补齐 xyzbc-trt Web 路径证据

web-rtcp-5axis-xyzbc-trt-sim-plan/working/03-推进台账.md

@@ -1,5 +1,89 @@
 # 03-推进台账
 
+## 2026-07-02 Web task/HAL executionPath 采集实现轮次
+
+### 本轮目标
+
+接续 `working` 任务矩阵，补齐 Web 侧 `executionPath.samples`，让 Web evidence 的预览路径和执行路径都使用 20ms 采样周期，并重新生成 compare 证据。
+
+### 已做事项
+
+- 修改 `tools/collect-web-xyzbc-trt-evidence.mjs`：
+  - 复用 `linuxcnc_interp` 生成 machine-file canonical motion 和 TP timing。
+  - 将 TP planner 原始样本重采样为 20ms `previewPath.samples`。
+  - 将同一 motion plan 装入 `linuxcnc_task_hal` WASM。
+  - 按 20ms task cycle 读取 task/HAL status，生成 `executionPath.samples`。
+  - 对 `xyzbc-trt` 显式按 `joint.0/1/2/3/4` 映射 `X/Y/Z/B/C`，避免 B/C 轴被 XYZAC 兼容字段误映射。
+- 扩展 `tests/node/verify_xyzbc_trt_web_app.mjs`，增加 interpreter + task/HAL 执行反馈 smoke 断言。
+- 重新生成：
+  - `working/evidence/web-xyzbc-trt-evidence.json`
+  - `working/evidence/compare-xyzbc-trt-evidence.json`
+- 更新 `04-任务矩阵.md`，将 T-022 标记为完成，并更新 T-017/T-021 的当前样本和通过数。
+
+### 验证情况
+
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web` 通过。
+- `web-xyzbc-trt-evidence.json` 当前摘要：
+  - `wasm.ready=true`
+  - `blockers=[]`
+  - `previewPath.samplePeriodMs=20`
+  - `previewPath.sampleCount=3074`
+  - `executionPath.samplePeriodMs=20`
+  - `executionPath.sampleCount=569`
+  - `executionPath.source=web-linuxcnc-task-hal-execution`
+  - `executionPath.taskHal.completed=true`
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare` 已生成真实失败报告：当前 18/23 通过，剩余 5 项均为 native evidence 缺少 `previewPath`/`executionPath` 样本和 20ms 周期字段。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node` 通过。
+- `npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build` 通过，输出 `gmoccapy_static_build=ok`。
+
+### 下一步
+
+1. 在 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 下重跑 native evidence，使 `native-xyzbc-trt-evidence.json` 写入 `pathSampling`、`previewPath` 和 20ms `executionPath`。
+2. 重跑 Web evidence 和 compare，使剩余 native path 相关失败进入可比误差统计。
+3. 继续目标浏览器 smoke，验证 worker runtime ready 和 canvas 非空。
+
+## 2026-07-02 evidence 字段与路径对比实现轮次
+
+### 本轮目标
+
+按 `working` 目录继续编写 `xyzbc-trt` Web 数控仿真程序，优先补齐可以在当前环境闭环验证的 evidence JSON、路径对比和 staging 覆盖。
+
+### 已做事项
+
+- 将 `xyzbc-trt` profile 的 `samplePrograms` 修正为 `xyzbc_switchkins.ngc` 和 `boat-xyzbc.ngc`。
+- 扩展 Web evidence：新增 `pathSampling`、`previewPath`、`executionPath`、`startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`switchkinsTransitions`、`uiEquivalence`、`vismachEquivalent`、`ngcguiSubroutines`、`demoPrograms`。
+- 扩展 compare evidence：新增 `pathComparison`，覆盖 `previewVsPreview`、`executionVsExecution`、`previewVsExecutionNative`、`previewVsExecutionWeb`，并输出 TCP、joint、toolAxis、样本差异和缺样本统计。
+- 修改 native evidence 脚本默认基线为 `/home/mes123456/cnc_wams/linuxcnc`，并在 `--run` 时可把 `stat()` 执行事件重采样为 20ms `executionPath`。
+- 扩展 Node smoke，检查 `samplePrograms`、Ngcgui 子程序和 `boat-xyzbc.ngc` staging。
+- 重新生成 Web evidence 和 compare evidence。当前 compare 为真实 fail：WASM artifact 缺失，native/Web path 样本仍不可比。
+
+### 修改文件
+
+```text
+web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/profiles/xyzbc-trt.js
+web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs
+web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs
+web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
+web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs
+web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
+web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
+web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md
+```
+
+### 验证情况
+
+- 已通过：`npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node`。
+- 已通过：`python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py`。
+- 已通过生成：`npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web`。
+- 已生成真实失败 compare：`npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare`，当前 23 项检查中 16 项通过，7 项失败均指向 WASM artifact 和 path 样本缺口。
+- 已确认 `npm run build` 仍因 `wasm-port/build/wasm/kinematics` 缺失失败；该结果符合当前 WASM artifact 前置状态。
+
+### 下一步
+
+1. 构建 `wasm-port/build/wasm` 的 kinematics/core/tp/task-hal artifact。
+2. 在 `/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment` 下重跑 native evidence，使 `sourceRoot` 和 path 字段进入 `native-xyzbc-trt-evidence.json`。
+3. 重跑 Web evidence 和 compare，确认 pathComparison 从 blocker 转为可比误差统计。
+
 ## 2026-07-02 07:31 EDT - DOCX 设计任务书整合到 working
 
 ### 本轮目标
@@ -278,3 +362,74 @@ web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md
 1. 用当前运行的新 native 实例重采集 `native-xyzbc-trt-evidence.json`。
 2. 将现有历史 `/home/mes123456/linuxcnc-master` evidence 替换为 `/home/mes123456/cnc_wams/linuxcnc` evidence。
 3. 基于新 evidence 重跑 Web compare。
+
+## 2026-07-02 生成 WASM artifact
+
+### 本轮目标
+
+为 `web-rtcp-5axis-xyzbc-trt-sim-plan` 生成缺失的 `wasm-port/build/wasm` artifact，使 Web evidence 不再因缺少 `.js/.wasm` 构建产物而 blocked。
+
+### 已做事项
+
+- 显式加载 `/home/mes123456/emsdk/emsdk_env.sh`，确认 `emcc 6.0.2` 可用。
+- 执行以下构建脚本：
+  - `wasm-port/tools/build_wasm_core.sh`
+  - `wasm-port/tools/build_kinematics_wasm.sh`
+  - `wasm-port/tools/build_tp_wasm.sh`
+  - `wasm-port/tools/build_task_hal_wasm.sh`
+- 已生成目标项目所需 artifact：
+  - `wasm-port/build/wasm/core/linuxcnc_interp.js`
+  - `wasm-port/build/wasm/core/linuxcnc_interp.wasm`
+  - `wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js`
+  - `wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm`
+  - `wasm-port/build/wasm/tp/linuxcnc_tp.js`
+  - `wasm-port/build/wasm/tp/linuxcnc_tp.wasm`
+  - `wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js`
+  - `wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm`
+- `wasm-port/build/wasm` 下当前共有 40 个 `.js/.wasm` artifact。
+
+### 验证情况
+
+- `node tests/node/verify_xyzbc_trt_web_app.mjs` 通过。
+- `SKIP_KINEMATICS_BUILD=1 wasm-port/tests/wasm/node/verify_kinematics_wasm.sh` 通过，包含 `xyzbc-trt` kinematics smoke。
+- `SKIP_TP_BUILD=1 wasm-port/tests/wasm/node/verify_tp_wasm.sh` 通过。
+- `SKIP_TASK_HAL_BUILD=1 wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 通过。
+- 历史状态：`SKIP_INTERP_BUILD=1 wasm-port/tests/wasm/node/verify_interp_wasm.sh` 当时未通过，原因是 `interp_g10_l11_wasm` 的 G10 L11 期望值过期；该项已在后续“完整 interpreter/remap 验收”轮次修复。
+- 重新运行 `node tools/collect-web-xyzbc-trt-evidence.mjs`，`web-xyzbc-trt-evidence.json` 显示 `wasmArtifactsReady=true`、`missing=[]`，并生成 Web preview path 6174 个 20ms 样本。
+- 重新运行 `node tools/compare-xyzbc-trt-evidence.mjs`，当前 17/23 通过；剩余失败项集中在 native preview/execution path 样本缺失，以及 Web execution path collector 尚未实现。
+
+### 下一步
+
+1. 已完成：`verify_interp_wasm.sh` 中 `interp_g10_l11_wasm` 的 G10 L11 断言已对齐 vendored LinuxCNC expected。
+2. 用 `/home/mes123456/cnc_wams/linuxcnc` 当前 native 实例重采集 `native-xyzbc-trt-evidence.json` 的 preview/execution path。
+3. 实现 Web task/HAL execution path 采集，补齐 `web-xyzbc-trt-evidence.json.executionPath.samples`。
+
+## 2026-07-02 完整 interpreter/remap 验收
+
+### 本轮目标
+
+完成 `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 的 interpreter/remap WASM 验收，使 `linuxcnc_interp.js/.wasm` 不仅生成，而且通过完整 Node 回归。
+
+### 已做事项
+
+- 单独复现 `interp_g10_l11_wasm`，打印实际 canonical 输出。
+- 对照 `wasm-port/vendor/linuxcnc/tests/interp/g10/g10-l11/expected`，确认 WASM 实际输出与 vendored LinuxCNC 当前 expected 一致：
+  - `SET_G92_OFFSET(-43.0622, -47.4282, -72.0000)`
+- 修正 `wasm-port/tests/wasm/node/verify_interp_wasm.mjs` 中过期的 G10 L11 断言：
+  - 旧值：`x=-41.1962 y=-46.1962 z=-72`
+  - 新值：`x=-43.0622 y=-47.4282 z=-72`
+
+### 验证情况
+
+- `SKIP_INTERP_BUILD=1 wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过，输出 `interp_wasm_node_smoke=ok`。
+- `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过，输出 `interp_wasm_node_smoke=ok`。
+- 运行中仍有既有提示：
+  - `link (updating variable file): No such file or directory`
+  - `G88.1` 与 `M410` remap modalgroup warning
+- 上述提示不影响退出码，完整 interpreter/remap 验收已通过。
+
+### 下一步
+
+1. 继续 native preview/execution path 重采集。
+2. 实现 Web task/HAL execution path collector。
+3. 重跑 Web/native compare，使剩余 6 个 path 相关失败项进入可比误差统计。

web-rtcp-5axis-xyzbc-trt-sim-plan/working/04-任务矩阵.md

@@ -12,33 +12,33 @@
 | T-008 | Stage remap/tool/PyVCP 文件 | 完成 | staging 包含 `428remap.ngc`、`429remap.ngc`、`430remap.ngc`、`xyzbc-trt.tbl`、`xyzbc-trt.xml` |
 | T-009 | 增加目标 Node smoke | 完成 | `tests/node/verify_xyzbc_trt_web_app.mjs` 存在并通过 |
 | T-010 | 导入 `xyzbc.var` 基线参数文件 | 完成 | `wasm-port/vendor`/manifest 包含 `xyzbc.var`，OPFS staging 可保存参数文件 |
-| T-011 | 完整 kinematics WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_kinematics_wasm.sh` 通过 |
-| T-012 | 完整 interpreter/remap WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过并覆盖 `xyzbc_switchkins.ngc` |
-| T-013 | 完整 task/HAL WASM 验证 | 待前置 | `wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 通过 |
+| T-011 | 完整 kinematics WASM 验证 | 完成 | `SKIP_KINEMATICS_BUILD=1 wasm-port/tests/wasm/node/verify_kinematics_wasm.sh` 通过，覆盖 `xyzbc-trt` |
+| T-012 | 完整 interpreter/remap WASM 验证 | 完成 | `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 通过，输出 `interp_wasm_node_smoke=ok` |
+| T-013 | 完整 task/HAL WASM 验证 | 完成 | `SKIP_TASK_HAL_BUILD=1 wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 通过 |
 | T-014 | 目标浏览器 smoke | 待前置 | 页面默认显示 `xyzbc-trt`，worker runtime ready，canvas 非空 |
 | T-015 | native 真实执行 JSON 采集 | 完成 | `native-xyzbc-trt-evidence.json` 记录真实执行事件，状态 completed |
 | T-016 | Web OPFS/WASM readiness JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json` 记录 Web profile/INI/staging/WASM readiness |
-| T-017 | native/Web JSON 对比 | 部分完成 | `compare-xyzbc-trt-evidence.json` 已生成；当前 11/12 通过，剩余 WASM artifact |
-| T-018 | WASM artifact 构建前置 | 待前置 | `emcc 6.0.2` 已可用，需运行构建脚本让 `wasm-port/build/wasm` 生成所需 `.js/.wasm` |
+| T-017 | native/Web JSON 对比 | 部分完成 | `compare-xyzbc-trt-evidence.json` 已生成；当前 18/23 通过，剩余 5 项均为 native preview/execution path 样本缺失 |
+| T-018 | WASM artifact 构建前置 | 完成 | 已生成 core/kinematics/tp/task-hal 所需 `.js/.wasm`，`web-xyzbc-trt-evidence.json.wasm.missing=[]` |
 | T-019 | native 刀具预览路径 JSON 采集 | 待实现 | `native-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 LinuxCNC 预览刀路 |
-| T-020 | native 刀具执行路径 JSON 采集 | 待实现 | `native-xyzbc-trt-evidence.json.executionPath.samples` 使用 20ms 周期记录真实执行反馈路径 |
-| T-021 | Web 刀具预览路径 JSON 采集 | 待实现 | `web-xyzbc-trt-evidence.json.previewPath.samples` 使用 20ms 周期记录 Web 预览刀路 |
-| T-022 | Web 刀具执行路径 JSON 采集 | 待前置 | `web-xyzbc-trt-evidence.json.executionPath.samples` 使用 20ms 周期记录 WASM task/HAL 执行反馈路径 |
-| T-023 | 刀路采样周期一致性检查 | 待实现 | compare 检查 native/Web `pathSampling.samplePeriodMs === 20`，否则 fail |
-| T-024 | 刀路误差统计对比 | 待实现 | compare 输出 preview/execution 的 TCP、joint、toolAxis 误差统计和缺样本清单 |
+| T-020 | native 刀具执行路径 JSON 采集 | 部分完成 | native 脚本已从 `stat()` 执行事件重采样为 20ms `executionPath`；需用新基线重跑生成证据 |
+| T-021 | Web 刀具预览路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.previewPath.samples` 已由 `linuxcnc_interp`/TP WASM 生成 3074 个 20ms 重采样样本 |
+| T-022 | Web 刀具执行路径 JSON 采集 | 完成 | `web-xyzbc-trt-evidence.json.executionPath.samples` 已由 WASM task/HAL 执行反馈生成 569 个 20ms 样本 |
+| T-023 | 刀路采样周期一致性检查 | 完成 | compare 检查 native/Web path `samplePeriodMs === 20`，否则 fail |
+| T-024 | 刀路误差统计对比 | 完成 | compare 输出 preview/execution 的 TCP、joint、toolAxis 误差统计和缺样本清单 |
 | T-025 | 全量对标追踪矩阵 | 完成 | `07-全量对标追踪矩阵.md` 逐项映射 `xyzbc-trt-runtime-files.md` 的运行功能 |
 | T-026 | AXIS 主界面等效功能 | 待实现 | Web 首屏包含程序、坐标、状态、MDI/switchkins、override、工具和预览/执行区域 |
-| T-027 | POSTGUI HAL/PyVCP 连接等效 | 待实现 | JSON 记录 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 和 multilabel 状态 |
+| T-027 | POSTGUI HAL/PyVCP 连接等效 | 完成 | Web evidence JSON 记录 `pyvcp.* -> halui.mdi-command-* -> M428/M429/M430` 和 multilabel 状态 |
 | T-028 | basic_sim 等效 task/HAL | 待前置 | Web task/HAL runtime 覆盖模拟回零、manual toolchange、spindle、joint feedback |
 | T-029 | Vismach 3D 模型 pin 对标 | 待实现 | Web 3D 模型由 `table-x/saddle-y/spindle-z/tilt-b/rotate-c/tool-offset/x-offset/z-offset` 驱动 |
-| T-030 | Ngcgui/remap 子程序全集 | 待实现 | staging 和执行覆盖 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc` |
-| T-031 | 演示程序全集 | 待实现 | staging 和 UI 程序选择覆盖 `xyzbc_switchkins.ngc` 与 `boat-xyzbc.ngc` |
-| T-032 | TRAJ/AXIS/JOINT 限制对标 | 待实现 | JSON/UI 覆盖 XYZBC 单位、速度/加速度、B/C 限位、JOG_AXES、GEOMETRY |
-| T-033 | kinematics HAL pins 对标 | 待实现 | JSON 记录 `x-offset=-20`、`z-offset=-15`、rot-point、conventional-directions、tool-offset |
+| T-030 | Ngcgui/remap 子程序全集 | 部分完成 | staging 和 Web evidence 覆盖 `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`；执行仍待 WASM |
+| T-031 | 演示程序全集 | 完成 | staging、profile samplePrograms 和 Web evidence 覆盖 `xyzbc_switchkins.ngc` 与 `boat-xyzbc.ngc` |
+| T-032 | TRAJ/AXIS/JOINT 限制对标 | 部分完成 | Web evidence 覆盖 XYZBC 单位、速度/加速度、B/C 限位、JOG_AXES、GEOMETRY；UI 全量复核仍待浏览器/WASM |
+| T-033 | kinematics HAL pins 对标 | 完成 | Web/native evidence 脚本记录 `x-offset=-20`、`z-offset=-15`、rot-point、conventional-directions、tool-offset |
 | T-034 | tool table 到 tool-offset 闭环 | 待实现 | T/P/Z/D 解析影响 kinematics tool-offset、Web 模型刀长和 path JSON |
-| T-035 | 全量 evidence JSON 字段 | 待实现 | native/Web JSON 包含 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence` |
+| T-035 | 全量 evidence JSON 字段 | 部分完成 | Web JSON 已包含 `startupSequence`、`iniDisplay`、`halNets`、`kinematicsPins`、`axisJointLimits`、`uiEquivalence`；native 脚本已补字段，需重采集 |
 | T-036 | native 基线切换到 `/home/mes123456/cnc_wams/linuxcnc` | 完成 | `scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 已生成，RIP 环境可导入 `linuxcnc` Python 模块 |
-| T-037 | 基于新 native 基线重采集 JSON | 待前置 | `native-xyzbc-trt-evidence.json` 的 `sourceRoot` 为 `/home/mes123456/cnc_wams/linuxcnc`，执行状态 completed |
+| T-037 | 基于新 native 基线重采集 JSON | 部分完成 | native 脚本默认基线已切到 `/home/mes123456/cnc_wams/linuxcnc`；需在 RIP 环境下重新运行采集命令 |
 | T-038 | Web 界面按新 native 运行结果复核 | 待实现 | UI/逻辑与 `/home/mes123456/cnc_wams/linuxcnc` 真实 `xyzbc-trt` 的状态流、按钮、路径、HAL pin 对齐 |
 | T-039 | 创建并执行 `xyzbc-trt` 快捷方式 | 完成 | `linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop` 已创建，进程从 `/home/mes123456/cnc_wams/linuxcnc` 启动 |
 | T-040 | DOCX 任务书整合到 working | 完成 | `working/09-设计任务书与技术方案整合.md` 保留 DOCX 1-11 章、5 张图片引用、任务书、技术方案、程序逻辑和状态联锁内容 |
@@ -46,5 +46,5 @@
 状态说明：
 
 - 完成：本轮已实现并可通过静态/Node 验证。
-- 待前置：代码已接入，但当前缺少 `wasm-port/build/wasm` artifact，需先构建。
+- 待前置：代码已接入，但仍依赖未完成的外部或运行环境步骤。
 - 待实现：已记录验收要求，仍需修改采集或对比脚本。

web-rtcp-5axis-xyzbc-trt-sim-plan/working/05-验收证据.md

@@ -1,5 +1,108 @@
 # 05-验收证据
 
+## evidence 字段与路径对比实现验收
+
+### 命令
+
+```bash
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
+python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
+```
+
+### 结果
+
+```text
+xyzbc_trt_web_app_smoke=ok
+collect-native-xyzbc-trt-evidence.py py_compile=ok
+web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
+compare_xyzbc_trt_status=fail fail_count=5
+gmoccapy_static_build=ok
+```
+
+### JSON 证据
+
+```text
+web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
+web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
+```
+
+当前 Web evidence 已包含：
+
+```text
+pathSampling.samplePeriodMs = 20
+previewPath.samplePeriodMs = 20
+executionPath.samplePeriodMs = 20
+startupSequence
+iniDisplay
+halNets
+kinematicsPins
+axisJointLimits
+switchkinsTransitions
+uiEquivalence
+vismachEquivalent
+ngcguiSubroutines
+demoPrograms
+```
+
+当前 compare evidence 已包含：
+
+```text
+pathComparison.previewVsPreview
+pathComparison.executionVsExecution
+pathComparison.previewVsExecutionNative
+pathComparison.previewVsExecutionWeb
+```
+
+结论：
+
+- 静态/profile/staging/evidence 字段已实现并通过 Node smoke。
+- compare 仍保持失败是正确结果：Web WASM artifact、preview path 和 execution path 已具备，native evidence 尚未用新基线重采集 path 样本。
+- `npm run build` 当前已通过，说明目标 app 可在现有 WASM artifact 下完成静态构建。
+
+## Web task/HAL executionPath 采集验收
+
+### 命令
+
+```bash
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
+npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
+```
+
+### 结果
+
+```text
+web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
+compare_xyzbc_trt_status=fail fail_count=5
+xyzbc_trt_web_app_smoke=ok
+gmoccapy_static_build=ok
+```
+
+### JSON 摘要
+
+```text
+web.wasm.ready = true
+web.blockers = []
+web.previewPath.samplePeriodMs = 20
+web.previewPath.sampleCount = 3074
+web.executionPath.samplePeriodMs = 20
+web.executionPath.sampleCount = 569
+web.executionPath.source = web-linuxcnc-task-hal-execution
+web.executionPath.taskHal.completed = true
+compare.summary.passCount = 18
+compare.summary.failCount = 5
+```
+
+结论：
+
+- Web 侧 `previewPath` 已由 `linuxcnc_interp`/TP WASM 轨迹重采样为 20ms。
+- Web 侧 `executionPath` 已由 `linuxcnc_task_hal` WASM 执行反馈生成 20ms 样本。
+- compare 剩余 5 项失败均来自 native evidence 尚无 `previewPath`/`executionPath` 样本和采样周期字段。
+
 ## DOCX 整合验收
 
 ### 源文件
@@ -465,9 +568,44 @@ missingSamples
 
 当前状态：
 
-- 现有三份 `working/evidence/*.json` 还没有上述路径字段。
-- 本轮未手工改写 JSON 证据文件；后续必须通过采集脚本重新生成。
-- Web 执行路径采集依赖 WASM artifact，artifact 缺失时 compare 必须保留 fail/blocker。
+- `web-xyzbc-trt-evidence.json` 已通过采集脚本重新生成，`wasmArtifactsReady=true`、`missing=[]`。
+- Web preview path 已由 `linuxcnc_interp` WASM 生成 6174 个 20ms 样本。
+- Web execution path 采集仍未实现，当前 blocker 为 `web-execution-path-unavailable`。
+- native preview/execution path 仍需用 `/home/mes123456/cnc_wams/linuxcnc` 真实运行实例重采集。
+- `compare-xyzbc-trt-evidence.json` 当前 17/23 通过，剩余 6 项均与 native path 样本或 Web execution path 样本缺失有关。
+
+### WASM artifact 验收记录
+
+本轮已生成并核对以下目标 artifact：
+
+```text
+wasm-port/build/wasm/core/linuxcnc_interp.js
+wasm-port/build/wasm/core/linuxcnc_interp.wasm
+wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js
+wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm
+wasm-port/build/wasm/tp/linuxcnc_tp.js
+wasm-port/build/wasm/tp/linuxcnc_tp.wasm
+wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js
+wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
+```
+
+验证命令结果：
+
+```text
+node tests/node/verify_xyzbc_trt_web_app.mjs -> xyzbc_trt_web_app_smoke=ok
+SKIP_KINEMATICS_BUILD=1 wasm-port/tests/wasm/node/verify_kinematics_wasm.sh -> kinematics_wasm_node_smoke=ok
+SKIP_TP_BUILD=1 wasm-port/tests/wasm/node/verify_tp_wasm.sh -> tp_wasm_node_smoke=ok
+SKIP_TASK_HAL_BUILD=1 wasm-port/tests/wasm/node/verify_task_hal_wasm.sh -> linuxcnc_task_runtime_smoke=ok
+```
+
+补充 interpreter/remap 验收：
+
+```text
+SKIP_INTERP_BUILD=1 wasm-port/tests/wasm/node/verify_interp_wasm.sh -> interp_wasm_node_smoke=ok
+wasm-port/tests/wasm/node/verify_interp_wasm.sh -> interp_wasm_node_smoke=ok
+```
+
+修复依据：`interp_g10_l11_wasm` 的实际 WASM 输出与 `wasm-port/vendor/linuxcnc/tests/interp/g10/g10-l11/expected` 一致，均为 `SET_G92_OFFSET x=-43.0622 y=-47.4282 z=-72`；原 Node 验收脚本中的 `x=-41.1962 y=-46.1962 z=-72` 为过期期望值。
 
 ## 页面证据
 

web-rtcp-5axis-xyzbc-trt-sim-plan/working/06-决策记录.md

@@ -1,5 +1,17 @@
 # 06-决策记录
 
+## D-013：缺 WASM artifact 时 build 与 path compare 继续显式失败
+
+日期：2026-07-02
+
+决策：本轮补齐 Web/native evidence 字段和 compare 规则，但在缺少 `wasm-port/build/wasm` artifact 时，`npm run build`、Web preview path、Web task/HAL execution path 和 compare path 检查继续显式失败或 blocked，不通过占位样本伪造通过。
+
+理由：
+
+- `xyzbc-trt` 的 G-code、remap、kinematics、planner、task/HAL 语义必须来自 LinuxCNC-derived WASM 或真实 LinuxCNC evidence。
+- 当前仓库缺少 `wasm-port/build/wasm/kinematics`、core、tp、task-hal artifact，浏览器 worker/runtime 不具备真实执行条件。
+- compare JSON 的失败项已经精确指向 artifact 与 path 样本缺口，保留失败状态比静默降级更利于后续验收。
+
 ## D-012：DOCX 任务书整合为 working Markdown
 
 日期：2026-07-02
@@ -139,3 +151,30 @@
 - 用户明确要求以已编译成功并能执行 `xyzbc-trt` 的 `/home/mes123456/cnc_wams/linuxcnc` 为对标依据。
 - `/home/mes123456/cnc_wams/linuxcnc` 是干净 Git 源码仓库，便于把 native 行为、Web WASM 构建和后续代码追踪关联到同一源码树。
 - 该路径已完成 run-in-place 编译，`scripts/rip-environment`、`bin/axis`、`bin/xyzbc-trt-gui`、`rtlib/xyzbc-trt-kins.so` 已生成；因此后续第一步是用该路径重新生成 native evidence。
+
+## D-012：WASM artifact 已生成，后续 blocker 改为路径采集与 interpreter 回归
+
+日期：2026-07-02
+
+决策：`wasm-port/build/wasm` artifact 已通过 `emcc 6.0.2` 生成，Web evidence 不再把缺 artifact 作为 blocker；后续开发重点转向 native/Web path 采集闭环、Web task/HAL execution path collector，以及 `verify_interp_wasm.sh` 的 G10 L11 回归断言差异。
+
+理由：
+
+- core、kinematics、TP、task/HAL 所需 `.js/.wasm` 均已存在，`web-xyzbc-trt-evidence.json.wasm.missing=[]`。
+- kinematics、TP、task/HAL 的 Node WASM smoke 已通过，说明主要 runtime artifact 可加载执行。
+- Web preview path 已由 `linuxcnc_interp` WASM 生成样本，证明 Web evidence 已越过原先缺 artifact 的前置阻塞。
+- compare 剩余失败项均指向 native path 样本和 Web execution path 样本缺失；这是采集能力缺口，不再是构建产物缺口。
+- 历史状态：当时 `verify_interp_wasm.sh` 仍有 `interp_g10_l11_wasm` 断言失败，完整 interpreter/remap WASM 验收不能标记为完成。
+
+## D-013：G10 L11 验收期望对齐 vendored LinuxCNC expected
+
+日期：2026-07-02
+
+决策：将 `verify_interp_wasm.mjs` 中 `interp_g10_l11_wasm` 的 `SET_G92_OFFSET` 期望值调整为 `x=-43.0622 y=-47.4282 z=-72`，与 `wasm-port/vendor/linuxcnc/tests/interp/g10/g10-l11/expected` 保持一致。
+
+理由：
+
+- 单独复现 `g10-l11` 后，WASM 实际 canonical 输出为 `SET_G92_OFFSET x=-43.0622 y=-47.4282 z=-72`。
+- vendored LinuxCNC 当前 expected 文件同样记录 `SET_G92_OFFSET(-43.0622, -47.4282, -72.0000)`。
+- 因此失败原因是 Node 验收脚本中的期望值过期，不是 WASM interpreter/remap 行为偏离 vendored LinuxCNC。
+- 修正后，`SKIP_INTERP_BUILD=1 wasm-port/tests/wasm/node/verify_interp_wasm.sh` 和完整 `wasm-port/tests/wasm/node/verify_interp_wasm.sh` 均通过，输出 `interp_wasm_node_smoke=ok`。

web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json

@@ -1,18 +1,16 @@
 {
   "apiName": "xyzbc-trt-native-web-evidence-comparison",
   "status": "fail",
-  "comparedAt": "2026-07-02T07:41:51.598Z",
+  "comparedAt": "2026-07-02T12:48:11.244Z",
   "nativePath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json",
   "webPath": "/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json",
   "summary": {
-    "checkCount": 12,
-    "passCount": 11,
-    "failCount": 1,
-    "blockers": [
-      "missing-wasm-artifacts"
-    ],
+    "checkCount": 23,
+    "passCount": 18,
+    "failCount": 5,
+    "blockers": [],
     "nativeStatus": "ok",
-    "webStatus": "blocked"
+    "webStatus": "ready-for-wasm-runtime"
   },
   "checks": [
     {
@@ -134,18 +132,9 @@
     {
       "category": "wasm",
       "requirement": "required WASM artifacts available",
-      "status": "fail",
+      "status": "pass",
       "evidence": {
-        "missing": [
-          "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js",
-          "wasm-port/build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.wasm",
-          "wasm-port/build/wasm/core/linuxcnc_interp.js",
-          "wasm-port/build/wasm/core/linuxcnc_interp.wasm",
-          "wasm-port/build/wasm/tp/linuxcnc_tp.js",
-          "wasm-port/build/wasm/tp/linuxcnc_tp.wasm",
-          "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js",
-          "wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm"
-        ]
+        "missing": []
       }
     },
     {
@@ -155,22 +144,525 @@
       "evidence": {
         "parameterFile": "xyzbc.var"
       }
+    },
+    {
+      "category": "program",
+      "requirement": "web boat-xyzbc demo program staged",
+      "status": "pass",
+      "evidence": {
+        "demoPrograms": [
+          {
+            "filename": "xyzbc_switchkins.ngc",
+            "default": true,
+            "staged": true,
+            "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"
+          },
+          {
+            "filename": "boat-xyzbc.ngc",
+            "default": false,
+            "staged": true,
+            "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc"
+          }
+        ]
+      }
+    },
+    {
+      "category": "ngcgui",
+      "requirement": "web Ngcgui/remap subroutines staged",
+      "status": "pass",
+      "evidence": {
+        "ngcguiSubroutines": [
+          {
+            "filename": "xyzbc_switchkins_sub.ngc",
+            "staged": true,
+            "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc"
+          },
+          {
+            "filename": "centering.ngc",
+            "staged": true,
+            "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc"
+          },
+          {
+            "filename": "helix_bc.ngc",
+            "staged": true,
+            "sourceRel": "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc"
+          }
+        ]
+      }
+    },
+    {
+      "category": "postgui-hal",
+      "requirement": "web PyVCP to HALUI POSTGUI nets represented",
+      "status": "pass",
+      "evidence": {
+        "halNets": [
+          {
+            "signal": "kinstype-select",
+            "source": "motion.analog-out-03",
+            "target": "motion.switchkins-type",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "table-x",
+            "source": "joint.0.pos-fb",
+            "target": "xyzbc-trt-gui.table-x",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "saddle-y",
+            "source": "joint.1.pos-fb",
+            "target": "xyzbc-trt-gui.saddle-y",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "spindle-z",
+            "source": "joint.2.pos-fb",
+            "target": "xyzbc-trt-gui.spindle-z",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "tilt-b",
+            "source": "joint.3.pos-fb",
+            "target": "xyzbc-trt-gui.tilt-b",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "rotate-c",
+            "source": "joint.4.pos-fb",
+            "target": "xyzbc-trt-gui.rotate-c",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "tool-offset",
+            "source": "motion.tooloffset.z",
+            "target": "xyzbc-trt-kins.tool-offset",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "tool-offset",
+            "source": "xyzbc-trt-kins.tool-offset",
+            "target": "xyzbc-trt-gui.tool-offset",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "x-offset",
+            "source": "xyzbc-trt-kins.x-offset",
+            "target": "xyzbc-trt-gui.x-offset",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "z-offset",
+            "source": "xyzbc-trt-kins.z-offset",
+            "target": "xyzbc-trt-gui.z-offset",
+            "boundary": "ini-halcmd"
+          },
+          {
+            "signal": "kinstype.is-0",
+            "source": "kinstype.is-0",
+            "target": "pyvcp.multilabel.0.legend0",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "kinstype.is-1",
+            "source": "kinstype.is-1",
+            "target": "pyvcp.multilabel.0.legend1",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "kinstype.is-2",
+            "source": "kinstype.is-2",
+            "target": "pyvcp.multilabel.0.legend2",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "vismach-clear",
+            "source": "pyvcp.vismach-clear",
+            "target": "vismach.plotclear",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "type0-button",
+            "source": "pyvcp.type0-button",
+            "target": "halui.mdi-command-00",
+            "command": "M429",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "type1-button",
+            "source": "pyvcp.type1-button",
+            "target": "halui.mdi-command-01",
+            "command": "M428",
+            "boundary": "postgui-hal"
+          },
+          {
+            "signal": "type2-button",
+            "source": "pyvcp.type2-button",
+            "target": "halui.mdi-command-02",
+            "command": "M430",
+            "boundary": "postgui-hal"
+          }
+        ]
+      }
+    },
+    {
+      "category": "kinematics",
+      "requirement": "web kinematics HAL pins represented",
+      "status": "pass",
+      "evidence": {
+        "kinematicsPins": {
+          "xOffset": -20,
+          "zOffset": -15,
+          "xRotPoint": 0,
+          "yRotPoint": 0,
+          "zRotPoint": 0,
+          "conventionalDirections": 0,
+          "toolOffsetSource": "motion.tooloffset.z",
+          "pins": [
+            "motion.switchkins-type",
+            "motion.analog-out-03",
+            "motion.tooloffset.z",
+            "xyzbc-trt-kins.tool-offset",
+            "xyzbc-trt-kins.x-offset",
+            "xyzbc-trt-kins.z-offset",
+            "xyzbc-trt-kins.x-rot-point",
+            "xyzbc-trt-kins.y-rot-point",
+            "xyzbc-trt-kins.z-rot-point",
+            "xyzbc-trt-kins.conventional-directions",
+            "halui.mdi-command-00",
+            "halui.mdi-command-01",
+            "halui.mdi-command-02"
+          ]
+        }
+      }
+    },
+    {
+      "category": "limits",
+      "requirement": "web TRAJ/AXIS/JOINT limits represented",
+      "status": "pass",
+      "evidence": {
+        "axisJointLimits": {
+          "coordinates": "XYZBC",
+          "linearUnits": "mm",
+          "angularUnits": "deg",
+          "jogAxes": [
+            "X",
+            "Y",
+            "Z",
+            "C"
+          ],
+          "geometry": "XYZB",
+          "traj": {
+            "coordinates": "XYZBC",
+            "linearUnits": "mm",
+            "angularUnits": "deg",
+            "defaultLinearVelocity": 20,
+            "maxLinearVelocity": 35,
+            "defaultLinearAcceleration": 300,
+            "maxLinearAcceleration": 400
+          },
+          "axisLimits": {
+            "X": {
+              "min": -200,
+              "max": 200,
+              "maxVelocity": 20,
+              "maxAcceleration": 300
+            },
+            "Y": {
+              "min": -100,
+              "max": 100,
+              "maxVelocity": 20,
+              "maxAcceleration": 300
+            },
+            "Z": {
+              "min": -120,
+              "max": 120,
+              "maxVelocity": 20,
+              "maxAcceleration": 300
+            },
+            "B": {
+              "min": -36000,
+              "max": 36000,
+              "maxVelocity": 30,
+              "maxAcceleration": 300
+            },
+            "C": {
+              "min": -36000,
+              "max": 36000,
+              "maxVelocity": 30,
+              "maxAcceleration": 300
+            }
+          },
+          "jointCount": 5,
+          "jointConfig": [
+            {
+              "id": 0,
+              "axis": "X",
+              "type": "LINEAR",
+              "home": 0,
+              "min": -200,
+              "max": 200,
+              "maxVelocity": 20,
+              "maxAcceleration": 300,
+              "homeSearchVelocity": 0,
+              "homeSequence": 0
+            },
+            {
+              "id": 1,
+              "axis": "Y",
+              "type": "LINEAR",
+              "home": 0,
+              "min": -100,
+              "max": 100,
+              "maxVelocity": 20,
+              "maxAcceleration": 300,
+              "homeSearchVelocity": 0,
+              "homeSequence": 0
+            },
+            {
+              "id": 2,
+              "axis": "Z",
+              "type": "LINEAR",
+              "home": 0,
+              "min": -120,
+              "max": 120,
+              "maxVelocity": 20,
+              "maxAcceleration": 300,
+              "homeSearchVelocity": 0,
+              "homeSequence": 0
+            },
+            {
+              "id": 3,
+              "axis": "B",
+              "type": "ANGULAR",
+              "home": 0,
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