190 lines
4.4 KiB
Markdown
190 lines
4.4 KiB
Markdown
# 02 RTCP 刀具轨迹整改完善程序详细步骤
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生成时间：2026-06-22
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## 1. 修改目标
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针对专项测试发现的运行态 RTCP 回退问题，整改 `TASK_HAL_STATUS_APPLIED` 状态合并逻辑。
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## 2. 修改文件
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```text
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web-rtcp-5axis-sim-plan/app/src/state/store.js
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web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
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```
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## 3. 程序修改步骤
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### Step 3.1 替换 task/HAL kinsType 解析入口
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位置：
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```text
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store.js -> applyTaskHalStatusPatch()
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```
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将原逻辑：
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```js
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const kinsType = kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
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```
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替换为：
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```js
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const kinsType = resolveTaskHalKinsType(state, status, activeLine);
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```
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目的：
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```text
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让 task/HAL status 和 interpreter/canonical motion 的 switchkins 语义共同参与 kinsType 解析。
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```
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### Step 3.2 增加 resolveTaskHalKinsType()
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新增函数：
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```js
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function resolveTaskHalKinsType(state, status, activeLine) {
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const ui = status?.ui || {};
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const numeric = Number(ui.switchkinsType);
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if (Number.isFinite(numeric) && numeric !== 0) {
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return kinsTypeFromSwitchkinsTypeValue(state, numeric);
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}
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const programKinsType = kinsTypeFromProgramActiveLine(state, activeLine);
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if (programKinsType) {
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return programKinsType;
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}
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return kinsTypeFromSwitchkinsTypeValue(state, ui.switchkinsType);
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}
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```
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判定规则：
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```text
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1. task/HAL switchkinsType 非 0:
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直接采用 task/HAL 状态。
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2. task/HAL switchkinsType 为 0:
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查询当前 activeLine 对应的 program motion。
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3. program motion 有 switchkins 语义:
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采用 program motion 的 kinsType。
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4. program motion 无 switchkins 语义:
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回退到 task/HAL status 解析结果。
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```
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### Step 3.3 增加 activeLine 到 program motion 的映射
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新增函数：
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```js
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function kinsTypeFromProgramActiveLine(state, activeLine) {
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const motion = programMotionAtOrBeforeLine(state, activeLine)
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return kinsTypeFromProgramMotion(state, motion);
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}
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```
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新增函数：
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```js
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function programMotionAtOrBeforeLine(state, activeLine) {
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const motion = state.programExecution?.motion;
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if (!Array.isArray(motion) || motion.length === 0) return null;
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const line = Number(activeLine);
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if (!Number.isFinite(line)) return null;
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let candidate = null;
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for (const item of motion) {
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const itemLine = Number(item?.line);
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if (!Number.isFinite(itemLine)) continue;
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if (itemLine > line) break;
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candidate = item;
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}
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return candidate;
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}
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```
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目的：
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```text
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用当前 task/HAL activeLine 找到最近的 canonical motion，
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再复用已有 kinsTypeFromProgramMotion() 解析 M428/M429/M430 语义。
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```
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### Step 3.4 保持已有 program motion 解析函数不变
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继续复用：
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```js
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function kinsTypeFromProgramMotion(state, motion) { ... }
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function resolveProgramKinsType(state, requestedKinsType) { ... }
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function kinsTypeFromSwitchkinsType(state, switchkinsType) { ... }
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```
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不要新增 G-code 字符串解析。
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### Step 3.5 增加 node 回归测试
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位置：
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```text
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web-rtcp-5axis-sim-plan/tests/node/verify_rtcp_store.mjs
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```
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新增测试数据：
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```text
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motion line 5: switchkinsType=1, kinsType=tcp
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motion line 20: switchkinsType=0, kinsType=identity
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```
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新增断言：
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```text
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当 task/HAL status activeLine=5 且 ui.switchkinsType=0:
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state.kinsType 必须保持 tcp-xyzac
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state.rtcpState 必须保持 on
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当 task/HAL status activeLine=20 且 ui.switchkinsType=0:
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state.kinsType 必须为 identity
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state.rtcpState 必须为 off
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```
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### Step 3.6 更新专项测试报告
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重新运行：
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```bash
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node qa/web-rtcp-5axis-site-test/capture-toolpath-preview-cases.mjs
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node qa/web-rtcp-5axis-site-test/generate-toolpath-preview-docx-report.mjs
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```
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期望：
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```text
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06-running-rtcp-toolpath -> PASS
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threeRtcpState=on
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```
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## 4. 不允许的修复方式
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```text
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1. 不允许在 five-axis-scene.js 中强制显示 RTCP on。
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2. 不允许在 canvas dataset 中伪造 threeRtcpState。
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3. 不允许直接忽略 task/HAL status。
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4. 不允许重新用字符串扫描 G-code 推断 M428/M429。
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```
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## 5. 后续完善建议
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```text
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1. task/HAL runtime 长期应输出更准确的 switchkins source metadata。
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2. programExecutionMotionIndex 可进一步按 activeLine 同步，提高当前段高亮精度。
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3. 专项测试可增加执行到 M429 后 RTCP off 的端到端截图。
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```
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