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。
468 lines
19 KiB
Markdown
468 lines
19 KiB
Markdown
# 5 轴数控系统 Web 仿真实现追溯文档
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生成时间：2026-06-20 CST
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## 1. 目的
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本文件用于追溯后续实现中的每个主要功能来自哪里、参考了哪些 LinuxCNC 源文件/配置/图片、属于什么边界、如何验证。
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追溯原则：
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```text
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界面形态可参考 LinuxCNC Python GUI；
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CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
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浏览器代码只负责 UI、状态编排、文件会话、可视化和调用边界；
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任何 fixture 或 UI-only 结果不得冒充 LinuxCNC runtime proof。
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```
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## 2. 总体追溯表
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| 功能 | Web 实现位置 | LinuxCNC 参考 | 边界分类 | 验证方式 |
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| --- | --- | --- | --- | --- |
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| gmoccapy 风格 shell | `app/src/ui/gmoccapy-shell.ts` | `docs/src/gui/images/gmoccapy_5_axis.png`, `configs/sim/gmoccapy/gmoccapy_XYZAC.ini` | UI reference | browser shell smoke |
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| 大号 DRO | `app/src/ui/gmoccapy-dro-panel.ts` | gmoccapy 5 axis screenshot, LinuxCNC DRO conventions | UI rendering of runtime state | DOM smoke + state smoke |
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| 右侧模式按钮栏 | `app/src/ui/gmoccapy-status-sidebar.ts` | gmoccapy screenshot | UI action dispatch | browser button/action smoke |
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| 底部运行控制 | `app/src/ui/gmoccapy-bottom-controls.ts` | gmoccapy/AXIS run controls | UI action dispatch | playback smoke |
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| G-code 当前行 | `app/src/ui/gmoccapy-gcode-panel.ts` | AXIS/gmoccapy program display | LinuxCNC output rendering | active-line smoke |
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| 上电/急停/复位/模式操作 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | gmoccapy/AXIS operator workflow | browser UI runtime fixture | node smoke + browser operator smoke |
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| JOG/MDI 操作 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS Manual/MDI workflow | browser UI runtime fixture | node smoke + browser operator smoke |
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| G-code 文件加载 | `app/src/ui/gmoccapy-shell.js`, `app/src/state/store.js` | AXIS/gmoccapy open program workflow | file text staging only, not LinuxCNC interpreter proof | node smoke + browser operator smoke |
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| 程序执行当前行显示 | `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | AXIS/gmoccapy current line display | fixture line playback until LinuxCNC interpreter is connected | node smoke + browser operator smoke |
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| 刀具预览 | `app/src/ui/gmoccapy-shell.js`, `app/src/visualization/five-axis-scene.js` | gmoccapy/vismach tool display | visualization/runtime state display | browser operator smoke |
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| 3D 五轴预览 | `app/src/visualization/five-axis-scene.js` | `qtvismach_5axis_gantry.png`, `lib/python/vismach.py` | visualization | canvas nonblank smoke |
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| Vismach transform tree | `app/src/visualization/machine-model.ts` | `lib/python/vismach.py`, `src/hal/user_comps/vismach/*.py` | visualization from GUI reference | scene graph smoke |
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| `xyzac-trt` profile | `app/src/profiles/xyzac-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` | source/config reference | profile boundary node smoke |
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| `xyzac-trt` source reference map | `app/src/profiles/source-reference-map.js` | `xyzac-trt.ini`, `xyzac-trt.xml`, `switchkins_postgui.hal`, `xyzac-trt_cmds.hal`, `xyzac-trt-kins.c`, `trtfuncs.c`, `switchkins.c` | profile/source map only, not runtime proof | profile boundary node smoke |
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| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.ts` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference | profile node smoke |
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| SWITCHKINS panel | `app/src/panel-schema/xyzac-trt-pyvcp.js` | `xyzac-trt.xml`, `switchkins_postgui.hal` | UI/HAL binding reference | profile boundary node smoke + browser DOM smoke |
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| M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
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| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics WASM future adapter point | adapter entrypoint only, runtime not connected | profile boundary node smoke + browser DOM smoke |
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| Five-axis kinematics | `core/linuxcnc_kinematics_wasm` | `trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c`, `5axiskins.c` | LinuxCNC source-derived WASM | Node roundtrip smoke |
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| RTCP/TCP frame | `app/src/runtime/rtcp-frame.js` | LinuxCNC kinematics output + canonical events | fixture frame plumbing until kinematics WASM is ready | RTCP/store node smoke + browser DOM smoke |
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| OPFS session | `app/src/runtime/session-*` | current `wasm-port/runtime/opfs` | host-side persistence | save/restore smoke |
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## 3. 源文件追溯清单
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### UI 图片
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```text
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linuxcnc/docs/src/gui/images/gmoccapy_5_axis.png
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linuxcnc/docs/src/gui/images/qtvismach_5axis_gantry.png
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linuxcnc/docs/src/gui/images/axis.png
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linuxcnc/docs/src/gui/images/axis-pyvcp.png
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linuxcnc/docs/src/gui/images/qtdragon.png
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linuxcnc/docs/src/gui/images/qtdragon_hd.png
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```
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本项目副本：
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```text
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assets/reference/linuxcnc-gui/
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```
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### Python GUI
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```text
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src/emc/usr_intf/axis/scripts/axis.py
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lib/python/vismach.py
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src/hal/user_comps/vismach/5axisgui.py
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src/hal/user_comps/vismach/xyzac-trt-gui.py
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src/hal/user_comps/vismach/xyzbc-trt-gui.py
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configs/sim/gmoccapy/gmoccapy_XYZAC.ini
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configs/sim/qtvcp_screens/qtdragon/README
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```
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使用方式：
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```text
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UI/visualization reference only
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```
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### 5 轴配置
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```text
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
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configs/sim/axis/vismach/5axis/bridgemill/5axis.ini
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configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini
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```
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### PyVCP/HAL
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```text
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configs/sim/axis/vismach/5axis/bridgemill/5axis.xml
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configs/sim/axis/vismach/5axis/bridgemill/5axis_postgui.hal
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.xml
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configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
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configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.xml
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configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr-postgui.hal
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```
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### 5 轴运动学源码
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```text
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src/emc/kinematics/trtfuncs.c
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src/emc/kinematics/xyzac-trt-kins.c
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src/emc/kinematics/xyzbc-trt-kins.c
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src/emc/kinematics/5axiskins.c
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src/emc/kinematics/switchkins.c
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src/emc/kinematics/switchkins.h
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src/emc/kinematics/userkfuncs.c
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src/emc/kinematics/kins_util.c
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```
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## 4. 边界状态
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| 边界 | 当前状态 | 说明 |
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| --- | --- | --- |
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| gmoccapy UI style | ready | 可直接 Web 化 |
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| Three.js preview | implemented_basic_canvas_scene | 已显示基础五轴机床、刀具/TCP marker、刀轴、刀路，并消费 `rtcpFrame` |
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| LinuxCNC interpreter WASM | existing_project_capability | 可参考 `wasm-port` 现有 SDK |
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| LinuxCNC 5-axis kinematics WASM | node_proof_ready | `createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })` 已由 web adapter 加载，Node smoke 验证 forward/inverse frame |
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| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；Node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
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| Operator workflow | implemented_fixture_only | 上电/急停/复位/模式/JOG/MDI/G-code 加载/当前行显示已闭环；执行仍是 fixture line playback |
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| LinuxCNC boundary adapter | kinematics_runtime_connected_node | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
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| PyVCP/HAL panel schema | implemented_reference_only | `xyzac-trt-switchkins-pyvcp` 已整理 SWITCHKINS 控件与 HAL nets；不执行 native HAL |
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| Python GUI runtime | not_ported | 只参考，不运行 |
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| Python remap runtime | blocked | 不在第一版实现 |
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| tool DB runtime | blocked | 不在第一版实现 |
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| external user-M process | blocked | 不在第一版实现 |
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| native hard realtime | out_of_scope | Web 仿真不实现 |
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## 5. 每批开发追溯记录模板
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后续每批完成后追加：
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```text
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Batch:
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Date:
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Files changed:
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Feature:
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LinuxCNC references:
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Boundary:
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Tests:
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Result:
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Remaining risk:
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Next:
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```
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## 6. 首批追溯记录
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```text
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Batch: M0-docs-preparation
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Date: 2026-06-20 CST
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Files changed:
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README.md
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docs/implementation-plan.md
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docs/technical-roadmap.md
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docs/program-implementation-guide.md
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docs/development-continuation.md
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docs/traceability-matrix.md
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docs/linuxcnc-python-gui-reference.md
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docs/linuxcnc-gui-reference-gallery.md
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Feature:
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完成 5 轴数控系统 Web 仿真程序开发前准备文档。
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LinuxCNC references:
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gmoccapy_5_axis.png
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qtvismach_5axis_gantry.png
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axis.py
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vismach.py
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xyzac-trt.ini
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xyzbc-trt.ini
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trtfuncs.c
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5axiskins.c
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Boundary:
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docs_only
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Tests:
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git diff --check -- web-rtcp-5axis-sim-plan
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Result:
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ready_for_M1_web_shell_gmoccapy
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Remaining risk:
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尚未实现 app 代码；LinuxCNC kinematics WASM ABI 尚未建立。
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Next:
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M1-web-shell-gmoccapy
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```
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## 7. M1 追溯记录
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```text
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Batch: M1-web-shell-gmoccapy
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Date: 2026-06-20 CST
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Files changed:
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.gitignore
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app/index.html
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app/package.json
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app/tsconfig.json
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app/scripts/build-static.mjs
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app/src/main.js
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app/src/state/store.js
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app/src/ui/gmoccapy-shell.js
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app/src/styles/gmoccapy.css
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tests/browser/gmoccapy_shell_smoke.html
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tests/browser/verify_gmoccapy_shell_browser.sh
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Feature:
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实现 gmoccapy 5 轴风格 Web shell，并补齐 M1 build gate。
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LinuxCNC references:
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docs/src/gui/images/gmoccapy_5_axis.png
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docs/src/gui/images/qtvismach_5axis_gantry.png
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configs/sim/gmoccapy/gmoccapy_XYZAC.ini
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Boundary:
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ui_reference_only
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sourceMode=fixture-ui-only
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Tests:
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npm --prefix web-rtcp-5axis-sim-plan/app run build
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web-rtcp-5axis-sim-plan/tests/browser/verify_gmoccapy_shell_browser.sh
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git diff --check -- web-rtcp-5axis-sim-plan
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Result:
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gmoccapy_static_build=ok
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gmoccapy_shell_smoke=ok
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Remaining risk:
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M1 shell/build gate 已闭环；Three.js 真实场景、LinuxCNC interpreter/WASM、5 轴 kinematics ABI 仍未接入。
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Next:
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M2-state-and-controls
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```
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## 8. M2 追溯记录
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```text
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Batch: M2-state-and-controls
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Date: 2026-06-20 CST
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Files changed:
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app/package.json
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app/src/profiles/xyzac-trt.js
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app/src/runtime/rtcp-frame.js
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app/src/state/store.js
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app/src/ui/gmoccapy-shell.js
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app/src/styles/gmoccapy.css
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tests/node/verify_rtcp_store.mjs
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tests/browser/gmoccapy_shell_smoke.html
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docs/development-continuation.md
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docs/traceability-matrix.md
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Feature:
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实现 gmoccapy store/control 链路，并加入 RTCP fixture frame plumbing。
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Run/Step 会推进 fixture motion frame；TCP/IDENTITY 会切换 RTCP on/off；
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DRO、preview badge 和 info diagnostics 显示 TCP pose、tool axis vector、frame readiness。
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Preview view/Fit/Clear、Rapid/Feed override、Spindle override、Flood/Mist、
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Reload/Home/Full 已接入 store action，并由 node/browser smoke 覆盖。
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LinuxCNC references:
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml
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configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
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src/emc/kinematics/xyzac-trt-kins.c
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src/emc/kinematics/trtfuncs.c
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Boundary:
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sourceMode=fixture-ui-only
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semanticBoundary=fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof
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linuxCncKinematicsReady=false
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promotionAllowed=false
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Tests:
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npm --prefix web-rtcp-5axis-sim-plan/app run build
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke
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Result:
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gmoccapy_static_build=ok
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rtcp_store_smoke=ok
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gmoccapy_shell_smoke=ok
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Remaining risk:
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RTCP 当前是 UI/runtime frame plumbing，不是 LinuxCNC/source-derived kinematics WASM proof；
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Three.js 仍是 SVG placeholder，M3 需要接入真实 canvas scene 并消费 rtcpFrame。
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Next:
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M3-threejs-preview
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```
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## 9. M3 追溯记录
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```text
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Batch: M3-threejs-preview
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Date: 2026-06-21 CST
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Files changed:
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app/src/vendor/three/three.module.js
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app/src/vendor/three/three.core.js
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app/src/visualization/five-axis-scene.js
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app/src/ui/gmoccapy-shell.js
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tests/browser/gmoccapy_shell_smoke.html
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docs/development-continuation.md
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docs/traceability-matrix.md
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Feature:
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将 preview 区域从占位内容升级为 Three.js WebGL canvas。
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场景显示基础五轴工作区、工作台、刀具/TCP marker、刀轴和刀路；
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tool marker 消费 store 的 tcpPose，刀轴消费 toolAxisVector，RTCP on/off 影响可见刀轴长度和姿态数据。
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LinuxCNC references:
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docs/src/gui/images/qtvismach_5axis_gantry.png
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lib/python/vismach.py
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src/hal/user_comps/vismach/xyzac-trt-gui.py
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Boundary:
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visualization_only
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sourceMode=fixture-ui-only
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semanticBoundary=fixture_frame_ui_plumbing_not_linuxcnc_kinematics_proof
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Tests:
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npm --prefix web-rtcp-5axis-sim-plan/app run build
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke
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Result:
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gmoccapy_static_build=ok
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rtcp_store_smoke=ok
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gmoccapy_shell_smoke=ok
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Remaining risk:
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Three.js 当前消费 fixture frame；五轴运动学仍未接入 LinuxCNC/source-derived WASM。
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Next:
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M4-profile-and-linuxcnc-boundary
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```
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## 10. M4 追溯记录
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```text
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Batch: M4-profile-and-linuxcnc-boundary
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Date: 2026-06-21 CST
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Files changed:
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app/package.json
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app/src/profiles/xyzac-trt.js
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app/src/profiles/source-reference-map.js
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app/src/panel-schema/xyzac-trt-pyvcp.js
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app/src/runtime/linuxcnc-boundary-adapter.js
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app/src/state/store.js
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app/src/ui/gmoccapy-shell.js
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tests/node/verify_rtcp_store.mjs
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tests/node/verify_profile_boundary.mjs
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tests/browser/gmoccapy_shell_smoke.html
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docs/development-continuation.md
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docs/program-implementation-guide.md
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docs/traceability-matrix.md
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Feature:
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建立 `xyzac-trt` profile/source reference map、PyVCP/HAL SWITCHKINS panel schema
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和 LinuxCNC boundary adapter 接入点。store/UI 暴露 boundary readiness，
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并明确保持 `linuxCncKinematicsReady=false`、`promotionAllowed=false`。
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本批后续已进一步按 LinuxCNC `xyzac-trt.ini`、`xyzac-trt_cmds.hal`、
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`switchkins_postgui.hal`、`xyzac-trt.tbl`、`428/429/430remap.ngc` 显式整理
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DISPLAY/RS274NGC/TRAJ、axis/joint limits、HALCMD feedback/offset nets、
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HALUI MDI commands、tool table 和 remap IO 约束，使 M4 在 source-aligned
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profile/schema/adapter 层面完整闭环。
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LinuxCNC references:
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml
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configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
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configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal
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configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
|
||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
|
||
configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
|
||
src/emc/kinematics/xyzac-trt-kins.c
|
||
src/emc/kinematics/trtfuncs.c
|
||
src/emc/kinematics/switchkins.c
|
||
Boundary:
|
||
sourceMapBoundary=profile_source_map_only_not_runtime_proof
|
||
panelSchemaBoundary=pyvcp_hal_schema_reference_only
|
||
adapterBoundary=adapter_entrypoint_only_runtime_not_connected
|
||
linuxCncKinematicsReady=false
|
||
promotionAllowed=false
|
||
Tests:
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||
Result:
|
||
gmoccapy_static_build=ok
|
||
rtcp_store_smoke=ok
|
||
profile_boundary_smoke=ok
|
||
gmoccapy_shell_smoke=ok
|
||
Remaining risk:
|
||
Adapter 目前只是接入点；尚未连接 LinuxCNC interpreter/kinematics WASM ABI。
|
||
Next:
|
||
linuxcnc_kinematics_wasm_abi
|
||
```
|
||
|
||
## 11. M5 追溯记录
|
||
|
||
```text
|
||
Batch: M5-operator-program-workflow
|
||
Date: 2026-06-21 CST
|
||
Files changed:
|
||
app/src/state/store.js
|
||
app/src/ui/gmoccapy-shell.js
|
||
app/src/styles/gmoccapy.css
|
||
tests/node/verify_rtcp_store.mjs
|
||
tests/browser/gmoccapy_shell_smoke.html
|
||
docs/development-continuation.md
|
||
docs/traceability-matrix.md
|
||
Feature:
|
||
补齐 operator workflow：上电、急停、AUTO/MANUAL/JOG/MDI、复位、
|
||
本地 G-code 文件加载、刀具预览、程序执行当前行显示和高亮。
|
||
LinuxCNC references:
|
||
gmoccapy operator workflow
|
||
AXIS program loading/current-line workflow
|
||
vismach tool preview conventions
|
||
Boundary:
|
||
operatorWorkflowBoundary=browser_ui_runtime_fixture
|
||
gcodeLoadBoundary=file_text_staging_only
|
||
programExecutionBoundary=fixture_line_playback_not_linuxcnc_interpreter
|
||
linuxCncKinematicsReady=false
|
||
promotionAllowed=false
|
||
Tests:
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||
Result:
|
||
gmoccapy_static_build=ok
|
||
rtcp_store_smoke=ok
|
||
profile_boundary_smoke=ok
|
||
gmoccapy_shell_smoke=ok
|
||
Remaining risk:
|
||
程序执行仍是 fixture line playback；下一步必须接 LinuxCNC interpreter/WASM 或
|
||
source-derived kinematics WASM，才能把执行来源升级为 LinuxCNC-owned。
|
||
Next:
|
||
linuxcnc_interpreter_or_kinematics_wasm_execution_source
|
||
```
|
||
|
||
## 12. M6 追溯记录
|
||
|
||
```text
|
||
Batch: M6-linuxcnc-kinematics-frame-proof
|
||
Date: 2026-06-21 CST
|
||
Files changed:
|
||
app/package.json
|
||
app/src/runtime/linuxcnc-kinematics-runtime.js
|
||
app/src/runtime/linuxcnc-boundary-adapter.js
|
||
app/src/runtime/rtcp-frame.js
|
||
app/src/state/store.js
|
||
tests/node/verify_linuxcnc_kinematics_runtime.mjs
|
||
tests/node/verify_rtcp_store.mjs
|
||
tests/node/verify_profile_boundary.mjs
|
||
docs/program-implementation-guide.md
|
||
docs/development-continuation.md
|
||
docs/traceability-matrix.md
|
||
Feature:
|
||
将 RTCP frame/boundary adapter 从 fixture-only 接到
|
||
createLinuxCncKinematicsSdk({ moduleId: "xyzac-trt" })。
|
||
新增 web runtime adapter，只加载共享 wasm-port SDK 并返回 LinuxCNC
|
||
forward/inverse 结果；frame builder 使用 forward.pose 和 inverse.joints
|
||
生成 source-derived kinematics frame。
|
||
LinuxCNC references:
|
||
wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
|
||
wasm-port/build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.wasm
|
||
src/emc/kinematics/xyzac-trt-kins.c
|
||
src/emc/kinematics/trtfuncs.c
|
||
src/emc/kinematics/switchkins.c
|
||
Boundary:
|
||
sourceMode=source-derived-kinematics-wasm
|
||
semanticBoundary=linuxcnc_kinematics_wasm_c_abi
|
||
linuxCncKinematicsReady=true
|
||
kinematicsFramePromotionAllowed=true
|
||
fullLinuxCncProgramExecutionReady=false
|
||
browserFallback=fixture-ui-only
|
||
Tests:
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||
Result:
|
||
gmoccapy_static_build=ok
|
||
linuxcnc_kinematics_runtime_smoke=ok
|
||
rtcp_store_smoke=ok
|
||
profile_boundary_smoke=ok
|
||
gmoccapy_shell_smoke=ok
|
||
Remaining risk:
|
||
Browser path still runs fixture fallback because kinematics WASM asset copy/worker
|
||
is not wired into app/src/main.js. Program RUN/STEP still advances fixture lines;
|
||
LinuxCNC interpreter/remap/planner execution is not promoted.
|
||
Next:
|
||
browser_kinematics_wasm_asset_worker_or_interpreter_execution_source
|
||
```
|