61 KiB
61 KiB
05-验收证据
2026-07-07 18:18 EDT - AXIS 主控制按钮状态链路收敛证据
本轮按 working/18-20260707-AXIS主控制按钮调用链与Web完善指南.md 完成主控制按钮状态链路收敛，覆盖：
ESTOP / RESET
Power ON / OFF
Home All
Run
Pause / Resume
Step
Task/HAL status -> Web policy/store 回写
Web evidence -> compare
关键实现证据：
app/src/state/linuxcnc-task-policy.js
app/src/state/store.js
app/src/runtime/linuxcnc-task-hal-runtime.js
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
tools/collect-web-xyzbc-trt-evidence.mjs
tests/node/verify_xyzbc_trt_web_app.mjs
tests/browser/xyzbc_trt_browser_smoke.html
wasm-port/tests/wasm/node/verify_task_state_matrix.mjs
执行命令：
source /home/mes123456/emsdk/emsdk_env.sh && wasm-port/tools/build_task_hal_wasm.sh
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs
node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs
node wasm-port/tests/wasm/node/verify_task_state_matrix.mjs
node wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_feedback_loop.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_run_preconditions.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_gmoccapy_xyzab_gates.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_rtcp_store.mjs
node web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
关键输出：
linuxcnc_task_hal_wasm_build=ok
linuxcnc_task_runtime_smoke=ok
task_state_matrix=ok
linuxcnc_task_hal_sdk=ok
run_feedback_status_loop_smoke=ok
run_preconditions_ini_profile_smoke=ok
linuxcnc_task_hal_runtime_smoke=ok
gmoccapy_xyzab_gates_smoke=ok
rtcp_store_smoke=ok
impeller_feed_task_hal_run=ok
gmoccapy_static_build=ok
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
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=pass
最新 evidence 摘要：
web.status=ready-for-wasm-runtime
web.collectedAt=2026-07-07T22:17:57.900Z
web.executionPath.sampleCount=228
web.executionPath.status=ok
web.basicSimEquivalent.ready=true
web.taskHalEquivalence.ready=true
web.axisMainUi.ready=true
web.blockers=[]
compare.status=pass
compare.comparedAt=2026-07-07T22:17:58.519Z
compare.summary.checkCount=60
compare.summary.passCount=60
compare.summary.failCount=0
compare.summary.blockers=[]
compare.summary.nativeStatus=ok
compare.summary.webStatus=ready-for-wasm-runtime
compare.requiredImprovements=[]
结论：AXIS 主控制按钮状态链路收敛完成。Web 主控制按钮不再依赖单一 runState 判断，而是由 LinuxCNC task/motion/home 状态事实驱动；当前 compare 仍为 60/60 pass。
2026-07-05 18:57 EDT - Pause 按钮 LinuxCNC AXIS 对标修复证据
本轮按用户要求，以 /home/mes123456/cnc_wams/linuxcnc 源程序中的 AXIS 行为严格对标 Pause。
LinuxCNC 对标来源：
/home/mes123456/cnc_wams/linuxcnc/share/axis/tcl/axis.tcl
/home/mes123456/cnc_wams/linuxcnc/src/emc/usr_intf/axis/scripts/axis.py
关键源码事实：
axis.tcl: .toolbar.program_pause -command task_pauseresume
axis.py: task_pause -> c.auto(linuxcnc.AUTO_PAUSE)
axis.py: task_resume -> c.auto(linuxcnc.AUTO_RESUME)
axis.py: task_pauseresume -> paused 时 AUTO_RESUME，否则 interpreter 非 idle 时 AUTO_PAUSE
执行命令：
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/linuxcnc-task-policy.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/ui/axis-shell.js
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/tests/node/verify_xyzbc_trt_web_app.mjs
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
关键输出：
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
gmoccapy_static_build=ok
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
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=pass
最新 compare 摘要：
compare.status=pass
compare.comparedAt=2026-07-05T22:57:05.625Z
compare.summary.checkCount=60
compare.summary.passCount=60
compare.summary.failCount=0
compare.summary.blockers=[]
compare.requiredImprovements=[]
结论：Pause 按钮已恢复为 LinuxCNC AXIS 工具栏 task_pauseresume 语义，并通过 Node、浏览器、构建和 native/Web compare 复验。
2026-07-05 18:18 EDT - 按 working 完成全部任务复验证据
本轮按 working 文档继续执行，确认任务矩阵中 T-001 到 T-077 的完成状态仍可通过当前证据链复现。
执行命令：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
关键输出：
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
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=pass
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
最新 evidence 摘要：
native.status=ok
native.collectedAt=2026-07-05T18:17:15-0400
native.coverage=35/35
native.executionMode=auto-run
web.status=ready-for-wasm-runtime
web.collectedAt=2026-07-05T22:17:16.154Z
web.coverage=49/49
web.blockers=[]
compare.status=pass
compare.comparedAt=2026-07-05T22:17:25.931Z
compare.summary.checkCount=60
compare.summary.passCount=60
compare.summary.failCount=0
compare.summary.blockers=[]
compare.requiredImprovements=[]
结论：本轮按 working 文档执行的全量复验通过。当前没有新增缺失功能、fail、blocker 或 required improvement，T-001 到 T-077 仍为完成状态。
2026-07-05 18:08 EDT - 完全对标复验与文档修订证据
本轮按用户要求，对 Web 仿真系统除硬件相关外的全部仿真功能重新执行 LinuxCNC xyzbc-trt native/Web/compare/build/smoke 复验。native 权威源为：
/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini
执行命令：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
关键输出：
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
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=pass
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
gmoccapy_static_build=ok
最新 evidence 摘要：
native.status=ok
native.collectedAt=2026-07-05T18:07:01-0400
native.coverage=35/35
native.previewPath.sampleCount=1300
native.executionPath.sampleCount=4
native.semanticExecutionPath.sampleCount=1300
native.lineExecutionTrace=64
native.axisValuesByLine=29
web.status=ready-for-wasm-runtime
web.collectedAt=2026-07-05T22:06:45.346Z
web.coverage=49/49
web.previewPath.sampleCount=1300
web.executionPath.sampleCount=228
web.semanticExecutionPath.sampleCount=1300
web.lineExecutionTrace=64
web.axisValuesByLine=29
web.blockers=[]
compare.status=pass
compare.comparedAt=2026-07-05T22:07:13.768Z
compare.summary.checkCount=60
compare.summary.passCount=60
compare.summary.failCount=0
compare.summary.blockers=[]
compare.requiredImprovements=[]
关键路径和执行过程对比：
semanticExecutionVsSemanticExecution.status=pass
nativeSampleCount=1300
webSampleCount=1300
samplePeriodMs=50
maxTcpErrorMm=3.552713678800501e-15
rmsTcpErrorMm=4.515420281608176e-16
maxJointError=3.552713678800501e-15
maxToolAxisAngleDeg=0
machineStateMismatchCount=0
sampleCountDelta=0
lineExecutionComparison.status=pass
axisValuesByLineComparison.status=pass
gcodeExecutionProcessComparison.status=pass
结论：本轮完全对标复验通过。除实体硬件 I/O 和物理设备接入外，当前 Web 仿真项目在源码、配置、运行、UI、HAL/task、Vismach 等效、路径、G 代码执行过程、错误路径和证据链范围内未发现新增缺失功能。
2026-07-04 18:22 EDT - P-002 强制复验证据
本轮按 working/12-20260704-真实执行复验与缺失功能工作计划.md 的 P-002 规则，重新执行当前工作区的 native/Web/compare/smoke 复验。
执行命令：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
关键输出：
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
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=pass
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
最新 compare 摘要：
status=pass
checkCount=60
passCount=60
failCount=0
blockers=[]
requiredImprovements=[]
nativeStatus=ok
webStatus=ready-for-wasm-runtime
结论：P-002 强制复验通过。当前没有新增缺失功能、fail、blocker 或 required improvement。
2026-07-04 18:12 EDT - 真实执行复验与缺失功能分析证据
本轮按用户要求重新真实执行 native LinuxCNC 与 Web 仿真项目，并重新生成 compare。
执行命令：
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90
npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix /home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
关键输出：
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
xyzbc_trt_web_app_smoke=ok
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=pass
xyzbc_trt_browser_smoke=ok
最新 compare 摘要：
status=pass
checkCount=60
passCount=60
failCount=0
blockers=[]
nativeStatus=ok
webStatus=ready-for-wasm-runtime
关键对比数据：
semanticExecutionVsSemanticExecution.status=pass
nativeSampleCount=1300
webSampleCount=1300
maxTcpErrorMm=3.552713678800501e-15
maxJointError=3.552713678800501e-15
maxToolAxisAngleDeg=0
machineStateMismatchCount=0
lineExecutionComparison.status=pass
nativeTraceCount=64
webTraceCount=64
mismatchCount=0
axisValuesByLineComparison.status=pass
nativeLineValueCount=29
webLineValueCount=29
maxTcpErrorMm=0
maxJointError=0
maxToolAxisAngleDeg=0
mismatchCount=0
gcodeExecutionProcessComparison.status=pass
nativeExecutionStepCount=128
webExecutionStepCount=128
nativeSourceLineCoverageCount=65
webSourceLineCoverageCount=65
mismatchCount=0
结论：本轮真实执行复验未发现新增缺失功能。缺失功能分析和后续工作计划已写入 working/12-20260704-真实执行复验与缺失功能工作计划.md。
2026-07-04 17:57 EDT - T-051 到 T-075 源码/运行双基线复验证据
本轮重新生成：
working/evidence/native-xyzbc-trt-evidence.json
working/evidence/web-xyzbc-trt-evidence.json
working/evidence/compare-xyzbc-trt-evidence.json
执行命令：
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-web-xyzbc-trt-evidence.mjs
node --check web-rtcp-5axis-xyzbc-trt-sim-plan/tools/compare-xyzbc-trt-evidence.mjs
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/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
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
关键输出：
native_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
web_xyzbc_trt_evidence=/home/mes123456/cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
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=pass
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
最新 compare 摘要：
status=pass
checkCount=60
passCount=60
failCount=0
blockers=[]
nativeStatus=ok
webStatus=ready-for-wasm-runtime
新增严格对标检查均通过：
sourceManifestComparison=pass
runtimeLaunchComparison=pass
iniFullComparison=pass
halGraphComparison=pass
kinematicsFormulaComparison=pass
remapSemanticsComparison=pass
pyvcpPostguiComparison=pass
axisUiBehaviorComparison=pass
visualComparison=pass
servoTaskTimingComparison=pass
runtimeExecutionComparison=pass
webStagingHashComparison=pass
wasmSourceBindingComparison=pass
taskHalFullStateComparison=pass
limitInterlocksComparison=pass
toolParameterComparison=pass
programCorpusComparison=pass
nativeWebVisualComparison=pass
errorPathComparison=pass
dualBaselineComparison=pass
evidenceClassificationComparison=pass
rerunEntryComparison=pass
reverseSourceIndexComparison=pass
performanceBudgetComparison=pass
strictAcceptanceComparison=pass
结论：T-051 到 T-075 已从“待实现”升级为“完成”。当前严格完整对标以最新 native/Web/compare JSON 为准；历史 fail 记录仍保留为推进过程档案。
2026-07-03 锥形刀尖与刀杆方向一致性验收
新增截图证据
working/screenshots/web-tool-tip-axis-fixed-20260703T080358Z/running-helix-tool-tip-axis-fixed-full.png
working/screenshots/web-tool-tip-axis-fixed-20260703T080358Z/running-helix-tool-tip-axis-fixed-canvas.png
working/screenshots/web-tool-tip-axis-fixed-20260703T080358Z/manifest.json
关键断言
toolAxisVector = { x: 0.24184476264797528, y: 0.24184476264797522, z: 0.9396926207859084 }
threeToolAxis = { x: 0.242, y: 0.242, z: 0.94 }
threeToolGlyphAxis = { x: 0.242, y: 0.242, z: 0.94 }
programUiExecution.sourceFile = helix_bc.ngc
programUiExecution.line = 17
programUiExecution.operation = feed-helix
验证命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
gmoccapy_static_build=ok
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
结论：刀具几何已改为锥形刀尖和刀杆共用同一本地 +Z 刀轴，再由 toolAxisVector 统一定向。Browser smoke 已增加 threeToolGlyphAxis 与实时 toolAxisVector 的一致性检查。
2026-07-03 真实 G 代码过程截图补充验收
新增截图证据
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/000-loaded-real-source-full.png
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/001-loaded-real-source-program.png
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/010-running-helix-feed-full.png
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/011-running-helix-feed-program.png
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/012-running-process-monitor.png
working/screenshots/web-simulation-real-gcode-process-20260703T074714Z/manifest.json
图片分析结论
011-running-helix-feed-program.png明确显示当前执行源行为helix_bc.ngc:17，语句为f#<frate> g2i#<r>z#<zmin> p#<n>，operation 为feed-helix。- 画面中同时显示主程序入口
xyzbc_switchkins.ngc:2 o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]，以及展开后的helix_bc.ngc:15-19执行窗口。 - 当前姿态为
B20.000 C45.000，TCP/Joint 坐标同步，Tool axis 为I0.242 J0.242 K0.940，Feed 为1000.0 mm/min cutting。 - manifest 记录
executionStepCount=128、motionStepCount=29、parameterAssignmentStepCount=41、samplePeriodMs=50、sampleIndex=55/1300。
验证命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
gmoccapy_static_build=ok
xyzbc_trt_web_app_smoke=ok
xyzbc_trt_browser_smoke=ok
结论：截图不再只是显示主程序三行文本，而是能在程序区直接看到真实 G 代码展开、调用栈、当前执行步骤、机床姿态、刀轴方向、切削进给和最近执行步骤。
2026-07-03 截图真实执行过程 UI 验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
结果
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=pass
关键断言
programAxisPreviewPath.samples[0].sourceFile = xyzbc_switchkins_sub.ngc
programAxisPreviewPath.samples[0].statement 包含 g53 g0
programUiExecution.source = programAxisPreviewPath.samples
programUiExecution.samplePeriodMs = 50
programUiExecution.sourceFile = programRuntimeFeedback.sourceFile
programUiExecution.line = programRuntimeFeedback.line
linuxCncProcessMonitor.path.uiExecution.sourceFile = programUiExecution.sourceFile
linuxCncProcessMonitor.path.activeGcode = programUiExecution.statement
state.toolAxisVector = programUiExecution.toolAxis.i/j/k
canvas.data-three-tool-axis = state.toolAxisVector
program pane dataset liveSourceFile/liveSampleIndex = state.programUiExecution
process monitor dataset liveSourceFile/liveSourceLine = state.programUiExecution
结论：
- 截图页面中的程序区和监控区现在能直接呈现真实展开 G 代码执行过程。
- 刀具实时位置、已执行路径、刀头方向和刀杆方向均由同一个 50ms 样本派生。
- browser smoke 已覆盖页面 DOM、state 和 canvas dataset 的一致性。
2026-07-02 23:50 EDT working 复核验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/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
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
xyzbc_trt_web_app_smoke=ok
py_compile=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=pass
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
JSON 摘要
native.status = ok
web.status = ready-for-wasm-runtime
compare.status = pass
compare.summary.checkCount = 35
compare.summary.passCount = 35
compare.summary.failCount = 0
compare.summary.blockers = []
native.pathSampling.samplePeriodMs = 50
web.pathSampling.samplePeriodMs = 50
native.previewPath.sampleCount = 1300
web.previewPath.sampleCount = 1300
native.semanticExecutionPath.sampleCount = 1300
web.semanticExecutionPath.sampleCount = 1300
semanticExecution.machineStateMismatchCount = 0
semanticExecution.maxTcpErrorMm = 3.552713678800501e-15
semanticExecution.maxJointError = 3.552713678800501e-15
semanticExecution.maxToolAxisAngleDeg = 0
lineExecution.nativeTraceCount = 64
lineExecution.webTraceCount = 64
lineExecution.mismatchCount = 0
axisValues.nativeLineValueCount = 29
axisValues.webLineValueCount = 29
axisValues.mismatchCount = 0
gcodeExecutionProcess.nativeExecutionStepCount = 128
gcodeExecutionProcess.webExecutionStepCount = 128
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
gcodeExecutionProcess.webSourceLineCoverageCount = 65
gcodeExecutionProcess.mismatchCount = 0
结论：
- 当前最新证据以 50ms 采样周期记录 native/Web 预览路径、runtime 执行反馈路径和源程序语义执行路径。
- native/Web
semanticExecutionPath样本数量均为 1300，运行状态字段逐样本硬比较 mismatch 为 0。 - 逐行 G 代码执行、每行轴值和完整 G 代码执行过程 JSON 全部同构，compare 为
35/35 pass。 - 本文件中较早的
fail记录为历史推进过程，不代表当前验收状态；当前状态以本节和working/evidence/compare-xyzbc-trt-evidence.json为准。
运行状态字段补强验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/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
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
结果
xyzbc_trt_web_app_smoke=ok
py_compile=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=pass
gmoccapy_static_build=ok
JSON 摘要
native.status = ok
web.status = ready-for-wasm-runtime
compare.status = pass
compare.summary.passCount = 35/35
native.pathSampling.samplePeriodMs = 50
web.pathSampling.samplePeriodMs = 50
native.semanticExecutionPath.sampleCount = 1300
web.semanticExecutionPath.sampleCount = 1300
compare.pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount = 0
compare.gcodeExecutionProcessComparison.mismatchCount = 0
arc.machineState.cutting.active = true
arc.machineState.cutting.cuttingSpeedMmPerMin = 1000
arc.machineState.feed.programmedMmPerMin = 1000
arc.machineState.feed.actualMmPerMin = 1000
arc.machineState.feed.overridePercent = 100
arc.machineState.tool.id = 2
arc.machineState.tool.pocket = 2
arc.machineState.tool.length = 10
arc.machineState.tool.diameter = 8
arc.machineState.coolant.mist = false
arc.machineState.coolant.flood = false
结论：
- native/Web 50ms 语义执行样本数量完全一致，均为 1300。
- 每个样本除原有
sampleIndex、timeMs、line、motionType、activeKinematics、tool、joint、tcp、toolAxis、feed、spindle外，新增同构machineState。 machineState覆盖主轴转速、方向、进给、切削速度、当前刀具、换刀状态、冷却状态；逐行轴值与完整执行步骤也记录该状态。- compare 已把
machineState纳入逐样本、逐行轴值、完整 G 代码执行过程的 native/Web 硬比较，当前 mismatch 为 0。
50ms G 代码执行过程同步验收
命令
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
/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
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
结果
py_compile=ok
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=pass
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
JSON 摘要
native.pathSampling.samplePeriodMs = 50
native.previewPath.samplePeriodMs = 50
native.previewPath.sampleCount = 1300
native.executionPath.samplePeriodMs = 50
native.executionPath.sampleCount = 4
native.executionPath.taskHal.completed = true
native.semanticExecutionPath.samplePeriodMs = 50
native.semanticExecutionPath.sampleCount = 1300
web.pathSampling.samplePeriodMs = 50
web.previewPath.samplePeriodMs = 50
web.previewPath.sampleCount = 1300
web.executionPath.samplePeriodMs = 50
web.executionPath.sampleCount = 228
web.executionPath.taskHal.completed = true
web.semanticExecutionPath.samplePeriodMs = 50
web.semanticExecutionPath.sampleCount = 1300
lineExecution.nativeTraceCount = 64
lineExecution.webTraceCount = 64
axisValues.nativeLineValueCount = 29
axisValues.webLineValueCount = 29
gcodeExecutionProcess.nativeExecutionStepCount = 128
gcodeExecutionProcess.webExecutionStepCount = 128
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
gcodeExecutionProcess.webSourceLineCoverageCount = 65
compare.summary.checkCount = 35
compare.summary.passCount = 35
compare.summary.failCount = 0
compare.summary.blockers = []
compare.pathComparison.samplePeriodMs = 50
compare.lineExecutionComparison.status = pass
compare.axisValuesByLineComparison.status = pass
compare.gcodeExecutionProcessComparison.status = pass
结论：
- 当前 native/Web 刀具预览路径、runtime 执行反馈路径和源程序语义执行路径均统一为 50ms 采样周期。
- 每个样本继续记录
sampleIndex、timeMs、line、motionType、activeKinematics、tool、joint、tcp、toolAxis、feed、spindle。 - 完整 G 代码执行过程 JSON 继续覆盖源行、动态执行步骤、参数赋值、switchkins、G10 偏置、运动起止轴值、TCP、toolAxis、进给和最终状态，native/Web compare 全部通过。
native/Web 全量闭环最终验收
2026-07-02 15:45 EDT 复核补充
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：
/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
验证结果：
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
native.status = ok
native.linuxcncRuntime.startup.startedByCollector = true
native.previewPath.sampleCount = 3226
native.executionPath.sampleCount = 7
native.executionPath.taskHal.completed = true
compare.summary.checkCount = 29
compare.summary.passCount = 29
compare.summary.failCount = 0
compare.summary.blockers = []
随后重新执行 smoke:node、evidence:web、evidence:compare、build、smoke:browser 均通过。
命令
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
/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
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
py_compile=ok
xyzbc_trt_web_app_smoke=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
native_xyzbc_trt_evidence=.../working/evidence/native-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=pass
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
JSON 摘要
native.previewPath.samplePeriodMs = 50
native.previewPath.sampleCount = 1300
native.executionPath.samplePeriodMs = 50
native.executionPath.sampleCount = 4
native.executionPath.taskHal.completed = true
native.basicSimEquivalent.ready = true
native.taskStateFlow.ready = true
web.previewPath.samplePeriodMs = 50
web.previewPath.sampleCount = 1300
web.executionPath.samplePeriodMs = 50
web.executionPath.sampleCount = 228
web.executionPath.taskHal.completed = true
web.basicSimEquivalent.ready = true
web.ngcguiExecution.ready = true
web.nativeStateFlowReview.ready = true
compare.summary.checkCount = 35
compare.summary.passCount = 35
compare.summary.failCount = 0
compare.summary.blockers = []
compare.pathComparison.previewVsPreview.comparable = true
compare.pathComparison.executionVsExecution.comparable = true
compare.pathComparison.previewVsExecutionNative.comparable = true
compare.pathComparison.previewVsExecutionWeb.comparable = true
结论：
- native/Web 刀具预览路径和执行路径均使用 50ms 采样周期，compare 已进入可比误差统计。
- 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。
04-任务矩阵.md中 T-001 到 T-040 均为完成。
Web OPFS 与 AXIS 首屏等效验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
结果
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=fail fail_count=5
浏览器 OPFS 断言
machineFileSeedReady.save.storageMode = opfs
machineFileStaging.storageMode = opfs
machineFileStaging.storageCapability.opfsAvailable = true
OPFS readback xyzbc_switchkins.ngc contains M428/M429
saveSession().storageMode = opfs
OPFS readback session contains "machineProfile": "xyzbc-trt"
saveToolDb().storageMode = opfs
OPFS readback tool table contains T2 and Z10
AXIS 首屏证据
web.axisMainUi.ready = true
web.axisMainUi.profileId = xyzbc-trt
web.axisMainUi.coordinates = XYZBC
web.axisMainUi.missingCapabilities = []
web.coverage.axisMainUiEquivalent = true
compare.summary.passCount = 20
compare.summary.failCount = 5
结论：
- 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。
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。- 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。
Tool table 到 tool-offset 闭环验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
xyzbc_trt_web_app_smoke=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=fail fail_count=5
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
JSON 摘要
web.toolRuntime.ready = true
web.toolRuntime.activeOffsetApplied = true
web.toolRuntime.activeToolNumber = 2
web.toolRuntime.activePocket = 2
web.toolRuntime.kinematics.toolOffsetZ = 10
web.toolRuntime.pathTool.length = 10
web.toolRuntime.pathTool.diameter = 8
web.toolRuntime.vismach.toolOffset = 10
web.toolOffsetClosure.closed = true
web.coverage.toolTableToToolOffsetClosed = true
web.previewPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
web.executionPath.samples[0].tool = { id: 2, pocket: 2, length: 10, diameter: 8 }
compare.summary.passCount = 19
compare.summary.failCount = 5
compare.checks["web tool table active offset drives kinematics, path, and Vismach"].status = pass
结论：
xyzbc-trt.tbl中T2 P2 Z10 D8已进入 Web tool DB 运行时摘要。- 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 Vismachtool-offsetpin。 - 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。 - 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。
Vismach 3D pin 驱动模型验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:browser
结果
xyzbc_trt_web_app_smoke=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=fail fail_count=5
gmoccapy_static_build=ok
xyzbc_trt_browser_smoke=ok
JSON 摘要
web.status = ready-for-wasm-runtime
web.blockers = []
web.vismachEquivalent.pins = table-x,saddle-y,spindle-z,tilt-b,rotate-c,tool-offset,x-offset,z-offset
web.vismachEquivalent.pinValues.table-x = 43
web.vismachEquivalent.pinValues.saddle-y = -32.15
web.vismachEquivalent.pinValues.spindle-z = -11.306
web.vismachEquivalent.pinValues.tool-offset = 84.019
web.vismachEquivalent.pinValues.x-offset = -20
web.vismachEquivalent.pinValues.z-offset = -15
web.vismachEquivalent.halNets.length = 9
web.vismachEquivalent.semanticBoundary = web_threejs_vismach_equivalent_driven_by_xyzbc_trt_hal_pins
结论：
- Web 3D 参考模型已由 Vismach 等效 pin 状态驱动。
- canvas dataset 已输出
threeVismachPins、threeVismachTransforms、threeVismachPinDrivenModel，后续浏览器 smoke 可直接断言。 smoke:browser已断言默认xyzbc-trt、三类 worker runtime ready、canvas 非空、Vismach pin/transform dataset。- 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。
evidence 字段与路径对比实现验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
python3 -m py_compile web-rtcp-5axis-xyzbc-trt-sim-plan/tools/collect-native-xyzbc-trt-evidence.py
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
结果
xyzbc_trt_web_app_smoke=ok
collect-native-xyzbc-trt-evidence.py py_compile=ok
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=fail fail_count=5
gmoccapy_static_build=ok
JSON 证据
web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/web-xyzbc-trt-evidence.json
web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/compare-xyzbc-trt-evidence.json
当前 Web evidence 已包含：
pathSampling.samplePeriodMs = 50
previewPath.samplePeriodMs = 50
executionPath.samplePeriodMs = 50
startupSequence
iniDisplay
halNets
kinematicsPins
axisJointLimits
switchkinsTransitions
uiEquivalence
vismachEquivalent
ngcguiSubroutines
demoPrograms
vismachEquivalent.pinValues
vismachEquivalent.transforms
当前 compare evidence 已包含：
pathComparison.previewVsPreview
pathComparison.executionVsExecution
pathComparison.previewVsExecutionNative
pathComparison.previewVsExecutionWeb
结论：
- 静态/profile/staging/evidence 字段已实现并通过 Node smoke。
- compare 仍保持失败是正确结果：Web WASM artifact、preview path 和 execution path 已具备，native evidence 尚未用新基线重采集 path 样本。
npm run build当前已通过，说明目标 app 可在现有 WASM artifact 下完成静态构建。
Web task/HAL executionPath 采集验收
命令
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run build
结果
web_xyzbc_trt_evidence=.../working/evidence/web-xyzbc-trt-evidence.json
compare_xyzbc_trt_status=fail fail_count=5
xyzbc_trt_web_app_smoke=ok
gmoccapy_static_build=ok
JSON 摘要
web.wasm.ready = true
web.blockers = []
web.previewPath.samplePeriodMs = 50
web.previewPath.sampleCount = 1300
web.executionPath.samplePeriodMs = 50
web.executionPath.sampleCount = 228
web.executionPath.source = web-linuxcnc-task-hal-execution
web.executionPath.taskHal.completed = true
compare.summary.passCount = 18
compare.summary.failCount = 5
结论：
- Web 侧
previewPath已由linuxcnc_interp/TP WASM 轨迹重采样为 20ms。 - Web 侧
executionPath已由linuxcnc_task_halWASM 执行反馈生成 20ms 样本。 - compare 剩余 5 项失败均来自 native evidence 尚无
previewPath/executionPath样本和采样周期字段。
DOCX 整合验收
源文件
web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-web-cnc-simulation-design-task-and-technical-plan.docx
输出文件
web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
包结构检查结论
DOCX 正文段落数：507
DOCX 图片数：5
图片文件：
- word/media/xyzbc-trt-axis-window.png
- word/media/xyzbc-trt-desktop.png
- word/media/xyzbc-trt-json-compare-flow.png
- word/media/xyzbc-trt-logic-map.png
- word/media/xyzbc-trt-web-architecture.png
Markdown 输出检查
wc -l web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
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
rg -n "!\\[" web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
结果：
364 web-rtcp-5axis-xyzbc-trt-sim-plan/working/09-设计任务书与技术方案整合.md
检索到 1-11 章关键章节。
检索到 5 张图片引用，均指向 ../doc/assets/。
结论：
- DOCX 任务书已整合到
working/09-设计任务书与技术方案整合.md。 - 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。
working/README.md和04-任务矩阵.md已登记该整合项。
本轮命令证据
读取对标文档
sed -n '1,240p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
sed -n '241,520p' web-rtcp-5axis-xyzbc-trt-sim-plan/doc/xyzbc-trt-runtime-files.md
结论：
xyzbc-trt.ini使用DISPLAY=axis、PYVCP=./xyzbc-trt.xml、OPEN_FILE=./demos/xyzbc_switchkins.ngc。switchkins_postgui.hal连接 PyVCP 按钮到halui.mdi-command-00/01/02。M429/M428/M430分别选择 identity、XYZBC TCP、userk。
检查 WASM 支撑
rg -n "xyzbc|xyzbc-trt|supportedLinuxCncKinematicsModules|linuxcnc_xyzbc" wasm-port web-rtcp-5axis-sim-plan/tests web-rtcp-5axis-sim-plan/app/src
结论：
- 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
find wasm-port/build/wasm -maxdepth 3 -type f
结果：
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
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：
/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：
/home/mes123456/cnc_wams/linuxcnc
必须先确认这些文件存在：
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：
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：
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：
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：
/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：
/home/mes123456/cnc_wams/linuxcnc/linuxcnc-rtcp-5axis-shortcuts/table-rotary-tilting/xyzbc-trt.desktop
快捷方式内容：
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：
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：
/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：
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：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run smoke:node
实际输出：
xyzbc_trt_web_app_smoke=ok
静态 diff 检查：
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：
find wasm-port/build/wasm -maxdepth 3 -type f
实际输出：
find: ‘wasm-port/build/wasm’: No such file or directory
完整 WASM 验收：
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：
/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：
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：
status=ok
executionMode=auto-run
commandResult.status=completed
commandResult.events=1462
Web 采集命令：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:web
输出：
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：
profileDefaultXyzbc=true
iniReady=true
opfsStaged=true
pyvcpXmlStaged=true
remapsStaged=true
toolTableStaged=true
parameterFileStaged=true
defaultProgramStaged=true
wasmArtifactsReady=false
对比命令：
npm --prefix web-rtcp-5axis-xyzbc-trt-sim-plan/app run evidence:compare
输出：
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：
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：
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：
working/evidence/native-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 50
working/evidence/web-xyzbc-trt-evidence.json.pathSampling.samplePeriodMs = 50
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50，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 50ms 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：
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：
pathComparison.previewVsPreview
pathComparison.executionVsExecution
pathComparison.semanticExecutionVsSemanticExecution
pathComparison.previewVsExecutionNative
pathComparison.previewVsExecutionWeb
lineExecutionComparison
axisValuesByLineComparison
gcodeExecutionProcessComparison
每个对比项至少输出：
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_interpWASM 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：
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：
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：
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：
web-rtcp-5axis-xyzbc-trt-sim-plan/app/index.html
开发服务：
cd web-rtcp-5axis-xyzbc-trt-sim-plan/app
npm run dev
URL：
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：
/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：
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：
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：
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 = []
刀具执行路径、实际轴值与逐行 G 代码对标证据
新增证据字段：
native.semanticExecutionPath
native.lineExecutionTrace
native.axisValuesByLine
native.gcodeExecutionProcess
web.semanticExecutionPath
web.lineExecutionTrace
web.axisValuesByLine
web.gcodeExecutionProcess
compare.pathComparison.semanticExecutionVsSemanticExecution
compare.lineExecutionComparison
compare.axisValuesByLineComparison
compare.gcodeExecutionProcessComparison
验证命令结果：
/home/mes123456/cnc_wams/linuxcnc/scripts/rip-environment python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 90 --startup-timeout 35
npm run evidence:web
npm run evidence:compare -> compare_xyzbc_trt_status=pass
npm run smoke:node -> xyzbc_trt_web_app_smoke=ok
npm run build -> gmoccapy_static_build=ok
当前 compare 摘要：
compare.summary.checkCount = 35
compare.summary.passCount = 35
compare.summary.failCount = 0
compare.summary.blockers = []
semanticExecution.nativeSampleCount = 3226
semanticExecution.webSampleCount = 3226
semanticExecution.sampleCountDelta = 0
semanticExecution.maxTcpErrorMm = 3.552713678800501e-15
semanticExecution.maxJointError = 3.552713678800501e-15
semanticExecution.maxToolAxisAngleDeg = 0
lineExecution.nativeTraceCount = 64
lineExecution.webTraceCount = 64
lineExecution.mismatchCount = 0
axisValues.nativeLineValueCount = 29
axisValues.webLineValueCount = 29
axisValues.maxTcpErrorMm = 0
axisValues.maxJointError = 0
axisValues.maxToolAxisAngleDeg = 0
axisValues.mismatchCount = 0
gcodeExecutionProcess.nativeExecutionStepCount = 128
gcodeExecutionProcess.webExecutionStepCount = 128
gcodeExecutionProcess.nativeSourceLineCoverageCount = 65
gcodeExecutionProcess.webSourceLineCoverageCount = 65
gcodeExecutionProcess.mismatchCount = 0
gcodeExecutionProcess.motionStepCount = 29
gcodeExecutionProcess.switchkinsStepCount = 21
gcodeExecutionProcess.parameterAssignmentStepCount = 41
gcodeExecutionProcess.workOffsetStepCount = 9
gcodeExecutionProcess.callStepCount = 5
gcodeExecutionProcess.finalJoint = {x:0, y:0, z:10, b:0, c:0}
gcodeExecutionProcess.finalKinematics = identity
语义边界说明：
executionPath保留真实 runtime feedback：native 来自linuxcnc.stat()采样，Web 来自 task/HAL WASM 反馈。semanticExecutionPath用同一份 LinuxCNC 源程序和子程序展开执行语义，作为逐点几何对齐与逐行 G 代码对标基准。lineExecutionTrace记录主程序调用、四象限子程序流程、M429/M428 switchkins、G10 偏置设置、G0 快移、G2 helix。axisValuesByLine记录每条产生日志运动的 X/Y/Z/B/C、TCP、toolAxis、feed，用于实际轴值对标。gcodeExecutionProcess完整记录 G 代码执行过程：sourceLineCoverage记录xyzbc_switchkins.ngc、xyzbc_switchkins_sub.ngc、helix_bc.ngc每个源行的行号、语句、行类型、访问次数、产生运动次数和操作列表。executionSteps按动态执行顺序记录源文件、行号、调用栈、执行状态、行类型和详细结果。result.parametersChanged记录#<...>参数赋值结果。result.modalChange记录 M428/M429、G10、M2 等模态变化。result.motion记录运动行起止 joint、起止 TCP、toolAxis、feed、segmentIndex。summary汇总运动步、switchkins、参数赋值、G10、call、无运动步、最终轴值和最终 kinematics。
浏览器真实点击覆盖：
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