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], "summary": { "motionStepCount": 29, "switchkinsStepCount": 21, "parameterAssignmentStepCount": 41, "workOffsetStepCount": 9, "callStepCount": 5, "noMotionStepCount": 99, "finalJoint": { "x": 0, "y": 0, "z": 10, "b": 0, "c": 0 }, "finalKinematics": "identity" }, "semanticBoundary": "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources" }, "currentVelocity": 0, "operatorMessage": "task/HAL program paused", "pauseButton": { "action": "pause-resume", "paused": "true", "title": "Resume program", "ariaPressed": "true" }, "canvasDataset": { "width": 383, "height": 572, "threeToolAxis": "{\"x\":0,\"y\":0,\"z\":1}", "threeToolGlyphAxis": "{\"x\":0,\"y\":0,\"z\":1}" }, "canvasToolhead": { "x": -0.02, "y": 0.02, "z": 0.01 }, "canvasVismachPins": null, "programPaneDataset": { "region": "program", "liveSourceFile": "helix_bc.ngc", "liveSourceLine": "13", "liveSampleIndex": "341", "liveExecutedSamples": "342", "gcodeExecutionStatus": "ok", "gcodeExecutionStepCount": "128", "gcodeMotionStepCount": "29", "gcodeParameterStepCount": "41", "gcodeCallDepth": "2" }, "processMonitorDataset": { "linuxcncProcessMonitor": "", "sourceMode": "linuxcnc-task-motion-hal-wasm", "taskHalReady": "true", "activeLine": "13", "liveSourceFile": "helix_bc.ngc", "liveSourceLine": "13", "liveSampleIndex": "341" } }, "after": { "runState": "running", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": true, "mode": "auto", "interpState": "reading", "taskPaused": false, "motionPaused": false, "activeLine": 13, "sampleIndex": 344, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "running", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 344, "sampleCount": 1300, "executedSampleCount": 345, "timeMs": 17200, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "helix_bc.ngc", "line": 13, "statement": "g0 x[#<_x> - #]", "operation": "rapid-radius-adjust", "executionIndex": 22, "gcodeStepIndex": 58, "segmentIndex": 9, "motionType": "rapid", "activeKinematics": "identity", "joint": { "x": -25.6667, "y": 20, "z": 10, "a": 0, "b": 0, "c": 0 }, "tcp": { "x": -25.6667, "y": 20, "z": 10 }, "toolAxis": { "i": 0, "j": 0, "k": 1 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 1999.998, "operatorMessage": "task/HAL status tick 3" } }, { "label": "第二次继续执行 10 秒", "at": "2026-07-07T14:13:28.961Z", "durationMs": 12986, "state": { "runState": "running", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": true, "mode": "auto", "interpState": "reading", "taskPaused": false, "motionPaused": false, "activeLine": 17, "sampleIndex": 516, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "running", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 516, "sampleCount": 1300, "executedSampleCount": 517, "timeMs": 25800, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "helix_bc.ngc", "line": 17, "statement": "f# g2i#z# p#", "operation": "feed-helix", "executionIndex": 26, "gcodeStepIndex": 62, "segmentIndex": 11, "motionType": "arc", "activeKinematics": "tcp-xyzbc", "joint": { "x": -26.1491, "y": 27.8755, "z": 6.90749, "a": 0, "b": 20, "c": 45 }, "tcp": { "x": -26.1491, "y": 27.8755, "z": 6.90749 }, "toolAxis": { "i": 0.24184476264797528, "j": 0.24184476264797522, "k": 0.9396926207859084 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 1000, "actualMmPerMin": 1000, "overridePercent": 100 }, "cutting": { "active": true, "cuttingSpeedMmPerMin": 1000 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 996.516, "operatorMessage": "task/HAL status tick 175" }, "frozenPosition": null, "movedDuringHold": null } ], "assertions": [ { "label": "WebGL/canvas preview rendered", "passed": true, "checkedAt": "2026-07-07T14:12:21.494Z", "result": { "ok": true, "width": 383, "height": 572, "dataUrlLength": 48954 } }, { "label": "解除 ESTOP", "passed": true, "checkedAt": "2026-07-07T14:12:23.875Z", "state": { "runState": "idle", "taskState": "estop-reset", "powerOn": false, "estopActive": false, "allHomed": false, "mode": "manual", "interpState": "idle", "taskPaused": false, "motionPaused": false, "activeLine": 16, "sampleIndex": 0, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "idle", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 0, "sampleCount": 1300, "executedSampleCount": 1, "timeMs": 0, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "xyzbc_switchkins_sub.ngc", "line": 16, "statement": "g53 g0 x0y0 z# b0 c0 ; quadrant I", "operation": "rapid-machine-reset", "executionIndex": 2, "gcodeStepIndex": 16, "segmentIndex": 0, "motionType": "rapid", "activeKinematics": "identity", "joint": { "x": 0, "y": 0, "z": 0, "a": 0, "b": 0, "c": 0 }, "tcp": { "x": 0, "y": 0, "z": 10 }, "toolAxis": { "i": 0, "j": 0, "k": 1 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 0, "operatorMessage": "estop reset; machine off" } }, { "label": "上电", "passed": true, "checkedAt": "2026-07-07T14:12:24.859Z", "state": { "runState": "idle", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": false, "mode": "manual", "interpState": "idle", "taskPaused": false, "motionPaused": false, "activeLine": 16, "sampleIndex": 0, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "idle", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 0, "sampleCount": 1300, "executedSampleCount": 1, "timeMs": 0, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "xyzbc_switchkins_sub.ngc", "line": 16, "statement": "g53 g0 x0y0 z# b0 c0 ; quadrant I", "operation": "rapid-machine-reset", "executionIndex": 2, "gcodeStepIndex": 16, "segmentIndex": 0, "motionType": "rapid", "activeKinematics": "identity", "joint": { "x": 0, "y": 0, "z": 0, "a": 0, "b": 0, "c": 0 }, "tcp": { "x": 0, "y": 0, "z": 10 }, "toolAxis": { "i": 0, "j": 0, "k": 1 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 0, "operatorMessage": "task/HAL machine power on" } }, { "label": "Home All", "passed": true, "checkedAt": "2026-07-07T14:12:25.755Z", "state": { "runState": "idle", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": true, "mode": "manual", "interpState": "idle", "taskPaused": false, "motionPaused": false, "activeLine": 16, "sampleIndex": 0, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "idle", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 0, "sampleCount": 1300, "executedSampleCount": 1, "timeMs": 0, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "xyzbc_switchkins_sub.ngc", "line": 16, "statement": "g53 g0 x0y0 z# b0 c0 ; quadrant I", "operation": "rapid-machine-reset", "executionIndex": 2, "gcodeStepIndex": 16, "segmentIndex": 0, "motionType": "rapid", "activeKinematics": "identity", "joint": { "x": 0, "y": 0, "z": 10, "a": 0, "b": 0, "c": 0 }, "tcp": { "x": 0, "y": 0, "z": 10 }, "toolAxis": { "i": 0, "j": 0, "k": 1 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 3600, "operatorMessage": "task/HAL machine homed" } }, { "label": "Run", "passed": true, "checkedAt": "2026-07-07T14:12:29.488Z", "state": { "runState": "running", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": true, "mode": "auto", "interpState": "reading", "taskPaused": false, "motionPaused": false, "activeLine": 1, "sampleIndex": 0, "programExecutionSourceMode": "linuxcnc-machine-file-remap-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "idle", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 0, "sampleCount": 1300, "executedSampleCount": 1, "timeMs": 0, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "xyzbc_switchkins_sub.ngc", "line": 16, "statement": "g53 g0 x0y0 z# b0 c0 ; quadrant I", "operation": "rapid-machine-reset", "executionIndex": 2, "gcodeStepIndex": 16, "segmentIndex": 0, "motionType": "rapid", "activeKinematics": "identity", "joint": { "x": 0, "y": 0, "z": 10, "b": 0, "c": 0 }, "tcp": { "x": 0, "y": 0, "z": 10 }, "toolAxis": { "i": 0, "j": 0, "k": 1 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 30, "operatorMessage": "LinuxCNC task/HAL command running" } }, { "label": "Run 后稳定运行 3000ms", "passed": true, "checkedAt": "2026-07-07T14:12:33.015Z", "state": { "runState": "running", "taskState": "on", "powerOn": true, "estopActive": false, "allHomed": true, "mode": "auto", "interpState": "reading", "taskPaused": false, "motionPaused": false, "activeLine": 16, "sampleIndex": 49, "programExecutionSourceMode": "linuxcnc-task-motion-hal-wasm", "programUiExecution": { "apiName": "web-rtcp-5axis-ui-gcode-live-execution", "status": "running", "source": "programAxisPreviewPath.samples", "samplePeriodMs": 50, "sampleIndex": 49, "sampleCount": 1300, "executedSampleCount": 50, "timeMs": 2450, "activeProgram": "configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", "sourceFile": "helix_bc.ngc", "line": 16, "statement": "g0b#c#", "operation": "rapid-bc-orient", "executionIndex": 10, "gcodeStepIndex": 34, "segmentIndex": 3, "motionType": "rapid", "activeKinematics": "tcp-xyzbc", "joint": { "x": 10, "y": 20, "z": 10, "a": 0, "b": 17.2414, "c": 38.7931 }, "tcp": { "x": 10, "y": 20, "z": 10 }, "toolAxis": { "i": 0.23101647398276154, "j": 0.18569623567141516, "k": 0.9550645511199954 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "machineState": { "spindle": { "speedRpm": 0, "direction": "stopped", "enabled": false }, "feed": { "programmedMmPerMin": 2100, "actualMmPerMin": 2100, "overridePercent": 100 }, "cutting": { "active": false, "cuttingSpeedMmPerMin": 0 }, "tool": { "id": 2, "pocket": 2, "length": 10, "diameter": 8 }, "toolChange": { "activeTool": 2, "activePocket": 2, "changed": false, "command": null }, "coolant": { "mist": false, "flood": false } }, "semanticBoundary": "ui_updates_from_real_expanded_linuxcnc_gcode_sample_stream" }, "currentVelocity": 203.7696, "operatorMessage": "task/HAL 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null, "programPaneDataset": { "region": "program", "liveSourceFile": "xyzbc_switchkins_sub.ngc", "liveSourceLine": "44", "liveSampleIndex": "1299", "liveExecutedSamples": "1300", "gcodeExecutionStatus": "ok", "gcodeExecutionStepCount": "128", "gcodeMotionStepCount": "29", "gcodeParameterStepCount": "41", "gcodeCallDepth": "1" }, "processMonitorDataset": { "linuxcncProcessMonitor": "", "sourceMode": "linuxcnc-task-motion-hal-wasm", "taskHalReady": "true", "activeLine": "44", "liveSourceFile": "xyzbc_switchkins_sub.ngc", "liveSourceLine": "44", "liveSampleIndex": "1299" } } }