完善 gmoccapy XYZAB 参考功能
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web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzab-reference.md
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web-rtcp-5axis-sim-plan/docs/gmoccapy-xyzab-reference.md
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# gmoccapy XYZAB Reference
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Date: 2026-06-26
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This document records how the LinuxCNC `gmoccapy_XYZAB.ini` simulation maps into
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the Web RTCP 5-axis simulator. It is a reference boundary, not a browser port of
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the native gmoccapy GTK runtime.
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## Source Inputs
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Primary input:
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```text
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work/working3/gmoccapy_XYZAB_execution_analysis.md
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linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini
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linuxcnc/configs/sim/gmoccapy/core_sim_XYZAB.hal
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linuxcnc/configs/sim/gmoccapy/spindle_sim.hal
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linuxcnc/configs/sim/gmoccapy/simulated_home.hal
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linuxcnc/configs/sim/gmoccapy/gmoccapy_postgui.hal
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work/working3/gmoccapy_button_icons/button_icon_inventory.csv
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work/working3/gmoccapy_button_icons/files/
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```
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Project assets generated from those inputs:
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```text
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app/src/ui-reference/gmoccapy-button-icons.json
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app/src/assets/gmoccapy-icons/
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app/src/profiles/gmoccapy-xyzab.js
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app/src/runtime/gmoccapy-communication-model.js
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app/src/runtime/gmoccapy-hal-model.js
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```
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## Native LinuxCNC Configuration
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`gmoccapy_XYZAB.ini` defines a simulated five-axis machine:
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- UI: `[DISPLAY] DISPLAY = gmoccapy`.
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- UI poll cycle: `[DISPLAY] CYCLE_TIME = 100` ms.
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- Task process: `[TASK] TASK = milltask`.
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- Motion module: `[EMCMOT] EMCMOT = motmod`.
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- Realtime periods: `BASE_PERIOD = 100000` ns, `SERVO_PERIOD = 1000000` ns.
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- Coordinates: `[TRAJ] COORDINATES = X Y Z A B`.
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- Kinematics: `[KINS] KINEMATICS = trivkins coordinates=xyzab`.
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- Joint count: `[KINS] JOINTS = 5`.
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- Homing policy: `[TRAJ] NO_FORCE_HOMING = 0`.
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- HALUI: `[HAL] HALUI = halui`.
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The native profile is a `trivkins` simulation. It is not a TCP/RTCP proof and
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must not be promoted as source-derived table-rotary-tilting kinematics.
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## Native Startup Order
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The native command is:
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```bash
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linuxcnc linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini
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```
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The LinuxCNC script performs these stages:
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1. Parse INI and export `CONFIG_DIR`, `INI_FILE_NAME`, and config-local `PATH`.
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2. Start `linuxcncsvr -ini <ini>` for NML buffers.
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3. Start realtime, RTAPI, and HAL.
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4. Load task process with `halcmd loadusr -Wn inihal milltask -ini <ini>`.
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5. Load `halui` with `halcmd loadusr -Wn halui halui -ini <ini>`.
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6. Execute normal `[HAL] HALFILE` entries:
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`core_sim_XYZAB.hal`, `spindle_sim.hal`, and `simulated_home.hal`.
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7. Run `halcmd start`.
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8. Start the display with `gmoccapy -ini <ini>`.
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9. After gmoccapy creates `gmoccapy.*` pins and calls `halcomp.ready()`, execute
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`[HAL] POSTGUI_HALFILE = gmoccapy_postgui.hal`.
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The postgui file is order-sensitive because it references `gmoccapy.*` pins that
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do not exist during ordinary HALFILE loading.
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## Native Communication Model
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gmoccapy talks to LinuxCNC through local LinuxCNC mechanisms:
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- Command path: `gmoccapy -> linuxcnc.command() -> NML emcCommand -> milltask`.
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- Status path: `milltask -> NML emcStatus/emcError -> linuxcnc.stat()/error_channel()`.
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- HAL path: `gmoccapy.* pins <-> HAL shared memory`.
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- HALUI path: `halui` exposes LinuxCNC commands and status as HAL pins.
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- REMAP path: `[RS274NGC] REMAP` and `[PYTHON]` run inside the task/interpreter
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side, not inside the GUI.
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The Web application does not connect to native NML buffers, HAL shared memory, or
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realtime threads. Web buttons dispatch through `store.dispatch`, task policy
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gates, source-derived runtimes where available, and UI status snapshots.
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## HAL Topology
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`core_sim_XYZAB.hal` loads `trivkins` and `motmod`, then loops commanded joint
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positions directly back to feedback:
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```text
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joint.0 X command -> joint.0 feedback
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joint.1 Y command -> joint.1 feedback
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joint.2 Z command -> joint.2 feedback
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joint.3 A command -> joint.3 feedback
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joint.4 B command -> joint.4 feedback
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```
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It also creates the simulation loops:
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- `iocontrol.0.user-enable-out -> iocontrol.0.emc-enable-in`.
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- `iocontrol.0.tool-prepare -> iocontrol.0.tool-prepared`.
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- `iocontrol.0.tool-change -> iocontrol.0.tool-changed`.
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- `spindle.0.forward`, `spindle.0.reverse`.
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- `iocontrol.0.coolant-flood`, `iocontrol.0.coolant-mist`.
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`spindle_sim.hal` simulates speed feedback:
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```text
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spindle.0.speed-out -> limit2 -> sim_encoder -> encoder -> spindle.0.speed-in
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near_speed.out -> spindle.0.at-speed
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```
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`simulated_home.hal` creates simulated X/Y/Z home switches at X=1, Y=0.5, Z=2.
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`gmoccapy_postgui.hal` maps native HAL state into GUI pins:
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- `gmoccapy.spindle_feedback_bar`.
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- `gmoccapy.spindle_at_speed_led`.
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- `gmoccapy.tooloffset-x`.
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- `gmoccapy.tooloffset-z`.
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It also re-establishes the simulated tool-change loop after unlinking conflicting
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pins.
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## G-code Gates
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Because `NO_FORCE_HOMING = 0`, MDI and Auto require the normal LinuxCNC sequence:
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```text
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reset estop
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machine on
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home all axes
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load a program or MDI command
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switch to the correct mode
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interpreter idle
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run MDI or AUTO_RUN
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```
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The native stack enforces this in three layers:
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1. gmoccapy widget sensitivity and page state.
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2. gladevcp actions and gmoccapy callback checks.
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3. LinuxCNC task, interpreter, motion, IO, and HAL validation.
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The Web project mirrors this as UI disabled reasons, `linuxcnc-task-policy`
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gates, and runtime preconditions. The `gmoccapy-xyzab` profile is allowed as a
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reference selection, but full LinuxCNC 5-axis source-derived RUN proof remains
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limited to profiles that have project runtime support.
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## Button Icon Boundary
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The icon inventory from `working3/gmoccapy_button_icons` was converted into a
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project-local manifest:
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```text
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app/src/ui-reference/gmoccapy-button-icons.json
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```
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The copied icons live in:
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```text
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app/src/assets/gmoccapy-icons/
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```
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These assets prove UI origin and visual mapping only. Button correctness still
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depends on the Web store, task policy, runtime state, and browser interaction
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evidence.
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@@ -39,6 +39,10 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
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| `xyzac-trt` profile | `app/src/profiles/xyzac-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` | source/config reference | profile boundary node smoke |
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| `xyzac-trt` source reference map | `app/src/profiles/source-reference-map.js` | `xyzac-trt.ini`, `xyzac-trt.xml`, `switchkins_postgui.hal`, `xyzac-trt_cmds.hal`, `xyzac-trt-kins.c`, `trtfuncs.c`, `switchkins.c` | profile/source map only, not runtime proof | profile boundary node smoke |
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| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference + runtime module switch | profile node smoke + browser profile switch smoke |
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| `gmoccapy-xyzab` reference profile | `app/src/profiles/gmoccapy-xyzab.js` | `linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini`, `core_sim_XYZAB.hal`, `spindle_sim.hal`, `simulated_home.hal`, `gmoccapy_postgui.hal` | gmoccapy/trivkins reference profile only; not RTCP proof | gmoccapy XYZAB profile node smoke |
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| gmoccapy_XYZAB NML/HAL communication model | `app/src/runtime/gmoccapy-communication-model.js`, `docs/gmoccapy-xyzab-reference.md` | `gmoccapy.py`, `linuxcnc.command/stat/error_channel`, `milltask`, HALUI, POSTGUI_HALFILE startup order | native communication reference mapped to Web store/task policy; browser does not attach to NML/HAL shared memory | gmoccapy communication model node smoke |
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| gmoccapy_XYZAB HAL/postgui diagnostics model | `app/src/runtime/gmoccapy-hal-model.js`, `docs/gmoccapy-xyzab-reference.md` | `core_sim_XYZAB.hal`, `spindle_sim.hal`, `simulated_home.hal`, `gmoccapy_postgui.hal` | HAL pin/postgui reference and Web diagnostics only | gmoccapy HAL model node smoke |
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| gmoccapy button icon manifest | `app/src/ui-reference/gmoccapy-button-icons.json`, `app/src/assets/gmoccapy-icons/` | `work/working3/gmoccapy_button_icons/button_icon_inventory.csv`, copied classic theme and macro image files | UI asset provenance only; button semantics still require task policy/runtime evidence | gmoccapy icon manifest node smoke |
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| SWITCHKINS panel | `app/src/panel-schema/xyzac-trt-pyvcp.js` | `xyzac-trt.xml`, `switchkins_postgui.hal` | UI/HAL binding reference | profile boundary node smoke + browser DOM smoke |
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| M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
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| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; task/motion/HAL simulation runtime connected separately | profile boundary node smoke + browser DOM smoke |
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@@ -77,6 +81,11 @@ src/hal/user_comps/vismach/5axisgui.py
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src/hal/user_comps/vismach/xyzac-trt-gui.py
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src/hal/user_comps/vismach/xyzbc-trt-gui.py
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configs/sim/gmoccapy/gmoccapy_XYZAC.ini
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configs/sim/gmoccapy/gmoccapy_XYZAB.ini
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configs/sim/gmoccapy/core_sim_XYZAB.hal
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configs/sim/gmoccapy/spindle_sim.hal
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configs/sim/gmoccapy/simulated_home.hal
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configs/sim/gmoccapy/gmoccapy_postgui.hal
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configs/sim/qtvcp_screens/qtdragon/README
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```
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