完善 xyzbc-trt 刀具偏置闭环

web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md

@@ -10758,3 +10758,75 @@ nginx: configuration file /etc/nginx/nginx.conf test is successful
 17. 执行 `git status --short`，确认推送后仅剩未跟踪生成目录 `app/dist/` 和 `tools/__pycache__/`。
 18. 执行 `git log -1 --oneline` 和 `git ls-remote origin refs/heads/master`，确认本地和远端 `master` 均为 `fb128e6`。
 19. 本轮结论：源码、证据和工作文档已提交并推送到云仓库；未跟踪构建产物和 Python 缓存未提交。
+
+## 2026-07-02 09:14:51 EDT Codex 执行过程日志
+
+1. 接收用户要求：接续上一轮，按 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working` 持续编写程序。
+2. 读取 workspace 规则，确认每轮结束必须将中文过程日志追加到 `/home/mes123456/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`。
+3. 检查目标目录文件，确认 `working` 下存在推进台账、任务矩阵、验收证据、全量对标矩阵和 evidence JSON。
+4. 读取 `working/README.md`、`03-推进台账.md`、`04-任务矩阵.md`，确认当前主要缺口包含 T-014 浏览器 smoke、T-029 Vismach 3D pin 对标、T-034 tool-offset 闭环、T-019/T-037 native path 重采集。
+5. 检查目标 app 源码、profile、Node smoke 和 package 脚本，确认默认 profile 已为 `xyzbc-trt`，已有 Web evidence 和 compare 脚本。
+6. 读取 `five-axis-scene.js`、`store.js`、`main.js`、`collect-web-xyzbc-trt-evidence.mjs`、`linuxcnc-task-hal-runtime.js`、`tool-db-simulation.js`，确认 Three.js 机床参考模型仍是静态几何，尚未按 Vismach HAL pin 层级驱动。
+7. 新增 `app/src/runtime/vismach-model-state.js`，统一生成 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` pin 状态、模型变换、HAL net 对标关系和语义边界。
+8. 修改 `app/src/visualization/five-axis-scene.js`，把参考模型拆成 `vismach-table-x`、`vismach-saddle-y`、`vismach-spindle-z`、`vismach-tilt-b`、`vismach-rotate-c`、`vismach-tool-offset` 层级，并在渲染时由 `buildVismachModelState()` 驱动位移和旋转。
+9. 在 canvas dataset 中新增 `threeVismachPins`、`threeVismachTransforms`、`threeVismachPinDrivenModel`，供浏览器 smoke 验证 WebGL 模型和 HAL pin 语义。
+10. 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`，将 `vismachEquivalent` 从静态 pin 清单升级为包含 `pinValues`、`transforms`、`halNets` 和 `semanticBoundary` 的 evidence 字段。
+11. 扩展 `tests/node/verify_xyzbc_trt_web_app.mjs`，增加 profile feedback/offset net 断言，以及 Vismach pin 到模型变换的 smoke 断言。
+12. 运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node`，结果通过，输出 `xyzbc_trt_web_app_smoke=ok`。
+13. 运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web`，重新生成 `working/evidence/web-xyzbc-trt-evidence.json`。
+14. 抽查 Web evidence，确认 `status=ready-for-wasm-runtime`、`blockers=[]`、`previewPath.sampleCount=3074`、`executionPath.sampleCount=569`，并确认 `vismachEquivalent` 已包含 pin 值、变换和 9 条 HAL net。
+15. 运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare`，重新生成 compare JSON；结果为真实失败 `fail_count=5`，失败原因仍是 native `previewPath`/`executionPath` 样本和采样周期字段缺失。
+16. 运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build`，结果通过，输出 `gmoccapy_static_build=ok`。
+17. 更新 `working/03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`07-全量对标追踪矩阵.md`，记录 T-029 完成、Web evidence 字段和剩余 native path 缺口。
+18. 检查已有浏览器 smoke，发现从参考项目复制的脚本仍指向 `web-rtcp-5axis-sim-plan`，并包含大量 `xyzac-trt` 假设，不适合作为当前目标项目 T-014 验收。
+19. 新增 `tests/browser/xyzbc_trt_browser_smoke.html`，实现精简的 `xyzbc-trt` 浏览器验收：默认 profile、kinematics/interpreter/task-HAL worker runtime、默认程序预览、canvas 非空和 Vismach dataset。
+20. 新增 `tests/browser/verify_xyzbc_trt_browser.sh`，通过临时 HTTP server 和 headless Chromium 加载 `app/dist/index.html`，执行浏览器 smoke。
+21. 修改 `app/package.json`，增加 `smoke:browser` 脚本。
+22. 执行 `chmod +x tests/browser/verify_xyzbc_trt_browser.sh`，然后运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser`，结果通过，输出 `xyzbc_trt_browser_smoke=ok`。
+23. 再次更新 `working/03-推进台账.md`、`04-任务矩阵.md`、`05-验收证据.md`、`07-全量对标追踪矩阵.md`，将 T-014 标记为完成，并记录浏览器 smoke 验收内容。
+24. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan`，未发现空白错误。
+25. 执行 `git status --short web-rtcp-5axis-xyzbc-trt-sim-plan`，确认本轮修改包含 app/package、Vismach runtime、Three.js 场景、Web evidence 脚本、Node/browser smoke、working 文档和 evidence JSON；未跟踪的 `app/dist/` 与 `tools/__pycache__/` 为已有/生成物，未清理。
+26. 本轮结论：T-029 Vismach 3D pin 对标和 T-014 目标浏览器 smoke 已完成并通过验证；compare 剩余失败仍来自 native path evidence 未重采集，下一步应推进 T-019/T-037 或 T-034。
+27. 按前端应用规则尝试启动开发服务器：先运行 `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run dev`，端口 4174 已被占用，启动失败。
+28. 尝试在 app 目录运行 `python3 -m http.server 4175`，端口 4175 也已被占用。
+29. 通过 Python 端口探测找到 4176 可用。
+30. 在 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/app` 运行 `python3 -m http.server 4176`，服务器已启动，访问地址为 `http://127.0.0.1:4176/`。
+
+## 2026-07-02 Codex 执行过程日志 - T-034 tool-offset 闭环
+
+1. 接收用户要求：接续上一轮，按 `/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working` 持续编写程序。
+2. 检查目标项目 `working` 目录、任务矩阵和推进台账，确认上一轮已完成 T-014 浏览器 smoke 与 T-029 Vismach pin 驱动模型，当前可继续推进 T-034 tool table 到 tool-offset 闭环。
+3. 执行 `git status --short`，确认工作区已有上一轮未提交改动，包括 `app/package.json`、`five-axis-scene.js`、browser smoke、evidence JSON 和 working 文档；本轮在这些成果基础上继续，不回退用户或上一轮改动。
+4. 读取 `app/src/runtime/tool-db-simulation.js`，确认已有 LinuxCNC tool table 解析、T/M6/G43/M61 命令模拟、activeToolOffset 和 interpreter parameter 5400-5413 生成能力。
+5. 读取 `app/src/runtime/vismach-model-state.js`，确认 Vismach tool-offset 当时优先读取 `toolDbSimulation.activeToolOffset.offset.z`，否则回退 `toolPreview.length`。
+6. 读取 `tools/collect-web-xyzbc-trt-evidence.mjs`，确认 Web path 样本 tool 字段仍使用 `firstTool(profile)`，没有从 staged `xyzbc-trt.tbl` 和 active G43 偏置生成。
+7. 读取 `wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl`，确认真实工具表包含 `T1 P1 D1` 和 `T2 P2 Z10 D8`。
+8. 读取默认程序 `xyzbc_switchkins.ngc`，确认该程序调用子程序但自身没有 T/M6/G43；因此本轮设计为 evidence 同时记录程序扫描命令和工具表默认激活证据，避免伪造程序命令。
+9. 修改 `app/src/runtime/tool-db-simulation.js`，新增 `createToolRuntimeState()`，统一输出当前工具、active offset、`motion.tooloffset.z` 等效值、下游 `xyzbc-trt-kins.tool-offset` 与 `xyzbc-trt-gui.tool-offset`、path tool 和 Vismach tool-offset。
+10. 修改 `app/src/runtime/vismach-model-state.js`，让 `toolRuntimeState.vismach.toolOffset` 优先于旧的 `toolPreview.length`，使 Web 3D 模型刀具长度来自 active tool offset。
+11. 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`，引入 tool DB 解析和命令扫描逻辑，从 staged `xyzbc-trt.tbl` 创建 tool DB，并扫描选定程序中的 T/M6/G43。
+12. 在默认程序无工具命令时，`collect-web-xyzbc-trt-evidence.mjs` 选择工具表中第一个带 Z 偏置的工具 T2，生成 T/M6/G43 默认激活证据，并记录 `defaultActivationUsed=true`。
+13. 修改 Web path 采集逻辑，使 `previewPath.samples[].tool` 和 `executionPath.samples[].tool` 使用 `toolRuntime.pathTool`，即 T2/P2/Z10/D8。
+14. 在 Web evidence 中新增 `toolRuntime` 和 `toolOffsetClosure` 字段，记录 source tool table、selected program、programToolCommands、activeToolOffset、kinematicsToolOffsetZ、pathTool、vismachToolOffset 和 closed 状态。
+15. 扩展 `coverage.toolTableToToolOffsetClosed`，要求 tool table ready、active offset applied、kinematics/path/Vismach 三方 tool length 一致才通过。
+16. 修改 `tests/node/verify_xyzbc_trt_web_app.mjs`，断言 staged `xyzbc-trt.tbl` 包含 `T2 P2 Z10 D8`。
+17. 扩展 Node smoke，使用 T2/M6/G43 创建 tool runtime state，并断言 active tool number=2、pocket=2、current tool Z=10、diameter=8、kinematics toolOffsetZ=10、path tool length=10、Vismach toolOffset=10。
+18. 扩展 Vismach smoke 断言，确认 `buildVismachModelState()` 在传入 toolRuntimeState 后输出 `pinValues.tool-offset=10`，tool transform Z 为 `-25`。
+19. 运行 `npm --prefix app run smoke:node`，结果通过，输出 `xyzbc_trt_web_app_smoke=ok`。
+20. 运行 `npm --prefix app run evidence:web`，重新生成 `working/evidence/web-xyzbc-trt-evidence.json`。
+21. 抽查 Web evidence，确认 `toolRuntime.ready=true`、`activeOffsetApplied=true`、`activeToolNumber=2`、`activePocket=2`、`kinematics.toolOffsetZ=10`、`pathTool.length=10`、`pathTool.diameter=8`、`vismach.toolOffset=10`、`toolOffsetClosure.closed=true`、`coverage.toolTableToToolOffsetClosed=true`。
+22. 运行 `npm --prefix app run evidence:compare`，重新生成 compare evidence，仍为真实失败 `fail_count=5`，失败原因仍集中在 native preview/execution path 样本缺失。
+23. 运行 `npm --prefix app run build`，结果通过，输出 `gmoccapy_static_build=ok`。
+24. 运行 `npm --prefix app run smoke:browser`，结果通过，输出 `xyzbc_trt_browser_smoke=ok`。
+25. 更新 `working/04-任务矩阵.md`，将 T-034 从“待实现”改为“完成”，验收标准改为 T2/P2/Z10/D8 驱动 kinematics、path tool 和 Vismach tool-offset。
+26. 更新 `working/05-验收证据.md`，新增 “Tool table 到 tool-offset 闭环验收” 章节，记录 smoke、evidence、compare、build、browser smoke 命令和 JSON 摘要。
+27. 更新 `working/03-推进台账.md`，新增本轮 T-034 实现记录、修改文件、验证结果和下一步。
+28. 更新 `working/07-全量对标追踪矩阵.md`，把 `xyzbc-trt.tbl` 与 `tool-offset/x-offset/z-offset` 的状态改为 Web evidence 已完成 tool table active offset 闭环，native 仍待重采集对比。
+29. 修改 `tools/compare-xyzbc-trt-evidence.mjs`，新增 compare 检查 `web tool table active offset drives kinematics, path, and Vismach`，使 T-034 不只停留在 Web evidence，而是进入自动对比报告。
+30. 重跑 `npm --prefix app run evidence:compare`，确认新增 T-034 检查通过，compare 摘要变为 `checkCount=24`、`passCount=19`、`failCount=5`。
+31. 重跑 `npm --prefix app run smoke:node`，结果仍通过。
+32. 更新 `working/04-任务矩阵.md` 中 T-017 摘要为当前 `19/24` 通过，剩余 5 项均为 native preview/execution path 样本缺失。
+33. 更新 `working/05-验收证据.md` 与 `working/03-推进台账.md`，记录 compare 当前 19/24 通过以及 T-034 compare 检查通过。
+34. 执行 `git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan`，未发现空白或格式错误。
+35. 执行 `git status --short` 和 `git diff --stat -- web-rtcp-5axis-xyzbc-trt-sim-plan`，确认本轮改动包含 tool DB runtime、Vismach state、Web evidence、compare、Node smoke、working 文档和 evidence JSON；未跟踪的 `app/dist/`、browser smoke 文件、Vismach state 文件等为上一轮/当前未提交工作区内容，未删除。
+36. 本轮结论：T-034 已完成，Web evidence 与 compare 均证明 `xyzbc-trt.tbl` 的 T2/P2/Z10/D8 已闭环驱动 kinematics tool-offset、path JSON 和 Vismach tool-offset；剩余主要任务仍是 T-019/T-037 native path 重采集、T-026/T-038 AXIS/UI 状态流复核、T-028/T-030 basic_sim 与 Ngcgui/remap 执行验收。

web-rtcp-5axis-xyzbc-trt-sim-plan/app/package.json

@@ -8,6 +8,7 @@
     "dev": "python3 -m http.server 4174",
     "smoke": "npm run smoke:node",
     "smoke:node": "node ../tests/node/verify_xyzbc_trt_web_app.mjs",
+    "smoke:browser": "bash ../tests/browser/verify_xyzbc_trt_browser.sh",
     "evidence:web": "node ../tools/collect-web-xyzbc-trt-evidence.mjs",
     "evidence:compare": "node ../tools/compare-xyzbc-trt-evidence.mjs"
   },

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/tool-db-simulation.js

@@ -553,6 +553,78 @@ export function createToolDbReadiness(toolDb) {
   };
 }
 
+export function createToolRuntimeState(toolDb, options = {}) {
+  if (!toolDb) {
+    return {
+      apiName: "web-rtcp-5axis-tool-runtime-state",
+      ready: false,
+      activeOffsetApplied: false,
+      toolInSpindle: 0,
+      toolFromPocket: 0,
+      currentPocket: 0,
+      activeToolNumber: 0,
+      activePocket: 0,
+      currentTool: null,
+      activeToolOffset: null,
+      kinematics: {
+        toolOffsetZ: 0,
+        source: "tool_db_not_ready",
+      },
+      pathTool: createPathTool(null, 0),
+      vismach: {
+        toolOffset: finiteNumber(options.fallbackToolLength, 0),
+        source: "fallback_tool_preview_length",
+      },
+      interpreterParameters: createToolParameters(null),
+      semanticBoundary: "linuxcnc_current_tool_offset_runtime_state_for_web_simulation",
+    };
+  }
+
+  const state = cloneToolDb(toolDb);
+  const activeOffset = state.activeToolOffset
+    ? {
+        ...state.activeToolOffset,
+        offset: { ...state.activeToolOffset.offset },
+      }
+    : null;
+  const currentTool = state.toolTableCurrent
+    ? cloneToolEntry(state.toolTableCurrent)
+    : cloneToolEntry(state.toolTable.pockets[0] || createEmptyToolEntry({ idx: 0, pocket: 0, toolNumber: 0 }));
+  const activeToolNumber = activeOffset?.toolNumber
+    ?? (currentTool.toolNumber > 0 ? currentTool.toolNumber : 0);
+  const activePocket = activeOffset?.pocket
+    ?? (currentTool.toolNumber > 0 ? currentTool.pocket : 0);
+  const activeOffsetZ = activeOffset ? finiteNumber(activeOffset.offset?.z, 0) : 0;
+
+  return {
+    apiName: "web-rtcp-5axis-tool-runtime-state",
+    ready: state.processReady === true,
+    activeOffsetApplied: Boolean(activeOffset),
+    toolInSpindle: state.toolInSpindle,
+    toolFromPocket: state.toolFromPocket,
+    currentPocket: state.currentPocket,
+    activeToolNumber,
+    activePocket,
+    currentTool,
+    activeToolOffset: activeOffset,
+    kinematics: {
+      toolOffsetZ: activeOffsetZ,
+      source: activeOffset ? "activeToolOffset.offset.z" : "no_active_g43_tool_length_offset",
+      halPin: "motion.tooloffset.z",
+      downstreamPins: ["xyzbc-trt-kins.tool-offset", "xyzbc-trt-gui.tool-offset"],
+    },
+    pathTool: createPathTool(activeOffset || currentTool, activeOffsetZ),
+    vismach: {
+      toolOffset: activeOffset
+        ? activeOffsetZ
+        : finiteNumber(options.fallbackToolLength, 0),
+      source: activeOffset ? "activeToolOffset.offset.z" : "fallback_tool_preview_length",
+    },
+    interpreterParameters: { ...state.interpreterParameters },
+    semanticBoundary: "linuxcnc_current_tool_offset_runtime_state_for_web_simulation",
+  };
+}
+
 export function detectToolDbStorageCapability(globalScope = globalThis) {
   const forcedUnavailable = Boolean(globalScope.__WEB_RTCP_FORCE_OPFS_UNAVAILABLE__);
   const isBrowser = typeof globalScope.window === "object" || typeof globalScope.document === "object";
@@ -855,6 +927,23 @@ function createToolParameters(activeOffset) {
   return parameters;
 }
 
+function createPathTool(tool, length) {
+  return {
+    id: Number(tool?.toolNumber) || 0,
+    pocket: Number(tool?.pocket) || 0,
+    length: finiteNumber(length, 0),
+    diameter: finiteNumber(tool?.diameter, 0),
+  };
+}
+
+function finiteNumber(...values) {
+  for (const value of values) {
+    const number = Number(value);
+    if (Number.isFinite(number)) return number;
+  }
+  return 0;
+}
+
 function createToolDbEvent(code, payload = {}) {
   return {
     apiName: "web-rtcp-5axis-tool-db-event",

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/vismach-model-state.js

@@ -0,0 +1,111 @@
+const DEFAULT_LINEAR_UNITS = "mm";
+
+export const XYZBC_TRT_VISMACH_PINS = [
+  "table-x",
+  "saddle-y",
+  "spindle-z",
+  "tilt-b",
+  "rotate-c",
+  "tool-offset",
+  "x-offset",
+  "z-offset",
+];
+
+export function buildVismachModelState(state = {}) {
+  const profile = state.profile || {};
+  const axisPose = resolveAxisPose(state);
+  const offsets = profile.offsets || {};
+  const toolOffset = resolveToolOffset(state);
+  const xOffset = finiteNumber(offsets.x, -20);
+  const zOffset = finiteNumber(offsets.z, -15);
+  const linearUnits = resolveLinearUnits(state);
+
+  return {
+    apiName: "web-rtcp-5axis-vismach-model-state",
+    profileId: profile.id || state.machineProfile || null,
+    sourceGui: "src/hal/user_comps/vismach/xyzbc-trt-gui.py",
+    webModel: "app/src/visualization/five-axis-scene.js",
+    linearUnits,
+    pins: {
+      "table-x": finiteNumber(axisPose.x, 0),
+      "saddle-y": finiteNumber(axisPose.y, 0),
+      "spindle-z": finiteNumber(axisPose.z, 0),
+      "tilt-b": finiteNumber(axisPose.b, 0),
+      "rotate-c": finiteNumber(axisPose.c, 0),
+      "tool-offset": toolOffset,
+      "x-offset": xOffset,
+      "z-offset": zOffset,
+    },
+    transforms: {
+      table: {
+        translate: { x: finiteNumber(axisPose.x, 0), y: 0, z: 0 },
+        sourcePins: ["table-x"],
+      },
+      saddle: {
+        translate: { x: 0, y: finiteNumber(axisPose.y, 0), z: 0 },
+        sourcePins: ["saddle-y"],
+      },
+      spindle: {
+        translate: { x: 0, y: 0, z: finiteNumber(axisPose.z, 0) },
+        sourcePins: ["spindle-z"],
+      },
+      tilt: {
+        rotateDeg: { x: 0, y: finiteNumber(axisPose.b, 0), z: 0 },
+        sourcePins: ["tilt-b"],
+      },
+      rotary: {
+        rotateDeg: { x: 0, y: 0, z: finiteNumber(axisPose.c, 0) },
+        sourcePins: ["rotate-c"],
+      },
+      tool: {
+        translate: { x: xOffset, y: 0, z: zOffset - toolOffset },
+        sourcePins: ["tool-offset", "x-offset", "z-offset"],
+      },
+    },
+    halNets: [
+      { signal: "table-x", source: "joint.0.pos-fb", target: "xyzbc-trt-gui.table-x" },
+      { signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzbc-trt-gui.saddle-y" },
+      { signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzbc-trt-gui.spindle-z" },
+      { signal: "tilt-b", source: "joint.3.pos-fb", target: "xyzbc-trt-gui.tilt-b" },
+      { signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzbc-trt-gui.rotate-c" },
+      { signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzbc-trt-kins.tool-offset" },
+      { signal: "tool-offset", source: "xyzbc-trt-kins.tool-offset", target: "xyzbc-trt-gui.tool-offset" },
+      { signal: "x-offset", source: "xyzbc-trt-kins.x-offset", target: "xyzbc-trt-gui.x-offset" },
+      { signal: "z-offset", source: "xyzbc-trt-kins.z-offset", target: "xyzbc-trt-gui.z-offset" },
+    ],
+    clearTraceSignal: "pyvcp.vismach-clear => vismach.plotclear",
+    semanticBoundary: "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins",
+  };
+}
+
+function resolveAxisPose(state) {
+  if (state.programRuntimeFeedback?.axisPose) return state.programRuntimeFeedback.axisPose;
+  if (state.taskHalStatus?.ui?.axisPose) return state.taskHalStatus.ui.axisPose;
+  return state.axisPose || {};
+}
+
+function resolveToolOffset(state) {
+  if (Number.isFinite(Number(state.toolRuntimeState?.vismach?.toolOffset))) {
+    return Number(state.toolRuntimeState.vismach.toolOffset);
+  }
+  return finiteNumber(
+    state.toolDbSimulation?.activeToolOffset?.offset?.z,
+    state.toolPreview?.length,
+    0,
+  );
+}
+
+function resolveLinearUnits(state) {
+  return state.linuxCncIniConfig?.traj?.linearUnits
+    || state.programRuntimeFeedback?.linearUnits
+    || state.programExecutionTiming?.linearUnits
+    || DEFAULT_LINEAR_UNITS;
+}
+
+function finiteNumber(...values) {
+  for (const value of values) {
+    const number = Number(value);
+    if (Number.isFinite(number)) return number;
+  }
+  return 0;
+}

web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/visualization/five-axis-scene.js

@@ -5,6 +5,7 @@ import {
   linearValueToMeters,
   resolveStateLinearUnits,
 } from "../runtime/linear-units.js";
+import { buildVismachModelState } from "../runtime/vismach-model-state.js";
 
 const scenes = new WeakMap();
 const CAMERA_PRESETS = {
@@ -62,6 +63,7 @@ export function renderFiveAxisScene(canvas, state) {
       preview.executedPath.geometry,
       preview.currentSegmentPath.geometry,
     ]),
+    vismachModel: preview.currentVismachModelState,
   });
 }
 
@@ -123,6 +125,7 @@ function createScene(canvas) {
     toolMarker,
     toolAxis,
     currentToolhead: new THREE.Vector3(),
+    currentVismachModelState: null,
     lastSelectedView: null,
     lastCameraRevision: null,
     lastFitKey: null,
@@ -177,6 +180,7 @@ function renderFallbackPreview(preview, state) {
     currentSegmentPointCount: currentSegmentPoints.length,
     pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null,
     pathBounds: summarizeBounds(computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints))),
+    vismachModel: buildVismachModelState(state),
   });
   canvas.dataset.threeFallbackReason = preview.errorMessage;
 
@@ -268,6 +272,9 @@ function exposePreviewDataset(canvas, state, preview) {
   canvas.dataset.threeArcPathPoints = String(preview.arcPointCount || 0);
   canvas.dataset.threeCurrentSegmentPoints = String(preview.currentSegmentPointCount || 0);
   canvas.dataset.threeCurrentSegmentType = currentSegmentType(state);
+  canvas.dataset.threeVismachPins = JSON.stringify(preview.vismachModel?.pins || {});
+  canvas.dataset.threeVismachTransforms = JSON.stringify(preview.vismachModel?.transforms || {});
+  canvas.dataset.threeVismachPinDrivenModel = preview.vismachModel?.semanticBoundary || "none";
 }
 
 function createLine(color, opacity) {
@@ -291,6 +298,19 @@ function createMachineReferenceModel() {
   );
   base.position.z = -0.016;
 
+  const tableAxis = new THREE.Group();
+  tableAxis.name = "vismach-table-x";
+  const saddleAxis = new THREE.Group();
+  saddleAxis.name = "vismach-saddle-y";
+  const spindleAxis = new THREE.Group();
+  spindleAxis.name = "vismach-spindle-z";
+  const tiltAxis = new THREE.Group();
+  tiltAxis.name = "vismach-tilt-b";
+  const rotaryAxis = new THREE.Group();
+  rotaryAxis.name = "vismach-rotate-c";
+  const toolOffsetAxis = new THREE.Group();
+  toolOffsetAxis.name = "vismach-tool-offset";
+
   const table = new THREE.Mesh(
     new THREE.BoxGeometry(0.37, 0.235, 0.005),
     new THREE.MeshBasicMaterial({ color: 0x3a444d, transparent: true, opacity: 0.78 }),
@@ -329,9 +349,21 @@ function createMachineReferenceModel() {
   cutter.position.z = 0.008;
   toolHolder.add(holderBody, cutter);
 
-  root.add(base, table, xAxis, yAxis, zAxis, rotaryA, rotaryC, toolHolder);
+  toolOffsetAxis.add(toolHolder);
+  spindleAxis.add(toolOffsetAxis);
+  rotaryAxis.add(table, rotaryC);
+  tiltAxis.add(rotaryA, rotaryAxis);
+  saddleAxis.add(tiltAxis);
+  tableAxis.add(saddleAxis);
+  root.add(base, xAxis, yAxis, zAxis, tableAxis, spindleAxis);
   return {
     root,
+    tableAxis,
+    saddleAxis,
+    spindleAxis,
+    tiltAxis,
+    rotaryAxis,
+    toolOffsetAxis,
     rotaryA,
     rotaryC,
     toolHolder,
@@ -410,15 +442,23 @@ function updateToolExecutionMarker(preview, state, toolPosition) {
 function updateMachineReferenceModel(preview, state, toolPosition) {
   const model = preview.machineModel;
   if (!model) return;
-  const a = degreesToRadians(state.axisPose?.a);
+  const vismach = buildVismachModelState(state);
-  const b = degreesToRadians(state.axisPose?.b);
+  preview.currentVismachModelState = summarizeVismachModelStateForDataset(vismach);
-  const c = degreesToRadians(state.axisPose?.c);
+  const toMeters = (value) => linearValueToMeters(value, vismach.linearUnits);
-  model.rotaryA.rotation.x = a;
+  model.tableAxis.position.x = toMeters(vismach.transforms.table.translate.x);
-  model.rotaryA.rotation.y = Math.PI / 2 + b;
+  model.saddleAxis.position.y = toMeters(vismach.transforms.saddle.translate.y);
-  model.rotaryC.rotation.z = c;
+  model.spindleAxis.position.z = toMeters(vismach.transforms.spindle.translate.z);
+  model.tiltAxis.rotation.y = degreesToRadians(vismach.transforms.tilt.rotateDeg.y);
+  model.rotaryAxis.rotation.z = degreesToRadians(vismach.transforms.rotary.rotateDeg.z);
+  model.toolOffsetAxis.position.set(
+    toMeters(vismach.transforms.tool.translate.x),
+    0,
+    toMeters(vismach.transforms.tool.translate.z),
+  );
+  model.rotaryA.rotation.y = Math.PI / 2;
+  model.rotaryC.rotation.x = Math.PI / 2;
 
   const tcpPosition = toolPosition || toPreviewVector(state.tcpPose || state.axisPose, state);
-  model.toolHolder.position.copy(tcpPosition);
   const toolVector = toToolVector(state.toolAxisVector);
   model.toolHolder.lookAt(tcpPosition.clone().add(toolVector));
 }
@@ -652,6 +692,26 @@ function summarizeBounds(bounds) {
   };
 }
 
+function summarizeVismachModelStateForDataset(vismach) {
+  const summarizeVector = (vector = {}) => ({
+    x: round(vector.x),
+    y: round(vector.y),
+    z: round(vector.z),
+  });
+  return {
+    ...vismach,
+    pins: Object.fromEntries(Object.entries(vismach.pins).map(([key, value]) => [key, round(value)])),
+    transforms: {
+      table: { ...vismach.transforms.table, translate: summarizeVector(vismach.transforms.table.translate) },
+      saddle: { ...vismach.transforms.saddle, translate: summarizeVector(vismach.transforms.saddle.translate) },
+      spindle: { ...vismach.transforms.spindle, translate: summarizeVector(vismach.transforms.spindle.translate) },
+      tilt: { ...vismach.transforms.tilt },
+      rotary: { ...vismach.transforms.rotary },
+      tool: { ...vismach.transforms.tool, translate: summarizeVector(vismach.transforms.tool.translate) },
+    },
+  };
+}
+
 function drawFallbackPolyline(ctx, points, cx, cy, scale) {
   for (let index = 0; index < points.length; index += 1) {
     const point = points[index];

web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/verify_xyzbc_trt_browser.sh

@@ -0,0 +1,78 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/../../.." && pwd)"
+PROJECT_DIR="$ROOT_DIR/web-rtcp-5axis-xyzbc-trt-sim-plan"
+CHROMIUM="${CHROMIUM:-$(command -v chromium || command -v chromium-browser || command -v google-chrome || command -v google-chrome-stable || true)}"
+
+if [[ -z "$CHROMIUM" ]]; then
+  echo "missing Chromium-compatible browser; set CHROMIUM=/path/to/browser" >&2
+  exit 1
+fi
+
+npm --prefix "$PROJECT_DIR/app" run build >/dev/null
+
+TMP_DIR="$(mktemp -d)"
+PORT_FILE="$TMP_DIR/port"
+SERVER_LOG="$TMP_DIR/server.log"
+CHROME_PROFILE="$TMP_DIR/chrome-profile"
+mkdir -p "$CHROME_PROFILE"
+
+cleanup() {
+  if [[ -n "${SERVER_PID:-}" ]]; then
+    kill "$SERVER_PID" 2>/dev/null || true
+    wait "$SERVER_PID" 2>/dev/null || true
+  fi
+  rm -rf "$TMP_DIR"
+}
+trap cleanup EXIT
+
+python3 - <<'PY' "$ROOT_DIR" "$PORT_FILE" >"$SERVER_LOG" 2>&1 &
+import functools
+import http.server
+import pathlib
+import socketserver
+import sys
+
+root = pathlib.Path(sys.argv[1])
+port_file = pathlib.Path(sys.argv[2])
+
+handler = functools.partial(http.server.SimpleHTTPRequestHandler, directory=str(root))
+with socketserver.TCPServer(("127.0.0.1", 0), handler) as httpd:
+    port_file.write_text(str(httpd.server_address[1]), encoding="ascii")
+    httpd.serve_forever()
+PY
+SERVER_PID=$!
+
+for _ in $(seq 1 100); do
+  [[ -s "$PORT_FILE" ]] && break
+  sleep 0.05
+done
+
+if [[ ! -s "$PORT_FILE" ]]; then
+  echo "xyzbc-trt browser smoke HTTP server did not start" >&2
+  cat "$SERVER_LOG" >&2 || true
+  exit 1
+fi
+
+PORT="$(cat "$PORT_FILE")"
+APP_PATH="../../app/dist/index.html"
+URL="http://127.0.0.1:$PORT/web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html?app=$APP_PATH"
+OUT="$TMP_DIR/chromium-xyzbc-trt.out"
+
+"$CHROMIUM" \
+  --headless=new \
+  --disable-gpu \
+  --no-sandbox \
+  --user-data-dir="$CHROME_PROFILE" \
+  --virtual-time-budget=15000 \
+  --dump-dom \
+  "$URL" >"$OUT" 2>&1
+
+if ! grep -Fq "xyzbc_trt_browser_smoke=ok" "$OUT"; then
+  echo "xyzbc-trt browser smoke failed" >&2
+  sed -n '1,260p' "$OUT" >&2
+  exit 1
+fi
+
+echo "xyzbc_trt_browser_smoke=ok"

web-rtcp-5axis-xyzbc-trt-sim-plan/tests/browser/xyzbc_trt_browser_smoke.html

@@ -0,0 +1,180 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="utf-8" />
+    <title>xyzbc-trt browser smoke</title>
+  </head>
+  <body>
+    <pre id="result">xyzbc_trt_browser_smoke=pending</pre>
+    <iframe id="app-frame" title="xyzbc-trt app"></iframe>
+    <script type="module">
+      const result = document.querySelector("#result");
+      const frame = document.querySelector("#app-frame");
+      const appSrc = new URLSearchParams(window.location.search).get("app") || "../../app/index.html";
+      frame.src = appSrc;
+
+      const wait = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
+
+      async function runSmoke() {
+        await new Promise((resolve, reject) => {
+          frame.addEventListener("load", resolve, { once: true });
+          frame.addEventListener("error", reject, { once: true });
+        });
+
+        const win = frame.contentWindow;
+        const doc = frame.contentDocument;
+        const runtimeErrors = [];
+        win.addEventListener("error", (event) => {
+          runtimeErrors.push(event.message || String(event.error || "window error"));
+        });
+        win.addEventListener("unhandledrejection", (event) => {
+          runtimeErrors.push(event.reason?.message || String(event.reason || "unhandled rejection"));
+        });
+
+        await waitFor(() => win.webRtcp5AxisSimulation, "public simulation API");
+        const api = win.webRtcp5AxisSimulation;
+        const [kinematics, interpreter, taskHal] = await Promise.all([
+          api.kinematicsRuntimeReady,
+          api.interpreterRuntimeReady,
+          api.taskHalRuntimeReady,
+        ]);
+
+        assertRuntime(kinematics, {
+          name: "kinematics",
+          moduleId: "xyzbc-trt",
+          required: ["loaded"],
+        });
+        if (kinematics.executionContext !== "worker") {
+          throw new Error(`kinematics runtime should run in worker: ${JSON.stringify(kinematics)}`);
+        }
+        assertRuntime(interpreter, {
+          name: "interpreter",
+          required: ["loaded", "runProgramReady", "plannerRuntimeReady"],
+        });
+        if (interpreter.executionContext !== "worker") {
+          throw new Error(`interpreter runtime should run in worker: ${JSON.stringify(interpreter)}`);
+        }
+        assertRuntime(taskHal, {
+          name: "task/HAL",
+          required: ["loaded", "taskRuntimeReady", "motionRuntimeReady", "halRuntimeReady"],
+        });
+        if (taskHal.executionContext !== "worker") {
+          throw new Error(`task/HAL runtime should run in worker: ${JSON.stringify(taskHal)}`);
+        }
+
+        await api.machineFileSeedReady;
+        await waitFor(() => {
+          const state = api.getState();
+          return !state.interpreterExecutionPending
+            && state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm"
+            && state.machineFileStaging?.status === "staged";
+        }, "default xyzbc program preview");
+
+        const state = api.getState();
+        if (state.machineProfile !== "xyzbc-trt" || state.profile?.traj?.coordinates !== "XYZBC") {
+          throw new Error(`default profile mismatch: ${state.machineProfile}/${state.profile?.traj?.coordinates}`);
+        }
+        if (state.profile?.kinematicsModuleId !== "xyzbc-trt") {
+          throw new Error(`profile kinematics module mismatch: ${state.profile?.kinematicsModuleId}`);
+        }
+        if (state.machineFileStaging?.profileId !== "xyzbc-trt") {
+          throw new Error(`staging profile mismatch: ${state.machineFileStaging?.profileId}`);
+        }
+        if (!state.machineFileStaging?.gcodeSources?.some((source) => source.filename === "xyzbc_switchkins.ngc")) {
+          throw new Error("staged sources missing xyzbc_switchkins.ngc");
+        }
+        if (!state.machineFileStaging?.gcodeSources?.some((source) => source.filename === "boat-xyzbc.ngc")) {
+          throw new Error("staged sources missing boat-xyzbc.ngc");
+        }
+        if (state.programExecution?.summary?.motionEventCount < 1) {
+          throw new Error(`default program did not produce canonical motion: ${JSON.stringify(state.programExecution?.summary)}`);
+        }
+
+        const canvas = await waitFor(() => doc.querySelector("[data-five-axis-canvas]"), "preview canvas");
+        await waitFor(() => canvas.dataset.threeReady === "true" && Number(canvas.dataset.threePathPoints || 0) > 0, "Three.js dataset");
+        if (
+          canvas.dataset.threeRenderer !== "webgl" ||
+          canvas.dataset.threeFrameApi !== "web-rtcp-5axis-motion-frame" ||
+          canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
+          canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
+          canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
+          canvas.dataset.threeProgramPreviewSource !== "linuxcnc-interpreter-wasm" ||
+          canvas.dataset.threeVismachPinDrivenModel !== "web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins"
+        ) {
+          throw new Error(`unexpected canvas dataset: ${JSON.stringify(canvas.dataset)}`);
+        }
+        if (Number(canvas.dataset.threeSceneObjects || 0) < 12) {
+          throw new Error(`scene object count too low: ${canvas.dataset.threeSceneObjects}`);
+        }
+        const vismachPins = JSON.parse(canvas.dataset.threeVismachPins || "{}");
+        for (const pin of ["table-x", "saddle-y", "spindle-z", "tilt-b", "rotate-c", "tool-offset", "x-offset", "z-offset"]) {
+          if (!Number.isFinite(Number(vismachPins[pin]))) {
+            throw new Error(`missing Vismach pin ${pin}: ${JSON.stringify(vismachPins)}`);
+          }
+        }
+        const vismachTransforms = JSON.parse(canvas.dataset.threeVismachTransforms || "{}");
+        if (
+          vismachTransforms.table?.sourcePins?.[0] !== "table-x" ||
+          vismachTransforms.saddle?.sourcePins?.[0] !== "saddle-y" ||
+          vismachTransforms.spindle?.sourcePins?.[0] !== "spindle-z" ||
+          vismachTransforms.tilt?.sourcePins?.[0] !== "tilt-b" ||
+          vismachTransforms.rotary?.sourcePins?.[0] !== "rotate-c" ||
+          !vismachTransforms.tool?.sourcePins?.includes("tool-offset")
+        ) {
+          throw new Error(`Vismach transform source pins mismatch: ${JSON.stringify(vismachTransforms)}`);
+        }
+        assertCanvasNonblank(canvas);
+
+        if (runtimeErrors.length > 0) {
+          throw new Error(`runtime errors: ${runtimeErrors.join(" | ")}`);
+        }
+        result.textContent = "xyzbc_trt_browser_smoke=ok";
+      }
+
+      function assertRuntime(readiness, { name, moduleId = null, required }) {
+        for (const key of required) {
+          if (readiness?.[key] !== true) {
+            throw new Error(`${name} runtime missing ${key}: ${JSON.stringify(readiness)}`);
+          }
+        }
+        if (moduleId && readiness?.moduleId !== moduleId) {
+          throw new Error(`${name} runtime module mismatch: ${JSON.stringify(readiness)}`);
+        }
+      }
+
+      async function waitFor(predicate, label) {
+        for (let attempt = 0; attempt < 240; attempt += 1) {
+          const value = predicate();
+          if (value) return value;
+          await wait(50);
+        }
+        throw new Error(`timed out waiting for ${label}`);
+      }
+
+      function assertCanvasNonblank(canvas) {
+        const context = canvas.getContext("webgl2") || canvas.getContext("webgl") || canvas.getContext("2d");
+        if (!context) {
+          throw new Error("preview canvas has no readable context");
+        }
+        const width = canvas.width;
+        const height = canvas.height;
+        if (width <= 0 || height <= 0) {
+          throw new Error(`preview canvas has invalid size ${width}x${height}`);
+        }
+        if (context.readPixels) {
+          const pixels = new Uint8Array(4);
+          context.readPixels(Math.floor(width / 2), Math.floor(height / 2), 1, 1, context.RGBA, context.UNSIGNED_BYTE, pixels);
+          if (pixels.some((value) => value !== 0)) return;
+        }
+        const imageData = canvas.toDataURL("image/png");
+        if (!imageData || imageData.length < 2000) {
+          throw new Error("preview canvas appears blank");
+        }
+      }
+
+      runSmoke().catch((error) => {
+        result.textContent = `xyzbc_trt_browser_smoke=fail ${error.stack || error.message || error}`;
+      });
+    </script>
+  </body>
+</html>

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");

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: [
+      pins: Object.keys(vismachModelState.pins),
-        "table-x",
+      pinValues: vismachModelState.pins,
-        "saddle-y",
+      transforms: vismachModelState.transforms,
-        "spindle-z",
+      halNets: vismachModelState.halNets,
-        "tilt-b",
-        "rotate-c",
-        "tool-offset",
-        "x-offset",
-        "z-offset",
-      ],
       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,
   }),

web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md

@@ -1,5 +1,108 @@
 # 03-推进台账
 
+## 2026-07-02 Tool table 到 tool-offset 闭环实现轮次
+
+### 本轮目标
+
+接续 `working` 任务矩阵，完成 T-034：把 `xyzbc-trt.tbl` 的 T/P/Z/D 当前刀具偏置闭环接到 kinematics tool-offset、Web 模型刀长和 path JSON。
+
+### 已做事项
+
+- 修改 `app/src/runtime/tool-db-simulation.js`：
+  - 新增 `createToolRuntimeState()`，统一输出当前刀具、active G43 偏置、`motion.tooloffset.z` 等效值、path tool 和 Vismach tool-offset。
+  - 运行时状态记录 `xyzbc-trt-kins.tool-offset`、`xyzbc-trt-gui.tool-offset` 下游 pin 边界。
+- 修改 `app/src/runtime/vismach-model-state.js`：
+  - `toolRuntimeState.vismach.toolOffset` 优先于旧的静态 `toolPreview.length`，使模型刀具长度来自 active tool offset。
+- 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`：
+  - 从 staged `xyzbc-trt.tbl` 解析工具表。
+  - 扫描选定程序 T/M6/G43；默认程序无工具命令时，使用工具表中第一个有 Z 偏置的 T2 生成默认激活证据。
+  - 新增 `toolRuntime` 和 `toolOffsetClosure`，并把 `previewPath.samples[].tool`、`executionPath.samples[].tool` 改为当前 active tool。
+- 扩展 `tests/node/verify_xyzbc_trt_web_app.mjs`：
+  - 断言 `T2 P2 Z10 D8` 进入 tool DB。
+  - 断言 kinematics tool offset、path tool 和 Vismach pin 均为 T2/Z10/D8 闭环结果。
+- 重新生成：
+  - `working/evidence/web-xyzbc-trt-evidence.json`
+  - `working/evidence/compare-xyzbc-trt-evidence.json`
+- 更新 `04-任务矩阵.md`，将 T-034 标记为完成。
+
+### 验证情况
+
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node` 通过。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web` 通过。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare` 已生成真实失败报告：当前 19/24 通过；T-034 compare 检查已通过，剩余 5 项失败均来自 native evidence 尚缺 `previewPath`/`executionPath` 样本和采样周期字段。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build` 通过，输出 `gmoccapy_static_build=ok`。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser` 通过，输出 `xyzbc_trt_browser_smoke=ok`。
+- `web-xyzbc-trt-evidence.json` 当前摘要：
+  - `toolRuntime.activeToolNumber=2`
+  - `toolRuntime.activePocket=2`
+  - `toolRuntime.kinematics.toolOffsetZ=10`
+  - `toolRuntime.pathTool.length=10`
+  - `toolRuntime.pathTool.diameter=8`
+  - `toolRuntime.vismach.toolOffset=10`
+  - `toolOffsetClosure.closed=true`
+  - `coverage.toolTableToToolOffsetClosed=true`
+
+### 下一步
+
+1. 继续 T-019/T-037：在 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 下重跑 native evidence，使 native path 进入 20ms 可比状态。
+2. 继续 T-026/T-038：基于新 browser smoke 扩展 AXIS 主界面与 native 状态流复核。
+3. 继续 T-028/T-030：补 basic_sim 等效 task/HAL 细节和 Ngcgui/remap 子程序执行验收。
+
+## 2026-07-02 Vismach 3D pin 驱动模型实现轮次
+
+### 本轮目标
+
+接续 `working` 任务矩阵，完成 T-029：让 Web 3D 机床参考模型由 `xyzbc-trt-gui.py` 对应的 Vismach HAL pin 驱动，并把 pin 值、HAL net 和模型变换写入 Web evidence。
+
+### 已做事项
+
+- 新增 `app/src/runtime/vismach-model-state.js`：
+  - 统一生成 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` pin 状态。
+  - 将 pin 映射到 Web 模型变换：table X、saddle Y、spindle Z、tilt B、rotate C、tool offset。
+  - 记录 9 条 native HAL net 对标关系和 `web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins` 语义边界。
+- 修改 `app/src/visualization/five-axis-scene.js`：
+  - 将静态参考模型拆成 `vismach-table-x`、`vismach-saddle-y`、`vismach-spindle-z`、`vismach-tilt-b`、`vismach-rotate-c`、`vismach-tool-offset` 层级。
+  - 渲染时按 `buildVismachModelState()` 输出更新 Three.js group 的位移和旋转。
+  - 在 canvas dataset 增加 `threeVismachPins`、`threeVismachTransforms`、`threeVismachPinDrivenModel`，供后续浏览器 smoke 直接断言。
+- 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`：
+  - `vismachEquivalent` 从静态 pin 清单升级为 `pins`、`pinValues`、`transforms`、`halNets` 和 `semanticBoundary`。
+- 扩展 `tests/node/verify_xyzbc_trt_web_app.mjs`：
+  - 断言 profile 中 Vismach feedback/offset net。
+  - 断言 pin 到模型变换的映射和 tool-offset/x-offset/z-offset 组合。
+- 新增目标浏览器 smoke：
+  - `tests/browser/xyzbc_trt_browser_smoke.html`
+  - `tests/browser/verify_xyzbc_trt_browser.sh`
+  - `app/package.json` 增加 `smoke:browser`。
+  - 浏览器断言默认 profile 为 `xyzbc-trt`，kinematics/interpreter/task-HAL 均在 worker 中 ready，canvas 非空，`threeVismachPinDrivenModel` 和 Vismach pin/transform dataset 可读。
+- 重新生成：
+  - `working/evidence/web-xyzbc-trt-evidence.json`
+  - `working/evidence/compare-xyzbc-trt-evidence.json`
+- 更新 `04-任务矩阵.md`，将 T-014、T-029 标记为完成，并补充 T-035 Web evidence 字段。
+
+### 验证情况
+
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node` 通过。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web` 通过。
+- `web-xyzbc-trt-evidence.json` 当前摘要：
+  - `status=ready-for-wasm-runtime`
+  - `blockers=[]`
+  - `vismachEquivalent.pinValues.table-x=43`
+  - `vismachEquivalent.pinValues.saddle-y=-32.15`
+  - `vismachEquivalent.pinValues.spindle-z=-11.306`
+  - `vismachEquivalent.pinValues.tool-offset=84.019`
+  - `vismachEquivalent.pinValues.x-offset=-20`
+  - `vismachEquivalent.pinValues.z-offset=-15`
+  - `vismachEquivalent.halNets.length=9`
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare` 已生成真实失败报告：仍为 5 项失败，均来自 native evidence 尚缺 `previewPath`/`executionPath` 样本和采样周期字段。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build` 通过，输出 `gmoccapy_static_build=ok`。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser` 通过，输出 `xyzbc_trt_browser_smoke=ok`。
+
+### 下一步
+
+1. 继续 T-019/T-037：在 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 下重跑 native evidence，使 native path 进入 20ms 可比状态。
+2. 继续 T-034：把 tool table 当前 T/P/Z/D 的 active tool offset 闭环接到 kinematics/tool model/path JSON。
+3. 继续 T-026/T-038：基于新 browser smoke 扩展 AXIS 主界面与 native 状态流复核。
+
 ## 2026-07-02 Web task/HAL executionPath 采集实现轮次
 
 ### 本轮目标

web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md

@@ -15,10 +15,10 @@
 | T-011 | 完整 kinematics WASM 验证 | 完成 | `SKIP_KINEMATICS_BUILD=1 wasm-port/tests/wasm/node/verify_kinematics_wasm.sh` 通过，覆盖 `xyzbc-trt` |
 | T-012 | 完整 interpreter/remap WASM 验证 | 完成 | `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过，输出 `interp_wasm_node_smoke=ok` |
 | T-013 | 完整 task/HAL WASM 验证 | 完成 | `SKIP_TASK_HAL_BUILD=1 wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 通过 |
-| T-014 | 目标浏览器 smoke | 待前置 | 页面默认显示 `xyzbc-trt`，worker runtime ready，canvas 非空 |
+| T-014 | 目标浏览器 smoke | 完成 | `npm run smoke:browser` 通过；页面默认显示 `xyzbc-trt`，kinematics/interpreter/task-HAL worker runtime ready，canvas 非空并暴露 Vismach dataset |
 | T-015 | native 真实执行 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json` 记录真实执行事件，状态 completed |
 | T-016 | Web OPFS/WASM readiness JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json` 记录 Web profile/INI/staging/WASM readiness |
-| T-017 | native/Web JSON 对比 | 部分完成 | `compare-xyzbc-trt-evidence.json` 已生成；当前 18/23 通过，剩余 5 项均为 native preview/execution path 样本缺失 |
+| T-017 | native/Web JSON 对比 | 部分完成 | `compare-xyzbc-trt-evidence.json` 已生成；当前 19/24 通过，剩余 5 项均为 native preview/execution path 样本缺失 |
 | T-018 | WASM artifact 构建前置 | 完成 | 已生成 core/kinematics/tp/task-hal 所需 `.js/.wasm`，`web-xyzbc-trt-evidence.json.wasm.missing=[]` |
 | T-019 | native 刀具预览路径 JSON 采集 | 待实现 | `native-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 LinuxCNC 预览刀路 |
 | T-020 | native 刀具执行路径 JSON 采集 | 部分完成 | native 脚本已从 `stat()` 执行事件重采样为 20ms `executionPath`；需用新基线重跑生成证据 |
@@ -30,13 +30,13 @@
 | T-026 | AXIS 主界面等效功能 | 待实现 | Web 首屏包含程序、坐标、状态、MDI/switchkins、override、工具和预览/执行区域 |
 | T-027 | POSTGUI HAL/PyVCP 连接等效 | 完成 | Web evidence JSON 记录 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 和 multilabel 状态 |
 | T-028 | basic_sim 等效 task/HAL | 待前置 | Web task/HAL runtime 覆盖模拟回零、manual toolchange、spindle、joint feedback |
-| T-029 | Vismach 3D 模型 pin 对标 | 待实现 | Web 3D 模型由 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` 驱动 |
+| T-029 | Vismach 3D 模型 pin 对标 | 完成 | Web 3D 模型由 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` 驱动；`web-xyzbc-trt-evidence.json.vismachEquivalent` 记录 pin 值、HAL net 和变换 |
 | T-030 | Ngcgui/remap 子程序全集 | 部分完成 | staging 和 Web evidence 覆盖 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`；执行仍待 WASM |
 | T-031 | 演示程序全集 | 完成 | staging、profile samplePrograms 和 Web evidence 覆盖 `xyzbc_switchkins.ngc` 与 `boat-xyzbc.ngc` |
 | T-032 | TRAJ/AXIS/JOINT 限制对标 | 部分完成 | Web evidence 覆盖 XYZBC 单位、速度/加速度、B/C 限位、JOG_AXES、GEOMETRY；UI 全量复核仍待浏览器/WASM |
 | T-033 | kinematics HAL pins 对标 | 完成 | Web/native evidence 脚本记录 `x-offset=-20`、`z-offset=-15`、rot-point、conventional-directions、tool-offset |
-| T-034 | tool table 到 tool-offset 闭环 | 待实现 | T/P/Z/D 解析影响 kinematics tool-offset、Web 模型刀长和 path JSON |
+| T-034 | tool table 到 tool-offset 闭环 | 完成 | `xyzbc-trt.tbl` T2/P2/Z10/D8 解析后驱动 `toolRuntime.kinematics.toolOffsetZ=10`、Web path tool length/diameter 和 Vismach `tool-offset=10` |
-| T-035 | 全量 evidence JSON 字段 | 部分完成 | Web JSON 已包含 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence`；native 脚本已补字段，需重采集 |
+| T-035 | 全量 evidence JSON 字段 | 部分完成 | Web JSON 已包含 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence`、`vismachEquivalent.pinValues/transforms`；native 脚本已补字段，需重采集 |
 | T-036 | native 基线切换到 `/home/mes123456/cnc_wams/linuxcnc` | 完成 | `scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 已生成，RIP 环境可导入 `linuxcnc` Python 模块 |
 | T-037 | 基于新 native 基线重采集 JSON | 部分完成 | native 脚本默认基线已切到 `/home/mes123456/cnc_wams/linuxcnc`；需在 RIP 环境下重新运行采集命令 |
 | T-038 | Web 界面按新 native 运行结果复核 | 待实现 | UI/逻辑与 `/home/mes123456/cnc_wams/linuxcnc` 真实 `xyzbc-trt` 的状态流、按钮、路径、HAL pin 对齐 |

web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md

@@ -1,5 +1,99 @@
 # 05-验收证据
 
+## Tool table 到 tool-offset 闭环验收
+
+### 命令
+
+```bash
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
+```
+
+### 结果
+
+```text
+xyzbc_trt_web_app_smoke=ok
+web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
+compare_xyzbc_trt_status=fail fail_count=5
+gmoccapy_static_build=ok
+xyzbc_trt_browser_smoke=ok
+```
+
+### JSON 摘要
+
+```text
+web.toolRuntime.ready = true
+web.toolRuntime.activeOffsetApplied = true
+web.toolRuntime.activeToolNumber = 2
+web.toolRuntime.activePocket = 2
+web.toolRuntime.kinematics.toolOffsetZ = 10
+web.toolRuntime.pathTool.length = 10
+web.toolRuntime.pathTool.diameter = 8
+web.toolRuntime.vismach.toolOffset = 10
+web.toolOffsetClosure.closed = true
+web.coverage.toolTableToToolOffsetClosed = true
+web.previewPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
+web.executionPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
+compare.summary.passCount = 19
+compare.summary.failCount = 5
+compare.checks["web tool table active offset drives kinematics, path, and Vismach"].status = pass
+```
+
+结论：
+
+- `xyzbc-trt.tbl` 中 `T2 P2 Z10 D8` 已进入 Web tool DB 运行时摘要。
+- 当前 active tool offset 已同时写入 kinematics `motion.tooloffset.z` 等效值、路径样本 tool 字段和 Vismach `tool-offset` pin。
+- 默认程序本身无 T/M6/G43，因此 Web evidence 记录 `defaultActivationUsed=true`，用于证明 tool table 偏置链路；带 T/M6/G43 的程序会使用程序扫描命令。
+- compare 仍保持失败是正确结果：剩余 5 项仍来自 native path evidence 未重采集。
+
+## Vismach 3D pin 驱动模型验收
+
+### 命令
+
+```bash
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
+```
+
+### 结果
+
+```text
+xyzbc_trt_web_app_smoke=ok
+web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
+compare_xyzbc_trt_status=fail fail_count=5
+gmoccapy_static_build=ok
+xyzbc_trt_browser_smoke=ok
+```
+
+### JSON 摘要
+
+```text
+web.status = ready-for-wasm-runtime
+web.blockers = []
+web.vismachEquivalent.pins = table-x,saddle-y,spindle-z,tilt-b,rotate-c,tool-offset,x-offset,z-offset
+web.vismachEquivalent.pinValues.table-x = 43
+web.vismachEquivalent.pinValues.saddle-y = -32.15
+web.vismachEquivalent.pinValues.spindle-z = -11.306
+web.vismachEquivalent.pinValues.tool-offset = 84.019
+web.vismachEquivalent.pinValues.x-offset = -20
+web.vismachEquivalent.pinValues.z-offset = -15
+web.vismachEquivalent.halNets.length = 9
+web.vismachEquivalent.semanticBoundary = web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins
+```
+
+结论：
+
+- Web 3D 参考模型已由 Vismach 等效 pin 状态驱动。
+- canvas dataset 已输出 `threeVismachPins`、`threeVismachTransforms`、`threeVismachPinDrivenModel`，后续浏览器 smoke 可直接断言。
+- `smoke:browser` 已断言默认 `xyzbc-trt`、三类 worker runtime ready、canvas 非空、Vismach pin/transform dataset。
+- compare 仍保持失败是正确结果：剩余 5 项仍来自 native path evidence 未重采集。
+
 ## evidence 字段与路径对比实现验收
 
 ### 命令
@@ -45,6 +139,8 @@ uiEquivalence
 vismachEquivalent
 ngcguiSubroutines
 demoPrograms
+vismachEquivalent.pinValues
+vismachEquivalent.transforms
 ```
 
 当前 compare evidence 已包含：

web-rtcp-5axis-xyzbc-trt-sim-plan/working/07-全量对标追踪矩阵.md

@@ -17,7 +17,7 @@
 | `.desktop` 启动 `rip-environment linuxcnc xyzbc-trt.ini` | `/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/.../xyzbc-trt.desktop` | Web profile 一键进入 `xyzbc-trt`，自动加载同一 INI/staging 文件集 | web JSON 记录 `profile=xyzbc-trt`、`iniPath`、`startupSequence` |
 | `linuxcncsvr`、`rtapi_app`、`milltask`、`halui` | 当前进程清单 | Web runtime 用 worker/WASM/task-HAL 表示 server/task/halui 边界 | compare 检查 `runtimeComponents` 包含 `interp`、`tp`、`taskHal`、`haluiEquivalent` |
 | AXIS 主界面进程 | `bin/axis -ini xyzbc-trt.ini` | Web 首屏直接进入 CNC 操作界面，不做营销页 | 浏览器 smoke 检查坐标、程序、switchkins、3D canvas 均可见 |
-| Vismach 进程 | `loadusr -W xyzbc-trt-gui` | Web 3D 机床模型按 HAL pin 驱动 | evidence 记录 Vismach pin 等效映射 |
+| Vismach 进程 | `loadusr -W xyzbc-trt-gui` | Web 3D 机床模型按 HAL pin 驱动 | evidence 记录 Vismach pin 值、HAL net 和模型变换 |
 
 ## INI 与显示配置对标
 
@@ -45,10 +45,10 @@
 | `switchkins_postgui.hal` | PyVCP 到 halui MDI 的连接 | Web 需记录 `pyvcp.* -> halui.mdi-command-*` | 待 compare 检查 |
 | `basic_sim.tcl` | 基础仿真 HAL | Web task/HAL runtime 等效模拟 joint/home/spindle/toolchange | 待 task-HAL 验收 |
 | `xyzbc-trt_cmds.hal` | 运行后生成 HAL | Web evidence 需记录等效展开 HAL nets | 待实现 |
-| `xyzbc-trt-gui.py` | Vismach 模型 | Web 3D pin/模型层级对标 | 待模型验收 |
+| `xyzbc-trt-gui.py` | Vismach 模型 | Web 3D pin/模型层级对标 | 已完成 Web 端模型层级、evidence 和浏览器 smoke 验收 |
 | `axis.py` | AXIS 主界面行为 | Web 操作面板对标 AXIS 关键行为 | 待 UI 验收 |
 | `xyzbc-trt-kins.c` | 运动学真源 | WASM kinematics 使用 source-derived artifact | 待构建 artifact |
-| `xyzbc-trt.tbl` | 工具表 | Web tool DB 读取 T/P/Z/D | 已有 staging，需 UI/tool-offset 验收 |
+| `xyzbc-trt.tbl` | 工具表 | Web tool DB 读取 T/P/Z/D | Web evidence 已证明 T2/P2/Z10/D8 驱动 kinematics、path tool 和 Vismach tool-offset |
 | `xyzbc.var` | 参数文件 | OPFS 保存/恢复参数 | 已有 staging，需运行后变更验证 |
 
 ## HAL 与 switchkins 对标
@@ -74,8 +74,8 @@
 | `z-offset = -15` | HALCMD sets | Web kinematics pin 默认值一致 |
 | `x/y/z-rot-point = 0` | HALCMD setp | Web kinematics pin 默认值一致 |
 | `conventional-directions = 0` | HALCMD setp | Web kinematics pin 默认值一致 |
-| `table-x/saddle-y/spindle-z/tilt-b/rotate-c` | Vismach pins | Web 模型层级按这些反馈驱动 |
+| `table-x/saddle-y/spindle-z/tilt-b/rotate-c` | Vismach pins | Web 模型层级按这些反馈驱动；`vismachEquivalent.pinValues/transforms` 可验收 |
-| `tool-offset/x-offset/z-offset` | Vismach/kines pins | Web 刀具和模型偏置一致 |
+| `tool-offset/x-offset/z-offset` | Vismach/kines pins | Web 刀具和模型偏置一致；T-034 已完成 Web tool table active offset 闭环，native 仍待重采集对比 |
 
 ## G-code、remap 与子程序对标
 
@@ -112,6 +112,6 @@ native evidence、Web evidence、compare evidence 必须覆盖：
 1. WASM artifact 尚未构建，`wasm-port/build/wasm` 缺少 kinematics/core/tp/task-hal `.js/.wasm`。
 2. Web evidence 还未记录完整 `startupSequence`、`halNets`、`kinematicsPins`、`axisJointLimits`。
 3. Web UI 还需按 AXIS 等效面板补齐 jog、override、tool editor、Ngcgui 子程序入口。
-4. Vismach 等效模型还需按 `xyzbc-trt-gui.py` 的 pin 和模型层级做验收。
+4. Vismach 等效模型已按 `xyzbc-trt-gui.py` 的 pin 和模型层级完成 Web 端验收；`smoke:browser` 已覆盖 canvas 非空和 dataset，后续可补截图归档。
 5. 刀具预览路径和执行路径 JSON 采集尚未实现。
 6. `boat-xyzbc.ngc` 和 Ngcgui 子程序的 Web 可执行验收尚未完成。

web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json

@@ -1,12 +1,12 @@
 {
   "apiName": "xyzbc-trt-native-web-evidence-comparison",
   "status": "fail",
-  "comparedAt": "2026-07-02T12:48:11.244Z",
+  "comparedAt": "2026-07-02T13:36:36.368Z",
   "nativePath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json",
   "webPath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json",
   "summary": {
-    "checkCount": 23,
+    "checkCount": 24,
-    "passCount": 18,
+    "passCount": 19,
     "failCount": 5,
     "blockers": [],
     "nativeStatus": "ok",
@@ -107,6 +107,61 @@
         "toolTable": "xyzbc-trt.tbl"
       }
     },
+    {
+      "category": "tool-table",
+      "requirement": "web tool table active offset drives kinematics, path, and Vismach",
+      "status": "pass",
+      "evidence": {
+        "toolRuntime": {
+          "activeToolNumber": 2,
+          "activePocket": 2,
+          "kinematicsToolOffsetZ": 10,
+          "pathTool": {
+            "id": 2,
+            "pocket": 2,
+            "length": 10,
+            "diameter": 8
+          },
+          "vismachToolOffset": 10,
+          "defaultActivationUsed": true
+        },
+        "toolOffsetClosure": {
+          "sourceToolTable": "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl",
+          "selectedProgramSourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc",
+          "programToolCommands": [],
+          "activeToolOffset": {
+            "idx": 2,
+            "toolNumber": 2,
+            "pocket": 2,
+            "offset": {
+              "x": 0,
+              "y": 0,
+              "z": 10,
+              "a": 0,
+              "b": 0,
+              "c": 0,
+              "u": 0,
+              "v": 0,
+              "w": 0
+            },
+            "diameter": 8,
+            "frontAngle": 0,
+            "backAngle": 0,
+            "orientation": 0
+          },
+          "kinematicsToolOffsetZ": 10,
+          "pathTool": {
+            "id": 2,
+            "pocket": 2,
+            "length": 10,
+            "diameter": 8
+          },
+          "vismachToolOffset": 10,
+          "closed": true,
+          "semanticBoundary": "tool_table_current_t_p_z_d_drives_kinematics_path_and_vismach"
+        }
+      }
+    },
     {
       "category": "pyvcp",
       "requirement": "web PyVCP XML staged",
@@ -317,6 +372,8 @@
           "zRotPoint": 0,
           "conventionalDirections": 0,
           "toolOffsetSource": "motion.tooloffset.z",
+          "toolOffsetValue": 10,
+          "toolOffsetToolNumber": 2,
           "pins": [
             "motion.switchkins-type",
             "motion.analog-out-03",