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491
web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md
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491
web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md
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# 05-验收证据
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## DOCX 整合验收
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### 源文件
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```text
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web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx
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```
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### 输出文件
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```text
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web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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```
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### 包结构检查结论
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```text
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DOCX 正文段落数：507
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DOCX 图片数：5
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图片文件：
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- word/media/xyzbc-trt-axis-window.png
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- word/media/xyzbc-trt-desktop.png
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- word/media/xyzbc-trt-json-compare-flow.png
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- word/media/xyzbc-trt-logic-map.png
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- word/media/xyzbc-trt-web-architecture.png
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```
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### Markdown 输出检查
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```bash
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wc -l web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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rg -n "^## |图 1|图 2|图 3|图 4|图 5|状态联锁|Evidence JSON|开发任务分解|验收标准|风险" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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rg -n "!\\[" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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```
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结果：
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```text
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364 web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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检索到 1-11 章关键章节。
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检索到 5 张图片引用，均指向 ../doc/assets/。
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```
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结论：
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- DOCX 任务书已整合到 `working/09-设计任务书与技术方案整合.md`。
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- 该 Markdown 保留任务书、技术方案、开发任务分解、验收标准、风险控制、源码级程序逻辑分析和状态联锁章节。
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- `working/README.md` 和 `04-任务矩阵.md` 已登记该整合项。
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## 本轮命令证据
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### 读取对标文档
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```bash
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sed -n '1,240p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
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sed -n '241,520p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
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```
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结论：
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- `xyzbc-trt.ini` 使用 `DISPLAY=axis`、`PYVCP=./xyzbc-trt.xml`、`OPEN_FILE=./demos/xyzbc_switchkins.ngc`。
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- `switchkins_postgui.hal` 连接 PyVCP 按钮到 `halui.mdi-command-00/01/02`。
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- `M429/M428/M430` 分别选择 identity、XYZBC TCP、userk。
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### 检查 WASM 支撑
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```bash
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rg -n "xyzbc|xyzbc-trt|supportedLinuxCncKinematicsModules|linuxcnc_xyzbc" wasm-port web-rtcp-5axis-sim-plan/tests web-rtcp-5axis-sim-plan/app/src
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```
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结论：
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- SDK 包含 `xyzbc-trt -> linuxcnc_xyzbc_trt_kinematics.wasm`。
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- native probe 包含 `linuxcnc_xyzbc_trt_kinematics_probe.cpp`。
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- remap 执行 harness 包含 `xyzbc-trt.ini`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc`。
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### 检查当前 artifact
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```bash
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find wasm-port/build/wasm -maxdepth 3 -type f
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```
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结果：
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```text
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find: ‘wasm-port/build/wasm’: No such file or directory
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```
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结论：
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- 当前仓库没有已生成的 WASM artifact。
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- 完整浏览器运行前必须先构建 WASM。
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### 检查参数文件基线
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```bash
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ls -l wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var
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```
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结果：
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```text
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/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var 存在
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wasm-port/vendor/.../xyzbc.var 当前不存在
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linuxcnc/.../xyzbc.var 当前不存在
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```
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结论：
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- `xyzbc.var` 是需要补充导入的运行态参数文件基线。
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- 历史轮次已从 `/home/mes123456/linuxcnc-master/.../xyzbc.var` 导入到 `wasm-port/vendor/linuxcnc/.../xyzbc.var`，并加入 `wasm-port/tools/source-manifest.txt`；后续若以 `/home/mes123456/cnc_wams/linuxcnc` 为新 native 基线，应重新核对该参数文件是否与当前运行树一致。
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## 已运行验收
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### native 基线切换验收
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后续真实 LinuxCNC 对标基线统一为：
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```text
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/home/mes123456/cnc_wams/linuxcnc
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```
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必须先确认这些文件存在：
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```bash
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test -x /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment
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test -x /home/mes123456/cnc_wams/linuxcnc/bin/axis
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test -x /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
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test -f /home/mes123456/cnc_wams/linuxcnc/rtlib/xyzbc-trt-kins.so
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test -f /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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```
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本轮自动检查结果：
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||||
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```text
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scripts/rip-environment: ok
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scripts/linuxcnc: ok
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bin/axis: ok
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bin/xyzbc-trt-gui: ok
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bin/milltask: ok
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bin/linuxcncsvr: ok
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bin/halui: ok
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rtlib/xyzbc-trt-kins.so: ok
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rtlib/tpmod.so: ok
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lib/python/linuxcnc.so: ok
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xyzbc-trt.ini: ok
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```
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||||
说明：
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- native evidence 的 `sourceRoot` 后续必须写为 `/home/mes123456/cnc_wams/linuxcnc`。
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- `/home/mes123456/linuxcnc-master` 只作为历史运行参考；新一轮 Web 对标和 compare 以 `/home/mes123456/cnc_wams/linuxcnc` 的真实执行结果为准。
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||||
|
||||
### LinuxCNC RIP 编译证据
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执行命令：
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||||
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```bash
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cd /home/mes123456/cnc_wams/linuxcnc/src
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./autogen.sh
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./configure --with-realtime=uspace --disable-build-documentation
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env -u DEBUG make -j"$(nproc)"
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sudo -n make setuid
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||||
```
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||||
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||||
关键过程：
|
||||
|
||||
- 首次直接执行 `make -j"$(nproc)"` 失败，原因是当前 shell 环境存在 `DEBUG=release`，LinuxCNC Makefile 将 `$(DEBUG)` 拼入编译参数，导致 `gcc/c++` 把裸参数 `release` 当作输入文件。
|
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- 使用 `env -u DEBUG make -j"$(nproc)"` 重新编译通过。
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- `sudo -n make setuid` 成功设置 `bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 的 root/setuid 权限。
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||||
验证命令：
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```bash
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source /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment >/dev/null
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command -v linuxcnc
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command -v axis
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command -v halcmd
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python3 - <<'PY'
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import linuxcnc
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print("python_linuxcnc_import=ok")
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print("linuxcnc_module=", linuxcnc.__file__)
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PY
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```
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验证结果：
|
||||
|
||||
```text
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/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc
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/home/mes123456/cnc_wams/linuxcnc/bin/axis
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/home/mes123456/cnc_wams/linuxcnc/bin/halcmd
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python_linuxcnc_import=ok
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linuxcnc_module= /home/mes123456/cnc_wams/linuxcnc/lib/python/linuxcnc.so
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```
|
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|
||||
### `xyzbc-trt` 快捷方式与执行证据
|
||||
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快捷方式路径：
|
||||
|
||||
```text
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||||
/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop
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||||
```
|
||||
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||||
快捷方式内容：
|
||||
|
||||
```text
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Exec=/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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Icon=/home/mes123456/cnc_wams/linuxcnc/linuxcncicon.png
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```
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执行方式：
|
||||
|
||||
```bash
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setsid bash -lc 'cd /home/mes123456/cnc_wams/linuxcnc && exec /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini' \
|
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> /tmp/xyzbc-trt-cnc_wams-linuxcnc.log 2>&1 < /dev/null &
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```
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||||
|
||||
当前进程证据：
|
||||
|
||||
```text
|
||||
/bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc .../xyzbc-trt.ini
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linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
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/home/mes123456/cnc_wams/linuxcnc/bin/rtapi_app load tpmod
|
||||
milltask -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
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halui -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
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/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/hal_manualtoolchange
|
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/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
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||||
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
||||
```
|
||||
|
||||
HAL/Python 验证：
|
||||
|
||||
```text
|
||||
motion.switchkins-type = 0
|
||||
loaded file = ./demos/xyzbc_switchkins.ngc
|
||||
axis_mask = 55
|
||||
position = [0.0, 0.0, 0.0, 0.0, 0.0]
|
||||
```
|
||||
|
||||
目标 Node smoke：
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
|
||||
```
|
||||
|
||||
实际输出：
|
||||
|
||||
```text
|
||||
xyzbc_trt_web_app_smoke=ok
|
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```
|
||||
|
||||
静态 diff 检查：
|
||||
|
||||
```bash
|
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git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan
|
||||
```
|
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|
||||
实际结果：无输出，退出码为 0。
|
||||
|
||||
WASM artifact 检查：
|
||||
|
||||
```bash
|
||||
find wasm-port/build/wasm -maxdepth 3 -type f
|
||||
```
|
||||
|
||||
实际输出：
|
||||
|
||||
```text
|
||||
find: ‘wasm-port/build/wasm’: No such file or directory
|
||||
```
|
||||
|
||||
完整 WASM 验收：
|
||||
|
||||
```bash
|
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wasm-port/tools/build_kinematics_wasm.sh
|
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wasm-port/tools/build_wasm_core.sh
|
||||
wasm-port/tools/build_tp_wasm.sh
|
||||
wasm-port/tools/build_task_hal_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_kinematics_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_interp_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
```
|
||||
|
||||
### native/Web JSON 证据
|
||||
|
||||
真实 native 采集命令：
|
||||
|
||||
```bash
|
||||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment \
|
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python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
|
||||
```
|
||||
|
||||
输出：
|
||||
|
||||
```text
|
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native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
|
||||
```
|
||||
|
||||
结果摘要：
|
||||
|
||||
```text
|
||||
status=ok
|
||||
executionMode=auto-run
|
||||
commandResult.status=completed
|
||||
commandResult.events=1462
|
||||
```
|
||||
|
||||
Web 采集命令：
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
|
||||
```
|
||||
|
||||
输出：
|
||||
|
||||
```text
|
||||
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
|
||||
```
|
||||
|
||||
结果摘要：
|
||||
|
||||
```text
|
||||
profileDefaultXyzbc=true
|
||||
iniReady=true
|
||||
opfsStaged=true
|
||||
pyvcpXmlStaged=true
|
||||
remapsStaged=true
|
||||
toolTableStaged=true
|
||||
parameterFileStaged=true
|
||||
defaultProgramStaged=true
|
||||
wasmArtifactsReady=false
|
||||
```
|
||||
|
||||
对比命令：
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
|
||||
```
|
||||
|
||||
输出：
|
||||
|
||||
```text
|
||||
compare_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
|
||||
compare_xyzbc_trt_status=fail fail_count=1
|
||||
```
|
||||
|
||||
当前结论：
|
||||
|
||||
- 12 项对比中 11 项通过。
|
||||
- 唯一失败项是 `required WASM artifacts available`。
|
||||
- 当前环境已安装 `emcc 6.0.2`；剩余前置是执行 `wasm-port` 构建脚本生成 artifact，并重跑 evidence。
|
||||
|
||||
### 全量对标 JSON 验收要求
|
||||
|
||||
后续 native/Web evidence JSON 必须按 `07-全量对标追踪矩阵.md` 增加这些顶层或等效字段：
|
||||
|
||||
```text
|
||||
startupSequence
|
||||
iniDisplay
|
||||
halNets
|
||||
kinematicsPins
|
||||
axisJointLimits
|
||||
switchkinsTransitions
|
||||
toolTable
|
||||
toolOffsetFlow
|
||||
uiEquivalence
|
||||
vismachEquivalent
|
||||
ngcguiSubroutines
|
||||
demoPrograms
|
||||
pathSampling
|
||||
previewPath
|
||||
executionPath
|
||||
```
|
||||
|
||||
`compare-xyzbc-trt-evidence.json` 必须新增或扩展这些检查类别：
|
||||
|
||||
```text
|
||||
startup-sequence
|
||||
ini-display
|
||||
hal-nets
|
||||
kinematics-pins
|
||||
axis-joint-limits
|
||||
switchkins-transitions
|
||||
tool-offset-flow
|
||||
ui-equivalence
|
||||
vismach-equivalence
|
||||
ngcgui-subroutines
|
||||
demo-programs
|
||||
path-preview
|
||||
path-execution
|
||||
path-comparison
|
||||
```
|
||||
|
||||
必须逐项验证：
|
||||
|
||||
- `.desktop/rip-environment/linuxcnc` 启动顺序在 Web 中有等效 `startupSequence`。
|
||||
- `[DISPLAY]` 的 `DISPLAY`、`GEOMETRY`、`OPEN_FILE`、`PYVCP`、`JOG_AXES`、`POSITION_OFFSET`、`POSITION_FEEDBACK`、`MAX_*`、`TOOL_EDITOR`、`NGCGUI_*` 有 Web 等效字段或 UI。
|
||||
- `[TRAJ]`、`[KINS]`、`[EMCMOT]`、`[TASK]`、`[EMCIO]` 的关键配置进入 JSON。
|
||||
- `switchkins_postgui.hal` 中 `pyvcp.*` 到 `halui.mdi-command-*` 的连接进入 `halNets`。
|
||||
- `basic_sim.tcl` 的模拟 joint/home/spindle/manualtoolchange 语义由 task/HAL evidence 证明。
|
||||
- `xyzbc-trt-gui.py` 的 HAL pin 和模型层级由 `vismachEquivalent` 证明。
|
||||
- `xyzbc-trt-kins` 的 offset、rot-point、conventional-directions、tool-offset pin 由 `kinematicsPins` 证明。
|
||||
- `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc` 都进入 staging 和可执行验收。
|
||||
- `xyzbc-trt.tbl` 的 `T1 P1 D1`、`T2 P2 Z10 D8` 解析后影响 tool offset、kinematics 和 Web 3D 刀具显示。
|
||||
|
||||
### 刀具预览/执行路径 JSON 验收要求
|
||||
|
||||
后续 native/Web evidence JSON 必须增加刀具预览路径和刀具执行路径：
|
||||
|
||||
```text
|
||||
working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||||
working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||||
working/evidence/native-xyzbc-trt-evidence.json.previewPath.samples[]
|
||||
working/evidence/native-xyzbc-trt-evidence.json.executionPath.samples[]
|
||||
working/evidence/web-xyzbc-trt-evidence.json.previewPath.samples[]
|
||||
working/evidence/web-xyzbc-trt-evidence.json.executionPath.samples[]
|
||||
working/evidence/compare-xyzbc-trt-evidence.json.pathComparison
|
||||
```
|
||||
|
||||
采样要求：
|
||||
|
||||
- `samplePeriodMs` 固定为 `20`，native/Web 两侧必须一致。
|
||||
- 样本必须通过 `sampleIndex` 和 `timeMs` 对齐。
|
||||
- 若原始采集周期不同，采集脚本或 compare 脚本必须重采样为 20ms 后再比较。
|
||||
- `previewPath` 只能表示预览/planner 路径；`executionPath` 必须来自真实执行反馈或 Web WASM task/HAL 执行反馈，不能用预览路径替代。
|
||||
|
||||
每个样本必须包含：
|
||||
|
||||
```text
|
||||
sampleIndex
|
||||
timeMs
|
||||
line
|
||||
motionType
|
||||
activeKinematics
|
||||
tool.id/tool.length/tool.diameter
|
||||
joint.x/joint.y/joint.z/joint.b/joint.c
|
||||
tcp.x/tcp.y/tcp.z
|
||||
toolAxis.i/toolAxis.j/toolAxis.k
|
||||
feed
|
||||
spindle
|
||||
```
|
||||
|
||||
compare 验收项：
|
||||
|
||||
```text
|
||||
pathComparison.previewVsPreview
|
||||
pathComparison.executionVsExecution
|
||||
pathComparison.previewVsExecutionNative
|
||||
pathComparison.previewVsExecutionWeb
|
||||
```
|
||||
|
||||
每个对比项至少输出：
|
||||
|
||||
```text
|
||||
maxTcpErrorMm
|
||||
rmsTcpErrorMm
|
||||
maxJointError
|
||||
rmsJointError
|
||||
maxToolAxisAngleDeg
|
||||
sampleCountDelta
|
||||
missingSamples
|
||||
```
|
||||
|
||||
当前状态：
|
||||
|
||||
- 现有三份 `working/evidence/*.json` 还没有上述路径字段。
|
||||
- 本轮未手工改写 JSON 证据文件；后续必须通过采集脚本重新生成。
|
||||
- Web 执行路径采集依赖 WASM artifact，artifact 缺失时 compare 必须保留 fail/blocker。
|
||||
|
||||
## 页面证据
|
||||
|
||||
目标页面：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html
|
||||
```
|
||||
|
||||
开发服务：
|
||||
|
||||
```bash
|
||||
cd web-rtcp-5axis-xyzbc-trt-sim-plan/app
|
||||
npm run dev
|
||||
```
|
||||
|
||||
URL：
|
||||
|
||||
```text
|
||||
http://127.0.0.1:4174/
|
||||
```
|
||||
Reference in New Issue
Block a user