完善五轴 RTCP 仿真与验证资料
This commit is contained in:
@@ -140,12 +140,12 @@ src/emc/kinematics/kins_util.c
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| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；browser/node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
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| Operator workflow | implemented_linuxcnc_task_policy_with_canonical_motion | 上电/急停/复位/模式/JOG/MDI/RUN/PAUSE/RESUME/STOP/HOME 通过 `linuxcnc_task_state_mode_command_gate`；普通程序执行来自 LinuxCNC canonical motion |
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| LinuxCNC boundary adapter | kinematics_and_interpreter_connected | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
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| Full execution boundary audit | implemented_task_motion_hal_simulation_runtime | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap/TP/task-HAL evidence；Web simulation boundary 可提升，仍明确 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false` |
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| Full execution boundary audit | implemented_task_motion_hal_simulation_runtime | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap/TP/task-HAL/tool-DB/user-M evidence；Web simulation boundary 可提升，仍明确 `hardwareDrive=false`、`hostRealtimeKernel=false`、`hostExternalUserMProcessReady=false`、`hostToolDbProcessReady=false`、`arbitraryUserMExecution=false` |
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| PyVCP/HAL panel schema | implemented_reference_only | `xyzac-trt-switchkins-pyvcp` 已整理 SWITCHKINS 控件与 HAL nets；不执行 native HAL |
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| Python GUI runtime | not_ported | 只参考，不运行 |
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| Python remap runtime | blocked | 不在第一版实现 |
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| tool DB runtime | blocked | 不在第一版实现 |
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| external user-M process | blocked | 不在第一版实现 |
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| tool DB runtime | web_simulation_only | 读取 staged `tool.tbl`，支持查询/编辑/保存刀具号、刀长、刀径、刀袋，并接入 `Tn/M6/G43/M61` 仿真状态；host tool DB process 仍为 false |
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| external user-M process | controlled_web_simulation_only | 只允许白名单 `M128/M129/M428/M429/M430` 输出 HAL/state 事件；任意 host user-M 脚本和系统进程执行仍为 false |
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| native hard realtime | out_of_scope | Web 仿真不实现 |
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## 5. 每批开发追溯记录模板
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@@ -1456,5 +1456,216 @@ Remaining risk:
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realtime kernel, hardware IO, external user-M process, or native tool DB
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process support.
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Next:
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none_from_development_continuation
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M23 adds controlled tool DB and user-M Web simulation while keeping host
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external process readiness false.
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```
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## 26. M23 受控 tool DB / user-M Web 仿真追溯记录
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```text
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Batch: M23-controlled-tool-db-user-m-web-simulation
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Date: 2026-07-01 CST
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Files changed:
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app/src/runtime/tool-db-simulation.js
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app/src/runtime/controlled-user-m-simulation.js
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app/src/runtime/full-execution-boundary.js
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app/src/runtime/native-task-hal-audit.js
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app/src/state/store.js
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app/src/main.js
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app/src/ui/gmoccapy-shell.js
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app/package.json
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tests/node/verify_tool_db_web_simulation.mjs
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tests/node/verify_tool_db_user_m_simulation.mjs
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tests/node/verify_full_execution_boundary.mjs
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tests/node/verify_machine_file_staging.mjs
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tests/node/verify_native_task_hal_audit.mjs
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tests/browser/gmoccapy_shell_smoke.html
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Feature:
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Implements the previously excluded red-box external user-M/tool DB capability
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as a controlled Web/WASM simulation boundary. The runtime reads staged
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LinuxCNC tool tables, models CANON_TOOL_TABLE fields, preserves LinuxCNC
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non-random changer idx versus pocketno semantics, keeps idx=0 as the spindle
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pocket, simulates tool prepare/load/read_tool_inputs/offset state, saves edits
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through OPFS or memory fallback, and converts whitelisted user-M/remap actions
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into traceable HAL/state events without executing arbitrary host scripts.
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LinuxCNC references:
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linuxcnc/src/emc/task/taskclass.cc:281
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linuxcnc/src/emc/task/taskclass.cc:425
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linuxcnc/src/emc/task/taskclass.cc:482
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linuxcnc/src/emc/task/taskclass.cc:527
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linuxcnc/src/emc/task/taskclass.cc:572
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linuxcnc/src/emc/task/taskclass.cc:614
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linuxcnc/src/emc/task/taskclass.hh
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linuxcnc/src/emc/tooldata/tooldata_common.cc:70
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linuxcnc/src/emc/tooldata/tooldata_common.cc:365
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linuxcnc/src/emc/nml_intf/emctool.h:29
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linuxcnc/src/emc/nml_intf/emc.hh
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linuxcnc/src/emc/rs274ngc/interp_convert.cc:6236
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linuxcnc/src/emc/rs274ngc/interp_find.cc:716
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linuxcnc/src/emc/task/emctask.cc
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linuxcnc/src/emc/task/emccanon.cc
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.tbl
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
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Boundary:
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toolDbProcessReady=true for web_simulation_only
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externalUserMProcessReady=true for web_simulation_only
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toolDbProcessScope=web_simulation_only
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externalUserMProcessScope=web_simulation_only
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hostToolDbProcessReady=false
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hostExternalUserMProcessReady=false
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arbitraryUserMExecution=false
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hostProcessExecution=false
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Tests:
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node web-rtcp-5axis-sim-plan/tests/node/verify_tool_db_web_simulation.mjs
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node web-rtcp-5axis-sim-plan/tests/node/verify_tool_db_user_m_simulation.mjs
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node web-rtcp-5axis-sim-plan/tests/node/verify_full_execution_boundary.mjs
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node web-rtcp-5axis-sim-plan/tests/node/verify_machine_file_staging.mjs
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node web-rtcp-5axis-sim-plan/tests/node/verify_native_task_hal_audit.mjs
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Result:
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tool_db_web_simulation_smoke=ok
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staged_tool_tbl_loaded=1
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tool_db_query_edit_save=1
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tool_db_t_m6_g43_state=1
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tool_db_memory_fallback_save=1
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host_tool_db_process=0
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tool_db_user_m_simulation_smoke=ok
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tool_db_process_ready_web_simulation_only=1
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external_user_m_process_ready_web_simulation_only=1
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arbitrary_user_m_blocked=1
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host_process_execution=0
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Remaining risk:
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This does not implement LinuxCNC DB_PROGRAM, random changer semantics, native
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host tool DB services, arbitrary user-M script execution, or hardware IO.
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Next:
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Keep whitelist entries and tool-table fields traceable to staged LinuxCNC
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source assets when new machine profiles are added.
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```
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## 27. M24 XYZBC TRT kinematics parity proof 追溯记录
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```text
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Batch: M24-xyzbc-trt-kinematics-parity
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Date: 2026-07-01 CST
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Files changed:
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app/src/runtime/rtcp-frame.js
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app/src/visualization/five-axis-scene.js
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tests/node/verify_linuxcnc_kinematics_runtime.mjs
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tests/node/verify_rtcp_store.mjs
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docs/development-continuation.md
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docs/linuxcnc-parity-matrix.md
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docs/program-implementation-guide.md
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Feature:
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Completes the next five-axis parity step for the XYZBC table rotary tilting
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profile. The Web RTCP frame now preserves B in tcpPose for both fixture and
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LinuxCNC kinematics frames, the Three.js diagnostic dataset exposes the same
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B-axis TCP pose, and the runtime smoke proves both XYZAC and XYZBC TRT WASM
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modules in switchkins TCP mode.
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LinuxCNC references:
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linuxcnc/src/emc/kinematics/xyzac-trt-kins.c
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linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c
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linuxcnc/src/emc/kinematics/trtfuncs.c
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linuxcnc/src/emc/kinematics/switchkins.c
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
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linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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Boundary:
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semanticBoundary=linuxcnc_kinematics_wasm_c_abi
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scope=node_direct_web_runtime_proof
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hardwareDrive=false
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hostRealtimeKernel=false
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Tests:
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node --check app/src/runtime/rtcp-frame.js
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node --check app/src/visualization/five-axis-scene.js
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node tests/node/verify_linuxcnc_kinematics_runtime.mjs
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node tests/node/verify_rtcp_store.mjs
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Result:
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xyzac_trt_kinematics_runtime=ok
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xyzbc_trt_kinematics_runtime=ok
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linuxcnc_kinematics_runtime_smoke=ok
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xyzbc_b_axis_tcp_pose_preserved=1
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rtcp_store_smoke=ok
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Remaining risk:
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This is still browser/Web runtime parity. It does not promote hardware IO,
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host realtime kernel execution, or native LinuxCNC task/HAL processes.
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Next:
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Keep XYZBC browser smoke evidence aligned with B-axis tcpPose when expanding
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UI diagnostics or adding additional TRT machine profiles.
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```
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## 28. M25 gmoccapy XYZAC TRT RTCP 页面对标追溯记录
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```text
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Batch: M25-gmoccapy-xyzac-trt-rtcp-parity
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Date: 2026-07-01 CST
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Files changed:
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app/src/profiles/gmoccapy-xyzac-trt.js
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app/src/profiles/index.js
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app/src/profiles/source-reference-map.js
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app/src/profiles/xyzac-trt.js
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app/src/runtime/linuxcnc-machine-file-staging.js
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app/src/runtime/linuxcnc-ini-runtime.js
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app/src/state/store.js
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app/src/main.js
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app/scripts/build-static.mjs
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app/package.json
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tests/node/verify_gmoccapy_xyzac_trt_parity.mjs
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tests/browser/gmoccapy_shell_smoke.html
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docs/gmoccapy-xyzac-trt-rtcp-verification-evaluation.md
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docs/linuxcnc-parity-matrix.md
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docs/program-implementation-guide.md
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docs/development-continuation.md
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wasm-port/tools/source-manifest.txt
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wasm-port/vendor/linuxcnc/configs/sim/gmoccapy/...
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Feature:
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Adds a gmoccapy-specific XYZAC table-rotary-tilting profile that maps the
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LinuxCNC gmoccapy non-trivial kinematics sample into the Web page. The profile
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preserves DISPLAY=gmoccapy, OPEN_FILE examples/impeller-7bl-xyzac.ngc,
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JOG_AXES=XYZC, M6/M61 gmoccapy remaps, POSTGUI tool/spindle HAL pins, gmoccapy
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macros, tool table, and fixed TRT default TCP semantics.
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LinuxCNC references:
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linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.ini
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linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/postgui.hal
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linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt.tbl
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linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/xyzac-trt_cmds.hal
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linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/*.ngc
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linuxcnc/configs/sim/gmoccapy/macros/change_g43.ngc
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linuxcnc/configs/sim/gmoccapy/macros/settool_g43.ngc
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linuxcnc/src/emc/kinematics/xyzac-trt-kins.c
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linuxcnc/src/emc/kinematics/trtfuncs.c
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linuxcnc/src/emc/kinematics/switchkins.c
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Boundary:
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profileId=gmoccapy-xyzac-trt
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semanticBoundary=linuxcnc_gmoccapy_nontrivial_xyzac_trt_profile_source_map
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fixedTrtDefault=true
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defaultKinsType=tcp-xyzac
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rtcpState=on
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sourceGuard=profile_specific_linuxcnc_gmoccapy_examples_only
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hardwareDrive=false
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hostRealtimeKernel=false
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nativeGtkGmoccapy=false
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Tests:
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node tests/node/verify_gmoccapy_xyzac_trt_parity.mjs
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node tests/node/verify_machine_file_staging.mjs
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node tests/node/verify_linuxcnc_ini_runtime.mjs
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node tests/node/verify_linuxcnc_parity_matrix.mjs
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npm --prefix app run smoke:node
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npm --prefix app run smoke
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npm --prefix app run build
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Result:
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gmoccapy_xyzac_trt_parity_smoke=ok
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machine_file_staging_smoke=ok
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linuxcnc_ini_runtime_smoke=ok
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linuxcnc_parity_matrix_smoke=ok
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gmoccapy_shell_smoke=ok
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gmoccapy_dist_smoke=ok
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gmoccapy_static_build=ok
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Remaining risk:
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This proves the Web page and Web/WASM simulation boundary. It does not port
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native GTK gmoccapy, host HAL shared memory, hardware IO, host realtime kernel,
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arbitrary host user-M scripts, or native host tool DB processes.
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Next:
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If native gmoccapy or host realtime capability is required, add a separate
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host/native validation layer rather than promoting this Web simulation proof.
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```
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