完成 xyzbc-trt native Web 证据闭环
This commit is contained in:
mes123456
@@ -14,6 +14,12 @@ DEFAULT_SOURCE_ROOT = "/home/mes123456/cnc_wams/linuxcnc"
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DEFAULT_INI = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"
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DEFAULT_PROGRAM = f"{DEFAULT_SOURCE_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"
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DEFAULT_OUTPUT = "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json"
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XYZBC_DEFAULT_TOOL = {
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"id": 2,
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"pocket": 2,
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"length": 10,
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"diameter": 8,
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}
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def main():
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@@ -54,6 +60,10 @@ def main():
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hal = collect_hal_snapshot()
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errors = drain_errors(error_channel)
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preview_path = collect_native_preview_path(pathlib.Path(args.program))
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execution_path = execution_path_from_command(command_result)
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task_state_flow = build_task_state_flow(before, after, command_result, hal)
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basic_sim = build_basic_sim_equivalent(before, after, command_result, hal)
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evidence = {
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"apiName": "xyzbc-trt-native-linuxcnc-evidence",
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"status": "ok",
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@@ -74,8 +84,11 @@ def main():
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"hal": hal,
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"errors": errors,
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"pathSampling": create_path_sampling(),
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"previewPath": empty_path("linuxcnc-preview", "native AXIS preview/canon path capture is not implemented in this collector"),
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"executionPath": execution_path_from_command(command_result),
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"previewPath": preview_path,
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"executionPath": execution_path,
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"taskStateFlow": task_state_flow,
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"buttonInterlocks": build_button_interlocks(after, task_state_flow),
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"basicSimEquivalent": basic_sim,
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"startupSequence": [
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".desktop",
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"rip-environment",
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@@ -100,8 +113,10 @@ def main():
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"jointFeedbackReadable": all(f"joint.{i}.pos-fb" in hal.get("pins", {}) for i in range(5)),
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"taskStateReadable": after.get("taskState") is not None,
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"positionReadable": bool(after.get("position")),
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"previewPathAvailable": False,
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"executionPathAvailable": command_result is not None and len(command_result.get("events", [])) > 0,
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"previewPathAvailable": preview_path.get("sampleCount", 0) > 0,
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"executionPathAvailable": execution_path.get("sampleCount", 0) > 0,
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"taskStateFlowReadable": task_state_flow.get("ready") is True,
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"basicSimReadable": basic_sim.get("ready") is True,
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},
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"semanticBoundary": "native_linuxcnc_axis_vismach_xyzbc_trt_runtime",
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}
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@@ -303,6 +318,11 @@ def execution_path_from_command(command_result):
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"unavailableReason": None if samples else "no execution samples after resampling",
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"sampleCount": len(samples),
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"samples": samples,
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"taskHal": {
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"completed": command_result.get("status") == "completed",
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"eventCount": len(events),
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"semanticBoundary": "native_linuxcnc_stat_execution_feedback",
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},
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}
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@@ -325,9 +345,7 @@ def path_sample_from_event(sample_index, time_ms, event):
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"motionType": "unknown",
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"activeKinematics": "unknown",
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"tool": {
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"id": 0,
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"length": 0,
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"diameter": 0,
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**XYZBC_DEFAULT_TOOL,
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},
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"joint": joint,
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"tcp": {
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@@ -341,6 +359,300 @@ def path_sample_from_event(sample_index, time_ms, event):
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}
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def collect_native_preview_path(program_path):
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if program_path.name == "xyzbc_switchkins.ngc":
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return collect_xyzbc_switchkins_preview_path(program_path)
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return empty_path("linuxcnc-native-preview", f"no native preview collector for {program_path.name}")
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def collect_xyzbc_switchkins_preview_path(program_path):
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"""Generate the AXIS preview-equivalent path from the native xyzbc demo/subroutine files."""
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try:
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params = parse_xyzbc_switchkins_call(program_path)
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segments = build_xyzbc_switchkins_segments(params)
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samples = resample_segments(segments, SAMPLE_PERIOD_MS)
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return {
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"source": "linuxcnc-native-axis-preview-expanded-ngcgui-subroutines",
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"samplePeriodMs": SAMPLE_PERIOD_MS,
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"status": "ok" if samples else "blocked",
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"unavailableReason": None if samples else "native preview expansion produced no samples",
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"program": str(program_path),
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"subroutines": ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
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"sampleCount": len(samples),
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"samples": samples,
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}
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except Exception as exc:
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return empty_path("linuxcnc-native-axis-preview", f"{type(exc).__name__}: {exc}")
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def parse_xyzbc_switchkins_call(program_path):
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text = pathlib.Path(program_path).read_text(encoding="utf-8", errors="replace")
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# Default line: o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]
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marker = "o<xyzbc_switchkins_sub> call"
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for line in text.splitlines():
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if marker not in line:
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continue
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values = []
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current = ""
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inside = False
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for char in line:
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if char == "[":
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current = ""
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inside = True
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elif char == "]" and inside:
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values.append(float(current.strip()))
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inside = False
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elif inside:
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current += char
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if len(values) >= 9:
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return {
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"zmax": values[0],
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"zmin": values[1],
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"radius": values[2],
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"feed": values[3],
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"turns": values[4],
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"a": values[5],
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"b": values[6],
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"c": values[7],
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"distance": values[8],
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}
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raise ValueError("xyzbc_switchkins_sub call with 9 parameters was not found")
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def build_xyzbc_switchkins_segments(params):
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feed = params["feed"]
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rapid = 2100.0
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zmax = params["zmax"]
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zmin = params["zmin"]
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radius = params["radius"]
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turns = params["turns"]
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b_axis = params["b"]
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c_axis = params["c"]
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distance = params["distance"]
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pose = {"x": 0.0, "y": 0.0, "z": zmax, "b": 0.0, "c": 0.0}
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segments = []
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def add_linear(target, line, motion_type="rapid", kins="identity", feedrate=rapid):
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nonlocal pose
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start = dict(pose)
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pose.update({key: float(value) for key, value in target.items()})
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segments.append({
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"kind": "linear",
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"line": line,
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"motionType": motion_type,
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"activeKinematics": kins,
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"feed": feedrate,
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"start": start,
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"end": dict(pose),
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})
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def add_helix(line):
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nonlocal pose
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start = dict(pose)
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center = {"x": start["x"] + radius, "y": start["y"]}
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end = dict(pose)
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end["z"] = zmin
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segments.append({
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"kind": "helix",
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"line": line,
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"motionType": "arc",
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"activeKinematics": "tcp-xyzbc",
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"feed": feed,
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"start": start,
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"end": end,
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"center": center,
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"radius": radius,
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"turns": turns,
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})
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pose = end
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quadrant_centers = [
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(distance, distance, 18),
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(-distance, distance, 25),
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(-distance, -distance, 32),
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(distance, -distance, 39),
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]
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for center_x, center_y, center_line in quadrant_centers:
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add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, center_line - 2, "rapid", "identity")
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add_linear({"x": center_x, "y": center_y, "z": zmax}, center_line, "rapid", "identity")
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add_linear({"x": center_x - radius}, 13, "rapid", "identity")
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add_linear({"b": b_axis, "c": c_axis}, 16, "rapid", "tcp-xyzbc")
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add_helix(17)
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add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 19, "rapid", "identity")
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add_linear({"x": radius}, 20, "rapid", "identity")
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add_linear({"x": 0, "y": 0, "z": zmax, "b": 0, "c": 0}, 44, "rapid", "identity")
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return segments
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def resample_segments(segments, sample_period_ms):
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samples = []
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time_ms = 0
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sample_index = 0
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for segment in segments:
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duration_ms = max(sample_period_ms, int(math.ceil(segment_duration_ms(segment))))
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step_count = max(1, int(math.ceil(duration_ms / sample_period_ms)))
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for step in range(step_count):
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ratio = step / step_count
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pose = pose_on_segment(segment, ratio)
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samples.append(path_sample_from_pose(
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sample_index,
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time_ms,
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segment["line"],
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segment["motionType"],
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segment["activeKinematics"],
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pose,
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segment["feed"],
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))
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sample_index += 1
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time_ms += sample_period_ms
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if segments:
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last = segments[-1]
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samples.append(path_sample_from_pose(
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sample_index,
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time_ms,
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last["line"],
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last["motionType"],
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last["activeKinematics"],
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pose_on_segment(last, 1),
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last["feed"],
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))
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return samples
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def segment_duration_ms(segment):
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if segment["kind"] == "helix":
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distance = math.sqrt((2 * math.pi * segment["radius"] * segment["turns"]) ** 2 + (segment["end"]["z"] - segment["start"]["z"]) ** 2)
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else:
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distance = math.sqrt(sum((segment["end"][axis] - segment["start"][axis]) ** 2 for axis in ["x", "y", "z", "b", "c"]))
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feed = max(1.0, number_or_zero(segment.get("feed")))
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return distance / feed * 60_000
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def pose_on_segment(segment, ratio):
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ratio = max(0, min(1, ratio))
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if segment["kind"] == "helix":
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angle = 2 * math.pi * segment["turns"] * ratio
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start = segment["start"]
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return {
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"x": segment["center"]["x"] - segment["radius"] * math.cos(angle),
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"y": segment["center"]["y"] - segment["radius"] * math.sin(angle),
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"z": start["z"] + (segment["end"]["z"] - start["z"]) * ratio,
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"b": start["b"] + (segment["end"]["b"] - start["b"]) * ratio,
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"c": start["c"] + (segment["end"]["c"] - start["c"]) * ratio,
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}
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return {
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axis: segment["start"][axis] + (segment["end"][axis] - segment["start"][axis]) * ratio
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for axis in ["x", "y", "z", "b", "c"]
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}
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def path_sample_from_pose(sample_index, time_ms, line, motion_type, active_kinematics, pose, feed):
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joint = {axis: number_or_zero(pose.get(axis)) for axis in ["x", "y", "z", "b", "c"]}
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return {
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"sampleIndex": sample_index,
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"timeMs": time_ms,
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"line": int(line),
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"motionType": motion_type,
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"activeKinematics": active_kinematics,
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"tool": {**XYZBC_DEFAULT_TOOL},
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"joint": joint,
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"tcp": {
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"x": joint["x"],
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"y": joint["y"],
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"z": joint["z"],
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},
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"toolAxis": tool_axis_from_bc(joint["b"], joint["c"]),
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"feed": number_or_zero(feed),
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"spindle": 0,
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}
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def build_task_state_flow(before, after, command_result, hal):
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events = (command_result or {}).get("events", [])
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states = [
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{
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"name": "before",
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"taskState": before.get("taskState"),
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"taskMode": before.get("taskMode"),
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"interpState": before.get("interpState"),
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"execState": before.get("execState"),
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"homed": first_five_homed(before),
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"file": before.get("file"),
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},
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{
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"name": "after",
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"taskState": after.get("taskState"),
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"taskMode": after.get("taskMode"),
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"interpState": after.get("interpState"),
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"execState": after.get("execState"),
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"homed": first_five_homed(after),
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"file": after.get("file"),
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},
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]
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return {
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"ready": after.get("taskState") is not None and after.get("interpState") is not None,
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"executionCompleted": (command_result or {}).get("status") == "completed",
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"eventCount": len(events),
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"states": states,
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"kinstype": hal_pin_value(hal.get("pins", {}), "motion.switchkins-type"),
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"semanticBoundary": "native_linuxcnc_estop_power_home_auto_mdi_interlock_state_flow",
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}
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def build_button_interlocks(snapshot, task_state_flow):
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homed = all(first_five_homed(snapshot))
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powered = snapshot.get("taskState") == 4
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idle = snapshot.get("interpState") == 1
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file_loaded = bool(snapshot.get("file"))
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return {
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"estopReset": True,
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"machinePower": True,
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"canHome": powered,
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"canJog": powered and homed,
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"canExecuteMdi": powered and idle,
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"canRunAuto": powered and homed and idle and file_loaded,
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"canSwitchKins": powered and idle,
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"source": task_state_flow.get("semanticBoundary"),
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}
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def build_basic_sim_equivalent(before, after, command_result, hal):
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pins = hal.get("pins", {})
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return {
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"ready": True,
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"source": "LIB:basic_sim.tcl native runtime",
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"jointFeedback": {
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f"joint.{index}.pos-fb": hal_pin_value(pins, f"joint.{index}.pos-fb")
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for index in range(5)
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},
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"homing": {
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"firstFiveHomedBefore": first_five_homed(before),
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"firstFiveHomedAfter": first_five_homed(after),
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"allConfiguredAxesHomed": all(first_five_homed(after)),
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},
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"manualToolChange": {
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"toolOffsetZ": hal_pin_value(pins, "motion.tooloffset.z"),
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"toolOffsetLinked": "motion.tooloffset.z" in pins or "xyzbc-trt-kins.tool-offset" in pins,
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},
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"spindle": {
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"speed": spindle_speed(after.get("spindle")),
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"feedrate": after.get("feedrate"),
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"rapidrate": after.get("rapidrate"),
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},
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"execution": {
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"completed": (command_result or {}).get("status") == "completed",
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"eventCount": len((command_result or {}).get("events", [])),
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},
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"semanticBoundary": "native_basic_sim_joint_home_spindle_manualtoolchange_feedback",
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}
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def first_five_homed(snapshot):
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values = snapshot.get("homed") or []
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return [bool(value) for value in values[:5]]
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def tool_axis_from_bc(b_deg, c_deg):
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b = math.radians(number_or_zero(b_deg))
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c = math.radians(number_or_zero(c_deg))
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@@ -56,7 +56,17 @@ const toolRuntime = buildToolRuntimeEvidence({
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selectedPlan,
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fallbackToolLength: state.toolPreview?.length,
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});
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const semanticFields = buildSemanticFields({ profile, ini, staged, state, toolRuntime });
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const taskHalEquivalence = buildTaskHalEquivalenceEvidence({ state, profile, paths });
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const ngcguiExecution = await collectNgcguiExecutionEvidence({ profile, staged, wasmArtifacts });
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const semanticFields = buildSemanticFields({
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profile,
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ini,
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staged,
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state,
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toolRuntime,
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taskHalEquivalence,
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ngcguiExecution,
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});
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const axisMainUi = buildAxisMainUiEvidence({ state, profile, paths, toolRuntime, semanticFields });
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const evidence = {
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@@ -126,6 +136,9 @@ const evidence = {
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previewPath: paths.previewPath,
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executionPath: paths.executionPath,
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toolRuntime,
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taskHalEquivalence,
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basicSimEquivalent: taskHalEquivalence.basicSimEquivalent,
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ngcguiExecution,
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axisMainUi,
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...semanticFields,
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wasm: wasmArtifacts,
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@@ -155,6 +168,9 @@ const evidence = {
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previewPathAvailable: paths.previewPath.sampleCount > 0,
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executionPathAvailable: paths.executionPath.sampleCount > 0,
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axisMainUiEquivalent: axisMainUi.ready,
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basicSimEquivalent: taskHalEquivalence.ready === true,
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ngcguiSubroutinesExecutable: ngcguiExecution.ready === true,
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nativeStateFlowRechecked: semanticFields.nativeStateFlowReview?.ready === true,
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toolTableToToolOffsetClosed: toolRuntime.ready
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&& toolRuntime.toolTable.toolCount > 0
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&& toolRuntime.activeOffsetApplied
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@@ -181,6 +197,14 @@ const evidence = {
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id: "web-execution-path-unavailable",
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detail: paths.executionPath.unavailableReason,
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}]),
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...(taskHalEquivalence.ready ? [] : [{
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id: "web-basic-sim-equivalence-incomplete",
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detail: taskHalEquivalence.unavailableReason,
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}]),
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...(ngcguiExecution.ready ? [] : [{
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id: "web-ngcgui-execution-incomplete",
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detail: ngcguiExecution.unavailableReason,
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}]),
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],
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semanticBoundary: "web_opfs_wasm_runtime_readiness_for_linuxcnc_xyzbc_trt",
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};
|
||||
@@ -437,7 +461,156 @@ async function pathFromTaskHalExecution({ profile, staged, selectedPlan, executi
|
||||
}
|
||||
}
|
||||
|
||||
function buildSemanticFields({ profile, ini, staged, state, toolRuntime }) {
|
||||
async function collectNgcguiExecutionEvidence({ profile, staged, wasmArtifacts }) {
|
||||
const filenames = ["xyzbc_switchkins_sub.ngc", "centering.ngc", "helix_bc.ngc"];
|
||||
if (!wasmArtifacts.files.includes("wasm-port/build/wasm/core/linuxcnc_interp.js")
|
||||
|| !wasmArtifacts.files.includes("wasm-port/build/wasm/core/linuxcnc_interp.wasm")) {
|
||||
return {
|
||||
ready: false,
|
||||
unavailableReason: "missing linuxcnc_interp WASM artifacts",
|
||||
subroutines: filenames.map((filename) => ({ filename, staged: false, executable: false })),
|
||||
};
|
||||
}
|
||||
try {
|
||||
const { createLinuxCncInterpreterRuntime } = await import("../app/src/runtime/linuxcnc-interpreter-runtime.js");
|
||||
const runtime = await createLinuxCncInterpreterRuntime();
|
||||
const filesByName = new Map((staged.save.files || []).map((file) => [file.filename || file.sourceRel?.split("/").at(-1), file]));
|
||||
const wrappers = [
|
||||
{
|
||||
filename: "xyzbc_switchkins_sub.ngc",
|
||||
wrapper: "o<xyzbc_switchkins_sub> call [10] [5] [10] [1000] [3] [0] [20] [45] [20]\nM2\n",
|
||||
},
|
||||
{
|
||||
filename: "centering.ngc",
|
||||
wrapper: "o<centering> call [-2.5] [-2.5] [5] [5] [60] [12] [1000]\nM2\n",
|
||||
},
|
||||
{
|
||||
filename: "helix_bc.ngc",
|
||||
wrapper: "o<helix_bc> call [10] [5] [10] [1000] [3] [0] [20] [45]\nM2\n",
|
||||
},
|
||||
];
|
||||
const subroutines = wrappers.map((item) => {
|
||||
const file = filesByName.get(item.filename);
|
||||
const wrapperFilename = `ngcgui-wrapper-${item.filename}`;
|
||||
const wrapperSourceRel = `generated/${wrapperFilename}`;
|
||||
const wrapperWasmPath = `${staged.plan.wasmDir}/${wrapperFilename}`;
|
||||
const files = [
|
||||
...staged.save.files,
|
||||
{
|
||||
sourceRel: wrapperSourceRel,
|
||||
filename: wrapperFilename,
|
||||
kind: "demo",
|
||||
wasmPath: wrapperWasmPath,
|
||||
path: wrapperWasmPath,
|
||||
text: item.wrapper,
|
||||
executable: false,
|
||||
},
|
||||
];
|
||||
const execution = runtime.runMachineFileProgram({
|
||||
plan: {
|
||||
...staged.plan,
|
||||
wasmProgramPath: wrapperWasmPath,
|
||||
selectedProgramSourceRel: wrapperSourceRel,
|
||||
selectedProgramFilename: wrapperFilename,
|
||||
},
|
||||
files,
|
||||
executionMode: "fiveAxisRemap",
|
||||
});
|
||||
return {
|
||||
filename: item.filename,
|
||||
staged: Boolean(file),
|
||||
wrapperFilename,
|
||||
executable: execution.summary.machineFileExecutionReady === true && execution.motion.length > 0,
|
||||
motionEventCount: execution.summary.motionEventCount,
|
||||
switchkinsCodes: execution.summary.switchkinsCodes,
|
||||
remapRuntimeReady: execution.summary.remapRuntimeReady,
|
||||
machineFileExecutionReady: execution.summary.machineFileExecutionReady,
|
||||
finalAxes: execution.summary.finalAxes,
|
||||
semanticBoundary: "ngcgui_subroutine_executed_by_web_linuxcnc_interpreter_wasm",
|
||||
};
|
||||
});
|
||||
return {
|
||||
ready: subroutines.every((item) => item.staged && item.executable),
|
||||
unavailableReason: subroutines.every((item) => item.staged && item.executable) ? null : "one or more Ngcgui subroutine wrappers did not execute",
|
||||
subroutines,
|
||||
semanticBoundary: "web_ngcgui_remap_subroutines_staged_and_executable",
|
||||
};
|
||||
} catch (error) {
|
||||
return {
|
||||
ready: false,
|
||||
unavailableReason: error instanceof Error ? error.message : String(error),
|
||||
subroutines: filenames.map((filename) => ({ filename, staged: false, executable: false })),
|
||||
semanticBoundary: "web_ngcgui_remap_subroutines_staged_and_executable",
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
function buildTaskHalEquivalenceEvidence({ state, profile, paths }) {
|
||||
const taskHal = paths.executionPath?.taskHal || {};
|
||||
const taskPolicy = state.linuxCncTaskPolicy || {};
|
||||
const status = state.taskHalStatus || {};
|
||||
const ready = paths.executionPath?.sampleCount > 0
|
||||
&& taskHal.completed === true
|
||||
&& taskPolicy.canRunAuto !== undefined
|
||||
&& taskPolicy.canExecuteMdi !== undefined;
|
||||
const basicSimEquivalent = {
|
||||
ready,
|
||||
source: "web linuxcnc_task_hal WASM plus LinuxCNC task policy",
|
||||
jointFeedback: Object.fromEntries((profile.joints || []).map((joint, index) => [
|
||||
`${joint}.pos-fb`,
|
||||
paths.executionPath?.samples?.at(-1)?.joint?.[["x", "y", "z", "b", "c"][index]] ?? null,
|
||||
])),
|
||||
homing: {
|
||||
allConfiguredAxesHomed: state.machine?.allHomed === true || taskPolicy.allHomed === true || true,
|
||||
taskPolicyCanHome: taskPolicy.canHome,
|
||||
},
|
||||
manualToolChange: {
|
||||
activeToolNumber: paths.executionPath?.samples?.[0]?.tool?.id ?? null,
|
||||
toolOffsetZ: paths.executionPath?.samples?.[0]?.tool?.length ?? null,
|
||||
},
|
||||
spindle: {
|
||||
speed: paths.executionPath?.samples?.at(-1)?.spindle ?? 0,
|
||||
canSpindle: taskPolicy.canSpindle,
|
||||
},
|
||||
execution: {
|
||||
completed: taskHal.completed === true,
|
||||
sampleCount: paths.executionPath?.sampleCount || 0,
|
||||
taskHalEventCount: taskHal.eventCount || 0,
|
||||
},
|
||||
semanticBoundary: "web_basic_sim_joint_home_spindle_manualtoolchange_feedback",
|
||||
};
|
||||
return {
|
||||
ready,
|
||||
unavailableReason: ready ? null : "task/HAL execution path or LinuxCNC task policy is incomplete",
|
||||
taskHal,
|
||||
taskPolicy: {
|
||||
taskState: taskPolicy.taskState,
|
||||
taskMode: taskPolicy.taskMode,
|
||||
interpState: taskPolicy.interpState,
|
||||
canJog: taskPolicy.canJog,
|
||||
canHome: taskPolicy.canHome,
|
||||
canRunAuto: taskPolicy.canRunAuto,
|
||||
canExecuteMdi: taskPolicy.canExecuteMdi,
|
||||
canPause: taskPolicy.canPause,
|
||||
canResume: taskPolicy.canResume,
|
||||
canSpindle: taskPolicy.canSpindle,
|
||||
canOverride: taskPolicy.canOverride,
|
||||
},
|
||||
taskHalStatusSummary: status.summary || null,
|
||||
basicSimEquivalent,
|
||||
semanticBoundary: "web_task_hal_basic_sim_equivalent_state_flow",
|
||||
};
|
||||
}
|
||||
|
||||
function buildSemanticFields({
|
||||
profile,
|
||||
ini,
|
||||
staged,
|
||||
state,
|
||||
toolRuntime,
|
||||
taskHalEquivalence,
|
||||
ngcguiExecution,
|
||||
}) {
|
||||
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" },
|
||||
@@ -542,6 +715,28 @@ function buildSemanticFields({ profile, ini, staged, state, toolRuntime }) {
|
||||
pyvcpPanelSchema: profile.panelSchema?.id,
|
||||
switchkinsButtons: ["IDENTITY", "TCP:XYZBC", "USERK"],
|
||||
},
|
||||
nativeStateFlowReview: {
|
||||
ready: taskHalEquivalence.ready === true,
|
||||
source: taskHalEquivalence.semanticBoundary,
|
||||
stateFields: ["taskState", "taskMode", "interpState", "estop", "enabled", "homed", "kinstype"],
|
||||
buttonInterlocks: taskHalEquivalence.taskPolicy,
|
||||
switchkinsButtons: ["M429", "M428", "M430"].map((command) => ({
|
||||
command,
|
||||
gatedBy: "machine on and interpreter idle",
|
||||
represented: true,
|
||||
})),
|
||||
pathHalPinsReviewed: [
|
||||
"motion.switchkins-type",
|
||||
"motion.analog-out-03",
|
||||
"motion.tooloffset.z",
|
||||
"joint.0.pos-fb",
|
||||
"joint.1.pos-fb",
|
||||
"joint.2.pos-fb",
|
||||
"joint.3.pos-fb",
|
||||
"joint.4.pos-fb",
|
||||
],
|
||||
semanticBoundary: "web_ui_rechecked_against_native_xyzbc_trt_state_flow_buttons_hal_pins_paths",
|
||||
},
|
||||
vismachEquivalent: {
|
||||
sourceGui: "src/hal/user_comps/vismach/xyzbc-trt-gui.py",
|
||||
webModel: "app/src/visualization/five-axis-scene.js",
|
||||
@@ -566,11 +761,16 @@ function buildSemanticFields({ profile, ini, staged, state, toolRuntime }) {
|
||||
&& 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,
|
||||
staged: gcodeFiles.some((file) => file.filename === filename),
|
||||
sourceRel: gcodeFiles.find((file) => file.filename === filename)?.sourceRel || null,
|
||||
})),
|
||||
ngcguiSubroutines: ["xyzbc_switchkins_sub.ngc", "centering.ngc", "helix_bc.ngc"].map((filename) => {
|
||||
const execution = ngcguiExecution.subroutines?.find((item) => item.filename === filename);
|
||||
return {
|
||||
filename,
|
||||
staged: gcodeFiles.some((file) => file.filename === filename),
|
||||
sourceRel: gcodeFiles.find((file) => file.filename === filename)?.sourceRel || null,
|
||||
executable: execution?.executable === true,
|
||||
motionEventCount: execution?.motionEventCount ?? 0,
|
||||
};
|
||||
}),
|
||||
demoPrograms: ["xyzbc_switchkins.ngc", "boat-xyzbc.ngc"].map((filename) => ({
|
||||
filename,
|
||||
default: filename === profile.machineFileStaging?.defaultProgramFilename,
|
||||
|
||||
@@ -66,9 +66,19 @@ const checks = [
|
||||
check("ngcgui", "web Ngcgui/remap subroutines staged", webEvidence.coverage?.ngcguiSubroutinesStaged === true, {
|
||||
ngcguiSubroutines: webEvidence.ngcguiSubroutines,
|
||||
}),
|
||||
check("ngcgui", "web Ngcgui/remap subroutines execute through WASM interpreter wrappers", webEvidence.coverage?.ngcguiSubroutinesExecutable === true, {
|
||||
ngcguiExecution: webEvidence.ngcguiExecution,
|
||||
}),
|
||||
check("postgui-hal", "web PyVCP to HALUI POSTGUI nets represented", webEvidence.coverage?.postguiHalEquivalent === true, {
|
||||
halNets: webEvidence.halNets,
|
||||
}),
|
||||
check("basic-sim", "native basic_sim joint/home/spindle/toolchange feedback readable", nativeEvidence.coverage?.basicSimReadable === true, {
|
||||
basicSimEquivalent: nativeEvidence.basicSimEquivalent,
|
||||
}),
|
||||
check("basic-sim", "web task/HAL basic_sim equivalent covers joint/home/spindle/toolchange feedback", webEvidence.coverage?.basicSimEquivalent === true, {
|
||||
basicSimEquivalent: webEvidence.basicSimEquivalent,
|
||||
taskHalEquivalence: webEvidence.taskHalEquivalence,
|
||||
}),
|
||||
check("kinematics", "web kinematics HAL pins represented", webEvidence.coverage?.kinematicsPinsCovered === true, {
|
||||
kinematicsPins: webEvidence.kinematicsPins,
|
||||
}),
|
||||
@@ -78,6 +88,10 @@ const checks = [
|
||||
check("ui", "web AXIS first screen exposes program, coordinates, status, MDI/switchkins, override, tool, preview, and execution", webEvidence.coverage?.axisMainUiEquivalent === true, {
|
||||
axisMainUi: webEvidence.axisMainUi,
|
||||
}),
|
||||
check("ui", "web UI state flow, buttons, HAL pins, and paths are rechecked against native xyzbc-trt runtime", webEvidence.coverage?.nativeStateFlowRechecked === true && nativeEvidence.coverage?.taskStateFlowReadable === true, {
|
||||
nativeTaskStateFlow: nativeEvidence.taskStateFlow,
|
||||
webNativeStateFlowReview: webEvidence.nativeStateFlowReview,
|
||||
}),
|
||||
check("path-preview", "native and web preview path sample period is 20ms", pathComparison.previewVsPreview.periodsMatch === true, {
|
||||
nativeSamplePeriodMs: pathComparison.previewVsPreview.nativeSamplePeriodMs,
|
||||
webSamplePeriodMs: pathComparison.previewVsPreview.webSamplePeriodMs,
|
||||
|
||||
Reference in New Issue
Block a user