931 lines
28 KiB
Markdown
931 lines
28 KiB
Markdown
# 05-验收证据
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## native/Web 全量闭环最终验收
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### 2026-07-02 15:45 EDT 复核补充
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本轮修正 native evidence 采集器，使以下命令在没有预先运行 `xyzbc-trt` LinuxCNC 实例时也可直接重现：
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```bash
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/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80
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```
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验证结果：
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```text
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native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
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native.status = ok
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native.linuxcncRuntime.startup.startedByCollector = true
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native.previewPath.sampleCount = 3226
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native.executionPath.sampleCount = 7
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native.executionPath.taskHal.completed = true
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compare.summary.checkCount = 29
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compare.summary.passCount = 29
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compare.summary.failCount = 0
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compare.summary.blockers = []
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```
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随后重新执行 `smoke:node`、`evidence:web`、`evidence:compare`、`build`、`smoke:browser` 均通过。
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### 命令
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```bash
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python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
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```
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### 结果
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```text
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py_compile=ok
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xyzbc_trt_web_app_smoke=ok
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=pass
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gmoccapy_static_build=ok
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xyzbc_trt_browser_smoke=ok
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```
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### JSON 摘要
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```text
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native.previewPath.samplePeriodMs = 20
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native.previewPath.sampleCount = 3226
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native.executionPath.samplePeriodMs = 20
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native.executionPath.sampleCount = 7
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native.executionPath.taskHal.completed = true
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native.basicSimEquivalent.ready = true
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native.taskStateFlow.ready = true
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web.previewPath.samplePeriodMs = 20
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web.previewPath.sampleCount = 3074
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web.executionPath.samplePeriodMs = 20
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web.executionPath.sampleCount = 569
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web.executionPath.taskHal.completed = true
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web.basicSimEquivalent.ready = true
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web.ngcguiExecution.ready = true
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web.nativeStateFlowReview.ready = true
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compare.summary.checkCount = 29
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compare.summary.passCount = 29
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compare.summary.failCount = 0
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compare.summary.blockers = []
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compare.pathComparison.previewVsPreview.comparable = true
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compare.pathComparison.executionVsExecution.comparable = true
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compare.pathComparison.previewVsExecutionNative.comparable = true
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compare.pathComparison.previewVsExecutionWeb.comparable = true
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```
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结论：
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- native/Web 刀具预览路径和执行路径均使用 20ms 采样周期，compare 已进入可比误差统计。
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- native/Web basic_sim 等效、Ngcgui/remap 子程序执行、TRAJ/AXIS/JOINT 限制、HAL pin、按钮联锁和状态流复核均已纳入证据并通过 compare。
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- `04-任务矩阵.md` 中 T-001 到 T-040 均为完成。
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## Web OPFS 与 AXIS 首屏等效验收
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### 命令
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```bash
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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```
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### 结果
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```text
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xyzbc_trt_web_app_smoke=ok
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gmoccapy_static_build=ok
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xyzbc_trt_browser_smoke=ok
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=fail fail_count=5
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```
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### 浏览器 OPFS 断言
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```text
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machineFileSeedReady.save.storageMode = opfs
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machineFileStaging.storageMode = opfs
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machineFileStaging.storageCapability.opfsAvailable = true
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OPFS readback xyzbc_switchkins.ngc contains M428/M429
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saveSession().storageMode = opfs
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OPFS readback session contains "machineProfile": "xyzbc-trt"
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saveToolDb().storageMode = opfs
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OPFS readback tool table contains T2 and Z10
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```
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### AXIS 首屏证据
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```text
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web.axisMainUi.ready = true
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web.axisMainUi.profileId = xyzbc-trt
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web.axisMainUi.coordinates = XYZBC
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web.axisMainUi.missingCapabilities = []
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web.coverage.axisMainUiEquivalent = true
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compare.summary.passCount = 20
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compare.summary.failCount = 5
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```
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结论：
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- 目标 Web app 默认不再把 machine files、session、tool table 静默保存到 memory fallback；浏览器路径强制 OPFS。
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- `smoke:browser` 已从 OPFS 读回程序、会话和刀具表内容，证明不是仅生成 OPFS path。
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- Node evidence 仍使用内存存储模拟文件内容，这是非浏览器采集限制；真实 Web 文件系统验收以 browser smoke 为准。
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## Tool table 到 tool-offset 闭环验收
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### 命令
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```bash
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
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```
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### 结果
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```text
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xyzbc_trt_web_app_smoke=ok
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=fail fail_count=5
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gmoccapy_static_build=ok
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xyzbc_trt_browser_smoke=ok
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```
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### JSON 摘要
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```text
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web.toolRuntime.ready = true
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web.toolRuntime.activeOffsetApplied = true
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web.toolRuntime.activeToolNumber = 2
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web.toolRuntime.activePocket = 2
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web.toolRuntime.kinematics.toolOffsetZ = 10
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web.toolRuntime.pathTool.length = 10
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web.toolRuntime.pathTool.diameter = 8
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web.toolRuntime.vismach.toolOffset = 10
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web.toolOffsetClosure.closed = true
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web.coverage.toolTableToToolOffsetClosed = true
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web.previewPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
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web.executionPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
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compare.summary.passCount = 19
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compare.summary.failCount = 5
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compare.checks["web tool table active offset drives kinematics, path, and Vismach"].status = pass
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```
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结论：
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- `xyzbc-trt.tbl` 中 `T2 P2 Z10 D8` 已进入 Web tool DB 运行时摘要。
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- 当前 active tool offset 已同时写入 kinematics `motion.tooloffset.z` 等效值、路径样本 tool 字段和 Vismach `tool-offset` pin。
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- 默认程序本身无 T/M6/G43，因此 Web evidence 记录 `defaultActivationUsed=true`，用于证明 tool table 偏置链路；带 T/M6/G43 的程序会使用程序扫描命令。
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- compare 仍保持失败是正确结果：剩余 5 项仍来自 native path evidence 未重采集。
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## Vismach 3D pin 驱动模型验收
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### 命令
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```bash
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
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```
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### 结果
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```text
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xyzbc_trt_web_app_smoke=ok
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=fail fail_count=5
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gmoccapy_static_build=ok
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xyzbc_trt_browser_smoke=ok
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```
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### JSON 摘要
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```text
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web.status = ready-for-wasm-runtime
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web.blockers = []
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web.vismachEquivalent.pins = table-x,saddle-y,spindle-z,tilt-b,rotate-c,tool-offset,x-offset,z-offset
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web.vismachEquivalent.pinValues.table-x = 43
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web.vismachEquivalent.pinValues.saddle-y = -32.15
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web.vismachEquivalent.pinValues.spindle-z = -11.306
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web.vismachEquivalent.pinValues.tool-offset = 84.019
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web.vismachEquivalent.pinValues.x-offset = -20
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web.vismachEquivalent.pinValues.z-offset = -15
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web.vismachEquivalent.halNets.length = 9
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web.vismachEquivalent.semanticBoundary = web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins
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```
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结论：
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- Web 3D 参考模型已由 Vismach 等效 pin 状态驱动。
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- canvas dataset 已输出 `threeVismachPins`、`threeVismachTransforms`、`threeVismachPinDrivenModel`，后续浏览器 smoke 可直接断言。
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- `smoke:browser` 已断言默认 `xyzbc-trt`、三类 worker runtime ready、canvas 非空、Vismach pin/transform dataset。
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- compare 仍保持失败是正确结果：剩余 5 项仍来自 native path evidence 未重采集。
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## evidence 字段与路径对比实现验收
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### 命令
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```bash
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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```
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### 结果
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```text
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xyzbc_trt_web_app_smoke=ok
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collect-native-xyzbc-trt-evidence.py py_compile=ok
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=fail fail_count=5
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gmoccapy_static_build=ok
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```
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### JSON 证据
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```text
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web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
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web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
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```
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当前 Web evidence 已包含：
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```text
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pathSampling.samplePeriodMs = 20
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previewPath.samplePeriodMs = 20
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executionPath.samplePeriodMs = 20
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startupSequence
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iniDisplay
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halNets
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kinematicsPins
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axisJointLimits
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switchkinsTransitions
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uiEquivalence
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vismachEquivalent
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ngcguiSubroutines
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demoPrograms
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vismachEquivalent.pinValues
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vismachEquivalent.transforms
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```
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当前 compare evidence 已包含：
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```text
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pathComparison.previewVsPreview
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pathComparison.executionVsExecution
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pathComparison.previewVsExecutionNative
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pathComparison.previewVsExecutionWeb
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```
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结论：
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- 静态/profile/staging/evidence 字段已实现并通过 Node smoke。
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- 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。
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- `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。
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## Web task/HAL executionPath 采集验收
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### 命令
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```bash
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
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```
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### 结果
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```text
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web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
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compare_xyzbc_trt_status=fail fail_count=5
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xyzbc_trt_web_app_smoke=ok
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gmoccapy_static_build=ok
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```
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### JSON 摘要
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```text
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web.wasm.ready = true
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web.blockers = []
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web.previewPath.samplePeriodMs = 20
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web.previewPath.sampleCount = 3074
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web.executionPath.samplePeriodMs = 20
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web.executionPath.sampleCount = 569
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web.executionPath.source = web-linuxcnc-task-hal-execution
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web.executionPath.taskHal.completed = true
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compare.summary.passCount = 18
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compare.summary.failCount = 5
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```
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结论：
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- Web 侧 `previewPath` 已由 `linuxcnc_interp`/TP WASM 轨迹重采样为 20ms。
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- Web 侧 `executionPath` 已由 `linuxcnc_task_hal` WASM 执行反馈生成 20ms 样本。
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- 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。
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## DOCX 整合验收
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### 源文件
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```text
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web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx
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```
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### 输出文件
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```text
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web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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```
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### 包结构检查结论
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```text
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DOCX 正文段落数：507
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DOCX 图片数：5
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图片文件：
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- word/media/xyzbc-trt-axis-window.png
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- word/media/xyzbc-trt-desktop.png
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- word/media/xyzbc-trt-json-compare-flow.png
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- word/media/xyzbc-trt-logic-map.png
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- word/media/xyzbc-trt-web-architecture.png
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```
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### Markdown 输出检查
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```bash
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wc -l web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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rg -n "^## |图 1|图 2|图 3|图 4|图 5|状态联锁|Evidence JSON|开发任务分解|验收标准|风险" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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rg -n "!\\[" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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```
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结果：
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```text
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364 web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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检索到 1-11 章关键章节。
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检索到 5 张图片引用，均指向 ../doc/assets/。
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```
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结论：
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- DOCX 任务书已整合到 `working/09-设计任务书与技术方案整合.md`。
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- 该 Markdown 保留任务书、技术方案、开发任务分解、验收标准、风险控制、源码级程序逻辑分析和状态联锁章节。
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- `working/README.md` 和 `04-任务矩阵.md` 已登记该整合项。
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## 本轮命令证据
|
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### 读取对标文档
|
||
|
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```bash
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sed -n '1,240p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
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sed -n '241,520p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
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```
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结论：
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- `xyzbc-trt.ini` 使用 `DISPLAY=axis`、`PYVCP=./xyzbc-trt.xml`、`OPEN_FILE=./demos/xyzbc_switchkins.ngc`。
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- `switchkins_postgui.hal` 连接 PyVCP 按钮到 `halui.mdi-command-00/01/02`。
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- `M429/M428/M430` 分别选择 identity、XYZBC TCP、userk。
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### 检查 WASM 支撑
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```bash
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rg -n "xyzbc|xyzbc-trt|supportedLinuxCncKinematicsModules|linuxcnc_xyzbc" wasm-port web-rtcp-5axis-sim-plan/tests web-rtcp-5axis-sim-plan/app/src
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```
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结论：
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|
||
- SDK 包含 `xyzbc-trt -> linuxcnc_xyzbc_trt_kinematics.wasm`。
|
||
- native probe 包含 `linuxcnc_xyzbc_trt_kinematics_probe.cpp`。
|
||
- remap 执行 harness 包含 `xyzbc-trt.ini`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc`。
|
||
|
||
### 检查当前 artifact
|
||
|
||
```bash
|
||
find wasm-port/build/wasm -maxdepth 3 -type f
|
||
```
|
||
|
||
结果：
|
||
|
||
```text
|
||
find: ‘wasm-port/build/wasm’: No such file or directory
|
||
```
|
||
|
||
结论：
|
||
|
||
- 当前仓库没有已生成的 WASM artifact。
|
||
- 完整浏览器运行前必须先构建 WASM。
|
||
|
||
### 检查参数文件基线
|
||
|
||
```bash
|
||
ls -l wasm-port/vendor/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var /home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var
|
||
```
|
||
|
||
结果：
|
||
|
||
```text
|
||
/home/mes123456/linuxcnc-master/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc.var 存在
|
||
wasm-port/vendor/.../xyzbc.var 当前不存在
|
||
linuxcnc/.../xyzbc.var 当前不存在
|
||
```
|
||
|
||
结论：
|
||
|
||
- `xyzbc.var` 是需要补充导入的运行态参数文件基线。
|
||
- 历史轮次已从 `/home/mes123456/linuxcnc-master/.../xyzbc.var` 导入到 `wasm-port/vendor/linuxcnc/.../xyzbc.var`，并加入 `wasm-port/tools/source-manifest.txt`；后续若以 `/home/mes123456/cnc_wams/linuxcnc` 为新 native 基线，应重新核对该参数文件是否与当前运行树一致。
|
||
|
||
## 已运行验收
|
||
|
||
### native 基线切换验收
|
||
|
||
后续真实 LinuxCNC 对标基线统一为：
|
||
|
||
```text
|
||
/home/mes123456/cnc_wams/linuxcnc
|
||
```
|
||
|
||
必须先确认这些文件存在：
|
||
|
||
```bash
|
||
test -x /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment
|
||
test -x /home/mes123456/cnc_wams/linuxcnc/bin/axis
|
||
test -x /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
|
||
test -f /home/mes123456/cnc_wams/linuxcnc/rtlib/xyzbc-trt-kins.so
|
||
test -f /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
|
||
```
|
||
|
||
本轮自动检查结果：
|
||
|
||
```text
|
||
scripts/rip-environment: ok
|
||
scripts/linuxcnc: ok
|
||
bin/axis: ok
|
||
bin/xyzbc-trt-gui: ok
|
||
bin/milltask: ok
|
||
bin/linuxcncsvr: ok
|
||
bin/halui: ok
|
||
rtlib/xyzbc-trt-kins.so: ok
|
||
rtlib/tpmod.so: ok
|
||
lib/python/linuxcnc.so: ok
|
||
xyzbc-trt.ini: ok
|
||
```
|
||
|
||
说明：
|
||
|
||
- native evidence 的 `sourceRoot` 后续必须写为 `/home/mes123456/cnc_wams/linuxcnc`。
|
||
- `/home/mes123456/linuxcnc-master` 只作为历史运行参考；新一轮 Web 对标和 compare 以 `/home/mes123456/cnc_wams/linuxcnc` 的真实执行结果为准。
|
||
|
||
### LinuxCNC RIP 编译证据
|
||
|
||
执行命令：
|
||
|
||
```bash
|
||
cd /home/mes123456/cnc_wams/linuxcnc/src
|
||
./autogen.sh
|
||
./configure --with-realtime=uspace --disable-build-documentation
|
||
env -u DEBUG make -j"$(nproc)"
|
||
sudo -n make setuid
|
||
```
|
||
|
||
关键过程：
|
||
|
||
- 首次直接执行 `make -j"$(nproc)"` 失败，原因是当前 shell 环境存在 `DEBUG=release`，LinuxCNC Makefile 将 `$(DEBUG)` 拼入编译参数，导致 `gcc/c++` 把裸参数 `release` 当作输入文件。
|
||
- 使用 `env -u DEBUG make -j"$(nproc)"` 重新编译通过。
|
||
- `sudo -n make setuid` 成功设置 `bin/rtapi_app` 和 `bin/linuxcnc_module_helper` 的 root/setuid 权限。
|
||
|
||
验证命令：
|
||
|
||
```bash
|
||
source /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment >/dev/null
|
||
command -v linuxcnc
|
||
command -v axis
|
||
command -v halcmd
|
||
python3 - <<'PY'
|
||
import linuxcnc
|
||
print("python_linuxcnc_import=ok")
|
||
print("linuxcnc_module=", linuxcnc.__file__)
|
||
PY
|
||
```
|
||
|
||
验证结果：
|
||
|
||
```text
|
||
/home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc
|
||
/home/mes123456/cnc_wams/linuxcnc/bin/axis
|
||
/home/mes123456/cnc_wams/linuxcnc/bin/halcmd
|
||
python_linuxcnc_import=ok
|
||
linuxcnc_module= /home/mes123456/cnc_wams/linuxcnc/lib/python/linuxcnc.so
|
||
```
|
||
|
||
### `xyzbc-trt` 快捷方式与执行证据
|
||
|
||
快捷方式路径：
|
||
|
||
```text
|
||
/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop
|
||
```
|
||
|
||
快捷方式内容：
|
||
|
||
```text
|
||
Exec=/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
|
||
Icon=/home/mes123456/cnc_wams/linuxcnc/linuxcncicon.png
|
||
```
|
||
|
||
执行方式：
|
||
|
||
```bash
|
||
setsid bash -lc 'cd /home/mes123456/cnc_wams/linuxcnc && exec /home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini' \
|
||
> /tmp/xyzbc-trt-cnc_wams-linuxcnc.log 2>&1 < /dev/null &
|
||
```
|
||
|
||
当前进程证据：
|
||
|
||
```text
|
||
/bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc .../xyzbc-trt.ini
|
||
linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
||
/home/mes123456/cnc_wams/linuxcnc/bin/rtapi_app load tpmod
|
||
milltask -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
||
halui -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
||
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/hal_manualtoolchange
|
||
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui
|
||
/usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/.../xyzbc-trt.ini
|
||
```
|
||
|
||
HAL/Python 验证：
|
||
|
||
```text
|
||
motion.switchkins-type = 0
|
||
loaded file = ./demos/xyzbc_switchkins.ngc
|
||
axis_mask = 55
|
||
position = [0.0, 0.0, 0.0, 0.0, 0.0]
|
||
```
|
||
|
||
目标 Node smoke：
|
||
|
||
```bash
|
||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
|
||
```
|
||
|
||
实际输出：
|
||
|
||
```text
|
||
xyzbc_trt_web_app_smoke=ok
|
||
```
|
||
|
||
静态 diff 检查：
|
||
|
||
```bash
|
||
git diff --check -- web-rtcp-5axis-xyzbc-trt-sim-plan
|
||
```
|
||
|
||
实际结果：无输出，退出码为 0。
|
||
|
||
WASM artifact 检查：
|
||
|
||
```bash
|
||
find wasm-port/build/wasm -maxdepth 3 -type f
|
||
```
|
||
|
||
实际输出：
|
||
|
||
```text
|
||
find: ‘wasm-port/build/wasm’: No such file or directory
|
||
```
|
||
|
||
完整 WASM 验收：
|
||
|
||
```bash
|
||
wasm-port/tools/build_kinematics_wasm.sh
|
||
wasm-port/tools/build_wasm_core.sh
|
||
wasm-port/tools/build_tp_wasm.sh
|
||
wasm-port/tools/build_task_hal_wasm.sh
|
||
wasm-port/tests/wasm/node/verify_kinematics_wasm.sh
|
||
wasm-port/tests/wasm/node/verify_interp_wasm.sh
|
||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||
```
|
||
|
||
### native/Web JSON 证据
|
||
|
||
真实 native 采集命令：
|
||
|
||
```bash
|
||
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment \
|
||
python3 web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
|
||
```
|
||
|
||
输出：
|
||
|
||
```text
|
||
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
|
||
```
|
||
|
||
结果摘要：
|
||
|
||
```text
|
||
status=ok
|
||
executionMode=auto-run
|
||
commandResult.status=completed
|
||
commandResult.events=1462
|
||
```
|
||
|
||
Web 采集命令：
|
||
|
||
```bash
|
||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
|
||
```
|
||
|
||
输出：
|
||
|
||
```text
|
||
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
|
||
```
|
||
|
||
结果摘要：
|
||
|
||
```text
|
||
profileDefaultXyzbc=true
|
||
iniReady=true
|
||
opfsStaged=true
|
||
pyvcpXmlStaged=true
|
||
remapsStaged=true
|
||
toolTableStaged=true
|
||
parameterFileStaged=true
|
||
defaultProgramStaged=true
|
||
wasmArtifactsReady=false
|
||
```
|
||
|
||
对比命令：
|
||
|
||
```bash
|
||
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
|
||
```
|
||
|
||
输出：
|
||
|
||
```text
|
||
compare_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
|
||
compare_xyzbc_trt_status=fail fail_count=1
|
||
```
|
||
|
||
当前结论：
|
||
|
||
- 12 项对比中 11 项通过。
|
||
- 唯一失败项是 `required WASM artifacts available`。
|
||
- 当前环境已安装 `emcc 6.0.2`；剩余前置是执行 `wasm-port` 构建脚本生成 artifact，并重跑 evidence。
|
||
|
||
### 全量对标 JSON 验收要求
|
||
|
||
后续 native/Web evidence JSON 必须按 `07-全量对标追踪矩阵.md` 增加这些顶层或等效字段：
|
||
|
||
```text
|
||
startupSequence
|
||
iniDisplay
|
||
halNets
|
||
kinematicsPins
|
||
axisJointLimits
|
||
switchkinsTransitions
|
||
toolTable
|
||
toolOffsetFlow
|
||
uiEquivalence
|
||
vismachEquivalent
|
||
ngcguiSubroutines
|
||
demoPrograms
|
||
pathSampling
|
||
previewPath
|
||
executionPath
|
||
```
|
||
|
||
`compare-xyzbc-trt-evidence.json` 必须新增或扩展这些检查类别：
|
||
|
||
```text
|
||
startup-sequence
|
||
ini-display
|
||
hal-nets
|
||
kinematics-pins
|
||
axis-joint-limits
|
||
switchkins-transitions
|
||
tool-offset-flow
|
||
ui-equivalence
|
||
vismach-equivalence
|
||
ngcgui-subroutines
|
||
demo-programs
|
||
path-preview
|
||
path-execution
|
||
path-comparison
|
||
```
|
||
|
||
必须逐项验证：
|
||
|
||
- `.desktop/rip-environment/linuxcnc` 启动顺序在 Web 中有等效 `startupSequence`。
|
||
- `[DISPLAY]` 的 `DISPLAY`、`GEOMETRY`、`OPEN_FILE`、`PYVCP`、`JOG_AXES`、`POSITION_OFFSET`、`POSITION_FEEDBACK`、`MAX_*`、`TOOL_EDITOR`、`NGCGUI_*` 有 Web 等效字段或 UI。
|
||
- `[TRAJ]`、`[KINS]`、`[EMCMOT]`、`[TASK]`、`[EMCIO]` 的关键配置进入 JSON。
|
||
- `switchkins_postgui.hal` 中 `pyvcp.*` 到 `halui.mdi-command-*` 的连接进入 `halNets`。
|
||
- `basic_sim.tcl` 的模拟 joint/home/spindle/manualtoolchange 语义由 task/HAL evidence 证明。
|
||
- `xyzbc-trt-gui.py` 的 HAL pin 和模型层级由 `vismachEquivalent` 证明。
|
||
- `xyzbc-trt-kins` 的 offset、rot-point、conventional-directions、tool-offset pin 由 `kinematicsPins` 证明。
|
||
- `xyzbc_switchkins_sub.ngc`、`centering.ngc`、`helix_bc.ngc`、`xyzbc_switchkins.ngc`、`boat-xyzbc.ngc` 都进入 staging 和可执行验收。
|
||
- `xyzbc-trt.tbl` 的 `T1 P1 D1`、`T2 P2 Z10 D8` 解析后影响 tool offset、kinematics 和 Web 3D 刀具显示。
|
||
|
||
### 刀具预览/执行路径 JSON 验收要求
|
||
|
||
后续 native/Web evidence JSON 必须增加刀具预览路径和刀具执行路径：
|
||
|
||
```text
|
||
working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||
working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 20
|
||
working/evidence/native-xyzbc-trt-evidence.json.previewPath.samples[]
|
||
working/evidence/native-xyzbc-trt-evidence.json.executionPath.samples[]
|
||
working/evidence/web-xyzbc-trt-evidence.json.previewPath.samples[]
|
||
working/evidence/web-xyzbc-trt-evidence.json.executionPath.samples[]
|
||
working/evidence/compare-xyzbc-trt-evidence.json.pathComparison
|
||
```
|
||
|
||
采样要求：
|
||
|
||
- `samplePeriodMs` 固定为 `20`，native/Web 两侧必须一致。
|
||
- 样本必须通过 `sampleIndex` 和 `timeMs` 对齐。
|
||
- 若原始采集周期不同，采集脚本或 compare 脚本必须重采样为 20ms 后再比较。
|
||
- `previewPath` 只能表示预览/planner 路径；`executionPath` 必须来自真实执行反馈或 Web WASM task/HAL 执行反馈，不能用预览路径替代。
|
||
|
||
每个样本必须包含：
|
||
|
||
```text
|
||
sampleIndex
|
||
timeMs
|
||
line
|
||
motionType
|
||
activeKinematics
|
||
tool.id/tool.length/tool.diameter
|
||
joint.x/joint.y/joint.z/joint.b/joint.c
|
||
tcp.x/tcp.y/tcp.z
|
||
toolAxis.i/toolAxis.j/toolAxis.k
|
||
feed
|
||
spindle
|
||
```
|
||
|
||
compare 验收项：
|
||
|
||
```text
|
||
pathComparison.previewVsPreview
|
||
pathComparison.executionVsExecution
|
||
pathComparison.previewVsExecutionNative
|
||
pathComparison.previewVsExecutionWeb
|
||
```
|
||
|
||
每个对比项至少输出：
|
||
|
||
```text
|
||
maxTcpErrorMm
|
||
rmsTcpErrorMm
|
||
maxJointError
|
||
rmsJointError
|
||
maxToolAxisAngleDeg
|
||
sampleCountDelta
|
||
missingSamples
|
||
```
|
||
|
||
当前状态：
|
||
|
||
- `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
|
||
|
||
目标页面：
|
||
|
||
```text
|
||
web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html
|
||
```
|
||
|
||
开发服务：
|
||
|
||
```bash
|
||
cd web-rtcp-5axis-xyzbc-trt-sim-plan/app
|
||
npm run dev
|
||
```
|
||
|
||
URL：
|
||
|
||
```text
|
||
http://127.0.0.1:4174/
|
||
```
|
||
|
||
## AXIS 按钮级对标与逐按钮验证证据
|
||
|
||
本轮新增按钮级验收依据：
|
||
|
||
```text
|
||
/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/axis/scripts/axis.py
|
||
configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
|
||
configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
|
||
```
|
||
|
||
Web 实现与证据位置：
|
||
|
||
```text
|
||
app/src/ui/axis-shell.js :: AXIS_BUTTON_PARITY
|
||
tests/node/verify_xyzbc_trt_web_app.mjs
|
||
tests/browser/xyzbc_trt_browser_smoke.html
|
||
tools/collect-web-xyzbc-trt-evidence.mjs
|
||
tools/compare-xyzbc-trt-evidence.mjs
|
||
working/evidence/web-xyzbc-trt-evidence.json
|
||
working/evidence/compare-xyzbc-trt-evidence.json
|
||
```
|
||
|
||
验证命令结果：
|
||
|
||
```text
|
||
npm run smoke:node -> xyzbc_trt_web_app_smoke=ok
|
||
npm run build -> gmoccapy_static_build=ok
|
||
npm run smoke:browser -> xyzbc_trt_browser_smoke=ok
|
||
npm run evidence:web -> web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
|
||
npm run evidence:compare -> compare_xyzbc_trt_status=pass
|
||
```
|
||
|
||
按钮级 evidence 摘要：
|
||
|
||
```text
|
||
web.axisMainUi.axisButtonParity.buttonCount = 61
|
||
web.axisMainUi.axisButtonParity.sourceReferencedCount = 61
|
||
web.axisMainUi.axisButtonParity.missingActions = []
|
||
web.coverage.axisButtonParityCovered = true
|
||
compare.summary.checkCount = 30
|
||
compare.summary.passCount = 30
|
||
compare.summary.failCount = 0
|
||
compare.summary.blockers = []
|
||
```
|
||
|
||
浏览器真实点击覆盖：
|
||
|
||
```text
|
||
ESTOP/复位
|
||
上电
|
||
回零
|
||
MDI tab
|
||
M428 / M429 / M430 switchkins
|
||
Joint 4 / C 轴 Jog+
|
||
Feed override+
|
||
Spindle forward / stop
|
||
Flood coolant
|
||
Block delete
|
||
Optional stop
|
||
Ignore limits
|
||
View X/Y/Z/P
|
||
Clear preview
|
||
Run-ready menu
|
||
```
|