完善 xyzbc-trt 刀具偏置闭环

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs

@@ -8,8 +8,16 @@ import {
   selectMachineFileProgram,
   stageProfileMachineFiles,
 } from "../app/src/runtime/linuxcnc-machine-file-staging.js";
+import {
+  applyToolCommandSequence,
+  createToolDbSimulation,
+  createToolRuntimeState,
+  extractToolCommandSequenceFromProgram,
+  parseLinuxCncToolTable,
+} from "../app/src/runtime/tool-db-simulation.js";
 import { createSimulationStore } from "../app/src/state/store.js";
 import { getFiveAxisProfile } from "../app/src/profiles/index.js";
+import { buildVismachModelState } from "../app/src/runtime/vismach-model-state.js";
 
 const SAMPLE_PERIOD_MS = 20;
 const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
@@ -42,7 +50,13 @@ const paths = await collectPathEvidence({
   selectedPlan,
   wasmArtifacts,
 });
-const semanticFields = buildSemanticFields({ profile, ini, staged, state });
+const toolRuntime = buildToolRuntimeEvidence({
+  profile,
+  staged,
+  selectedPlan,
+  fallbackToolLength: state.toolPreview?.length,
+});
+const semanticFields = buildSemanticFields({ profile, ini, staged, state, toolRuntime });
 
 const evidence = {
   apiName: "xyzbc-trt-web-opfs-wasm-evidence",
@@ -110,6 +124,7 @@ const evidence = {
   pathSampling: createPathSampling(),
   previewPath: paths.previewPath,
   executionPath: paths.executionPath,
+  toolRuntime,
   ...semanticFields,
   wasm: wasmArtifacts,
   coverage: {
@@ -137,6 +152,11 @@ const evidence = {
       && Boolean(semanticFields.axisJointLimits.axisLimits.C),
     previewPathAvailable: paths.previewPath.sampleCount > 0,
     executionPathAvailable: paths.executionPath.sampleCount > 0,
+    toolTableToToolOffsetClosed: toolRuntime.ready
+      && toolRuntime.toolTable.toolCount > 0
+      && toolRuntime.activeOffsetApplied
+      && toolRuntime.kinematics.toolOffsetZ === toolRuntime.pathTool.length
+      && toolRuntime.vismach.toolOffset === toolRuntime.pathTool.length,
     wasmArtifactsReady: wasmArtifacts.ready,
   },
   blockers: [
@@ -222,11 +242,16 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
       files: staged.save.files,
       executionMode: "fiveAxisRemap",
     });
-    const previewPath = pathFromWebMotion(execution, profile);
+    const toolRuntime = buildToolRuntimeEvidence({
+      profile,
+      staged,
+      selectedPlan,
+    });
+    const previewPath = pathFromWebMotion(execution, profile, toolRuntime.pathTool);
     return {
       previewPath,
       executionPath: wasmArtifacts.ready
-        ? await pathFromTaskHalExecution({ profile, staged, selectedPlan, execution })
+        ? await pathFromTaskHalExecution({ profile, staged, selectedPlan, execution, toolRuntime })
         : emptyPath("web-task-hal", "missing task/HAL WASM runtime artifacts"),
     };
   } catch (error) {
@@ -237,7 +262,7 @@ async function collectPathEvidence({ profile, staged, selectedPlan, wasmArtifact
   }
 }
 
-function pathFromWebMotion(execution, profile) {
+function pathFromWebMotion(execution, profile, pathTool = null) {
   const plannerSamples = execution.plannerTiming?.samples || [];
   const motion = execution.motion || [];
   const motionByIndex = new Map(motion.map((event, index) => [index, event]));
@@ -252,7 +277,7 @@ function pathFromWebMotion(execution, profile) {
       motionType: motionTypeFromCanonical(sample.type || event.type),
       activeKinematics: activeKinematics(event),
       axes,
-      tool: firstTool(profile),
+      tool: pathTool || firstTool(profile),
       feed: sample.currentVelocityMmPerMin ?? event.feedRate ?? 0,
       spindle: 0,
     });
@@ -311,7 +336,7 @@ function interpolatePlannerSample(left, right, timeMs) {
   };
 }
 
-async function pathFromTaskHalExecution({ profile, staged, selectedPlan, execution }) {
+async function pathFromTaskHalExecution({ profile, staged, selectedPlan, execution, toolRuntime = null }) {
   try {
     const { createLinuxCncTaskHalSdk } = await import("../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js");
     const {
@@ -377,7 +402,7 @@ async function pathFromTaskHalExecution({ profile, staged, selectedPlan, executi
           switchkinsType: status.ui?.switchkinsType ?? motion.switchkinsType,
         }),
         axes: xyzbcAxesFromTaskHalStatus(status),
-        tool: firstTool(profile),
+        tool: toolRuntime?.pathTool || firstTool(profile),
         feed: status.ui?.currentVelocity ?? Number(motion.currentVel || motion.currentVelocity || 0) * 60,
         spindle: spindleFromTaskHalStatus(status),
       });
@@ -409,7 +434,7 @@ async function pathFromTaskHalExecution({ profile, staged, selectedPlan, executi
   }
 }
 
-function buildSemanticFields({ profile, ini, staged, state }) {
+function buildSemanticFields({ profile, ini, staged, state, toolRuntime }) {
   const postguiNets = [
     { signal: "kinstype.is-0", source: "kinstype.is-0", target: "pyvcp.multilabel.0.legend0", boundary: "postgui-hal" },
     { signal: "kinstype.is-1", source: "kinstype.is-1", target: "pyvcp.multilabel.0.legend1", boundary: "postgui-hal" },
@@ -425,6 +450,10 @@ function buildSemanticFields({ profile, ini, staged, state }) {
     ...(profile.hal?.halcmd?.offsetNets || []),
   ].filter(Boolean).map((net) => ({ ...net, boundary: "ini-halcmd" }));
   const gcodeFiles = staged.save.gcodeFiles || [];
+  const vismachModelState = buildVismachModelState({
+    ...state,
+    toolRuntimeState: toolRuntime,
+  });
 
   return {
     startupSequence: [
@@ -460,6 +489,8 @@ function buildSemanticFields({ profile, ini, staged, state }) {
       zRotPoint: profile.offsets?.zRotPoint,
       conventionalDirections: profile.offsets?.conventionalDirections,
       toolOffsetSource: "motion.tooloffset.z",
+      toolOffsetValue: toolRuntime.kinematics.toolOffsetZ,
+      toolOffsetToolNumber: toolRuntime.activeToolNumber,
       pins: profile.halPins,
     },
     axisJointLimits: {
@@ -498,17 +529,26 @@ function buildSemanticFields({ profile, ini, staged, state }) {
     vismachEquivalent: {
       sourceGui: "src/hal/user_comps/vismach/xyzbc-trt-gui.py",
       webModel: "app/src/visualization/five-axis-scene.js",
-      pins: [
-        "table-x",
-        "saddle-y",
-        "spindle-z",
-        "tilt-b",
-        "rotate-c",
-        "tool-offset",
-        "x-offset",
-        "z-offset",
-      ],
+      pins: Object.keys(vismachModelState.pins),
+      pinValues: vismachModelState.pins,
+      transforms: vismachModelState.transforms,
+      halNets: vismachModelState.halNets,
       clearTraceSignal: "pyvcp.vismach-clear => vismach.plotclear",
+      semanticBoundary: vismachModelState.semanticBoundary,
+    },
+    toolOffsetClosure: {
+      sourceToolTable: toolRuntime.toolTable.sourceRel,
+      selectedProgramSourceRel: toolRuntime.selectedProgramSourceRel,
+      programToolCommands: toolRuntime.programToolCommands,
+      activeToolOffset: toolRuntime.activeToolOffset,
+      kinematicsToolOffsetZ: toolRuntime.kinematics.toolOffsetZ,
+      pathTool: toolRuntime.pathTool,
+      vismachToolOffset: toolRuntime.vismach.toolOffset,
+      closed: toolRuntime.ready
+        && toolRuntime.activeOffsetApplied
+        && toolRuntime.kinematics.toolOffsetZ === toolRuntime.pathTool.length
+        && toolRuntime.vismach.toolOffset === toolRuntime.pathTool.length,
+      semanticBoundary: "tool_table_current_t_p_z_d_drives_kinematics_path_and_vismach",
     },
     ngcguiSubroutines: ["xyzbc_switchkins_sub.ngc", "centering.ngc", "helix_bc.ngc"].map((filename) => ({
       filename,
@@ -524,6 +564,58 @@ function buildSemanticFields({ profile, ini, staged, state }) {
   };
 }
 
+function buildToolRuntimeEvidence({ profile, staged, selectedPlan, fallbackToolLength = 0 }) {
+  const toolTableFile = staged.save.files.find((file) => file.sourceRel === profile.toolTablePath)
+    || staged.save.files.find((file) => file.kind === "toolTable");
+  const programFile = staged.save.files.find((file) => (
+    file.sourceRel === selectedPlan.selectedProgramSourceRel
+    || (file.wasmPath || file.path) === selectedPlan.wasmProgramPath
+  ));
+  const toolTable = parseLinuxCncToolTable(toolTableFile?.text || "", {
+    sourceRel: toolTableFile?.sourceRel || profile.toolTablePath,
+    path: toolTableFile?.wasmPath || toolTableFile?.path || null,
+  });
+  const programToolCommands = extractToolCommandSequenceFromProgram(programFile?.text || "");
+  const commands = programToolCommands.length > 0
+    ? programToolCommands
+    : defaultToolActivationCommands(toolTable);
+  const toolDb = applyToolCommandSequence(createToolDbSimulation({
+    toolTable,
+    profile,
+    storageMode: staged.save.storageMode,
+  }), commands);
+  const runtimeState = createToolRuntimeState(toolDb, { fallbackToolLength });
+  return {
+    ...runtimeState,
+    selectedProgramSourceRel: selectedPlan.selectedProgramSourceRel,
+    toolTable: {
+      sourceRel: toolTable.sourceRel,
+      toolCount: toolTable.toolCount,
+      entries: toolTable.entries.map((entry) => ({
+        idx: entry.idx,
+        toolNumber: entry.toolNumber,
+        pocket: entry.pocket,
+        z: entry.offset.z,
+        diameter: entry.diameter,
+      })),
+    },
+    programToolCommands,
+    appliedToolCommands: commands,
+    defaultActivationUsed: programToolCommands.length === 0,
+  };
+}
+
+function defaultToolActivationCommands(toolTable) {
+  const preferred = toolTable.entries.find((entry) => entry.offset.z !== 0)
+    || toolTable.entries.find((entry) => entry.toolNumber > 0);
+  if (!preferred) return [];
+  return [
+    { code: "T", toolNumber: preferred.toolNumber, source: "default-tool-table-activation" },
+    { code: "M6", source: "default-tool-table-activation" },
+    { code: "G43", h: preferred.toolNumber, toolNumber: preferred.toolNumber, source: "default-tool-table-activation" },
+  ];
+}
+
 function createPathSampling() {
   return {
     samplePeriodMs: SAMPLE_PERIOD_MS,

web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs

@@ -37,6 +37,17 @@ const checks = [
   check("tool-table", "web tool table staged", webEvidence.coverage?.toolTableStaged === true, {
     toolTable: webEvidence.ini?.toolTable,
   }),
+  check("tool-table", "web tool table active offset drives kinematics, path, and Vismach", webEvidence.coverage?.toolTableToToolOffsetClosed === true, {
+    toolRuntime: {
+      activeToolNumber: webEvidence.toolRuntime?.activeToolNumber,
+      activePocket: webEvidence.toolRuntime?.activePocket,
+      kinematicsToolOffsetZ: webEvidence.toolRuntime?.kinematics?.toolOffsetZ,
+      pathTool: webEvidence.toolRuntime?.pathTool,
+      vismachToolOffset: webEvidence.toolRuntime?.vismach?.toolOffset,
+      defaultActivationUsed: webEvidence.toolRuntime?.defaultActivationUsed,
+    },
+    toolOffsetClosure: webEvidence.toolOffsetClosure,
+  }),
   check("pyvcp", "web PyVCP XML staged", webEvidence.coverage?.pyvcpXmlStaged === true, {
     pyvcpXmlPath: webEvidence.profile?.pyvcpXmlPath,
   }),