source) => source.filename === "xyzbc_switchkins.ngc"));
 assert.ok(staged.save.gcodeSources.some((source) => source.filename === "boat-xyzbc.ngc"));
 assert.equal(staged.save.files.some((file) => file.sourceRel.endsWith("xyzbc.var") && file.kind === "parameters"), true);
+assert.equal(staged.save.files.find((file) => file.sourceRel.endsWith("xyzbc-trt.tbl")).text.includes("T2 P2 Z10 D8"), true);
 
 const selectedPlan = selectMachineFileProgram(
   staged.plan,
@@ -145,6 +164,58 @@ assert.equal(state.sessionName, "xyzbc-trt-web-session");
 assert.equal(state.kinematicsRuntimeReadiness, null);
 
 const storeStage = await store.stageMachineFiles({ storage: createMemorySessionStorage() });
+const toolOffsetDb = applyToolCommandSequence(store.getState().toolDbSimulation, [
+  { code: "T", toolNumber: 2 },
+  { code: "M6" },
+  { code: "G43", h: 2 },
+]);
+const toolRuntimeState = createToolRuntimeState(toolOffsetDb, {
+  fallbackToolLength: state.toolPreview.length,
+});
+assert.equal(toolRuntimeState.ready, true);
+assert.equal(toolRuntimeState.activeOffsetApplied, true);
+assert.equal(toolRuntimeState.activeToolNumber, 2);
+assert.equal(toolRuntimeState.activePocket, 2);
+assert.equal(toolRuntimeState.currentTool.offset.z, 10);
+assert.equal(toolRuntimeState.currentTool.diameter, 8);
+assert.equal(toolRuntimeState.kinematics.toolOffsetZ, 10);
+assert.equal(toolRuntimeState.kinematics.halPin, "motion.tooloffset.z");
+assert.deepEqual(toolRuntimeState.kinematics.downstreamPins, [
+  "xyzbc-trt-kins.tool-offset",
+  "xyzbc-trt-gui.tool-offset",
+]);
+assert.equal(toolRuntimeState.pathTool.id, 2);
+assert.equal(toolRuntimeState.pathTool.pocket, 2);
+assert.equal(toolRuntimeState.pathTool.length, 10);
+assert.equal(toolRuntimeState.pathTool.diameter, 8);
+assert.equal(toolRuntimeState.vismach.toolOffset, 10);
+
+const vismachState = buildVismachModelState({
+  ...state,
+  axisPose: { x: 12.5, y: -6.25, z: 3.75, b: 35, c: -90 },
+  toolPreview: { ...state.toolPreview, length: 84.019 },
+  toolRuntimeState,
+});
+assert.deepEqual(Object.keys(vismachState.pins), XYZBC_TRT_VISMACH_PINS);
+assert.equal(vismachState.pins["table-x"], 12.5);
+assert.equal(vismachState.pins["saddle-y"], -6.25);
+assert.equal(vismachState.pins["spindle-z"], 3.75);
+assert.equal(vismachState.pins["tilt-b"], 35);
+assert.equal(vismachState.pins["rotate-c"], -90);
+assert.equal(vismachState.pins["x-offset"], -20);
+assert.equal(vismachState.pins["z-offset"], -15);
+assert.equal(vismachState.pins["tool-offset"], 10);
+assert.deepEqual(vismachState.transforms.table.sourcePins, ["table-x"]);
+assert.deepEqual(vismachState.transforms.saddle.sourcePins, ["saddle-y"]);
+assert.deepEqual(vismachState.transforms.spindle.sourcePins, ["spindle-z"]);
+assert.deepEqual(vismachState.transforms.tilt.sourcePins, ["tilt-b"]);
+assert.deepEqual(vismachState.transforms.rotary.sourcePins, ["rotate-c"]);
+assert.deepEqual(vismachState.transforms.tool.sourcePins, ["tool-offset", "x-offset", "z-offset"]);
+assert.equal(vismachState.transforms.tool.translate.x, -20);
+assert.equal(vismachState.transforms.tool.translate.z, -25);
+assert.equal(vismachState.halNets.length, 9);
+assert.equal(vismachState.semanticBoundary, "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins");
+
 const stagedState = store.getState();
 assert.equal(storeStage.save.profileId, "xyzbc-trt");
 assert.equal(stagedState.machineFileStaging.profileId, "xyzbc-trt");