1228 lines
58 KiB
Markdown
1228 lines
58 KiB
Markdown
## 2026-06-22 17:25:54 EDT - Codex execution log
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User request:
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- Add a rule to `agnents.md`/agents rules requiring every GPT execution to write
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the full execution process into
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`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
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Execution process:
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1. Searched the workspace for existing agent rule files with `rg --files`,
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including `AGENTS.md`, `agents.md`, and `agnents.md` patterns.
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2. Found existing rule file at
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`/home/meswork/cnc_wams/wasm-port/AGENTS.md`.
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3. Listed `/home/meswork/cnc_wams` and confirmed the workspace contains
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`wasm-port/` and `web-rtcp-5axis-sim-plan/`.
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4. Read `/home/meswork/cnc_wams/wasm-port/AGENTS.md` and confirmed its scope is
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limited to the standalone LinuxCNC WASM simulation port under `wasm-port/`.
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5. Confirmed the target log directory exists:
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`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/`.
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6. Updated `/home/meswork/cnc_wams/wasm-port/AGENTS.md` by adding a Working
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Style rule requiring the process log to be appended after every GPT/Codex
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execution.
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7. Reviewed the diff for `/home/meswork/cnc_wams/wasm-port/AGENTS.md`.
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8. Because the existing `wasm-port/AGENTS.md` only applies to `wasm-port/`,
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created a workspace-level `/home/meswork/cnc_wams/AGENTS.md` with the same
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logging rule so the requirement applies across the whole workspace.
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9. Appended this execution record to the requested log file.
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Files changed:
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- `/home/meswork/cnc_wams/wasm-port/AGENTS.md`
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- `/home/meswork/cnc_wams/AGENTS.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`
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## 2026-06-22 17:45:56 EDT - Codex execution log
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User request:
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- Implement the detailed steps document for the `working_run` task, then execute
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according to that document.
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Execution process:
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1. Read the workspace-level `AGENTS.md` and confirmed the required GPT/Codex
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process log target:
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`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
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2. Listed and read the existing `working_run` documentation, especially
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`README.md`, `05-run-program-implementation-detailed-steps.md`,
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`06-run-implementation-traceability-matrix-and-next-steps.md`,
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`07-browser-run-feedback-evidence-complete-next-steps.md`, and
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`09-linear-units-meter-scene-complete-next-steps.md`.
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3. Identified the remaining executable items after the prior RUN/browser/unit
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work: ABORT behavior, STEP feedback source, RUN gate assertions, INI-derived
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task/HAL cycle periods, and xyzbc-trt RUN status-loop symmetry.
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4. Inspected `app/src/state/store.js`,
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`app/src/runtime/linuxcnc-task-hal-runtime.js`,
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`app/src/state/linuxcnc-task-policy.js`,
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`tests/node/verify_run_feedback_loop.mjs`,
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`tests/node/verify_run_preconditions.mjs`, and
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`tests/node/verify_linuxcnc_task_hal_runtime.mjs`.
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5. Added
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`web-rtcp-5axis-sim-plan/working_run/10-run-control-tests-and-ini-cycle-steps.md`
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with detailed implementation and verification steps for the remaining
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`working_run` tasks.
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6. Updated `app/src/state/store.js` so task/HAL command execution and
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`taskHalStatusLoop` default cycle periods are derived from the loaded
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LinuxCNC INI:
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`TASK.CYCLE_TIME -> taskPeriodNs` and
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`EMCMOT.SERVO_PERIOD -> servoPeriodNs`, with the existing defaults retained
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only as fallback.
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7. Extended `tests/node/verify_run_feedback_loop.mjs` to cover STOP, ABORT,
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STEP, INI-derived loop periods, fixture fallback exclusion, and xyzbc-trt
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RUN status-loop symmetry using `boat-xyzbc.ngc`.
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8. Extended `tests/node/verify_run_preconditions.mjs` with fine-grained RUN gate
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assertions for machine off, not homed, manual mode, and no opened machine-file
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G-code.
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9. Ran `node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`;
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result passed.
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10. Ran `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`;
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first run failed because the xyzbc short program completed before the status
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loop started. Switched the xyzbc symmetry case to the longer
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`boat-xyzbc.ngc`.
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11. Re-ran `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`;
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result passed.
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12. Ran the combined targeted validation:
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`verify_run_preconditions.mjs`,
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`verify_run_feedback_loop.mjs`, and
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`verify_linuxcnc_task_hal_runtime.mjs`; result passed.
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13. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run build`; result passed with
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`gmoccapy_static_build=ok`.
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14. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node`; result passed.
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15. Updated `working_run/README.md` to include the new `10` document and adjusted
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the remaining next step to browser desktop/mobile meter-scale screenshot
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evidence.
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16. Appended the completion record to
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`working_run/10-run-control-tests-and-ini-cycle-steps.md`.
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17. Appended this execution record to the required GPT process log.
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Files changed in this execution:
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/10-run-control-tests-and-ini-cycle-steps.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/state/store.js`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`
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Verification:
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```text
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node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs: PASS
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node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs: PASS
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node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run build: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node: PASS
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```
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---
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Execution timestamp: 2026-06-22 17:55 EDT
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User request:
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- Complete all remaining work according to the `working_run` execution status.
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Execution process:
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1. Read the active workspace instructions and confirmed the required process log
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target:
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`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
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2. Read the current `working_run` status documents:
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`README.md`,
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`05-run-program-implementation-detailed-steps.md`,
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`06-run-implementation-traceability-matrix-and-next-steps.md`,
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`07-browser-run-feedback-evidence-complete-next-steps.md`,
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`09-linear-units-meter-scene-complete-next-steps.md`, and
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`10-run-control-tests-and-ini-cycle-steps.md`.
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3. Determined that `10` had already completed ABORT/STEP/RUN-gate/INI-cycle
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and xyzbc symmetry coverage, leaving the `09` browser desktop/mobile
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meter-scale screenshot evidence and G20/G21 browser preview case as the
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remaining executable work.
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4. Inspected the browser evidence script
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`qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs`, the
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visualization code `app/src/visualization/five-axis-scene.js`, unit conversion
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helpers, interpreter unit parsing, and store program-loading flow.
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5. Updated `app/src/visualization/five-axis-scene.js` to expose
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`data-three-path-bounds-meters` via `threePathBoundsMeters`, computed from
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the rendered preview/executed/current-segment geometry in scene meters.
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6. Extended `capture-toolpath-preview-cases.mjs` with a
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`meter-scene-evidence` screenshot directory, meter-scale checks, mixed-unit
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checks, and a canvas screenshot helper for meter-scene evidence.
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7. Added browser case `08-meter-scene-desktop-mobile`, which captures desktop
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and mobile canvas screenshots, records pixel stats and datasets, and asserts
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`threeSceneUnits=m`, nonzero `threeLinearUnitScaleToMeters`,
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`threePathFitBounds=ok`, meter-scale bounds, and nonblank canvas pixels.
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8. Added browser case `09-g20-g21-mixed-units-preview`, which loads a local
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mixed-unit program using `G20` then `G21`, verifies canonical motion contains
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both `inch` and `mm`, verifies the scene is still in meters, and verifies
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`1 inch` maps to `0.0254m` like `25.4 mm`.
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9. Found that inserting the G20/G21 local program before the RUN case changed
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the active program context for `06-running-rtcp-toolpath`. Fixed the evidence
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script by restoring the vendored `impeller-7bl-xyzac.ngc` program before
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POWER/HOME/AUTO/RUN.
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10. Ran `node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs`;
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result passed with `linear_unit_conversion_smoke=ok`.
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11. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run build`; result passed with
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`gmoccapy_static_build=ok`.
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12. Ran `node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs`.
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The first run returned 0 but printed the RUN-context warning described in
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step 9. After the restore fix, re-ran the script and it exited 0 with no
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failed-case output.
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13. Read the generated JSON evidence and confirmed:
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`meter-scene-evidence.json status=PASS`,
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`run-preconditions-feedback.json status=PASS`, and all cases in
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`toolpath-preview-cases.json` were PASS, including the new `08` and `09`
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cases.
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14. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node`; result passed,
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including kinematics, interpreter, INI, RUN preconditions, RUN feedback loop,
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task/HAL runtime, full execution boundary, machine-file staging, RTCP store,
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profile boundary, and linear unit conversion checks.
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15. Added
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`web-rtcp-5axis-sim-plan/working_run/11-browser-meter-scene-and-mixed-units-complete.md`
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with the completion matrix, output files, validation commands, and current
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conclusion.
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16. Updated `working_run/README.md` to include the new `11` document and mark
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the browser meter-scale and G20/G21 evidence as complete.
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17. Appended this execution record to the required GPT process log.
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Files changed in this execution:
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-desktop.png`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/meter-scene-evidence/08-meter-scene-mobile.png`
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- `/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/toolpath-preview-cases/09-g20-g21-mixed-units-preview.png`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/11-browser-meter-scene-and-mixed-units-complete.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`
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Verification:
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```text
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node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run build: PASS
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node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node: PASS
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```
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## 2026-06-22 working_run final completion follow-up
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User request:
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```text
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按“working_run”执行情况，完成剩余全部工作
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```
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Execution process:
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1. Read the workspace instruction requiring every GPT/Codex execution log to be
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appended to
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`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
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2. Inspected the current workspace from `/home/meswork/cnc_wams`.
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3. Listed `web-rtcp-5axis-sim-plan/working_run` files and found documents
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`01` through `11`, plus test assets and evidence files.
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4. Checked `git status --short` and observed an already-dirty tree containing
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prior implementation changes, generated screenshots/JSON, new tests, and
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working_run records. No unrelated files were reverted.
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5. Read
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`07-browser-run-feedback-evidence-complete-next-steps.md` and confirmed the
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browser RUN feedback evidence case had been completed and the next listed
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work was ABORT/STEP/RUN-gate/INI-cycle/xyzbc coverage.
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6. Read
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`06-run-implementation-traceability-matrix-and-next-steps.md` and confirmed
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its browser evidence and control-test items were historical open items later
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handled by subsequent documents.
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7. Read
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`08-linuxcnc-source-test-assets.md` and confirmed the selected real
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LinuxCNC assets were `xyzac-trt.ini` and `impeller-7bl-xyzac.ngc`, copied
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into `working_run/test_linuxcnc_source`.
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8. Read
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`09-linear-units-meter-scene-complete-next-steps.md` and confirmed the
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remaining items were browser desktop/mobile meter-scale screenshots and a
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possible G20/G21 browser preview case.
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9. Read
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`10-run-control-tests-and-ini-cycle-steps.md` and confirmed ABORT, STEP,
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granular RUN gates, INI-derived task/servo periods, and xyzbc RUN symmetry
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tests were completed and verified.
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10. Read
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`11-browser-meter-scene-and-mixed-units-complete.md` and confirmed the
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browser desktop/mobile meter-scale evidence and G20/G21 mixed-units preview
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case were completed and verified.
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11. Read `working_run/README.md` and confirmed it indexed documents through
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`11`, with the remaining boundary statement already noting browser meter
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and G20/G21 evidence completion.
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12. Inspected
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`qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs` and
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confirmed it contained meter-scene evidence and mixed-units cases.
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13. Listed node test files under
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`web-rtcp-5axis-sim-plan/tests/node` and confirmed the relevant tests were
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present, including `verify_run_feedback_loop.mjs`,
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`verify_run_preconditions.mjs`, and
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`verify_linear_unit_conversion.mjs`.
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14. Read `web-rtcp-5axis-sim-plan/app/package.json` and confirmed the
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`build` and `smoke:node` scripts.
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15. Ran
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`node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`;
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result passed:
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`run_preconditions_ini_profile_smoke=ok`,
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`run_preconditions_kinematics_smoke=ok`,
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`run_preconditions_machine_file_smoke=ok`.
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16. Ran
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`node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`;
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result passed with `run_feedback_status_loop_smoke=ok`.
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17. Ran
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`node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs`;
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result passed with `linear_unit_conversion_smoke=ok`.
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18. Searched `working_run` for remaining words such as `未完成`, `剩余`,
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`后续`, `下一步`, `TODO`, `pending`. The hits were historical early-stage
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records or optional follow-ups; later documents `10` and `11` covered the
|
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actionable required items.
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19. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run build`; result passed
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with `gmoccapy_static_build=ok`.
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20. Ran `npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node`; result
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passed, including kinematics, interpreter, INI runtime, RUN preconditions,
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RUN feedback loop, task/HAL runtime, native task/HAL audit, full LinuxCNC
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||
source checks, real LinuxCNC 5-axis program cases, full execution boundary,
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machine-file staging, five-axis session, RTCP store, profile boundary, and
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linear unit conversion.
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21. Ran
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`node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs`;
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the browser evidence script returned exit code 0.
|
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22. Read `qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json` and
|
||
confirmed all cases were PASS:
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||
`01-home-toolpath`,
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||
`02-operator-demo-toolpath`,
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`03-arc-demo-toolpath`,
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`04-clear-preview-reference`,
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||
`05-vendored-impeller-toolpath`,
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||
`08-meter-scene-desktop-mobile`,
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||
`09-g20-g21-mixed-units-preview`,
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||
`06-running-rtcp-toolpath`,
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||
and `07-run-preconditions-and-feedback`.
|
||
23. Read
|
||
`qa/web-rtcp-5axis-site-test/output/run-preconditions-feedback.json` and
|
||
confirmed `status=PASS`.
|
||
24. Read
|
||
`qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json` and
|
||
confirmed `status=PASS`.
|
||
25. Added
|
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`web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md`
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||
documenting that the required remaining working_run items are complete,
|
||
mapping early historical open items to later completion documents, listing
|
||
verification commands, and preserving only optional enhancements.
|
||
26. Updated `web-rtcp-5axis-sim-plan/working_run/README.md` to include the new
|
||
`12` document and state that the required working_run follow-up items have
|
||
all been rechecked and passed.
|
||
27. Appended this execution record to the required GPT process log.
|
||
|
||
Files changed in this follow-up execution:
|
||
|
||
- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/12-working-run-final-completion-record.md`
|
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/working_run/README.md`
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- `/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`
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|
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Verification:
|
||
|
||
```text
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node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs: PASS
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node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs: PASS
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node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run build: PASS
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node: PASS
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node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs: PASS
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toolpath-preview-cases.json: all cases PASS
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||
run-preconditions-feedback.json: PASS
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meter-scene-evidence.json: PASS
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```
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## 2026-06-22 18:10:59 EDT working_run final recheck
|
||
|
||
User request:
|
||
|
||
```text
|
||
按“working_run”执行情况，完成剩余全部工作
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Read the workspace `AGENTS.md` instruction requiring every GPT/Codex
|
||
execution process log to be appended to
|
||
`web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md`.
|
||
2. Checked repository status with `git status --short`; confirmed the working
|
||
tree already contained implementation, test, documentation, browser evidence,
|
||
screenshot, and log changes from the ongoing `working_run` effort.
|
||
3. Listed `web-rtcp-5axis-sim-plan/working_run` and confirmed documents
|
||
`01` through `12` exist, with `12-working-run-final-completion-record.md`
|
||
recording final completion.
|
||
4. Read `working_run/README.md`,
|
||
`10-run-control-tests-and-ini-cycle-steps.md`,
|
||
`11-browser-meter-scene-and-mixed-units-complete.md`, and
|
||
`12-working-run-final-completion-record.md`.
|
||
5. Determined that the actionable historical remaining items were already
|
||
mapped to later completion records:
|
||
`06 -> 07` for browser RUN feedback evidence,
|
||
`07 -> 10` for ABORT/STEP/RUN gate/xyzbc symmetric tests,
|
||
and `09/10 -> 11` for desktop/mobile meter-scene evidence and G20/G21
|
||
mixed-unit browser preview.
|
||
6. Re-ran
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`;
|
||
result passed with:
|
||
`run_preconditions_ini_profile_smoke=ok`,
|
||
`run_preconditions_kinematics_smoke=ok`,
|
||
`run_preconditions_machine_file_smoke=ok`.
|
||
7. Re-ran
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`;
|
||
result passed with `run_feedback_status_loop_smoke=ok`.
|
||
8. Re-ran
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs`;
|
||
result passed with `linear_unit_conversion_smoke=ok`.
|
||
9. Re-ran `npm --prefix web-rtcp-5axis-sim-plan/app run build`;
|
||
result passed with `gmoccapy_static_build=ok`.
|
||
10. Re-ran `npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node`;
|
||
result passed, including kinematics, interpreter, INI runtime, RUN
|
||
preconditions, RUN feedback loop, task/HAL runtime, native task/HAL audit,
|
||
full LinuxCNC 5-axis source checks, real LinuxCNC 5-axis program cases,
|
||
full execution boundary, machine-file staging, five-axis session, RTCP
|
||
store, profile boundary, and linear unit conversion.
|
||
11. Re-ran
|
||
`node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs`;
|
||
the browser evidence script returned exit code 0.
|
||
12. Parsed browser evidence JSON outputs and confirmed:
|
||
`qa/web-rtcp-5axis-site-test/output/toolpath-preview-cases.json`
|
||
has nine PASS cases,
|
||
`qa/web-rtcp-5axis-site-test/output/run-preconditions-feedback.json`
|
||
has `status=PASS`, and
|
||
`qa/web-rtcp-5axis-site-test/output/meter-scene-evidence.json`
|
||
has `status=PASS`.
|
||
13. Confirmed no additional code edits were needed in this final recheck turn.
|
||
14. Appended this execution process record to the required GPT process log.
|
||
|
||
Verification:
|
||
|
||
```text
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs: PASS
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs: PASS
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs: PASS
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run build: PASS
|
||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node: PASS
|
||
node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs: PASS
|
||
toolpath-preview-cases.json: nine cases PASS
|
||
run-preconditions-feedback.json: PASS
|
||
meter-scene-evidence.json: PASS
|
||
```
|
||
|
||
## 2026-06-22 18:22:46 EDT test_linuxcnc_source RUN browser report
|
||
|
||
User request:
|
||
|
||
```text
|
||
使用“test_linuxcnc_source”中的文件，进行“run”测试。刀具路径预览、G代码执行每行过程显示、执行的刀具轨迹、实时轴值显示。截屏保存并编写测试全部过程，图文并茂写入word格式的测试文档中。
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Listed `web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source` and
|
||
confirmed the test assets are `xyzac-trt.ini` and
|
||
`impeller-7bl-xyzac.ngc`.
|
||
2. Inspected the existing QA browser capture and DOCX generation scripts under
|
||
`qa/web-rtcp-5axis-site-test`, including
|
||
`capture-toolpath-preview-cases.mjs`,
|
||
`generate-toolpath-preview-docx-report.mjs`, and
|
||
`generate-docx-report.mjs`.
|
||
3. Inspected application entry/state/runtime code to confirm available browser
|
||
automation APIs:
|
||
`window.webRtcp5AxisSimulation.stageMachineFiles`,
|
||
`dispatch`, `getState`, LinuxCNC source selection, RUN controls, G-code row
|
||
active-line rendering, DRO rendering, and task/HAL runtime feedback state.
|
||
4. Compared SHA-256 hashes for the `test_linuxcnc_source` files and the
|
||
corresponding vendored LinuxCNC files:
|
||
`impeller-7bl-xyzac.ngc` hash
|
||
`e90f0b4b6c43809da94a8170ee1029b5afc3e1bbe9bf2ae66298a8baefad013c`
|
||
matched the vendored source, and `xyzac-trt.ini` hash
|
||
`4b7fa6cb8d3e7031e769b3e0c779b586b67cfd45d715985f40d4ec23c662dc97`
|
||
matched the vendored INI.
|
||
5. Added a dedicated QA script:
|
||
`qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`.
|
||
6. The script starts a local static server, launches headless Chrome, loads the
|
||
app, stages machine files using the exact
|
||
`working_run/test_linuxcnc_source/xyzac-trt.ini` text, selects the matching
|
||
LinuxCNC impeller G-code source, verifies source hashes, prepares POWER/HOME/
|
||
AUTO/TCP, starts RUN, samples the live RUN state at 200ms, 500ms, 1000ms,
|
||
2000ms, and 5000ms, captures screenshots, stops the run, writes JSON
|
||
evidence, and generates a DOCX report with embedded screenshots and tables.
|
||
7. Ran
|
||
`node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`.
|
||
8. The script completed with:
|
||
`test_linuxcnc_source_run_status=PASS`.
|
||
9. Reviewed
|
||
`qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json`
|
||
and confirmed all checks passed:
|
||
test INI used, G-code hash match, toolpath preview visible, TCP/tool-axis
|
||
visible, five RUN samples captured, active G-code line synced with UI,
|
||
executed path visible, live axis values sourced from
|
||
`linuxcnc-task-motion-hal-wasm`, task/HAL cycles advanced, and STOP stopped
|
||
the status loop.
|
||
10. Confirmed screenshots were written under
|
||
`qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run`:
|
||
initial UI, staged test INI, toolpath preview, ready-before-run, five RUN
|
||
samples, and stop-after-run.
|
||
11. Confirmed the Word report was generated:
|
||
`qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx`.
|
||
12. Appended this execution process record to the required GPT process log.
|
||
|
||
Files created:
|
||
|
||
```text
|
||
qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx
|
||
qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/*.png
|
||
```
|
||
|
||
Verification:
|
||
|
||
```text
|
||
node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs: PASS
|
||
test-linuxcnc-source-run-report.json status: PASS
|
||
RUN samples: 5
|
||
active line/UI line: 30/30, 55/55, 80/80, 105/105, 125/125
|
||
feedback source: linuxcnc-task-motion-hal-wasm
|
||
toolpath preview points: 1498
|
||
Word report: qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx
|
||
```
|
||
|
||
## 2026-06-22 18:33:50 EDT feed-rate execution verification
|
||
|
||
User request:
|
||
|
||
```text
|
||
G代码应该按真实的进给速度执行。请核实验证
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Inspected
|
||
`web-rtcp-5axis-sim-plan/app/src/runtime/execution-timing.js`.
|
||
It estimates segment durations from canonical motion distance, feed rate,
|
||
profile velocity limits, and feed/rapid overrides, but its
|
||
`semanticBoundary` is explicitly
|
||
`linuxcnc_canonical_motion_timing_estimate_not_planner_queue`.
|
||
2. Searched app/runtime/sdk code for feed, velocity, active line, task cycle,
|
||
servo cycle, and elapsed-time handling.
|
||
3. Reviewed
|
||
`qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json`.
|
||
The five RUN samples reported constant velocity `3600`, active lines
|
||
`30,55,80,105,125`, task cycles `33,58,83,108,128`, and servo cycles
|
||
`330,580,830,1080,1280`.
|
||
4. Inspected `wasm-port/runtime/sdk/src/linuxcnc-task-hal.js`; `runCycles`
|
||
forwards only cycle periods and task cycle count into
|
||
`lctask_run_cycles`.
|
||
5. Inspected
|
||
`wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`.
|
||
6. Found `enqueue_linear_move_from_line(...)` appends
|
||
`"velocity":60` to every motion command, independent of the G-code line's
|
||
`F` word or modal feed mode.
|
||
7. Found `lctask_run_cycles(...)` enqueues one parsed program line per task
|
||
cycle while `interp_state == "READING"`, so active-line progression is
|
||
cycle-count based, not elapsed-distance/feed based.
|
||
8. Confirmed the current browser RUN evidence validates task/HAL feedback,
|
||
line highlighting, execution trace, and DRO synchronization, but it does
|
||
not validate real feed-rate paced execution.
|
||
9. Appended this verification record to the required GPT process log.
|
||
|
||
Conclusion:
|
||
|
||
```text
|
||
Current RUN is not yet verified as real feed-rate execution.
|
||
Current task/HAL WASM simulation uses fixed velocity=60 units/s
|
||
and advances program lines by task cycle, not by G-code F/feed timing.
|
||
The existing execution-timing module can estimate feed-based segment timing,
|
||
but it is not the authoritative pacing source for task/HAL RUN.
|
||
```
|
||
|
||
## 2026-06-22 18:40:24 EDT feed-rate RUN fix programming document
|
||
|
||
User request:
|
||
|
||
```text
|
||
创建新目录，编写解决“ F 用作真实运行速”的编程文档
|
||
“当前 G-code interpreter 确实能解析 F，execution-timing.js 也能做 feed-based timing estimate；但 task/HAL RUN 执行链路没有把 G-code 的 F 用作真实运行速度，而是在 C++ wrapper 层固定用了 velocity=60。“
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Reviewed existing project directories and `working_run` structure to choose
|
||
a new focused documentation location.
|
||
2. Re-read source evidence in
|
||
`wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`,
|
||
including the fixed `velocity=60` in `enqueue_linear_move_from_line(...)`
|
||
and one-line-per-task-cycle behavior in `lctask_run_cycles(...)`.
|
||
3. Re-read `web-rtcp-5axis-sim-plan/app/src/runtime/execution-timing.js` and
|
||
`web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js`
|
||
to document the existing F/feedRate parsing and timing-estimate capabilities.
|
||
4. Created new directory:
|
||
`web-rtcp-5axis-sim-plan/feed-rate-run-fix`.
|
||
5. Added
|
||
`web-rtcp-5axis-sim-plan/feed-rate-run-fix/README.md`.
|
||
6. The document covers the current problem, source evidence, required behavior,
|
||
recommended architecture, G94/G93 feed semantics, implementation targets,
|
||
task/HAL motion-plan API proposal, C++ runtime state changes, elapsed-time
|
||
RUN loop design, test plan, browser evidence updates, acceptance criteria,
|
||
risks, and suggested implementation order.
|
||
7. Checked the created document length with `wc -l`; it contains 726 lines.
|
||
8. Appended this execution process record to the required GPT process log.
|
||
|
||
Files created:
|
||
|
||
```text
|
||
web-rtcp-5axis-sim-plan/feed-rate-run-fix/README.md
|
||
```
|
||
|
||
## 2026-06-22 18:54:04 EDT feed-rate RUN implementation
|
||
|
||
User request:
|
||
|
||
```text
|
||
按“web-rtcp-5axis-sim-plan/feed-rate-run-fix“工作，修复feed
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Read workspace AGENTS instructions and the feed-rate run-fix README.
|
||
2. Inspected the existing task/HAL C++ wrapper, SDK boundary, app runtime
|
||
wrappers, store RUN path, interpreter runtime, execution timing, and
|
||
existing node/WASM tests.
|
||
3. Preserved unrelated dirty worktree changes and limited direct edits to the
|
||
feed RUN path and focused tests.
|
||
4. Added interpreter feed-mode tracking for `G93/G94`; motion events now carry
|
||
`feedMode`.
|
||
5. Updated execution timing to emit `startAxes`, `endAxes`, `feedMode`, and
|
||
per-event linear unit aware distances; added first-stage `G93` inverse-time
|
||
timing as `durationSeconds = 60 / F`.
|
||
6. Added a task/HAL motion-plan API through:
|
||
`lctask_load_program_motion_plan_json`,
|
||
`createLinuxCncTaskHalSdk().loadProgramMotionPlan(...)`,
|
||
app direct runtime wrapper, and worker runtime wrapper.
|
||
7. Reworked task/HAL RUN execution so a loaded motion plan advances by elapsed
|
||
task time, interpolates axis pose inside the active segment, forwards the
|
||
interpolated pose to motion/HAL, and sets velocity from
|
||
`velocityMmPerMin / 60` instead of fixed `velocity=60`.
|
||
8. Kept the old text parser path only as fallback/MDI support and changed its
|
||
simple F handling so it no longer blindly emits fixed velocity for parsed
|
||
lines.
|
||
9. Updated store RUN flow to build/load the task/HAL feed motion plan before
|
||
`EMC_TASK_PLAN_RUN`, block RUN if the feed motion plan cannot be loaded,
|
||
and mark applied task/HAL feedback as `linuxcnc-task-motion-hal-wasm`.
|
||
10. Added SDK-level regression coverage proving a slow long segment remains
|
||
in-progress after elapsed time and reports `currentVel` from F-derived
|
||
timing rather than fixed 60 units/s.
|
||
11. Updated run feedback loop coverage to attach the interpreter runtime so
|
||
task/HAL RUN uses the generated feed motion plan, and asserted feedback is
|
||
task/HAL sourced with non-fixed velocity.
|
||
12. Added unit/timing coverage for mixed `G20/G21` linear units and `G93`
|
||
inverse-time feed mode.
|
||
13. Rebuilt task/HAL WASM with the new export.
|
||
14. Verified syntax and whitespace with `node --check` and `git diff --check`.
|
||
15. Ran validation commands:
|
||
`./wasm-port/tools/build_task_hal_wasm.sh`,
|
||
`node wasm-port/tests/wasm/node/verify_task_hal_wasm.mjs`,
|
||
`node wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs`,
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`,
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`,
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_interpreter_runtime.mjs`,
|
||
`node web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs`,
|
||
and `npm run build` in `web-rtcp-5axis-sim-plan/app`.
|
||
|
||
Files modified for this request:
|
||
|
||
```text
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.hh
|
||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||
wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
|
||
wasm-port/tools/build_task_hal_wasm.sh
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/execution-timing.js
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
|
||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_linear_unit_conversion.mjs
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
```
|
||
|
||
## 2026-06-22 19:01:07 EDT actual G-code feed RUN validation
|
||
|
||
User request:
|
||
|
||
```text
|
||
使用实际程序进行验证G代码程序，按程序要求的feed执行
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Reviewed the real test program under
|
||
`web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source/impeller-7bl-xyzac.ngc`
|
||
and confirmed it uses `G93` inverse-time feed with real `F318`, `F159`,
|
||
and `F636` feed words.
|
||
2. Read existing browser QA script
|
||
`qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`.
|
||
3. Adjusted store timing selection so `G93` programs use the feed-mode aware
|
||
execution timing path instead of the optional TP planner timing samples.
|
||
4. Added Node validation
|
||
`web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs`.
|
||
5. The Node validation loads the actual `impeller-7bl-xyzac.ngc`, runs the
|
||
LinuxCNC interpreter, builds feed-aware timing, loads the task/HAL motion
|
||
plan, runs task/HAL cycles, and checks that task/HAL feedback velocities
|
||
come from program feed timing rather than fixed `3600 mm/min`.
|
||
6. Verified actual program timing values:
|
||
`F159` inverse-time duration is `0.37735849056603776s`, and `F636`
|
||
inverse-time duration is `0.09433962264150944s`.
|
||
7. Verified task/HAL feedback exposed multiple distinct velocities for the
|
||
real program, including `2100`, `635.748`, `283.918`, `59.123`, `58.196`,
|
||
and no fixed `3600`.
|
||
8. Updated the browser QA capture to record feed evidence per sample:
|
||
actual velocity, expected timing velocity, feed rate, feed mode, and segment
|
||
duration.
|
||
9. Extended the browser RUN sample points to include `17000ms`, then ran:
|
||
`node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`.
|
||
10. Browser validation completed with `test_linuxcnc_source_run_status=PASS`.
|
||
11. Browser report files generated:
|
||
`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json`
|
||
and
|
||
`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx`.
|
||
12. Browser report checks passed for source hash, toolpath preview, task/HAL
|
||
feedback source, non-fixed feed velocity, changing feed velocity, G93
|
||
inverse-time feed use, task/HAL cycle advance, and STOP loop shutdown.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
node --check qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
node --check web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
|
||
node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
```
|
||
|
||
Files modified or created for this validation:
|
||
|
||
```text
|
||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
|
||
qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx
|
||
qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/
|
||
```
|
||
|
||
## 2026-06-23 HTTPS deployment on 8092
|
||
|
||
User request:
|
||
|
||
```text
|
||
网站部署成https
|
||
IP 82.156.24.101
|
||
SSH user ubuntu
|
||
Port 8092
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Read workspace instructions from `/home/meswork/cnc_wams/AGENTS.md`.
|
||
2. Identified the web app under
|
||
`/home/meswork/cnc_wams/web-rtcp-5axis-sim-plan/app`.
|
||
3. Checked the app scripts in `app/package.json`; the static build command is
|
||
`npm run build`, which runs `node scripts/build-static.mjs`.
|
||
4. Ran `npm run build` in `web-rtcp-5axis-sim-plan/app`.
|
||
Result: `gmoccapy_static_build=ok`.
|
||
5. Verified SSH connectivity to `ubuntu@82.156.24.101` using a temporary
|
||
askpass helper.
|
||
6. Uploaded the freshly built `app/dist` contents as a tarball to the remote
|
||
host.
|
||
7. Extracted the tarball into `/var/www/web-rtcp-5axis-sim` and set ownership
|
||
to `www-data:www-data`.
|
||
8. Confirmed TLS certificate files exist on the remote host:
|
||
`/etc/letsencrypt/live/82.156.24.101/fullchain.pem` and
|
||
`/etc/letsencrypt/live/82.156.24.101/privkey.pem`.
|
||
9. Updated `/etc/nginx/sites-available/web-rtcp-5axis-sim` to serve
|
||
`/var/www/web-rtcp-5axis-sim` on `listen 8092 ssl http2` and
|
||
`listen [::]:8092 ssl http2`.
|
||
10. Created a backup of the previous nginx site config:
|
||
`/etc/nginx/sites-available/web-rtcp-5axis-sim.https.bak.20260623083119`.
|
||
11. Ran `sudo nginx -t`.
|
||
Result: configuration syntax was OK and test was successful.
|
||
12. Restarted nginx with `sudo systemctl restart nginx`.
|
||
13. Verified the remote local endpoint:
|
||
`curl -k https://127.0.0.1:8092/`.
|
||
Result: HTTP `200`; response began with the app HTML document.
|
||
14. Verified the public HTTPS endpoint from the local workspace:
|
||
`curl -k https://82.156.24.101:8092/`.
|
||
Result: HTTP `200`, content type `text/html`, download size `410`.
|
||
15. Confirmed nginx is listening on `0.0.0.0:8092` and `[::]:8092`.
|
||
16. Checked `git status --short`; it showed pre-existing dirty worktree
|
||
changes unrelated to the deployment plus this log directory/file.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
npm run build
|
||
sudo nginx -t
|
||
sudo systemctl restart nginx
|
||
curl -k https://127.0.0.1:8092/
|
||
curl -k https://82.156.24.101:8092/
|
||
```
|
||
|
||
Deployment result:
|
||
|
||
```text
|
||
https://82.156.24.101:8092/
|
||
public_https_status=200
|
||
content_type=text/html
|
||
```
|
||
|
||
## 2026-06-23 Public HTTPS Chrome RUN test
|
||
|
||
User request:
|
||
|
||
```text
|
||
你测试一下“https://82.156.24.101:8092/”，使用本机的chrom.
|
||
“run”根本不好用
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Verified local browser availability:
|
||
`/usr/bin/google-chrome` and `/usr/bin/google-chrome-stable` exist.
|
||
2. Verified the public HTTPS endpoint with curl:
|
||
`https://82.156.24.101:8092/` returned HTTP `200`, content type
|
||
`text/html`.
|
||
3. Read the existing QA browser automation scripts under
|
||
`qa/web-rtcp-5axis-site-test/`, especially `run-site-test.mjs`.
|
||
4. Ran `node qa/web-rtcp-5axis-site-test/run-site-test.mjs`, which uses
|
||
`/usr/bin/google-chrome` and targets `https://82.156.24.101:8092/`.
|
||
5. Read the generated report
|
||
`qa/web-rtcp-5axis-site-test/output/site-test-report.json`.
|
||
That broad test reported `Run 程序` as PASS, but also showed
|
||
`Step 单步执行` as FAIL.
|
||
6. Because the broad test could hide the user's reported RUN problem, ran a
|
||
focused Puppeteer test with local Google Chrome against the same public
|
||
HTTPS URL.
|
||
7. The focused test captured screenshots under:
|
||
`qa/web-rtcp-5axis-site-test/screenshots/public-https-run-debug/`.
|
||
8. The focused test wrote:
|
||
`qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json`.
|
||
9. The focused test reproduced the RUN problem:
|
||
`runStarted=false`, final `runState=idle`, active line stayed `1`,
|
||
all sampled velocities stayed `0`, and executed path points stayed `1`.
|
||
10. The pre-RUN state showed `powerOn=false`, `taskState=estop-reset`,
|
||
`allHomed=false`, mode `auto`, and UI status `power off / clear / auto`.
|
||
11. The `HOME` wait timed out, so the machine never reached the expected
|
||
powered and homed state.
|
||
12. Despite those failed prerequisites, the RUN button snapshot showed
|
||
`disabled=false`, so the UI exposes a clickable RUN button even when
|
||
execution cannot actually start.
|
||
13. There were no browser console errors, page errors, or failed requests in
|
||
the focused test, so this is an application state/control-flow issue
|
||
rather than an HTTPS/network loading failure.
|
||
|
||
Key evidence:
|
||
|
||
```text
|
||
public_https_run_debug_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json
|
||
runStarted=false
|
||
finalRunState=idle
|
||
activeLines=[1]
|
||
movingVelocityCount=0
|
||
velocities=[0,0,0,0,0,0,0,0,0]
|
||
executedPoints=[1,1,1,1,1,1,1,1,1]
|
||
consoleErrorCount=0
|
||
pageErrorCount=0
|
||
requestFailureCount=0
|
||
beforeRun.status="power off / clear / auto"
|
||
beforeRun.machine.powerOn=false
|
||
beforeRun.machine.allHomed=false
|
||
beforeRun.runButton.disabled=false
|
||
```
|
||
|
||
Conclusion:
|
||
|
||
```text
|
||
Confirmed: public HTTPS page loads, but RUN is not functionally usable in the
|
||
focused local-Chrome test because the machine never reaches powered/homed ready
|
||
state and the RUN button remains clickable without starting execution.
|
||
```
|
||
|
||
## 2026-06-23 RUN repair using LinuxCNC source behavior
|
||
|
||
User request:
|
||
|
||
```text
|
||
你先参考“/home/meswork/cnc_wams/linuxcnc”的源程序处理“run”的方式，再修复这个仿真项目的“run”
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Referenced LinuxCNC source under `/home/meswork/cnc_wams/linuxcnc`.
|
||
2. Read `linuxcnc/src/emc/task/emctaskmain.cc` and confirmed the real RUN path:
|
||
machine state must be `ON`, task mode `AUTO`, interpreter state `IDLE`, and
|
||
the machine must be homed before `EMC_TASK_PLAN_RUN` is accepted.
|
||
3. Confirmed in LinuxCNC source that `EMC_TASK_PLAN_RUN` rejects execution when
|
||
`all_homed()` is false and `no_force_homing` is not enabled.
|
||
4. Read the Python UI command binding in
|
||
`linuxcnc/src/emc/usr_intf/axis/extensions/emcmodule.cc`, confirming `home`
|
||
sends `EMC_JOINT_HOME` and auto run sends `EMC_TASK_PLAN_RUN`.
|
||
5. Fixed the web simulation state flow in
|
||
`web-rtcp-5axis-sim-plan/app/src/state/store.js`:
|
||
- Loading a LinuxCNC G-code source no longer forces task mode to `auto`.
|
||
- The user can power on, stay in manual mode, home, then switch to auto/run.
|
||
- Task/HAL session initialization preserves and replays existing
|
||
power/home/mode state instead of resetting the UI path to `ESTOP_RESET`.
|
||
- `TOGGLE_POWER` updates UI state immediately before the async Task/HAL
|
||
command completes.
|
||
- `HOME` sends `EMC_JOINT_HOME` to Task/HAL and marks the machine homed in
|
||
the UI state.
|
||
6. Fixed the Task/HAL WASM shim in
|
||
`wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`:
|
||
- Added `EMC_JOINT_HOME` handling.
|
||
- Kept the existing feed-timed motion plan support used by the RUN feedback
|
||
loop.
|
||
7. Updated bottom controls in
|
||
`web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js` to use
|
||
`gateLinuxCncTaskAction`, so controls like RUN/HOME/STEP reflect LinuxCNC
|
||
task policy and disabled controls show the block reason.
|
||
8. Updated
|
||
`web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs`
|
||
so test setup no longer toggles power off after session initialization.
|
||
9. Rebuilt Task/HAL WASM:
|
||
`bash wasm-port/tools/build_task_hal_wasm.sh`.
|
||
Result: `linuxcnc_task_hal_wasm_build=ok`.
|
||
10. Ran syntax checks for changed JS files.
|
||
11. Ran app build:
|
||
`npm run build`.
|
||
Result: `gmoccapy_static_build=ok`.
|
||
12. Ran focused node regression tests:
|
||
- `node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs`
|
||
- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`
|
||
- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs`
|
||
Results passed, including `linuxcnc_task_hal_runtime_smoke=ok` and
|
||
`run_feedback_status_loop_smoke=ok`.
|
||
13. Redeployed the rebuilt static site to
|
||
`/var/www/web-rtcp-5axis-sim` on `82.156.24.101`.
|
||
14. Verified remote nginx config with `nginx -t` and restarted nginx.
|
||
15. Verified remote local HTTPS endpoint returned HTTP `200`.
|
||
16. Ran local Google Chrome/Puppeteer focused RUN test against
|
||
`https://82.156.24.101:8092/`.
|
||
17. The public HTTPS Chrome test generated:
|
||
`qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json`
|
||
and screenshots under
|
||
`qa/web-rtcp-5axis-site-test/screenshots/public-https-run-debug/`.
|
||
18. Public Chrome RUN test passed the previously failing behavior:
|
||
`runStarted=true`, `finalRunState=complete`, active lines advanced from
|
||
`1` to `10`, velocity samples were nonzero, and feedback source was
|
||
`linuxcnc-task-motion-hal-wasm`.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||
node --check web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
node --check web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
|
||
npm run build
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_preconditions.mjs
|
||
curl -k https://127.0.0.1:8092/
|
||
local Google Chrome Puppeteer RUN test against https://82.156.24.101:8092/
|
||
```
|
||
|
||
Public Chrome evidence:
|
||
|
||
```text
|
||
public_https_run_debug_json=/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/output/public-https-run-debug.json
|
||
runStarted=true
|
||
finalRunState=complete
|
||
activeLines=[1,10]
|
||
distinctActiveLineCount=2
|
||
distinctPoseCount=5
|
||
movingVelocityCount=9
|
||
velocities=[3600,2100,2100,2100,2100,2100,2100,2100,2100]
|
||
feedbackSources=["linuxcnc-task-motion-hal-wasm"]
|
||
consoleErrorCount=0
|
||
pageErrorCount=0
|
||
requestFailureCount=0
|
||
```
|
||
|
||
Files changed:
|
||
|
||
```text
|
||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.hh
|
||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||
```
|
||
|
||
## 2026-06-22 19:24:00 EDT toolpath preview correctness check
|
||
|
||
User request:
|
||
|
||
```text
|
||
和对刀具预览路径是否正确？
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Inspected current browser validation report
|
||
`qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json`.
|
||
2. Checked the preview step `03-toolpath-preview` from the report.
|
||
3. Confirmed the loaded program is the real LinuxCNC source program
|
||
`configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc`.
|
||
4. Confirmed `programExecutionSourceMode` is `linuxcnc-interpreter-wasm`.
|
||
5. Confirmed the canvas dataset reports
|
||
`threeToolpathPreviewSource=linuxcnc_interpreter_canonical_motion`.
|
||
6. Confirmed `threeNoGcodeSemanticsGeneration=ok`, meaning the preview layer is
|
||
not generating separate G-code semantics.
|
||
7. Read `web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js` and
|
||
verified `buildProgramPreviewPoints(...)` maps
|
||
`state.programExecution.motion` canonical motion axes into scene meters.
|
||
8. Verified the report shows `motionEventCount=4492` and
|
||
`threePathPoints=1498`; source inspection showed this is due to
|
||
`limitPoints(...)` sampling with `MAX_TOOLPATH_POINTS`, not because the
|
||
preview path uses fixture data.
|
||
9. Confirmed preview visual evidence: `threePathFitBounds=ok`,
|
||
`threeRapidFeedVisualDistinction=ok`, `threeTcpMarker=sphere`,
|
||
`threeToolAxisMarker=line`, and screenshot
|
||
`/home/meswork/cnc_wams/qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/03-toolpath-preview.png`.
|
||
10. Appended this execution-process record to the required GPT process log.
|
||
|
||
## 2026-06-22 19:27:26 EDT full canonical toolpath points validation
|
||
|
||
User request:
|
||
|
||
```text
|
||
“报告里 motionEventCount=4492，但 threePathPoints=1498“比抽样，使用实际数据
|
||
```
|
||
|
||
Execution process:
|
||
|
||
1. Re-read `web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js`
|
||
and located the preview point limiting path:
|
||
`MAX_TOOLPATH_POINTS = 1600` and `limitPoints(...)`.
|
||
2. Confirmed the previous browser report had `motionEventCount=4492` and
|
||
`threePathPoints=1498`.
|
||
3. Changed `MAX_TOOLPATH_POINTS` to `Number.POSITIVE_INFINITY` so preview
|
||
geometry uses the full LinuxCNC canonical motion point list instead of
|
||
sampled points.
|
||
4. Updated
|
||
`qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs` to add
|
||
a report check named `刀具路径使用完整 canonical motion 点`, asserting
|
||
`threePathPoints === motionEventCount`.
|
||
5. Ran syntax checks for the visualization and QA script.
|
||
6. Ran `npm run build` in `web-rtcp-5axis-sim-plan/app`; build passed.
|
||
7. Re-ran actual browser validation:
|
||
`node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs`.
|
||
8. Browser validation completed with `test_linuxcnc_source_run_status=PASS`.
|
||
9. Verified the refreshed report now shows:
|
||
`motionEventCount=4492`, `threePathPoints=4492`,
|
||
`threeFeedPathPoints=4306`, and `threeRapidPathPoints=186`.
|
||
10. Verified the new full-point check passed with detail:
|
||
`threePathPoints=4492, motionEventCount=4492`.
|
||
11. Appended this execution-process record to the required GPT process log.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
node --check web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
|
||
node --check qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
npm run build
|
||
node qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
```
|
||
|
||
Files modified or regenerated:
|
||
|
||
```text
|
||
web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
|
||
qa/web-rtcp-5axis-site-test/capture-test-linuxcnc-source-run.mjs
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report.json
|
||
qa/web-rtcp-5axis-site-test/output/test-linuxcnc-source-run-report-2026-06-22.docx
|
||
qa/web-rtcp-5axis-site-test/screenshots/test-linuxcnc-source-run/
|
||
```
|
||
|
||
## 2026-06-22 Run activeLine line-by-line fix
|
||
|
||
User request: `run还是不能一行一行执行。修复程序`.
|
||
|
||
Process summary:
|
||
|
||
1. Inspected workspace rules in `AGENTS.md` and `wasm-port/AGENTS.md`; noted required process log append.
|
||
2. Reviewed existing dirty worktree and avoided reverting unrelated existing changes.
|
||
3. Traced Run state flow through:
|
||
- `web-rtcp-5axis-sim-plan/app/src/state/store.js`
|
||
- `web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js`
|
||
- `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`
|
||
4. Reproduced the root cause with the boat LinuxCNC source program: ordinary interpreter output had only sparse canonical motion lines `9,10`, which made task/HAL Run appear to jump to the end instead of stepping through source G-code lines.
|
||
5. Added task/HAL motion-plan support for source-line fallback segments in `linuxcnc-task-hal-runtime.js`; when canonical motion is too sparse but source G-code has executable rows, the task/HAL plan now includes per-source-line timed segments.
|
||
6. Passed `programLines` from store motion-plan loading into `buildTaskHalProgramMotionPlan`.
|
||
7. Updated `linuxcnc_task_hal_wasm.cpp` so the task/HAL runtime tracks both compact executable line count and original source line count, and no longer clamps planned source-line numbers down to the compact non-comment line count.
|
||
8. Rebuilt task/HAL WASM with `bash wasm-port/tools/build_task_hal_wasm.sh`.
|
||
9. Strengthened `verify_run_feedback_loop.mjs` so it waits for and asserts multiple distinct monotonic active lines, preventing a regression back to `activeLines=[1,10]`.
|
||
10. Verified boat fallback plan generation locally: original motion lines were `9,10`, but generated task/HAL plan had `1857` source-line segments and first lines `2,10,11,12,13,14,15,16,17,18,19,20`.
|
||
11. Ran Node/WASM regression tests successfully:
|
||
- `node wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs`
|
||
- `node web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs`
|
||
- `node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`
|
||
12. Ran local Chrome/Puppeteer evidence against the local static app for `boat-xyzac.ngc`; evidence written to `qa/web-rtcp-5axis-site-test/output/local-chrome-boat-run-line-evidence.json`.
|
||
13. Local Chrome evidence showed `local_chrome_boat_activeLines=9,10,12` and `local_chrome_boat_historyLines=9,10,11,12`, confirming the browser no longer shows only `[1,10]`.
|
||
14. Did not deploy to public `https://82.156.24.101:8092/`; user requested local validation first.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||
node --check web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||
node --check web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
node --check web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
git diff --check -- web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js web-rtcp-5axis-sim-plan/app/src/state/store.js wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
node wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
```
|
||
|
||
Files modified or generated by this execution:
|
||
|
||
```text
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
qa/web-rtcp-5axis-site-test/output/local-chrome-boat-run-line-evidence.json
|
||
wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js
|
||
wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
|
||
```
|
||
|
||
## 2026-06-22 LinuxCNC source-line task/HAL/HAL-pin run fix
|
||
|
||
User request: reference `/home/meswork/cnc_wams/linuxcnc` source program and fix the previous interpretation that `openedLineCount` was a compressed non-comment executable count. The requested behavior is that task and HAL cooperate, push line status to the frontend in real time, and line numbers fully account for comments and blank lines.
|
||
|
||
Process summary:
|
||
|
||
1. Inspected LinuxCNC upstream source under `/home/meswork/cnc_wams/linuxcnc`.
|
||
2. Confirmed LinuxCNC interpreter semantics:
|
||
- `rs274ngc_pre.cc` documents that `_setup.sequence_number` is incremented by reads.
|
||
- `interp_convert.cc` passes `block->line_number` into canonical motion calls such as `STRAIGHT_TRAVERSE` and `STRAIGHT_FEED`.
|
||
- This means motion line numbers are source-file line numbers, not compressed executable-row indexes; comments and blank lines affect later source line numbers.
|
||
3. Updated task/HAL WASM runtime state in `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`:
|
||
- `openedLineCount` now reports source-file line count.
|
||
- `openedSourceLineCount` also reports source-file line count.
|
||
- Added `executableLineCount` for the internal compact fallback list.
|
||
- Non-motion-plan fallback still uses `executableLineCount`, while motion-plan execution and completion use source-line numbers.
|
||
4. Updated frontend task/HAL normalization in `web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js`:
|
||
- exposes `motionProgramLine`, `halProgramLine`, `activeLineSource`, and `activeLineHalSynced`.
|
||
- active line prefers task/motion status and falls back to HAL pin only if needed.
|
||
5. Updated store feedback in `web-rtcp-5axis-sim-plan/app/src/state/store.js`:
|
||
- completion uses `openedSourceLineCount || openedLineCount`.
|
||
- runtime feedback records motion/HAL pin line values and sync status so frontend evidence proves line updates are task/HAL/HAL-pin driven.
|
||
6. Added/updated WASM SDK regression in `wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs`:
|
||
- staged a program with a leading comment, blank line, comment-only line, and source moves on lines 3 and 5.
|
||
- asserted `openedLineCount=6`, `openedSourceLineCount=6`, `executableLineCount=3`.
|
||
- asserted motion status and HAL pin both report source lines 3 and 5.
|
||
7. Strengthened `web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs`:
|
||
- feedback history must come from `linuxcnc-task-motion-hal-wasm`.
|
||
- active line source must be `motion-status`.
|
||
- line, motion program line, and HAL program-line pin must all match.
|
||
8. Rebuilt task/HAL WASM.
|
||
9. Ran Node/WASM verification successfully.
|
||
10. Ran local Chrome/Puppeteer verification against the local static app using `boat-xyzac.ngc`.
|
||
11. Browser evidence written to `qa/web-rtcp-5axis-site-test/output/local-chrome-boat-run-line-evidence.json`.
|
||
12. Browser evidence showed:
|
||
- `local_chrome_boat_activeLines=9,10,12`
|
||
- `local_chrome_boat_historyLines=9,10,11,12`
|
||
- `local_chrome_boat_task_hal_synced=true`
|
||
13. Did not deploy to public URL in this run.
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||
node --check wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
|
||
node --check web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||
node --check web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
node --check web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
node wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
node web-rtcp-5axis-sim-plan/tests/node/verify_impeller_feed_task_hal_run.mjs
|
||
git diff --check -- wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js web-rtcp-5axis-sim-plan/app/src/state/store.js web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs qa/web-rtcp-5axis-site-test/output/local-chrome-boat-run-line-evidence.json
|
||
```
|
||
|
||
Files modified or generated by this execution:
|
||
|
||
```text
|
||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||
wasm-port/tests/wasm/node/verify_task_hal_sdk.mjs
|
||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||
web-rtcp-5axis-sim-plan/tests/node/verify_run_feedback_loop.mjs
|
||
qa/web-rtcp-5axis-site-test/output/local-chrome-boat-run-line-evidence.json
|
||
wasm-port/build/wasm/task-hal/linuxcnc_task_hal.js
|
||
wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
|
||
```
|
||
|
||
## 2026-06-22 Cloud repository sync
|
||
|
||
User request: sync the current workspace state to the cloud repository at `http://154.8.160.151:3000/wangdequan/cnc_wams` using the provided credentials.
|
||
|
||
Process summary:
|
||
|
||
1. Confirmed repository root with `git rev-parse --show-toplevel`:
|
||
- `/home/meswork/cnc_wams`
|
||
2. Confirmed current branch with `git branch --show-current`:
|
||
- `master`
|
||
3. Confirmed remote configuration with `git remote -v`:
|
||
- `origin http://154.8.160.151:3000/wangdequan/cnc_wams (fetch)`
|
||
- `origin http://154.8.160.151:3000/wangdequan/cnc_wams (push)`
|
||
4. Confirmed git user identity with `git config user.name && git config user.email`:
|
||
- `wangdequan`
|
||
- `wangdequan@meswork.com`
|
||
5. Confirmed there were local modified and untracked files with `git status --short`.
|
||
6. Staged and committed all current workspace changes:
|
||
- command: `git add -A && git commit -m "feat: sync latest run execution updates"`
|
||
- result: created commit `8d3177cb73abc588d04496b7c0890c00194a0d2b`
|
||
7. Pushed `master` to the cloud repository using authenticated HTTP push with masked credentials:
|
||
- command: `git push "http://wangdequan:******@154.8.160.151:3000/wangdequan/cnc_wams" master`
|
||
- result: push succeeded
|
||
- remote update: `0b1aad3..8d3177c master -> master`
|
||
8. Verified post-push state:
|
||
- `git rev-parse HEAD` returned `8d3177cb73abc588d04496b7c0890c00194a0d2b`
|
||
- `git status --short` returned clean output
|
||
9. Recorded this execution log in `web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md` per workspace instruction.
|
||
|
||
Execution timestamp:
|
||
|
||
- `2026-06-22 21:47:33 EDT`
|
||
|
||
Validation commands:
|
||
|
||
```text
|
||
git rev-parse --show-toplevel
|
||
git branch --show-current
|
||
git remote -v
|
||
git status --short
|
||
git config user.name && git config user.email
|
||
git add -A && git commit -m "feat: sync latest run execution updates"
|
||
git push "http://wangdequan:******@154.8.160.151:3000/wangdequan/cnc_wams" master
|
||
git rev-parse HEAD
|
||
date '+%Y-%m-%d %H:%M:%S %Z'
|
||
git status --short
|
||
```
|
||
|
||
Files modified or generated by this execution:
|
||
|
||
```text
|
||
web-rtcp-5axis-sim-plan/gptlog-process/gpdlog.md
|
||
```
|