wangdequan
626bcfe8e3
结论：完成 LinuxCNC kinematics WASM ABI 覆盖，并将 web-rtcp-5axis-sim-plan 的 RTCP frame/boundary adapter 接到 xyzac-trt kinematics SDK；Node、build、browser smoke 验证通过。
184 lines
7.0 KiB
JavaScript
184 lines
7.0 KiB
JavaScript
import { getSourceReferencesForProfile } from "./source-reference-map.js";
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import { xyzacTrtPyvcpPanelSchema } from "../panel-schema/xyzac-trt-pyvcp.js";
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const sourceReferenceObjects = getSourceReferencesForProfile("xyzac-trt");
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export const xyzacTrtProfile = {
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id: "xyzac-trt",
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title: "XYZAC table rotary tilting",
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iniPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
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pyvcpXmlPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml",
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postguiHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal",
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generatedHalPath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal",
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toolTablePath: "configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl",
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machineName: "sim-xyzac-trt-kins (switchkins)",
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display: {
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geometry: "XYZ-A",
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display: "axis",
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jogAxes: ["X", "Y", "Z", "C"],
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pyvcp: "./xyzac-trt.xml",
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openFile: "./demos/xyzac_switchkins.ngc",
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programPrefix: "../../nc_files",
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positionOffset: "RELATIVE",
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positionFeedback: "ACTUAL",
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maxFeedOverride: 2,
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},
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rs274ngc: {
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subroutinePath: "./remap_subs",
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halPinVars: true,
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parameterFile: "xyzac.var",
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},
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coordinates: ["X", "Y", "Z", "A", "C"],
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joints: ["joint.0", "joint.1", "joint.2", "joint.3", "joint.4"],
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kinematics: "xyzac-trt-kins",
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kinematicsParameters: {
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sparm: "identityfirst",
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defaultSwitchkinsType: 0,
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switchkinsTypes: [
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{ value: 0, label: "identity", mdiCommand: "M429", webKinsType: "identity" },
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{ value: 1, label: "XYZAC TCP", mdiCommand: "M428", webKinsType: "tcp-xyzac" },
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{ value: 2, label: "USERK", mdiCommand: "M430", webKinsType: "userk" },
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],
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},
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remaps: [
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{
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code: "M428",
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modalGroup: 10,
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ngc: "428remap",
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path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc",
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switchkinsType: 1,
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analogOutputIndex: 3,
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syncInputIndex: 0,
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requiresHalPinVars: true,
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},
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{
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code: "M429",
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modalGroup: 10,
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ngc: "429remap",
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path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc",
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switchkinsType: 0,
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analogOutputIndex: 3,
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syncInputIndex: 0,
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requiresHalPinVars: true,
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},
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{
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code: "M430",
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modalGroup: 10,
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ngc: "430remap",
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path: "configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc",
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switchkinsType: 2,
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analogOutputIndex: 3,
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syncInputIndex: 0,
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requiresHalPinVars: true,
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},
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],
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hal: {
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halui: true,
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halFiles: ["LIB:basic_sim.tcl"],
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postguiHalFiles: ["switchkins_postgui.hal"],
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halcmd: {
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switchkinsSelectNet: {
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signal: "kinstype-select",
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source: "motion.analog-out-03",
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target: "motion.switchkins-type",
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},
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loadusr: ["xyzac-trt-gui"],
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feedbackNets: [
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{ signal: "table-x", source: "joint.0.pos-fb", target: "xyzac-trt-gui.table-x" },
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{ signal: "saddle-y", source: "joint.1.pos-fb", target: "xyzac-trt-gui.saddle-y" },
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{ signal: "spindle-z", source: "joint.2.pos-fb", target: "xyzac-trt-gui.spindle-z" },
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{ signal: "tilt-a", source: "joint.3.pos-fb", target: "xyzac-trt-gui.tilt-a" },
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{ signal: "rotate-c", source: "joint.4.pos-fb", target: "xyzac-trt-gui.rotate-c" },
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],
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offsetNets: [
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{ signal: "tool-offset", source: "motion.tooloffset.z", target: "xyzac-trt-kins.tool-offset" },
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{ signal: "tool-offset", source: "xyzac-trt-kins.tool-offset", target: "xyzac-trt-gui.tool-offset" },
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{ signal: "y-offset", source: "xyzac-trt-kins.y-offset", target: "xyzac-trt-gui.y-offset" },
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{ signal: "z-offset", source: "xyzac-trt-kins.z-offset", target: "xyzac-trt-gui.z-offset" },
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],
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initialSets: [
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{ pin: "y-offset", value: 20 },
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{ pin: "z-offset", value: 10 },
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{ pin: "xyzac-trt-kins.x-rot-point", value: 0 },
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{ pin: "xyzac-trt-kins.y-rot-point", value: 0 },
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{ pin: "xyzac-trt-kins.z-rot-point", value: 0 },
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{ pin: "xyzac-trt-kins.conventional-directions", value: 0 },
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],
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},
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},
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halui: {
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mdiCommands: ["M429", "M428", "M430"],
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},
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traj: {
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coordinates: "XYZAC",
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linearUnits: "mm",
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angularUnits: "deg",
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defaultLinearVelocity: 20,
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maxLinearVelocity: 35,
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defaultLinearAcceleration: 300,
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maxLinearAcceleration: 400,
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},
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axisLimits: {
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X: { min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 },
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Y: { min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 },
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Z: { min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 },
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A: { min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 },
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C: { min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
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},
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jointConfig: [
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{ id: 0, axis: "X", type: "LINEAR", home: 0, min: -200, max: 200, maxVelocity: 20, maxAcceleration: 300 },
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{ id: 1, axis: "Y", type: "LINEAR", home: 0, min: -100, max: 100, maxVelocity: 20, maxAcceleration: 300 },
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{ id: 2, axis: "Z", type: "LINEAR", home: 0, min: -120, max: 120, maxVelocity: 20, maxAcceleration: 300 },
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{ id: 3, axis: "A", type: "ANGULAR", home: 0, min: -100, max: 50, maxVelocity: 30, maxAcceleration: 300 },
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{ id: 4, axis: "C", type: "ANGULAR", home: 0, min: -36000, max: 36000, maxVelocity: 30, maxAcceleration: 300 },
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],
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halPins: [
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"motion.switchkins-type",
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"motion.analog-out-03",
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"motion.tooloffset.z",
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"xyzac-trt-kins.tool-offset",
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"xyzac-trt-kins.y-offset",
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"xyzac-trt-kins.z-offset",
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"xyzac-trt-kins.x-rot-point",
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"xyzac-trt-kins.y-rot-point",
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"xyzac-trt-kins.z-rot-point",
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"xyzac-trt-kins.conventional-directions",
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"halui.mdi-command-00",
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"halui.mdi-command-01",
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"halui.mdi-command-02",
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],
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offsets: {
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y: 20,
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z: 10,
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xRotPoint: 0,
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yRotPoint: 0,
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zRotPoint: 0,
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conventionalDirections: 0,
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},
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sourceReferences: sourceReferenceObjects.map((reference) => reference.path),
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sourceReferenceObjects,
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panelSchema: xyzacTrtPyvcpPanelSchema,
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toolTable: {
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toolCount: 10,
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tools: [
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{ tool: 1, pocket: 1, zOffset: 0, diameter: 1, comment: "end mill" },
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{ tool: 2, pocket: 2, zOffset: 15, diameter: 8, comment: "end mill" },
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{ tool: 3, pocket: 3, zOffset: 0, diameter: 4.2, comment: "#7 tap drill" },
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{ tool: 4, pocket: 4, zOffset: 0, diameter: 10, comment: null },
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{ tool: 5, pocket: 5, zOffset: 30, diameter: 10, comment: null },
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{ tool: 6, pocket: 6, zOffset: 30, diameter: 10, comment: null },
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{ tool: 7, pocket: 7, zOffset: 30, diameter: 10, comment: null },
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{ tool: 8, pocket: 8, zOffset: 30, diameter: 10, comment: null },
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{ tool: 9, pocket: 9, zOffset: 30, diameter: 10, comment: null },
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{ tool: 10, pocket: 10, zOffset: 0, diameter: 0.5, comment: null },
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],
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},
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samplePrograms: [
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"configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc",
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"linuxcnc/nc_files/3D_Chips.ngc",
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],
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semanticBoundary: "profile_source_map_only_not_runtime_proof",
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linuxCncKinematicsReady: false,
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promotionAllowed: false,
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};
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