Add RTCP simulation QA updates
This commit is contained in:
@@ -25,6 +25,12 @@ let attachedKinematicsProfile = store.getState().machineProfile;
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let attachedIniProfile = store.getState().machineProfile;
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let attachedMachineFileProfile = store.getState().machineProfile;
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let machineFileSeedPromise = machineFileSeedReady;
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const autoLoadedProgramProfiles = new Set();
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Promise.allSettled([interpreterRuntimeReady, machineFileSeedReady]).then(() => {
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ensureDefaultLinuxCncProgramPreview(store).catch(() => {});
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});
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store.subscribe((state) => {
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if (state.machineProfile !== attachedIniProfile) {
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attachedIniProfile = state.machineProfile;
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@@ -32,12 +38,20 @@ store.subscribe((state) => {
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}
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if (state.machineProfile !== attachedKinematicsProfile) {
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attachedKinematicsProfile = state.machineProfile;
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attachDefaultKinematicsRuntime(store, state.profile.kinematicsModuleId || state.machineProfile).catch(() => {});
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const profileId = state.machineProfile;
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attachDefaultKinematicsRuntime(store, state.profile.kinematicsModuleId || state.machineProfile)
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.then(() => store.refreshKinematicsFrame({
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operatorMessage: `LinuxCNC kinematics ${profileId} profile frame refreshed`,
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}))
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.catch(() => {});
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}
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if (state.machineProfile !== attachedMachineFileProfile) {
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attachedMachineFileProfile = state.machineProfile;
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machineFileSeedPromise = ensureMachineFilesForProfile(store);
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window.webRtcp5AxisSimulation.machineFileSeedReady = machineFileSeedPromise;
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machineFileSeedPromise.finally(() => {
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ensureDefaultLinuxCncProgramPreview(store).catch(() => {});
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});
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}
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});
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@@ -86,6 +100,58 @@ async function ensureMachineFilesForProfile(store) {
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}
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}
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async function ensureDefaultLinuxCncProgramPreview(store) {
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const state = store.getState();
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if (!state.interpreterRuntime?.loaded) return null;
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if (state.machineFileStaging?.status !== "staged" || !state.machineFileStaging?.gcodeSources?.length) return null;
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const profileId = state.machineProfile;
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if (autoLoadedProgramProfiles.has(profileId)) return state.programExecution;
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const defaultSource = selectDefaultLinuxCncSource(state);
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if (!defaultSource) return null;
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autoLoadedProgramProfiles.add(profileId);
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store.dispatch({ type: "LOAD_LINUXCNC_GCODE_SOURCE", sourceRel: defaultSource.sourceRel });
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await waitForStore(
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store,
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(nextState) => !nextState.interpreterExecutionPending && nextState.programExecution?.sourceMode === "linuxcnc-interpreter-wasm",
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15000,
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).catch((error) => {
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autoLoadedProgramProfiles.delete(profileId);
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throw error;
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});
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return store.getState().programExecution;
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}
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function selectDefaultLinuxCncSource(state) {
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const sources = state.machineFileStaging?.gcodeSources || [];
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const preferredFilename = `${state.machineProfile}_switchkins.ngc`;
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return sources.find((source) => source.filename === preferredFilename)
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|| sources.find((source) => source.filename.includes(state.machineProfile))
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|| sources[0]
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|| null;
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}
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function waitForStore(store, predicate, timeoutMs = 10000) {
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const initialState = store.getState();
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if (predicate(initialState)) {
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return Promise.resolve(initialState);
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}
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return new Promise((resolve, reject) => {
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const timeoutId = window.setTimeout(() => {
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unsubscribe();
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reject(new Error(`Timed out after ${timeoutMs}ms waiting for store state`));
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}, timeoutMs);
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const unsubscribe = store.subscribe((state) => {
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if (!predicate(state)) return;
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window.clearTimeout(timeoutId);
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unsubscribe();
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resolve(state);
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});
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});
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}
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async function attachDefaultKinematicsRuntime(store, moduleId = "xyzac-trt") {
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const sdkModuleUrls = [
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new URL("../../../wasm-port/runtime/sdk/src/linuxcnc-kinematics.js", import.meta.url).href,
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@@ -193,11 +193,16 @@ export function normalizeTaskHalStatus(status = {}) {
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b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0),
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c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0),
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},
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axisPoseFrame: isJogMotion(motion) ? "task-local" : "work",
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currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60,
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},
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};
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}
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function isJogMotion(motion = {}) {
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return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true;
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}
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function sessionFileDescriptor(file) {
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return {
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sourceRel: file.sourceRel,
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@@ -82,6 +82,7 @@ const initialState = {
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},
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sourceMode: "fixture-ui-only",
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frameSourceMode: "fixture-ui-only",
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desiredFrameSourceMode: "fixture-ui-only",
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machine: {
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powerOn: false,
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estopActive: false,
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@@ -142,6 +143,7 @@ const initialState = {
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taskHalExecutionPending: false,
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taskHalExecutionSequence: 0,
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taskHalFallbackReason: null,
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pendingJogCommand: null,
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interpreterExecutionPending: false,
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interpreterExecutionSequence: 0,
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machineFileExecution: null,
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@@ -230,7 +232,7 @@ export function createSimulationStore(seed = {}) {
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activeLine: seed.activeLine || initialState.activeLine,
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kinsType: seedKinsType,
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rtcpEnabled: seedRtcpState === "on" || seedKinsType === "tcp-xyzac",
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sourceMode: seed.sourceMode || seed.frameSourceMode || initialState.sourceMode,
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sourceMode: seed.desiredFrameSourceMode || seed.sourceMode || seed.frameSourceMode || initialState.sourceMode,
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});
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let state = {
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...initialState,
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@@ -268,6 +270,7 @@ export function createSimulationStore(seed = {}) {
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...next,
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sourceMode: frame.sourceMode,
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frameSourceMode: frame.sourceMode,
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desiredFrameSourceMode: next.desiredFrameSourceMode || frame.sourceMode,
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axisPose: frame.axisPose,
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jointPose: frame.jointPose,
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tcpPose: frame.tcpPose,
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@@ -321,8 +324,7 @@ export function createSimulationStore(seed = {}) {
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kinematicsExecutionContext: runtime?.executionContext || (runtime?.loaded ? "direct" : "none"),
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linuxCncBoundaryAdapter: adapter,
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linuxCncBoundaryReadiness: createLinuxCncBoundaryReadiness(adapter),
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sourceMode: runtime?.loaded ? "source-derived-kinematics-wasm" : "fixture-ui-only",
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frameSourceMode: runtime?.loaded ? "source-derived-kinematics-wasm" : "fixture-ui-only",
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desiredFrameSourceMode: runtime?.loaded ? "source-derived-kinematics-wasm" : "fixture-ui-only",
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operatorMessage: runtime?.loaded
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? `LinuxCNC kinematics ${runtime.moduleId} ready`
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: "LinuxCNC kinematics runtime missing",
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@@ -803,6 +805,7 @@ export function createSimulationStore(seed = {}) {
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setState({
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taskHalFallbackReason: action.error,
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taskHalExecutionPending: false,
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pendingJogCommand: null,
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operatorMessage: `task/HAL fallback: ${action.error}`,
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});
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break;
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@@ -833,6 +836,7 @@ export function createSimulationStore(seed = {}) {
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setState({
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sourceMode: action.sourceMode,
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frameSourceMode: action.sourceMode,
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desiredFrameSourceMode: action.sourceMode,
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operatorMessage: `frame source ${action.sourceMode}`,
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});
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break;
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@@ -971,6 +975,13 @@ export function createSimulationStore(seed = {}) {
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const direction = Number(action.direction || 1);
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const increment = Number(action.increment || state.machine.jogIncrement);
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if (state.taskHalRuntime?.loaded) {
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const pendingJogCommand = {
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axis,
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direction,
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increment,
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basePose: { ...state.axisPose },
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createdAtLine: state.activeLine,
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};
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runTaskHalCommandSequence([
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{
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type: "EMC_JOG_INCR",
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@@ -978,7 +989,10 @@ export function createSimulationStore(seed = {}) {
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distance: direction * increment,
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velocity: Number(action.velocity || 60),
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},
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], { operatorMessage: `task/HAL jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}` }).catch(() => {});
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], {
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pendingJogCommand,
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operatorMessage: `task/HAL jog ${axis.toUpperCase()} ${direction > 0 ? "+" : "-"}${increment}`,
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}).catch(() => {});
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break;
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}
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setState({
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@@ -1371,6 +1385,9 @@ export function createSimulationStore(seed = {}) {
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};
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const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => {
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if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") {
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return state.rtcpFrame;
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}
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if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) {
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return state.rtcpFrame;
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}
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@@ -1381,44 +1398,58 @@ export function createSimulationStore(seed = {}) {
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asyncFrameRefreshSequence: sequence,
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};
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notify();
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await switchKinematicsRuntimeForState(state);
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const frameSource = await state.kinematicsRuntime.frameForJoints(
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jointsFromAxisPose(state.axisPose, state.profile),
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{ jointCount: state.kinematicsRuntime.jointCount || 5 },
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);
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if (state.asyncFrameRefreshSequence !== sequence) {
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try {
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await switchKinematicsRuntimeForState(state);
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const frameSource = await state.kinematicsRuntime.frameForJoints(
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jointsFromAxisPose(state.axisPose, state.profile),
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{ jointCount: state.kinematicsRuntime.jointCount || 5 },
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);
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if (state.asyncFrameRefreshSequence !== sequence) {
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return state.rtcpFrame;
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}
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const frame = buildRtcpFrame({
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axisPose: state.axisPose,
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activeLine: state.activeLine,
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kinsType: state.kinsType,
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rtcpEnabled: state.rtcpState === "on" || state.kinsType.startsWith("tcp-"),
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sourceMode: "source-derived-kinematics-wasm",
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profile: state.profile,
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linuxCncKinematicsResult: frameSource,
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});
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const nextState = {
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...state,
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sourceMode: "source-derived-kinematics-wasm",
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frameSourceMode: "source-derived-kinematics-wasm",
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desiredFrameSourceMode: "source-derived-kinematics-wasm",
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axisPose: frame.axisPose,
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jointPose: frame.jointPose,
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tcpPose: frame.tcpPose,
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toolAxisVector: frame.toolAxisVector,
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rtcpState: frame.rtcpState,
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rtcpFrame: frame,
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lastKinematicsResult: frameSource,
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dro: buildDroFromFrame(frame, state.programRuntimeFeedback),
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asyncFrameRefreshPending: false,
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operatorMessage,
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};
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state = {
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...nextState,
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fullExecutionBoundary: createFullLinuxCncExecutionBoundary(nextState),
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};
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notify();
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return frame;
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} catch (error) {
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if (state.asyncFrameRefreshSequence !== sequence) {
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return state.rtcpFrame;
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}
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state = {
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...state,
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asyncFrameRefreshPending: false,
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operatorMessage: `LinuxCNC kinematics refresh failed: ${error instanceof Error ? error.message : String(error)}`,
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};
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notify();
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return state.rtcpFrame;
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}
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const frame = buildRtcpFrame({
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axisPose: state.axisPose,
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activeLine: state.activeLine,
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kinsType: state.kinsType,
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rtcpEnabled: state.rtcpState === "on" || state.kinsType.startsWith("tcp-"),
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sourceMode: "source-derived-kinematics-wasm",
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profile: state.profile,
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linuxCncKinematicsResult: frameSource,
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});
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const nextState = {
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...state,
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sourceMode: frame.sourceMode,
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frameSourceMode: frame.sourceMode,
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axisPose: frame.axisPose,
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jointPose: frame.jointPose,
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tcpPose: frame.tcpPose,
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toolAxisVector: frame.toolAxisVector,
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rtcpState: frame.rtcpState,
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rtcpFrame: frame,
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lastKinematicsResult: frameSource,
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dro: buildDroFromFrame(frame, state.programRuntimeFeedback),
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asyncFrameRefreshPending: false,
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operatorMessage,
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};
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state = {
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...nextState,
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fullExecutionBoundary: createFullLinuxCncExecutionBoundary(nextState),
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};
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notify();
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return frame;
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};
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const saveSession = async (options = {}) => {
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@@ -1543,6 +1574,7 @@ export function createSimulationStore(seed = {}) {
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taskPeriodNs = 10000000,
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servoPeriodNs = 1000000,
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operatorMessage = "task/HAL command complete",
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pendingJogCommand = null,
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} = {}) => {
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if (!state.taskHalRuntime?.loaded) {
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throw new Error("LinuxCNC task/HAL runtime not attached");
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@@ -1551,6 +1583,7 @@ export function createSimulationStore(seed = {}) {
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setState({
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taskHalExecutionPending: true,
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taskHalExecutionSequence: sequence,
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pendingJogCommand,
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operatorMessage: "LinuxCNC task/HAL command running",
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});
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try {
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@@ -1614,13 +1647,21 @@ export function createSimulationStore(seed = {}) {
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};
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const scheduleAsyncKinematicsRefresh = () => {
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if (state.asyncFrameRefreshPending) return null;
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if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
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if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
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if (state.frameSourceMode !== "source-derived-kinematics-wasm") return null;
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const frame = state.rtcpFrame;
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if (
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frame?.sourceMode === "source-derived-kinematics-wasm" &&
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frame.readiness?.linuxCncKinematicsReady === true &&
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frame.activeLine === state.activeLine
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frame.activeLine === state.activeLine &&
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frame.kinsType === state.kinsType &&
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frame.axisPose?.x === state.axisPose.x &&
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frame.axisPose?.y === state.axisPose.y &&
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frame.axisPose?.z === state.axisPose.z &&
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frame.axisPose?.a === state.axisPose.a &&
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frame.axisPose?.b === state.axisPose.b &&
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frame.axisPose?.c === state.axisPose.c
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) {
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return null;
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}
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@@ -1645,10 +1686,9 @@ export function createSimulationStore(seed = {}) {
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}
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function buildFrameForState(state, patch = {}) {
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const requestedSourceMode = state.frameSourceMode || state.sourceMode;
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const requestedSourceMode = state.desiredFrameSourceMode || state.frameSourceMode || state.sourceMode;
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let linuxCncKinematicsResult = patch.lastKinematicsResult || null;
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let sourceMode = requestedSourceMode;
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let operatorMessage = state.operatorMessage;
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if (requestedSourceMode === "source-derived-kinematics-wasm") {
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if (state.kinematicsRuntime?.loaded && !isAsyncKinematicsRuntime(state.kinematicsRuntime)) {
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@@ -1657,10 +1697,12 @@ function buildFrameForState(state, patch = {}) {
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jointsFromAxisPose(state.axisPose, state.profile),
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{ jointCount: state.kinematicsRuntime.jointCount || 5 },
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);
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} else if (state.kinematicsRuntime?.loaded && isAsyncKinematicsRuntime(state.kinematicsRuntime)) {
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sourceMode = "fixture-ui-only";
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linuxCncKinematicsResult = null;
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} else {
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sourceMode = "fixture-ui-only";
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linuxCncKinematicsResult = null;
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operatorMessage = "LinuxCNC kinematics runtime missing; using fixture frame";
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}
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}
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@@ -1674,10 +1716,6 @@ function buildFrameForState(state, patch = {}) {
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linuxCncKinematicsResult,
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});
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if (operatorMessage !== state.operatorMessage) {
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state.operatorMessage = operatorMessage;
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}
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return {
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frame,
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lastKinematicsResult: linuxCncKinematicsResult,
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@@ -1743,11 +1781,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage) {
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const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine.mode);
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const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
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const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
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const kinsType = kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
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const axisPose = clampAxisPoseToProfile({
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...state.axisPose,
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...ui.axisPose,
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}, state.profile);
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const kinsType = resolveTaskHalKinsType(state, status, activeLine);
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const axisPose = resolveTaskHalAxisPose(state, status);
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const currentVelocity = Number.isFinite(ui.currentVelocity) && ui.currentVelocity > 0
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? ui.currentVelocity
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: state.feed.currentVelocity;
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@@ -1772,11 +1807,14 @@ function applyTaskHalStatusPatch(state, status, operatorMessage) {
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taskHalStatus: status,
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taskHalExecutionPending: false,
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taskHalFallbackReason: null,
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pendingJogCommand: null,
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activeLine,
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axisPose,
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kinsType,
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rtcpState: rtcpStateFromKinsType(kinsType),
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programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
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programExecutionSourceMode: state.programExecution
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? state.programExecutionSourceMode
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: "linuxcnc-task-motion-hal-wasm",
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machine: {
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...state.machine,
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powerOn: taskState === "on",
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@@ -1797,6 +1835,93 @@ function applyTaskHalStatusPatch(state, status, operatorMessage) {
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};
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}
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function resolveTaskHalKinsType(state, status, activeLine) {
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const ui = status?.ui || {};
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const numeric = Number(ui.switchkinsType);
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if (Number.isFinite(numeric) && numeric !== 0) {
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return kinsTypeFromSwitchkinsTypeValue(state, numeric);
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}
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const programKinsType = kinsTypeFromProgramActiveLine(state, activeLine);
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if (programKinsType) {
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return programKinsType;
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}
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return kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
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}
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function kinsTypeFromProgramActiveLine(state, activeLine) {
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const motion = programMotionAtOrBeforeLine(state, activeLine)
|
||||
|| state.programExecution?.motion?.[clampMotionIndex(state, state.programExecutionMotionIndex)];
|
||||
return kinsTypeFromProgramMotion(state, motion);
|
||||
}
|
||||
|
||||
function programMotionAtOrBeforeLine(state, activeLine) {
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || motion.length === 0) return null;
|
||||
const line = Number(activeLine);
|
||||
if (!Number.isFinite(line)) return null;
|
||||
let candidate = null;
|
||||
for (const item of motion) {
|
||||
const itemLine = Number(item?.line);
|
||||
if (!Number.isFinite(itemLine)) continue;
|
||||
if (itemLine > line) break;
|
||||
candidate = item;
|
||||
}
|
||||
return candidate;
|
||||
}
|
||||
|
||||
function resolveTaskHalAxisPose(state, status) {
|
||||
const ui = status?.ui || {};
|
||||
const axisPose = ui.axisPose;
|
||||
if (!axisPose || typeof axisPose !== "object") {
|
||||
return state.axisPose;
|
||||
}
|
||||
|
||||
if (ui.axisPoseFrame === "work") {
|
||||
return clampAxisPoseToProfile({ ...state.axisPose, ...axisPose }, state.profile);
|
||||
}
|
||||
|
||||
if (ui.axisPoseDelta && typeof ui.axisPoseDelta === "object") {
|
||||
return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
|
||||
}
|
||||
|
||||
if (state.pendingJogCommand && isJogStatus(status)) {
|
||||
const { axis, direction, increment, basePose } = state.pendingJogCommand;
|
||||
return clampAxisPoseToProfile({
|
||||
...basePose,
|
||||
[axis]: Number(basePose?.[axis] || 0) + direction * increment,
|
||||
}, state.profile);
|
||||
}
|
||||
|
||||
if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) {
|
||||
return state.axisPose;
|
||||
}
|
||||
|
||||
return clampAxisPoseToProfile({ ...state.axisPose, ...axisPose }, state.profile);
|
||||
}
|
||||
|
||||
function addAxisDelta(axisPose, delta, profile) {
|
||||
const next = { ...axisPose };
|
||||
for (const axis of ["x", "y", "z", "a", "b", "c"]) {
|
||||
if (!Number.isFinite(Number(delta[axis]))) continue;
|
||||
next[axis] = Number(next[axis] || 0) + Number(delta[axis]);
|
||||
}
|
||||
return clampAxisPoseToProfile(next, profile);
|
||||
}
|
||||
|
||||
function isJogStatus(status) {
|
||||
const motion = status?.motionStatus?.motion || {};
|
||||
return Number(motion.motionType) === 3 || Number(motion.teleopMode) === 1 || motion.teleopMode === true;
|
||||
}
|
||||
|
||||
function wouldResetNonZeroPoseToLocalZero(currentPose = {}, nextPose = {}) {
|
||||
const axes = ["x", "y", "z", "a", "b", "c"];
|
||||
const currentHasNonZero = axes.some((axis) => Math.abs(Number(currentPose[axis] || 0)) > 0.001);
|
||||
const nextIsNearZero = axes.every((axis) => Math.abs(Number(nextPose[axis] || 0)) <= 0.001);
|
||||
return currentHasNonZero && nextIsNearZero;
|
||||
}
|
||||
|
||||
function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
|
||||
const ui = status?.ui || {};
|
||||
const motion = status?.motionStatus?.motion || {};
|
||||
|
||||
@@ -160,7 +160,7 @@ button:active {
|
||||
pointer-events: none;
|
||||
}
|
||||
|
||||
.machine-preview {
|
||||
.toolpath-preview {
|
||||
width: 100%;
|
||||
height: calc(100% - 64px);
|
||||
margin-top: 32px;
|
||||
@@ -169,7 +169,7 @@ button:active {
|
||||
cursor: grab;
|
||||
}
|
||||
|
||||
.machine-preview:active {
|
||||
.toolpath-preview:active {
|
||||
cursor: grabbing;
|
||||
}
|
||||
|
||||
@@ -204,43 +204,6 @@ button:active {
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.machine-envelope,
|
||||
.machine-grid {
|
||||
fill: none;
|
||||
stroke: #d21f1f;
|
||||
stroke-width: 1.4;
|
||||
}
|
||||
|
||||
.machine-grid {
|
||||
stroke: #3d3d3d;
|
||||
}
|
||||
|
||||
.machine-rapid {
|
||||
fill: none;
|
||||
stroke: #9e6b00;
|
||||
stroke-width: 1.6;
|
||||
}
|
||||
|
||||
.toolpath {
|
||||
fill: none;
|
||||
stroke: #f7f7f7;
|
||||
stroke-width: 1.8;
|
||||
}
|
||||
|
||||
.tool-axis {
|
||||
stroke: #22e6e6;
|
||||
stroke-width: 1.4;
|
||||
}
|
||||
|
||||
.tcp-point {
|
||||
fill: #21f2f2;
|
||||
}
|
||||
|
||||
.axis-label {
|
||||
fill: #3864ff;
|
||||
font-size: 16px;
|
||||
}
|
||||
|
||||
.rtcp-preview-badge {
|
||||
position: absolute;
|
||||
right: 8px;
|
||||
|
||||
@@ -86,20 +86,18 @@ function renderPreview(element, state, dispatch) {
|
||||
const tcp = state.tcpPose;
|
||||
const tool = state.toolAxisVector;
|
||||
|
||||
element.innerHTML = `
|
||||
<div class="program-path">${escapeHtml(state.activeProgram)}</div>
|
||||
<canvas class="machine-preview" data-five-axis-canvas="true" aria-label="5 axis Three.js preview"></canvas>
|
||||
if (element.dataset.previewMounted !== "true") {
|
||||
element.innerHTML = `
|
||||
<div class="program-path" data-preview-program-path></div>
|
||||
<canvas class="toolpath-preview" data-five-axis-canvas="true" aria-label="5 axis toolpath preview"></canvas>
|
||||
<div class="tool-preview-card" data-tool-preview="summary">
|
||||
<strong>T${state.toolPreview.toolNumber}</strong>
|
||||
<span>D ${formatNumber(state.toolPreview.diameter, 2)} ${state.toolPreview.units}</span>
|
||||
<span>L ${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}</span>
|
||||
<span>${state.toolPreview.holder}</span>
|
||||
<strong data-tool-preview-number></strong>
|
||||
<span data-tool-preview-diameter></span>
|
||||
<span data-tool-preview-length></span>
|
||||
<span data-tool-preview-holder></span>
|
||||
</div>
|
||||
<div class="rtcp-preview-badge" data-rtcp-preview-state="${state.rtcpState}">
|
||||
RTCP ${state.rtcpState} | TCP ${formatNumber(tcp.x)} ${formatNumber(tcp.y)} ${formatNumber(tcp.z)}
|
||||
| V ${formatNumber(tool.x, 3)} ${formatNumber(tool.y, 3)} ${formatNumber(tool.z, 3)}
|
||||
</div>
|
||||
<div class="preview-toolbar" data-preview-points="${state.preview.pathPoints}">
|
||||
<div class="rtcp-preview-badge" data-rtcp-preview-state></div>
|
||||
<div class="preview-toolbar" data-preview-points>
|
||||
<button type="button" data-action="view-x">X</button>
|
||||
<button type="button" data-action="view-y">Y</button>
|
||||
<button type="button" data-action="view-z">Z</button>
|
||||
@@ -108,18 +106,56 @@ function renderPreview(element, state, dispatch) {
|
||||
</div>
|
||||
`;
|
||||
|
||||
element.querySelector('[data-action="reset-view"]').addEventListener("click", () => {
|
||||
dispatch({ type: "RESET_VIEW" });
|
||||
});
|
||||
element.querySelector('[data-action="clear-preview"]').addEventListener("click", () => {
|
||||
dispatch({ type: "CLEAR_PREVIEW" });
|
||||
});
|
||||
for (const view of ["x", "y", "z"]) {
|
||||
element.querySelector(`[data-action="view-${view}"]`).addEventListener("click", () => {
|
||||
dispatch({ type: "SET_VIEW", view });
|
||||
element.querySelector('[data-action="reset-view"]').addEventListener("click", () => {
|
||||
dispatch({ type: "RESET_VIEW" });
|
||||
});
|
||||
element.querySelector('[data-action="clear-preview"]').addEventListener("click", () => {
|
||||
dispatch({ type: "CLEAR_PREVIEW" });
|
||||
});
|
||||
for (const view of ["x", "y", "z"]) {
|
||||
element.querySelector(`[data-action="view-${view}"]`).addEventListener("click", () => {
|
||||
dispatch({ type: "SET_VIEW", view });
|
||||
});
|
||||
}
|
||||
element.dataset.previewMounted = "true";
|
||||
}
|
||||
|
||||
setText(element, "[data-preview-program-path]", state.activeProgram);
|
||||
setText(element, "[data-tool-preview-number]", `T${state.toolPreview.toolNumber}`);
|
||||
setText(element, "[data-tool-preview-diameter]", `D ${formatNumber(state.toolPreview.diameter, 2)} ${state.toolPreview.units}`);
|
||||
setText(element, "[data-tool-preview-length]", `L ${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}`);
|
||||
setText(element, "[data-tool-preview-holder]", state.toolPreview.holder);
|
||||
|
||||
const rtcpBadge = element.querySelector("[data-rtcp-preview-state]");
|
||||
if (rtcpBadge) {
|
||||
rtcpBadge.dataset.rtcpPreviewState = state.rtcpState;
|
||||
rtcpBadge.textContent = [
|
||||
`RTCP ${state.rtcpState}`,
|
||||
`TCP ${formatNumber(tcp.x)} ${formatNumber(tcp.y)} ${formatNumber(tcp.z)}`,
|
||||
`V ${formatNumber(tool.x, 3)} ${formatNumber(tool.y, 3)} ${formatNumber(tool.z, 3)}`,
|
||||
].join(" | ");
|
||||
}
|
||||
|
||||
const toolbar = element.querySelector("[data-preview-points]");
|
||||
if (toolbar) {
|
||||
toolbar.dataset.previewPoints = String(state.preview.pathPoints);
|
||||
for (const view of ["x", "y", "z"]) {
|
||||
toolbar.querySelector(`[data-action="view-${view}"]`)?.setAttribute(
|
||||
"data-active",
|
||||
state.preview.selectedView === view ? "true" : "false",
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
const canvas = element.querySelector("[data-five-axis-canvas]");
|
||||
renderFiveAxisScene(canvas, state);
|
||||
}
|
||||
|
||||
function setText(root, selector, value) {
|
||||
const element = root.querySelector(selector);
|
||||
if (element) {
|
||||
element.textContent = value;
|
||||
}
|
||||
renderFiveAxisScene(element.querySelector("[data-five-axis-canvas]"), state);
|
||||
}
|
||||
|
||||
function renderDro(element, state) {
|
||||
|
||||
@@ -33,21 +33,23 @@ export function renderFiveAxisScene(canvas, state) {
|
||||
return;
|
||||
}
|
||||
|
||||
const pointCount = preview.previewPath.geometry.getAttribute("position").count;
|
||||
const executedPointCount = preview.executedPath.geometry.getAttribute("position").count;
|
||||
const pointCount = geometryPointCount(preview.previewPath.geometry);
|
||||
const executedPointCount = geometryPointCount(preview.executedPath.geometry);
|
||||
exposePreviewDataset(canvas, state, {
|
||||
pointCount,
|
||||
executedPointCount,
|
||||
feedPointCount: preview.feedPath.geometry.getAttribute("position").count,
|
||||
rapidPointCount: preview.rapidPath.geometry.getAttribute("position").count,
|
||||
arcPointCount: preview.arcPath.geometry.getAttribute("position").count,
|
||||
currentSegmentPointCount: preview.currentSegmentPath.geometry.getAttribute("position").count,
|
||||
feedPointCount: geometryPointCount(preview.feedPath.geometry),
|
||||
rapidPointCount: geometryPointCount(preview.rapidPath.geometry),
|
||||
arcPointCount: geometryPointCount(preview.arcPath.geometry),
|
||||
currentSegmentPointCount: geometryPointCount(preview.currentSegmentPath.geometry),
|
||||
sceneObjectCount: countSceneObjects(preview.scene),
|
||||
toolhead: preview.currentToolhead,
|
||||
renderer: "webgl",
|
||||
sceneMode: "program-preview-and-tool-execution",
|
||||
machineReferenceModel: "webgl-five-axis-reference",
|
||||
cameraControls: preview.controls.enabled,
|
||||
toolExecutionMarker: preview.toolMarker.visible,
|
||||
toolAxisMarker: preview.toolAxis.visible,
|
||||
pathFitBounds: preview.pathFitBoundsReady,
|
||||
});
|
||||
}
|
||||
@@ -72,6 +74,9 @@ function createScene(canvas) {
|
||||
const scene = new THREE.Scene();
|
||||
const camera = new THREE.PerspectiveCamera(42, 1, 0.1, 100);
|
||||
|
||||
const machineModel = createMachineReferenceModel();
|
||||
scene.add(machineModel.root);
|
||||
|
||||
const previewPath = createLine(0x808892, 0.56);
|
||||
const feedPath = createLine(0x4fb3ff, 0.92);
|
||||
const executedPath = createLine(0x1ffff4, 1);
|
||||
@@ -103,6 +108,7 @@ function createScene(canvas) {
|
||||
rapidPath,
|
||||
arcPath,
|
||||
currentSegmentPath,
|
||||
machineModel,
|
||||
toolMarker,
|
||||
toolAxis,
|
||||
currentToolhead: new THREE.Vector3(),
|
||||
@@ -133,6 +139,35 @@ function renderFallbackPreview(preview, state) {
|
||||
canvas.height = height;
|
||||
}
|
||||
|
||||
const previewPoints = buildProgramPreviewPoints(state);
|
||||
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
|
||||
const rapidPoints = buildRapidPreviewPoints(state);
|
||||
const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED");
|
||||
const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED");
|
||||
const currentSegmentPoints = buildCurrentSegmentPoints(state);
|
||||
const pointCount = previewPoints.length;
|
||||
const executedPointCount = executedPoints.length;
|
||||
const toolPosition = executionToolPosition(state, previewPoints);
|
||||
|
||||
exposePreviewDataset(canvas, state, {
|
||||
pointCount,
|
||||
executedPointCount,
|
||||
sceneObjectCount: 8 + (pointCount > 0 ? 1 : 0) + (executedPointCount > 0 ? 1 : 0),
|
||||
toolhead: toolPosition || { x: 0, y: 0, z: 0 },
|
||||
renderer: "2d-fallback",
|
||||
sceneMode: "program-preview-and-tool-execution",
|
||||
machineReferenceModel: "2d-five-axis-reference",
|
||||
cameraControls: false,
|
||||
toolExecutionMarker: Boolean(toolPosition),
|
||||
toolAxisMarker: Boolean(toolPosition),
|
||||
feedPointCount: feedPoints.length,
|
||||
rapidPointCount: rapidPoints.length,
|
||||
arcPointCount: arcPoints.length,
|
||||
currentSegmentPointCount: currentSegmentPoints.length,
|
||||
pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null,
|
||||
});
|
||||
canvas.dataset.threeFallbackReason = preview.errorMessage;
|
||||
|
||||
const ctx = canvas.getContext("2d");
|
||||
if (!ctx) return;
|
||||
|
||||
@@ -144,14 +179,8 @@ function renderFallbackPreview(preview, state) {
|
||||
const cy = height * 0.53;
|
||||
const scale = Math.min(width / 7.2, height / 4.8);
|
||||
|
||||
const previewPoints = buildProgramPreviewPoints(state);
|
||||
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
|
||||
const rapidPoints = buildRapidPreviewPoints(state);
|
||||
const feedPoints = buildTypedPreviewPoints(state, "STRAIGHT_FEED");
|
||||
const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED");
|
||||
const currentSegmentPoints = buildCurrentSegmentPoints(state);
|
||||
const pointCount = previewPoints.length;
|
||||
const executedPointCount = executedPoints.length;
|
||||
drawFallbackMachineReference(ctx, cx, cy, scale, state);
|
||||
|
||||
if (pointCount > 0) {
|
||||
ctx.strokeStyle = "#8d95a0";
|
||||
ctx.lineWidth = 2;
|
||||
@@ -175,16 +204,6 @@ function renderFallbackPreview(preview, state) {
|
||||
ctx.stroke();
|
||||
}
|
||||
|
||||
const toolPosition = executionToolPosition(state, previewPoints);
|
||||
const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition);
|
||||
const fitKey = [
|
||||
previewPoints.length,
|
||||
executedPoints.length,
|
||||
currentSegmentPoints.length,
|
||||
previewSourceMode(state),
|
||||
state.programExecutionMotionIndex || 0,
|
||||
state.programExecutionSampleIndex || 0,
|
||||
].join(":");
|
||||
if (toolPosition) {
|
||||
const toolX = cx + toolPosition.x * scale;
|
||||
const toolY = cy - toolPosition.y * scale;
|
||||
@@ -197,23 +216,6 @@ function renderFallbackPreview(preview, state) {
|
||||
ctx.fillStyle = "#b7c7b8";
|
||||
ctx.font = "12px Courier New, monospace";
|
||||
ctx.fillText("2D RTCP fallback", 12, height - 14);
|
||||
|
||||
exposePreviewDataset(canvas, state, {
|
||||
pointCount,
|
||||
executedPointCount,
|
||||
sceneObjectCount: (pointCount > 0 ? 1 : 0) + (executedPointCount > 0 ? 1 : 0),
|
||||
toolhead: toolPosition || { x: 0, y: 0, z: 0 },
|
||||
renderer: "2d-fallback",
|
||||
sceneMode: "program-preview-and-tool-execution",
|
||||
cameraControls: false,
|
||||
toolExecutionMarker: Boolean(toolPosition),
|
||||
feedPointCount: feedPoints.length,
|
||||
rapidPointCount: rapidPoints.length,
|
||||
arcPointCount: arcPoints.length,
|
||||
currentSegmentPointCount: currentSegmentPoints.length,
|
||||
pathFitBounds: computePointBounds(previewPoints.concat(executedPoints, currentSegmentPoints)) !== null,
|
||||
});
|
||||
canvas.dataset.threeFallbackReason = preview.errorMessage;
|
||||
}
|
||||
|
||||
function exposePreviewDataset(canvas, state, preview) {
|
||||
@@ -230,9 +232,15 @@ function exposePreviewDataset(canvas, state, preview) {
|
||||
canvas.dataset.threeFrameApi = state.rtcpFrame.apiName;
|
||||
canvas.dataset.threeRenderer = preview.renderer;
|
||||
canvas.dataset.threeSceneMode = preview.sceneMode;
|
||||
canvas.dataset.threePreviewScope = preview.machineReferenceModel
|
||||
? "machine-reference-and-toolpath"
|
||||
: "toolpath-only";
|
||||
canvas.dataset.threeMachineReferenceModel = preview.machineReferenceModel || "none";
|
||||
canvas.dataset.threeCameraControls = preview.cameraControls ? "orbit-pan-zoom" : "none";
|
||||
canvas.dataset.threeProgramPreviewSource = previewSourceMode(state);
|
||||
canvas.dataset.threeToolExecutionMarker = preview.toolExecutionMarker ? "true" : "false";
|
||||
canvas.dataset.threeTcpMarker = preview.toolExecutionMarker ? "sphere" : "hidden";
|
||||
canvas.dataset.threeToolAxisMarker = preview.toolAxisMarker ? "line" : "hidden";
|
||||
canvas.dataset.threeToolpathPreviewSource = toolpathPreviewSource(state);
|
||||
canvas.dataset.threeToolExecutionTraceSource = toolExecutionTraceSource(state);
|
||||
canvas.dataset.threePathFitBounds = preview.pathFitBounds ? "ok" : "pending";
|
||||
@@ -257,6 +265,70 @@ function createLine(color, opacity) {
|
||||
);
|
||||
}
|
||||
|
||||
function createMachineReferenceModel() {
|
||||
const root = new THREE.Group();
|
||||
root.name = "five-axis-machine-reference";
|
||||
|
||||
const base = new THREE.Mesh(
|
||||
new THREE.BoxGeometry(4.8, 3.2, 0.08),
|
||||
new THREE.MeshBasicMaterial({ color: 0x222930 }),
|
||||
);
|
||||
base.position.z = -0.16;
|
||||
|
||||
const table = new THREE.Mesh(
|
||||
new THREE.BoxGeometry(3.7, 2.35, 0.05),
|
||||
new THREE.MeshBasicMaterial({ color: 0x3a444d, transparent: true, opacity: 0.78 }),
|
||||
);
|
||||
table.position.z = -0.08;
|
||||
|
||||
const xAxis = createStaticLine([new THREE.Vector3(-2.2, 0, 0), new THREE.Vector3(2.25, 0, 0)], 0xff4d4d);
|
||||
const yAxis = createStaticLine([new THREE.Vector3(0, -1.55, 0), new THREE.Vector3(0, 1.6, 0)], 0x70df7d);
|
||||
const zAxis = createStaticLine([new THREE.Vector3(0, 0, -0.08), new THREE.Vector3(0, 0, 1.75)], 0x5aa7ff);
|
||||
|
||||
const rotaryA = new THREE.Mesh(
|
||||
new THREE.TorusGeometry(0.88, 0.018, 8, 72),
|
||||
new THREE.MeshBasicMaterial({ color: 0x1ffff4, transparent: true, opacity: 0.92 }),
|
||||
);
|
||||
rotaryA.rotation.y = Math.PI / 2;
|
||||
|
||||
const rotaryC = new THREE.Mesh(
|
||||
new THREE.TorusGeometry(1.1, 0.016, 8, 72),
|
||||
new THREE.MeshBasicMaterial({ color: 0xffd166, transparent: true, opacity: 0.9 }),
|
||||
);
|
||||
rotaryC.rotation.x = Math.PI / 2;
|
||||
rotaryC.position.z = 0.04;
|
||||
|
||||
const toolHolder = new THREE.Group();
|
||||
const holderBody = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.08, 0.08, 0.42, 18),
|
||||
new THREE.MeshBasicMaterial({ color: 0xf1f5f9 }),
|
||||
);
|
||||
holderBody.rotation.x = Math.PI / 2;
|
||||
holderBody.position.z = 0.32;
|
||||
const cutter = new THREE.Mesh(
|
||||
new THREE.ConeGeometry(0.06, 0.25, 18),
|
||||
new THREE.MeshBasicMaterial({ color: 0xfff176 }),
|
||||
);
|
||||
cutter.rotation.x = Math.PI;
|
||||
cutter.position.z = 0.08;
|
||||
toolHolder.add(holderBody, cutter);
|
||||
|
||||
root.add(base, table, xAxis, yAxis, zAxis, rotaryA, rotaryC, toolHolder);
|
||||
return {
|
||||
root,
|
||||
rotaryA,
|
||||
rotaryC,
|
||||
toolHolder,
|
||||
};
|
||||
}
|
||||
|
||||
function createStaticLine(points, color) {
|
||||
return new THREE.Line(
|
||||
new THREE.BufferGeometry().setFromPoints(points),
|
||||
new THREE.LineBasicMaterial({ color, transparent: true, opacity: 0.95 }),
|
||||
);
|
||||
}
|
||||
|
||||
function updateToolpathPreview(preview, state) {
|
||||
const previewPoints = buildProgramPreviewPoints(state);
|
||||
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
|
||||
@@ -265,6 +337,15 @@ function updateToolpathPreview(preview, state) {
|
||||
const arcPoints = buildTypedPreviewPoints(state, "ARC_FEED");
|
||||
const currentSegmentPoints = buildCurrentSegmentPoints(state);
|
||||
const toolPosition = executionToolPosition(state, previewPoints);
|
||||
const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition);
|
||||
const fitKey = [
|
||||
previewPoints.length,
|
||||
executedPoints.length,
|
||||
currentSegmentPoints.length,
|
||||
previewSourceMode(state),
|
||||
state.programExecutionMotionIndex || 0,
|
||||
state.programExecutionSampleIndex || 0,
|
||||
].join(":");
|
||||
|
||||
updateLineGeometry(preview.previewPath, previewPoints);
|
||||
updateLineGeometry(preview.feedPath, feedPoints);
|
||||
@@ -273,6 +354,7 @@ function updateToolpathPreview(preview, state) {
|
||||
updateLineGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
|
||||
updateToolExecutionMarker(preview, state, toolPosition);
|
||||
updateMachineReferenceModel(preview, state, toolPosition);
|
||||
|
||||
const cameraRevision = state.preview.cameraRevision ?? 0;
|
||||
if (
|
||||
@@ -309,6 +391,22 @@ function updateToolExecutionMarker(preview, state, toolPosition) {
|
||||
]);
|
||||
}
|
||||
|
||||
function updateMachineReferenceModel(preview, state, toolPosition) {
|
||||
const model = preview.machineModel;
|
||||
if (!model) return;
|
||||
const a = degreesToRadians(state.axisPose?.a);
|
||||
const b = degreesToRadians(state.axisPose?.b);
|
||||
const c = degreesToRadians(state.axisPose?.c);
|
||||
model.rotaryA.rotation.x = a;
|
||||
model.rotaryA.rotation.y = Math.PI / 2 + b;
|
||||
model.rotaryC.rotation.z = c;
|
||||
|
||||
const tcpPosition = toolPosition || toPreviewVector(state.tcpPose || state.axisPose);
|
||||
model.toolHolder.position.copy(tcpPosition);
|
||||
const toolVector = toToolVector(state.toolAxisVector);
|
||||
model.toolHolder.lookAt(tcpPosition.clone().add(toolVector));
|
||||
}
|
||||
|
||||
function updateLineGeometry(line, points) {
|
||||
line.visible = points.length > 0;
|
||||
line.geometry.dispose();
|
||||
@@ -317,6 +415,10 @@ function updateLineGeometry(line, points) {
|
||||
: EMPTY_GEOMETRY.clone();
|
||||
}
|
||||
|
||||
function geometryPointCount(geometry) {
|
||||
return geometry?.getAttribute("position")?.count || 0;
|
||||
}
|
||||
|
||||
function buildProgramPreviewPoints(state) {
|
||||
const motion = state.programExecution?.motion;
|
||||
if (Array.isArray(motion) && motion.length > 0 && state.preview.pathPoints !== 0) {
|
||||
@@ -384,7 +486,6 @@ function buildFixturePreviewPoints(pointCount, tcpPosition) {
|
||||
}
|
||||
|
||||
function executionToolPosition(state, previewPoints) {
|
||||
if (state.preview.pathPoints === 0) return null;
|
||||
const feedbackAxes = state.programRuntimeFeedback?.axisPose || state.programRuntimeFeedback;
|
||||
if (feedbackAxes && hasLinearAxes(feedbackAxes)) return vectorFromAxes(feedbackAxes);
|
||||
if (hasLinearAxes(state.axisPose)) return vectorFromAxes(state.axisPose);
|
||||
@@ -505,6 +606,56 @@ function drawFallbackPolyline(ctx, points, cx, cy, scale) {
|
||||
}
|
||||
}
|
||||
|
||||
function drawFallbackMachineReference(ctx, cx, cy, scale, state) {
|
||||
const tableWidth = 4.8 * scale;
|
||||
const tableHeight = 3.2 * scale;
|
||||
ctx.fillStyle = "#20272e";
|
||||
ctx.strokeStyle = "#56616b";
|
||||
ctx.lineWidth = 2;
|
||||
ctx.fillRect(cx - tableWidth / 2, cy - tableHeight / 2, tableWidth, tableHeight);
|
||||
ctx.strokeRect(cx - tableWidth / 2, cy - tableHeight / 2, tableWidth, tableHeight);
|
||||
|
||||
drawFallbackAxis(ctx, cx - 2.25 * scale, cy, cx + 2.25 * scale, cy, "#ff4d4d");
|
||||
drawFallbackAxis(ctx, cx, cy + 1.55 * scale, cx, cy - 1.6 * scale, "#70df7d");
|
||||
drawFallbackAxis(ctx, cx, cy + 0.2 * scale, cx, cy - 1.15 * scale, "#5aa7ff");
|
||||
|
||||
ctx.strokeStyle = "#1ffff4";
|
||||
ctx.lineWidth = 2;
|
||||
ctx.beginPath();
|
||||
ctx.ellipse(cx, cy, 0.92 * scale, 0.42 * scale, degreesToRadians(state.axisPose?.a), 0, Math.PI * 2);
|
||||
ctx.stroke();
|
||||
|
||||
ctx.strokeStyle = "#ffd166";
|
||||
ctx.beginPath();
|
||||
ctx.arc(cx, cy, 0.7 * scale, 0, Math.PI * 2);
|
||||
ctx.stroke();
|
||||
|
||||
const tcp = executionToolPosition(state, []);
|
||||
if (tcp) {
|
||||
const toolX = cx + tcp.x * scale;
|
||||
const toolY = cy - tcp.y * scale;
|
||||
ctx.strokeStyle = "#f1f5f9";
|
||||
ctx.lineWidth = 2;
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(toolX, toolY - 0.38 * scale);
|
||||
ctx.lineTo(toolX, toolY - 0.08 * scale);
|
||||
ctx.stroke();
|
||||
ctx.fillStyle = "#1ffff4";
|
||||
ctx.beginPath();
|
||||
ctx.arc(toolX, toolY, 0.07 * scale, 0, Math.PI * 2);
|
||||
ctx.fill();
|
||||
}
|
||||
}
|
||||
|
||||
function drawFallbackAxis(ctx, x1, y1, x2, y2, color) {
|
||||
ctx.strokeStyle = color;
|
||||
ctx.lineWidth = 3;
|
||||
ctx.beginPath();
|
||||
ctx.moveTo(x1, y1);
|
||||
ctx.lineTo(x2, y2);
|
||||
ctx.stroke();
|
||||
}
|
||||
|
||||
function createToolpathCameraControls(canvas, camera, renderFrame) {
|
||||
const controls = {
|
||||
enabled: true,
|
||||
@@ -677,7 +828,7 @@ function applyCameraControls(controls) {
|
||||
}
|
||||
|
||||
function resizeRenderer(preview) {
|
||||
const { canvas } = preview.renderer.domElement;
|
||||
const canvas = preview.renderer.domElement;
|
||||
const width = Math.max(canvas.clientWidth, 320);
|
||||
const height = Math.max(canvas.clientHeight, 240);
|
||||
if (canvas.width !== width || canvas.height !== height) {
|
||||
@@ -717,6 +868,10 @@ function round(value) {
|
||||
return Math.round(Number(value) * 1000) / 1000;
|
||||
}
|
||||
|
||||
function degreesToRadians(value) {
|
||||
return (Number(value) || 0) * Math.PI / 180;
|
||||
}
|
||||
|
||||
function clamp(value, min, max) {
|
||||
return Math.min(Math.max(value, min), max);
|
||||
}
|
||||
|
||||
@@ -84,8 +84,8 @@
|
||||
}
|
||||
}
|
||||
|
||||
if (!doc.querySelector(".machine-preview")) {
|
||||
throw new Error("missing machine preview");
|
||||
if (!doc.querySelector(".toolpath-preview")) {
|
||||
throw new Error("missing toolpath preview");
|
||||
}
|
||||
let canvas = doc.querySelector("[data-five-axis-canvas]");
|
||||
if (!canvas) {
|
||||
@@ -95,13 +95,17 @@
|
||||
canvas.dataset.threeReady !== "true" ||
|
||||
canvas.dataset.threeFrameApi !== "web-rtcp-5axis-motion-frame" ||
|
||||
canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
|
||||
canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
|
||||
canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
|
||||
canvas.dataset.threeCameraControls !== "orbit-pan-zoom" ||
|
||||
Number(canvas.dataset.threePathPoints ?? 0) < 64 ||
|
||||
Number(canvas.dataset.threeSceneObjects ?? 0) < 5 ||
|
||||
Number(canvas.dataset.threeSceneObjects ?? 0) < 12 ||
|
||||
!canvas.dataset.threeToolhead ||
|
||||
!canvas.dataset.threeToolAxis ||
|
||||
!canvas.dataset.threeTcpPose ||
|
||||
canvas.dataset.threeToolExecutionMarker !== "true"
|
||||
canvas.dataset.threeToolExecutionMarker !== "true" ||
|
||||
canvas.dataset.threeTcpMarker !== "sphere" ||
|
||||
canvas.dataset.threeToolAxisMarker !== "line"
|
||||
) {
|
||||
throw new Error(`Three.js preview did not expose ready render state: ${JSON.stringify(canvas.dataset)}`);
|
||||
}
|
||||
@@ -428,6 +432,10 @@
|
||||
}
|
||||
if (
|
||||
canvas.dataset.threeSceneMode !== "program-preview-and-tool-execution" ||
|
||||
canvas.dataset.threePreviewScope !== "machine-reference-and-toolpath" ||
|
||||
canvas.dataset.threeMachineReferenceModel !== "webgl-five-axis-reference" ||
|
||||
canvas.dataset.threeTcpMarker !== "sphere" ||
|
||||
canvas.dataset.threeToolAxisMarker !== "line" ||
|
||||
canvas.dataset.threeToolpathPreviewSource !== "linuxcnc_interpreter_canonical_motion" ||
|
||||
canvas.dataset.threeToolExecutionTraceSource !== "linuxcnc_tp_samples_or_task_motion_hal_feedback" ||
|
||||
canvas.dataset.threePathFitBounds !== "ok" ||
|
||||
@@ -813,23 +821,38 @@
|
||||
});
|
||||
|
||||
function assertCanvasNonblank(canvas, context) {
|
||||
const stats = canvasPixelStats(canvas, context);
|
||||
if (stats.nonBlackRatio <= 0.02) {
|
||||
throw new Error(`${context}: non-black pixel ratio too low ${JSON.stringify(stats)}`);
|
||||
}
|
||||
if (stats.averageLuminance <= 5) {
|
||||
throw new Error(`${context}: average luminance too low ${JSON.stringify(stats)}`);
|
||||
}
|
||||
}
|
||||
|
||||
function canvasPixelStats(canvas, context) {
|
||||
const gl = canvas.getContext("webgl2") || canvas.getContext("webgl");
|
||||
if (!gl) {
|
||||
throw new Error(`${context}: missing WebGL context`);
|
||||
}
|
||||
const pixel = new Uint8Array(4);
|
||||
gl.readPixels(
|
||||
Math.floor(canvas.width / 2),
|
||||
Math.floor(canvas.height / 2),
|
||||
1,
|
||||
1,
|
||||
gl.RGBA,
|
||||
gl.UNSIGNED_BYTE,
|
||||
pixel,
|
||||
);
|
||||
if (pixel[0] === 0 && pixel[1] === 0 && pixel[2] === 0 && pixel[3] === 0) {
|
||||
throw new Error(`${context}: center pixel was blank`);
|
||||
const width = Math.max(canvas.width || 0, 1);
|
||||
const height = Math.max(canvas.height || 0, 1);
|
||||
const pixels = new Uint8Array(width * height * 4);
|
||||
gl.readPixels(0, 0, width, height, gl.RGBA, gl.UNSIGNED_BYTE, pixels);
|
||||
let nonBlack = 0;
|
||||
let luminance = 0;
|
||||
for (let index = 0; index < pixels.length; index += 4) {
|
||||
const luma = pixels[index] * 0.2126 + pixels[index + 1] * 0.7152 + pixels[index + 2] * 0.0722;
|
||||
luminance += luma;
|
||||
if (luma > 8) nonBlack += 1;
|
||||
}
|
||||
const total = width * height;
|
||||
return {
|
||||
width,
|
||||
height,
|
||||
nonBlackRatio: nonBlack / total,
|
||||
averageLuminance: luminance / total,
|
||||
};
|
||||
}
|
||||
</script>
|
||||
</body>
|
||||
|
||||
@@ -63,11 +63,27 @@ assert.equal(state.rtcpState, "on");
|
||||
|
||||
store.dispatch({ type: "SET_MODE", mode: "manual" });
|
||||
await waitForTaskHal(store);
|
||||
store.dispatch({ type: "HOME" });
|
||||
state = store.getState();
|
||||
const homePose = { ...state.axisPose };
|
||||
assert.equal(homePose.x, 43);
|
||||
assert.equal(homePose.y, -32.15);
|
||||
assert.equal(homePose.z, -11.306);
|
||||
store.dispatch({ type: "JOG", axis: "x", direction: 1, increment: 0.5 });
|
||||
await waitForTaskHal(store);
|
||||
state = store.getState();
|
||||
assert.equal(state.taskHalStatus.motionStatus.motion.teleopMode, 1);
|
||||
assert.equal(state.programRuntimeFeedback.sourceMode, "linuxcnc-task-motion-hal-wasm");
|
||||
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG X+ should keep HOME work-pose continuity");
|
||||
assertNear(state.axisPose.y, homePose.y, "task/HAL JOG X+ should not reset Y");
|
||||
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG X+ should not reset Z");
|
||||
|
||||
store.dispatch({ type: "JOG", axis: "y", direction: -1, increment: 0.5 });
|
||||
await waitForTaskHal(store);
|
||||
state = store.getState();
|
||||
assertNear(state.axisPose.x, homePose.x + 0.5, "task/HAL JOG Y- should not reset X");
|
||||
assertNear(state.axisPose.y, homePose.y - 0.5, "task/HAL JOG Y- should keep HOME work-pose continuity");
|
||||
assertNear(state.axisPose.z, homePose.z, "task/HAL JOG Y- should not reset Z");
|
||||
|
||||
store.dispatch({ type: "SET_MODE", mode: "auto" });
|
||||
await waitForTaskHal(store);
|
||||
@@ -94,3 +110,7 @@ async function waitForTaskHal(store) {
|
||||
}
|
||||
throw new Error("task/HAL store command did not settle");
|
||||
}
|
||||
|
||||
function assertNear(actual, expected, message) {
|
||||
assert.equal(Math.abs(Number(actual) - Number(expected)) < 1e-9, true, `${message}: ${actual} !== ${expected}`);
|
||||
}
|
||||
|
||||
@@ -428,4 +428,90 @@ assert.equal(state.machine.powerOn, false);
|
||||
assert.equal(state.machine.taskState, "estop-reset");
|
||||
assert.equal(state.operatorMessage, "estop reset; machine off");
|
||||
|
||||
const taskHalSwitchkinsStore = createSimulationStore({
|
||||
programStartLine: 1,
|
||||
activeLine: 5,
|
||||
kinsType: "tcp-xyzac",
|
||||
rtcpState: "on",
|
||||
programExecutionSourceMode: "linuxcnc-interpreter-wasm",
|
||||
programExecution: {
|
||||
sourceMode: "linuxcnc-interpreter-wasm",
|
||||
motion: [
|
||||
{
|
||||
type: "STRAIGHT_TRAVERSE",
|
||||
line: 5,
|
||||
axes: { x: 1, y: 2, z: 3, a: 10, c: 20 },
|
||||
switchkinsType: 1,
|
||||
kinsType: "tcp",
|
||||
},
|
||||
{
|
||||
type: "STRAIGHT_FEED",
|
||||
line: 20,
|
||||
axes: { x: 2, y: 3, z: 4, a: 0, c: 0 },
|
||||
switchkinsType: 0,
|
||||
kinsType: "identity",
|
||||
},
|
||||
],
|
||||
summary: {
|
||||
motionEventCount: 2,
|
||||
switchkinsEventCount: 2,
|
||||
switchkinsCodes: ["M428", "M429"],
|
||||
},
|
||||
},
|
||||
});
|
||||
taskHalSwitchkinsStore.dispatch({
|
||||
type: "TASK_HAL_STATUS_APPLIED",
|
||||
status: taskHalStatusForSwitchkinsLine({ activeLine: 5, switchkinsType: 0 }),
|
||||
operatorMessage: "task/HAL status retained program TCP switchkins",
|
||||
});
|
||||
state = taskHalSwitchkinsStore.getState();
|
||||
assert.equal(state.activeLine, 5);
|
||||
assert.equal(state.kinsType, "tcp-xyzac");
|
||||
assert.equal(state.rtcpState, "on");
|
||||
|
||||
taskHalSwitchkinsStore.dispatch({
|
||||
type: "TASK_HAL_STATUS_APPLIED",
|
||||
status: taskHalStatusForSwitchkinsLine({ activeLine: 20, switchkinsType: 0 }),
|
||||
operatorMessage: "task/HAL status applied program identity switchkins",
|
||||
});
|
||||
state = taskHalSwitchkinsStore.getState();
|
||||
assert.equal(state.activeLine, 20);
|
||||
assert.equal(state.kinsType, "identity");
|
||||
assert.equal(state.rtcpState, "off");
|
||||
|
||||
console.log("rtcp_store_smoke=ok");
|
||||
|
||||
function taskHalStatusForSwitchkinsLine({ activeLine, switchkinsType }) {
|
||||
return {
|
||||
semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime",
|
||||
task: {
|
||||
state: "ON",
|
||||
mode: "AUTO",
|
||||
interpState: "READING",
|
||||
execState: "WAITING_FOR_MOTION",
|
||||
},
|
||||
motionStatus: {
|
||||
motion: {
|
||||
programLine: activeLine,
|
||||
motionType: 1,
|
||||
switchkinsType,
|
||||
currentVel: 1,
|
||||
requestedVel: 1,
|
||||
inPosition: false,
|
||||
},
|
||||
},
|
||||
ui: {
|
||||
taskState: "on",
|
||||
taskMode: "auto",
|
||||
interpState: "reading",
|
||||
activeLine,
|
||||
switchkinsType,
|
||||
axisPoseFrame: "work",
|
||||
axisPose: { x: 1, y: 2, z: 3, a: 10, b: 0, c: 20 },
|
||||
currentVelocity: 60,
|
||||
servoCycle: 1,
|
||||
taskCycle: 1,
|
||||
motionQueueDepth: 1,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
@@ -0,0 +1,119 @@
|
||||
# 01 RTCP 刀具轨迹问题复盘
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 测试来源
|
||||
|
||||
专项测试脚本：
|
||||
|
||||
```text
|
||||
qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
|
||||
```
|
||||
|
||||
专项报告：
|
||||
|
||||
```text
|
||||
qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-toolpath-preview-report-2026-06-22.docx
|
||||
```
|
||||
|
||||
原始数据：
|
||||
|
||||
```text
|
||||
qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json
|
||||
```
|
||||
|
||||
## 2. 失败现象
|
||||
|
||||
失败场景：
|
||||
|
||||
```text
|
||||
06-running-rtcp-toolpath
|
||||
```
|
||||
|
||||
失败前证据：
|
||||
|
||||
```text
|
||||
05-vendored-impeller-toolpath:
|
||||
threeRtcpState=on
|
||||
pathPoints=1498
|
||||
executedPathPoints=1
|
||||
programSource=linuxcnc-vendored-5axis-gcode
|
||||
programExecution.summary.switchkinsEventCount=2
|
||||
switchkinsCodes=M428,M429
|
||||
```
|
||||
|
||||
失败时证据：
|
||||
|
||||
```text
|
||||
06-running-rtcp-toolpath:
|
||||
threeRtcpState=off
|
||||
state.rtcpState=off
|
||||
state.kinsType=identity
|
||||
programRuntimeFeedbackSource=linuxcnc-task-motion-hal-wasm
|
||||
```
|
||||
|
||||
## 3. 影响
|
||||
|
||||
该问题影响 G-code 执行时的刀具轨迹可信度：
|
||||
|
||||
```text
|
||||
1. 预览路径显示程序已经进入 TCP/RTCP 区间。
|
||||
2. RUN 后 task/HAL 状态把 kinsType 回退到 identity。
|
||||
3. canvas 上的 TCP/刀轴/RTCP 状态与程序 switchkins 语义不一致。
|
||||
4. 操作者可能误判当前刀具姿态和五轴 RTCP 执行状态。
|
||||
```
|
||||
|
||||
## 4. 根因定位
|
||||
|
||||
代码落点：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
```
|
||||
|
||||
原逻辑：
|
||||
|
||||
```js
|
||||
const kinsType = kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
|
||||
```
|
||||
|
||||
问题：
|
||||
|
||||
```text
|
||||
task/HAL runtime status.ui.switchkinsType=0 时，store 直接解析为 identity。
|
||||
但当前 activeLine 对应的 interpreter/canonical motion 仍处于 M428 后的 TCP 区间。
|
||||
因此 task/HAL status 覆盖了程序语义。
|
||||
```
|
||||
|
||||
## 5. 正确边界
|
||||
|
||||
整改原则：
|
||||
|
||||
```text
|
||||
1. 不在可视化层硬编码 RTCP。
|
||||
2. 不用 JavaScript 重新解释 G-code。
|
||||
3. 优先消费 LinuxCNC interpreter 已输出的 canonical motion switchkins 信息。
|
||||
4. task/HAL status 非零 switchkinsType 可直接采用。
|
||||
5. task/HAL status 为 0 时，必须结合当前 activeLine 的 program motion 判断是否仍在 TCP 区间。
|
||||
```
|
||||
|
||||
## 6. 修复目标
|
||||
|
||||
目标状态：
|
||||
|
||||
```text
|
||||
预览态:
|
||||
threeRtcpState=on
|
||||
state.kinsType=tcp-xyzac
|
||||
|
||||
RUN 后:
|
||||
threeRtcpState=on
|
||||
state.kinsType=tcp-xyzac
|
||||
programRuntimeFeedbackSource=linuxcnc-task-motion-hal-wasm
|
||||
```
|
||||
|
||||
同时，当程序执行到 M429/identity 区间时，仍允许正确回退：
|
||||
|
||||
```text
|
||||
activeLine 对应 motion.switchkinsType=0 -> kinsType=identity, rtcpState=off
|
||||
```
|
||||
@@ -0,0 +1,189 @@
|
||||
# 02 RTCP 刀具轨迹整改完善程序详细步骤
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 修改目标
|
||||
|
||||
针对专项测试发现的运行态 RTCP 回退问题，整改 `TASK_HAL_STATUS_APPLIED` 状态合并逻辑。
|
||||
|
||||
## 2. 修改文件
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
```
|
||||
|
||||
## 3. 程序修改步骤
|
||||
|
||||
### Step 3.1 替换 task/HAL kinsType 解析入口
|
||||
|
||||
位置：
|
||||
|
||||
```text
|
||||
store.js -> applyTaskHalStatusPatch()
|
||||
```
|
||||
|
||||
将原逻辑：
|
||||
|
||||
```js
|
||||
const kinsType = kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
|
||||
```
|
||||
|
||||
替换为：
|
||||
|
||||
```js
|
||||
const kinsType = resolveTaskHalKinsType(state, status, activeLine);
|
||||
```
|
||||
|
||||
目的：
|
||||
|
||||
```text
|
||||
让 task/HAL status 和 interpreter/canonical motion 的 switchkins 语义共同参与 kinsType 解析。
|
||||
```
|
||||
|
||||
### Step 3.2 增加 resolveTaskHalKinsType()
|
||||
|
||||
新增函数：
|
||||
|
||||
```js
|
||||
function resolveTaskHalKinsType(state, status, activeLine) {
|
||||
const ui = status?.ui || {};
|
||||
const numeric = Number(ui.switchkinsType);
|
||||
if (Number.isFinite(numeric) && numeric !== 0) {
|
||||
return kinsTypeFromSwitchkinsTypeValue(state, numeric);
|
||||
}
|
||||
|
||||
const programKinsType = kinsTypeFromProgramActiveLine(state, activeLine);
|
||||
if (programKinsType) {
|
||||
return programKinsType;
|
||||
}
|
||||
|
||||
return kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
|
||||
}
|
||||
```
|
||||
|
||||
判定规则：
|
||||
|
||||
```text
|
||||
1. task/HAL switchkinsType 非 0:
|
||||
直接采用 task/HAL 状态。
|
||||
|
||||
2. task/HAL switchkinsType 为 0:
|
||||
查询当前 activeLine 对应的 program motion。
|
||||
|
||||
3. program motion 有 switchkins 语义:
|
||||
采用 program motion 的 kinsType。
|
||||
|
||||
4. program motion 无 switchkins 语义:
|
||||
回退到 task/HAL status 解析结果。
|
||||
```
|
||||
|
||||
### Step 3.3 增加 activeLine 到 program motion 的映射
|
||||
|
||||
新增函数：
|
||||
|
||||
```js
|
||||
function kinsTypeFromProgramActiveLine(state, activeLine) {
|
||||
const motion = programMotionAtOrBeforeLine(state, activeLine)
|
||||
|| state.programExecution?.motion?.[clampMotionIndex(state, state.programExecutionMotionIndex)];
|
||||
return kinsTypeFromProgramMotion(state, motion);
|
||||
}
|
||||
```
|
||||
|
||||
新增函数：
|
||||
|
||||
```js
|
||||
function programMotionAtOrBeforeLine(state, activeLine) {
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || motion.length === 0) return null;
|
||||
const line = Number(activeLine);
|
||||
if (!Number.isFinite(line)) return null;
|
||||
let candidate = null;
|
||||
for (const item of motion) {
|
||||
const itemLine = Number(item?.line);
|
||||
if (!Number.isFinite(itemLine)) continue;
|
||||
if (itemLine > line) break;
|
||||
candidate = item;
|
||||
}
|
||||
return candidate;
|
||||
}
|
||||
```
|
||||
|
||||
目的：
|
||||
|
||||
```text
|
||||
用当前 task/HAL activeLine 找到最近的 canonical motion，
|
||||
再复用已有 kinsTypeFromProgramMotion() 解析 M428/M429/M430 语义。
|
||||
```
|
||||
|
||||
### Step 3.4 保持已有 program motion 解析函数不变
|
||||
|
||||
继续复用：
|
||||
|
||||
```js
|
||||
function kinsTypeFromProgramMotion(state, motion) { ... }
|
||||
function resolveProgramKinsType(state, requestedKinsType) { ... }
|
||||
function kinsTypeFromSwitchkinsType(state, switchkinsType) { ... }
|
||||
```
|
||||
|
||||
不要新增 G-code 字符串解析。
|
||||
|
||||
### Step 3.5 增加 node 回归测试
|
||||
|
||||
位置：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
```
|
||||
|
||||
新增测试数据：
|
||||
|
||||
```text
|
||||
motion line 5: switchkinsType=1, kinsType=tcp
|
||||
motion line 20: switchkinsType=0, kinsType=identity
|
||||
```
|
||||
|
||||
新增断言：
|
||||
|
||||
```text
|
||||
当 task/HAL status activeLine=5 且 ui.switchkinsType=0:
|
||||
state.kinsType 必须保持 tcp-xyzac
|
||||
state.rtcpState 必须保持 on
|
||||
|
||||
当 task/HAL status activeLine=20 且 ui.switchkinsType=0:
|
||||
state.kinsType 必须为 identity
|
||||
state.rtcpState 必须为 off
|
||||
```
|
||||
|
||||
### Step 3.6 更新专项测试报告
|
||||
|
||||
重新运行：
|
||||
|
||||
```bash
|
||||
node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
|
||||
node qa/web-rtcp-5axis-site-test/generate-toolpath-preview-docx-report.mjs
|
||||
```
|
||||
|
||||
期望：
|
||||
|
||||
```text
|
||||
06-running-rtcp-toolpath -> PASS
|
||||
threeRtcpState=on
|
||||
```
|
||||
|
||||
## 4. 不允许的修复方式
|
||||
|
||||
```text
|
||||
1. 不允许在 five-axis-scene.js 中强制显示 RTCP on。
|
||||
2. 不允许在 canvas dataset 中伪造 threeRtcpState。
|
||||
3. 不允许直接忽略 task/HAL status。
|
||||
4. 不允许重新用字符串扫描 G-code 推断 M428/M429。
|
||||
```
|
||||
|
||||
## 5. 后续完善建议
|
||||
|
||||
```text
|
||||
1. task/HAL runtime 长期应输出更准确的 switchkins source metadata。
|
||||
2. programExecutionMotionIndex 可进一步按 activeLine 同步，提高当前段高亮精度。
|
||||
3. 专项测试可增加执行到 M429 后 RTCP off 的端到端截图。
|
||||
```
|
||||
@@ -0,0 +1,74 @@
|
||||
# 03 RTCP 刀具轨迹整改测试记录
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 修改摘要
|
||||
|
||||
```text
|
||||
问题: G-code RUN 后 RTCP 从 on 回退到 off。
|
||||
根因: TASK_HAL_STATUS_APPLIED 直接采用 task/HAL status.ui.switchkinsType=0。
|
||||
修复: task/HAL switchkinsType 为 0 时，按 activeLine 查询 programExecution.motion 的 switchkins 语义。
|
||||
```
|
||||
|
||||
## 2. 修改文件
|
||||
|
||||
| 文件 | 修改内容 |
|
||||
| --- | --- |
|
||||
| `app/src/state/store.js` | 新增 `resolveTaskHalKinsType()`、`kinsTypeFromProgramActiveLine()`、`programMotionAtOrBeforeLine()` |
|
||||
| `tests/node/verify_rtcp_store.mjs` | 增加 task/HAL status 与 program motion switchkins 合并回归测试 |
|
||||
| `qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs` | 专项截图测试已保留运行态 RTCP 检查 |
|
||||
| `qa/web-rtcp-5axis-site-test/generate-toolpath-preview-docx-report.mjs` | 专项 Word 报告生成 |
|
||||
|
||||
## 3. 验证命令
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
|
||||
node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
|
||||
node qa/web-rtcp-5axis-site-test/generate-toolpath-preview-docx-report.mjs
|
||||
```
|
||||
|
||||
## 4. 验证结果
|
||||
|
||||
```text
|
||||
gmoccapy_static_build=ok
|
||||
rtcp_store_smoke=ok
|
||||
linuxcnc_task_hal_runtime_smoke=ok
|
||||
task_hal_machine_file_smoke=ok
|
||||
switchkins_remap_hal_sync_smoke=ok
|
||||
browser_task_hal_worker_smoke=ok
|
||||
gmoccapy_shell_smoke=ok
|
||||
```
|
||||
|
||||
专项测试：
|
||||
|
||||
```text
|
||||
total=6
|
||||
PASS=6
|
||||
FAIL=0
|
||||
06-running-rtcp-toolpath threeRtcpState=on
|
||||
```
|
||||
|
||||
Word 报告校验：
|
||||
|
||||
```text
|
||||
unzip -t qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-toolpath-preview-report-2026-06-22.docx
|
||||
No errors detected
|
||||
```
|
||||
|
||||
## 5. 证据文件
|
||||
|
||||
```text
|
||||
qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json
|
||||
qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-toolpath-preview-report-2026-06-22.docx
|
||||
qa/web-rtcp-5axis-site-test/screenshots/toolpath-preview-cases/06-running-rtcp-toolpath.png
|
||||
```
|
||||
|
||||
## 6. 回归结论
|
||||
|
||||
```text
|
||||
整改后，G-code RUN 状态下 task/HAL runtime feedback 不再把程序 switchkins TCP 区间错误回退到 identity/off。
|
||||
刀具预览、TCP 球、刀轴线、长路径、执行轨迹、rapid/feed 分层和 RTCP 状态在专项测试中全部通过。
|
||||
```
|
||||
35
web-rtcp-5axis-sim-plan/working/README.md
Normal file
35
web-rtcp-5axis-sim-plan/working/README.md
Normal file
@@ -0,0 +1,35 @@
|
||||
# working 整改文档索引
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
本目录记录针对“刀具预览与 G-code 执行刀具轨迹专项测试”发现问题的整改方案、程序修改步骤和验证证据。
|
||||
|
||||
## 文件清单
|
||||
|
||||
| 文件 | 用途 |
|
||||
| --- | --- |
|
||||
| `01-rtcp-toolpath-problem-review.md` | 记录专项测试问题、现象、影响和代码落点 |
|
||||
| `02-rtcp-toolpath-remediation-steps.md` | 面向程序员的详细整改完善步骤 |
|
||||
| `03-rtcp-toolpath-test-record.md` | 整改后测试命令、结果和证据路径 |
|
||||
|
||||
## 本轮问题结论
|
||||
|
||||
专项测试 `06-running-rtcp-toolpath` 发现：
|
||||
|
||||
```text
|
||||
预览态: RTCP=on, kinsType=tcp-xyzac
|
||||
G-code RUN 后: canvas dataset threeRtcpState=off, state.kinsType=identity
|
||||
```
|
||||
|
||||
根因：
|
||||
|
||||
```text
|
||||
TASK_HAL_STATUS_APPLIED 使用 task/HAL status.ui.switchkinsType=0 直接覆盖了 interpreter/canonical motion 已解析出的程序 switchkins 状态。
|
||||
```
|
||||
|
||||
整改后：
|
||||
|
||||
```text
|
||||
6 个刀具预览/G-code 轨迹专项场景全部 PASS。
|
||||
运行态 threeRtcpState 保持 on。
|
||||
```
|
||||
212
web-rtcp-5axis-sim-plan/working1/01-problem-review.md
Normal file
212
web-rtcp-5axis-sim-plan/working1/01-problem-review.md
Normal file
@@ -0,0 +1,212 @@
|
||||
# 01 问题复盘
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 输入证据
|
||||
|
||||
测试报告：
|
||||
|
||||
```text
|
||||
/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx
|
||||
```
|
||||
|
||||
原始自动化结果：
|
||||
|
||||
```text
|
||||
/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/site-test-report.json
|
||||
```
|
||||
|
||||
截图目录：
|
||||
|
||||
```text
|
||||
/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/
|
||||
```
|
||||
|
||||
## 2. D1：RTCP/运动学边界未自动挂接
|
||||
|
||||
### 现象
|
||||
|
||||
页面稳定加载后，内部运行时已经加载 LinuxCNC kinematics worker：
|
||||
|
||||
```text
|
||||
kinematicsRuntimeReadiness.loaded=true
|
||||
semanticBoundary=linuxcnc_kinematics_wasm_c_abi
|
||||
sourceMode=source-derived-kinematics-wasm
|
||||
```
|
||||
|
||||
但 RTCP frame 仍显示：
|
||||
|
||||
```text
|
||||
state.sourceMode=fixture-ui-only
|
||||
state.frameSourceMode=fixture-ui-only
|
||||
frameBoundary=fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof
|
||||
```
|
||||
|
||||
手动执行：
|
||||
|
||||
```js
|
||||
await window.webRtcp5AxisSimulation.refreshKinematicsFrame()
|
||||
```
|
||||
|
||||
后可立即切换为：
|
||||
|
||||
```text
|
||||
state.sourceMode=source-derived-kinematics-wasm
|
||||
frameBoundary=linuxcnc_kinematics_wasm_c_abi
|
||||
```
|
||||
|
||||
### 影响
|
||||
|
||||
- 首屏 RTCP/TCP 姿态并非自动来自 LinuxCNC source-derived kinematics。
|
||||
- 界面 `Boundary ready` 可能显示 ready，但 RTCP frame 仍在 fixture 边界，诊断信息不一致。
|
||||
- 用户和测试脚本都会误判当前仿真语义边界。
|
||||
|
||||
### 涉及代码
|
||||
|
||||
```text
|
||||
app/src/main.js
|
||||
attachDefaultKinematicsRuntime()
|
||||
|
||||
app/src/state/store.js
|
||||
ATTACH_KINEMATICS_RUNTIME
|
||||
setState()
|
||||
buildFrameForState()
|
||||
scheduleAsyncKinematicsRefresh()
|
||||
refreshAsyncKinematicsFrame()
|
||||
|
||||
app/src/runtime/rtcp-frame.js
|
||||
buildRtcpFrame()
|
||||
```
|
||||
|
||||
### 初步根因
|
||||
|
||||
当前 `setState()` 在异步 worker kinematics runtime 已加载但 frame 尚未刷新时，会通过 `buildFrameForState()` 生成 fixture frame；随后又把：
|
||||
|
||||
```js
|
||||
frameSourceMode: frame.sourceMode
|
||||
```
|
||||
|
||||
写回 state。这样本来期望进入 LinuxCNC kinematics 的请求状态被 fixture 结果覆盖。
|
||||
|
||||
`scheduleAsyncKinematicsRefresh()` 又依赖：
|
||||
|
||||
```js
|
||||
state.frameSourceMode === "source-derived-kinematics-wasm"
|
||||
```
|
||||
|
||||
当 `frameSourceMode` 已被覆盖成 `fixture-ui-only` 后，自动刷新不再触发。手动调用 `refreshKinematicsFrame()` 能成功，说明底层 worker 能用，问题在自动刷新状态机。
|
||||
|
||||
## 3. D2：3D 预览不可见
|
||||
|
||||
### 现象
|
||||
|
||||
首屏、程序运行、本地 G-code 导入、Audit 后截图中，左侧预览区均为黑底，未观察到五轴机床、刀具或刀路可见对象。
|
||||
|
||||
相关截图：
|
||||
|
||||
```text
|
||||
01-home.png
|
||||
04-run-state.png
|
||||
05-local-program-opened.png
|
||||
06-after-audit.png
|
||||
```
|
||||
|
||||
### 影响
|
||||
|
||||
- 五轴/RTCP 仿真最重要的视觉反馈缺失。
|
||||
- 用户无法通过界面验证 TCP 点、刀轴、程序轨迹和执行轨迹。
|
||||
- 不满足项目文档中“Three.js 视口非空，能显示机床、刀具、刀路”的第一版完成定义。
|
||||
|
||||
### 涉及代码
|
||||
|
||||
```text
|
||||
app/src/visualization/five-axis-scene.js
|
||||
renderFiveAxisScene()
|
||||
createScene()
|
||||
updateToolpathPreview()
|
||||
renderFallbackPreview()
|
||||
exposePreviewDataset()
|
||||
|
||||
app/src/ui/gmoccapy-shell.js
|
||||
renderPreview()
|
||||
|
||||
app/src/styles/gmoccapy.css
|
||||
preview/canvas 尺寸和布局
|
||||
```
|
||||
|
||||
### 初步根因
|
||||
|
||||
需要重点检查两类问题：
|
||||
|
||||
1. `updateToolpathPreview()` 内部使用了 `fitPoints`、`fitKey`，但当前函数片段中未看到局部定义。若实际执行进入 WebGL 分支，可能触发运行时异常并降级或中断渲染。
|
||||
2. 当前 WebGL scene 只添加了路径线、tool marker、tool axis，没有明确的机床基准模型、工作台、旋转轴、坐标轴等常驻对象。即使路径为空或颜色很暗，用户也应看到基础机床对象。
|
||||
|
||||
另外，fallback 分支必须在无 WebGL 或 WebGL 初始化失败时仍绘制明显对象，而不是仅写一个很小的文字提示。
|
||||
|
||||
## 4. D3：HOME 后 JOG 坐标连续性异常
|
||||
|
||||
### 现象
|
||||
|
||||
稳定复核结果：
|
||||
|
||||
```text
|
||||
after HOME:
|
||||
X=43, Y=-32.15, Z=-11.306
|
||||
|
||||
after JOG X+:
|
||||
X=1, Y=0, Z=0
|
||||
|
||||
after JOG Y-:
|
||||
X=1, Y=-1, Z=0
|
||||
```
|
||||
|
||||
### 影响
|
||||
|
||||
- DRO 中的手动移动不连续。
|
||||
- 操作员会误以为机床从 HOME 坐标突然跳到任务/HAL 局部原点。
|
||||
- 会话恢复、手动定位、RTCP 视觉反馈都可能被错误坐标污染。
|
||||
|
||||
### 涉及代码
|
||||
|
||||
```text
|
||||
app/src/state/store.js
|
||||
HOME
|
||||
JOG
|
||||
TASK_HAL_STATUS_APPLIED
|
||||
applyTaskHalStatusPatch()
|
||||
|
||||
app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
normalize/readStatus 输出的 ui.axisPose
|
||||
|
||||
app/src/state/linuxcnc-task-policy.js
|
||||
JOG/HOME gate
|
||||
```
|
||||
|
||||
### 初步根因
|
||||
|
||||
当前启用 task/HAL runtime 后，JOG 走 task/HAL command path。`applyTaskHalStatusPatch()` 会把 runtime status 中的 `ui.axisPose` 直接覆盖 UI state：
|
||||
|
||||
```js
|
||||
const axisPose = clampAxisPoseToProfile({
|
||||
...state.axisPose,
|
||||
...ui.axisPose,
|
||||
}, state.profile);
|
||||
```
|
||||
|
||||
但 task/HAL runtime 返回的 `ui.axisPose` 看起来是 task-local 或 motion-local 坐标，初始值从 0 开始，并非当前 UI DRO/HOME 坐标系。因此 JOG 后坐标被另一套坐标系覆盖。
|
||||
|
||||
## 5. 非缺陷说明
|
||||
|
||||
以下现象在复核后不作为缺陷记录：
|
||||
|
||||
1. 页面初始数秒内 Task/HAL 和 machine-file staging 从 pending 过渡到 ready/staged，属于异步启动暂态。
|
||||
2. `M428/M429/M430` 经稳定态复核均可执行：
|
||||
|
||||
```text
|
||||
M428 -> kins=tcp-xyzac, rtcp=on
|
||||
M429 -> kins=identity, rtcp=off
|
||||
M430 -> kins=userk, rtcp=off
|
||||
```
|
||||
|
||||
3. Open 本地 G-code 使用 `programSource=operator-file`，这是当前实现命名，不是功能失败。
|
||||
|
||||
240
web-rtcp-5axis-sim-plan/working1/02-repair-plan.md
Normal file
240
web-rtcp-5axis-sim-plan/working1/02-repair-plan.md
Normal file
@@ -0,0 +1,240 @@
|
||||
# 02 修复总体方案
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 修复原则
|
||||
|
||||
1. 不用 JavaScript 重写 LinuxCNC 运动学语义。
|
||||
2. RTCP/TCP frame 必须优先来自 LinuxCNC source-derived kinematics WASM。
|
||||
3. 视觉层只能消费 runtime frame、canonical motion、task/HAL feedback，不生成 G-code/CNC 语义。
|
||||
4. JOG/HOME/DRO 必须明确坐标系，不允许 task-local 坐标无标记覆盖 UI work pose。
|
||||
5. 每项修复必须新增或更新测试，先复现问题，再验证修复。
|
||||
|
||||
## 2. 修复优先级
|
||||
|
||||
| 优先级 | 问题 | 原因 |
|
||||
| --- | --- | --- |
|
||||
| P0 | D1 RTCP/运动学边界自动挂接 | 影响语义边界可信度，且修复面较集中 |
|
||||
| P0 | D2 3D 预览可见性 | 影响产品第一视觉和核心仿真价值 |
|
||||
| P1 | D3 HOME/JOG 坐标连续性 | 影响手动操作正确性，需谨慎处理坐标系 |
|
||||
|
||||
## 3. D1 修复方案
|
||||
|
||||
### 目标状态
|
||||
|
||||
页面稳定加载后无需手动调用，自动达到：
|
||||
|
||||
```text
|
||||
state.sourceMode=source-derived-kinematics-wasm
|
||||
state.frameSourceMode=source-derived-kinematics-wasm
|
||||
state.rtcpFrame.semanticBoundary=linuxcnc_kinematics_wasm_c_abi
|
||||
data-rtcp-diagnostic="kinematics-ready" -> ready
|
||||
data-rtcp-diagnostic="boundary" -> linuxcnc_kinematics_wasm_c_abi
|
||||
```
|
||||
|
||||
### 推荐设计
|
||||
|
||||
把“期望使用的 frame source”和“当前已经解析出的 frame source”分开：
|
||||
|
||||
```text
|
||||
desiredFrameSourceMode: source-derived-kinematics-wasm | fixture-ui-only
|
||||
frameSourceMode: 当前 rtcpFrame.sourceMode
|
||||
```
|
||||
|
||||
或者在不新增字段的情况下，至少保证 `setState()` 不用异步 runtime 的临时 fixture frame 覆盖 kinematics 请求状态。
|
||||
|
||||
推荐更清晰的做法：
|
||||
|
||||
1. 新增 `desiredFrameSourceMode`。
|
||||
2. `ATTACH_KINEMATICS_RUNTIME` 成功后设置：
|
||||
|
||||
```js
|
||||
desiredFrameSourceMode: "source-derived-kinematics-wasm"
|
||||
```
|
||||
|
||||
3. `buildFrameForState()` 对 async worker 不直接降级修改 desired state，只生成临时 fixture frame，并标记：
|
||||
|
||||
```text
|
||||
asyncFrameRefreshPending=true
|
||||
```
|
||||
|
||||
4. `scheduleAsyncKinematicsRefresh()` 判断：
|
||||
|
||||
```js
|
||||
state.kinematicsRuntime?.loaded &&
|
||||
state.desiredFrameSourceMode === "source-derived-kinematics-wasm"
|
||||
```
|
||||
|
||||
而不是依赖已经被 fixture 覆盖的 `frameSourceMode`。
|
||||
|
||||
5. `refreshAsyncKinematicsFrame()` 成功后写入：
|
||||
|
||||
```js
|
||||
sourceMode: "source-derived-kinematics-wasm"
|
||||
frameSourceMode: "source-derived-kinematics-wasm"
|
||||
desiredFrameSourceMode: "source-derived-kinematics-wasm"
|
||||
```
|
||||
|
||||
### 防回退要求
|
||||
|
||||
任何以下动作后都不能把 frame 永久退回 fixture：
|
||||
|
||||
```text
|
||||
ATTACH_INI_CONFIG
|
||||
SET_PROFILE
|
||||
MACHINE_FILE_STAGING_COMPLETE
|
||||
TASK_HAL_STATUS_APPLIED
|
||||
LOAD_PROGRAM
|
||||
LOAD_LINUXCNC_GCODE_SOURCE
|
||||
HOME/JOG/RUN/STEP
|
||||
```
|
||||
|
||||
如果某次 frame 刷新失败，应显示错误并保留 retry 能力，不能静默永久降级。
|
||||
|
||||
## 4. D2 修复方案
|
||||
|
||||
### 目标状态
|
||||
|
||||
首屏不加载任何用户程序时也必须可见：
|
||||
|
||||
```text
|
||||
机床基准/工作台
|
||||
XYZ 坐标轴
|
||||
旋转轴标识
|
||||
刀具/TCP marker
|
||||
预览路径或占位路径
|
||||
```
|
||||
|
||||
WebGL 不可用时，2D fallback 也必须绘制清晰的轴线、路径和 TCP 点。
|
||||
|
||||
### 推荐设计
|
||||
|
||||
1. 修复 `updateToolpathPreview()` 中未定义变量风险：
|
||||
|
||||
```js
|
||||
const toolPosition = executionToolPosition(state, previewPoints);
|
||||
const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition);
|
||||
const fitKey = buildFitKey(...);
|
||||
```
|
||||
|
||||
2. 在 `createScene()` 中加入常驻机床模型：
|
||||
|
||||
```text
|
||||
machineRoot
|
||||
tableGroup
|
||||
rotaryA/rotaryB/rotaryC visual rings
|
||||
toolHolder
|
||||
axisHelper
|
||||
grid/reference plane
|
||||
```
|
||||
|
||||
3. 增加单独函数：
|
||||
|
||||
```js
|
||||
createMachineReferenceModel()
|
||||
updateMachineReferenceModel(preview, state)
|
||||
```
|
||||
|
||||
4. `renderFallbackPreview()` 中绘制：
|
||||
|
||||
```text
|
||||
灰色工作台矩形
|
||||
绿色/红色/蓝色 XYZ 轴
|
||||
青色 TCP 点
|
||||
亮色刀路 polyline
|
||||
明显的 fallback 标签和点数
|
||||
```
|
||||
|
||||
5. `exposePreviewDataset()` 必须稳定输出：
|
||||
|
||||
```text
|
||||
data-three-ready=true
|
||||
data-three-renderer=webgl | 2d-fallback
|
||||
data-three-scene-objects > 0
|
||||
data-three-path-points > 0 或 data-three-tool-execution-marker=true
|
||||
```
|
||||
|
||||
### 可见性门槛
|
||||
|
||||
自动化测试应检查 canvas 像素，不只检查 DOM：
|
||||
|
||||
```text
|
||||
nonBlackRatio > 0.02
|
||||
averageLuminance > 5
|
||||
```
|
||||
|
||||
## 5. D3 修复方案
|
||||
|
||||
### 目标状态
|
||||
|
||||
HOME 后执行 JOG：
|
||||
|
||||
```text
|
||||
after HOME: X=43, Y=-32.15, Z=-11.306
|
||||
after JOG X+: X=44, Y=-32.15, Z=-11.306
|
||||
after JOG Y-: X=44, Y=-33.15, Z=-11.306
|
||||
```
|
||||
|
||||
实际增量以 `state.machine.jogIncrement` 为准。
|
||||
|
||||
### 推荐设计
|
||||
|
||||
必须明确 task/HAL status 中 `ui.axisPose` 的坐标系。
|
||||
|
||||
推荐新增字段：
|
||||
|
||||
```js
|
||||
ui.axisPoseFrame = "work" | "machine" | "task-local" | "joint-local"
|
||||
ui.axisPoseDelta = { x, y, z, a, b, c } // JOG 增量可选
|
||||
```
|
||||
|
||||
处理规则：
|
||||
|
||||
1. 如果 `axisPoseFrame === "work"`，可直接覆盖 UI work pose。
|
||||
2. 如果 `axisPoseFrame === "task-local"` 且本次 motion type 是 JOG，优先使用 `axisPoseDelta` 加到当前 state.axisPose。
|
||||
3. 如果没有 frame 标记，不允许直接覆盖非零 UI pose；必须保守保留旧 pose 或走 fallback 增量。
|
||||
4. HOME 命令要把 task/HAL runtime 的参考 pose 与 UI HOME pose 同步，或者返回 `axisPoseFrame="work"`。
|
||||
|
||||
### 短期修复方案
|
||||
|
||||
如果 task/HAL runtime 暂时不能增加 frame 元数据，可在 store 层先做保护：
|
||||
|
||||
```text
|
||||
当 status motion type 为 JOG 且 ui.axisPose 接近局部原点时，
|
||||
不要整体覆盖 state.axisPose；
|
||||
改用本次 JOG action 的 axis/direction/increment 计算 UI pose。
|
||||
```
|
||||
|
||||
为了实现这点，store 需要在发送 task/HAL JOG 命令时记录 pending jog context：
|
||||
|
||||
```js
|
||||
pendingJogCommand: { axis, direction, increment, basePose }
|
||||
```
|
||||
|
||||
收到 `TASK_HAL_STATUS_APPLIED` 后：
|
||||
|
||||
```js
|
||||
axisPose = {
|
||||
...pendingJogCommand.basePose,
|
||||
[axis]: pendingJogCommand.basePose[axis] + direction * increment
|
||||
}
|
||||
```
|
||||
|
||||
这是短期 UI 连续性修复；长期仍应让 runtime 明确坐标系。
|
||||
|
||||
## 6. 风险控制
|
||||
|
||||
| 风险 | 控制方式 |
|
||||
| --- | --- |
|
||||
| D1 修复导致 fixture fallback 不可用 | 保留 fallback，但作为显式错误/降级状态，不覆盖 desired frame source |
|
||||
| D2 加机床模型影响性能 | 常驻模型低面数，路径点仍受 `MAX_TOOLPATH_POINTS` 限制 |
|
||||
| D3 坐标修复与真实 task/HAL 状态冲突 | 用 `axisPoseFrame` 标记，避免无标记状态直接覆盖 |
|
||||
| 测试只在 headless 下通过 | 同时跑本地浏览器截图和 headless pixel 检查 |
|
||||
|
||||
## 7. 建议提交拆分
|
||||
|
||||
1. `fix: keep desired LinuxCNC kinematics frame source across async refresh`
|
||||
2. `fix: render visible five-axis preview model and fallback scene`
|
||||
3. `fix: preserve work-pose continuity for task-hal jog feedback`
|
||||
4. `test: add browser regression for kinematics auto-refresh preview and jog continuity`
|
||||
|
||||
488
web-rtcp-5axis-sim-plan/working1/03-implementation-steps.md
Normal file
488
web-rtcp-5axis-sim-plan/working1/03-implementation-steps.md
Normal file
@@ -0,0 +1,488 @@
|
||||
# 03 程序修复详细步骤
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
本文档面向实际编码人员，按问题给出具体修改步骤。执行前建议先创建修复分支。
|
||||
|
||||
```bash
|
||||
git status --short
|
||||
git switch -c fix/web-rtcp-5axis-working1
|
||||
```
|
||||
|
||||
## 1. D1：自动挂接 LinuxCNC kinematics frame
|
||||
|
||||
### Step 1.1 增加期望 frame source 状态
|
||||
|
||||
文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
```
|
||||
|
||||
在 `initialState` 增加字段：
|
||||
|
||||
```js
|
||||
desiredFrameSourceMode: "fixture-ui-only",
|
||||
```
|
||||
|
||||
保留现有：
|
||||
|
||||
```js
|
||||
sourceMode
|
||||
frameSourceMode
|
||||
```
|
||||
|
||||
三者语义：
|
||||
|
||||
```text
|
||||
desiredFrameSourceMode: 用户/运行时希望使用的 frame 来源
|
||||
frameSourceMode: 当前 rtcpFrame 实际来源
|
||||
sourceMode: UI 总体展示来源，可继续跟当前 frame source 同步
|
||||
```
|
||||
|
||||
### Step 1.2 修改 ATTACH_KINEMATICS_RUNTIME
|
||||
|
||||
位置：
|
||||
|
||||
```text
|
||||
store.js -> case "ATTACH_KINEMATICS_RUNTIME"
|
||||
```
|
||||
|
||||
runtime loaded 时设置：
|
||||
|
||||
```js
|
||||
desiredFrameSourceMode: "source-derived-kinematics-wasm",
|
||||
```
|
||||
|
||||
runtime missing 时设置：
|
||||
|
||||
```js
|
||||
desiredFrameSourceMode: "fixture-ui-only",
|
||||
```
|
||||
|
||||
不要只依赖 `sourceMode` / `frameSourceMode`。
|
||||
|
||||
### Step 1.3 修改 buildFrameForState
|
||||
|
||||
当前逻辑大意：
|
||||
|
||||
```js
|
||||
const requestedSourceMode = state.frameSourceMode || state.sourceMode;
|
||||
...
|
||||
if (requestedSourceMode === "source-derived-kinematics-wasm") {
|
||||
if (runtime loaded && !async) {
|
||||
...
|
||||
} else {
|
||||
sourceMode = "fixture-ui-only";
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
建议改为：
|
||||
|
||||
```js
|
||||
const requestedSourceMode =
|
||||
state.desiredFrameSourceMode ||
|
||||
state.frameSourceMode ||
|
||||
state.sourceMode;
|
||||
```
|
||||
|
||||
async runtime 已加载但尚未返回 frame 时，可以临时生成 fixture frame，但必须带上可诊断原因，不要覆盖 desired source。
|
||||
|
||||
### Step 1.4 修改 setState 写回策略
|
||||
|
||||
当前 `setState()` 中：
|
||||
|
||||
```js
|
||||
sourceMode: frame.sourceMode,
|
||||
frameSourceMode: frame.sourceMode,
|
||||
```
|
||||
|
||||
建议改为：
|
||||
|
||||
```js
|
||||
sourceMode: frame.sourceMode,
|
||||
frameSourceMode: frame.sourceMode,
|
||||
desiredFrameSourceMode: next.desiredFrameSourceMode || frame.sourceMode,
|
||||
```
|
||||
|
||||
关键点：不要因为临时 fixture frame 把 `desiredFrameSourceMode` 变成 fixture。
|
||||
|
||||
### Step 1.5 修改 scheduleAsyncKinematicsRefresh
|
||||
|
||||
当前 guard 不应依赖已解析 frame source：
|
||||
|
||||
```js
|
||||
if (state.frameSourceMode !== "source-derived-kinematics-wasm") return null;
|
||||
```
|
||||
|
||||
改为：
|
||||
|
||||
```js
|
||||
if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
|
||||
if (!state.kinematicsRuntime?.loaded) return null;
|
||||
if (!isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
|
||||
```
|
||||
|
||||
如果当前 frame 已经 ready 且 activeLine/axisPose/kinsType 未变化，可继续跳过刷新。
|
||||
|
||||
### Step 1.6 修改 refreshAsyncKinematicsFrame 成功写回
|
||||
|
||||
成功后确保：
|
||||
|
||||
```js
|
||||
sourceMode: "source-derived-kinematics-wasm",
|
||||
frameSourceMode: "source-derived-kinematics-wasm",
|
||||
desiredFrameSourceMode: "source-derived-kinematics-wasm",
|
||||
```
|
||||
|
||||
失败时：
|
||||
|
||||
```js
|
||||
operatorMessage: `LinuxCNC kinematics refresh failed: ${error.message}`
|
||||
```
|
||||
|
||||
并保留 retry 能力。
|
||||
|
||||
### Step 1.7 修改 main.js 初始化顺序
|
||||
|
||||
文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/main.js
|
||||
```
|
||||
|
||||
`attachDefaultKinematicsRuntime()` 已调用：
|
||||
|
||||
```js
|
||||
await store.refreshKinematicsFrame(...)
|
||||
```
|
||||
|
||||
修复后保留该调用，并在 profile/INI 变更订阅中，runtime attach 完成后再次刷新：
|
||||
|
||||
```js
|
||||
await attachDefaultKinematicsRuntime(...)
|
||||
await store.refreshKinematicsFrame({ operatorMessage: "..." })
|
||||
```
|
||||
|
||||
注意避免无限刷新。可通过 `asyncFrameRefreshSequence` 或 readiness 状态判断。
|
||||
|
||||
### Step 1.8 D1 测试
|
||||
|
||||
新增或更新测试：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/tests/browser/gmoccapy_shell_smoke.html
|
||||
```
|
||||
|
||||
或新增：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/tests/browser/kinematics_auto_refresh_smoke.html
|
||||
```
|
||||
|
||||
断言：
|
||||
|
||||
```js
|
||||
await waitUntil(() => window.webRtcp5AxisSimulation.getState().sourceMode === "source-derived-kinematics-wasm")
|
||||
assertText('[data-rtcp-diagnostic="boundary"]', 'linuxcnc_kinematics_wasm_c_abi')
|
||||
assertText('[data-rtcp-diagnostic="kinematics-ready"]', 'ready')
|
||||
```
|
||||
|
||||
## 2. D2：修复 3D 预览可见性
|
||||
|
||||
### Step 2.1 修复 updateToolpathPreview 未定义变量
|
||||
|
||||
文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
|
||||
```
|
||||
|
||||
在 `updateToolpathPreview(preview, state)` 中补齐：
|
||||
|
||||
```js
|
||||
const toolPosition = executionToolPosition(state, previewPoints);
|
||||
const fitPoints = collectFitPoints(previewPoints, executedPoints, currentSegmentPoints, toolPosition);
|
||||
const fitKey = [
|
||||
previewPoints.length,
|
||||
executedPoints.length,
|
||||
currentSegmentPoints.length,
|
||||
previewSourceMode(state),
|
||||
state.programExecutionMotionIndex || 0,
|
||||
state.programExecutionSampleIndex || 0,
|
||||
].join(":");
|
||||
```
|
||||
|
||||
确保 `updateToolExecutionMarker()` 使用同一个 `toolPosition`。
|
||||
|
||||
### Step 2.2 增加常驻机床参考模型
|
||||
|
||||
新增函数：
|
||||
|
||||
```js
|
||||
function createMachineReferenceModel() { ... }
|
||||
function updateMachineReferenceModel(preview, state) { ... }
|
||||
```
|
||||
|
||||
推荐对象：
|
||||
|
||||
```text
|
||||
grid/table base: dark gray plane/box
|
||||
X axis: red line
|
||||
Y axis: green line
|
||||
Z axis: blue line
|
||||
rotary ring: cyan/yellow ring
|
||||
tool holder: small cylinder/cone
|
||||
TCP marker: existing sphere
|
||||
```
|
||||
|
||||
在 `createScene()` 中：
|
||||
|
||||
```js
|
||||
const machineModel = createMachineReferenceModel();
|
||||
scene.add(machineModel.root);
|
||||
```
|
||||
|
||||
在 preview 对象中保存：
|
||||
|
||||
```js
|
||||
machineModel
|
||||
```
|
||||
|
||||
在 `updateToolpathPreview()` 中：
|
||||
|
||||
```js
|
||||
updateMachineReferenceModel(preview, state);
|
||||
```
|
||||
|
||||
### Step 2.3 提高 fallback 可见性
|
||||
|
||||
在 `renderFallbackPreview()` 中，路径为空也要绘制：
|
||||
|
||||
```text
|
||||
工作台矩形
|
||||
XYZ 坐标轴
|
||||
旋转中心
|
||||
TCP 点
|
||||
```
|
||||
|
||||
要求颜色和尺寸足够明显，避免黑底上不可见。
|
||||
|
||||
### Step 2.4 强化 canvas dataset
|
||||
|
||||
`exposePreviewDataset()` 已存在，修复后确保任意路径都稳定输出：
|
||||
|
||||
```text
|
||||
data-three-ready="true"
|
||||
data-three-renderer
|
||||
data-three-scene-objects
|
||||
data-three-path-points
|
||||
data-three-tool-execution-marker
|
||||
```
|
||||
|
||||
如果 fallback：
|
||||
|
||||
```text
|
||||
data-three-fallback-reason
|
||||
```
|
||||
|
||||
如果 WebGL：
|
||||
|
||||
```text
|
||||
data-three-renderer="webgl"
|
||||
```
|
||||
|
||||
### Step 2.5 D2 测试
|
||||
|
||||
新增 pixel 检查：
|
||||
|
||||
```js
|
||||
const stats = canvasPixelStats(canvas)
|
||||
assert(stats.nonBlackRatio > 0.02)
|
||||
assert(stats.averageLuminance > 5)
|
||||
```
|
||||
|
||||
同时检查：
|
||||
|
||||
```js
|
||||
Number(canvas.dataset.threeSceneObjects) > 0
|
||||
canvas.dataset.threeReady === "true"
|
||||
```
|
||||
|
||||
建议覆盖 desktop 和 mobile viewport。
|
||||
|
||||
## 3. D3：修复 HOME/JOG 坐标连续性
|
||||
|
||||
### Step 3.1 记录 pending JOG 上下文
|
||||
|
||||
文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
```
|
||||
|
||||
在 `initialState` 增加：
|
||||
|
||||
```js
|
||||
pendingJogCommand: null,
|
||||
```
|
||||
|
||||
在 `case "JOG"` 的 task/HAL runtime 分支，发送命令前记录：
|
||||
|
||||
```js
|
||||
setState({
|
||||
pendingJogCommand: {
|
||||
axis,
|
||||
direction,
|
||||
increment,
|
||||
basePose: state.axisPose,
|
||||
createdAtLine: state.activeLine,
|
||||
},
|
||||
operatorMessage: `task/HAL jog ${axis.toUpperCase()} ...`,
|
||||
})
|
||||
```
|
||||
|
||||
注意现有代码直接调用 `runTaskHalCommandSequence()`，需要避免两次 setState 引发顺序混乱。可把 pending context 作为 `runTaskHalCommandSequence()` 的 options 传入，最终在 command started patch 中写入。
|
||||
|
||||
### Step 3.2 给 task/HAL status 增加坐标系元数据
|
||||
|
||||
文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
```
|
||||
|
||||
在 `ui` 对象中增加：
|
||||
|
||||
```js
|
||||
axisPoseFrame: "task-local",
|
||||
```
|
||||
|
||||
如果 runtime 能确定是 work pose，则写：
|
||||
|
||||
```js
|
||||
axisPoseFrame: "work",
|
||||
```
|
||||
|
||||
如果能计算增量，增加：
|
||||
|
||||
```js
|
||||
axisPoseDelta: { x, y, z, a, b, c }
|
||||
```
|
||||
|
||||
短期不能准确判断时，不要伪装成 work。
|
||||
|
||||
### Step 3.3 修改 applyTaskHalStatusPatch
|
||||
|
||||
当前：
|
||||
|
||||
```js
|
||||
const axisPose = clampAxisPoseToProfile({
|
||||
...state.axisPose,
|
||||
...ui.axisPose,
|
||||
}, state.profile);
|
||||
```
|
||||
|
||||
改为单独函数：
|
||||
|
||||
```js
|
||||
const axisPose = resolveTaskHalAxisPose(state, status);
|
||||
```
|
||||
|
||||
建议实现：
|
||||
|
||||
```js
|
||||
function resolveTaskHalAxisPose(state, status) {
|
||||
const ui = status?.ui || {};
|
||||
if (ui.axisPoseFrame === "work") {
|
||||
return clampAxisPoseToProfile({ ...state.axisPose, ...ui.axisPose }, state.profile);
|
||||
}
|
||||
|
||||
if (ui.axisPoseDelta) {
|
||||
return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
|
||||
}
|
||||
|
||||
if (state.pendingJogCommand && isJogStatus(status)) {
|
||||
const { axis, direction, increment, basePose } = state.pendingJogCommand;
|
||||
return clampAxisPoseToProfile({
|
||||
...basePose,
|
||||
[axis]: Number(basePose[axis] || 0) + direction * increment,
|
||||
}, state.profile);
|
||||
}
|
||||
|
||||
if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, ui.axisPose)) {
|
||||
return state.axisPose;
|
||||
}
|
||||
|
||||
return clampAxisPoseToProfile({ ...state.axisPose, ...ui.axisPose }, state.profile);
|
||||
}
|
||||
```
|
||||
|
||||
### Step 3.4 清理 pending JOG
|
||||
|
||||
`TASK_HAL_STATUS_APPLIED` 后，如果使用了 pending JOG：
|
||||
|
||||
```js
|
||||
pendingJogCommand: null
|
||||
```
|
||||
|
||||
如果 command failed：
|
||||
|
||||
```js
|
||||
pendingJogCommand: null
|
||||
```
|
||||
|
||||
### Step 3.5 HOME 同步
|
||||
|
||||
HOME 成功后，UI 和 task/HAL runtime 必须同一坐标基准。短期可在 HOME fallback patch 中明确：
|
||||
|
||||
```js
|
||||
axisPose: initialAxisPose
|
||||
```
|
||||
|
||||
task/HAL HOME status 如果返回局部原点，不能覆盖 `initialAxisPose`，除非 status 标记 `axisPoseFrame="work"`。
|
||||
|
||||
### Step 3.6 D3 测试
|
||||
|
||||
新增测试步骤：
|
||||
|
||||
```js
|
||||
power on
|
||||
manual
|
||||
home
|
||||
capture X/Y/Z
|
||||
jog X+
|
||||
assert X === previousX + jogIncrement
|
||||
assert Y/Z unchanged
|
||||
jog Y-
|
||||
assert Y === previousY - jogIncrement
|
||||
assert X/Z unchanged
|
||||
```
|
||||
|
||||
同时验证 DRO 文本：
|
||||
|
||||
```js
|
||||
document.querySelector('[data-region="dro"]').textContent
|
||||
```
|
||||
|
||||
## 4. 本地验证命令
|
||||
|
||||
建议按顺序执行：
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_five_axis_session.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
```
|
||||
|
||||
如果项目已有 browser smoke：
|
||||
|
||||
```bash
|
||||
web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
|
||||
```
|
||||
|
||||
修复后再执行 QA 站点测试脚本或新增等价本地测试。
|
||||
|
||||
72
web-rtcp-5axis-sim-plan/working1/04-traceability-matrix.md
Normal file
72
web-rtcp-5axis-sim-plan/working1/04-traceability-matrix.md
Normal file
@@ -0,0 +1,72 @@
|
||||
# 04 修复溯源矩阵
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 总体追溯原则
|
||||
|
||||
```text
|
||||
测试问题 -> 证据 -> 本地代码落点 -> LinuxCNC/项目参考 -> 修复项 -> 验收项
|
||||
```
|
||||
|
||||
任何修复都不能只修改 UI 文案掩盖问题，必须让 runtime state、DOM diagnostics、截图和自动化断言一致。
|
||||
|
||||
## 2. 问题到修复追溯表
|
||||
|
||||
| 问题 ID | 测试证据 | 本地代码落点 | LinuxCNC/项目参考 | 修复项 | 验收项 |
|
||||
| --- | --- | --- | --- | --- | --- |
|
||||
| D1 | `sourceMode=fixture-ui-only`，`frameBoundary=fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof`，但 `kinematicsRuntimeReadiness.loaded=true` | `app/src/state/store.js` `ATTACH_KINEMATICS_RUNTIME`、`setState()`、`scheduleAsyncKinematicsRefresh()`、`refreshAsyncKinematicsFrame()`；`app/src/main.js` `attachDefaultKinematicsRuntime()` | `docs/traceability-matrix.md` 中 `Five-axis kinematics`、`RTCP/TCP frame`；LinuxCNC `xyzac-trt-kins.c`、`xyzbc-trt-kins.c`、`trtfuncs.c` | 分离 `desiredFrameSourceMode` 与当前 `frameSourceMode`，异步 worker ready 后自动刷新 frame | 首屏 8 秒内 `sourceMode=source-derived-kinematics-wasm`，DOM boundary 为 `linuxcnc_kinematics_wasm_c_abi` |
|
||||
| D2 | 截图中 preview 黑屏，无可见机床/刀路；canvas dataset 不稳定 | `app/src/visualization/five-axis-scene.js` `createScene()`、`updateToolpathPreview()`、`renderFallbackPreview()`、`exposePreviewDataset()`；`app/src/ui/gmoccapy-shell.js` `renderPreview()` | `docs/implementation-plan.md` 5.4 Visualization/Playback；LinuxCNC `lib/python/vismach.py`、5-axis vismach GUI screenshots | 修复未定义变量，加入常驻机床模型，fallback 绘制明显对象，增加 pixel smoke | canvas 非空，`data-three-ready=true`，`sceneObjects>0`，截图可见机床/刀路/TCP |
|
||||
| D3 | HOME 后 `X=43/Y=-32.15/Z=-11.306`，JOG X+ 后跳到 `X=1/Y=0/Z=0` | `app/src/state/store.js` `JOG`、`HOME`、`applyTaskHalStatusPatch()`；`app/src/runtime/linuxcnc-task-hal-runtime.js` status `ui.axisPose` | LinuxCNC task/motion command model：`EMC_JOG_INCR`、`EMC_JOINT_HOME`；项目 `linuxcnc-task-policy.js` | 为 task/HAL axis pose 增加坐标系元数据，pending jog context，防止局部坐标覆盖 work pose | HOME 后 JOG X+/Y- 基于当前 DRO 连续增减 |
|
||||
|
||||
## 3. 文件级追溯
|
||||
|
||||
| 文件 | 当前职责 | 本次修复关注点 | 需要新增测试 |
|
||||
| --- | --- | --- | --- |
|
||||
| `app/src/main.js` | app 启动、runtime attach、profile 变更订阅 | kinematics runtime attach 后可靠触发 frame refresh | browser smoke 检查首屏 kinematics ready |
|
||||
| `app/src/state/store.js` | 全局状态机、RTCP frame、task policy、运行控制 | desired/current frame source 分离；JOG 坐标连续性；task/HAL status 坐标解析 | node store test + browser operator workflow |
|
||||
| `app/src/runtime/rtcp-frame.js` | RTCP frame 构建和边界标识 | 确认 source-derived frame 输出 diagnostics 明确 | RTCP frame source smoke |
|
||||
| `app/src/visualization/five-axis-scene.js` | Three.js/fallback 预览渲染 | 可见机床模型、fallback 非空、dataset 稳定 | canvas pixel smoke |
|
||||
| `app/src/runtime/linuxcnc-task-hal-runtime.js` | task/HAL runtime adapter 和 status normalize | `axisPoseFrame` / `axisPoseDelta` 输出 | task/HAL JOG status test |
|
||||
| `app/src/state/linuxcnc-task-policy.js` | LinuxCNC task mode/state gate | 一般不需要改；作为 JOG/HOME gate 参考 | 维持现有 gate tests |
|
||||
|
||||
## 4. 测试证据追溯
|
||||
|
||||
| 证据文件 | 用途 |
|
||||
| --- | --- |
|
||||
| `qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx` | 人类可读测试报告和截图 |
|
||||
| `qa/web-rtcp-5axis-site-test/output/site-test-report.json` | 自动化原始 findings、state、console、request 数据 |
|
||||
| `qa/web-rtcp-5axis-site-test/screenshots/01-home.png` | 首屏预览黑屏和初始界面证据 |
|
||||
| `qa/web-rtcp-5axis-site-test/screenshots/04-run-state.png` | Run 后预览仍不可见证据 |
|
||||
| `qa/web-rtcp-5axis-site-test/screenshots/05-local-program-opened.png` | 本地程序导入后预览仍不可见证据 |
|
||||
| `qa/web-rtcp-5axis-site-test/screenshots/06-after-audit.png` | Audit 后预览仍不可见证据 |
|
||||
|
||||
## 5. LinuxCNC 参考追溯
|
||||
|
||||
| 能力 | LinuxCNC 参考 | Web 边界 |
|
||||
| --- | --- | --- |
|
||||
| TRT kinematics | `src/emc/kinematics/trtfuncs.c`、`xyzac-trt-kins.c`、`xyzbc-trt-kins.c` | 只能通过 source-derived WASM frame 使用 |
|
||||
| switchkins | `src/emc/kinematics/switchkins.c`、`switchkins.h` | `M428/M429/M430` 和 kins type UI |
|
||||
| task/JOG/HOME | `src/emc/task/emctaskmain.cc`、`src/emc/nml_intf/emc.hh` | Web task policy + task/HAL WASM simulation |
|
||||
| vismach visual model | `lib/python/vismach.py`、5-axis vismach configs/xml | Three.js scene graph reference，不移植 Python runtime |
|
||||
|
||||
## 6. 后续修复批次记录要求
|
||||
|
||||
每一批修复完成后，在 `06-work-log-template.md` 模板基础上追加一份记录，例如：
|
||||
|
||||
```text
|
||||
working1-log-2026-06-22-d1.md
|
||||
working1-log-2026-06-22-d2.md
|
||||
working1-log-2026-06-22-d3.md
|
||||
```
|
||||
|
||||
每份记录必须包含：
|
||||
|
||||
```text
|
||||
问题 ID
|
||||
修改文件
|
||||
关键代码变更
|
||||
运行测试
|
||||
截图/日志证据
|
||||
剩余风险
|
||||
```
|
||||
|
||||
195
web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md
Normal file
195
web-rtcp-5axis-sim-plan/working1/05-acceptance-test-plan.md
Normal file
@@ -0,0 +1,195 @@
|
||||
# 05 修复验收测试计划
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## 1. 验收目标
|
||||
|
||||
修复完成后，必须证明以下目标同时成立：
|
||||
|
||||
1. RTCP frame 自动进入 LinuxCNC kinematics WASM 边界。
|
||||
2. 3D 预览首屏和程序运行后均可见。
|
||||
3. HOME 后 JOG 坐标连续。
|
||||
4. 原已通过功能不回归。
|
||||
|
||||
## 2. 本地静态和 Node 测试
|
||||
|
||||
### 2.1 构建
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
```
|
||||
|
||||
预期：
|
||||
|
||||
```text
|
||||
exit code 0
|
||||
无 TypeScript/ES module 打包错误
|
||||
```
|
||||
|
||||
### 2.2 状态和 runtime smoke
|
||||
|
||||
按项目已有测试能力执行：
|
||||
|
||||
```bash
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_five_axis_session.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_full_execution_boundary.mjs
|
||||
```
|
||||
|
||||
如某个测试依赖本地构建产物缺失，应先按项目原有构建流程补齐，不要跳过。
|
||||
|
||||
## 3. 浏览器自动化验收
|
||||
|
||||
### 3.1 D1 验收：首屏 kinematics 自动 ready
|
||||
|
||||
打开本地或部署页面后等待最多 8 秒，断言：
|
||||
|
||||
```js
|
||||
const state = window.webRtcp5AxisSimulation.getState();
|
||||
state.kinematicsRuntimeReadiness.loaded === true
|
||||
state.sourceMode === "source-derived-kinematics-wasm"
|
||||
state.frameSourceMode === "source-derived-kinematics-wasm"
|
||||
state.rtcpFrame.semanticBoundary === "linuxcnc_kinematics_wasm_c_abi"
|
||||
```
|
||||
|
||||
DOM 断言：
|
||||
|
||||
```js
|
||||
document.querySelector('[data-rtcp-diagnostic="boundary"]').textContent.includes("linuxcnc_kinematics_wasm_c_abi")
|
||||
document.querySelector('[data-rtcp-diagnostic="kinematics-ready"]').textContent.includes("ready")
|
||||
```
|
||||
|
||||
禁止状态：
|
||||
|
||||
```text
|
||||
fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof
|
||||
```
|
||||
|
||||
不得作为稳定态出现。
|
||||
|
||||
### 3.2 D2 验收：预览非空
|
||||
|
||||
断言 canvas dataset：
|
||||
|
||||
```js
|
||||
canvas.dataset.threeReady === "true"
|
||||
Number(canvas.dataset.threeSceneObjects) > 0
|
||||
canvas.dataset.threeRenderer === "webgl" || canvas.dataset.threeRenderer === "2d-fallback"
|
||||
```
|
||||
|
||||
像素断言：
|
||||
|
||||
```js
|
||||
const stats = readCanvasPixelStats(canvas)
|
||||
stats.nonBlackRatio > 0.02
|
||||
stats.averageLuminance > 5
|
||||
```
|
||||
|
||||
截图人工检查：
|
||||
|
||||
```text
|
||||
能看到工作台/坐标轴/刀具或 TCP 点/路径
|
||||
```
|
||||
|
||||
至少覆盖：
|
||||
|
||||
```text
|
||||
首屏
|
||||
加载 LinuxCNC vendored 程序后
|
||||
Run 后
|
||||
Open 本地 G-code 后
|
||||
Audit 后
|
||||
```
|
||||
|
||||
### 3.3 D3 验收：HOME/JOG 坐标连续
|
||||
|
||||
自动化步骤：
|
||||
|
||||
```js
|
||||
click POWER
|
||||
click MANUAL
|
||||
click HOME
|
||||
const home = state.axisPose
|
||||
click X+
|
||||
assert state.axisPose.x === home.x + state.machine.jogIncrement
|
||||
assert state.axisPose.y === home.y
|
||||
assert state.axisPose.z === home.z
|
||||
click Y-
|
||||
assert state.axisPose.y === home.y - state.machine.jogIncrement
|
||||
assert state.axisPose.x === home.x + state.machine.jogIncrement
|
||||
```
|
||||
|
||||
允许浮点误差：
|
||||
|
||||
```text
|
||||
abs(actual - expected) <= 0.001
|
||||
```
|
||||
|
||||
人工检查：
|
||||
|
||||
```text
|
||||
DRO 中 X/Y/Z 数字连续变化，没有跳到 0/1 局部原点。
|
||||
```
|
||||
|
||||
## 4. 全功能回归清单
|
||||
|
||||
修复完成后，至少回归以下功能：
|
||||
|
||||
| 功能 | 预期 |
|
||||
| --- | --- |
|
||||
| 主界面九大区域 | 全部存在 |
|
||||
| POWER on/off | taskState 正确 |
|
||||
| E-STOP/RESET | 急停和复位正确 |
|
||||
| AUTO/MANUAL/JOG/MDI | 模式切换正确 |
|
||||
| HOME | allHomed=true，DRO 到 HOME pose |
|
||||
| JOG X+/X-/Y+/Y- | DRO 连续变化 |
|
||||
| MDI M428 | RTCP on，tcp-xyzac |
|
||||
| MDI M429 | RTCP off，identity |
|
||||
| MDI M430 | userk |
|
||||
| TCP/IDENTITY 侧栏按钮 | RTCP 状态正确 |
|
||||
| Rapid/Feed/Spindle override | 数值可调 |
|
||||
| Flood/Mist | 状态可切换 |
|
||||
| View X/Y/Z/Fit/Clear/Full | preview state 正确，画面仍可见 |
|
||||
| Profile xyzac/xyzbc 切换 | INI 与 runtime 重新 ready |
|
||||
| Stage LinuxCNC sources | staged files/gcode 数量正常 |
|
||||
| Load vendored G-code | programSource 正确，G-code 行显示 |
|
||||
| Run/Pause/Resume/Step/Stop/Reload | runState 和 activeLine 正确 |
|
||||
| Open local G-code | programSource=operator-file |
|
||||
| Save/Restore Session | OPFS 保存恢复正确 |
|
||||
| Audit Full Boundary | 审计入口可执行，结果可诊断 |
|
||||
|
||||
## 5. QA 报告复跑
|
||||
|
||||
修复后建议复用或更新：
|
||||
|
||||
```text
|
||||
/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/run-site-test.mjs
|
||||
```
|
||||
|
||||
重点更新：
|
||||
|
||||
1. 首屏等待稳定后，不再把 D1 作为 WARN，而是强制 PASS/FAIL。
|
||||
2. canvas 检查加入像素统计。
|
||||
3. HOME/JOG 检查使用稳定态并验证连续坐标。
|
||||
4. 重新生成 Word 报告，文件名建议：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-site-test-report-2026-06-22-after-working1-fix.docx
|
||||
```
|
||||
|
||||
## 6. 验收通过定义
|
||||
|
||||
```text
|
||||
P0: D1 PASS
|
||||
P0: D2 PASS
|
||||
P1: D3 PASS
|
||||
全功能回归无新增 FAIL
|
||||
console error = 0
|
||||
page error = 0
|
||||
request failure = 0
|
||||
```
|
||||
|
||||
如果 headless WebGL 不稳定，必须证明 2D fallback 可见且自动化 pixel 检查通过。
|
||||
|
||||
100
web-rtcp-5axis-sim-plan/working1/06-work-log-template.md
Normal file
100
web-rtcp-5axis-sim-plan/working1/06-work-log-template.md
Normal file
@@ -0,0 +1,100 @@
|
||||
# 06 修复工作记录模板
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
后续每一轮修复建议复制本模板，新建独立记录文件。
|
||||
|
||||
文件命名建议：
|
||||
|
||||
```text
|
||||
working1-log-YYYY-MM-DD-D1.md
|
||||
working1-log-YYYY-MM-DD-D2.md
|
||||
working1-log-YYYY-MM-DD-D3.md
|
||||
```
|
||||
|
||||
## Batch
|
||||
|
||||
```text
|
||||
Batch:
|
||||
Date:
|
||||
Owner:
|
||||
Problem IDs:
|
||||
Branch:
|
||||
Commit:
|
||||
```
|
||||
|
||||
## 1. 修复目标
|
||||
|
||||
```text
|
||||
本轮要修复什么问题：
|
||||
预期用户可见结果：
|
||||
预期 runtime/DOM 诊断结果：
|
||||
```
|
||||
|
||||
## 2. 修改文件
|
||||
|
||||
| 文件 | 修改内容 | 原因 |
|
||||
| --- | --- | --- |
|
||||
| | | |
|
||||
|
||||
## 3. 关键实现说明
|
||||
|
||||
```text
|
||||
状态字段变化：
|
||||
核心函数变化：
|
||||
runtime 边界变化：
|
||||
UI/可视化变化：
|
||||
```
|
||||
|
||||
## 4. LinuxCNC/项目溯源
|
||||
|
||||
```text
|
||||
参考 LinuxCNC 源码或配置：
|
||||
参考项目文档：
|
||||
为什么该修复没有重写 CNC 语义：
|
||||
```
|
||||
|
||||
## 5. 测试记录
|
||||
|
||||
### 5.1 命令
|
||||
|
||||
```bash
|
||||
# paste commands here
|
||||
```
|
||||
|
||||
### 5.2 结果
|
||||
|
||||
```text
|
||||
PASS/FAIL:
|
||||
关键输出：
|
||||
截图路径：
|
||||
JSON/日志路径：
|
||||
```
|
||||
|
||||
## 6. 回归范围
|
||||
|
||||
| 功能 | 是否回归 | 结果 |
|
||||
| --- | --- | --- |
|
||||
| D1 kinematics auto refresh | | |
|
||||
| D2 preview visible | | |
|
||||
| D3 jog continuity | | |
|
||||
| POWER/E-STOP/RESET | | |
|
||||
| MDI M428/M429/M430 | | |
|
||||
| Load/Run/Step/Stop | | |
|
||||
| Save/Restore Session | | |
|
||||
|
||||
## 7. 剩余风险
|
||||
|
||||
```text
|
||||
仍未解决的问题：
|
||||
需要后续确认的问题：
|
||||
可能影响线上部署的问题：
|
||||
```
|
||||
|
||||
## 8. 下一步
|
||||
|
||||
```text
|
||||
Next:
|
||||
Blockers:
|
||||
```
|
||||
|
||||
45
web-rtcp-5axis-sim-plan/working1/README.md
Normal file
45
web-rtcp-5axis-sim-plan/working1/README.md
Normal file
@@ -0,0 +1,45 @@
|
||||
# web-rtcp-5axis-sim-plan working1 修复指导目录
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
本目录用于指导修复测试报告中确认的问题：
|
||||
|
||||
```text
|
||||
/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/web-rtcp-5axis-site-test-report-2026-06-22.docx
|
||||
```
|
||||
|
||||
本目录只提供修复设计、实施步骤、溯源和验收文档，不直接修改程序代码。后续开发人员可按本目录文件逐步修复本地项目。
|
||||
|
||||
## 文档清单
|
||||
|
||||
| 文件 | 用途 |
|
||||
| --- | --- |
|
||||
| `01-problem-review.md` | 测试问题复盘、证据、影响范围和初步根因 |
|
||||
| `02-repair-plan.md` | 总体修复方案、优先级、风险和代码落点 |
|
||||
| `03-implementation-steps.md` | 程序修改的详细步骤，按问题拆分到具体文件和函数 |
|
||||
| `04-traceability-matrix.md` | 问题、测试证据、源码、LinuxCNC 参考、修复项、验收项的追溯矩阵 |
|
||||
| `05-acceptance-test-plan.md` | 修复完成后的本地/浏览器/线上回归验收清单 |
|
||||
| `06-work-log-template.md` | 后续每轮修复过程记录模板 |
|
||||
|
||||
## 本轮确认问题
|
||||
|
||||
| ID | 问题 | 严重级别 | 修复优先级 |
|
||||
| --- | --- | --- | --- |
|
||||
| D1 | 首屏 RTCP/运动学边界未自动挂接 LinuxCNC kinematics | 高 | P0 |
|
||||
| D2 | 3D 预览画布存在，但未观察到机床/刀路可见对象 | 中 | P0 |
|
||||
| D3 | HOME 后 JOG 坐标连续性异常 | 中 | P1 |
|
||||
|
||||
## 修复目标
|
||||
|
||||
1. 页面稳定加载后，RTCP frame 自动进入 `source-derived-kinematics-wasm`，边界显示 `linuxcnc_kinematics_wasm_c_abi`。
|
||||
2. 3D 预览在 WebGL 和 2D fallback 两条路径下均可见，至少能看到机床基准、刀具/TCP 标记和路径。
|
||||
3. HOME 后执行 JOG，DRO 坐标必须在当前显示坐标基础上连续变化，不允许跳到另一套坐标原点。
|
||||
4. 修复后新增或更新自动化测试，防止同类问题回归。
|
||||
|
||||
## 推荐执行顺序
|
||||
|
||||
1. 先修 D1，确保 LinuxCNC kinematics frame 自动刷新链路稳定。
|
||||
2. 再修 D2，确保视觉层有可见基础机床对象和路径对象。
|
||||
3. 最后修 D3，统一 task/HAL runtime 反馈坐标系与 UI DRO 坐标系。
|
||||
4. 执行 `05-acceptance-test-plan.md` 中的本地和浏览器验收。
|
||||
|
||||
@@ -0,0 +1,146 @@
|
||||
# working1 修复执行记录 D1-D2-D3
|
||||
|
||||
生成时间：2026-06-22
|
||||
|
||||
## Batch
|
||||
|
||||
```text
|
||||
Batch: working1-implementation-d1-d2-d3
|
||||
Date: 2026-06-22
|
||||
Owner: Codex
|
||||
Problem IDs: D1, D2, D3
|
||||
Branch: current worktree
|
||||
Commit: not committed
|
||||
```
|
||||
|
||||
## 1. 修复目标
|
||||
|
||||
```text
|
||||
D1: kinematics worker ready 后，页面自动保持 LinuxCNC source-derived kinematics frame，不被临时 fixture frame 永久覆盖。
|
||||
D2: 首屏和路径清空后仍显示可见五轴参考机床、坐标轴、旋转轴、刀具/TCP；canvas dataset 和像素测试可验证。
|
||||
D3: HOME 后执行 task/HAL JOG，DRO/work pose 保持连续增量，不被 task-local/local-zero 轴位覆盖。
|
||||
```
|
||||
|
||||
## 2. 修改文件
|
||||
|
||||
| 文件 | 修改内容 | 原因 |
|
||||
| --- | --- | --- |
|
||||
| `app/src/state/store.js` | 增加 `desiredFrameSourceMode`、`pendingJogCommand`；调整 async kinematics refresh；新增 `resolveTaskHalAxisPose()` | 分离“期望 frame source”和“当前 frame source”；保护 HOME 后 JOG 坐标连续性 |
|
||||
| `app/src/main.js` | profile kinematics runtime attach 完成后再次调用 `refreshKinematicsFrame()` | 满足 profile/INI 变更后的自动 frame 刷新要求 |
|
||||
| `app/src/runtime/linuxcnc-task-hal-runtime.js` | `ui.axisPoseFrame` 标记 JOG 为 `task-local`，非 JOG 为 `work` | 让 store 能区分 task/HAL 轴位坐标系 |
|
||||
| `app/src/visualization/five-axis-scene.js` | 新增 WebGL 五轴参考机床模型和 2D fallback 参考绘制；路径清空时仍显示 TCP | 修复 3D 预览黑屏/不可见和 fallback 信息不足 |
|
||||
| `tests/browser/gmoccapy_shell_smoke.html` | 更新 reference model dataset 断言；新增 canvas pixel stats 检查 | 防止只通过 DOM dataset 误判可见性 |
|
||||
| `tests/node/verify_linuxcnc_task_hal_runtime.mjs` | 增加 HOME 后 JOG X+/Y- 连续性断言 | 覆盖 D3 复现路径 |
|
||||
|
||||
## 3. 关键实现说明
|
||||
|
||||
```text
|
||||
状态字段变化:
|
||||
- desiredFrameSourceMode: 保留用户/运行时希望的 frame source。
|
||||
- pendingJogCommand: 记录 task/HAL JOG 的 axis、direction、increment、basePose。
|
||||
|
||||
核心函数变化:
|
||||
- buildFrameForState(): 优先读取 desiredFrameSourceMode。
|
||||
- scheduleAsyncKinematicsRefresh(): 以 desiredFrameSourceMode + runtime loaded 作为刷新条件。
|
||||
- refreshAsyncKinematicsFrame(): 成功后写回 source/frame/desired 均为 source-derived-kinematics-wasm，失败显示 operatorMessage 并保留重试能力。
|
||||
- resolveTaskHalAxisPose(): work pose 直接合并，axis delta 累加，pending JOG 用 basePose + increment。
|
||||
|
||||
UI/可视化变化:
|
||||
- WebGL scene 增加 table/base、XYZ axis、A/C rotary ring、tool holder。
|
||||
- 2D fallback 始终绘制工作台、XYZ 轴、旋转中心、TCP 点。
|
||||
- canvas dataset 输出 machine-reference-and-toolpath / webgl-five-axis-reference。
|
||||
```
|
||||
|
||||
## 4. LinuxCNC/项目溯源
|
||||
|
||||
```text
|
||||
参考项目文档:
|
||||
- working1/03-implementation-steps.md
|
||||
- working1/04-traceability-matrix.md
|
||||
- docs/traceability-matrix.md
|
||||
|
||||
参考 LinuxCNC 边界:
|
||||
- kinematics frame 仍来自 LinuxCNC kinematics WASM C ABI。
|
||||
- task/HAL JOG 仍通过 EMC_JOG_INCR 模拟 runtime 执行；UI 只处理坐标系归并，不重写 CNC 运动语义。
|
||||
- Three.js 只消费 runtime frame/canonical motion/task-HAL feedback，不生成 G-code 或 CNC 语义。
|
||||
```
|
||||
|
||||
## 5. 测试记录
|
||||
|
||||
### 5.1 已通过命令
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_five_axis_session.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_kinematics_runtime.mjs
|
||||
bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
|
||||
bash web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_dist_browser.sh
|
||||
```
|
||||
|
||||
### 5.2 关键输出
|
||||
|
||||
```text
|
||||
gmoccapy_static_build=ok
|
||||
linuxcnc_task_hal_runtime_smoke=ok
|
||||
rtcp_store_smoke=ok
|
||||
five_axis_session_smoke=ok
|
||||
linuxcnc_kinematics_runtime_smoke=ok
|
||||
gmoccapy_shell_smoke=ok
|
||||
gmoccapy_dist_smoke=ok
|
||||
```
|
||||
|
||||
### 5.3 未通过/阻塞命令
|
||||
|
||||
```bash
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||||
```
|
||||
|
||||
结果：
|
||||
|
||||
```text
|
||||
前置 kinematics/interpreter/INI/task-HAL 均通过。
|
||||
失败位置: verify_native_task_hal_audit.mjs -> wasm-port/tests/native/verify_task_hal_phase0.sh
|
||||
失败原因: verify_task_hal_source_manifest.sh 返回非零，manifest ready=0。
|
||||
证据: wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log
|
||||
关键字段:
|
||||
- task_hal_reference_source_ready=0
|
||||
- task_hal_vendor_source_ready=0
|
||||
- task_hal_missing_reference_source_count=20
|
||||
```
|
||||
|
||||
该失败属于 native LinuxCNC reference source/probe 前置条件，不是本轮 Web D1/D2/D3 代码回归。
|
||||
|
||||
## 6. 回归范围
|
||||
|
||||
| 功能 | 是否回归 | 结果 |
|
||||
| --- | --- | --- |
|
||||
| D1 kinematics auto refresh | 是 | PASS |
|
||||
| D2 preview visible | 是 | PASS |
|
||||
| D3 jog continuity | 是 | PASS |
|
||||
| POWER/E-STOP/RESET | 是 | PASS via browser smoke |
|
||||
| MDI M428/M429/M430 | 是 | PASS via browser/node smoke |
|
||||
| Load/Run/Step/Stop | 是 | PASS via browser smoke |
|
||||
| Save/Restore Session | 是 | PASS via browser/node smoke |
|
||||
| Native source manifest/probe | 是 | BLOCKED: missing native reference sources |
|
||||
|
||||
## 7. 剩余风险
|
||||
|
||||
```text
|
||||
1. native task/HAL source manifest 仍未 ready，缺少 20 个 native reference source，完整 smoke:node 不能全绿。
|
||||
2. WebGL reference model 已通过 smoke，但仍建议后续保留人工截图复核首屏和 clear-preview 后视觉效果。
|
||||
3. task/HAL axisPoseFrame 当前按 JOG/non-JOG 推断；长期方案仍应由 runtime 输出更细的 work/task-local/axisPoseDelta 元数据。
|
||||
```
|
||||
|
||||
## 8. 下一步
|
||||
|
||||
```text
|
||||
Next:
|
||||
- 补齐或恢复 wasm-port/tools/task-hal-source-manifest.txt 对应的 native LinuxCNC reference sources。
|
||||
- native source manifest ready 后重跑 npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node。
|
||||
- 部署到 https://82.156.24.101:8092/ 后重跑 QA 站点测试，更新 Word 测试报告。
|
||||
|
||||
Blockers:
|
||||
- wasm-port/build/task-hal/verify_task_hal_source_manifest.stdout.log 显示 native reference source 缺失。
|
||||
```
|
||||
Reference in New Issue
Block a user