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mes123456
2026-07-02 08:01:34 -04:00
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<text x="60" y="70" class="title">刀具预览路径与执行路径 JSON 比对流程</text>
<text x="60" y="110" class="sub">真实 LinuxCNC 与 Web 仿真统一采用 20 ms 采样周期，便于曲线、姿态和 switchkins 状态逐点对齐。</text>
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<text x="110" y="220" class="head">LinuxCNC 真实系统</text>
<text x="110" y="270" class="body">1. 加载 xyzbc-trt.ini</text>
<text x="110" y="310" class="body">2. 预览 xyzbc_switchkins.ngc</text>
<text x="110" y="350" class="body">3. 采集 status / HAL / path</text>
<rect x="75" y="505" width="440" height="225" class="web"/>
<text x="110" y="555" class="head">Web 仿真系统</text>
<text x="110" y="605" class="body">1. 解析同一组配置和程序</text>
<text x="110" y="645" class="body">2. 生成等价预览和执行轨迹</text>
<text x="110" y="685" class="body">3. 输出同字段 evidence JSON</text>
<rect x="620" y="210" width="360" height="145" class="json"/>
<text x="660" y="260" class="head">native-evidence.json</text>
<text x="660" y="305" class="small">previewPath / executionPath / halPins</text>
<rect x="620" y="545" width="360" height="145" class="json"/>
<text x="678" y="595" class="head">web-evidence.json</text>
<text x="660" y="640" class="small">同 sampleIndex / timeMs / 坐标系</text>
<rect x="1080" y="360" width="410" height="185" class="box"/>
<text x="1125" y="410" class="head">逐点对齐和误差计算</text>
<text x="1125" y="458" class="body">位置误差：X/Y/Z/B/C</text>
<text x="1125" y="498" class="body">TCP 误差：toolTip 与 toolAxis</text>
<text x="1125" y="538" class="body">状态误差：kinsType / G-code / HAL</text>
<rect x="1080" y="645" width="410" height="115" class="ok"/>
<text x="1135" y="695" class="head">compare-report.json</text>
<text x="1135" y="735" class="small">max / rms / firstMismatch / screenshots</text>
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<text x="642" y="790" class="head">samplePeriodMs = 20</text>
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<text x="645" y="845" class="small">所有曲线采样周期固定一致，禁止真实系统与 Web 系统使用不同周期。</text>
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<text x="60" y="70" class="title">xyzbc-trt 程序逻辑总图</text>
<text x="60" y="112" class="sub">从文件装载、运动学、HAL、界面、执行到证据采样的完整逻辑链路。</text>
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<text x="95" y="218" class="head">配置与程序文件</text>
<text x="95" y="262" class="body">xyzbc-trt.ini</text>
<text x="95" y="298" class="body">xyzbc-trt.xml</text>
<text x="95" y="334" class="body">switchkins_postgui.hal</text>
<rect x="60" y="380" width="330" height="210" class="box file"/>
<text x="95" y="428" class="head">演示与参数文件</text>
<text x="95" y="472" class="body">xyzbc_switchkins.ngc</text>
<text x="95" y="508" class="body">428/429/430 remap</text>
<text x="95" y="544" class="body">xyzbc-trt.tbl / xyzbc.var</text>
<text x="95" y="580" class="body">remap_subs/*.ngc</text>
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<text x="510" y="205" class="head">启动与装载</text>
<text x="510" y="250" class="body">rip-environment 设置 RIP 环境</text>
<text x="510" y="286" class="body">linuxcnc 读取 xyzbc-trt.ini</text>
<text x="510" y="322" class="body">HALFILE / POSTGUI_HALFILE 装配</text>
<text x="510" y="358" class="body">open_file = ./demos/xyzbc_switchkins.ngc</text>
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<text x="510" y="480" class="head">运动学与 HAL</text>
<text x="510" y="524" class="body">xyzbc-trt-kins.c</text>
<text x="510" y="560" class="body">switchkins.c / kinstype.is.N</text>
<text x="510" y="596" class="body">trtfuncs.c / xyzbc forward-inverse</text>
<text x="510" y="632" class="body">motion.switchkins-type &lt;= motion.analog-out-03</text>
<text x="510" y="668" class="body">tool-offset / x-offset / z-offset / conventional-directions</text>
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<text x="1000" y="205" class="head">界面与交互</text>
<text x="1000" y="249" class="body">AXIS 主界面</text>
<text x="1000" y="285" class="body">PyVCP SWITCHKINS 面板</text>
<text x="1000" y="321" class="body">MDI / 点动 / DRO / 程序</text>
<text x="1000" y="357" class="body">vismach-clear / 相机视图</text>
<rect x="965" y="430" width="370" height="240" class="box ui"/>
<text x="1000" y="480" class="head">三维机床模型</text>
<text x="1000" y="524" class="body">xyzbc-trt-gui.py</text>
<text x="1000" y="560" class="body">table-x / saddle-y / spindle-z</text>
<text x="1000" y="596" class="body">tilt-b / rotate-c / tool-offset</text>
<text x="1000" y="632" class="body">Three.js 等价模型</text>
<text x="1000" y="668" class="body">显示路径、刀具、工件、姿态</text>
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<text x="1440" y="255" class="head">运行状态</text>
<text x="1440" y="299" class="body">task_state / interp_state</text>
<text x="1440" y="335" class="body">joint.*.pos-fb / DRO</text>
<text x="1440" y="371" class="body">kinstype.is-0/1/2</text>
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<text x="1440" y="520" class="head">路径证据 JSON</text>
<text x="1440" y="564" class="body">previewPath / executionPath</text>
<text x="1440" y="600" class="body">samplePeriodMs = 20</text>
<text x="1440" y="636" class="body">screenshots / compare-report</text>
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<text x="510" y="812" class="head">关键约束</text>
<text x="510" y="856" class="body">1. switchkins 切换前必须同步解释器和 motion，程序中用 M428/M429/M430 或等价 HAL/MDI 触发。</text>
<text x="510" y="892" class="body">2. 真实系统与 Web 系统的路径采样周期必须一致，当前统一为 20 ms，禁止一端快一端慢。</text>
<text x="510" y="928" class="body">3. UI 只反映 HAL 和状态机，不直接篡改机床内部状态；所有操作必须回到 HAL/任务/运动学层。</text>
<text x="510" y="964" class="body">4. 五轴姿态、tooloffset、x/z offset、conventional-directions 与原型系统一致后，才能进入对比验收。</text>
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<text x="60" y="70" class="title">xyzbc-trt 完全对标的 Web 数控仿真架构</text>
<text x="60" y="110" class="sub">以 LinuxCNC 真实运行链路为基线，Web 端逐项复刻界面、运动学、HAL 语义和路径证据。</text>
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<text x="95" y="215" class="box-title">LinuxCNC 原型系统</text>
<text x="95" y="265" class="body">rip-environment + linuxcnc</text>
<text x="95" y="310" class="body">xyzbc-trt.ini</text>
<text x="95" y="355" class="body">AXIS 主界面 + PyVCP 面板</text>
<text x="95" y="400" class="body">Vismach 机床模型 xyzbc-trt-gui</text>
<text x="95" y="445" class="body">HAL: basic_sim.tcl / postgui HAL</text>
<text x="95" y="490" class="body">KINS: xyzbc-trt-kins switchkins</text>
<text x="95" y="535" class="body">TASK / motion / tool table / var</text>
<text x="95" y="580" class="body">演示程序 xyzbc_switchkins.ngc</text>
<text x="95" y="645" class="small">运行路径：/home/mes123456/cnc_wams/linuxcnc</text>
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<text x="1055" y="215" class="box-title">Web 数控仿真系统</text>
<text x="1055" y="265" class="body">浏览器首屏 CNC 工作台</text>
<text x="1055" y="310" class="body">INI/XML/HAL/NGC/TBL/VAR 解析器</text>
<text x="1055" y="355" class="body">AXIS 等价 UI 与 PyVCP 等价控件</text>
<text x="1055" y="400" class="body">Three.js 五轴机床与刀具路径</text>
<text x="1055" y="445" class="body">HAL 信号总线与 switchkins 状态机</text>
<text x="1055" y="490" class="body">XYZBC 正逆运动学与 TCP 模式</text>
<text x="1055" y="535" class="body">预览、执行、MDI、复位、清轨迹</text>
<text x="1055" y="580" class="body">证据 JSON 导出和对比报告</text>
<text x="1055" y="645" class="small">目标：功能、状态、路径、误差可量化对标</text>
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<text x="621" y="205" class="small">真实系统采样</text>
<text x="996" y="205" class="small">Web 复刻与回放</text>
<text x="1005" y="535" class="small">差异闭环</text>
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