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a9a03d20a4d90973939236f68d3e8a294247f364
cnc_wams/web-rtcp-5axis-xyzbc-trt-sim-plan/working/evidence/native-xyzbc-trt-evidence.json
mes123456 a9a03d20a4 完成 xyzbc-trt native Web 证据闭环
2026-07-02 15:33:51 -04:00

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{
"apiName": "xyzbc-trt-native-linuxcnc-evidence",
"status": "ok",
"collectedAt": "2026-07-02T10:27:14-0400",
"executionMode": "auto-run",
"sourceRoot": "/home/mes123456/cnc_wams/linuxcnc",
"iniPath": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
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"programExists": true,
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"mes1234+ 23933 4741 0 10:26 pts/0 00:00:00 /bin/bash /home/mes123456/cnc_wams/linuxcnc/scripts/linuxcnc /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
"mes1234+ 24009 1841 0 10:26 ? 00:00:00 linuxcncsvr -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
"mes1234+ 24020 1841 0 10:26 pts/0 00:00:00 milltask -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
"mes1234+ 24022 1841 0 10:26 pts/0 00:00:00 halui -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
"mes1234+ 24059 1841 2 10:26 pts/0 00:00:00 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/xyzbc-trt-gui",
"mes1234+ 24194 23933 6 10:26 pts/0 00:00:01 /usr/bin/python3.13 /home/mes123456/cnc_wams/linuxcnc/bin/axis -ini /home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
"mes1234+ 24245 4741 11 10:27 ? 00:00:00 python3 tools/collect-native-xyzbc-trt-evidence.py --run --timeout 80"
]
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},
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"owner": "31",
"type": "float",
"direction": "IN",
"value": 0.0,
"linked": true,
"raw": " 31 float IN 0 motion.switchkins-type <== :kinstype-select"
},
"motion.analog-out-03": {
"owner": "31",
"type": "float",
"direction": "OUT",
"value": 0.0,
"linked": true,
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},
"motion.tooloffset.z": {
"owner": "31",
"type": "float",
"direction": "OUT",
"value": 0.0,
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},
"joint.0.pos-fb": {
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"direction": "OUT",
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},
"joint.1.pos-fb": {
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"direction": "OUT",
"value": 0.0,
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},
"joint.2.pos-fb": {
"owner": "31",
"type": "float",
"direction": "OUT",
"value": 0.0,
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},
"joint.3.pos-fb": {
"owner": "31",
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"direction": "OUT",
"value": 0.0,
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},
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"owner": "31",
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"direction": "OUT",
"value": 0.0,
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},
"xyzbc-trt-kins.tool-offset": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": 0.0,
"linked": true,
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},
"xyzbc-trt-kins.x-offset": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": -20.0,
"linked": true,
"raw": " 28 float IN -20 xyzbc-trt-kins.x-offset <== :x-offset"
},
"xyzbc-trt-kins.z-offset": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": -15.0,
"linked": true,
"raw": " 28 float IN -15 xyzbc-trt-kins.z-offset <== :z-offset"
},
"xyzbc-trt-kins.x-rot-point": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": 0.0,
"linked": false,
"raw": " 28 float IN 0 xyzbc-trt-kins.x-rot-point"
},
"xyzbc-trt-kins.y-rot-point": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": 0.0,
"linked": false,
"raw": " 28 float IN 0 xyzbc-trt-kins.y-rot-point"
},
"xyzbc-trt-kins.z-rot-point": {
"owner": "28",
"type": "float",
"direction": "IN",
"value": 0.0,
"linked": false,
"raw": " 28 float IN 0 xyzbc-trt-kins.z-rot-point"
},
"xyzbc-trt-kins.conventional-directions": {
"owner": "28",
"type": "bit",
"direction": "IN",
"value": "FALSE",
"linked": false,
"raw": " 28 bit IN FALSE xyzbc-trt-kins.conventional-directions"
}
},
"raw": [
{
"command": [
"halcmd",
"show",
"pin",
"motion.switchkins-type"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float IN 0 motion.switchkins-type <== :kinstype-select\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"motion.analog-out-03"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 motion.analog-out-03 ==> :kinstype-select\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"motion.tooloffset.z"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 motion.tooloffset.z ==> :tool-offset\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"joint.0.pos-fb"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.0.pos-fb ==> :table-x\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"joint.1.pos-fb"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.1.pos-fb ==> :saddle-y\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"joint.2.pos-fb"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.2.pos-fb ==> :spindle-z\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"joint.3.pos-fb"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.3.pos-fb ==> :tilt-b\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"joint.4.pos-fb"
],
"returncode": 0,
"stdout": "Component Pins:\nOwner Type Dir Value Name\n 31 float OUT 0 joint.4.pos-fb ==> :rotate-c\n\n",
"stderr": ""
},
{
"command": [
"halcmd",
"show",
"pin",
"xyzbc-trt-kins.tool-offset"
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},
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}
],
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"semanticBoundary": "native_linuxcnc_stat_execution_feedback"
}
},
"taskStateFlow": {
"ready": true,
"executionCompleted": true,
"eventCount": 3,
"states": [
{
"name": "before",
"taskState": 1,
"taskMode": 1,
"interpState": 1,
"execState": 2,
"homed": [
false,
false,
false,
false,
false
],
"file": "./demos/xyzbc_switchkins.ngc"
},
{
"name": "after",
"taskState": 4,
"taskMode": 1,
"interpState": 1,
"execState": 2,
"homed": [
false,
false,
false,
false,
false
],
"file": "/home/mes123456/cnc_wams/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc"
}
],
"kinstype": 0.0,
"semanticBoundary": "native_linuxcnc_estop_power_home_auto_mdi_interlock_state_flow"
},
"buttonInterlocks": {
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"machinePower": true,
"canHome": true,
"canJog": false,
"canExecuteMdi": true,
"canRunAuto": false,
"canSwitchKins": true,
"source": "native_linuxcnc_estop_power_home_auto_mdi_interlock_state_flow"
},
"basicSimEquivalent": {
"ready": true,
"source": "LIB:basic_sim.tcl native runtime",
"jointFeedback": {
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"joint.1.pos-fb": 0.0,
"joint.2.pos-fb": 0.0,
"joint.3.pos-fb": 0.0,
"joint.4.pos-fb": 0.0
},
"homing": {
"firstFiveHomedBefore": [
false,
false,
false,
false,
false
],
"firstFiveHomedAfter": [
false,
false,
false,
false,
false
],
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},
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},
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},
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},
"semanticBoundary": "native_basic_sim_joint_home_spindle_manualtoolchange_feedback"
},
"startupSequence": [
".desktop",
"rip-environment",
"linuxcncsvr",
"rtapi_app",
"milltask",
"halui",
"LIB:basic_sim.tcl",
"xyzbc-trt-kins",
"xyzbc-trt-gui",
"axis.py",
"xyzbc-trt.xml",
"switchkins_postgui.hal",
"OPEN_FILE ./demos/xyzbc_switchkins.ngc"
],
"halNets": [
{
"signal": "kinstype-select",
"source": "motion.analog-out-03",
"target": "motion.switchkins-type",
"present": true
},
{
"signal": "joint-0-feedback",
"source": "joint.0.pos-fb",
"target": "table-x",
"present": true
},
{
"signal": "joint-1-feedback",
"source": "joint.1.pos-fb",
"target": "saddle-y",
"present": true
},
{
"signal": "joint-2-feedback",
"source": "joint.2.pos-fb",
"target": "spindle-z",
"present": true
},
{
"signal": "joint-3-feedback",
"source": "joint.3.pos-fb",
"target": "tilt-b",
"present": true
},
{
"signal": "joint-4-feedback",
"source": "joint.4.pos-fb",
"target": "rotate-c",
"present": true
},
{
"signal": "tool-offset",
"source": "motion.tooloffset.z",
"target": "xyzbc-trt-kins.tool-offset",
"present": true
}
],
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"zOffset": -15.0,
"xRotPoint": 0.0,
"yRotPoint": 0.0,
"zRotPoint": 0.0,
"conventionalDirections": "FALSE",
"toolOffset": 0.0
},
"coverage": {
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"xyzbcProgramOpen": true,
"switchkinsPinReadable": true,
"jointFeedbackReadable": true,
"taskStateReadable": true,
"positionReadable": true,
"previewPathAvailable": true,
"executionPathAvailable": true,
"taskStateFlowReadable": true,
"basicSimReadable": true
},
"semanticBoundary": "native_linuxcnc_axis_vismach_xyzbc_trt_runtime"
}
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