diff --git a/README.md b/README.md index 5851ab7..c5598a8 100644 --- a/README.md +++ b/README.md @@ -4,6 +4,8 @@ 完整仿真功能范围、任务分解和 M0-M8 里程碑见 [`完整仿真移植实施计划`](docs/linuxcnc-web-wasm-complete-simulation-plan.md)；技术实施接续入口为 [`nextTask1.md`](nextTask1.md)。 +五轴 XYZAC TRT Web/WASM 源码对标轨道的独立接续入口为 [`nextTask-rtcp.md`](nextTask-rtcp.md)，详细设计和实施资料位于 [`doc-rtcp`](doc-rtcp/README.md)。 + 恢复或开始工作时，首先读取 [`nextTask1.md`](nextTask1.md)。它是当前仿真轨道的唯一接续入口，刻意限制在 8 KiB 以内，不包含聊天记录、完整日志或历史证据。只有定位旧证据时才按需读取 [`docs/task-history.md`](docs/task-history.md) 和其中引用的产物。 项目整体流程、LinuxCNC 案例到 WASM/Worker/前端的映射，以及后续任务起点见 diff --git a/coverage/runtime-mapping.report.json b/coverage/runtime-mapping.report.json index b04e2d7..df83762 100644 --- a/coverage/runtime-mapping.report.json +++ b/coverage/runtime-mapping.report.json @@ -2,7 +2,7 @@ "schema": "runtime-mapping-report.v1", "status": "passed", "mapped_error_codes": 18, - "commands": 27, + "commands": 50, "limits": 6, "real_exclusions": 3 } diff --git a/coverage/sim-case-catalog.report.json b/coverage/sim-case-catalog.report.json index 67b4572..1920d2a 100644 --- a/coverage/sim-case-catalog.report.json +++ b/coverage/sim-case-catalog.report.json @@ -5,20 +5,20 @@ "host devices, unsupported dynamic loaders, and missing LinuxCNC source resources remain blocked" ], "catalog": { - "catalog_sha256": "ac762b8b27b4b7988c0c8c532c6299a0957a69538ccb42bc65f78593b8ab4815", + "catalog_sha256": "3c35f4b6df095ea0c4d3fcaacab1b5eee08274e451e0229b9668ca6107ef0167", "module": "web/workspace/sim-case-catalog.mjs" }, "counts": { - "cases": 235, - "files": 2000, - "indexed_blocked": 226, + "cases": 236, + "files": 2006, + "indexed_blocked": 227, "indexed_static_ready": 9 }, "implementation_status": "verified", "inputs": [ { "path": "coverage/full-configuration-startup-matrix.report.json", - "sha256": "f2140e4c1685ca17738645faedb962dcaa7210200c9151084bd5df40285eadf9" + "sha256": "9345288c2e5353d382a17e2ff18f881d8516f2e792920325c2b5cc28ac17a2f9" }, { "path": "coverage/hal-component-manifest.report.json", @@ -27,33 +27,33 @@ ], "outputs": [ { - "bytes": 226050, + "bytes": 227026, "path": "web/workspace/sim-case-catalog.mjs", - "sha256": "a43d9868fb8d749cd9aa7958cfc6630cbc1bbf78827feb612d7c2f952d267b99", + "sha256": "e90af5f821e30e5f655dae245448b4ae691961d7b03ee47138bdcbbbb6d16b6a", "status": "present" }, { - "bytes": 11291, + "bytes": 14544, "path": "web/workspace/sim-case-loader.mjs", - "sha256": "9f76f8fd886a9e39990b0036c4a75c1cc5a02325da5487bbe5793702a746f8ee", + "sha256": "a79b4c89e2d06f7d7dba5378848983ae1f8c2baa56729f1238bf31210c1b5675", "status": "present" }, { - "bytes": 3444, + "bytes": 3686, "path": "web/workspace/hal-configuration.mjs", - "sha256": "3979f687b9a808256b918b9e1919a0ed6d59c591cb990d4b7bdb57903c50a385", + "sha256": "44823665f199acc48bbfdf0903acf19e95d5ac4aeededcd570293cb7456169d6", "status": "present" }, { - "bytes": 2911, + "bytes": 3546, "path": "web/workspace/test_sim_case_loader.mjs", - "sha256": "0a07affb488505f91889cb3b843eb84782725b9f337313f1023510778e3381c3", + "sha256": "99f1656f402491c4f1d56b495d7274f440775bc4b557720dd82640b904bc14ba", "status": "present" }, { - "bytes": 16777, + "bytes": 16849, "path": "web/app/app.mjs", - "sha256": "5ae3c3df053383f5ae3242aba20c2c8818b04639868e96514955bd1a760ec2ef", + "sha256": "f2af4be261941e4eaa48e32c1d929fcb8adfa4fe91475c398eec03f1fa99a8a4", "status": "present" }, { @@ -75,7 +75,7 @@ "status": "present" } ], - "report_sha256": "b17fe0aad525c7b9e914d6a1ff384ab640bc8d3f475e8553aa3745bed02c49c0", + "report_sha256": "09ddb06b10860f9e37d7cb8d40499cb8b6fe3e121b88cd3b371b9df6b3fa91c5", "schema": "linuxcnc-sim-case-catalog-report.v1", "scope": "configs/sim case catalog and exact-path browser loader input", "status": "verified", diff --git a/coverage/task-packets/PARITY-00.handoff.json b/coverage/task-packets/PARITY-00.handoff.json new file mode 100644 index 0000000..f512f6f --- /dev/null +++ b/coverage/task-packets/PARITY-00.handoff.json @@ -0,0 +1,42 @@ +{ + "schema": "task-handoff.v1", + "task_id": "PARITY-00", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "Native C, WASM C and Worker protocol/control/state/canonical/recovery traces compare tick-by-tick with positive divergence detection", + "report": {"path": "coverage/xyzac-trt-trace-parity.report.json", "sha256": "39c63aa9af38fd98e49fd68ec2401ee8715fcafef98d47c070a47ab6f6dc0a48"}, + "outputs": [ + {"path": "scripts/compare_xyzac_native_wasm_trace.py", "sha256": "89834553f2a7afc47e351bbddd33f83259665b943cd7f22fe48acbba32aaf7c4"}, + {"path": "web/worker/test_xyzac_trace_parity.mjs", "sha256": "f5c6a7cd3e8b7f72bb1b25b5c368c0e52d494b9c811022d34435e668612ec4ce"}, + {"path": "coverage/xyzac-trt-trace-parity.report.json", "sha256": "ef914bb7823b9cdb0f6e15ca409515659d5575d09cdc6da2c458cd81fafa595a"}, + {"path": "wasm-core/tests/sim_xyzac_trace_test.c", "sha256": "0a3d5f748d9f69f4212c3a1cdd65fe2986c253442c4de2de78de2e5a5635ff08"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "protocol_level": "passed", + "control_level": "passed", + "state_level": "passed", + "canonical_level": "passed", + "recovery_level": "passed", + "native_wasm_exact": "passed", + "native_worker_semantic": "passed", + "positive_divergence_tick": "passed", + "report_self_hash": "passed", + "native_ctest_21": "passed", + "react_typecheck_build": "passed" + }, + "evidence": { + "levels": ["protocol", "control", "state", "canonical", "recovery"], + "first_divergent_tick": null, + "positive_sample_tick": 2, + "positive_sample_path": "$[1].active_type", + "native_wasm_trace_sha256": "18d2ef9d77f9a7a5bf2fa8d9380c8b04383a58ee2b0258364cba31ec34a168f0" + }, + "failure_samples": [], + "next_task": "RTCP-09", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RELEASE-00.handoff.json b/coverage/task-packets/RELEASE-00.handoff.json new file mode 100644 index 0000000..147c632 --- /dev/null +++ b/coverage/task-packets/RELEASE-00.handoff.json @@ -0,0 +1,40 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RELEASE-00", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "Selected xyzac-trt.ini WASM-only release gate verified; release remains STOP_RELEASE by explicit scope governance", + "report": {"path": "coverage/xyzac-trt-wasm-only-release-gate.report.json", "sha256": "368bc17b4ade17b8567abe299b7d7395abc0f09d187028a0cb750aa170b5891c"}, + "outputs": [ + {"path": "scripts/generate_xyzac_trt_wasm_only_release_gate.py", "sha256": "06e4c564d0b4fc482150ffd19ae7ce93d553a6bf525144159875d824054eca70"}, + {"path": "coverage/xyzac-trt-wasm-only-release-gate.report.json", "sha256": "f85319a0d1a5bc28a2ab06aed6c043ba1fff8a5d69d8901754b6d62ce6eb0c1c"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "wasm_authority": "passed", + "all_13_selected_case_reports": "passed", + "native_worker_trace": "passed", + "browser_matrix": "passed", + "recovery_endpoint": "passed", + "scope_exclusions_explicit": "passed", + "release_report_self_hash": "passed" + }, + "evidence": { + "selected_case": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "candidate_eligible": false, + "release_status": "STOP_RELEASE", + "blockers": [ + "HOST_EXCLUDED: Safari not in project scope", + "REAL-EXCLUDED: physical power loss not simulated", + "HOST_EXCLUDED: xyzbc/3axis/other LinuxCNC cases out of scope" + ], + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": null, + "next_task_status": "complete", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-01.handoff.json b/coverage/task-packets/RTCP-01.handoff.json new file mode 100644 index 0000000..316de38 --- /dev/null +++ b/coverage/task-packets/RTCP-01.handoff.json @@ -0,0 +1,42 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-01", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "result": "XYZAC Worker topology, logical scheduler, command ledger and cancellation/reconcile contract verified", + "outputs": [ + {"path": "web/worker/xyzac-session.mjs", "sha256": "9cbbbd08ae372e515bafe906f87fe3a9552571f52997b4e5495b42a36097c6b3"}, + {"path": "web/worker/xyzac-scheduler.mjs", "sha256": "0c7544298869c9c2858cce1275db8f3f2034655a5aa92aac5bd6dbf2b16e3221"}, + {"path": "web/worker/xyzac-command-ledger.mjs", "sha256": "90d5fd10547f544338014a026a407cfb73f08c639bf0f1bef9c19a85fbcd16f5"}, + {"path": "web/worker/test_xyzac_session.mjs", "sha256": "76cd74a09a0318a33d70529f7c5b9cad25fd0daebd6dd8bb05f87b42626858ef"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "xyzac_session": "passed", + "xyzac_case_worker": "passed", + "xyzac_program_authority": "passed", + "xyzac_io_authority": "passed", + "ledger_replay_commit": "passed", + "ledger_timeout_reconcile": "passed", + "cancel_no_blind_retry": "passed", + "scheduler_logical_tick": "passed", + "native_ctest": "20/20 passed", + "react_typecheck_build": "passed" + }, + "evidence": { + "session_authority": "linuxcnc-wasm-worker", + "machine": {"coordinates": "XYZAC", "joint_count": 5, "kinematics": "xyzac-trt", "rotary_units": "degrees"}, + "scheduler_tick": 3, + "scheduler_state_hash": "fnv1a64:d6b307bada354385", + "replayed": true, + "committed_operation": "step-1", + "pending_after_abort": 0, + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RTCP-02", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-02.handoff.json b/coverage/task-packets/RTCP-02.handoff.json new file mode 100644 index 0000000..88cfd66 --- /dev/null +++ b/coverage/task-packets/RTCP-02.handoff.json @@ -0,0 +1,35 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-02", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "Exact xyzac-trt.ini resource closure and startup state machine verified; xyzbc/3axis/other cases excluded", + "report": {"path": "coverage/xyzac-trt-startup.report.json", "sha256": "12cdae5c4547d8f2647da1f4721e147807ba738474adeb60901b3d837e4cb39e"}, + "outputs": [ + {"path": "web/workspace/xyzac-trt-case-loader.mjs", "sha256": "8480a20a13301cfc8dd37fbe66cf9b4cbfbfd7bd18623e81499a583c72f9f44a"}, + {"path": "coverage/xyzac-trt-startup.report.json", "sha256": "56e040b645bcefc3d6c57244cb2d3aba16f421ff5137089d9c3336970dfd968b"}, + {"path": "web/worker/test_xyzac_startup.mjs", "sha256": "013023e5f0a01d93ed8ab568879937f462a97e2fe08742995f15775c867fb8aa"}, + {"path": "scripts/generate_xyzac_trt_startup_report.py", "sha256": "0b7fca4feb6039423b92164cd57802b7aaaefa7e141dffd38cb024f9b031fb5e"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "xyzac_startup_test": "passed", + "startup_report_self_hash": "passed", + "exact_resource_count": 15, + "required_ini_sections": 7, + "hal_record_count": 165, + "missing_resource_fail_closed": "passed", + "xyzac_worker_case": "passed", + "native_ctest": "20/20 passed", + "react_typecheck": "passed" + }, + "startup_state_sequence": ["TASK_NEW", "CONFIG_RESOLVED", "HAL_READY", "RUNTIME_READY", "TASK_READY"], + "machine": {"coordinates": "XYZAC", "joint_count": 5, "rotary_units": "degrees", "kinematics": "xyzac-trt"}, + "failure_samples": [], + "next_task": "RTCP-03", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-03.handoff.json b/coverage/task-packets/RTCP-03.handoff.json new file mode 100644 index 0000000..5423dbc --- /dev/null +++ b/coverage/task-packets/RTCP-03.handoff.json @@ -0,0 +1,41 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-03", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "XYZAC authoritative snapshot, axis_state projection and gate matrix verified", + "report": {"path": "coverage/xyzac-trt-gate-matrix.report.json", "sha256": "25deaea6a1fb442d86e660319fdd1d3061ca7da0af7d48858258aad4c71ec56c"}, + "outputs": [ + {"path": "web/worker/test_xyzac_gate_matrix.mjs", "sha256": "07e4f05f3b7bf470fb87ecea077587e7584928d28fe7e28932f8a649c960525d"}, + {"path": "coverage/xyzac-trt-gate-matrix.report.json", "sha256": "7c8cb2dad644e54462b30dd0ec3e3e792ecee8da67c9c2de236bc38f1c0e6188"}, + {"path": "web/app/axis-contract.mjs", "sha256": "51854238857e03c42abe91f1dec4da3f49734386a6cf3d99dae97d7f07ebafd5"}, + {"path": "web/worker/sim-session.mjs", "sha256": "bdde47643f15780fe32cc10fe1b8542bd70c3170fd057b26d34b5c79ccd9dc29"}, + {"path": "scripts/generate_xyzac_trt_gate_matrix_report.py", "sha256": "a5ec4edbe3f416f134812fe8e4b7222a426de0aa7b524fb9deafbcc3d999b6a9"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "xyzac_gate_matrix": "passed", + "gate_report_self_hash": "passed", + "xyzac_worker_case": "passed", + "panel_gate_regression": "passed", + "axis_contract_regression": "passed", + "react_typecheck": "passed" + }, + "gate_scenarios": { + "no_file": "axis_taskfile_missing", + "highlight_missing": "axis_highlight_missing", + "switchkins_hal_missing": "xyzac_hal_pin_vars_missing", + "switchkins_estop": "xyzac_estop_active", + "running_pause_abort": "verified", + "paused_resume": "verified", + "vismach_clear_visual_only": "verified" + }, + "state_hash": "fnv1a64:a95c3da31e470f59", + "failure_samples": [], + "next_task": "RTCP-04", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-04.handoff.json b/coverage/task-packets/RTCP-04.handoff.json new file mode 100644 index 0000000..e08c6a7 --- /dev/null +++ b/coverage/task-packets/RTCP-04.handoff.json @@ -0,0 +1,20 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-04", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "WASM canonical XYZAC program load/preview/ledger flow verified", + "report": {"path": "coverage/xyzac-trt-program-preview.report.json", "sha256": "ad151b42a738667f0d62f1811409190adc06f5b59f3bde9019eec8b895abf736"}, + "outputs": [ + {"path": "web/worker/test_xyzac_program_preview.mjs", "sha256": "2ecec15067d0350741b1a02d14dd4aed3587ef1bc236065a51c28bc3391c2eef"}, + {"path": "coverage/xyzac-trt-program-preview.report.json", "sha256": "3398060c346e51691717b43c164322c333cab951a5c83ac3dd5e87fe0e452429"}, + {"path": "web/worker/wasm-program-runtime.mjs", "sha256": "3a91b2111f9803d58c8dc6dfc8fb0db4f7343cc7b87108bc53b642a13032c844"} + ], + "checks": {"baseline": "passed", "download_index": "passed", "pointer": "passed", "xyzac_program_preview": "passed", "preview_report_self_hash": "passed", "source_path_hash": "passed", "canonical_segments": "passed", "invalid_gcode_fail_closed": "passed", "empty_program_fail_closed": "passed", "program_load_replay": "passed", "xyzac_worker_case": "passed", "react_typecheck": "passed"}, + "evidence": {"source_hash": "fnv1a64:b7f4678312207b31", "line_count": 5, "segment_count": 2, "preview_hash": "fnv1a64:e226b45322b06337", "state_hash": "fnv1a64:d1505250bdc90614", "preview_authority": "linuxcnc-wasm-sim_program", "first_divergent_tick": null}, + "failure_samples": [], + "next_task": "RTCP-05", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-05.handoff.json b/coverage/task-packets/RTCP-05.handoff.json new file mode 100644 index 0000000..e5a90c5 --- /dev/null +++ b/coverage/task-packets/RTCP-05.handoff.json @@ -0,0 +1,20 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-05", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "WASM XYZAC Run/Pause/Resume/Step/Abort/Restart/Run-from-line workflow verified", + "report": {"path": "coverage/xyzac-trt-workflow.report.json", "sha256": "5abbef3106546d65d0951cce07777532903653abeed52221a9c8ecd142d5bc0d"}, + "outputs": [ + {"path": "web/worker/test_xyzac_workflow.mjs", "sha256": "6c738c6993d43b4ce16feecfe87d2b507824a88b06ead2f0659db6ca25c346b5"}, + {"path": "scripts/generate_xyzac_trt_workflow_report.py", "sha256": "f1f4b34105b64d7caea34921ec8504d0c58006ee0fd9fa15561cecb1cba93abb"}, + {"path": "coverage/xyzac-trt-workflow.report.json", "sha256": "0a9749ed647fb5ead26681719468470b7cf9e765ea4df5881d74404c019c0a5d"} + ], + "checks": {"baseline": "passed", "download_index": "passed", "pointer": "passed", "xyzac_workflow": "passed", "workflow_report_self_hash": "passed", "run_pause_resume_step": "passed", "abort_queue_empty": "passed", "restart_source_hash": "passed", "run_from_line": "passed", "checkpoint_recovery": "passed", "xyzac_preview_regression": "passed", "xyzac_gate_regression": "passed", "react_typecheck": "passed"}, + "evidence": {"tick_after_first": 1, "active_before_abort": 1, "pause_cursor": 1, "restart_source_hash": "fnv1a64:7e075e2e695feafd", "run_from_line": 4, "recovery": "recovered", "final_state_hash": "fnv1a64:de58dbdf1fa2606f", "first_divergent_tick": null}, + "failure_samples": [], + "next_task": "RTCP-06", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-06.handoff.json b/coverage/task-packets/RTCP-06.handoff.json new file mode 100644 index 0000000..894e4d4 --- /dev/null +++ b/coverage/task-packets/RTCP-06.handoff.json @@ -0,0 +1,21 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-06", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "WASM XYZAC MDI, five-axis jog, home, limits and ESTOP recovery verified", + "report": {"path": "coverage/xyzac-trt-manual-control.report.json", "sha256": "ec2180de513726dc70c0940ed15e03a7d9e54714960ba7246aba19eaf95d849b"}, + "outputs": [ + {"path": "web/worker/test_xyzac_manual_control.mjs", "sha256": "75ed33fcbe9f40f0c244029b4dd57017c4f9944107c88c5500ade5c6e67fe893"}, + {"path": "coverage/xyzac-trt-manual-control.report.json", "sha256": "012871cb9758621d0b38a0acf240e5d077b332a72bad42d9592fe39c86567a99"}, + {"path": "wasm-core/src/sim_posemath.c", "sha256": "2e63d8cc2bf4275a89238b2622b41dcd8dfabfe6d24ef5918628083a4f4f5216"}, + {"path": "wasm-core/src/sim_motion_queue.c", "sha256": "252de61937b685689c479be60e6ce398364790ef5034e54cd89db138b368937f"} + ], + "checks": {"baseline": "passed", "download_index": "passed", "pointer": "passed", "xyzac_manual_control": "passed", "manual_report_self_hash": "passed", "home_five_joints": "passed", "jog_xyz": "passed", "jog_ac_degrees": "passed", "mdi": "passed", "nonfinite_speed": "passed", "range_boundary": "passed", "following_error": "passed", "mdi_running_gate": "passed", "estop_recovery": "passed", "xyzac_workflow_regression": "passed", "react_typecheck": "passed"}, + "evidence": {"linear_axes": ["X", "Y", "Z"], "angular_axes": ["A", "C"], "angular_units": "degrees", "home_joint_count": 5, "jog_state_hash": "fnv1a64:458a605f469d43cc", "first_divergent_tick": null}, + "failure_samples": [], + "next_task": "RTCP-07", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-07.handoff.json b/coverage/task-packets/RTCP-07.handoff.json new file mode 100644 index 0000000..041e220 --- /dev/null +++ b/coverage/task-packets/RTCP-07.handoff.json @@ -0,0 +1,60 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-07", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "WASM XYZAC HAL, PyVCP, tool, spindle, coolant, device acknowledgement and alarm authority verified", + "report": { + "path": "coverage/xyzac-trt-hal-tool-alarm.report.json", + "sha256": "3b59d77a19277228a3d37d00486c5344571392651adcf4b7d019217d0880fbe8" + }, + "outputs": [ + { + "path": "web/worker/test_xyzac_hal_tool_alarm.mjs", + "sha256": "731ff64fc5b9abd70c6ab6649a2644e51e363bda710a0d4ec9faeffa3bb77db3" + }, + { + "path": "coverage/xyzac-trt-hal-tool-alarm.report.json", + "sha256": "d0e8fef743ea45ed230a29bb5deefa563f07d82df85e6f9c70be56f67e79031a" + }, + { + "path": "web/worker/wasm-xyzac-io.mjs", + "sha256": "c5b77654b952e0656edc9d649f07af6e3244d649313761b9ff42aed329c98f0b" + }, + { + "path": "web/worker/sim-session.mjs", + "sha256": "ec5846105eeecb5dcf5d9ec579ff00b185eaaba2039caeabe1e9a199a6749873" + } + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "xyzac_hal_tool_alarm": "passed", + "hal_tool_alarm_report_self_hash": "passed", + "pyvcp_switches": "passed", + "vismach_clear_visual_only": "passed", + "hal_write_allowlist": "passed", + "tool_spindle_coolant": "passed", + "device_ack_timeout_abort": "passed", + "xyzac_io_regression": "passed", + "xyzac_manual_control_regression": "passed", + "native_ctest": "passed", + "react_typecheck_build": "passed" + }, + "evidence": { + "pyvcp_m_codes": ["M429", "M428", "M430"], + "hal_allowed": "motion.probe-input", + "hal_denied_code": "wasm_hal_write_denied", + "tool": 7, + "spindle_rpm": 1200, + "ack_timeout_code": "wasm_sim_device_ack_ack_-1008", + "state_hash": "fnv1a64:78582773ec5a3bbe", + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RTCP-08", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-08.handoff.json b/coverage/task-packets/RTCP-08.handoff.json new file mode 100644 index 0000000..36b7f34 --- /dev/null +++ b/coverage/task-packets/RTCP-08.handoff.json @@ -0,0 +1,60 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-08", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "WASM XYZAC identity/TRT/userk kinematics, offsets, limits, multi-turn G93 arc, switchkins and lifecycle recovery verified", + "report": { + "path": "coverage/xyzac-trt-rtcp.report.json", + "sha256": "c370004d8f2d962937b3b91abe2b0dd1632283f570e29d2d194731bc0fe0a083" + }, + "outputs": [ + {"path": "web/worker/test_xyzac_rtcp.mjs", "sha256": "9bc14997e56a8d0f6f0043b3a92fa5efe0fc8b3fa9c973bffa9045446973208f"}, + {"path": "coverage/xyzac-trt-rtcp.report.json", "sha256": "b1562d6d2c9cd5144c7c8c9b334bd8bf67919ea7297f103ec67cb32773608d08"}, + {"path": "web/worker/wasm-xyzac-kinematics.mjs", "sha256": "f14581a52830df5f55d612a1ec88d82737bb429ff63b5267ea3903984be6050e"}, + {"path": "web/worker/sim-session.mjs", "sha256": "f3b3f78146a08ad0f770bceae9cb46e66dd997c1270e3be7e27c544c2f5d3b6b"}, + {"path": "wasm-core/src/sim_interpreter.c", "sha256": "714396428b6826d9ac8c05d654dcc33acf24eef4b6393f610c8997997e540e5a"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "xyzac_rtcp_k0_k6": "passed", + "rtcp_report_self_hash": "passed", + "identity_forward_inverse": "passed", + "xyzac_forward_inverse_offsets": "passed", + "userk_static_capability": "passed", + "dynamic_userk_rejection": "passed", + "switchkins_pose_preservation": "passed", + "g93_multiturn_arc": "passed", + "pause_abort_restart_recovery": "passed", + "native_ctest_20": "passed", + "wasm_switchkins_kinematics_userkins": "passed", + "xyzac_worker_regressions": "passed", + "motion_checkpoint_regression": "passed", + "react_typecheck_build": "passed" + }, + "evidence": { + "coordinates": "XYZAC", + "linear_units": "mm", + "angular_units": "deg", + "range_error": "wasm_xyzac_forward_-702", + "nonfinite_error": "wasm_xyzac_forward_-701", + "dynamic_userk_error": -712, + "helix_turn": -3, + "recovered_active_type": 1, + "recovered_state_hash": "fnv1a64:8c57efd84475776a", + "first_divergent_tick": null + }, + "failure_samples": [ + { + "classification": "HOST_EXCLUDED", + "code": "wasm_ctest_node18_local_url", + "detail": "CTest sim_api_test uses Node 18 fetch on a bare local .wasm path; real Node 24 Worker module and single-file WASM tests passed" + } + ], + "next_task": "PARITY-00", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-09.handoff.json b/coverage/task-packets/RTCP-09.handoff.json new file mode 100644 index 0000000..4c659ce --- /dev/null +++ b/coverage/task-packets/RTCP-09.handoff.json @@ -0,0 +1,42 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-09", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "XYZAC additive Worker commands, typed snapshot projection, React controls, gate/operation/alarm/recovery visibility and browser layout verified", + "report": {"path": "coverage/xyzac-trt-protocol-react.report.json", "sha256": "ad83b98df362f1f7e25effbdbf43da2b2ea4e2b0f1f185568f33495c88aba854"}, + "outputs": [ + {"path": "web/react/src/XyzacTrtPanel.tsx", "sha256": "f17e25f74d87a39a1bd7520f65cf1b285cb4c38d8e4fcaec13320e41c4ca6511"}, + {"path": "web/react/src/xyzac-panel-contract.ts", "sha256": "650ac562d6153c992762a138752e5821e0d4fc16706622511cb94e4a733e6733"}, + {"path": "coverage/xyzac-trt-protocol-react.report.json", "sha256": "94bb31615c0cbe5a227fbfd6af42ed1b6ace82880d2453bd3cde89340647fc6d"}, + {"path": "web/worker/test_xyzac_protocol_react.mjs", "sha256": "69d942dfdcb7bc0d7fb26d6708220a47af13aa84acdcf490780980f6de0cc03d"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "additive_power": "passed", + "kinematics_select": "passed", + "visual_clear_visual_only": "passed", + "gate_rejection_reason": "passed", + "operation_pending_ack_result": "passed", + "react_worker_only_static_audit": "passed", + "react_typecheck_build": "passed", + "browser_desktop": "passed", + "browser_mobile": "passed", + "canvas_nonblank": "passed", + "horizontal_overflow": "passed" + }, + "evidence": { + "commands": ["POWER", "KINEMATICS_SELECT", "VISUAL_CLEAR"], + "components": ["XyzacTrtPanel", "XyzacProgramPane", "XyzacKinematicsControl", "XyzacManualPanel", "XyzacDiagnostics"], + "browser": {"desktop": [1440, 1000], "mobile": [390, 844], "desktop_status": "READY", "mobile_status": "READY", "desktop_scroll_width": 1425, "mobile_scroll_width": 390}, + "state_hash": "fnv1a64:4034107d88cc3171", + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RTCP-10", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-10.handoff.json b/coverage/task-packets/RTCP-10.handoff.json new file mode 100644 index 0000000..23abfc8 --- /dev/null +++ b/coverage/task-packets/RTCP-10.handoff.json @@ -0,0 +1,43 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-10", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "Three.js XYZAC TRT Vismach hierarchy, signed table/saddle/spindle translations, A/C rotations, tool offset and authoritative visual trace verified", + "report": {"path": "coverage/xyzac-trt-threejs.report.json", "sha256": "592f729730cb122238edefd90417399cd2f21a2084603001d1b46aadad7b261f"}, + "outputs": [ + {"path": "web/react/src/XyzacMachineView.tsx", "sha256": "2645e2dadeda98357e73974ae7a48b5fb825a2362ddca33689604bb11ee78a71"}, + {"path": "web/react/src/XyzacToolPreview.tsx", "sha256": "32f6879594c3ed9bb6a9f2bb17650ea2cfb89a972c93ce31091bcccc73cdb6ef"}, + {"path": "web/react/src/xyzac-visual-adapter.ts", "sha256": "1e9aca3e5f206876310268b86c5cabd0c37cd23a28cfbf599e29612effdf20dd"}, + {"path": "web/react/src/test_xyzac_threejs.mjs", "sha256": "a858df19658826e92e5d6f6df566a16741741648631f4e02f36b2825b97f6e7d"}, + {"path": "web/react/src/test_xyzac_tool_preview.mjs", "sha256": "be345e8df99a1bb4912c2a1fb334ed1823e03dd2ba67ca6cf60bee927d269b0a"}, + {"path": "coverage/xyzac-trt-threejs.report.json", "sha256": "0bdd0e072c7d1c87f1a3183ca522cc61baf0bdc3d26a94199d1f3e005a960dbb"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "machine_hierarchy": "passed", + "tool_preview_separated": "passed", + "ac_direction_offset": "passed", + "authoritative_tick_hash": "passed", + "canvas_nonblank_desktop": "passed", + "canvas_nonblank_mobile": "passed", + "visual_clear_nonmutating": "passed", + "horizontal_overflow_desktop_mobile": "passed", + "react_typecheck_build": "passed", + "xyzac_worker_regressions": "passed", + "native_ctest_21": "passed" + }, + "evidence": { + "machine_groups": ["xyzac-machine", "table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "xyzac-toolpath", "xyzac-live-toolpath"], + "direction": {"table_x": -1, "saddle_y": -1, "spindle_z": -1, "tilt_a": "x+", "rotate_c": "z+", "tool_offset": "z-"}, + "browser_pixel_oracle": {"desktop_nonzero_pixels": 777266, "mobile_nonzero_pixels": 118864}, + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RTCP-11", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-11.handoff.json b/coverage/task-packets/RTCP-11.handoff.json new file mode 100644 index 0000000..1c25267 --- /dev/null +++ b/coverage/task-packets/RTCP-11.handoff.json @@ -0,0 +1,45 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-11", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "XYZAC WASM checkpoint/journal/restart/replay/reconcile recovery verified with no duplicate M428 and fail-closed corruption paths", + "report": {"path": "coverage/xyzac-trt-recovery.report.json", "sha256": "9dc18abe81d4d7f84ef2543d664895f43ffd52ab5b4925672402724902b2369f"}, + "outputs": [ + {"path": "web/worker/test_xyzac_recovery.mjs", "sha256": "d8f02b0ab5b7c9fc5ef30a3a67f7896071ecf9bbaa7d2f3614c031d118e655e7"}, + {"path": "coverage/xyzac-trt-recovery.report.json", "sha256": "a863e06fce29904913b38526fe0f780f3f8912f0e741763c1e7221283a335808"}, + {"path": "scripts/generate_xyzac_trt_recovery_report.py", "sha256": "5e75fe82fd069d891e7a34a07da7aa9b4e7b3152b6b61ce791a77a97e2dc957c"}, + {"path": "web/worker/sim-session.mjs", "sha256": "0ab5e206629e005eabb834db8bb90106e28f2cfcc23ddec4acbb96f38c3d5423"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "checkpoint_minimum_fields": "passed", + "endpoint_pose_joints_program_hash": "passed", + "no_duplicate_m428": "passed", + "ledger_reconcile": "passed", + "corrupt_checkpoint_fail_closed": "passed", + "schema_mismatch_fail_closed": "passed", + "journal_commit_recovery": "passed", + "journal_corruption_fail_closed": "passed", + "opfs_unavailable_fail_closed": "passed", + "native_ctest_21": "passed", + "react_typecheck_build": "passed" + }, + "evidence": { + "required_checkpoint_fields": ["context_id", "simulation_tick", "event_cursor", "state_hash", "task", "program", "kinematics", "motion", "wasm_motion", "ledger"], + "endpoint_at_checkpoint_equal": true, + "no_duplicate_m428": true, + "replayed_operation": true, + "corrupt_checkpoint": "blocked", + "schema_mismatch": "blocked", + "opfs_physical_crash": "REAL-EXCLUDED", + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RTCP-12", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/RTCP-12.handoff.json b/coverage/task-packets/RTCP-12.handoff.json new file mode 100644 index 0000000..c4f18df --- /dev/null +++ b/coverage/task-packets/RTCP-12.handoff.json @@ -0,0 +1,38 @@ +{ + "schema": "task-handoff.v1", + "task_id": "RTCP-12", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "scope": "xyzac_only", + "result": "Selected xyzac-trt.ini native/Worker/WASM/React/Three.js parity aggregate verified with explicit release exclusions", + "report": {"path": "coverage/xyzac-trt-web-wasm-parity.report.json", "sha256": "676f94870045670d2808c2193bded706fdd4909f06d70be00f46dd2653d92927"}, + "outputs": [ + {"path": "scripts/generate_xyzac_trt_web_wasm_parity_report.py", "sha256": "fd658a157981d8ca8bd95eecea3cf803443c0f10c7d7ca1dde75c184a69abd4d"}, + {"path": "coverage/xyzac-trt-web-wasm-parity.report.json", "sha256": "032912a30e5bdd970f6ff10cadb9a30642b7bdb45252ea40cd7f1b953a1050c7"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "all_13_selected_case_reports": "passed", + "native_wasm_trace": "passed", + "native_worker_trace": "passed", + "first_divergent_tick_normal": "null", + "first_divergent_tick_positive_sample": "2", + "browser_desktop_mobile": "passed", + "recovery_endpoint_equal": "passed", + "blocker_identity_explicit": "passed", + "report_self_hash": "passed" + }, + "evidence": { + "report_count": 13, + "candidate_eligible": false, + "release_status": "STOP_RELEASE", + "excluded": ["Safari", "physical power loss", "host hardware", "xyzbc", "3axis", "other cases"], + "first_divergent_tick": null + }, + "failure_samples": [], + "next_task": "RELEASE-00", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/SRC-00-REMEDIATION.handoff.json b/coverage/task-packets/SRC-00-REMEDIATION.handoff.json new file mode 100644 index 0000000..5468c13 --- /dev/null +++ b/coverage/task-packets/SRC-00-REMEDIATION.handoff.json @@ -0,0 +1,33 @@ +{ + "schema": "task-handoff.v1", + "task_id": "SRC-00-REMEDIATION", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "result": "resolved native source startup, exact intro resource, and XYZAC native/WASM/Worker evidence", + "reports": [ + {"path": "coverage/xyzac-trt-native-wasm-parity.report.json", "sha256": "ec9c3d9062ab68ab542e5193852e7f8296a40c9c1813d9a303b0971cf4b89598"}, + {"path": "coverage/xyzac-trt-source-slice-inventory.report.json", "sha256": "69385c93662a6627dc6d83eaca851411ddf76156ae9aa85f56d4e029455e68ef"} + ], + "resolved": [ + "run-5axis-rtcp.sh now uses the repository run-in-place launcher", + "sim_lib.tcl recognizes xyzac-trt-kins and xyzbc-trt-kins", + "INTRO_GRAPHIC uses the existing linuxcnc.gif exact manifest asset", + "Worker loads xyzac-trt-headless_cmds.hal fixture and TASK_READY", + "WASM C API supplies XYZAC five-joint kinematics and M428/M429/M430 transitions" + ], + "checks": { + "native_xyzac_xyzbc_startup": "passed", + "native_wasm_kinematics_trace": "passed", + "native_wasm_switchkins_trace": "passed", + "xyzac_worker_case": "passed", + "source_slice_self_hash": "passed", + "native_ctest": "20/20", + "wasm_kinematics_tests": "passed", + "react_typecheck": "passed" + }, + "evidence": {"control_count": 110, "menus": 80, "toolbar": 20, "keyboard": 10, "slices": 11, "direct_sources": 35, "unregistered_slices": 0, "js_authority": 0, "first_divergent_tick": null}, + "packet": {"path": "coverage/task-packets/SRC-00-REMEDIATION.json", "sha256": "855839e8a1e5ca5168330ab25a3dc6eebc87ce3f9b6e69475c53e2b74a2b4e33"}, + "next_task": "WASM-00", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/SRC-00.handoff.json b/coverage/task-packets/SRC-00.handoff.json new file mode 100644 index 0000000..f65576d --- /dev/null +++ b/coverage/task-packets/SRC-00.handoff.json @@ -0,0 +1,42 @@ +{ + "schema": "task-handoff.v1", + "task_id": "SRC-00", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "result": "source inventory, native/WASM parity, and exact XYZAC Worker authority evidence verified", + "reports": [ + {"path": "coverage/xyzac-trt-source-slice-inventory.report.json", "sha256": "601fb94f39681e382262b0ed6d6890f9db67e27a8ff4383b977fb073b46562e4"}, + {"path": "coverage/xyzac-trt-native-wasm-parity.report.json", "sha256": "f67633527c623e826c14d89687139d109d046fdeaf445fc754506a66c8262d8e"} + ], + "checks": { + "baseline": "passed", + "download_index": "passed", + "pointer": "passed", + "source_slice_unittest": "passed", + "source_slice_self_hash": "passed", + "native_xyzac_xyzbc_startup": "passed", + "native_wasm_kinematics_trace": "passed", + "native_wasm_switchkins_trace": "passed", + "xyzac_worker_case": "passed", + "mjs_syntax": "passed", + "react_typecheck": "passed" + }, + "evidence": { + "control_count": 110, + "menus": 80, + "toolbar": 20, + "keyboard": 10, + "slices": 11, + "direct_sources": 35, + "unregistered_slices": 0, + "blocked_resources": 0, + "js_authority": 0, + "first_divergent_tick": null, + "worker_state_hash": "fnv1a64:72275811a4320d7c" + }, + "failure_samples": [], + "packet": {"path": "coverage/task-packets/SRC-00.json", "sha256": "a13fa893653494bf12cee5e15c38cc6c74edc6ffcd02a10cb788c4a87e3cf37b"}, + "next_task": "WASM-00", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/WASM-00-REMEDIATION.handoff.json b/coverage/task-packets/WASM-00-REMEDIATION.handoff.json new file mode 100644 index 0000000..d42c11b --- /dev/null +++ b/coverage/task-packets/WASM-00-REMEDIATION.handoff.json @@ -0,0 +1,45 @@ +{ + "schema": "task-handoff.v1", + "task_id": "WASM-00-REMEDIATION", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified", + "result": "selected XYZAC authority verified for the simulation scope; physical power-loss and Safari are accepted scope exclusions", + "report": {"path": "coverage/xyzac-trt-wasm-authority-audit.report.json", "sha256": "279a9c2b0496e415cb3da25fc387ee245e826e942b67471a25796a3c23122205"}, + "implemented": [ + "sim_program C/WASM runtime owns selected XYZAC program load/control/interpreter/motion events", + "selected XYZAC jog/home/limit validation routes through WASM motion queue and home-limit", + "selected XYZAC snapshots omit JS compatibility planner state", + "sim_io C/WASM owns spindle/tool/probe/ESTOP/recovery and HAL scalar writes", + "sim_device_io C/WASM owns encoder/coolant/door/interlock/ack state", + "Chromium SIGKILL/profile reopen and corruption detection verified", + "Firefox Worker OPFS round-trip verified" + ], + "tests": { + "native_ctest": "20/20 passed", + "react_typecheck_build": "passed", + "xyzac_worker": "passed", + "xyzac_program_authority": "passed", + "xyzac_io_authority": "passed", + "native_xyzac_xyzbc_startup": "passed", + "native_wasm_parity": "passed", + "chromium_opfs_crash": "passed", + "chromium_opfs_corruption": "passed", + "firefox_opfs_round_trip": "passed", + "authority_audit": "passed" + }, + "authority_matrix": { + "program_interpreter": "verified", + "motion_jog_home_limit": "verified", + "task_state": "verified", + "hal_io_tool_probe": "verified", + "kinematics_rtcp_switchkins": "verified" + }, + "accepted_scope_exclusions": [ + {"code": "PHYSICAL_POWER_LOSS_OUTSIDE_BROWSER", "status": "accepted_scope_exclusion"}, + {"code": "SAFARI_NOT_REQUIRED", "status": "accepted_scope_exclusion"} + ], + "failure_samples": [], + "next_task": "RTCP-01", + "next_task_status": "queued", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/task-packets/WASM-00.handoff.json b/coverage/task-packets/WASM-00.handoff.json new file mode 100644 index 0000000..ec22b28 --- /dev/null +++ b/coverage/task-packets/WASM-00.handoff.json @@ -0,0 +1,38 @@ +{ + "schema": "task-handoff.v1", + "task_id": "WASM-00", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "blocked", + "result": "XYZAC WASM authority audit completed; selected Worker trace is verified but JS authority and external recovery/browser boundaries remain open", + "report": {"path": "coverage/xyzac-trt-wasm-authority-audit.report.json", "sha256": "36fdd77229015634dcde9f796e32eb0435ae2729dc4267aca28d081179a44d7f"}, + "packet": {"path": "coverage/task-packets/WASM-00.json", "sha256": "4bdb5ca36b7a57d977248693ebea2b76a6bc9cc7d3a8998d59983630a342e73e"}, + "checks": { + "authority_audit_unittest": "passed", + "report_self_hash": "passed", + "xyzac_worker_trace": "passed", + "worker_motion_authority": "wasm", + "first_divergent_tick": null, + "react_direct_wasm_pointer": "passed", + "react_direct_opfs_writer": "passed" + }, + "evidence": { + "control_count": 110, + "switchkins": ["M429", "M428", "M430"], + "tick_sequence": [0, 0, 0], + "state_hash": "fnv1a64:72275811a4320d7c", + "js_authority_call_count": 0, + "js_authority_findings": 3, + "blocker_count": 5, + "candidate_eligible": false + }, + "failure_samples": [ + {"code": "JS_PROGRAM_CONTROL_FLOW", "detail": "ProgramRunner executes control directives and schedules interpreter blocks from JS"}, + {"code": "JS_MOTION_STATE_MIRROR", "detail": "MotionState owns XYZAC-relevant HOME/JOG/limit/fault transitions"}, + {"code": "JS_COMPATIBILITY_PLANNER_PRESENT", "detail": "AuthoritativeRuntime remains constructed and serializable for the selected session"}, + {"code": "BROWSER_OPFS_ORACLE_BLOCKED", "detail": "physical OPFS crash/restart and Firefox/Safari matrix are unavailable"}, + {"code": "FULL_XYZAC_AUTHORITY_MATRIX_PENDING", "detail": "HAL/IO/tool/probe and non-selected authority closure remain outside WASM-00"} + ], + "next_task": "RTCP-01", + "next_task_status": "blocked", + "release_status": "STOP_RELEASE" +} diff --git a/coverage/xyzac-trt-gate-matrix.report.json b/coverage/xyzac-trt-gate-matrix.report.json new file mode 100644 index 0000000..453b7e5 --- /dev/null +++ b/coverage/xyzac-trt-gate-matrix.report.json @@ -0,0 +1,76 @@ +{ + "authority": "linuxcnc-wasm-worker", + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "command_trace": [ + "HELLO", + "SESSION_ATTACH", + "LOAD_WORKSPACE", + "PROGRAM_LOAD", + "PROGRAM_RUN", + "PROGRAM_PAUSE", + "PROGRAM_ABORT", + "ESTOP", + "IO_RECOVER", + "SNAPSHOT_REQUEST" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "failure_samples": [], + "gate_scenarios": { + "highlight_missing": { + "reason": "axis_highlight_missing", + "status": "verified" + }, + "no_file": { + "reason": "axis_taskfile_missing", + "status": "verified" + }, + "paused_resume": { + "resume": true, + "status": "verified" + }, + "running_pause_abort": { + "abort": true, + "pause": true, + "status": "verified" + }, + "switchkins_estop": { + "reason": "xyzac_estop_active", + "status": "verified" + }, + "switchkins_hal_missing": { + "reason": "xyzac_hal_pin_vars_missing", + "status": "verified" + }, + "vismach_clear": { + "status": "verified", + "visual_only": true + } + }, + "release_status": "STOP_RELEASE", + "report_sha256": "ae3ebd07146e75e1fa50c90d37e56ca195e2c6b82069718aedf9b63338ad2219", + "schema": "xyzac-gate-matrix-rtcp-03.v1", + "scope": "xyzac_only", + "state_hash": "fnv1a64:9abaa158693c6300", + "status": "verified", + "task_id": "RTCP-03", + "tests": [ + { + "command": [ + "node", + "web/worker/test_xyzac_gate_matrix.mjs" + ], + "output_sha256": "a8e61897c9e8f666970804f4ba8d0a959557960df40bf26261a7b4d73517de9a", + "returncode": 0, + "status": "verified" + } + ], + "tick_trace": [ + 0, + 0, + 0 + ] +} diff --git a/coverage/xyzac-trt-hal-tool-alarm.report.json b/coverage/xyzac-trt-hal-tool-alarm.report.json new file mode 100644 index 0000000..144cd11 --- /dev/null +++ b/coverage/xyzac-trt-hal-tool-alarm.report.json @@ -0,0 +1,87 @@ +{ + "ack": { + "abort": "verified", + "normal": "verified", + "timeout": "wasm_sim_device_ack_ack_-1008" + }, + "alarm": { + "code": "wasm_hal_write_denied", + "operation_id": "hal-denied" + }, + "authority": "linuxcnc-wasm-worker", + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "command_trace": [ + "MDI_EXECUTE:M429", + "MDI_EXECUTE:M428", + "MDI_EXECUTE:M430", + "VCP_UPDATE:VISMACH_CLEAR", + "HAL_SET_ALLOWED", + "HAL_SET_DENIED", + "SPINDLE_COMMAND", + "COOLANT_COMMAND", + "TOOL_PREPARE", + "TOOL_CHANGE", + "MDI:G43", + "MDI:G49", + "DEVICE_ACK", + "DEVICE_ACK_TIMEOUT", + "DEVICE_ACK_ABORT" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "coolant": { + "flood": 1, + "lube": 0, + "mist": 1 + }, + "failure_samples": [], + "hal": { + "allowed": "motion.probe-input", + "denied": "wasm_hal_write_denied" + }, + "hal_write_policy": { + "direct_switchkins_write": "denied", + "mode": "allowlist", + "switchkins_path": "M429/M428/M430" + }, + "pyvcp": [ + "M429", + "M428", + "M430", + "vismach-clear" + ], + "release_status": "STOP_RELEASE", + "report_sha256": "75c368880a881da1230d3e66ec5265ad693053dc9eecce462d92c84f5a025872", + "schema": "xyzac-hal-tool-alarm-rtcp-07.v1", + "scope": "xyzac_only", + "spindle_rpm": 1200, + "state_hash": "fnv1a64:184c713588cb828d", + "status": "verified", + "task_id": "RTCP-07", + "tests": [ + { + "command": [ + "node", + "web/worker/test_xyzac_hal_tool_alarm.mjs" + ], + "output_sha256": "02c7e7eace9b8be9d3a3144f259fdfbf870569df26ba01c22b4146e1bc3bc9e2", + "returncode": 0, + "status": "verified" + } + ], + "tick_trace": [ + 0, + 10, + 30, + 31 + ], + "tool": 7, + "visual_clear": { + "runtime_hash_unchanged": true, + "status": "verified", + "visual_only": true + } +} diff --git a/coverage/xyzac-trt-manual-control.report.json b/coverage/xyzac-trt-manual-control.report.json new file mode 100644 index 0000000..487e6a0 --- /dev/null +++ b/coverage/xyzac-trt-manual-control.report.json @@ -0,0 +1,96 @@ +{ + "authority": "linuxcnc-wasm-worker", + "axes": [ + { + "axis": "x", + "end": 0.01, + "start": 0 + }, + { + "axis": "y", + "end": 0.01, + "start": 0 + }, + { + "axis": "z", + "end": 0.01, + "start": 0 + }, + { + "axis": "a", + "end": 0.01, + "start": 0 + }, + { + "axis": "c", + "end": 0.01, + "start": 0 + } + ], + "boundary": { + "following_error": "motion_following_error", + "nonfinite_speed": "motion_queue", + "out_of_range": "motion_queue" + }, + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "command_trace": [ + "HOME", + "JOG_START:X", + "SIM_STEP", + "JOG_STOP", + "JOG_START:Y", + "JOG_START:Z", + "JOG_START:A", + "JOG_START:C", + "MDI_EXECUTE", + "PROGRAM_RUN", + "MDI_EXECUTE_BLOCKED", + "ESTOP", + "IO_RECOVER" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "estop_recovery": "verified", + "failure_samples": [], + "home": { + "authority": "wasm_home_limit", + "joints": 5 + }, + "mdi": "verified", + "release_status": "STOP_RELEASE", + "report_sha256": "0660bca7d4ae6d68e584346606911c98aaacb14922f1b5fc9a7a44d782936be6", + "schema": "xyzac-manual-control-rtcp-06.v1", + "scope": "xyzac_only", + "state_hash": "fnv1a64:fac98a76f1a41fbc", + "status": "verified", + "task_id": "RTCP-06", + "tests": [ + { + "command": [ + "node", + "web/worker/test_xyzac_manual_control.mjs" + ], + "output_sha256": "930fe1e249389de9b0c0460f59c36e46820e3e006dc4675ffdf2528891731066", + "returncode": 0, + "status": "verified" + } + ], + "tick_trace": [ + 1 + ], + "units": { + "angular_axes": [ + "A", + "C" + ], + "angular_units": "degrees", + "linear_axes": [ + "X", + "Y", + "Z" + ] + } +} diff --git a/coverage/xyzac-trt-native-wasm-parity.report.json b/coverage/xyzac-trt-native-wasm-parity.report.json new file mode 100644 index 0000000..fa316f0 --- /dev/null +++ b/coverage/xyzac-trt-native-wasm-parity.report.json @@ -0,0 +1,116 @@ +{ + "authority": "linuxcnc-wasm-worker", + "case": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "js_authority": 0, + "native": { + "command": [ + "./build-native/sim_xyzac_trace_test" + ], + "output_sha256": "18d2ef9d77f9a7a5bf2fa8d9380c8b04383a58ee2b0258364cba31ec34a168f0", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + }, + "release_status": "STOP_RELEASE", + "report_sha256": "3a6278c6c80adf6565944b0fdce78349e640dc197c3e187eea16cdbbf6572ed3", + "schema": "xyzac-trt-native-wasm-parity.v2", + "scope": "xyzac_only", + "status": "verified", + "task_id": "PARITY-00", + "trace": { + "first_divergent_tick": null, + "levels": [ + "protocol", + "control", + "state", + "canonical", + "recovery" + ], + "native_wasm": { + "first_divergent_tick": null, + "levels": { + "canonical": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "control": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "protocol": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "recovery": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "state": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + } + }, + "status": "verified" + }, + "native_worker": { + "first_divergent_tick": null, + "levels": { + "canonical": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "control": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "protocol": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "recovery": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + }, + "state": { + "difference_path": null, + "first_divergent_tick": null, + "status": "verified" + } + }, + "status": "verified" + }, + "positive_divergence_sample": { + "detected": true, + "difference_path": "$[1].active_type", + "first_divergent_tick": 2, + "mutation": "state[1].active_type=99" + } + }, + "wasm": { + "command": [ + "node", + "build-wasm/sim_xyzac_trace_wasm_test.js" + ], + "output_sha256": "18d2ef9d77f9a7a5bf2fa8d9380c8b04383a58ee2b0258364cba31ec34a168f0", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + }, + "worker": { + "command": [ + "node", + "web/worker/test_xyzac_trace_parity.mjs" + ], + "output_sha256": "773f77181d7fd891a25a9ec6e7c3109f5f6e9b7ddcc3f876e1e973657959558e", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + } +} diff --git a/coverage/xyzac-trt-program-preview.report.json b/coverage/xyzac-trt-program-preview.report.json new file mode 100644 index 0000000..b3612e6 --- /dev/null +++ b/coverage/xyzac-trt-program-preview.report.json @@ -0,0 +1,62 @@ +{ + "authority": "linuxcnc-wasm-worker", + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "command_trace": [ + "PROGRAM_LOAD", + "WASM_PROGRAM_PREVIEW", + "SNAPSHOT_REQUEST", + "PROGRAM_LOAD_REPLAY", + "PROGRAM_LOAD_INVALID", + "PROGRAM_LOAD_EMPTY" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "error_cases": { + "empty_source": "program_source_invalid", + "invalid_gcode": "error" + }, + "failure_samples": [], + "line_count": 4, + "preview_authority": "linuxcnc-wasm-sim_program", + "preview_fields": [ + "id", + "source_line", + "start", + "end", + "motion_type", + "center", + "normal", + "turn" + ], + "preview_hash": "fnv1a64:6bdaeeddf0262c90", + "recovery": { + "no_duplicate_side_effect": true, + "replay_same_operation": "verified" + }, + "release_status": "STOP_RELEASE", + "report_sha256": "bde1a054c9a633a62595ec19e5097d73499ca8fbcf07c817c01265dbf643f04a", + "schema": "xyzac-program-preview-rtcp-04.v1", + "scope": "xyzac_only", + "segment_count": 2, + "source_hash": "fnv1a64:b7f4678312207b31", + "state_hash": "fnv1a64:fda625a2e7b00ac7", + "status": "verified", + "task_id": "RTCP-04", + "tests": [ + { + "command": [ + "node", + "web/worker/test_xyzac_program_preview.mjs" + ], + "output_sha256": "79dd24d44e07958fd86484197c4502d3bdadd6d6971b7e74727b594d1d6b630f", + "returncode": 0, + "status": "verified" + } + ], + "tick_trace": [ + 0 + ] +} diff --git a/coverage/xyzac-trt-protocol-react.report.json b/coverage/xyzac-trt-protocol-react.report.json new file mode 100644 index 0000000..f4f4be8 --- /dev/null +++ b/coverage/xyzac-trt-protocol-react.report.json @@ -0,0 +1,146 @@ +{ + "additive_commands": [ + "POWER", + "KINEMATICS_SELECT", + "VISUAL_CLEAR" + ], + "authority": "linuxcnc-wasm-worker", + "browser_matrix": { + "console_exceptions": 0, + "desktop": { + "canvas_nonblank": true, + "document_width": 1425, + "scroll_width": 1425, + "status": "READY", + "switchkins_controls": 3, + "viewport": [ + 1440, + 1000 + ] + }, + "functional_note": "Chromium simulation only; Safari and physical power loss are excluded by scope", + "mobile": { + "canvas_nonblank": true, + "document_width": 390, + "scroll_width": 390, + "status": "READY", + "switchkins_controls": 3, + "viewport": [ + 390, + 844 + ] + } + }, + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "scope": "xyzac_only" + }, + "components": [ + "XyzacTrtPanel", + "XyzacProgramPane", + "XyzacKinematicsControl", + "XyzacManualPanel", + "XyzacDiagnostics" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "default_case": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "exclusions": [ + "xyzbc", + "3axis", + "other cases", + "Safari", + "physical power loss", + "host hardware" + ], + "failure_samples": [], + "gates": { + "controller": [ + "blocked", + "pending", + "result" + ], + "invalid": "xyzac_kinematics_type_invalid", + "running": "xyzac_interp_not_idle" + }, + "known_blockers": [], + "operation_phases": [ + "blocked", + "pending", + "result" + ], + "outputs": [ + { + "path": "web/react/src/XyzacTrtPanel.tsx", + "sha256": "f17e25f74d87a39a1bd7520f65cf1b285cb4c38d8e4fcaec13320e41c4ca6511" + }, + { + "path": "web/react/src/xyzac-panel-contract.ts", + "sha256": "a1afaa368927bbc5b7d9e21a64213b963a97b687cecb0005bb9b8e47e969e823" + }, + { + "path": "web/worker/test_xyzac_protocol_react.mjs", + "sha256": "69d942dfdcb7bc0d7fb26d6708220a47af13aa84acdcf490780980f6de0cc03d" + } + ], + "release_status": "STOP_RELEASE", + "report_sha256": "a8ee87b6cb3ccbd683e9888c85a063dabbe17fafdd2708636bd48be592b7b520", + "schema": "xyzac-trt-protocol-react-report.v1", + "state_hash": "fnv1a64:2de42fa3ac15497a", + "status": "verified", + "switchkins": [ + { + "operation_id": "select-0-4", + "phase": "committed", + "type": 0 + }, + { + "operation_id": "select-1-5", + 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index 0000000..dd61c42 --- /dev/null +++ b/coverage/xyzac-trt-recovery.report.json @@ -0,0 +1,102 @@ +{ + "authority": "linuxcnc-wasm-worker", + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "scope": "xyzac_only" + }, + "checkpoint": { + "active_type": 1, + "required_fields": [ + "context_id", + "simulation_tick", + "event_cursor", + "state_hash", + "task", + "program", + "kinematics", + "motion", + "wasm_motion", + "ledger" + ], + "state_hash": "fnv1a64:1463b940dede5cf0" + }, + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "endpoint": { + "at_checkpoint_equal": true, + "continuous_hash": "fnv1a64:a4dee4490d19b4ec", + "restored_hash": "fnv1a64:ca9e3481aaa28f6d" + }, + "exclusions": [ + "xyzbc", + "3axis", + "other cases", + "Safari", + "physical power loss", + "host hardware" + ], + "fail_closed": { + "corrupt_checkpoint": "blocked", + "journal_corrupt": "blocked", + "journal_schema": "blocked", 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"verified" + }, + "positive_divergence_sample": { + "detected": true, + "difference_path": "$[1].active_type", + "first_divergent_tick": 2, + "mutation": "state[1].active_type=99" + }, + "release_status": "STOP_RELEASE", + "report_sha256": "39c63aa9af38fd98e49fd68ec2401ee8715fcafef98d47c070a47ab6f6dc0a48", + "schema": "xyzac-trt-trace-parity-report.v1", + "status": "verified", + "task_id": "PARITY-00", + "traces": { + "native": { + "command": [ + "./build-native/sim_xyzac_trace_test" + ], + "output_sha256": "18d2ef9d77f9a7a5bf2fa8d9380c8b04383a58ee2b0258364cba31ec34a168f0", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + }, + "wasm": { + "command": [ + "node", + "build-wasm/sim_xyzac_trace_wasm_test.js" + ], + "output_sha256": "18d2ef9d77f9a7a5bf2fa8d9380c8b04383a58ee2b0258364cba31ec34a168f0", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + }, + "worker": { + "command": [ + "node", + "web/worker/test_xyzac_trace_parity.mjs" + ], + "output_sha256": "773f77181d7fd891a25a9ec6e7c3109f5f6e9b7ddcc3f876e1e973657959558e", + "returncode": 0, + "trace_sha256": "ca13e8dcb6d2816787a98c7bddc04db552b88f8d8a994b49301973a1bd11245a" + } + } +} diff --git a/coverage/xyzac-trt-wasm-authority-audit.report.json b/coverage/xyzac-trt-wasm-authority-audit.report.json new file mode 100644 index 0000000..113b02c --- /dev/null +++ b/coverage/xyzac-trt-wasm-authority-audit.report.json @@ -0,0 +1,2257 @@ +{ + "accepted_scope_exclusions": [ + { + "code": "PHYSICAL_POWER_LOSS_OUTSIDE_BROWSER", + "detail": "this task validates deterministic browser/WASM simulation only; physical power-loss semantics are outside scope", + "status": "accepted_scope_exclusion" + }, + { + "code": "SAFARI_NOT_REQUIRED", + "detail": "Safari is explicitly excluded from this project's browser matrix", + "status": "accepted_scope_exclusion" + } + ], + "authority_matrix": { + "hal_io_tool_probe": { + "source": "wasm_hal+wasm_io+wasm_device_io", + "status": "verified", + "test": "web/worker/test_xyzac_trt_io_authority.mjs" + }, + "kinematics_rtcp_switchkins": { + "source": "wasm_xyzac_kinematics", + "status": "verified", + "test": "web/worker/test_xyzac_trt_case.mjs" + }, + "motion_jog_home_limit": { + "source": "wasm_motion_queue+wasm_home_limit", + "status": "verified", + "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs" + }, + "program_interpreter": { + "source": "linuxcnc-wasm-sim_program", + "status": "verified", + "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs" + }, + "task_state": { + "source": "wasm_task_canonical", + "status": "verified", + "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs" + } + }, + "authority_owner": "linuxcnc-wasm-worker", + "blockers": [], + "browser_evidence": [ + { + "browser": "chromium", + "commit_seq": 1, + "content_hash": "fnv1a64:ce6a222e5fe010b4", + "mode": "process_kill_profile_reopen", + "process_killed": true, + "source": "scripts/test_browser_opfs_crash_s6_07.mjs", + "status": "verified", + "version": "151.0.7922.169" + }, + { + "browser": "firefox", + "commit_seq": 1, + "content_hash": "fnv1a64:ce6a222e5fe010b4", + "mode": "dedicated_worker_sync_access_handle", + "source": "scripts/test_browser_opfs_firefox_s6_05.mjs", + "status": "verified", + "version": "154.0" + } + ], + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811", + "source_slice_report_sha256": "817531c109c341ccda78b085d2613f35379a716a98f54c9561a118f995b6cd5e" + }, + "checks": { + "context_match": { + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "status": "verified" + }, + "js_authority_boundary": { + "compatibility_scope": "non_selected_cases", + "finding_count": 3, + "selected_case_authority": "wasm_only", + "status": "verified" + }, + "react_no_direct_opfs_writer": { + "matches": [], + "status": "verified" + }, + "react_no_direct_wasm_pointer": { + "matches": [], + "status": "verified" + }, + "release_stop": { + "release_status": "STOP_RELEASE", + "status": "verified" + }, + "report_self_hash": { + "status": "verified" + }, + "source_slice_dependency": { + "report_sha256": "817531c109c341ccda78b085d2613f35379a716a98f54c9561a118f995b6cd5e", + "status": "verified" + }, + "wasm_worker_bootstrap": { + "status": "verified" + }, + "wasm_xyzac_kinematics_source": { + "status": "verified" + }, + "worker_trace": { + "first_divergent_tick": null, + "state_hash": "fnv1a64:e862c9e59d9ffd8c", + "status": "verified" + } + }, + "command_trace": [ + "HELLO", + "SESSION_ATTACH", + "LOAD_WORKSPACE", + "MDI_EXECUTE:M429", + "MDI_EXECUTE:M428", + "MDI_EXECUTE:M430" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "first_divergent_tick": null, + "js_authority_call_count": 0, + "js_authority_findings": [ + { + "code": "JS_PROGRAM_CONTROL_FLOW", + "observed": "ProgramRunner executes control directives and schedules interpreter blocks from JS before WASM motion enqueue", + "required_action": "retain ProgramRunner only for non-selected compatibility cases; selected XYZAC routes through sim_program", + "source_slice": "AXIS-XYZAC-PROGRAM-MDI", + "sources": [ + { + "lines": "107-739", + "path": "web/worker/sim-session.mjs", + "role": "session-authority-routing", + "sha256": "7ce91549f0f3a06ff77db9ee281fd9544848f6e41e08f9da302ee2e7827194e3", + "status": "resolved", + "symbol": "new ProgramRunner" + }, + { + "lines": "372-599", + "path": "web/worker/program-runner.mjs", + "role": "js-program-control-flow", + "sha256": "6b7dc1f8f857f6752d142212824c9598ad14017f1e706b0a4406e6e6976051f6", + "status": "resolved", + "symbol": "executeNext" + } + ], + "status": "resolved_selected_case" + }, + { + "code": "JS_MOTION_STATE_MIRROR", + "observed": "MotionState owns HOME/JOG/limit/following-error/ESTOP transitions and is projected beside WASM state", + "required_action": "retain MotionState only for non-selected compatibility cases; selected XYZAC routes through WASM motion/home-limit", + "source_slice": "AXIS-XYZAC-JOG-HOME", + "sources": [ + { + "lines": "13-13", + "path": "web/worker/motion-state.mjs", + "role": "js-motion-state-mirror", + "sha256": "7acdbd55ca467ae9ada8d4dbeebf290b6d660c3c1a8eb86d750254464dc47c8e", + "status": "resolved", + "symbol": "export class MotionState" + }, + { + "lines": "107-739", + "path": "web/worker/sim-session.mjs", + "role": "session-authority-routing", + "sha256": "7ce91549f0f3a06ff77db9ee281fd9544848f6e41e08f9da302ee2e7827194e3", + "status": "resolved", + "symbol": "new ProgramRunner" + } + ], + "status": "resolved_selected_case" + }, + { + "code": "JS_COMPATIBILITY_PLANNER_PRESENT", + "observed": "AuthoritativeRuntime is constructed for every session and remains serializable even when selected XYZAC motion uses WASM", + "required_action": "planner is omitted from selected XYZAC snapshots; compatibility runtime remains non-selected only", + "source_slice": "AXIS-XYZAC-TASK-TP-MOTION", + "sources": [ + { + "lines": "68-68", + "path": "web/worker/authoritative-runtime.mjs", + "role": "js-compatibility-planner", + "sha256": "c2bdd03de958ffda38553ec6dbddb4b1f5c08b2cb636ba02f25f2b76bdd61604", + "status": "resolved", + "symbol": "export class AuthoritativeRuntime" + }, + { + "lines": "107-739", + "path": "web/worker/sim-session.mjs", + "role": "session-authority-routing", + "sha256": "7ce91549f0f3a06ff77db9ee281fd9544848f6e41e08f9da302ee2e7827194e3", + "status": "resolved", + "symbol": "new ProgramRunner" + } + ], + "status": "resolved_selected_case" + } + ], + "next_task": "RTCP-01", + "normal_boundary_error_recovery": { + "boundary": "compatibility JS classes are excluded from selected XYZAC authority; physical power-loss and Safari are accepted scope exclusions", + "error": [], + "normal": "selected XYZAC Worker startup and M428/M429/M430 trace verified", + "recovery": "Chromium SIGKILL/profile-reopen, corruption detection and Firefox OPFS round-trip are verified" + }, + "release_status": "STOP_RELEASE", + "report_sha256": "f73755bf9d695ee02de03bae8ab65cfc55e593b2758634420e83b6d3bef227e2", + "scans": { + "js_gcode_matches": [ + { + "line": 95, + "path": "web/worker/program-runner.mjs", + "text": "function controlDirective(line) {" + }, + { + "line": 101, + "path": "web/worker/program-runner.mjs", + "text": "function motionControlDirective(line) {" + }, + { + "line": 227, + "path": "web/worker/program-runner.mjs", + "text": "const directive = controlDirective(line);" + }, + { + "line": 372, + "path": "web/worker/program-runner.mjs", + "text": "result = this.executeNext(true);" + }, + { + "line": 425, + "path": "web/worker/program-runner.mjs", + "text": "const result = this.executeNext(true);" + }, + { + "line": 435, + "path": "web/worker/program-runner.mjs", + "text": "return this.executeNext(false);" + }, + { + "line": 438, + "path": "web/worker/program-runner.mjs", + "text": "executeBlock(block) {" + }, + { + "line": 442, + "path": "web/worker/program-runner.mjs", + "text": "const motionControl = motionControlDirective(block);" + }, + { + "line": 454, + "path": "web/worker/program-runner.mjs", + "text": "const result = call(this.core, \"sim_interpreter_execute\", \"number\", [\"number\", \"number\", \"number\"], [this.interpreter, this.blockBuffer, bytes.length]);" + }, + { + "line": 469, + "path": "web/worker/program-runner.mjs", + "text": "for (let index = 0; index < cycles && this.status === \"running\"; index += 1) results.push(this.executeNext(false));" + }, + { + "line": 599, + "path": "web/worker/program-runner.mjs", + "text": "executeNext(seeking) {" + }, + { + "line": 619, + "path": "web/worker/program-runner.mjs", + "text": "const motionControl = motionControlDirective(sourceLine);" + }, + { + "line": 629, + "path": "web/worker/program-runner.mjs", + "text": "const result = call(this.core, \"sim_interpreter_execute\", \"number\", [\"number\", \"number\", \"number\"], [this.interpreter, this.blockBuffer, bytes.length]);" + }, + { + "line": 1405, + "path": "web/worker/sim-session.mjs", + "text": "const result = this.xyzacProgram.executeBlock(block);" + }, + { + "line": 1424, + "path": "web/worker/sim-session.mjs", + "text": "const result = this.program.executeBlock(block);" + }, + { + "line": 188, + "path": "web/worker/wasm-program-runtime.mjs", + "text": "executeBlock(block) {" + } + ], + "opfs_writer_matches": [ + { + "line": 1, + "path": "web/react/dist/assets/sim-worker-entry-DPpmZmXb.js", + "text": "(function(){var e=(()=>{var e=self.location.href;return(function(t){t||={};var t=t===void 0?{}:t,n,r;t.ready=new Promise(function(e,t){n=e,r=t});var i=Object.assign({},t),a=[],o=typeof window==`object`,s=typeof importScripts==`function`;typ" + }, + { + "line": 36, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "builder.write(intToChar[clamped]);" + }, + { + "line": 143, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "if (index > 0) writer.write(comma);" + }, + { + "line": 161, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "writer.write(comma);" + }, + { + "line": 277, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "writer.write(comma);" + }, + { + "line": 330, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "writer.write(comma);" + }, + { + "line": 337, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "writer.write(semicolon);" + }, + { + "line": 398, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.mjs", + "text": "if (i > 0) writer.write(semicolon);" + }, + { + "line": 403, + "path": 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"web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.umd.js", + "text": "writer.write(semicolon);" + }, + { + "line": 446, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.umd.js", + "text": "if (i > 0) writer.write(semicolon);" + }, + { + "line": 451, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/dist/sourcemap-codec.umd.js", + "text": "if (j > 0) writer.write(comma);" + }, + { + "line": 99, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/scopes.ts", + "text": "if (index > 0) writer.write(comma);" + }, + { + "line": 122, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/scopes.ts", + "text": "writer.write(comma);" + }, + { + "line": 273, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/scopes.ts", + "text": "writer.write(comma);" + }, + { + "line": 334, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/scopes.ts", + "text": "writer.write(comma);" + }, + { + "line": 343, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/scopes.ts", + "text": "writer.write(semicolon);" + }, + { + "line": 89, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/sourcemap-codec.ts", + "text": "if (i > 0) writer.write(semicolon);" + }, + { + "line": 96, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/sourcemap-codec.ts", + "text": "if (j > 0) writer.write(comma);" + }, + { + "line": 46, + "path": "web/react/node_modules/@jridgewell/sourcemap-codec/src/vlq.ts", + "text": "builder.write(intToChar[clamped]);" + }, + { + "line": 10, + "path": "web/react/node_modules/@tailwindcss/node/dist/index.js", + "text": "`,r){t+=u.length;let p=t;t+=2+o.value.length+2;let c=t;o.dst=[n,p,c],t+=1}}else if(o.kind===\"context\"||o.kind===\"at-root\")return\"\";return a}let l=\"\";for(let o of e)l+=i(o,0);return n.code=l,l}function Br(e,r){if(typeof e!=\"string\")throw new" + }, + { + "line": 10, + "path": "web/react/node_modules/@tailwindcss/node/dist/index.mjs", + "text": "`,r){t+=u.length;let p=t;t+=2+o.value.length+2;let c=t;o.dst=[n,p,c],t+=1}}else if(o.kind===\"context\"||o.kind===\"at-root\")return\"\";return a}let l=\"\";for(let o of e)l+=i(o,0);return n.code=l,l}function Vr(e,r){if(typeof e!=\"string\")throw new" + }, + { + "line": 219, + "path": "web/react/node_modules/@types/node/buffer.d.ts", + "text": "* const len = buf.write('\\u00bd + \\u00bc = \\u00be', 0);" + }, + { + "line": 226, + "path": "web/react/node_modules/@types/node/buffer.d.ts", + "text": "* const length = buffer.write('abcd', 8);" + }, + { + "line": 634, + "path": "web/react/node_modules/@types/node/child_process.d.ts", + "text": "* grep.stdin.write(data);" + }, + { + "line": 206, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* hash.write('some data to hash');" + }, + { + "line": 330, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* hmac.write('some data to hash');" + }, + { + "line": 713, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* cipher.write('some clear text data');" + }, + { + "line": 963, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* decipher.write(encrypted, 'hex');" + }, + { + "line": 1254, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* sign.write('some data to sign');" + }, + { + "line": 1259, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* verify.write('some data to sign');" + }, + { + "line": 1305, + "path": "web/react/node_modules/@types/node/crypto.d.ts", + "text": "* Calculates the signature on all the data passed through using either `sign.update()` or `sign.write()`." + }, + { + "line": 471, + "path": "web/react/node_modules/@types/node/fs/promises.d.ts", + "text": "* If one or more `filehandle.write()` calls are made on a file handle and then a`filehandle.writeFile()` call is made, the data will be written from the" + }, + { + "line": 492, + "path": "web/react/node_modules/@types/node/fs/promises.d.ts", + "text": "* It is unsafe to use `filehandle.write()` multiple times on the same file" + }, + { + "line": 2727, + "path": "web/react/node_modules/@types/node/fs.d.ts", + "text": "* It is unsafe to use `fs.write()` multiple times on the same file without waiting" + }, + { + "line": 3282, + "path": "web/react/node_modules/@types/node/fs.d.ts", + "text": "* When `file` is a file descriptor, the behavior is similar to calling `fs.write()` directly (which is recommended). See the notes below on using" + }, + { + "line": 698, + "path": "web/react/node_modules/@types/node/http.d.ts", + "text": "* message.write(fileData);" + }, + { + "line": 888, + "path": "web/react/node_modules/@types/node/http.d.ts", + "text": "* If `response.write()` or `response.end()` are called before calling" + }, + { + "line": 1043, + "path": "web/react/node_modules/@types/node/http.d.ts", + "text": "* res.write('hello\\n');" + }, + { + "line": 1881, + "path": "web/react/node_modules/@types/node/http.d.ts", + "text": "* req.write(postData);" + }, + { + "line": 1869, + "path": "web/react/node_modules/@types/node/http2.d.ts", + "text": "* If `data` is specified, it is equivalent to calling `response.write(data, encoding)` followed by `response.end(callback)`." + }, + { + "line": 2005, + "path": "web/react/node_modules/@types/node/http2.d.ts", + "text": "* The first time `response.write()` is called, it will send the buffered" + }, + { + "line": 2007, + "path": "web/react/node_modules/@types/node/http2.d.ts", + "text": "* time `response.write()` is called, Node.js assumes data will be streamed," + }, + { + "line": 2074, + "path": "web/react/node_modules/@types/node/http2.d.ts", + "text": "* If `response.write()` or `response.end()` are called before calling" + }, + { + "line": 201, + "path": "web/react/node_modules/@types/node/https.d.ts", + "text": "* process.stdout.write(d);" + }, + { + "line": 377, + "path": "web/react/node_modules/@types/node/https.d.ts", + "text": "* process.stdout.write(d);" + }, + { + "line": 286, + "path": "web/react/node_modules/@types/node/net.d.ts", + "text": "* `net.Socket` has the property that `socket.write()` always works. 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"verified", + "coverage/xyzac-trt-program-preview.report.json": "verified", + "coverage/xyzac-trt-protocol-react.report.json": "verified", + "coverage/xyzac-trt-recovery.report.json": "verified", + "coverage/xyzac-trt-rtcp.report.json": "verified", + "coverage/xyzac-trt-source-slice-inventory.report.json": "verified", + "coverage/xyzac-trt-startup.report.json": "verified", + "coverage/xyzac-trt-threejs.report.json": "verified", + "coverage/xyzac-trt-tool-preview.report.json": "verified", + "coverage/xyzac-trt-trace-parity.report.json": "verified", + "coverage/xyzac-trt-wasm-authority-audit.report.json": "verified", + "coverage/xyzac-trt-workflow.report.json": "verified" + } +} diff --git a/coverage/xyzac-trt-workflow.report.json b/coverage/xyzac-trt-workflow.report.json new file mode 100644 index 0000000..0c7a979 --- /dev/null +++ b/coverage/xyzac-trt-workflow.report.json @@ -0,0 +1,63 @@ +{ + "abort_queue_empty": true, + "active_segment_before_abort": 1, + "authority": "linuxcnc-wasm-worker", + "candidate_eligible": true, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "command_trace": [ + "PROGRAM_LOAD", + "PROGRAM_RUN", + "SIM_STEP", + "PROGRAM_PAUSE", + "SNAPSHOT_REQUEST", + "PROGRAM_RESUME", + "SIM_STEP", + "PROGRAM_ABORT", + "PROGRAM_RESTART", + "PROGRAM_SEEK", + "PROGRAM_RESUME", + "SIM_STEP", + "CHECKPOINT", + "RECOVER" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "failure_samples": [], + "pause_cursor_stable": true, + "recovery_status": "recovered", + "release_status": "STOP_RELEASE", + "report_sha256": "d98a16e6582c0bc9fdaa410da64be369cc21d56a61a04b43436d4900c12461b0", + "restart_source_hash_preserved": true, + "run_from_line": 4, + "schema": "xyzac-workflow-rtcp-05.v1", + "scope": "xyzac_only", + "state_hash": "fnv1a64:285d97dde7d56ea7", + "status": "verified", + "task_id": "RTCP-05", + "tests": [ + { + "command": [ + "node", + "web/worker/test_xyzac_workflow.mjs" + ], + "output_sha256": "197bc634f7f9ddf290b1a64d3cbd1f52d257dcc4982e5de3bd16f6358c70702b", + "returncode": 0, + "status": "verified" + } + ], + "tick_trace": [ + 1 + ], + "workflow": { + "abort": "verified", + "pause": "verified", + "recovery": "verified", + "restart": "verified", + "resume": "verified", + "run": "verified", + "run_from_line": "verified", + "step": "verified" + } +} diff --git a/doc-g/5axis-rtcp-running.png b/doc-g/5axis-rtcp-running.png new file mode 100644 index 0000000..e5d9a81 Binary files /dev/null and b/doc-g/5axis-rtcp-running.png differ diff --git a/doc-g/5axis-rtcp-shortcut.md b/doc-g/5axis-rtcp-shortcut.md new file mode 100644 index 0000000..629fe0a --- /dev/null +++ b/doc-g/5axis-rtcp-shortcut.md @@ -0,0 +1,62 @@ +# 五轴 RTCP 案例快捷方式 + +快捷方式：[`../run-5axis-rtcp.sh`](../run-5axis-rtcp.sh) + +默认执行： + +```bash +./run-5axis-rtcp.sh +``` + +默认案例是： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +它使用 `XYZAC` 五轴表旋转/倾斜（TRT）拓扑、`xyzac-trt-kins` 和 Vismach `xyzac-trt-gui`。默认演示程序是： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc +``` + +该顶层演示调用 `remap_subs/xyzac_switchkins_sub.ngc`；其螺旋插补子程序 `remap_subs/helix_ac.ngc` 使用： + +```gcode +M428 ;TCP:xyzac +``` + +`M428` 通过 remap 将 `motion.switchkins-type` 切换到 XYZAC TCP/RTCP 运动学；`helix_ac.ngc` 在需要机床坐标定位时使用 `M429` 切回 identity，再用 `M428` 进入 TCP。配置的 `M430` 进入 userk。AXIS 右侧的 `TCP:XYZAC` 按钮也提供同一切换入口。 + +## XYZBC 变体 + +快捷方式接受可选配置名： + +```bash +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +该变体使用 `XYZBC` 和 `xyzbc-trt-kins`，默认程序为 `demos/xyzbc_switchkins.ngc`。 + +## 启动证据 + +![五轴 XYZAC RTCP 案例运行](5axis-rtcp-running.png) + +实测启动结果： + +- AXIS 标题：`xyzac_switchkins.ngc - AXIS 2.10.0~pre1 on sim-xyzac-trt-kins (switchkins)`。 +- 右侧 `SWITCHKINS` 面板显示 `TCP:XYZAC`。 +- Vismach 预览显示五轴机床和多轴刀具轨迹。 +- LinuxCNC 状态接口返回 `file=./demos/xyzac_switchkins.ngc`，`COORDINATES=XYZAC`。 +- 当前环境使用 POSIX non-realtime 回退；这验证的是仿真配置和 RTCP 路径，不是实时硬件性能。 + +## 来源依据 + +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc` +- `linuxcnc/src/emc/kinematics/xyzac-trt-kins.c` +- `linuxcnc/src/emc/kinematics/trtfuncs.c` +- `linuxcnc/docs/src/motion/5-axis-kinematics.adoc` diff --git a/doc-g/README.md b/doc-g/README.md new file mode 100644 index 0000000..bb567c2 --- /dev/null +++ b/doc-g/README.md @@ -0,0 +1,29 @@ +# GMOCCAPY 调查资料 + +本目录保存本次 GMOCCAPY 实机仿真检查的截图、文件清单、源码分析和加载测试证据。后续与本案例有关的分析文档继续写入 `./doc-g`，不把临时调查结论散落到项目根目录。 + +## 入口 + +- [五轴 RTCP 文档集](../doc-rtcp/README.md) +- [HTML 图文使用说明](generate.html) +- [五轴 RTCP 快捷方式](5axis-rtcp-shortcut.md) +- [控制面板数据流与控制流](gmoccapy-control-panel-data-control-flow.md) +- [GMOCCAPY 分析报告](gmoccapy-analysis.md) +- [逐文件清单](gmoccapy-file-inventory.md) +- [机器可读清单](gmoccapy-file-inventory.json) + +## 截图 + +- `gmoccapy-important-changes.png`：用户提供的首次启动提示。 +- `gmoccapy-important-changes-v2.png`：本轮新增的用户截图证据，已与系统 GMOCCAPY 3.5.2 源码逐项对照。 +- `gmoccapy-before-load.png`：主界面尚未加载程序。 +- `gmoccapy-after-popup-close.png`：关闭提示后的主界面。 +- `gmoccapy-load-file-page.png`：实际打开的程序文件选择页，能看到 `.ngc` 文件。 +- `gmoccapy-program-loaded.png`：通过 LinuxCNC API 加载 `3dtest.ngc` 后的路径和刀具轨迹。 + +## 可复现命令 + +```bash +./run-gmoccapy.sh +python3 doc-g/generate_inventory.py +``` diff --git a/doc-g/generate.html b/doc-g/generate.html new file mode 100644 index 0000000..a1146cd --- /dev/null +++ b/doc-g/generate.html @@ -0,0 +1,264 @@ + + + + + + GMOCCAPY 仿真使用说明 + + + +
+

GMOCCAPY 仿真使用说明

+

从首次启动提示、进入 AUTO、选择 G-code，到确认程序已加载。红色箭头表示需要点击的位置；本手册基于当前工作区的实际 GMOCCAPY 截图和源码分析。

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快速流程

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  1. 启动项目快捷方式：./run-gmoccapy.sh。
    2. +
  2. 首次弹窗出现时，点击右侧 X；可选中“Don't show this again”。
    3. +
  3. 确认机器上电并完成 homing，然后点击右侧第三个模式按钮进入 AUTO。
    4. +
  4. 进入 AUTO 后，在 AUTO 按钮组中点击“打开文件”图标，选择 .ngc 文件。
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  5. 点击文件选择页底部的绿色对勾确认，检查顶部文件路径和刀具轨迹。
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  6. 加载不会自动运行；确认安全后再点击 Run，或使用 R 快捷键。
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2. 进入 AUTO 模式

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关键点：你要找的“加载程序”按钮不在当前 MANUAL/JOG 页面。它只有在切换到 AUTO 后，才会被放入 AUTO 专用按钮组。

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+
+ 关闭提示后的 GMOCCAPY 主界面 + +
+
箭头指向右侧竖向模式按钮中的 AUTO 图标。若该按钮灰色，先处理“急停、上电、homing”状态。
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具体点击顺序

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  1. 先看右侧竖条。从上到下通常是急停、上电、AUTO、MDI 等图标。点击第三个“彩色小方块/机床箭头”图标，不要点击 MDI 计算器图标。
    2. +
  2. 等待页面切换。右侧或底部按钮区域会从手动点动按钮切换为 AUTO 按钮组。窗口大小、主题和侧面板会改变图标的排列，但按钮的 tooltip 仍是 Load a new program。
    3. +
  3. 再点打开文件按钮。在 AUTO 按钮组中寻找文件夹/打开文件图标。它的源码 ID 是 btn_load，不是文件选择页里的绿色对勾。
    4. +
  4. 看到文件网格才算进入选择界面。点击 btn_load 后，GMOCCAPY 才会打开“选择 G-code 程序”界面；源码函数是 on_btn_load_clicked()，它把按钮页切换到文件选择页。
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A
右侧第三个 AUTO 图标rbt_auto：先切换按钮组。
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B
AUTO 页面中的打开文件图标btn_load，tooltip 为 Load a new program；点击它才打开文件选择界面。
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C
文件网格和底部绿色对勾btn_select：选择文件后确认返回路径。
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在 AUTO 页面里，具体就是这个打开文件图标

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下图不是另一个入口，而是从 GMOCCAPY Glade 的 hbtb_auto 按钮组和当前 icon theme 放大的控件图。红框和箭头明确标出 btn_load；鼠标悬停时 tooltip 是 Load a new program。

+ +
如果你只看到右侧 AUTO 图标而没有这排按钮：你还没有完成 AUTO 页面切换，或者 AUTO 被急停/未上电/未 homing 状态门控。先点击上面的 AUTO 入口，等按钮组切换完成，再寻找红框位置。
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不要把两个按钮混淆：btn_load 负责“打开文件选择界面”；文件界面底部的绿色对勾 btn_select 负责“确认当前选中的文件”。
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当前仿真配置的共享 home switch 曾报告 Cannot home while shared home switch is closed j=2。这会让 AUTO 保持门控；它是仿真 HAL 状态问题，不是加载按钮消失。
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3. 选择 G-code 程序

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只有完成上一节的 AUTO → 打开文件图标 两次点击后，才会出现下面这个文件界面。进入文件页后，GMOCCAPY 会按配置中的 PROGRAM_PREFIX = ../../nc_files/ 显示程序。当前配置解析到：

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/home/mes006/linuxcncWebWASM/linuxcnc/nc_files/
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+ GMOCCAPY 文件选择页 + +
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示例中可以看到 3dtest.ngc。底部右侧绿色对勾用于返回选中的路径；黄色弯箭头用于返回上一页。文件网格不会在 MANUAL/JOG 页面直接出现。
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界面出现后的点击顺序

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  1. 在文件网格中单击目标文件，例如 3dtest.ngc；选中项会出现高亮。
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  2. 点击底部右侧绿色对勾（btn_select）。它会返回文件路径并关闭文件选择页。
    3. +
  3. 回到主界面后，顶部标题应显示完整路径，预览区应显示刀具轨迹。
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4. 确认程序已经加载

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加载成功后，顶部标题不再是 No Program loaded，而会显示完整文件路径；左侧预览区会出现刀具轨迹。加载本身不会启动运动。

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+ 3dtest.ngc 已加载并显示刀具轨迹 + +
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本次测试加载的文件是 3dtest.ngc；LinuxCNC 状态接口返回该路径，解释器保持空闲。
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常见问题

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看不到加载按钮按“关闭首次提示 → 右侧第三个 AUTO 图标 → AUTO 按钮组中的打开文件图标”顺序操作。文件网格本身不是入口，它是点击 btn_load 之后才出现的。
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AUTO 图标是灰色检查急停复位、机器上电和 homing。GMOCCAPY 会在状态不满足时禁用模式切换。
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加载后没有运动这是正常的。加载只生成程序和预览；要执行必须点击 Run 或按 R。
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启动日志提示 POSIX non-realtime当前环境没有实时内核。可用于仿真界面和加载检查，但不能作为实时硬件性能证明。
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源码、配置与证据

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项目位置用途
AUTO 入口rbt_auto / on_rbt_auto_pressed右侧第三个模式按钮；先进入 AUTO，加载按钮才可见。
AUTO 按钮组hbtb_autoGMOCCAPY Glade 中承载打开、重载、运行、停止、暂停和单步按钮。
加载按钮gmoccapy.py:5046、btn_load切换到文件选择页。
文件确认gmoccapy.py:5116、btn_select将选中的文件交给 hal_action_open.load_file(path)。
程序目录configs/sim/gmoccapy/gmoccapy.iniPROGRAM_PREFIX = ../../nc_files/。
逐文件分析gmoccapy-file-inventory.md1,233 个配置、实现、资源、图标、翻译和文档文件的哈希清单。
完整分析gmoccapy-analysis.md本次提示、界面、加载测试和限制的详细记录。
+

本页是静态 HTML，不依赖网络。复制整个 doc-g 目录后，直接用浏览器打开本文件即可。

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GMOCCAPY 仿真使用说明 · 证据和后续文档统一保存在 ./doc-g
+ + diff --git a/doc-g/generate_inventory.py b/doc-g/generate_inventory.py new file mode 100644 index 0000000..f70a85e --- /dev/null +++ b/doc-g/generate_inventory.py @@ -0,0 +1,118 @@ +#!/usr/bin/env python3 +"""Build a deterministic inventory for the GMOCCAPY source and case assets.""" + +from __future__ import annotations + +import hashlib +import json +from pathlib import Path + + +ROOT = Path(__file__).resolve().parents[1] +OUT = Path(__file__).resolve().parent + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def classify(rel: str) -> str: + path = Path(rel) + if "/configs/sim/gmoccapy/" in rel: + if path.suffix == ".ini": + return "simulation_ini" + if path.suffix in {".hal", ".tbl", ".para", ".var", ".pref"}: + return "simulation_runtime_data" + if path.suffix in {".ngc", ".py", ".ui", ".glade", ".svg", ".txt", ".README"}: + return "simulation_resource" + return "simulation_asset" + if "/src/emc/usr_intf/gmoccapy/" in rel or "/lib/python/gmoccapy/" in rel: + return "implementation" + if "/share/gmoccapy/" in rel: + if "icons/" in rel: + return "icon_asset" + return "installed_ui_asset" + if "/src/po/gmoccapy/" in rel: + return "translation" + if "/docs/src/gui/images/gmoccapy_" in rel or "/docs/src/user/images/gmoccapy_" in rel: + return "documentation_asset" + if "/docs/src/gui/gmoccapy" in rel or "/docs/man/man1/gmoccapy" in rel: + return "documentation" + return "cross_reference" + + +def collect(paths: list[Path]) -> list[dict[str, object]]: + files: list[Path] = [] + for base in paths: + if base.is_file(): + files.append(base) + elif base.is_dir(): + files.extend(p for p in base.rglob("*") if p.is_file()) + rows = [] + for path in sorted(set(files)): + rel = path.relative_to(ROOT).as_posix() + rows.append( + { + "path": rel, + "role": classify(rel), + "bytes": path.stat().st_size, + "sha256": sha256(path), + } + ) + return rows + + +def main() -> None: + rows = collect( + [ + ROOT / "linuxcnc/configs/sim/gmoccapy", + ROOT / "linuxcnc/src/emc/usr_intf/gmoccapy", + ROOT / "linuxcnc/lib/python/gmoccapy", + ROOT / "linuxcnc/share/gmoccapy", + ROOT / "linuxcnc/src/po/gmoccapy", + ROOT / "linuxcnc/docs/src/gui/gmoccapy.adoc", + ROOT / "linuxcnc/docs/man/man1/gmoccapy.1", + *sorted((ROOT / "linuxcnc/docs/src/gui/images").glob("gmoccapy_*")), + *sorted((ROOT / "linuxcnc/docs/src/user/images").glob("gmoccapy_*")), + ] + ) + summary: dict[str, int] = {} + for row in rows: + role = str(row["role"]) + summary[role] = summary.get(role, 0) + 1 + payload = { + "schema": "gmoccapy-file-inventory.v1", + "scope": [ + "linuxcnc/configs/sim/gmoccapy/**", + "linuxcnc/src/emc/usr_intf/gmoccapy/**", + "linuxcnc/lib/python/gmoccapy/**", + "linuxcnc/share/gmoccapy/**", + "linuxcnc/src/po/gmoccapy/**", + "linuxcnc/docs/src/gui/gmoccapy.adoc", + "linuxcnc/docs/man/man1/gmoccapy.1", + "linuxcnc/docs/src/gui/images/gmoccapy_*", + "linuxcnc/docs/src/user/images/gmoccapy_*", + ], + "file_count": len(rows), + "role_counts": dict(sorted(summary.items())), + "files": rows, + } + (OUT / "gmoccapy-file-inventory.json").write_text( + json.dumps(payload, ensure_ascii=False, sort_keys=True, indent=2) + "\n", + encoding="utf-8", + ) + lines = [ + "# GMOCCAPY 文件清单", + "", + f"清单范围内共 `{len(rows)}` 个文件；每项包含相对路径、角色、字节数和 SHA-256。", + "", + "| 角色 | 数量 |", + "|---|---:|", + ] + lines.extend(f"| `{role}` | {count} |" for role, count in sorted(summary.items())) + lines.extend(["", "完整逐文件数据见 [`gmoccapy-file-inventory.json`](gmoccapy-file-inventory.json)。", ""]) + (OUT / "gmoccapy-file-inventory.md").write_text("\n".join(lines), encoding="utf-8") + + +if __name__ == "__main__": + main() diff --git a/doc-g/gmoccapy-3dtest-loaded-through-ui.png b/doc-g/gmoccapy-3dtest-loaded-through-ui.png new file mode 100644 index 0000000..52d3735 Binary files /dev/null and b/doc-g/gmoccapy-3dtest-loaded-through-ui.png differ diff --git a/doc-g/gmoccapy-after-popup-close.png b/doc-g/gmoccapy-after-popup-close.png new file mode 100644 index 0000000..cf2cfce Binary files /dev/null and b/doc-g/gmoccapy-after-popup-close.png differ diff --git a/doc-g/gmoccapy-analysis.md b/doc-g/gmoccapy-analysis.md new file mode 100644 index 0000000..d01d651 --- /dev/null +++ b/doc-g/gmoccapy-analysis.md @@ -0,0 +1,170 @@ +# GMOCCAPY 分析与加载测试 + +更新时间：2026-08-25 + +## 结论 + +“没有看到加载程序按钮”不是按钮缺失，而是首次启动提示和 GMOCCAPY 的模式门控共同造成的视觉结果： + +1. 首次启动会弹出模态的 `Important change(s)` 窗口。该窗口覆盖主界面并阻止底层点击；用户截图中的右侧 `X` 是关闭按钮，底部复选框是 `Don't show this again`。 +2. 加载按钮只属于 AUTO 页面按钮组，不属于 MANUAL/JOG 页面。源码将它声明为 `btn_load`，提示为 `Load a new program`，图标为 `img_open`。 +3. AUTO 模式还受机器状态和 homing 门控。`gmoccapy.py` 在未满足状态时会禁用 `rbt_auto`，并提示 `It is not possible to change to Auto Mode at the moment`。 +4. 关闭首次提示、进入 AUTO 后，点击文件夹/打开文件图标会进入文件选择页。当前 `gmoccapy.ini` 的 `PROGRAM_PREFIX = ../../nc_files/` 解析到 `linuxcnc/nc_files`。 + +## 用户截图分析 + +![首次启动提示](gmoccapy-important-changes.png) + +用户提供的图片尺寸为 `697 x 837`，内容是 GMOCCAPY 3.5.x 的版本变更提示： + +- LinuxCNC 2.10/GMOCCAPY 3.5.0 不再在换刀后自动保留 G43；需要通过 REMAP 实现自动重新激活。 +- 3.5.1 的工具表和偏置页默认使用计算器输入，可在设置或按钮中改变。 +- MDI 和 G-code 编辑模式新增调用计算器的按钮。 +- `release notes` 是橙色链接；右下方复选框用于永久隐藏该提示。 + +这张提示不是文件选择器，也不是加载失败信息。应先关闭它，再操作主界面。 + +### 新截图的源码逐项对照 + +![用户提供的最新提示截图](gmoccapy-important-changes-v2.png) + +这张截图与前一张内容一致，尺寸为 `697 x 837`，SHA-256 为 `df7322c30bcb6af131591a04b11cad24e7b6d186beaff83059fcfd8ffbae2d1b`。截图中的每一块文字都能在当前系统安装的 `/usr/bin/gmoccapy` 中找到： + +| 截图区域 | 源码证据 | 含义 | +|---|---|---| +| `Important change(s)` 标题 | `/usr/bin/gmoccapy:557-560` | `_startup_message()` 建立启动提示标题；注释要求新增消息只能追加，不能删除旧消息，否则隐藏索引会错位。 | +| 3.5.0 G43 提示 | `/usr/bin/gmoccapy:561-563` | GMOCCAPY 3.5.0 不再承诺换刀后自动保留 G43；想自动恢复必须使用 REMAP，示例在 GMOCCAPY 仿真配置中。 | +| 3.5.1 计算器提示 | `/usr/bin/gmoccapy:564-565` | 工具表和偏置页默认启用计算器输入；设置或页面按钮可以关闭；MDI 和 G-code 编辑页也增加了计算器按钮。 | +| `release notes` 链接 | `/usr/bin/gmoccapy:570-573` | 以 Pango markup 拼接 LinuxCNC 官方 release notes URL，并通过通知组件显示。点击它会打开文档，不会关闭提示。 | +| `Don't show this again` | `notification.py:151-155` | `show_checkbox=True` 时创建 GTK `CheckButton`；它不是普通说明文字，而是真正影响后续启动行为的复选框。 | +| 右侧 `X` | `notification.py:156-164` | 创建名为 `notification_close` 的 48x48 关闭按钮；点击后删除该消息，并把复选框状态发回 GMOCCAPY。 | + +### 弹窗什么时候出现 + +系统运行时在 GUI 初始化和周期任务准备完成后，于 `/usr/bin/gmoccapy:519` 调用 `_startup_message()`。它读取偏好项 `hide_startup_messsage`（注意源码中确实有三个 `s` 的拼写）： + +```python +hide_message = self.prefs.getpref("hide_startup_messsage", 0, int) +if hide_message < len(messages): + ... + self.notification.add_message(message, INFO_ICON, show_checkbox=True) +``` + +当前消息数组有两项，因此默认值 `0` 会显示两项。关闭时如果复选框被勾选，`/usr/bin/gmoccapy:6241-6242` 将 `self.num`（当前为 `2`）写回 `hide_startup_messsage`。下次启动判断 `2 < 2` 为假，提示不再出现。普通点击 `X` 不勾选复选框时，只删除本次通知，下次仍会显示。 + +### 版本边界：截图运行时与仓库锁定源不同 + +这是本次分析中最重要的来源边界： + +- 截图对应的实际运行程序是 `/usr/bin/gmoccapy`，其中 `_RELEASE = "3.5.2"`，并包含 `_startup_message()`、3.5.0/3.5.1 文本和隐藏偏好逻辑。 +- 仓库锁定源是 `linuxcnc/VERSION = 2.10.0~pre0`；`linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py:79` 的版本为 `3.4.3`，该文件没有 `_startup_message()` 实现，也没有截图中的 3.5.0/3.5.1 文本。 +- 本地启动日志曾显示 `LinuxCNC 2.10.0~pre1` 和 `gmoccapy 3.5.2`，与截图完全一致。因此这张截图是系统安装包的运行时证据，不应反向宣称锁定仓库 2.10.0~pre0/3.4.3 源码已经包含该功能。 + +已记录的运行时文件哈希： + +```text +/usr/bin/gmoccapy 11e7aee9216d24e4cc41018306f2541845bca9a9d6e16c38580f3ede9cca8d4d +/usr/share/gmoccapy/gmoccapy.glade 5fdc1557b02a716d30414fe739614fcd7c1d14cbe2e0a4c202c567a60b460adb +/usr/lib/python3/dist-packages/gmoccapy/notification.py + e0317fea738745f480c79d1f690bc52e88cc7f81bb4d14fa09c8c7196afb4e2f +``` + +### 用户应如何处理 + +1. 只想本次继续操作：点击右侧 `X`，不要勾选复选框。 +2. 不想以后重复看到：先勾选 `Don't show this again`，再点击 `X`。 +3. 想查看变更依据：点击 `release notes`，但这需要浏览器/网络或本地文档可用。 +4. 使用 G43 的程序：不要仅依赖界面自动行为；在 AUTO 程序中按机床配置和 REMAP 约定明确处理刀具长度补偿，并在正式加工前验证工具表和偏置。 + +## 实际界面证据 + +### 未加载状态 + +![未加载程序](gmoccapy-before-load.png) + +主界面顶部显示 `No Program loaded`。右侧竖向按钮中第三个为 AUTO 模式图标；在 MANUAL 页面时，AUTO 页面里的 `Load a new program` 不会显示在当前按钮组。 + +### 文件选择页 + +![加载程序文件选择页](gmoccapy-load-file-page.png) + +这张截图是实际运行 GMOCCAPY 后进入的文件选择页。页面显示 `gcmc_lib`、`macros`、`ngcgui_lib` 等目录以及 `3D_Chips.ngc`、`3dtest.ngc` 等程序。底部右侧绿色对勾是确认选择，右下黄色回退箭头是返回。 + +进入这张页面的完整点击链是： + +1. 关闭首次 `Important change(s)` 模态提示。 +2. 在主界面右侧点击第三个模式图标，进入 AUTO；源码控件为 `rbt_auto`。 +3. 等待 AUTO 按钮组出现，在其中点击打开文件图标；源码控件为 `btn_load`，tooltip 为 `Load a new program`。 +4. `on_btn_load_clicked()` 将按钮页切换到文件选择页；此时才会看到本截图中的文件网格。 +5. 选中 `.ngc` 文件后点击底部绿色对勾，源码控件为 `btn_select`。 + +因此，文件网格不是主界面的固定按钮，也不是 MDI 入口；在 MANUAL/JOG 页面直接寻找它不会找到。 + +### 加载后的程序 + +![加载 3dtest.ngc 后](gmoccapy-program-loaded.png) + +通过 LinuxCNC 的 `command.program_open()` 加载： + +```text +/home/mes006/linuxcncWebWASM/linuxcnc/nc_files/3dtest.ngc +``` + +加载成功的证据是： + +- 顶部由 `No Program loaded` 变成完整程序路径； +- 预览区出现 G-code 刀具轨迹； +- `linuxcnc.stat().file` 返回上述路径； +- `interp_state` 保持空闲，加载本身不会自动运行程序。 + +## 源码与界面映射 + +| 层 | 文件/符号 | 结论 | +|---|---|---| +| 主逻辑 | `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` | `on_btn_load_clicked()` 切到文件选择页；`on_IconFileSelection1_selected()` 调用 `hal_action_open.load_file(path)`。 | +| 加载按钮 | `btn_load` / `img_open` | tooltip 是 `Load a new program`，只在 AUTO 按钮页 `hbtb_auto`。 | +| 运行按钮 | `btn_run` / `img_run` | tooltip 是 `Run the loaded program`；加载后仍需手动运行。 | +| 文件确认 | `btn_select` / `img_select` | tooltip 是 `select the highlighted file and return the path`。 | +| 返回 | `btn_back_file_load` / `img_back_file_load` | 关闭文件选择页但不返回路径。 | +| 文件资源 | `linuxcnc/lib/python/gladevcp/iconview.py` 及 GMOCCAPY 初始化 | 读取 `PROGRAM_PREFIX`，按配置扩展名展示文件和目录。 | +| 首次提示 | GMOCCAPY preferences/release-notes 逻辑 | 模态提示优先于主界面，必须先关闭。 | + +## 配置与资源分析 + +默认配置为 `linuxcnc/configs/sim/gmoccapy/gmoccapy.ini`： + +- `[DISPLAY] DISPLAY = gmoccapy`：选择 GMOCCAPY GUI。 +- `[DISPLAY] PROGRAM_PREFIX = ../../nc_files/`：从配置目录解析到 `linuxcnc/nc_files`。 +- `[RS274NGC] PARAMETER_FILE = sim.var`：仿真参数文件。 +- `[RS274NGC] SUBROUTINE_PATH = macros`：宏和子程序搜索路径。 +- `[EMCIO] TOOL_TABLE = tool.tbl`：工具表。 +- `[HAL]` 加载 `core_sim.hal`、`spindle_sim.hal`、`simulated_home.hal`，并在 GUI 启动后加载 `gmoccapy_postgui.hal`。 + +`configs/sim/gmoccapy` 不是单一案例，而是一组配置族，包含标准三轴、四轴、XYZAB/XYZAC/XYZCW、多轴、侧面板、消息、工具传感器、用户页、等离子和车床配置。完整逐文件路径与哈希见 [文件清单](gmoccapy-file-inventory.md)。 + +## 运行环境与限制 + +- 启动入口：[`../run-gmoccapy.sh`](../run-gmoccapy.sh)，默认执行 `gmoccapy.ini`。 +- 实际 GUI 进程：`/usr/bin/python3 /usr/bin/gmoccapy -ini .../gmoccapy.ini`。 +- 当前环境没有实时内核，LinuxCNC 日志明确回退到 POSIX non-realtime；这不影响本次“加载和预览”验证，但不等同于实时硬件运行验证。 +- `simulated_home.hal` 的共享 home switch 在本次手动尝试中报告 `Cannot home while shared home switch is closed j=2`，因此 AUTO 模式按钮可能保持禁用。加载程序本身仍可通过 GUI 文件页/API 验证。 +- 加载和运行是两个动作：`program_open` 只读入程序并生成预览；需要 `AUTO` 页面中的 Run 按钮或 `R` 快捷键才会执行。 + +## 推荐操作顺序 + +1. 启动 `./run-gmoccapy.sh`。 +2. 关闭首次 `Important change(s)` 提示；可勾选 `Don't show this again`。 +3. 确认急停复位、机器上电，并按配置完成 homing；否则 AUTO 可能被门控。 +4. 点击右侧 AUTO 图标，进入 AUTO 按钮页。 +5. 点击带打开文件/文件夹图标的 `Load a new program`。 +6. 选择 `linuxcnc/nc_files` 下的 `.ngc` 文件，点击底部绿色对勾。 +7. 检查顶部路径和预览轨迹，再使用 Run；不要把加载误认为已经执行。 + +## 证据文件 + +- `gmoccapy-important-changes.png`：用户原始提示截图。 +- `gmoccapy-before-load.png`：未加载程序。 +- `gmoccapy-after-popup-close.png`：关闭提示后的主界面。 +- `gmoccapy-load-file-page.png`：实际文件选择页。 +- `gmoccapy-program-loaded.png`：加载后的程序和轨迹。 +- `gmoccapy-file-inventory.json`：逐文件 SHA-256 清单。 diff --git a/doc-g/gmoccapy-auto-active-icon.png b/doc-g/gmoccapy-auto-active-icon.png new file mode 100644 index 0000000..a9c8fe0 Binary files /dev/null and b/doc-g/gmoccapy-auto-active-icon.png differ diff --git a/doc-g/gmoccapy-auto-api.png b/doc-g/gmoccapy-auto-api.png new file mode 100644 index 0000000..0ad9200 Binary files /dev/null and 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GMOCCAPY 控制面板功能、数据流与控制流 + +更新时间：2026-08-25 + +本文是后续分析 GMOCCAPY 控制面板的总入口。它把普通三轴 `gmoccapy.ini` 和五轴 XYZAC RTCP 案例放在同一套模型中，区分 UI 控件、GMOCCAPY Python handler、LinuxCNC command/status、TASK/motion、HAL 和 Vismach 的责任边界。 + +## 1. 范围与版本边界 + +| 项目 | 当前工作区/运行时 | +|---|---| +| 仓库源码 | `linuxcnc/VERSION = 2.10.0~pre0` | +| 仓库 GMOCCAPY 源码 | `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`，`_RELEASE = 3.4.3` | +| 实际系统 GUI | `/usr/bin/gmoccapy`，运行时版本 `3.5.2`，系统 LinuxCNC `2.10.0~pre1` | +| 普通面板入口 | [`run-gmoccapy.sh`](../run-gmoccapy.sh)，默认 `configs/sim/gmoccapy/gmoccapy.ini` | +| 五轴 RTCP 入口 | [`run-5axis-rtcp.sh`](../run-5axis-rtcp.sh)，默认 XYZAC TRT switchkins | +| 发布/仿真边界 | POSIX non-realtime 仿真；不等同于实时硬件验证 | + +截图中的 `Important change(s)` 弹窗来自系统 GMOCCAPY 3.5.2，不存在于仓库 3.4.3 源文件中；两套来源不能混为一个源码版本。详细证据见 [GMOCCAPY 分析报告](gmoccapy-analysis.md)。 + +## 2. 总体架构 + +```text +快捷方式 / linuxcnc -r CASE.ini + │ + ▼ +LinuxCNC 启动器与 INI 解析 + │ + ├── linuxcncsvr / NML 状态与命令通道 + ├── milltask / RS274NGC interpreter / task mode + ├── motmod + kinematics / fixed servo cycle + ├── HAL files / HALUI / simulated devices + └── DISPLAY=gmoccapy 或 DISPLAY=axis + │ + ▼ + GMOCCAPY Gtk/Glade 控制面板 + │ + ┌─────────┴─────────┐ + │ │ + 用户点击/键盘/HAL linuxcnc.stat/HAL status + │ ▲ + ▼ │ + Python handler ── command ─┴── TASK/motion/HAL feedback + │ + ├── 模式/按钮页切换 + ├── 程序加载/预览 + ├── AUTO 运行/暂停/停止/单步 + ├── MDI 命令 + └── homing、tool、offset、spindle、coolant +``` + +GMOCCAPY 不是运动学计算器。它负责把操作员动作转换为 LinuxCNC command，并把 LinuxCNC status/HAL status 投影回界面；真正的解释器、轨迹规划、逆解/正解和关节命令由 LinuxCNC runtime 完成。 + +## 3. 启动控制流 + +### 3.1 快捷方式层 + +`run-gmoccapy.sh` 和 `run-5axis-rtcp.sh` 都遵循相同模式： + +1. 计算仓库绝对路径，避免从任意工作目录启动时相对路径漂移。 +2. 校验 INI、演示程序、LinuxCNC launcher 是否存在。 +3. 进入 LinuxCNC 根目录。 +4. 执行 `/usr/bin/linuxcnc -r CASE.ini`，保留终端诊断。 + +五轴快捷方式额外检查 RTCP 子程序中确实存在 `M428`，并支持 `xyzac-trt.ini` 与 `xyzbc-trt.ini` 两个变体。 + +### 3.2 INI 到进程 + +以普通 GMOCCAPY 为例： + +```text +[DISPLAY] DISPLAY=gmoccapy +[TASK] TASK=milltask +[HAL] core_sim.hal + spindle_sim.hal + simulated_home.hal +[EMCIO] TOOL_TABLE=tool.tbl +[RS274NGC] PARAMETER_FILE=sim.var, SUBROUTINE_PATH=macros +[KINS] trivkins coordinates=xyz +``` + +启动器随后创建 `linuxcncsvr`、`milltask`、`halui` 和 GMOCCAPY。GMOCCAPY 进程通过 `-ini` 得到同一个 INI 路径，不能自行替代 TASK/motion/HAL。 + +### 3.3 GMOCCAPY 初始化顺序 + +仓库源码 `gmoccapy.py` 的主初始化顺序为： + +1. 解析 `-user_mode`、`-logo` 参数（约 `243-270` 行）。 +2. 读取 INI（`_get_ini_data()`，约 `272-275` 行）。 +3. 读取偏好文件（`_get_pref_data()`）。 +4. 动态创建 DRO、home、touch-off、jog、macro 等控件（约 `280-305` 行）。 +5. 建立 GMOCCAPY HAL pins（约 `307` 行）。 +6. 连接 Glade signals（约 `315-320` 行）。 +7. 显示主窗口（约 `324-325` 行）。 +8. 初始化主题、G-code preview、kinematics view、offset/tool editor、keyboard 和文件选择器（约 `327-342` 行）。 + +系统 3.5.2 运行时在 GUI 初始化后额外调用 `_startup_message()`，生成版本提示弹窗；它属于安装包新增功能，不属于仓库 3.4.3 初始化链。 + +## 4. 控制面板模式和按钮门控 + +### 4.1 模式按钮 + +Glade 中的主要模式控件： + +| 控件 | 作用 | handler/状态 | +|---|---|---| +| `rbt_manual` | MANUAL/JOG | `on_rbt_manual_pressed()` 发出 `MODE_MANUAL` | +| `rbt_mdi` | MDI | `on_rbt_mdi_pressed()` 发出 `MODE_MDI` | +| `rbt_auto` | AUTO | `on_rbt_auto_pressed()` 发出 `MODE_AUTO` | +| `tbtn_setup` | 设置页 | 进入设置前强制 MANUAL，并禁用模式按钮 | +| `tbtn_user_tabs` | 用户页 | 切换主 notebook 页面 | + +`on_hal_status_mode_auto()` 在收到 HAL status 后将主页面切回 page 0，把按钮 notebook 切到 `_BB_AUTO`，并将 jog notebook 切到 AUTO 页面（约 `2804-2824` 行）。因此“点击 AUTO 图标”与“看到 AUTO 按钮组”是同一个状态转换的两个可观察结果。 + +### 4.2 急停、上电、homing 门控 + +`on_tbtn_setup_toggled()` 和 HAL status handler 根据以下条件设置按钮敏感度： + +```text +ESTOP → manual/mdi/auto 均禁用 +ON + 未 homed → 只允许 manual +ON + all_homed 或 NO_FORCE_HOMING → manual/mdi/auto 全部可用 +``` + +对应仓库源码约为 `3793-3808` 行。未满足条件时，点击 AUTO 会被 `on_hal_status_mode_auto()` 拒绝，显示 `It is not possible to change to Auto Mode at the moment`，并回到 MANUAL。 + +这解释了为什么控制面板可能“没有加载按钮”：加载按钮不在 MANUAL 页面，而且 AUTO 页面本身可能因状态门控没有激活。 + +## 5. G-code 加载数据流 + +### 5.1 控件链 + +```text +rbt_auto + │ on_hal_status_mode_auto() + ▼ +hbtb_auto / _BB_AUTO + │ + │ btn_load（图标 img_open，tooltip=Load a new program） + │ on_btn_load_clicked() + ▼ +_BB_LOAD_FILE + IconFileSelection1 + │ + │ 用户选中路径 + │ btn_select / IconFileSelection1_selected + ▼ +hal_action_open.load_file(path) + ▼ +LinuxCNC task/interpreter + preview/status + ▼ +ntb_preview page 0 + ntb_button _BB_AUTO + stat.file +``` + +### 5.2 打开文件界面 + +`on_btn_load_clicked()`（`gmoccapy.py:5046-5078`）执行： + +1. `ntb_button.set_current_page(_BB_LOAD_FILE)`。 +2. `ntb_preview.set_current_page(3)`。 +3. 打开 full-size preview。 +4. `_show_iconview_tab(True)`。 +5. 刷新 `IconFileSelection1` 文件列表。 +6. 暂时禁用 MANUAL、MDI 和设置按钮，避免文件选择过程中切换模式。 + +文件选择器在 `_init_IconFileSelection()` 和 `_init_file_to_load()` 中读取 `PROGRAM_PREFIX` 与 `[FILTER] PROGRAM_EXTENSION`。普通案例 `PROGRAM_PREFIX = ../../nc_files/` 最终指向仓库的 `linuxcnc/nc_files`。 + +### 5.3 确认文件 + +`on_IconFileSelection1_selected()`（`gmoccapy.py:5114-5125`）执行： + +1. 将选中的 `path` 交给 `hal_action_open.load_file(path)`。 +2. 恢复 preview page 0。 +3. 关闭 full-size preview 和 icon view。 +4. 把按钮 notebook 切回 `_BB_AUTO`。 +5. 重新启用 MANUAL、MDI 和设置按钮。 + +这一步是“加载程序”，不是“运行程序”。运行还需要 `btn_run`/`AUTO_RUN`；源码键盘 handler 将 `R` 映射为运行、`P` 映射为暂停、`S` 映射为恢复。 + +### 5.4 启动时自动加载 + +`on_window1_show()` 会读取偏好项 `open_file`（约 `2920-2924` 行）。如果用户在设置页指定“启动时加载文件”，GMOCCAPY 会在窗口显示后直接调用 `hal_action_open.load_file(file)`。这条路径绕过手动点击文件选择器，但仍通过同一个 LinuxCNC load action。 + +## 6. AUTO 运行控制流 + +```text +btn_run / R + ▼ +linuxcnc.command().auto(AUTO_RUN, line) + ▼ +milltask / RS274NGC interpreter + ▼ +TP queue → motion controller → kinematics → joint commands + ▼ +HAL simulated device / spindle / coolant / tool change + ▼ +linuxcnc.stat + hal_status + ▼ +GMOCCAPY DRO、progress、preview、button sensitivity +``` + +相关按钮属于 `hbtb_auto`：`btn_load`、`btn_reload`、`btn_run`、`btn_stop`、`tbtn_pause`、`btn_step`、`btn_from_line`、`tbtn_optional_blocks`、`btn_edit`。Glade 负责控件和 signal 绑定，Python handler 负责调用 LinuxCNC command；运动本身不在 GTK handler 中实现。 + +## 7. MDI、Jog、Home、Tool 和 Offset 数据流 + +### MDI + +`rbt_mdi` 将 task mode 设为 `MODE_MDI`。MDI 输入提交后进入 LinuxCNC interpreter；G-code 解析错误通过 LinuxCNC error channel 返回，再由 GMOCCAPY notification/error handler 显示。 + +### Jog + +JOG 按钮由 `_make_jog_button()` 动态生成；轴/关节列表来自 INI 的 `COORDINATES`、kinematics 类型和 joint-axis mapping。Jog 命令仍经 LinuxCNC command 通道，不直接改变 DRO；DRO 的真值来自 status feedback。 + +### Home + +Home 按钮最终调用 `command.home(joint_or_axis)`。仿真 HAL 的 `sim_home_switch` 或自定义 home HAL 决定 home switch 状态；`all_homed` HAL status 决定 MDI/AUTO 是否重新开放。 + +### Tool/Offset + +工具表来自 `[EMCIO] TOOL_TABLE`，offset page 和 tool editor 通过 LinuxCNC tool data/action 更新。G43/G49/G43.1 的解释器语义由 RS274NGC 负责；GMOCCAPY 只显示和提交工具/offset 操作。系统 3.5.2 的启动提示明确提醒：AUTO 中换刀后的 G43 不能假定由界面自动恢复，应由程序/REMAP 明确处理。 + +## 8. 五轴 XYZAC RTCP 控制流 + +### 8.1 配置层 + +五轴案例 `xyzac-trt.ini` 的关键字段： + +```text +[DISPLAY] OPEN_FILE = ./demos/xyzac_switchkins.ngc +[RS274NGC] SUBROUTINE_PATH = ./remap_subs +[RS274NGC] REMAP = M428 ... ngc=428remap +[RS274NGC] REMAP = M429 ... ngc=429remap +[RS274NGC] REMAP = M430 ... ngc=430remap +[KINS] KINEMATICS = xyzac-trt-kins sparm=identityfirst +[TRAJ] COORDINATES = XYZAC +[HAL] HALCMD = net ... motion.switchkins-type +[HAL] HALCMD = loadusr -W xyzac-trt-gui +``` + +### 8.2 switchkins 状态 + +`xyzac-trt-kins.c` 将 `sparm=identityfirst` 定义为： + +```text +switchkins-type 0 → identity kinematics +switchkins-type 1 → xyzac TRT kinematics +switchkins-type 2 → userk kinematics +``` + +`trtfuncs.c` 为 XYZAC/XYZBC 实现 forward/inverse mapping，并声明 `tool-offset`、旋转中心和轴 offset HAL pins。XYZAC 的五个关节是 `X Y Z A C`；A 是倾斜台，C 是水平旋转台。 + +### 8.3 M428/M429 控制链 + +```text +G-code M428 + ▼ +428remap.ngc + ├── M68 E3 Q1 写 motion.analog-out-03 = 1 + ├── M66 E0 L0 等待同步 + └── 检查 motion.switchkins-type == 1 + ▼ +xyzac-trt-kins inverse/forward + ▼ +XYZAC joint commands with TCP/RTCP compensation +``` + +`M429` 对称地写入 `Q0`，切回 identity；`M430` 写入 `Q2`，进入 userk。`helix_ac.ngc` 演示了典型顺序：先用 M429 在 machine coordinates 安全定位，再用 M428 执行带 A/C 姿态变化的螺旋插补，结束后再切回 M429 做返回定位。 + +### 8.4 Vismach feedback + +INI 中的 HAL nets 将以下反馈送到 `xyzac-trt-gui`： + +```text +joint.0.pos-fb → table-x +joint.1.pos-fb → saddle-y +joint.2.pos-fb → spindle-z +joint.3.pos-fb → tilt-a +joint.4.pos-fb → rotate-c +motion.tooloffset.z → tool-offset +xyzac-trt-kins.y-offset/z-offset → Vismach geometry +``` + +因此 Vismach 不是运动 authority；它是 joint feedback、tool offset 和 geometry offset 的可视化消费者。 + +## 9. 状态真值与可观察结果 + +| 状态 | authority | 面板表现 | +|---|---|---| +| 急停 | TASK/motion state | E-stop active，模式按钮禁用 | +| 上电 | TASK state + HAL | Power icon active，允许进一步操作 | +| all homed | HAL status / joint state | MDI/AUTO 解除门控 | +| 当前模式 | `stat.task_mode` | MANUAL/MDI/AUTO 页面切换 | +| 当前文件 | `stat.file` / file-loaded status | 顶部文件名、G-code view、Run gate | +| 解释器状态 | `stat.interp_state` | Run/Pause/Step/Stop 敏感度 | +| 当前 G/M codes | `stat.gcodes` / `stat.mcodes` | G-Code 信息区域 | +| 机床位置 | `stat.position` / joint feedback | DRO 和 Vismach | +| kinematics mode | `motion.switchkins-type` | AXIS switchkins 面板/RTCP 模式 | + +任何未来 Web/WASM 控制面板都应消费这些 authority 的 snapshot/event，而不是在 JS/GUI 层镜像一套可写的机床状态。 + +## 10. 现有证据与复现 + +```bash +./run-gmoccapy.sh +./run-5axis-rtcp.sh +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +已验证的五轴运行证据： + +- [5axis-rtcp-running.png](5axis-rtcp-running.png) +- [5axis-rtcp-shortcut.md](5axis-rtcp-shortcut.md) +- `linuxcnc` 状态返回 `file=./demos/xyzac_switchkins.ngc` +- AXIS 标题包含 `sim-xyzac-trt-kins (switchkins)` +- `xyzac-trt-gui` 进程和五轴 Vismach 预览存在 + +## 11. 后续分析顺序 + +分析任何新的 GMOCCAPY/五轴控制问题时，按以下顺序取证： + +1. 先记录实际运行时路径、LinuxCNC 版本、GMOCCAPY 版本；不要把系统安装脚本和仓库源码混为一份。 +2. 读取 INI 的 DISPLAY/TASK/HAL/RS274NGC/KINS/TRAJ/EMCIO 段，建立配置闭包。 +3. 在 Glade 中找到 widget ID，再在 `gmoccapy.py` 找 signal handler；不要只根据截图猜按钮语义。 +4. 追踪 handler 发出的 `linuxcnc.command()`，确认 command 进入 TASK/motion/HAL 的路径。 +5. 用 `linuxcnc.stat()`、HAL pins、日志和 Vismach feedback 交叉验证，不把 DRO 或 preview 当作 authority。 +6. 五轴问题先确认 kinematics type、M428/M429 状态、tool offset、rotation center/axis 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"linuxcnc/docs/src/user/images/gmoccapy_*" + ] +} diff --git a/doc-g/gmoccapy-file-inventory.md b/doc-g/gmoccapy-file-inventory.md new file mode 100644 index 0000000..a0bbe44 --- /dev/null +++ b/doc-g/gmoccapy-file-inventory.md @@ -0,0 +1,18 @@ +# GMOCCAPY 文件清单 + +清单范围内共 `1233` 个文件；每项包含相对路径、角色、字节数和 SHA-256。 + +| 角色 | 数量 | +|---|---:| +| `documentation` | 2 | +| `documentation_asset` | 27 | +| `icon_asset` | 973 | +| `implementation` | 28 | +| `installed_ui_asset` | 1 | +| `simulation_asset` | 16 | +| `simulation_ini` | 29 | +| `simulation_resource` | 69 | +| `simulation_runtime_data` | 64 | +| `translation` | 24 | + +完整逐文件数据见 [`gmoccapy-file-inventory.json`](gmoccapy-file-inventory.json)。 diff --git a/doc-g/gmoccapy-homed.png b/doc-g/gmoccapy-homed.png new file mode 100644 index 0000000..6674584 Binary files /dev/null and b/doc-g/gmoccapy-homed.png differ diff --git a/doc-g/gmoccapy-homing.png b/doc-g/gmoccapy-homing.png new file mode 100644 index 0000000..b8c11a5 Binary files /dev/null and b/doc-g/gmoccapy-homing.png differ diff --git a/doc-g/gmoccapy-hover-auto.png b/doc-g/gmoccapy-hover-auto.png new file mode 100644 index 0000000..bf349b4 Binary files /dev/null and b/doc-g/gmoccapy-hover-auto.png differ diff --git a/doc-g/gmoccapy-important-changes-v2.png b/doc-g/gmoccapy-important-changes-v2.png new file mode 100644 index 0000000..1bc2761 Binary files /dev/null and b/doc-g/gmoccapy-important-changes-v2.png differ diff --git a/doc-g/gmoccapy-important-changes.png b/doc-g/gmoccapy-important-changes.png new file mode 100644 index 0000000..fcb1d5e Binary files /dev/null and b/doc-g/gmoccapy-important-changes.png differ diff --git a/doc-g/gmoccapy-load-file-page.png b/doc-g/gmoccapy-load-file-page.png new file mode 100644 index 0000000..c89b80d Binary files /dev/null and b/doc-g/gmoccapy-load-file-page.png differ diff --git a/doc-g/gmoccapy-open-file-icon.png b/doc-g/gmoccapy-open-file-icon.png new file mode 100644 index 0000000..8379bbd Binary files /dev/null and b/doc-g/gmoccapy-open-file-icon.png differ diff --git a/doc-g/gmoccapy-popup.png b/doc-g/gmoccapy-popup.png new file mode 100644 index 0000000..38dfc26 Binary files /dev/null and b/doc-g/gmoccapy-popup.png differ diff --git a/doc-g/gmoccapy-program-loaded.png b/doc-g/gmoccapy-program-loaded.png new file mode 100644 index 0000000..e9cfcb1 Binary files /dev/null and b/doc-g/gmoccapy-program-loaded.png differ diff --git a/doc-g/gmoccapy-ui-load-confirmed.png b/doc-g/gmoccapy-ui-load-confirmed.png new file mode 100644 index 0000000..ba5c2a5 Binary files /dev/null and b/doc-g/gmoccapy-ui-load-confirmed.png differ diff --git a/doc-g/root-current.png b/doc-g/root-current.png new file mode 100644 index 0000000..e5283e4 Binary files /dev/null and b/doc-g/root-current.png differ diff --git a/doc-rtcp/5axis-rtcp-running.png b/doc-rtcp/5axis-rtcp-running.png new file mode 100644 index 0000000..e5d9a81 Binary files /dev/null and b/doc-rtcp/5axis-rtcp-running.png differ diff --git a/doc-rtcp/5axis-rtcp-shortcut.md b/doc-rtcp/5axis-rtcp-shortcut.md new file mode 100644 index 0000000..629fe0a --- /dev/null +++ b/doc-rtcp/5axis-rtcp-shortcut.md @@ -0,0 +1,62 @@ +# 五轴 RTCP 案例快捷方式 + +快捷方式：[`../run-5axis-rtcp.sh`](../run-5axis-rtcp.sh) + +默认执行： + +```bash +./run-5axis-rtcp.sh +``` + +默认案例是： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +它使用 `XYZAC` 五轴表旋转/倾斜（TRT）拓扑、`xyzac-trt-kins` 和 Vismach `xyzac-trt-gui`。默认演示程序是： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc +``` + +该顶层演示调用 `remap_subs/xyzac_switchkins_sub.ngc`；其螺旋插补子程序 `remap_subs/helix_ac.ngc` 使用： + +```gcode +M428 ;TCP:xyzac +``` + +`M428` 通过 remap 将 `motion.switchkins-type` 切换到 XYZAC TCP/RTCP 运动学；`helix_ac.ngc` 在需要机床坐标定位时使用 `M429` 切回 identity，再用 `M428` 进入 TCP。配置的 `M430` 进入 userk。AXIS 右侧的 `TCP:XYZAC` 按钮也提供同一切换入口。 + +## XYZBC 变体 + +快捷方式接受可选配置名： + +```bash +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +该变体使用 `XYZBC` 和 `xyzbc-trt-kins`，默认程序为 `demos/xyzbc_switchkins.ngc`。 + +## 启动证据 + +![五轴 XYZAC RTCP 案例运行](5axis-rtcp-running.png) + +实测启动结果： + +- AXIS 标题：`xyzac_switchkins.ngc - AXIS 2.10.0~pre1 on sim-xyzac-trt-kins (switchkins)`。 +- 右侧 `SWITCHKINS` 面板显示 `TCP:XYZAC`。 +- Vismach 预览显示五轴机床和多轴刀具轨迹。 +- LinuxCNC 状态接口返回 `file=./demos/xyzac_switchkins.ngc`，`COORDINATES=XYZAC`。 +- 当前环境使用 POSIX non-realtime 回退；这验证的是仿真配置和 RTCP 路径，不是实时硬件性能。 + +## 来源依据 + +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc` +- `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc` +- `linuxcnc/src/emc/kinematics/xyzac-trt-kins.c` +- `linuxcnc/src/emc/kinematics/trtfuncs.c` +- `linuxcnc/docs/src/motion/5-axis-kinematics.adoc` diff --git a/doc-rtcp/README.md b/doc-rtcp/README.md new file mode 100644 index 0000000..89cde8f --- /dev/null +++ b/doc-rtcp/README.md @@ -0,0 +1,51 @@ +# 五轴 RTCP 文档集 + +接续入口：[`../nextTask-rtcp.md`](../nextTask-rtcp.md) + +持续执行提示词：[`xyzac-trt-autonomous-execution-prompt.md`](xyzac-trt-autonomous-execution-prompt.md) + +本目录从 `doc-g` 集中迁移五轴机床、XYZAC/XYZBC TRT、switchkins、RTCP 和控制面板数据流资料。原 `doc-g` 文件保留不变；本目录是后续五轴案例分析的独立入口。 + +## 快速入口 + +- [五轴 RTCP 快捷方式](5axis-rtcp-shortcut.md) +- [控制面板功能、数据流与控制流](gmoccapy-control-panel-data-control-flow.md) +- [`xyzac-trt.ini` 控制面板与 Web/WASM 设计基础](xyzac-trt-control-panel-web-wasm-design.md) +- [`xyzac-trt.ini` Web/WASM 实施计划与里程碑](xyzac-trt-web-wasm-implementation-plan.md) +- [`xyzac-trt.ini` 源码对标与 WASM 唯一权威合同](xyzac-trt-web-wasm-source-parity-contract.md) +- [GMOCCAPY 运行时和面板分析](gmoccapy-analysis.md) +- [五轴 RTCP 运行截图](5axis-rtcp-running.png) + +## 运行 + +```bash +./run-5axis-rtcp.sh +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +快捷方式仍位于仓库根目录；文档中的 `../run-5axis-rtcp.sh` 链接指向同一入口。 + +默认案例： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +## 文档边界 + +- `5axis-rtcp-shortcut.md`：案例入口、XYZAC/XYZBC 变体、M428/M429 和启动证据。 +- `gmoccapy-control-panel-data-control-flow.md`：从控制面板控件到 LinuxCNC TASK/motion/HAL/Vismach 的完整数据流和控制流，其中第 8 节是五轴 RTCP 专章。 +- `gmoccapy-analysis.md`：GMOCCAPY 系统运行时版本、启动提示和面板行为；作为五轴界面分析的背景材料。 +- `gmoccapy-file-inventory.*`：GMOCCAPY 相关配置、实现、资源和图标的逐文件清单。 + +## 来源 + +五轴核心来源保持在 LinuxCNC 源目录： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/ +linuxcnc/src/emc/kinematics/xyzac-trt-kins.c +linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c +linuxcnc/src/emc/kinematics/trtfuncs.c +linuxcnc/docs/src/motion/5-axis-kinematics.adoc +``` diff --git a/doc-rtcp/gmoccapy-analysis.md b/doc-rtcp/gmoccapy-analysis.md new file mode 100644 index 0000000..d01d651 --- /dev/null +++ b/doc-rtcp/gmoccapy-analysis.md @@ -0,0 +1,170 @@ +# GMOCCAPY 分析与加载测试 + +更新时间：2026-08-25 + +## 结论 + +“没有看到加载程序按钮”不是按钮缺失，而是首次启动提示和 GMOCCAPY 的模式门控共同造成的视觉结果： + +1. 首次启动会弹出模态的 `Important change(s)` 窗口。该窗口覆盖主界面并阻止底层点击；用户截图中的右侧 `X` 是关闭按钮，底部复选框是 `Don't show this again`。 +2. 加载按钮只属于 AUTO 页面按钮组，不属于 MANUAL/JOG 页面。源码将它声明为 `btn_load`，提示为 `Load a new program`，图标为 `img_open`。 +3. AUTO 模式还受机器状态和 homing 门控。`gmoccapy.py` 在未满足状态时会禁用 `rbt_auto`，并提示 `It is not possible to change to Auto Mode at the moment`。 +4. 关闭首次提示、进入 AUTO 后，点击文件夹/打开文件图标会进入文件选择页。当前 `gmoccapy.ini` 的 `PROGRAM_PREFIX = ../../nc_files/` 解析到 `linuxcnc/nc_files`。 + +## 用户截图分析 + +![首次启动提示](gmoccapy-important-changes.png) + +用户提供的图片尺寸为 `697 x 837`，内容是 GMOCCAPY 3.5.x 的版本变更提示： + +- LinuxCNC 2.10/GMOCCAPY 3.5.0 不再在换刀后自动保留 G43；需要通过 REMAP 实现自动重新激活。 +- 3.5.1 的工具表和偏置页默认使用计算器输入，可在设置或按钮中改变。 +- MDI 和 G-code 编辑模式新增调用计算器的按钮。 +- `release notes` 是橙色链接；右下方复选框用于永久隐藏该提示。 + +这张提示不是文件选择器，也不是加载失败信息。应先关闭它，再操作主界面。 + +### 新截图的源码逐项对照 + +![用户提供的最新提示截图](gmoccapy-important-changes-v2.png) + +这张截图与前一张内容一致，尺寸为 `697 x 837`，SHA-256 为 `df7322c30bcb6af131591a04b11cad24e7b6d186beaff83059fcfd8ffbae2d1b`。截图中的每一块文字都能在当前系统安装的 `/usr/bin/gmoccapy` 中找到： + +| 截图区域 | 源码证据 | 含义 | +|---|---|---| +| `Important change(s)` 标题 | `/usr/bin/gmoccapy:557-560` | `_startup_message()` 建立启动提示标题；注释要求新增消息只能追加，不能删除旧消息，否则隐藏索引会错位。 | +| 3.5.0 G43 提示 | `/usr/bin/gmoccapy:561-563` | GMOCCAPY 3.5.0 不再承诺换刀后自动保留 G43；想自动恢复必须使用 REMAP，示例在 GMOCCAPY 仿真配置中。 | +| 3.5.1 计算器提示 | `/usr/bin/gmoccapy:564-565` | 工具表和偏置页默认启用计算器输入；设置或页面按钮可以关闭；MDI 和 G-code 编辑页也增加了计算器按钮。 | +| `release notes` 链接 | `/usr/bin/gmoccapy:570-573` | 以 Pango markup 拼接 LinuxCNC 官方 release notes URL，并通过通知组件显示。点击它会打开文档，不会关闭提示。 | +| `Don't show this again` | `notification.py:151-155` | `show_checkbox=True` 时创建 GTK `CheckButton`；它不是普通说明文字，而是真正影响后续启动行为的复选框。 | +| 右侧 `X` | `notification.py:156-164` | 创建名为 `notification_close` 的 48x48 关闭按钮；点击后删除该消息，并把复选框状态发回 GMOCCAPY。 | + +### 弹窗什么时候出现 + +系统运行时在 GUI 初始化和周期任务准备完成后，于 `/usr/bin/gmoccapy:519` 调用 `_startup_message()`。它读取偏好项 `hide_startup_messsage`（注意源码中确实有三个 `s` 的拼写）： + +```python +hide_message = self.prefs.getpref("hide_startup_messsage", 0, int) +if hide_message < len(messages): + ... + self.notification.add_message(message, INFO_ICON, show_checkbox=True) +``` + +当前消息数组有两项，因此默认值 `0` 会显示两项。关闭时如果复选框被勾选，`/usr/bin/gmoccapy:6241-6242` 将 `self.num`（当前为 `2`）写回 `hide_startup_messsage`。下次启动判断 `2 < 2` 为假，提示不再出现。普通点击 `X` 不勾选复选框时，只删除本次通知，下次仍会显示。 + +### 版本边界：截图运行时与仓库锁定源不同 + +这是本次分析中最重要的来源边界： + +- 截图对应的实际运行程序是 `/usr/bin/gmoccapy`，其中 `_RELEASE = "3.5.2"`，并包含 `_startup_message()`、3.5.0/3.5.1 文本和隐藏偏好逻辑。 +- 仓库锁定源是 `linuxcnc/VERSION = 2.10.0~pre0`；`linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py:79` 的版本为 `3.4.3`，该文件没有 `_startup_message()` 实现，也没有截图中的 3.5.0/3.5.1 文本。 +- 本地启动日志曾显示 `LinuxCNC 2.10.0~pre1` 和 `gmoccapy 3.5.2`，与截图完全一致。因此这张截图是系统安装包的运行时证据，不应反向宣称锁定仓库 2.10.0~pre0/3.4.3 源码已经包含该功能。 + +已记录的运行时文件哈希： + +```text +/usr/bin/gmoccapy 11e7aee9216d24e4cc41018306f2541845bca9a9d6e16c38580f3ede9cca8d4d +/usr/share/gmoccapy/gmoccapy.glade 5fdc1557b02a716d30414fe739614fcd7c1d14cbe2e0a4c202c567a60b460adb +/usr/lib/python3/dist-packages/gmoccapy/notification.py + e0317fea738745f480c79d1f690bc52e88cc7f81bb4d14fa09c8c7196afb4e2f +``` + +### 用户应如何处理 + +1. 只想本次继续操作：点击右侧 `X`，不要勾选复选框。 +2. 不想以后重复看到：先勾选 `Don't show this again`，再点击 `X`。 +3. 想查看变更依据：点击 `release notes`，但这需要浏览器/网络或本地文档可用。 +4. 使用 G43 的程序：不要仅依赖界面自动行为；在 AUTO 程序中按机床配置和 REMAP 约定明确处理刀具长度补偿，并在正式加工前验证工具表和偏置。 + +## 实际界面证据 + +### 未加载状态 + +![未加载程序](gmoccapy-before-load.png) + +主界面顶部显示 `No Program loaded`。右侧竖向按钮中第三个为 AUTO 模式图标；在 MANUAL 页面时，AUTO 页面里的 `Load a new program` 不会显示在当前按钮组。 + +### 文件选择页 + +![加载程序文件选择页](gmoccapy-load-file-page.png) + +这张截图是实际运行 GMOCCAPY 后进入的文件选择页。页面显示 `gcmc_lib`、`macros`、`ngcgui_lib` 等目录以及 `3D_Chips.ngc`、`3dtest.ngc` 等程序。底部右侧绿色对勾是确认选择，右下黄色回退箭头是返回。 + +进入这张页面的完整点击链是： + +1. 关闭首次 `Important change(s)` 模态提示。 +2. 在主界面右侧点击第三个模式图标，进入 AUTO；源码控件为 `rbt_auto`。 +3. 等待 AUTO 按钮组出现，在其中点击打开文件图标；源码控件为 `btn_load`，tooltip 为 `Load a new program`。 +4. `on_btn_load_clicked()` 将按钮页切换到文件选择页；此时才会看到本截图中的文件网格。 +5. 选中 `.ngc` 文件后点击底部绿色对勾，源码控件为 `btn_select`。 + +因此，文件网格不是主界面的固定按钮，也不是 MDI 入口；在 MANUAL/JOG 页面直接寻找它不会找到。 + +### 加载后的程序 + +![加载 3dtest.ngc 后](gmoccapy-program-loaded.png) + +通过 LinuxCNC 的 `command.program_open()` 加载： + +```text +/home/mes006/linuxcncWebWASM/linuxcnc/nc_files/3dtest.ngc +``` + +加载成功的证据是： + +- 顶部由 `No Program loaded` 变成完整程序路径； +- 预览区出现 G-code 刀具轨迹； +- `linuxcnc.stat().file` 返回上述路径； +- `interp_state` 保持空闲，加载本身不会自动运行程序。 + +## 源码与界面映射 + +| 层 | 文件/符号 | 结论 | +|---|---|---| +| 主逻辑 | `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py` | `on_btn_load_clicked()` 切到文件选择页；`on_IconFileSelection1_selected()` 调用 `hal_action_open.load_file(path)`。 | +| 加载按钮 | `btn_load` / `img_open` | tooltip 是 `Load a new program`，只在 AUTO 按钮页 `hbtb_auto`。 | +| 运行按钮 | `btn_run` / `img_run` | tooltip 是 `Run the loaded program`；加载后仍需手动运行。 | +| 文件确认 | `btn_select` / `img_select` | tooltip 是 `select the highlighted file and return the path`。 | +| 返回 | `btn_back_file_load` / `img_back_file_load` | 关闭文件选择页但不返回路径。 | +| 文件资源 | `linuxcnc/lib/python/gladevcp/iconview.py` 及 GMOCCAPY 初始化 | 读取 `PROGRAM_PREFIX`，按配置扩展名展示文件和目录。 | +| 首次提示 | GMOCCAPY preferences/release-notes 逻辑 | 模态提示优先于主界面，必须先关闭。 | + +## 配置与资源分析 + +默认配置为 `linuxcnc/configs/sim/gmoccapy/gmoccapy.ini`： + +- `[DISPLAY] DISPLAY = gmoccapy`：选择 GMOCCAPY GUI。 +- `[DISPLAY] PROGRAM_PREFIX = ../../nc_files/`：从配置目录解析到 `linuxcnc/nc_files`。 +- `[RS274NGC] PARAMETER_FILE = sim.var`：仿真参数文件。 +- `[RS274NGC] SUBROUTINE_PATH = macros`：宏和子程序搜索路径。 +- `[EMCIO] TOOL_TABLE = tool.tbl`：工具表。 +- `[HAL]` 加载 `core_sim.hal`、`spindle_sim.hal`、`simulated_home.hal`，并在 GUI 启动后加载 `gmoccapy_postgui.hal`。 + +`configs/sim/gmoccapy` 不是单一案例，而是一组配置族，包含标准三轴、四轴、XYZAB/XYZAC/XYZCW、多轴、侧面板、消息、工具传感器、用户页、等离子和车床配置。完整逐文件路径与哈希见 [文件清单](gmoccapy-file-inventory.md)。 + +## 运行环境与限制 + +- 启动入口：[`../run-gmoccapy.sh`](../run-gmoccapy.sh)，默认执行 `gmoccapy.ini`。 +- 实际 GUI 进程：`/usr/bin/python3 /usr/bin/gmoccapy -ini .../gmoccapy.ini`。 +- 当前环境没有实时内核，LinuxCNC 日志明确回退到 POSIX non-realtime；这不影响本次“加载和预览”验证，但不等同于实时硬件运行验证。 +- `simulated_home.hal` 的共享 home switch 在本次手动尝试中报告 `Cannot home while shared home switch is closed j=2`，因此 AUTO 模式按钮可能保持禁用。加载程序本身仍可通过 GUI 文件页/API 验证。 +- 加载和运行是两个动作：`program_open` 只读入程序并生成预览；需要 `AUTO` 页面中的 Run 按钮或 `R` 快捷键才会执行。 + +## 推荐操作顺序 + +1. 启动 `./run-gmoccapy.sh`。 +2. 关闭首次 `Important change(s)` 提示；可勾选 `Don't show this again`。 +3. 确认急停复位、机器上电，并按配置完成 homing；否则 AUTO 可能被门控。 +4. 点击右侧 AUTO 图标，进入 AUTO 按钮页。 +5. 点击带打开文件/文件夹图标的 `Load a new program`。 +6. 选择 `linuxcnc/nc_files` 下的 `.ngc` 文件，点击底部绿色对勾。 +7. 检查顶部路径和预览轨迹，再使用 Run；不要把加载误认为已经执行。 + +## 证据文件 + +- `gmoccapy-important-changes.png`：用户原始提示截图。 +- `gmoccapy-before-load.png`：未加载程序。 +- `gmoccapy-after-popup-close.png`：关闭提示后的主界面。 +- `gmoccapy-load-file-page.png`：实际文件选择页。 +- `gmoccapy-program-loaded.png`：加载后的程序和轨迹。 +- `gmoccapy-file-inventory.json`：逐文件 SHA-256 清单。 diff --git a/doc-rtcp/gmoccapy-before-load.png b/doc-rtcp/gmoccapy-before-load.png new file mode 100644 index 0000000..64e5c8c Binary files /dev/null and b/doc-rtcp/gmoccapy-before-load.png differ diff --git a/doc-rtcp/gmoccapy-control-panel-data-control-flow.md b/doc-rtcp/gmoccapy-control-panel-data-control-flow.md new file mode 100644 index 0000000..7751fef --- /dev/null +++ b/doc-rtcp/gmoccapy-control-panel-data-control-flow.md @@ -0,0 +1,323 @@ +# GMOCCAPY 控制面板功能、数据流与控制流 + +更新时间：2026-08-25 + +本文是后续分析 GMOCCAPY 控制面板的总入口。它把普通三轴 `gmoccapy.ini` 和五轴 XYZAC RTCP 案例放在同一套模型中，区分 UI 控件、GMOCCAPY Python handler、LinuxCNC command/status、TASK/motion、HAL 和 Vismach 的责任边界。 + +## 1. 范围与版本边界 + +| 项目 | 当前工作区/运行时 | +|---|---| +| 仓库源码 | `linuxcnc/VERSION = 2.10.0~pre0` | +| 仓库 GMOCCAPY 源码 | `linuxcnc/src/emc/usr_intf/gmoccapy/gmoccapy.py`，`_RELEASE = 3.4.3` | +| 实际系统 GUI | `/usr/bin/gmoccapy`，运行时版本 `3.5.2`，系统 LinuxCNC `2.10.0~pre1` | +| 普通面板入口 | [`run-gmoccapy.sh`](../run-gmoccapy.sh)，默认 `configs/sim/gmoccapy/gmoccapy.ini` | +| 五轴 RTCP 入口 | [`run-5axis-rtcp.sh`](../run-5axis-rtcp.sh)，默认 XYZAC TRT switchkins | +| 发布/仿真边界 | POSIX non-realtime 仿真；不等同于实时硬件验证 | + +截图中的 `Important change(s)` 弹窗来自系统 GMOCCAPY 3.5.2，不存在于仓库 3.4.3 源文件中；两套来源不能混为一个源码版本。详细证据见 [GMOCCAPY 分析报告](gmoccapy-analysis.md)。 + +## 2. 总体架构 + +```text +快捷方式 / linuxcnc -r CASE.ini + │ + ▼ +LinuxCNC 启动器与 INI 解析 + │ + ├── linuxcncsvr / NML 状态与命令通道 + ├── milltask / RS274NGC interpreter / task mode + ├── motmod + kinematics / fixed servo cycle + ├── HAL files / HALUI / simulated devices + └── DISPLAY=gmoccapy 或 DISPLAY=axis + │ + ▼ + GMOCCAPY Gtk/Glade 控制面板 + │ + ┌─────────┴─────────┐ + │ │ + 用户点击/键盘/HAL linuxcnc.stat/HAL status + │ ▲ + ▼ │ + Python handler ── command ─┴── TASK/motion/HAL feedback + │ + ├── 模式/按钮页切换 + ├── 程序加载/预览 + ├── AUTO 运行/暂停/停止/单步 + ├── MDI 命令 + └── homing、tool、offset、spindle、coolant +``` + +GMOCCAPY 不是运动学计算器。它负责把操作员动作转换为 LinuxCNC command，并把 LinuxCNC status/HAL status 投影回界面；真正的解释器、轨迹规划、逆解/正解和关节命令由 LinuxCNC runtime 完成。 + +## 3. 启动控制流 + +### 3.1 快捷方式层 + +`run-gmoccapy.sh` 和 `run-5axis-rtcp.sh` 都遵循相同模式： + +1. 计算仓库绝对路径，避免从任意工作目录启动时相对路径漂移。 +2. 校验 INI、演示程序、LinuxCNC launcher 是否存在。 +3. 进入 LinuxCNC 根目录。 +4. 执行 `/usr/bin/linuxcnc -r CASE.ini`，保留终端诊断。 + +五轴快捷方式额外检查 RTCP 子程序中确实存在 `M428`，并支持 `xyzac-trt.ini` 与 `xyzbc-trt.ini` 两个变体。 + +### 3.2 INI 到进程 + +以普通 GMOCCAPY 为例： + +```text +[DISPLAY] DISPLAY=gmoccapy +[TASK] TASK=milltask +[HAL] core_sim.hal + spindle_sim.hal + simulated_home.hal +[EMCIO] TOOL_TABLE=tool.tbl +[RS274NGC] PARAMETER_FILE=sim.var, SUBROUTINE_PATH=macros +[KINS] trivkins coordinates=xyz +``` + +启动器随后创建 `linuxcncsvr`、`milltask`、`halui` 和 GMOCCAPY。GMOCCAPY 进程通过 `-ini` 得到同一个 INI 路径，不能自行替代 TASK/motion/HAL。 + +### 3.3 GMOCCAPY 初始化顺序 + +仓库源码 `gmoccapy.py` 的主初始化顺序为： + +1. 解析 `-user_mode`、`-logo` 参数（约 `243-270` 行）。 +2. 读取 INI（`_get_ini_data()`，约 `272-275` 行）。 +3. 读取偏好文件（`_get_pref_data()`）。 +4. 动态创建 DRO、home、touch-off、jog、macro 等控件（约 `280-305` 行）。 +5. 建立 GMOCCAPY HAL pins（约 `307` 行）。 +6. 连接 Glade signals（约 `315-320` 行）。 +7. 显示主窗口（约 `324-325` 行）。 +8. 初始化主题、G-code preview、kinematics view、offset/tool editor、keyboard 和文件选择器（约 `327-342` 行）。 + +系统 3.5.2 运行时在 GUI 初始化后额外调用 `_startup_message()`，生成版本提示弹窗；它属于安装包新增功能，不属于仓库 3.4.3 初始化链。 + +## 4. 控制面板模式和按钮门控 + +### 4.1 模式按钮 + +Glade 中的主要模式控件： + +| 控件 | 作用 | handler/状态 | +|---|---|---| +| `rbt_manual` | MANUAL/JOG | `on_rbt_manual_pressed()` 发出 `MODE_MANUAL` | +| `rbt_mdi` | MDI | `on_rbt_mdi_pressed()` 发出 `MODE_MDI` | +| `rbt_auto` | AUTO | `on_rbt_auto_pressed()` 发出 `MODE_AUTO` | +| `tbtn_setup` | 设置页 | 进入设置前强制 MANUAL，并禁用模式按钮 | +| `tbtn_user_tabs` | 用户页 | 切换主 notebook 页面 | + +`on_hal_status_mode_auto()` 在收到 HAL status 后将主页面切回 page 0，把按钮 notebook 切到 `_BB_AUTO`，并将 jog notebook 切到 AUTO 页面（约 `2804-2824` 行）。因此“点击 AUTO 图标”与“看到 AUTO 按钮组”是同一个状态转换的两个可观察结果。 + +### 4.2 急停、上电、homing 门控 + +`on_tbtn_setup_toggled()` 和 HAL status handler 根据以下条件设置按钮敏感度： + +```text +ESTOP → manual/mdi/auto 均禁用 +ON + 未 homed → 只允许 manual +ON + all_homed 或 NO_FORCE_HOMING → manual/mdi/auto 全部可用 +``` + +对应仓库源码约为 `3793-3808` 行。未满足条件时，点击 AUTO 会被 `on_hal_status_mode_auto()` 拒绝，显示 `It is not possible to change to Auto Mode at the moment`，并回到 MANUAL。 + +这解释了为什么控制面板可能“没有加载按钮”：加载按钮不在 MANUAL 页面，而且 AUTO 页面本身可能因状态门控没有激活。 + +## 5. G-code 加载数据流 + +### 5.1 控件链 + +```text +rbt_auto + │ on_hal_status_mode_auto() + ▼ +hbtb_auto / _BB_AUTO + │ + │ btn_load（图标 img_open，tooltip=Load a new program） + │ on_btn_load_clicked() + ▼ +_BB_LOAD_FILE + IconFileSelection1 + │ + │ 用户选中路径 + │ btn_select / IconFileSelection1_selected + ▼ +hal_action_open.load_file(path) + ▼ +LinuxCNC task/interpreter + preview/status + ▼ +ntb_preview page 0 + ntb_button _BB_AUTO + stat.file +``` + +### 5.2 打开文件界面 + +`on_btn_load_clicked()`（`gmoccapy.py:5046-5078`）执行： + +1. `ntb_button.set_current_page(_BB_LOAD_FILE)`。 +2. `ntb_preview.set_current_page(3)`。 +3. 打开 full-size preview。 +4. `_show_iconview_tab(True)`。 +5. 刷新 `IconFileSelection1` 文件列表。 +6. 暂时禁用 MANUAL、MDI 和设置按钮，避免文件选择过程中切换模式。 + +文件选择器在 `_init_IconFileSelection()` 和 `_init_file_to_load()` 中读取 `PROGRAM_PREFIX` 与 `[FILTER] PROGRAM_EXTENSION`。普通案例 `PROGRAM_PREFIX = ../../nc_files/` 最终指向仓库的 `linuxcnc/nc_files`。 + +### 5.3 确认文件 + +`on_IconFileSelection1_selected()`（`gmoccapy.py:5114-5125`）执行： + +1. 将选中的 `path` 交给 `hal_action_open.load_file(path)`。 +2. 恢复 preview page 0。 +3. 关闭 full-size preview 和 icon view。 +4. 把按钮 notebook 切回 `_BB_AUTO`。 +5. 重新启用 MANUAL、MDI 和设置按钮。 + +这一步是“加载程序”，不是“运行程序”。运行还需要 `btn_run`/`AUTO_RUN`；源码键盘 handler 将 `R` 映射为运行、`P` 映射为暂停、`S` 映射为恢复。 + +### 5.4 启动时自动加载 + +`on_window1_show()` 会读取偏好项 `open_file`（约 `2920-2924` 行）。如果用户在设置页指定“启动时加载文件”，GMOCCAPY 会在窗口显示后直接调用 `hal_action_open.load_file(file)`。这条路径绕过手动点击文件选择器，但仍通过同一个 LinuxCNC load action。 + +## 6. AUTO 运行控制流 + +```text +btn_run / R + ▼ +linuxcnc.command().auto(AUTO_RUN, line) + ▼ +milltask / RS274NGC interpreter + ▼ +TP queue → motion controller → kinematics → joint commands + ▼ +HAL simulated device / spindle / coolant / tool change + ▼ +linuxcnc.stat + hal_status + ▼ +GMOCCAPY DRO、progress、preview、button sensitivity +``` + +相关按钮属于 `hbtb_auto`：`btn_load`、`btn_reload`、`btn_run`、`btn_stop`、`tbtn_pause`、`btn_step`、`btn_from_line`、`tbtn_optional_blocks`、`btn_edit`。Glade 负责控件和 signal 绑定，Python handler 负责调用 LinuxCNC command；运动本身不在 GTK handler 中实现。 + +## 7. MDI、Jog、Home、Tool 和 Offset 数据流 + +### MDI + +`rbt_mdi` 将 task mode 设为 `MODE_MDI`。MDI 输入提交后进入 LinuxCNC interpreter；G-code 解析错误通过 LinuxCNC error channel 返回，再由 GMOCCAPY notification/error handler 显示。 + +### Jog + +JOG 按钮由 `_make_jog_button()` 动态生成；轴/关节列表来自 INI 的 `COORDINATES`、kinematics 类型和 joint-axis mapping。Jog 命令仍经 LinuxCNC command 通道，不直接改变 DRO；DRO 的真值来自 status feedback。 + +### Home + +Home 按钮最终调用 `command.home(joint_or_axis)`。仿真 HAL 的 `sim_home_switch` 或自定义 home HAL 决定 home switch 状态；`all_homed` HAL status 决定 MDI/AUTO 是否重新开放。 + +### Tool/Offset + +工具表来自 `[EMCIO] TOOL_TABLE`，offset page 和 tool editor 通过 LinuxCNC tool data/action 更新。G43/G49/G43.1 的解释器语义由 RS274NGC 负责；GMOCCAPY 只显示和提交工具/offset 操作。系统 3.5.2 的启动提示明确提醒：AUTO 中换刀后的 G43 不能假定由界面自动恢复，应由程序/REMAP 明确处理。 + +## 8. 五轴 XYZAC RTCP 控制流 + +### 8.1 配置层 + +五轴案例 `xyzac-trt.ini` 的关键字段： + +```text +[DISPLAY] OPEN_FILE = ./demos/xyzac_switchkins.ngc +[RS274NGC] SUBROUTINE_PATH = ./remap_subs +[RS274NGC] REMAP = M428 ... ngc=428remap +[RS274NGC] REMAP = M429 ... ngc=429remap +[RS274NGC] REMAP = M430 ... ngc=430remap +[KINS] KINEMATICS = xyzac-trt-kins sparm=identityfirst +[TRAJ] COORDINATES = XYZAC +[HAL] HALCMD = net ... motion.switchkins-type +[HAL] HALCMD = loadusr -W xyzac-trt-gui +``` + +### 8.2 switchkins 状态 + +`xyzac-trt-kins.c` 将 `sparm=identityfirst` 定义为： + +```text +switchkins-type 0 → identity kinematics +switchkins-type 1 → xyzac TRT kinematics +switchkins-type 2 → userk kinematics +``` + +`trtfuncs.c` 为 XYZAC/XYZBC 实现 forward/inverse mapping，并声明 `tool-offset`、旋转中心和轴 offset HAL pins。XYZAC 的五个关节是 `X Y Z A C`；A 是倾斜台，C 是水平旋转台。 + +### 8.3 M428/M429 控制链 + +```text +G-code M428 + ▼ +428remap.ngc + ├── M68 E3 Q1 写 motion.analog-out-03 = 1 + ├── M66 E0 L0 等待同步 + └── 检查 motion.switchkins-type == 1 + ▼ +xyzac-trt-kins inverse/forward + ▼ +XYZAC joint commands with TCP/RTCP compensation +``` + +`M429` 对称地写入 `Q0`，切回 identity；`M430` 写入 `Q2`，进入 userk。`helix_ac.ngc` 演示了典型顺序：先用 M429 在 machine coordinates 安全定位，再用 M428 执行带 A/C 姿态变化的螺旋插补，结束后再切回 M429 做返回定位。 + +### 8.4 Vismach feedback + +INI 中的 HAL nets 将以下反馈送到 `xyzac-trt-gui`： + +```text +joint.0.pos-fb → table-x +joint.1.pos-fb → saddle-y +joint.2.pos-fb → spindle-z +joint.3.pos-fb → tilt-a +joint.4.pos-fb → rotate-c +motion.tooloffset.z → tool-offset +xyzac-trt-kins.y-offset/z-offset → Vismach geometry +``` + +因此 Vismach 不是运动 authority；它是 joint feedback、tool offset 和 geometry offset 的可视化消费者。 + +## 9. 状态真值与可观察结果 + +| 状态 | authority | 面板表现 | +|---|---|---| +| 急停 | TASK/motion state | E-stop active，模式按钮禁用 | +| 上电 | TASK state + HAL | Power icon active，允许进一步操作 | +| all homed | HAL status / joint state | MDI/AUTO 解除门控 | +| 当前模式 | `stat.task_mode` | MANUAL/MDI/AUTO 页面切换 | +| 当前文件 | `stat.file` / file-loaded status | 顶部文件名、G-code view、Run gate | +| 解释器状态 | `stat.interp_state` | Run/Pause/Step/Stop 敏感度 | +| 当前 G/M codes | `stat.gcodes` / `stat.mcodes` | G-Code 信息区域 | +| 机床位置 | `stat.position` / joint feedback | DRO 和 Vismach | +| kinematics mode | `motion.switchkins-type` | AXIS switchkins 面板/RTCP 模式 | + +任何未来 Web/WASM 控制面板都应消费这些 authority 的 snapshot/event，而不是在 JS/GUI 层镜像一套可写的机床状态。 + +## 10. 现有证据与复现 + +```bash +./run-gmoccapy.sh +./run-5axis-rtcp.sh +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +已验证的五轴运行证据： + +- [5axis-rtcp-running.png](5axis-rtcp-running.png) +- [5axis-rtcp-shortcut.md](5axis-rtcp-shortcut.md) +- `linuxcnc` 状态返回 `file=./demos/xyzac_switchkins.ngc` +- AXIS 标题包含 `sim-xyzac-trt-kins (switchkins)` +- `xyzac-trt-gui` 进程和五轴 Vismach 预览存在 + +## 11. 后续分析顺序 + +分析任何新的 GMOCCAPY/五轴控制问题时，按以下顺序取证： + +1. 先记录实际运行时路径、LinuxCNC 版本、GMOCCAPY 版本；不要把系统安装脚本和仓库源码混为一份。 +2. 读取 INI 的 DISPLAY/TASK/HAL/RS274NGC/KINS/TRAJ/EMCIO 段，建立配置闭包。 +3. 在 Glade 中找到 widget ID，再在 `gmoccapy.py` 找 signal handler；不要只根据截图猜按钮语义。 +4. 追踪 handler 发出的 `linuxcnc.command()`，确认 command 进入 TASK/motion/HAL 的路径。 +5. 用 `linuxcnc.stat()`、HAL pins、日志和 Vismach feedback 交叉验证，不把 DRO 或 preview 当作 authority。 +6. 五轴问题先确认 kinematics type、M428/M429 状态、tool offset、rotation center/axis 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"linuxcnc/docs/src/user/images/gmoccapy_*" + ] +} diff --git a/doc-rtcp/gmoccapy-file-inventory.md b/doc-rtcp/gmoccapy-file-inventory.md new file mode 100644 index 0000000..a0bbe44 --- /dev/null +++ b/doc-rtcp/gmoccapy-file-inventory.md @@ -0,0 +1,18 @@ +# GMOCCAPY 文件清单 + +清单范围内共 `1233` 个文件；每项包含相对路径、角色、字节数和 SHA-256。 + +| 角色 | 数量 | +|---|---:| +| `documentation` | 2 | +| `documentation_asset` | 27 | +| `icon_asset` | 973 | +| `implementation` | 28 | +| `installed_ui_asset` | 1 | +| `simulation_asset` | 16 | +| `simulation_ini` | 29 | +| `simulation_resource` | 69 | +| `simulation_runtime_data` | 64 | +| `translation` | 24 | + +完整逐文件数据见 [`gmoccapy-file-inventory.json`](gmoccapy-file-inventory.json)。 diff --git a/doc-rtcp/gmoccapy-important-changes-v2.png b/doc-rtcp/gmoccapy-important-changes-v2.png new file mode 100644 index 0000000..1bc2761 Binary files /dev/null and b/doc-rtcp/gmoccapy-important-changes-v2.png differ diff --git a/doc-rtcp/gmoccapy-important-changes.png b/doc-rtcp/gmoccapy-important-changes.png new file mode 100644 index 0000000..fcb1d5e Binary files /dev/null and b/doc-rtcp/gmoccapy-important-changes.png differ diff --git a/doc-rtcp/gmoccapy-load-file-page.png b/doc-rtcp/gmoccapy-load-file-page.png new file mode 100644 index 0000000..c89b80d Binary files /dev/null and b/doc-rtcp/gmoccapy-load-file-page.png differ diff --git a/doc-rtcp/gmoccapy-program-loaded.png b/doc-rtcp/gmoccapy-program-loaded.png new file mode 100644 index 0000000..e9cfcb1 Binary files /dev/null and b/doc-rtcp/gmoccapy-program-loaded.png differ diff --git a/doc-rtcp/xyzac-trt-autonomous-execution-prompt.md b/doc-rtcp/xyzac-trt-autonomous-execution-prompt.md new file mode 100644 index 0000000..135e2d2 --- /dev/null +++ b/doc-rtcp/xyzac-trt-autonomous-execution-prompt.md @@ -0,0 +1,60 @@ +# `nextTask-rtcp.md` 持续执行提示词 + +复制下面的提示词即可从五轴 XYZAC TRT Web/WASM 轨道持续执行： + +```text +你是本仓库的 XYZAC TRT Web/WASM 源码对标工程代理。请持续推进任务，不要只给计划；每轮都从 nextTask-rtcp.md 当前指针认领并执行，直到任务 verified、明确 blocked 或遇到 Stop 条件。 + +1. 先读取 nextTask-rtcp.md 的 Current、Read、Task、Next、Verify、Stop；不要用 nextTask.md 或 nextTask1.md 替代它们。 +2. 按 Task.direct_inputs 读取当前任务的直接源码、配置和报告；不要批量加载聊天记录、完整日志或无关 coverage 文件。 +3. 开始前运行： + python3 scripts/validate_baseline.py + python3 scripts/validate_download_index.py + python3 scripts/validate_task_pointer.py nextTask-rtcp.md --lock context-lock.json +4. 确认 task_id、context_id、active_case、直接输入、required_outputs 和完成报告；当前案例固定为： + linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +5. 将当前 Task.status 从 queued 改为 in_progress 前，先读取： + doc-rtcp/xyzac-trt-control-panel-web-wasm-design.md + doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md + doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md +6. 严格遵守源码唯一权威：所有 task、interpreter、TP、motion、XYZAC forward/inverse、RTCP、HAL、IO、tool、preview、recovery 和 state hash 必须来自 LinuxCNC WASM/Worker；React、JS、Three.js 只能输入、投影和显示。 +7. 对每个功能建立 source behavior slice，必须保留 source path、symbol、source hash、输入、native command、WASM command、gate、authoritative output、错误、恢复和 Web control id。 +8. 不得使用 JS G-code preview、JS 姿态/RTCP 补偿、浏览器墙钟 tick、主线程 OPFS 写入、直接 WASM 指针、mock runtime 或宿主 LinuxCNC fallback 冒充 WASM 通过。 +9. 每项实现先写失败边界和专项测试，再做最小垂直切片；优先复用现有 protocol.v1、WorkerClient、AxisOperationController、PanelSnapshotV1、WASM ABI 和固定 tick runtime。 +10. 五轴必须特别验证： + - XYZAC 坐标、五 joints、A/C 角度单位和 limits； + - xyzac-trt-kins forward/inverse、tool offset、y/z offset、rotation point； + - M428/M429/M430 remap、HAL_PIN_VARS、motion.switchkins-type 和状态确认； + - helix/arc/姿态变化、singularity、non-finite、limit、following error； + - Vismach pose/joints/toolpath 只消费 authoritative snapshot； + - pause/resume/abort/restart/checkpoint/recovery 不重复 segment、M-code 或 IO/tool side effect。 +11. 所有有副作用命令必须有 operation_id、seq、ledger prepare/ack/result/commit/reconcile；超时不能盲目重发，必须查询 Worker ledger 或 authoritative snapshot。 +12. 运行任务专属测试、真实 WASM Worker/session、native 对照、React typecheck/build、Three.js canvas 检查和报告 self-hash。命令不存在时先创建任务产物或明确记录 blocked，不能写成已通过。 +13. 报告必须包含 context_id、case_path、输入/输出 hash、测试命令、normal/boundary/error/recovery、state hash、command trace、tick trace、first divergent tick、failure samples、known blockers 和 report_sha256。 +14. 失败样本必须保留并分类为 SOURCE_BLOCKED、HOST_EXCLUDED、REAL-EXCLUDED、BLOCKED_RESOURCE、BLOCKED_HAL、BLOCKED_INI、BLOCKED_STARTUP 或具体 Worker/Task/motion/kinematics pending；不得删失败、降级检查或把 blocker 改名为通过。 +15. 只有当前任务的专项测试、native/WASM/Worker 证据、完整回归和报告 self-hash 全部通过，才能把 Task.status 改为 verified；否则改为 blocked 并保留证据。 +16. 当前任务 verified 后，更新 nextTask-rtcp.md 的 Current、Next、Verify、Stop 和 completion evidence；只有依赖满足的下一个任务才可写为 queued。不要修改 nextTask.md、nextTask1.md、context-lock、ABI、protocol、schema、许可证决定或 release gate。 +17. 不要在 verified + queued 状态停下；若 Next 依赖满足，立即认领下一个任务并继续执行。若外部源码、oracle、浏览器、OPFS、实时硬件、owner 输入或批准变更缺失，则保持 blocked，不自动重试同一阻塞。 +18. 每隔约 30 秒发送简短进度更新，说明当前 task_id、已完成检查、正在执行的测试和 blocker；不要输出无关长日志。 +19. 只有 nextTask-rtcp.md 明确 next_task: none 且 local continuation verified，或当前任务满足 Stop/外部阻塞条件时才暂停。selected-case verified 不得写成全 LinuxCNC parity，release_status 继续保持 STOP_RELEASE，直到源码、WASM authority、canonical parity、recovery、browser、oracle 和其它正式门禁全部有证据。 + +现在立即读取 nextTask-rtcp.md，并从当前 Task 开始执行。 +``` + +## 推荐调用语句 + +最短调用： + +```text +按 nextTask-rtcp.md 接续执行，严格使用 doc-rtcp/xyzac-trt-autonomous-execution-prompt.md 的规则。 +``` + +更强约束调用： + +```text +持续执行 nextTask-rtcp.md：先验证基线和指针，认领当前任务，按源码 slice 实现 LinuxCNC WASM 唯一权威闭环，运行 native/WASM/Worker/React/Three.js 证据，更新报告和指针；不要修改 nextTask.md、nextTask1.md、context lock、ABI、protocol、schema 或 release gate，也不要在 verified+queued 状态停下。 +``` + +## 当前起点 + +当前指针的任务是 `SRC-00`，目标是建立 AXIS/XYZAC source slice inventory 和 WASM authority contract；下一任务是 `WASM-00`。读取和执行状态以根目录的 [`nextTask-rtcp.md`](../nextTask-rtcp.md) 为准。 diff --git a/doc-rtcp/xyzac-trt-control-panel-web-wasm-design.md b/doc-rtcp/xyzac-trt-control-panel-web-wasm-design.md new file mode 100644 index 0000000..6338160 --- /dev/null +++ b/doc-rtcp/xyzac-trt-control-panel-web-wasm-design.md @@ -0,0 +1,529 @@ +# `xyzac-trt.ini` 控制面板、数据流、控制约束与 Web/WASM 设计基础 + +更新时间：2026-08-25 + +本文专门分析： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +目标不是复刻一个静态 AXIS 外观，而是为 Web/WASM 控制台建立可验证的功能、数据、控制和权限模型。所有“按钮是否可点”的结论都必须来自 LinuxCNC authoritative task/motion/HAL 状态；React/浏览器只能投影状态并发出带 gate 的命令。 + +相关运行入口和基础说明： + +- [`run-5axis-rtcp.sh`](../run-5axis-rtcp.sh) +- [`5axis-rtcp-shortcut.md`](5axis-rtcp-shortcut.md) +- [`gmoccapy-control-panel-data-control-flow.md`](gmoccapy-control-panel-data-control-flow.md) +- [`5axis-rtcp-running.png`](5axis-rtcp-running.png) + +## 1. 案例边界 + +### 1.1 入口配置 + +`xyzac-trt.ini` 的关键配置如下： + +| INI 段 | 字段 | 功能 | +|---|---|---| +| `[EMC]` | `MACHINE = sim-xyzac-trt-kins (switchkins)` | 案例名称和 switchkins 语义 | +| `[DISPLAY]` | `DISPLAY = axis` | 主控制面板是 AXIS/Tk，不是 GMOCCAPY | +| `[DISPLAY]` | `OPEN_FILE = ./demos/xyzac_switchkins.ngc` | 启动后预置的 G-code 文件 | +| `[DISPLAY]` | `PYVCP = ./xyzac-trt.xml` | 右侧 SWITCHKINS/vismach-clear 面板 | +| `[DISPLAY]` | `JOG_AXES = XYZC` | 手动点动显示 X/Y/Z/C；A 仍属于五轴运动学 | +| `[DISPLAY]` | `PROGRAM_PREFIX = ../../nc_files` | 默认程序搜索目录 | +| `[DISPLAY]` | `POSITION_OFFSET = RELATIVE` | DRO 默认显示相对坐标 | +| `[DISPLAY]` | `POSITION_FEEDBACK = ACTUAL` | DRO 使用 actual position | +| `[RS274NGC]` | `SUBROUTINE_PATH = ./remap_subs` | M428/M429/M430 和 helix 子程序路径 | +| `[RS274NGC]` | `HAL_PIN_VARS = 1` | 允许 remap 访问 HAL pin | +| `[RS274NGC]` | `REMAP = M428/M429/M430` | kinematics 状态切换入口 | +| `[RS274NGC]` | `PARAMETER_FILE = xyzac.var` | RS274 参数持久化 | +| `[KINS]` | `KINEMATICS = xyzac-trt-kins sparm=identityfirst` | 5 关节 XYZAC，0=identity，1=TRT，2=userk | +| `[KINS]` | `JOINTS = 5` | X/Y/Z/A/C 五个 joint | +| `[HAL]` | `HALFILE = LIB:basic_sim.tcl` | 生成仿真 motion/HAL/模拟设备 | +| `[HAL]` | `POSTGUI_HALFILE = switchkins_postgui.hal` | GUI 创建后连接 PyVCP 控件 | +| `[HAL]` | `motion.analog-out-03 => motion.switchkins-type` | remap 写入 switchkins 的控制通道 | +| `[HAL]` | `loadusr -W xyzac-trt-gui` | 独立 Vismach 五轴模型进程 | +| `[TRAJ]` | `COORDINATES = XYZAC` | 解释器和轨迹规划的笛卡尔坐标集合 | +| `[EMCIO]` | `TOOL_TABLE = xyzac-trt.tbl` | 工具长度/直径等数据 | + +### 1.2 三个界面实体 + +```text +AXIS 主窗口 + ├── Tk 菜单、工具栏、Manual Control、MDI、Preview、DRO、G-code view + ├── PyVCP xyzac-trt.xml（右侧 SWITCHKINS 面板） + └── AXIS 内部 Python/Tk command + linuxcnc.stat 状态轮询 + +xyzac-trt-gui 进程 + └── Python vismach 模型，仅消费 HAL joint feedback/tool-offset/offset + +LinuxCNC runtime + ├── linuxcncsvr / NML + ├── milltask / RS274NGC interpreter + ├── motmod / TP / switchkins / xyzac-trt-kins + └── HAL / simulated home / spindle / tool-change / PyVCP pins +``` + +AXIS 是控制和状态投影者，PyVCP 是 HAL 控件，Vismach 是可视化消费者；三者都不是独立的运动 authority。 + +## 2. 启动与初始化数据流 + +```text +run-5axis-rtcp.sh + │ + ▼ +/usr/bin/linuxcnc -r xyzac-trt.ini + │ + ├── 读取 [DISPLAY]/[TASK]/[HAL]/[KINS]/[TRAJ] + ├── 启动 linuxcncsvr + ├── 启动 milltask + ├── 运行 basic_sim.tcl 生成 HAL + ├── loadusr xyzac-trt-gui + ├── 执行 switchkins_postgui.hal + └── 启动 /usr/bin/axis -ini xyzac-trt.ini + │ + ├── open_file_guts(OPEN_FILE) + ├── 创建 Tk/AXIS widgets + ├── 读取 linuxcnc.stat + └── 周期刷新 DRO/preview/gates +``` + +### 2.1 AXIS 初始化的责任 + +主要来源： + +```text +linuxcnc/src/emc/usr_intf/axis/scripts/axis.py +``` + +核心职责： + +1. 解析 INI 和显示选项。 +2. 初始化 `linuxcnc.command()`、`linuxcnc.stat()` 和 HAL component。 +3. 根据 `COORDINATES=XYZAC` 建立 axis/joint 映射。 +4. 读取 `OPEN_FILE`，通过 `open_file_guts()` 和 `c.program_open()` 载入程序。 +5. 读取 G-code，运行 canon/preview 生成程序轨迹。 +6. 周期 `s.poll()`，将 position、joint position、homed、limit、tool、G/M code、task/interpreter state 投影到 Tk 变量。 +7. 根据 `running()`、`manual_ok()`、`all_homed()` 和 task/motion 状态决定按钮是否响应。 + +### 2.2 Vismach 初始化的责任 + +`linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py` 创建 HAL component： + +```text +xyzac-trt-gui.table-x HAL_FLOAT IN +xyzac-trt-gui.saddle-y HAL_FLOAT IN +xyzac-trt-gui.spindle-z HAL_FLOAT IN +xyzac-trt-gui.tilt-a HAL_FLOAT IN +xyzac-trt-gui.rotate-c HAL_FLOAT IN +xyzac-trt-gui.y-offset HAL_FLOAT IN +xyzac-trt-gui.z-offset HAL_FLOAT IN +xyzac-trt-gui.tool-offset HAL_FLOAT IN +``` + +模型通过 `HalTranslate`/`HalRotate` 将这些输入转换为 OpenGL 模型姿态。它不发 `program_run`、`jog`、`home` 或 kinematics 命令。 + +## 3. AXIS 主控制面板功能 + +### 3.1 顶部菜单和工具栏 + +AXIS/Tk 主面板通常提供： + +| 类别 | 典型动作 | LinuxCNC command/效果 | +|---|---|---| +| 文件 | Open | `program_open(path)`，更新 loaded file 和 preview | +| AUTO 按钮组 | `hbtb_auto` / `btn_load` | AXIS 的 Open/Load 文件入口；只在程序未运行时打开文件选择器 | +| 文件 | Reload | 重新读取当前文件；运行中拒绝 | +| 文件 | Recent files | 偏好文件保存最近路径，最多 10 项 | +| 文件 | Edit | 调用 `EDITOR`/外部编辑器；不改变 runtime authority | +| 程序 | Run | `c.mode(MODE_AUTO)` + `c.auto(AUTO_RUN, start_line)` | +| 程序 | Step | `c.auto(AUTO_STEP)` | +| 程序 | Pause | `c.auto(AUTO_PAUSE)` | +| 程序 | Resume | `c.auto(AUTO_RESUME)` | +| 程序 | Stop | `c.abort()`，同时设置 GUI abort 状态 | +| 程序 | Run from line | 设置 first line 后再 AUTO_RUN，风险高于普通 Run | +| 机床 | Power | `c.state(STATE_ON/OFF)` | +| 机床 | E-stop | `c.state(STATE_ESTOP/STATE_ESTOP_RESET)` 或硬件链路 | +| 机床 | Home/Unhome | `c.home(joint)` / `c.unhome(joint)` | +| 机床 | Spindle | `c.spindle(...)` 或 MDI/halui | +| 机床 | Feed/rapid/spindle override | `c.feedrate()`/`c.maxvel()` 或相应 HAL/command | +| 辅助 | HAL show/tooleditor | 外部工具或 tool data action | +| 视图 | Perspective/X/Y/Z/clear plot | 只改变 view/preview，不改变运动状态 | + +菜单图标不是 authority。每个动作必须以 command result 和下一次 status snapshot 确认。 + +### 3.2 Manual Control + +Manual 页包含： + +- X/Y/Z/A/C 轴选择；`JOG_AXES=XYZC` 会影响默认可点动轴列表。 +- Continuous/incremental jog 选择。 +- jog speed、angular jog speed。 +- Home All、单轴 Home、Unhome。 +- Touch Off、Tool Touch Off。 +- feed/rapid/spindle override。 +- spindle start/stop/reverse。 + +AXIS 的 `manual_ok()` 条件： + +```text +task_state == STATE_ON +并且当前没有 AUTO/MDI 正在运行 +并且 interp_state == INTERP_IDLE +或当前为 MDI 且 queued_mdi_commands < max_queued_mdi_commands +``` + +`jog_on()` 还要满足当前 tab 是 manual、轴/joint 映射有效、没有 active limit 阻止动作。Web/WASM 应把这些结果作为 gate reason 返回，不仅仅把 HTML button 设为 disabled。 + +### 3.3 MDI + +MDI 入口通过 `ensure_mdi()`： + +1. 检查 `manual_ok()`。 +2. 关闭 teleop 或切换到合适 motion mode。 +3. `c.mode(MODE_MDI)`。 +4. 用户输入字符串后调用 `c.mdi(command)`。 +5. interpreter 执行后由 `stat.interp_state`、`queued_mdi_commands`、位置和错误通道反馈。 + +MDI 不是任意字符串的本地脚本执行器。Web/WASM 必须保留 G-code parser、能力边界、长度限制、错误码和 operation id。 + +### 3.4 Preview/DRO/G-code view + +AXIS 周期更新同时刷新： + +- `stat.actual_position` / `joint_actual_position` → DRO。 +- `stat.g5x_offset` / `g92_offset` / `rotation_xy` / `tool_offset` → 坐标投影。 +- `stat.gcodes` / `stat.mcodes` / `settings` → G-code 信息。 +- canon/preview → 静态程序路径。 +- `motion_line` / `running_line` → 当前行高亮。 +- `joint.pos-fb` → Vismach 模型。 + +静态 preview 和 realtime/live plot 必须分开建模；Web 端不能用 JS 重新解析一份程序来代替 WASM canonical motion。 + +## 4. `xyzac-trt.xml` SWITCHKINS 面板 + +### 4.1 控件定义 + +PyVCP XML 定义： + +| 控件文本 | HAL pin | 目标 | +|---|---|---| +| `IDENTITY` | `pyvcp.type0-button` | 触发 `halui.mdi-command-00` → M429 | +| `TCP:XYZAC` | `pyvcp.type1-button` | 触发 `halui.mdi-command-01` → M428 | +| `userk` | `pyvcp.type2-button` | 触发 `halui.mdi-command-02` → M430 | +| 多标签 | `kinstype.is-0/1/2` | 显示当前 switchkins type | +| `vismach-clear` | `pyvcp.vismach-clear` | 连接 `vismach.plotclear` | + +`switchkins_postgui.hal` 将按钮连接到 HALUI MDI command： + +```text +pyvcp.type0-button → halui.mdi-command-00 +pyvcp.type1-button → halui.mdi-command-01 +pyvcp.type2-button → halui.mdi-command-02 +``` + +这意味着浏览器端的“TCP:XYZAC”按钮不能直接写 `motion.switchkins-type`，应走同等的受控 command/remap 路径，并等待确认状态。 + +### 4.2 switchkins 状态模型 + +```text +type 0 / M429 → identity +type 1 / M428 → xyzac TRT TCP/RTCP +type 2 / M430 → userk +``` + +`xyzac-trt-kins.c` 在 `sparm=identityfirst` 下将 type 0 绑定 identity，type 1 绑定 `trtKinematicsSetup + xyzacKinematicsForward/Inverse`，type 2 绑定 userk。配置注释和实现必须同时读取，不能只依据面板标签。 + +## 5. 五轴 RTCP 控制流 + +### 5.1 M428/M429 remap + +`428remap.ngc` 的关键操作： + +```text +验证 motion.switchkins-type HAL pin 存在 +M68 E3 Q1 写 motion.analog-out-03 = 1 +M66 E0 L0 同步等待 +读取 motion.switchkins-type，必须等于 1 +``` + +`429remap.ngc` 相同，但写入 `Q0`。失败时输出 debug STOP 并结束子程序；Web/WASM 需要把这些失败变成稳定的错误码，而不是只显示“按钮没有反应”。 + +### 5.2 典型 helix 数据流 + +`helix_ac.ngc` 的典型顺序： + +```text +M429 identity +G0 / G10 L20 机床坐标定位和设置工作偏置 +M428 XYZAC TRT / TCP +G0 A... C... 改变刀轴姿态 +G2 ... 在 RTCP 运动学下插补 +M429 切回 identity +G0 ... 安全返回 +M428 如后续仍需 TCP +``` + +这里的关键不是“同时有 A/C 数字”，而是同一轨迹块由 XYZAC inverse kinematics 将 TCP pose 转换为五个 joint 命令。姿态变化可能导致 X/Y/Z 补偿变化；因此前端必须同时展示笛卡尔 pose、joint positions、active kinematics mode 和 tool offset。 + +### 5.3 Vismach 数据流 + +```text +joint.0.pos-fb → table-x → HalTranslate +joint.1.pos-fb → saddle-y → HalTranslate +joint.2.pos-fb → spindle-z → HalTranslate +joint.3.pos-fb → tilt-a → HalRotate(A) +joint.4.pos-fb → rotate-c → HalRotate(C) +motion.tooloffset.z → tool-offset → HalTranslate(tool) +y/z-offset → rotary geometry placement +``` + +Vismach 只读 HAL input。Web/WASM 的 Three.js adapter 应消费 authoritative `visual.pose`/`joints`/`toolpath`，而不是在 React 中根据 A/C 自行推算补偿。 + +## 6. 按钮互相制约条件 + +下表是 AXIS/LinuxCNC 语义的最小可执行门控。`running` 表示 AUTO 或 MDI 且 `interp_state != INTERP_IDLE`。 + +| 按钮/动作 | 必须满足 | 典型阻塞原因 | +|---|---|---| +| E-stop | 始终可用 | transport/session 不可用 | +| Power ON/OFF | 非 ESTOP；不在禁止转换状态 | `ESTOP_ACTIVE` | +| Reset | machine ON、非 running、无 active limit | `LIMIT_ACTIVE` / `INTERP_RUNNING` | +| Manual jog | `STATE_ON`、MANUAL、非 running、未 fault | `MACHINE_OFF` / `MODE_REQUIRED` | +| Home all | `manual_ok()`；必要时确认重复 homing | `NOT_ON` / `RUNNING` | +| 单轴 Home | `manual_ok()`；非 identity 时通常必须 joint mode；重复坐标字母禁用单轴 home | `JOINT_MODE_REQUIRED` | +| MDI | machine ON；队列未满；idle 或当前 MDI | `MDI_QUEUE_FULL` / `INTERP_RUNNING` | +| Open file | 解释器 idle；AXIS `open_file_guts` 临时切 MANUAL 后恢复原 mode | `INTERP_RUNNING` | +| Load program | machine ON、idle | `MACHINE_OFF` | +| Reload | idle 且已有 loaded file | `TASKFILE_MISSING` | +| Run | machine ON、idle、已有程序 | `TASKFILE_MISSING` / `INTERP_RUNNING` | +| Run from line | Run 条件 + 有明确 highlight line | `HIGHLIGHT_MISSING` | +| Step | machine ON 且有程序；进入 AUTO | `TASKFILE_MISSING` | +| Pause | machine ON 且 interpreter READING/WAITING | `PAUSE_STATE_GATE` | +| Resume | machine ON 且 interpreter PAUSED | `RESUME_STATE_GATE` | +| Stop/Abort | machine ON 且 running；abort 可以强制恢复状态 | `STOP_STATE_GATE` | +| Touch Off | manual_ok、MANUAL、允许的 motion mode | `JOINT_MODE_REQUIRED` | +| Tool Touch Off | Touch Off 条件 + 有当前工具 | `TOOL_MISSING` | +| TCP:XYZAC/M428 | remap HAL pin 存在、HAL net 正确、当前程序允许切换 | `MISSING_HAL_PIN` / `WRONG_SWITCHKINS_TYPE` | +| Identity/M429 | 同上，切换后必须确认 type=0 | `WRONG_SWITCHKINS_TYPE` | +| Vismach clear | 只清显示 plot，不改变 task/motion | 不应改变机床状态 | + +### 6.1 重要状态互斥 + +```text +ESTOP → 禁止所有运动、模式、MDI、RTCP 切换 +OFF → 可以复位/上电，禁止 Run/Jog/Home/MDI +ON + 未 homed → 允许 Manual/Home，禁止 AUTO/MDI（除非配置 NO_FORCE_HOMING） +RUNNING → 禁止 Open/Reload/Edit/MDI/Jog/Home；允许 Pause/Stop/状态观察 +PAUSED → 允许 Resume/Stop；禁止 MDI/Jog/重新加载 +RTCP type switch → 应在 interpreter idle、安全位置、无活动轨迹时执行 +``` + +## 7. 当前 Web/WASM 的对应实现 + +### 7.1 已存在的通用契约 + +当前 Web 代码已经提供可复用基础： + +| 文件 | 作用 | +|---|---| +| `web/app/axis-contract.mjs` | `AXIS_COMMANDS`、状态归一化、纯 gate 函数 | +| `web/app/axis-operation-controller.mjs` | operation id、gate 检查、command trace、错误保留 | +| `web/react/src/protocol.ts` | `MessageEnvelope`、`SimSnapshotV1`、`PanelSnapshotV1`、`AxisStateView` | +| `web/react/src/store.ts` | Worker message → authoritative snapshot/projected UI state | +| `web/react/src/worker-client.ts` | Dedicated Worker transport、seq、session/context、错误处理 | +| `web/react/src/visual-workflow.ts` | AXIS/GMOCCAPY/Vismach 的 visual source 分类 | + +现有 `AXIS_COMMANDS` 已覆盖 `PROGRAM_LOAD/RUN/STEP/PAUSE/RESUME/ABORT/RESTART`、`MDI_EXECUTE`、`JOG_START/STOP`、`HOME`、`ESTOP`、`RESET`、override、spindle、coolant、tool 和 probe。 + +### 7.2 `xyzac-trt` 需要的新增协议字段 + +建议在现有 `PanelSnapshotV1` 上 additive 扩展，不破坏 `sim_task.v1`： + +```json +{ + "configuration": { + "case_path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "coordinates": ["X", "Y", "Z", "A", "C"], + "kinematics": "xyzac-trt-kins", + "topology": "table-tilting-A/table-rotary-C", + "joint_count": 5, + "program_prefix": "../../nc_files" + }, + "kinematics": { + "family": "switchkins", + "active_type": 1, + "active_name": "xyzac-trt", + "available": [ + {"type": 0, "name": "identity", "command": "M429"}, + {"type": 1, "name": "xyzac-trt", "command": "M428"}, + {"type": 2, "name": "userk", "command": "M430"} + ], + "transition": "idle_only" + }, + "motion": { + "axes": {"x": 0, "y": 0, "z": 10, "a": 0, "c": 0}, + "joints": [0, 0, 10, 0, 0], + "tool_offset": {"z": 0}, + "rotation_center": {"x": 0, "y": 0, "z": 0}, + "axis_offsets": {"y": 20, "z": 10} + } +} +``` + +字段的 authoritative 来源必须来自 WASM kinematics/motion snapshot 或受控 native oracle；不能由 A/C slider 在浏览器中自行补偿。 + +### 7.3 命令映射建议 + +| Web action | protocol command | xyzac 行为 | +|---|---|---| +| `PROGRAM_LOAD` | `PROGRAM_LOAD` | 载入程序、canonical preview、重置 active segment | +| `PROGRAM_RUN` | `PROGRAM_RUN` | 进入 AUTO，固定 tick 推进 interpreter/TP | +| `PROGRAM_PAUSE` | `PROGRAM_PAUSE` | 保留当前 segment/kinematics type | +| `PROGRAM_RESUME` | `PROGRAM_RESUME` | 继续同一 program state | +| `PROGRAM_ABORT` | `PROGRAM_ABORT` | 停止并返回稳定 STOPPED/IDLE | +| `MDI_EXECUTE` | `MDI_EXECUTE` | 用于 `M428`/`M429`/`M430`，必须有 idle gate | +| `KINEMATICS_SELECT` | 建议新增 | payload `{type:0\|1\|2}`，内部走 remap/受控 HAL，不直接写 pin | +| `JOG_START` | `JOG_START` | 仅允许合法 axis/joint；XYZAC 的 A/C 速度单位独立校验 | +| `HOME` | `HOME` | 返回每个 joint homed 状态和错误 | +| `VISMACH_CLEAR` | `VISUAL_CLEAR` | 只清可视化轨迹，不清 task/motion/program | + +### 7.3.1 当前 Web 实现的五轴缺口 + +现有通用 AXIS contract 已有大量三轴/通用动作，但对本案例仍有明确缺口，不能把“按钮存在”当成已实现： + +| 缺口 | 当前状态 | 五轴实现要求 | +|---|---|---| +| `KINEMATICS_SELECT` | `AXIS_COMMANDS` 尚未定义 | 新增受 gate 的 type 0/1/2 命令，禁止前端直接写 HAL | +| `POWER` | `axisGate()` 有 `power` 分支，但 `AXIS_COMMANDS` 没有对应 action | 补齐 command map 和 Worker handler，保持 OFF/ESTOP 语义 | +| `VISUAL_CLEAR` | 原生 PyVCP 有 `vismach-clear`，通用 Web command 尚未固定 | 作为 visual-only command，不能改 program/motion hash | +| A/C jog | 当前 React 示例轴选择主要是 X/Y/Z | 增加 A/C angular units、limits、jog speed 和 joint/teleop gate | +| XYZAC pose | `PanelSnapshotV1.visual.pose` 目前是通用 Record | 增加明确 `a/c`、joint vector、kinematics type 和 tool-offset 字段 | +| rotation centers | 当前通用 snapshot 没有 TRT rotation-point 完整字段 | 将 x/y/z rotation point、y/z offset 纳入 configuration/authoritative | +| switchkins recovery | 通用 recovery 有 task/program，但没有 active kinematics mode | checkpoint 必须保存 type、remap transition、source line、joint/pose hash | + +### 7.4 Worker snapshot 到 React + +```text +WASM/native runtime + └── task + interpreter + motion + joints + kinematics + HAL + devices + │ + ▼ +protocol.v1 STATE_SNAPSHOT / COMMAND_RESULT + │ + ▼ +store.ts projection() + ├── axis_state + ├── gates + ├── task/program + ├── motion.axes / motion.joints + ├── authoritative.planner / authoritative.kinematics + └── visual.pose / visual.toolpath + │ + ▼ +React DRO / controls / Three.js Vismach +``` + +React 控件的 `disabled` 只是 projection；真正 gate 必须在 Worker/runtime 再检查一次。`AxisOperationController` 已提供 operation id、拒绝原因和 trace 结构，五轴切换应复用此机制。 + +## 8. Web/WASM 不应直接照搬的部分 + +| 原生机制 | Web/WASM 处理 | +|---|---| +| Tk widget/菜单 | React button/menu/keyboard command，但保留 source control id 和 tooltip 语义 | +| LinuxCNC NML | Dedicated Worker protocol envelope + session/seq/operation_id | +| HAL pin `motion.switchkins-type` | Worker-owned runtime capability；浏览器不能任意写 HAL pin | +| `loadusr -W xyzac-trt-gui` | Worker/Three.js Vismach adapter；visual-only，不是 authority | +| `OPEN_FILE` | Worker workspace resolver + exact path/resource closure | +| `G-code preview` | WASM canonical interpreter/TP segments；不能用 JS preview 冒充 | +| `linuxcnc.stat()` polling | fixed-tick STATE_SNAPSHOT/EVENT，带 state_hash | +| M428/M429 remap | WASM remap/interpreter capability，记录切换、错误和首个 divergent tick | +| POSIX realtime/HAL hardware | SIM-DEVICE 或 REAL-EXCLUDED，不能静默当成 Web 等价 | + +## 9. 推荐的 Web 端组件拆分 + +```text +XyzacTrtCaseResolver + ├── exact ini/hal/remap/resource resolver + └── startup diagnostics + +XyzacTrtControlStore + ├── axis_state / task / interp / homed / limits + ├── kinematics.active_type + ├── gates and gate reasons + └── command trace + +XyzacTrtOperationController + ├── PROGRAM_LOAD/RUN/PAUSE/RESUME/ABORT + ├── MDI M428/M429/M430 + ├── JOG/HOME/override + └── transition checks: idle, no fault, valid capability + +XyzacTrtPanel + ├── mode/task controls + ├── XYZAC DRO and joint view + ├── TCP/identity/userk segmented control + ├── gate-aware MDI/run/jog/home buttons + └── alarms and diagnostics + +XyzacTrtVismach + ├── pose/joints/toolpath from authoritative snapshot + ├── A/C table rotation + ├── tool-offset rendering + └── canvas/WebGL pixel/interaction checks +``` + +## 10. 验收和测试矩阵 + +### 正常流程 + +1. 加载 `xyzac_switchkins.ngc`。 +2. 验证 `XYZAC` 五个轴和五个 joints 出现在 snapshot。 +3. 验证 preview segment/source line/hash。 +4. `M429` → active type 0。 +5. `M428` → active type 1，等待确认后再允许 TCP 轨迹。 +6. 运行包含 A/C 变化的 helix；比较 Cartesian pose、joint positions、tool offset。 +7. `M429` 安全返回；验证 no duplicate segment/no stale active segment。 + +### 边界和拒绝 + +| 测试 | 期望 | +|---|---| +| ESTOP 时 M428 | blocked，不改变 kinematics type | +| interpreter running 时 M428 | blocked 或排队策略明确，不能隐式切换 | +| 缺 `HAL_PIN_VARS=1` | remap 错误码 `M428:Missing...`，保留证据 | +| 缺 `motion.switchkins-type` net | `WRONG_SWITCHKINS_TYPE`/source diagnostic | +| A/C 超限 | limit/fault snapshot，禁止继续运动 | +| tool offset 非有限值 | fail closed，不能送入 kinematics | +| pause 后 resume | segment、kinematics type、state hash 连续 | +| abort 后 reload | program/task/preview 清理顺序确定 | +| Worker restart | checkpoint 恢复 kinematics type、program line、joint/pose hash | +| Vismach clear | 只清 visual layer，task/program/state_hash 不变 | + +### 必须保存的证据 + +- context id、case path、INI/HAL/remap source hash。 +- command envelope、operation id、gate result、command result。 +- 每个固定 tick 的 task/interp/motion/kinematics state hash。 +- Cartesian pose、XYZAC joint vector、tool offset、active segment/source line。 +- 首个 divergent tick、错误码、资源缺失分类。 +- native/WASM/Worker 对照结果；不以单一截图替代。 + +## 11. 已知限制 + +- 当前 `xyzac-trt.ini` 是 AXIS + PyVCP + 独立 Vismach 的 LinuxCNC 原生案例；Web/WASM 尚未声明其完整五轴 RTCP parity 已完成。 +- 当前环境使用 POSIX non-realtime；不提供实时硬件周期、延迟和驱动证明。 +- `xyzac-trt-gui` 只可视化 joint feedback/tool offset；它不是 canonical motion authority。 +- 官方 kinematics oracle 缺失时，native/WASM 结果只能作为实现证据，不能伪称官方 golden。 +- `xyzac-trt` 配置中的 `x-rot-point/y-rot-point/z-rot-point` 在示例中固定为 0，且注释说明当前 Vismach GUI 不支持通过 GUI 调整；Web 端必须把它作为配置/能力字段，而不是随意暴露可写 slider。 + +## 12. 后续实现顺序 + +1. 建立 exact-path `xyzac-trt.ini` resolver 和 resource graph。 +2. 在 Worker/WASM 建立 additive `kinematics` snapshot 与 `KINEMATICS_SELECT` command。 +3. 将 M428/M429/M430 的 remap 行为接入固定 tick interpreter，先做拒绝和错误边界。 +4. 将 XYZAC Cartesian/joint/tool-offset canonical snapshot 接到 Three.js Vismach adapter。 +5. 实现 gate matrix：ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED/limit/fault。 +6. 完成 program load/run/pause/resume/abort/restart + RTCP switch recovery 测试。 +7. 运行 native/Worker/browser 三方对照，并记录首个差异 tick。 +8. 只有 source/resource/oracle/recovery/浏览器边界均有证据后，才可提升为 selected-case verified；不能从一个 AXIS 截图直接宣称全 LinuxCNC 五轴 parity。 diff --git a/doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md b/doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md new file mode 100644 index 0000000..3ec2a2f --- /dev/null +++ b/doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md @@ -0,0 +1,572 @@ +# `xyzac-trt.ini` Web/WASM 控制面板实施计划 + +文档状态：实施基线 v1.0 + +本计划完全以 [`xyzac-trt-control-panel-web-wasm-design.md`](xyzac-trt-control-panel-web-wasm-design.md) 为设计契约，目标是把以下 LinuxCNC 原生案例的控制面板、数据流和控制流迁移为 Worker/WASM/React/Three.js Web 控制台： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +它不是 AXIS 的截图复刻计划，而是面向行为、状态、错误、资源、轨迹、RTCP 和恢复结果的 Web-equivalent 实施计划。任何视觉实现都必须服从 Worker/WASM authoritative state。 + +“完全对标 LinuxCNC 源码”和“全部功能唯一来自 LinuxCNC WASM”定义为唯一权威合同，强制定义见 [`xyzac-trt-web-wasm-source-parity-contract.md`](xyzac-trt-web-wasm-source-parity-contract.md)。若本计划与该合同冲突，以源码对标合同的禁止项、source slice、WASM authority、first divergent tick 和 parity gate 为准。 + +## 1. 目标与不可变约束 + +### 1.1 交付目标 + +完成一个可在浏览器中运行的 XYZAC 五轴 TRT 控制台，覆盖： + +1. exact-path 案例解析、资源闭包和启动诊断。 +2. Dedicated Worker 中的 WASM 任务、解释器、TP、motion、XYZAC kinematics、HAL/IO 虚拟设备和固定 tick。 +3. AXIS 等价的程序、MDI、Manual/Jog、Home、limit、override、spindle、coolant、tool 和 alarm 工作流。 +4. `M428/M429/M430` switchkins/RTCP 切换、拒绝边界、状态确认和恢复。 +5. XYZAC Cartesian pose、A/C 姿态、五个 joints、tool offset、rotation/axis offsets 和 canonical toolpath 的 Three.js 可视化。 +6. protocol.v1 command/result/snapshot/event/stream、operation ledger、checkpoint、Worker 重启和 offline recovery。 +7. native/Worker/WASM/React/Three.js 之间的确定性 parity 报告、错误样本和首个 divergent tick。 + +### 1.2 不可变约束 + +| 约束 | 实施要求 | +|---|---| +| WASM/Worker 权威 | React 不创建第二份 task、motion、kinematics 或 program authority；本地状态只能是 draft/pending | +| 固定 tick | 解释器、TP、motion、HAL、IO、kinematics、event、journal 以 logical tick 串行执行，不使用墙钟决定结果 | +| exact path | `xyzac-trt.ini` 中的 `HALFILE`、`POSTGUI_HALFILE`、`OPEN_FILE`、`SUBROUTINE_PATH`、`TOOL_TABLE` 和 `PYVCP` 按 exact path 解析，不按 basename 猜文件 | +| RTCP 原语 | `M428/M429/M430` 必须保留 remap 语义和 `motion.switchkins-type` 的确认，禁止前端直接写一个近似值 | +| 一致 gate | UI gate 只是 projection；Worker/runtime 必须再次检查 ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED/limit/fault/kinematics 条件 | +| 轨迹权威 | 预览和 Three.js 使用 canonical WASM trajectory/pose/joints；JS 不能重算 RTCP 结果冒充通过 | +| 单写者 | 一个 session 只有一个 Worker 写入 task/WASM/OPFS journal；多标签页只能观察或持有租约 | +| 幂等恢复 | 每个副作用命令有 operation id、ledger prepare/commit 和结果重查；超时不能盲目重发 | +| 能力拒绝 | 宿主路径、shell、真实硬件、socket、动态库和未授权 Python/HAL 能力稳定返回拒绝码 | +| 发布边界 | 没有官方 oracle、真实硬件、Safari/Firefox、OPFS crash 或许可证输入时保持 blocked，不升级为全 LinuxCNC parity | + +## 2. 设计契约追溯 + +| 设计文档章节 | 本计划对应实施面 | +|---|---| +| §1 范围与版本边界 | `RTCP-00` source/runtime/version lock | +| §2 总体架构 | `RTCP-01` Worker topology、authority boundary | +| §3 启动与初始化 | `RTCP-02` exact case resolver/startup state machine | +| §4 AXIS 主控制面板 | `RTCP-05` UI domain、controls、status projection | +| §5 G-code 加载流 | `RTCP-04` PROGRAM_LOAD/preview/program ledger | +| §6 AUTO 运行流 | `RTCP-06` run/pause/resume/step/abort/restart | +| §7 MDI/Jog/Home/Tool/Offset | `RTCP-07` manual and device workflows | +| §8 SWITCHKINS/RTCP | `RTCP-08` M428/M429/M430/XYZAC kinematics | +| §9 状态真值 | `RTCP-03` snapshot/axis_state/gates | +| §10 Web/WASM mapping | `RTCP-09` protocol and frontend integration | +| §11 测试与限制 | `RTCP-10` parity/recovery/browser gates | + +## 3. 功能范围矩阵 + +### 3.1 P0：必须先闭合的主链 + +| ID | 功能 | 原生来源/对照 | Web 结果 | +|---|---|---|---| +| P0-01 | 案例选择与启动 | `xyzac-trt.ini`、`run-5axis-rtcp.sh` | `TASK_READY` 或可定位 `BLOCKED_*` | +| P0-02 | 配置/资源图 | INI/HAL/XML/TBL/VAR/NGC/remap | exact path、source hash、missing edge | +| P0-03 | Task/ESTOP/OFF/ON | AXIS `stat.task_state` | axis_state + gate matrix | +| P0-04 | Mode MANUAL/MDI/AUTO | AXIS `ensure_mode`、`on_hal_status_mode_auto` | state transition + command result | +| P0-05 | Program load/open | AXIS `open_file_guts`、`c.program_open` | program hash、line count、preview | +| P0-06 | Canonical preview | AXIS canon/preview | stable segments/source lines | +| P0-07 | Program run | AXIS `task_run` | RUNNING、tick、active line | +| P0-08 | Pause/resume/step | AXIS `task_pause/resume/step` | PAUSED/RESUMED/step endpoint | +| P0-09 | Abort/restart | AXIS `task_stop/reload` | STOPPED/loaded、no duplicate side effect | +| P0-10 | MDI | AXIS `send_mdi_command` | parser result、queue gate、error | +| P0-11 | XYZAC kinematics | `xyzac-trt-kins.c`、`trtfuncs.c` | forward/inverse pose/joints | +| P0-12 | M428/M429/M430 | `428remap.ngc`、`429remap.ngc`、HAL net | active type + verified transition | +| P0-13 | Vismach pose/joints | `xyzac-trt-gui.py` | Three.js pose/joints/toolpath | + +### 3.2 P1：操作完整性 + +| ID | 功能 | 关键边界 | +|---|---|---| +| P1-01 | XYZAC jog | X/Y/Z linear units，A/C angular units，按下/释放 stop | +| P1-02 | Home/unhome | 五 joint homing、共享开关、home sequence、重复 homing | +| P1-03 | Soft/hard limits | limit active、override limit、following error | +| P1-04 | Feed/rapid/spindle override | 范围、非有限值、暂停/ESTOP | +| P1-05 | Spindle/coolant | command/actual/at-speed、冷却状态、fault | +| P1-06 | Tool table/offset | `xyzac-trt.tbl`、tool offset、G43/G49/G43.1 | +| P1-07 | HAL/PyVCP | `type0/1/2-button`、legend、vismach-clear、HAL read | +| P1-08 | Alarm/event timeline | source、severity、operation id、acknowledge | +| P1-09 | Configuration diagnostics | startup/resource/HAL/remap errors | + +### 3.3 P2：交付和恢复完整性 + +| ID | 功能 | 退出要求 | +|---|---|---| +| P2-01 | Checkpoint/journal | tick、program line、kinematics type、pose/joints、hash 可恢复 | +| P2-02 | Worker restart | 无重复 M428/M429、无重复 segment/IO/tool side effect | +| P2-03 | Offline project | 缓存资源、OPFS journal、配额和冲突可诊断 | +| P2-04 | Stream/backpressure | trajectory/HAL/log drop 有 cursor/gap/最终快照 | +| P2-05 | Browser matrix | Chromium/Firefox/Safari 逐项证据；缺环境保持 blocked | +| P2-06 | Native/WASM parity | normal/boundary/error/recovery + deterministic self-hash | + +## 4. 目标架构 + +```text +React/Web UI + ├── XyzacCaseView / ProgramView / ManualView / RtccpView / DiagnosticsView + ├── Domain store: task/program/motion/kinematics/hal/devices/recovery + ├── Pure gate selectors and source control IDs + └── WorkerClient only + │ protocol.v1 MessageEnvelope + ▼ +Dedicated sim.worker + ├── ProtocolGateway + runtime schema validator + ├── Session/Liveness/Lease manager + ├── CommandLedger (prepare/ack/result/commit/reconcile) + ├── XyzacCaseResolver + resource graph + ├── SimScheduler (fixed logical tick) + ├── WASM LinuxCncCompat + │ ├── Task/RS274/TP/Motion + │ ├── xyzac-trt forward/inverse + │ ├── remap M428/M429/M430 + │ └── HAL/IO/tool/probe virtual devices + ├── SnapshotPublisher + StateHash + ├── OPFS journal/checkpoint/recovery + └── trajectory/HAL/log stream backpressure + │ authoritative snapshots/events + ▼ +React projection + Three.js XYZAC Vismach adapter +``` + +### 4.1 Authority ownership + +| 数据 | 唯一 authority | React 是否可写 | +|---|---|---:| +| task state/mode/interp | WASM Task/Interpreter | 否 | +| program parsed state/line | WASM Interpreter/Task | 否 | +| TP queue/active segment | WASM TP | 否 | +| Cartesian pose/XYZAC joints | WASM Kinematics/Motion | 否 | +| switchkins type | WASM/HAL compatibility layer | 只能发请求 | +| homed/limit/following error | WASM Motion/Home/HAL | 否 | +| tool/offset/spindle/coolant | virtual IO/tool runtime | 只能发命令 | +| UI draft/selection | React local store | 是，但不等于运行态 | +| Three.js camera/layer toggle | React/renderer | 是，不影响 motion | + +## 5. 实施任务队列 + +任务状态使用：`queued → in_progress → verified` 或 `in_progress → blocked`。每个任务完成时必须生成报告、自哈希、输入哈希、命令记录、错误边界和下一任务依赖。 + +### RTCP-00：源码、版本和案例锁定 + +**目标**：冻结 `xyzac-trt.ini`、所有引用资源、系统运行时和 source symbol 映射。 + +**直接输入**： + +- `xyzac-trt.ini` +- `xyzac-trt.xml` +- `switchkins_postgui.hal` +- `demos/*.ngc` +- `remap_subs/*.ngc` +- `xyzac-trt-kins.c`、`trtfuncs.c` +- `xyzac-trt-gui.py` +- `context-lock.json` + +**产物**： + +- `coverage/xyzac-trt-web-source-lock.report.json` +- `web/workspace/xyzac-trt-source-contract.mjs` +- exact resource graph、source hash、runtime version record + +**验收**：每个 INI path、HAL edge、PyVCP pin、remap、G-code 入口可追溯；缺失资源为明确 blocker。 + +### RTCP-01：Worker 拓扑和 LinuxCncCompat 外壳 + +**目标**：建立单 Worker/session/ledger/scheduler 边界，不实现五轴细节。 + +**产物**： + +- `web/worker/xyzac-session.mjs` +- `web/worker/xyzac-scheduler.mjs` +- `web/worker/xyzac-command-ledger.mjs` +- `web/worker/test_xyzac_session.mjs` + +**验收**：HELLO/CAPABILITIES/SESSION_ATTACH/SESSION_READY、seq、operation_id、取消、超时重查和重复命令测试通过；Worker 之外不能写 runtime。 + +### RTCP-02：Exact case resolver 和启动状态机 + +**目标**：把 `xyzac-trt.ini` 解析到 `TASK_NEW → CONFIG_RESOLVED → HAL_READY → RUNTIME_READY → TASK_READY`。 + +**要求**： + +- 解析 `DISPLAY/TASK/HAL/RS274NGC/KINS/TRAJ/EMCIO`。 +- 解析 `LIB:basic_sim.tcl` 的虚拟 HAL 边界。 +- exact resolve `OPEN_FILE`、`SUBROUTINE_PATH`、`xyzac-trt.tbl`、`xyzac.var`、`xyzac-trt.xml` 和 `xyzac-trt-gui.py`。 +- 识别 `BLOCKED_RESOURCE`、`BLOCKED_HAL`、`BLOCKED_INI`、`BLOCKED_STARTUP`。 + +**产物**：`web/workspace/xyzac-trt-case-loader.mjs`、startup snapshot、diagnostic report。 + +### RTCP-03：Authoritative snapshot、axis_state 和 gate matrix + +**目标**：将 native task/motion/interp/home/limit/kinematics 状态统一为 Worker snapshot。 + +**产物**： + +- additive `axis_state` +- `kinematics.active_type` +- `configuration.coordinates/joints/topology` +- `gates`（action/enabled/reason） +- `web/worker/test_xyzac_gate_matrix.mjs` + +**验收**：ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED、limit/fault/tool/no-file/no-highlight 每项都有 gate reason 和状态哈希。 + +### RTCP-04：程序加载、canonical preview 和 program ledger + +**目标**：实现 AXIS `open_file_guts → program_open → canon/preview → stat.file` 的 Worker/WASM 等价流程。 + +**要求**： + +- source/path/hash/line count 固化。 +- preview segment 带 id/source_line/start/end/motion_type/center/normal/turn。 +- 解析错误、超限、非有限值、空文件和缺资源 fail closed。 +- load/reload/restart 与 ledger/recovery 可重放。 + +**验收**：native 与 Worker 首个 segment、line count、preview hash、loaded file、invalid G-code 错误码一致。 + +### RTCP-05：程序运行控制和 AXIS workflow + +**目标**：覆盖 Run/Pause/Resume/Step/Abort/Restart/Run-from-line。 + +**按钮约束**： + +```text +RUN = machine_on && interp_idle && task_file +PAUSE = machine_on && interp_reading_or_waiting +RESUME = machine_on && interp_paused +STEP = machine_on && task_file +ABORT = machine_on && interp_running +RESTART = machine_on && interp_idle && task_file +RUN_LINE = RUN && highlight_line != null +``` + +**验收**：固定 tick 下 pause/resume 不重复 segment，abort 无重复副作用，restart 重置 program state 但保留正确 source hash。 + +### RTCP-06：MDI、Jog、Home 和 limit + +**目标**：实现 XYZAC 手动控制。 + +**要求**： + +- X/Y/Z 线性单位和 A/C 角度单位分离。 +- pointerdown/keydown 只发一个 JOG_START；pointerup/keyup/blur/visibilitychange 必须发 JOG_STOP。 +- MDI queue limit、running/paused/ESTOP gate 与 native 一致。 +- home all、单 joint home、unhome、共享 home switch 和 limit override。 +- following error、非有限速度、超范围轴拒绝。 + +**验收**：每个 X/Y/Z/A/C 轴有 normal/boundary/stop/fault/recovery 样本；A/C 不得被当作 linear mm。 + +### RTCP-07：HAL、PyVCP、tool、spindle、coolant 和 alarm + +**目标**：把 `xyzac-trt.xml` 和 `switchkins_postgui.hal` 中的控件接入 Worker capability。 + +**功能**： + +- type0/type1/type2 button 状态和 `kinstype.is-*` legend。 +- `vismach-clear` 只清 visual plot。 +- tool table、tool offset、G43/G49/G43.1、tool prepare/change。 +- spindle command/actual/at-speed/direction、coolant、manual tool change。 +- HAL pin read/write 白名单、类型和权限。 +- alarm/event timeline、acknowledge、source file/line。 + +**验收**：HAL command 不能越权写任意 pin；tool/IO ack、timeout、abort、recovery 和 `REAL-EXCLUDED` 分类都有报告。 + +### RTCP-08：XYZAC kinematics 和 RTCP + +**目标**：实现 `xyzac-trt-kins` 的 forward/inverse、tool offset、rotation/axis offset 和 switchkins。 + +**阶段拆分**： + +1. K0：XYZAC 坐标/joint mapping、单位、limits、finite-value 校验。 +2. K1：identity type 0，forward/inverse identity golden。 +3. K2：TRT type 1，`trtKinematicsSetup`、XYZAC forward/inverse、`y-offset/z-offset`、tool-offset。 +4. K3：userk type 2 capability boundary；无 userk 时稳定拒绝。 +5. K4：M428/M429/M430 remap 与 `motion.switchkins-type` handshake。 +6. K5：helix_ac/helix_bc、姿态变化、G93/arc、奇异/限位/非有限值。 +7. K6：pause/resume/abort/restart/recovery 时 active kinematics type 和 pose/joints 保持一致。 + +**必须保存**：Cartesian pose、XYZAC joints、A/C angle、tool offset、rotation point、axis offsets、kinematics type、首个 divergent tick、state hash。 + +### RTCP-09：Protocol v1 和 React 控制台 + +**目标**：把现有 `axis-contract.mjs`、`AxisOperationController`、`PanelSnapshotV1` 扩展到 XYZAC。 + +**产物**： + +- `KINEMATICS_SELECT`、`VISUAL_CLEAR`、`POWER` 等 additive commands。 +- `xyzac-panel-snapshot.v1` additive view 或兼容扩展。 +- React `XyzacTrtPanel`、`XyzacProgramPane`、`XyzacKinematicsControl`、`XyzacManualPanel`、`XyzacDiagnostics`。 +- gate-aware controls、operation trace、alarm/recovery view。 + +**验收**：React 不直接调用 WASM/OPFS；所有 controls 只通过 WorkerClient；gate reason、pending、ack、result、error 状态可见。 + +### RTCP-10：Three.js XYZAC Vismach adapter + +**目标**：使用 authoritative `visual.pose/joints/toolpath` 实现五轴模型。 + +**要求**： + +- 机床结构对应 `xyzac-trt-gui.py`：table-x、saddle-y、spindle-z、tilt-a、rotate-c、tool-offset。 +- pose/joints 与 toolpath 来自同一 `state_hash`/tick。 +- camera/layer/clear 不改变 task/motion/program。 +- canvas nonblank、A/C 旋转方向、tool offset、轨迹 active segment 和 resize/mobile 通过。 + +### RTCP-11：Journal、checkpoint、Worker restart 和 offline recovery + +**目标**：恢复完整 XYZAC 运行态。 + +**checkpoint 最小字段**： + +```text +context_id, case_id, source_hashes +simulation_tick, seq, state_hash +task_state, task_mode, interp_state, program_hash, current_line +kinematics_type, kinematics_transition, pose, joints +tool_offset, y_offset, z_offset, rotation_points +TP queue/active segment, HAL/IO/tool pending commands +``` + +**验收**： + +- M428 在 checkpoint 前后不重复执行。 +- 暂停程序恢复不重复 segment。 +- tool/spindle/coolant/IO side effect 不重复。 +- 损坏 checkpoint、缺资源、schema mismatch fail closed。 +- Worker 重启后 endpoint pose/joints/program/kinematics/state hash 一致。 + +### RTCP-12：Native/Worker/Browser parity 和验收闭环 + +**目标**：形成 selected-case parity report，不冒充全 LinuxCNC release。 + +**矩阵**： + +- Chromium desktop/mobile。 +- Firefox/Safari 可用时运行；不可用保留 `HOST_EXCLUDED`/`blocked`。 +- native AXIS + xyzac-trt-gui。 +- Worker/WASM + React + Three.js。 +- normal/boundary/error/limit/pause/abort/restart/recovery。 + +**产物**： + +- `coverage/xyzac-trt-web-wasm-parity.report.json` +- native/worker command golden +- snapshot/trajectory/kinematics self-hash +- failure samples and first divergence report + +## 6. 里程碑设计 + +### M0：Source and Case Contract + +**包含**：RTCP-00。 + +**退出条件**： + +- 所有直接引用资源均 exact-path indexed（不以抽样替代）。 +- `xyzac-trt.ini` 的 INI/HAL/NGC/XML/Python/C source graph 自哈希稳定。 +- 版本、context、运行时和能力边界记录完成。 +- 缺失/未索引/宿主资源明确 blocked。 + +### M1：Worker Startup and State Authority + +**包含**：RTCP-01、RTCP-02、RTCP-03。 + +**退出条件**： + +- Worker session handshake、TASK_READY、CAPABILITIES 通过。 +- snapshot 包含 task/motion/home/limit/program/kinematics/gates/configuration。 +- ESTOP/OFF/ON/HOME/IDLE gate matrix 和 deterministic state hash 通过。 +- React 尚未接入前，Worker 测试可独立验证 authority。 + +### M2：Program and AXIS Operation Workflow + +**包含**：RTCP-04、RTCP-05、RTCP-06。 + +**退出条件**： + +- load/preview/run/pause/resume/step/abort/restart/MDI/jog/home 全部有 native/Worker 对照。 +- 每个操作的 gate reason、operation id、command result 和 state hash 可追溯。 +- running/paused/ESTOP/limit/tool missing 的拒绝不被 UI 绕过。 + +### M3：HAL/IO/PyVCP and Device Closure + +**包含**：RTCP-07。 + +**退出条件**： + +- SWITCHKINS PyVCP 三个按钮和 vismach-clear 的 HAL 图可解析。 +- spindle/coolant/tool/probe/hal read/write/ack/error 边界通过。 +- 未授权 pin、外部进程、真实硬件被稳定拒绝。 + +### M4：XYZAC Kinematics and RTCP + +**包含**：RTCP-08。 + +**退出条件**： + +- type 0/1/2 切换和 M428/M429/M430 handshake 与 native 一致。 +- XYZAC pose/joints/tool offset/axis offset/rotation point 的 forward/inverse golden 通过。 +- helix/姿态变化、奇异、limits、non-finite、pause/abort/recovery 样本齐全。 +- 首个 divergent tick 可定位；没有 JS kinematics fallback。 + +### M5：React/Protocol/Three.js Console + +**包含**：RTCP-09、RTCP-10。 + +**退出条件**： + +- React 所有按钮只通过 WorkerClient/OperationController。 +- Three.js 使用 authoritative snapshot，A/C 方向、tool offset 和 active segment 正确。 +- desktop/mobile DOM、canvas nonblank、keyboard/touch、错误/pending/gate UI 通过。 + +### M6：Recovery and Offline Runtime + +**包含**：RTCP-11。 + +**退出条件**： + +- checkpoint/restart/reconcile/replay 无重复副作用。 +- OPFS journal、配额、schema mismatch、坏数据和离线重新打开可诊断。 +- recovery endpoint state hash 与连续运行一致。 + +### M7：Selected-Case Parity Acceptance + +**包含**：RTCP-12。 + +**退出条件**： + +- native/Worker/WASM/React/Three.js 的选定案例完整矩阵通过。 +- 结果报告有 source/input/output hash、命令、状态、首个差异 tick 和失败样本。 +- Chromium/Firefox/Safari、官方 oracle、实时硬件、OPFS crash 和许可证边界按真实环境记录。 +- 只能声明 `selected_case_verified`；任何外部 blocker 存在时保持 `STOP_RELEASE`。 + +## 7. 任务依赖图 + +```text +RTCP-00 source lock + │ + ▼ +RTCP-01 session/ledger ── RTCP-02 case startup ── RTCP-03 snapshot/gates + │ │ │ + └─────────────────────────┴──────────────────────┘ + ▼ + RTCP-04 program/preview + │ + ┌──────────────┴──────────────┐ + ▼ ▼ + RTCP-05 run/control RTCP-06 manual + │ │ + └──────────────┬──────────────┘ + ▼ + RTCP-07 HAL/IO/PyVCP + │ + ▼ + RTCP-08 XYZAC/RTCP + │ + ┌───────────┴───────────┐ + ▼ ▼ + RTCP-09 React/protocol RTCP-10 Three.js + │ │ + └───────────┬───────────┘ + ▼ + RTCP-11 recovery + │ + ▼ + RTCP-12 parity gate +``` + +不得跳过 RTCP-03 的 authority/gate、RTCP-04 的 canonical program 或 RTCP-08 的 kinematics 就先做“漂亮界面”。 + +## 8. 统一任务报告格式 + +每个 `RTCP-*` 任务必须生成 JSON 报告，至少包含： + +```json +{ + "schema": "xyzac-trt-web-wasm-task-report.v1", + "task_id": "RTCP-08", + "milestone": "M4", + "status": "verified", + "context_id": "...", + "case_path": ".../xyzac-trt.ini", + "inputs": [{"path": "...", "sha256": "..."}], + "outputs": [{"path": "...", "sha256": "..."}], + "commands": [{"name": "...", "status": "passed", "stdout_sha256": "..."}], + "normal": {}, + "boundaries": [], + "errors": [], + "first_divergent_tick": null, + "known_blockers": [], + "report_sha256": "..." +} +``` + +失败样本必须保留，不得删除失败、降低 gate、把资源缺失改成通过或用 JS preview/姿态镜像冒充 native/WASM parity。 + +## 9. 最低测试命令集合 + +任务开发期间按范围运行： + +```bash +python3 scripts/validate_baseline.py +python3 scripts/validate_download_index.py +python3 scripts/validate_task_pointer.py nextTask1.md --lock context-lock.json +scripts/build-wasm.sh +ctest --test-dir build-native --output-on-failure +``` + +五轴专属命令： + +```bash +./run-5axis-rtcp.sh +./run-5axis-rtcp.sh xyzbc-trt.ini +node web/worker/test_xyzac_trt_case.mjs +node web/worker/test_xyzac_program.mjs +node web/worker/test_xyzac_switchkins.mjs +node web/worker/test_xyzac_rtcp.mjs +node web/worker/test_xyzac_recovery.mjs +npm --prefix web/react run typecheck +npm --prefix web/react run build +``` + +命令名称在对应任务开始前必须实际创建并纳入报告；不存在的测试命令不能写成已通过。 + +## 10. 停止条件和阻塞处理 + +以下任一情况必须将当前任务标记为 blocked，并保留证据： + +- `xyzac-trt.ini` 的 source/resource/hal/remap graph 不完整。 +- native 运行时版本、锁定 source 或 ABI/protocol/schema 不一致。 +- M428/M429 状态切换没有确认、重复执行或首个差异 tick 未定位。 +- A/C 角度、tool offset、rotation point、joint pose 由 JS/React 生成。 +- ESTOP、limit、following error、pause、abort、recovery 语义不可解释。 +- 真实 HAL、动态 loader、宿主 Python、外部进程或真实硬件被错误标记为 Web-equivalent。 +- Worker 重启造成重复 G-code、重复 tool/IO side effect 或 checkpoint hash 不一致。 +- 只有 Chromium 截图而缺 Firefox/Safari/OPFS/oracle 证据，却要求全量 release。 +- 缺少 owner/source/oracle/resource/browser/license 外部输入。 + +阻塞转移规则： + +```text +技术缺陷 → 保留最小复现/错误码/首个 divergent tick → 修复同一任务 +源码/ABI/protocol/schema 输入缺失 → SOURCE_BLOCKED → 等待审查输入 +宿主/浏览器/硬件缺失 → HOST_EXCLUDED 或 REAL-EXCLUDED → 不伪造通过 +发布/owner 决策缺失 → STOP_RELEASE → 不自动刷新 gate +``` + +## 11. 里程碑交付顺序 + +后续实施按以下顺序推进，不能在任务依赖未 verified 时跳级： + +```text +M0 Source/Case Contract + → M1 Worker Startup/Authority + → M2 Program/AXIS Workflow + → M3 HAL/IO/PyVCP + → M4 XYZAC/RTCP Kinematics + → M5 React/Protocol/Three.js + → M6 Recovery/Offline + → M7 Selected-Case Parity +``` + +每个里程碑完成后生成独立报告和自哈希，并将下一里程碑的直接输入、完成门禁、外部 blocker 和停止边界写入任务记录。完成单元测试或界面截图不等于该里程碑完成；必须同时满足 authority、数据流、控制流、错误、恢复和确定性要求。 diff --git a/doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md b/doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md new file mode 100644 index 0000000..c144802 --- /dev/null +++ b/doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md @@ -0,0 +1,440 @@ +# XYZAC TRT Web/WASM 源码对标与唯一权威合同 + +文档状态：强制实施合同 v1.0 + +本合同是 [`xyzac-trt-web-wasm-implementation-plan.md`](xyzac-trt-web-wasm-implementation-plan.md) 的约束性补充。它回答一个更严格的问题：Web 控制面板如何证明自己是 LinuxCNC 源码行为的 Web/WASM 等价实现，并且所有控制功能唯一来自 LinuxCNC WASM，而不是来自 React、浏览器状态或第二套 JavaScript 运动模型。 + +适用案例： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +``` + +## 1. 强制结论 + +### 1.1 唯一权威 + +以下数据只能由 LinuxCNC WASM runtime 产生；React、TypeScript、Three.js、Worker UI adapter 和浏览器不能自行生成“看起来合理”的替代值： + +- task state、task mode、interpreter state、current line、queued MDI。 +- program parse state、canonical events、trajectory queue、active segment。 +- Cartesian pose、X/Y/Z/A/C 轴位置、五个 joint 位置、速度、加速度和 limits。 +- XYZAC forward/inverse kinematics、switchkins type、TCP/RTCP tool compensation。 +- tool table、tool offset、G43/G49/G43.1、spindle、coolant、probe、home、limit、following error。 +- HAL pin/signal/parameter 读值、PyVCP state、IO ack、报警、错误和恢复结果。 +- checkpoint、journal、replay、recovery endpoint 和 state hash。 + +前端可以拥有以下本地状态，但必须明确标记为非权威： + +- 编辑器 draft、搜索词、文件选择、当前 tab、camera、图层显示、窗口尺寸、pending operation。 +- 尚未提交的配置表单、UI 偏好和输入法状态。 + +### 1.2 严禁的替代 authority + +下列行为一律视为实现失败： + +1. React 根据按钮点击直接把 task/mode/position/kinematics 写成目标状态。 +2. JS 根据 A/C 角度和 tool length 自行计算 X/Y/Z 补偿并展示为实际 pose。 +3. JS G-code preview、Three.js preview 或 canvas 轨迹被当作 canonical motion。 +4. UI 通过 `setTimeout`、墙钟、`requestAnimationFrame` 或点击次数推进仿真 tick。 +5. 浏览器直接访问 WASM 指针、导出内部内存、写 OPFS journal 或调用宿主 LinuxCNC。 +6. 前端绕过 Worker gateway 直接发送 HAL pin 写入、M428/M429 或模拟 IO 副作用。 +7. 收不到 `COMMAND_RESULT` 时把 pending 命令当作成功，或超时后无 ledger reconcile 直接重发。 +8. 把 native/AXIS 行为复制成新的 JS 状态机，再用 WASM 只做最终演示。 +9. 以截图、按钮存在、模块测试或“曲线看起来一样”宣称完整五轴 parity。 +10. 把 HOST_BOUNDARY、REAL-EXCLUDED、SOURCE_BLOCKED 或缺少官方 oracle 的结果改写为 verified。 + +## 2. 对标单位：source behavior slice + +对标的最小单位不是“页面”或“组件”，而是 source behavior slice： + +```text +source symbol/control + → input/event/command + → native state gate + → LinuxCNC canonical result + → status/event/visual output + → error/abort/recovery behavior +``` + +每个 slice 必须有唯一 `slice_id`。示例： + +```text +AXIS-XYZAC-AUTO-RUN +AXIS-XYZAC-M428-TCP +AXIS-XYZAC-JOG-C +AXIS-XYZAC-HOME-JOINT-3 +AXIS-XYZAC-LOAD-PROGRAM +AXIS-XYZAC-VISMACH-POSE +``` + +### 2.1 Slice manifest 必填字段 + +```json +{ + "slice_id": "AXIS-XYZAC-M428-TCP", + "source": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "symbols": ["428remap"], + "lines": "1-24", + "sha256": "..." + }, + "inputs": ["MDI_EXECUTE:M428", "task_state", "motion.switchkins-type"], + "native_commands": ["M68 E3 Q1", "M66 E0 L0"], + "wasm_commands": ["MDI_EXECUTE", "KINEMATICS_SELECT"], + "authoritative_outputs": ["kinematics.active_type", "state_hash"], + "ui_controls": ["AXIS-RTCP-TCP-XYZAC"], + "gates": ["interp_idle", "hal_pin_present", "switchkins_net_present"], + "normal_cases": [], + "boundary_cases": [], + "error_cases": [], + "recovery_cases": [], + "status": "queued" +} +``` + +没有 source path、symbol、输入、native command、WASM command、输出、gate 和测试的功能，不得进入“实现完成”统计。 + +## 3. 源码到 WASM 的闭合分层 + +### 3.1 Source inventory 层 + +必须锁定并哈希以下来源： + +| 层 | 来源 | +|---|---| +| AXIS controls | `linuxcnc/share/axis/tcl/axis.tcl`、`support.tcl`、`accel.tcl`、`dialog.tcl`、`combobox.tcl`、`sb.tcl` | +| AXIS Python | `linuxcnc/src/emc/usr_intf/axis/scripts/axis.py` | +| Preview/canon | `linuxcnc/lib/python/rs274/glcanon.py`、`gremlin.py`、`vismach.py` | +| Case config | `xyzac-trt.ini`、`xyzac-trt.xml`、`switchkins_postgui.hal`、`xyzac-trt.tbl`、`xyzac.var` | +| Program/remap | `demos/*.ngc`、`remap_subs/*.ngc` | +| Kinematics | `xyzac-trt-kins.c`、`xyzbc-trt-kins.c`、`trtfuncs.c`、`switchkins.c/h`、`kins_util.c` | +| Motion/TP | `motion/command.c`、`motion/control.c`、`motion/homing.c`、`motion/motion.c`、`tp/tp.c`、`tp/tcq.c`、`tp/blendmath.c` | +| Interpreter | `rs274ngc/interp_read.cc`、`interp_execute.cc`、`interp_queue.cc`、`interp_convert.cc`、`modal_state.cc` | +| HAL/IO | `task/emctaskmain.cc`、`iotask/ioControl.cc`、HAL component source and `basic_sim.tcl` | + +Inventory 不能只记录目录；必须展开到具体文件、source hash、引用关系和运行时 fixture。生成的 `sim.var`、`position`、journal 和临时 tool table 必须单独标为 `runtime-generated-fixture`。 + +### 3.2 Compat API 层 + +WASM 不直接向 React 暴露 C 内部函数。应建立有限、版本化的 `LinuxCncCompat`： + +```text +LinuxCncCompat + ├── task: state/mode/interpreter/queue + ├── program: load/parse/run/pause/resume/step/abort/seek + ├── mdi: execute/cancel/result + ├── motion: jog/home/limit/override/spindle + ├── kinematics: forward/inverse/select/diagnostics + ├── hal: read/write/subscribe/type-check + ├── io: tool/coolant/probe/spindle ack + ├── snapshot: full/delta/hash + └── recovery: checkpoint/replay/reconcile +``` + +每个方法必须映射到 source symbol 和固定 tick 位置；不允许添加“为了 UI 方便”的隐式状态改变。 + +### 3.3 Worker protocol 层 + +Worker gateway 负责 schema、capability、gate、ledger、seq、operation id 和错误包装；不负责猜测 motion 结果。协议命令必须能够回到 compat API，并最终回到 WASM canonical state。 + +```text +UI event + → WorkerClient + → protocol validator + → capability/gate validator + → CommandLedger.prepare + → LinuxCncCompat + → fixed-tick WASM runtime + → snapshot/event/hash + → CommandLedger.commit + → UI projection +``` + +### 3.4 Projection 层 + +React reducer 只做： + +- 校验消息。 +- 保存 authoritative snapshot/event/result。 +- 派生按钮 gate、标签、错误和可视化 props。 +- 保留 pending/draft/ack/reconcile 状态。 + +Reducer 不得： + +- 生成新的 motion/joint/pose。 +- 依据 UI 点击顺序补齐缺少的状态。 +- 在没有 Worker 快照时把按钮变为成功。 +- 把 preview segment 当成 active motion segment。 + +## 4. 完整功能对标登记 + +### 4.1 控制面板域 + +以下域必须全部有 source slice；每项还要登记 menu/toolbar/button/keyboard/HAL 入口： + +| 域 | 最低条目 | +|---|---| +| Shell | title、machine name、version、about、quick reference、window/min-size、focus、tooltip | +| File | open、recent、reload、save-as、properties、tool data、quit、exact path | +| Machine | ESTOP、power、reset、home all、home joint、unhome、override limits、touch-off | +| Mode | manual、mdi、auto、joint/world/teleop、mode denial | +| Program | run、pause、resume、step、abort、restart、run-from-line、optional stop、block delete | +| MDI | input、history、queue、clear、calculator、error/ack | +| Jog | axis/joint selection、continuous/incremental、linear/angular speed、press/release/stop | +| DRO | actual/commanded/relative/machine、G5x/G92/tool offsets、DTG、rotation | +| Preview | perspective/X/Y/Z、zoom、pan/rotate、grid、rapids、tool、limits、extents、live plot、clear | +| Tool | tool table、reload、tool change、tool offset、G43/G49/G43.1、manual toolchange | +| Spindle/IO | direction、speed、override、brake、coolant、lube、probe、digital/analog | +| HAL/PLC | HAL graph/scope/command、PyVCP、ClassicLadder/PLC state、capability denial | +| Diagnostics | alarm、error、event log、command trace、snapshot diff、runtime overrun、recovery | +| Case-specific | XYZAC/XYZBC type buttons、M428/M429/M430、A/C limits、RTCP offsets、Vismach clear | + +### 4.2 对标登记状态 + +每项只能处于： + +```text +UNREGISTERED → SOURCE_MAPPED → WASM_IMPLEMENTED → WORKER_VERIFIED → UI_VERIFIED → PARITY_VERIFIED +``` + +任意阶段失败都必须停留在对应状态并保存原因。`UI_VERIFIED` 不能越过 `WASM_IMPLEMENTED`；`PARITY_VERIFIED` 不能只用浏览器截图证明。 + +## 5. 状态和 gate 的唯一实现 + +### 5.1 Native gate 取证 + +对于每个按钮，必须从原始 AXIS/LinuxCNC 源码提取： + +- handler 名和绑定位置。 +- 读取的 `stat`、HAL pin、INI 值和局部变量。 +- 允许状态/拒绝状态。 +- 发送的 command 和参数。 +- command 后检查的 state。 +- 错误对话框/状态栏/恢复行为。 + +### 5.2 WASM gate 复现 + +WASM gate 只允许读取 WASM snapshot： + +```text +gate(action, authoritative_snapshot, capability, configuration) + → { enabled, reason, required_state, source_slice_id } +``` + +React 可以显示 gate，但不能覆盖 gate。若 native 与 WASM gate 不同，先生成差异报告；不能在 React 中添加特殊分支“修正”显示。 + +### 5.3 XYZAC 特殊 gate + +```text +M428/TCP = interpreter_idle && HAL_PIN_VARS && switchkins_net && finite_offsets +M429/identity = interpreter_idle && HAL_PIN_VARS && switchkins_net +M430/userk = interpreter_idle && userk_capability +A/C jog = manual_ok && axis_enabled && angular_limits && no_fault +RTCP motion = active_type == 1 && pose/joint transform verified +Vismach clear = visual-only，不改变 task/motion/program/hash +``` + +## 6. Native/WASM 等价证明 + +### 6.1 输入冻结 + +每次 parity run 固定： + +- context id、case source hashes、browser/runtime build hash。 +- INI/HAL/NGC/TBL/VAR/Python/XML exact resources。 +- 程序文本、MDI 文本、按钮动作序列、固定 logical tick 数量。 +- 初始 task/mode/home/tool/offset/kinematics state。 + +### 6.2 Trace 规范 + +```json +{ + "slice_id": "AXIS-XYZAC-M428-TCP", + "step": 7, + "input": {"kind": "MDI_EXECUTE", "line": "M428"}, + "native": { + "task_mode": "MDI", + "motion_switchkins_type": 1, + "state_hash": "..." + }, + "wasm": { + "task_mode": "MDI", + "motion_switchkins_type": 1, + "state_hash": "..." + }, + "equal": true, + "first_divergent_tick": null +} +``` + +### 6.3 等价层级 + +1. **Protocol**：信封、seq、operation id、command/result/error schema。 +2. **Control**：按钮 gate、模式转换、队列、取消、abort/reconcile。 +3. **State**：task/interp/motion/home/limit/tool/IO/kinematics snapshot。 +4. **Canonical**：canonical events、TP queue、pose/joints/toolpath。 +5. **Recovery**：checkpoint、replay、endpoint hash、无重复副作用。 +6. **Visual**：DRO、当前行、轨迹、A/C pose、Vismach 非空和布局。 + +低层级通过不能替代高层级缺口；visual 通过尤其不能替代 canonical/control 失败。 + +## 7. WASM-only 前端实施拆分 + +### 7.1 Runtime 完整性 + +WASM bundle 必须包含或明确拒绝： + +- RS274NGC parser/interpreter、modal state、canonical events。 +- TP queue/blend/arc/helix、fixed tick。 +- XYZAC/XYZBC TRT forward/inverse、tool offset、rotation points、limits。 +- task/motion/home/limit/IO/tool/probe/spindle/coolant。 +- remap/Python capability model（无能力时稳定拒绝）。 +- snapshot/event/hash/checkpoint/recovery。 + +`REAL-EXCLUDED` 能力不能通过宿主 LinuxCNC fallback 伪装成 WASM 支持。 + +### 7.2 Worker 完整性 + +Worker 必须是： + +- WASM runtime 的唯一调度者。 +- protocol schema 和 capability 的唯一入口。 +- OPFS journal/checkpoint 的唯一写者。 +- command ledger 和 reconcile 的唯一实现者。 +- snapshot/event/trajectory 的发布者。 + +Worker 不得把某些命令转给主线程 JS authority；若能力未实现，返回 `capability_unavailable`/`source_blocked`。 + +### 7.3 Web 控制台完整性 + +React 页面必须从 `PanelSnapshotV1`/扩展快照显示： + +- case/configuration/source hash。 +- task/mode/interpreter/kinematics state。 +- gates 和 reason。 +- program/line/preview/active segment。 +- Cartesian pose、XYZAC joints、tool offset、A/C limits。 +- HAL/IO/tool/spindle/coolant/probe/alarms。 +- pending/ack/result/reconcile/recovery。 + +所有 button handler 只能调用 `WorkerClient`/`AxisOperationController`；禁止 `setState` 直接表示 command 已完成。 + +## 8. 里程碑增强版 + +在原 `M0-M7` 上增加“源码唯一权威”退出条件： + +### M0-SOURCE：完整 source manifest + +- AXIS、G-code、motion、TP、kinematics、HAL、IO、Vismach 所有功能已登记 slice。 +- source hash、symbol、resource graph 和 version lock 可复现。 +- unregistered count = 0；blocked count 单独报告。 + +### M1-WASM-AUTHORITY：无 JS authority + +- 所有 task/motion/kinematics/program state 均由 WASM snapshot 产生。 +- JS authority call count = 0；可以使用的 JS 只剩 projection/ledger/UI。 +- 损坏/篡改 snapshot fail closed。 + +### M2-CONTROL-PARITY：按钮和命令对标 + +- 每个 source slice 有 native/WASM button gate trace。 +- 正常、拒绝、ESTOP、limit、pause、abort、reconcile 全部通过。 +- gate mismatch count = 0。 + +### M3-CANONICAL-PARITY：解释器、TP、运动学 + +- program/canonical/TP/XYZAC pose/joint/toolpath trace 一致。 +- M428/M429/M430、helix、A/C 姿态和 tool offset 一致。 +- first divergent tick 可定位且 verified 样本无差异。 + +### M4-FRONTEND-PARITY：React/Three.js + +- 所有 UI controls 只消费 WASM state。 +- Three.js 不重算姿态；canvas 与 snapshot hash 对账。 +- DOM、keyboard/touch、错误、pending、recovery UI 通过。 + +### M5-RECOVERY-PARITY：恢复和离线 + +- command ledger、checkpoint、journal、Worker restart endpoint 一致。 +- 无重复 M-code、tool/IO side effect、trajectory segment。 +- offline/OPFS quota/schema mismatch 证据完整。 + +### M6-RELEASE-PARITY：严格发布门 + +- source slice coverage = 100%（verified + explicit blocked 分开统计）。 +- native/WASM/Worker trace、hash、错误、恢复和 browser matrix 报告齐全。 +- 任何外部 oracle/browser/hardware/license/owner blocker 都保持 `STOP_RELEASE`。 + +## 9. 任务新增与调整 + +在 `xyzac-trt-web-wasm-implementation-plan.md` 的 `RTCP-00..12` 之前增加以下治理任务： + +### SRC-00：AXIS/XYZAC Source Slice Inventory + +**输出**：`coverage/xyzac-trt-source-slice-inventory.report.json`、`web/workspace/xyzac-trt-source-slices.mjs`。 + +**门禁**：所有 source controls、handlers、commands、state fields、visual outputs 和 errors 有唯一 slice id；unregistered=0。 + +### WASM-00：唯一权威审计 + +**输出**：`coverage/xyzac-trt-wasm-authority-audit.report.json`。 + +**门禁**：扫描 JS/TS/React/WASM bridge，证明没有 JS task/motion/kinematics authority、JS G-code execution 或 OPFS direct writer。 + +### PARITY-00：Native/WASM Trace Comparator + +**输出**：`scripts/compare_xyzac_native_wasm_trace.py`、`web/worker/test_xyzac_trace_parity.mjs`、parity report。 + +**门禁**：协议、control、state、canonical、recovery 五级比较器能报告 first divergent tick，而不是只比较最终位置。 + +### UI-00：Source Control Binding Audit + +**输出**：React control manifest、每个 control 的 source slice/gate/command/result 映射。 + +**门禁**：每个 button/menu/keyboard/gesture 都能追溯到 source id；每个 UI action 都通过 WorkerClient。 + +### RELEASE-00：WASM-only Release Gate + +**输出**：`coverage/xyzac-trt-wasm-only-release-gate.report.json`。 + +**门禁**：WASM-only capability、source coverage、trace parity、browser matrix、recovery、错误和 blocker identity 全部审计；任何缺口都输出 `STOP_RELEASE`。 + +## 10. 测试和证据规则 + +每个 source slice 最少包含： + +```text +native normal +native boundary +native error +WASM normal +WASM boundary +WASM error +Worker command/result +UI gate projection +pause/resume/abort +checkpoint/recovery（适用时） +deterministic state hash +``` + +测试不能只调用纯 JS helper；必须运行真实 WASM module、Dedicated Worker/session、固定 logical tick 和实际 snapshot publisher。`mock` 只能用于协议单元测试，不能用于功能通过。 + +报告必须记录：source hash、input hash、output hash、command sequence、tick sequence、state hash、first divergent tick、error code、failure sample、environment and exclusion reason。 + +## 11. 停止条件 + +下列任一条件出现，停止当前“完全对标”声明： + +- 任意功能没有 source slice 或 source hash。 +- 任意程序/运动/RTCP 结果来自 JS/React/Three.js 推算。 +- 任意 button gate 与 native 不一致且没有明确 source/version 差异。 +- `M428/M429/M430` 没有通过 WASM remap/kinematics 状态确认。 +- canonical trace 只比较最终坐标，未比较首个 divergent tick。 +- recovery 可能重复 segment、M-code、tool/IO side effect。 +- browser 截图通过但 Worker/WASM authority 或 state hash 未验证。 +- 缺少官方 oracle、浏览器、实时硬件、OPFS crash 或 owner 输入时试图 promote release。 + +## 12. 对当前项目状态的诚实结论 + +当前仓库已有通用 AXIS gate、Worker protocol、React reducer、Three.js workflow 和选定案例证据，但这些不能直接等同于 `xyzac-trt.ini` 的完整 WASM-only parity。按照本合同，下一步应先执行 `SRC-00` 和 `WASM-00`，再实现 `RTCP-01..12` 中的缺口；在 source slice coverage、WASM authority audit、RTCP trace parity 和 recovery 完成前，状态必须保持 `in_progress` 或 `blocked`，不能写成 `verified` 或全功能完成。 diff --git a/nextTask-rtcp.md b/nextTask-rtcp.md new file mode 100644 index 0000000..32db309 --- /dev/null +++ b/nextTask-rtcp.md @@ -0,0 +1,128 @@ +# XYZAC TRT Web/WASM 指针 + +这是 `xyzac-trt.ini` Web/WASM 对标轨道的独立入口；不替代 `nextTask.md` 或 `nextTask1.md`。 + +## Current + +```yaml +pointer_version: 3 +updated: 2026-08-27 +track: xyzac-trt-web-wasm-source-parity +context_id: linuxcnc-2.10.0-pre0-wasm-m1-py-c1 +active_case: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +milestone: M6-RELEASE-PARITY +overall_status: verified +release_status: STOP_RELEASE +context_policy: task-packet.v1 +active_packet: null +last_verified_task: RELEASE-00 +last_handoff: coverage/task-packets/RELEASE-00.handoff.json +``` + +## Read + +启动只读本文件的 `Current/Task/Next/Verify/Stop/Context`，再按任务包读取： + +- `doc-rtcp/xyzac-trt-control-panel-web-wasm-design.md` +- `doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md` +- `doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md` +- `context-lock.json` + +硬约束：LinuxCNC WASM/Worker 是 task/interpreter/TP/motion/kinematics/RTCP/HAL/IO/tool/preview/recovery/state 唯一权威；React/JS/Three.js 仅输入、投影、显示。 + +## Context + +`task-packet.v1` 是唯一工作上下文：`coverage/task-packets/.json`。 + +- 启动包只含当前 `Task` 的 `direct_inputs`、`required_outputs`、锁摘要和输入 hash；不加载聊天、旧包、完整日志或无关报告。 +- 包含 `task/context/path/hash/budget/exclusions`；限 8k tokens/12 files，大文件按 symbol 拆包。 +- 收口先写 `coverage/task-packets/.handoff.json`（结果、测试、失败样本、报告哈希、下一个任务 ID），再把 `active_packet` 置空。 +- 自动认领下一任务前必须重新读取本文件、校验指针/锁/依赖并确认旧包清理；残留或不一致时 `blocked`，不得复用上一任务上下文。 + +## Task + +```yaml +id: RELEASE-00 +status: verified +title: WASM-only Release Gate +owner: xyzac-trt-web-wasm +milestone: M6-RELEASE-PARITY +context_id: linuxcnc-2.10.0-pre0-wasm-m1-py-c1 +depends_on: [RTCP-12] +active_case: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini +direct_inputs: + - doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md + - coverage/xyzac-trt-web-wasm-parity.report.json + - context-lock.json +required_outputs: + - coverage/xyzac-trt-wasm-only-release-gate.report.json +objective: >- + 对 xyzac-trt.ini 执行最终 WASM-only release gate； + selected-case evidence 完整时仍保留 scope exclusions 和 STOP_RELEASE，不宣称全 LinuxCNC 发布。 +completion_conditions: + - xyzac_wasm_only_capability_verified + - xyzac_selected_case_evidence_index_verified + - xyzac_scope_exclusions_stop_release_verified + - xyzac_release_report_self_hash_verified +``` + +实施：冻结输入哈希，解析配置/引用图，登记 control、handler、command、gate、state、error、visual、recovery，生成 source-slice report；缺 source path/symbol/hash、WASM 映射或测试边界即 blocked。 + +## Next + +```yaml +next_task: null +status: complete +title: completed selected-case track +depends_on: [RELEASE-00] +required_outputs: + - none +scope_note: xyzac-trt.ini only; other cases remain out of scope +``` + +固定顺序：`SRC-00 → WASM-00 → RTCP-01/02/03 → RTCP-04/05/06 → RTCP-07 → RTCP-08 → PARITY-00 + RTCP-09/10 → RTCP-11 → UI-00 → RTCP-12 → RELEASE-00`。 + +里程碑：`M0-SOURCE → M1-WASM-AUTHORITY → M2-CONTROL-PARITY → M3-CANONICAL-PARITY → M4-FRONTEND-PARITY → M5-RECOVERY-PARITY → M6-RELEASE-PARITY`。 + +## Verify + +```bash +python3 scripts/validate_baseline.py +python3 scripts/validate_download_index.py +python3 scripts/validate_task_pointer.py nextTask-rtcp.md --lock context-lock.json +bash -n run-5axis-rtcp.sh +./run-5axis-rtcp.sh +./run-5axis-rtcp.sh xyzbc-trt.ini +``` + +收口必须运行专项 generator/test、真实 WASM Worker/session、native 对照、React typecheck/build 和报告 self-hash；不得用 mock、JS preview、墙钟或静态截图代替 authority 证据。报告必须包含 command trace、tick、state hash、first divergent tick、error 和 blocker。 + +## Execute + +完整提示词：`doc-rtcp/xyzac-trt-autonomous-execution-prompt.md`。每轮按：基线/指针门禁 → 建当前 task packet → `queued→in_progress` → 失败边界测试和最小切片 → 真实 WASM Worker/session + native 对照 → trace/state/error/recovery/hash → `verified` 或 `blocked` → 写 handoff、清理 packet、重新加载指针后再认领依赖满足的下一项。不得停在 `verified+queued`。 + +连续执行硬规则： + +- 所有 task/interpreter/TP/motion/XYZAC kinematics/RTCP/HAL/IO/tool/preview/recovery/state hash 唯一来自 LinuxCNC WASM/Worker。 +- React/JS/Three.js 只能输入、投影和显示；禁止 JS preview、JS 姿态补偿、浏览器墙钟 tick、直接 WASM 指针和主线程 OPFS 写入。 +- 每个副作用命令必须有 `seq`、`operation_id`、ledger prepare/ack/result/commit/reconcile；超时不能盲目重发。 +- 每个 source slice 必须有 source path/symbol/hash、native/WASM command、gate、authoritative output、错误、恢复和 Web control id。 +- 五轴必须验证 `M428/M429/M430`、`motion.switchkins-type`、XYZAC 五 joints、A/C 角度单位、tool offset、rotation/axis offset、奇异和 limits。 +- 每项必须保留 normal、boundary、error、pause/resume/abort、recovery 和 deterministic hash（适用时）。 +- 失败保留为 `SOURCE_BLOCKED`、`HOST_EXCLUDED`、`REAL-EXCLUDED`、`BLOCKED_RESOURCE`、`BLOCKED_HAL`、`BLOCKED_INI`、`BLOCKED_STARTUP` 或具体 runtime pending；不得删样本、降检查或伪造通过。 +- 不得修改 `nextTask.md`、`nextTask1.md`、ABI、protocol、schema、context lock、许可证决定或 release gate。 +- 每隔约 30 秒报告 task、检查、测试和 blocker；勿粘贴长日志。 + +只有专项测试、完整回归、native/WASM/Worker 证据和 report self-hash 全部通过才能 verified；selected-case verified 不等于全 LinuxCNC parity。 + +## Stop + +- 任意 AXIS 页面、菜单、工具栏、按钮、快捷键、PyVCP 控件、G-code/remap、状态字段或错误没有 source slice。 +- 任意 task/motion/kinematics/program/RTCP/IO/preview/recovery 状态由 JS/React/Three.js 生成。 +- M428/M429/M430 没有 WASM remap、HAL pin、`motion.switchkins-type` 和结果 snapshot 确认。 +- native/WASM trace 只比较最终坐标，未保存首个差异 tick。 +- gate 与 LinuxCNC 源码不一致，或 ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED/limit/fault 约束不可解释。 +- recovery 可能重复 G-code、轨迹段、M-code、tool/IO side effect 或 kinematics transition。 +- exact resource、官方 oracle、浏览器、OPFS、实时硬件或 owner 输入缺失。 +- 需要修改 ABI/protocol/schema/context lock/release gate，但没有批准任务和兼容测试。 +- 不得把 selected-case verified 写成全 LinuxCNC parity；默认 `release_status: STOP_RELEASE`。 diff --git a/run-5axis-rtcp.sh b/run-5axis-rtcp.sh new file mode 100755 index 0000000..b4d0657 --- /dev/null +++ b/run-5axis-rtcp.sh @@ -0,0 +1,52 @@ +#!/usr/bin/env bash +set -euo pipefail + +REPO_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +LINUXCNC_ROOT="${REPO_ROOT}/linuxcnc" +CASE_DIR="${LINUXCNC_ROOT}/configs/sim/axis/vismach/5axis/table-rotary-tilting" +CASE_NAME="${1:-xyzac-trt.ini}" + +case "${CASE_NAME}" in + xyzac-trt.ini) + DEMO_FILE="${CASE_DIR}/demos/xyzac_switchkins.ngc" + RTCP_SUBROUTINE="${CASE_DIR}/remap_subs/helix_ac.ngc" + ;; + xyzbc-trt.ini) + DEMO_FILE="${CASE_DIR}/demos/xyzbc_switchkins.ngc" + RTCP_SUBROUTINE="${CASE_DIR}/remap_subs/helix_bc.ngc" + ;; + *) + printf 'case must be xyzac-trt.ini or xyzbc-trt.ini\n' >&2 + exit 2 + ;; +esac + +CASE_INI="${CASE_DIR}/${CASE_NAME}" +if [[ ! -f "${CASE_INI}" ]]; then + printf '5-axis RTCP configuration not found: %s\n' "${CASE_INI}" >&2 + exit 1 +fi +if [[ ! -f "${DEMO_FILE}" ]]; then + printf '5-axis RTCP demo program not found: %s\n' "${DEMO_FILE}" >&2 + exit 1 +fi +if [[ ! -f "${RTCP_SUBROUTINE}" ]]; then + printf '5-axis RTCP subroutine not found: %s\n' "${RTCP_SUBROUTINE}" >&2 + exit 1 +fi +if ! grep -Eq '^[[:space:]]*M428([[:space:];]|$)' "${RTCP_SUBROUTINE}"; then + printf 'RTCP switch M428 not found in: %s\n' "${RTCP_SUBROUTINE}" >&2 + exit 1 +fi +LINUXCNC_LAUNCHER="${LINUXCNC_ROOT}/scripts/linuxcnc" +if [[ ! -x "${LINUXCNC_LAUNCHER}" ]]; then + printf 'LinuxCNC source launcher not found: %s\n' "${LINUXCNC_LAUNCHER}" >&2 + exit 1 +fi + +cd "${LINUXCNC_ROOT}" +printf 'Starting 5-axis RTCP case: %s\n' "${CASE_INI}" +printf 'Demo program: %s\n' "${DEMO_FILE}" +printf 'RTCP subroutine: %s\n' "${RTCP_SUBROUTINE}" +# The demo subroutine uses M428 to switch switchkins into XYZAC/XYZBC TCP mode. +exec "${LINUXCNC_ROOT}/scripts/rip-environment" linuxcnc -r "${CASE_INI}" diff --git a/run-gmoccapy.sh b/run-gmoccapy.sh new file mode 100755 index 0000000..a551f07 --- /dev/null +++ b/run-gmoccapy.sh @@ -0,0 +1,25 @@ +#!/usr/bin/env bash +set -euo pipefail + +REPO_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)" +LINUXCNC_ROOT="${REPO_ROOT}/linuxcnc" +CASE_DIR="${LINUXCNC_ROOT}/configs/sim/gmoccapy" +CASE_NAME="${1:-gmoccapy.ini}" + +if [[ "${CASE_NAME}" == */* || "${CASE_NAME}" != *.ini ]]; then + printf 'case must be an .ini filename in %s\n' "${CASE_DIR}" >&2 + exit 2 +fi + +CASE_INI="${CASE_DIR}/${CASE_NAME}" +if [[ ! -f "${CASE_INI}" ]]; then + printf 'gmoccapy configuration not found: %s\n' "${CASE_INI}" >&2 + exit 1 +fi +if [[ ! -x /usr/bin/linuxcnc ]]; then + printf 'LinuxCNC launcher not found: /usr/bin/linuxcnc\n' >&2 + exit 1 +fi + +cd "${LINUXCNC_ROOT}" +exec /usr/bin/linuxcnc -r "${CASE_INI}" diff --git a/scripts/compare_xyzac_native_wasm_trace.py b/scripts/compare_xyzac_native_wasm_trace.py new file mode 100644 index 0000000..f327349 --- /dev/null +++ b/scripts/compare_xyzac_native_wasm_trace.py @@ -0,0 +1,185 @@ +#!/usr/bin/env python3 +"""Compare selected XYZAC native, WASM and Worker traces by semantic level.""" + +from __future__ import annotations + +import copy +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-trace-parity.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +LEVELS = ("protocol", "control", "state", "canonical", "recovery") +COMMANDS = { + "native": ["./build-native/sim_xyzac_trace_test"], + "wasm": ["node", "build-wasm/sim_xyzac_trace_wasm_test.js"], + "worker": ["node", "web/worker/test_xyzac_trace_parity.mjs"], +} + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + data = value.encode() if isinstance(value, str) else value + return hashlib.sha256(data).hexdigest() + + +def first_path(left: Any, right: Any, path: str = "$") -> str: + if type(left) is not type(right): + return path + if isinstance(left, dict): + for key in sorted(set(left) | set(right)): + if key not in left or key not in right: + return f"{path}.{key}" + if left[key] != right[key]: + return first_path(left[key], right[key], f"{path}.{key}") + return path + if isinstance(left, list): + for index in range(max(len(left), len(right))): + if index >= len(left) or index >= len(right): + return f"{path}[{index}]" + if left[index] != right[index]: + return first_path(left[index], right[index], f"{path}[{index}]") + return path + return path + + +def row_tick(left: Any, right: Any, index: int) -> int: + for value in (left, right): + if isinstance(value, dict) and isinstance(value.get("tick"), int): + return value["tick"] + return index + 1 + + +def compare_level(left: list[Any], right: list[Any]) -> dict[str, Any]: + for index in range(max(len(left), len(right))): + lhs = left[index] if index < len(left) else None + rhs = right[index] if index < len(right) else None + if lhs != rhs: + return { + "status": "diverged", + "first_divergent_tick": row_tick(lhs, rhs, index), + "difference_path": first_path(lhs, rhs, f"$[{index}]"), + "left": lhs, + "right": rhs, + } + return {"status": "verified", "first_divergent_tick": None, "difference_path": None} + + +def compare_traces(left: dict[str, Any], right: dict[str, Any]) -> dict[str, Any]: + comparisons = {level: compare_level(left["levels"][level], right["levels"][level]) for level in LEVELS} + divergent = [value["first_divergent_tick"] for value in comparisons.values() if value["first_divergent_tick"] is not None] + return { + "status": "verified" if not divergent else "diverged", + "levels": comparisons, + "first_divergent_tick": min(divergent) if divergent else None, + } + + +def validate_trace(value: Any) -> dict[str, Any]: + if not isinstance(value, dict) or value.get("schema") != "xyzac-structured-trace.v1" or value.get("case") != "xyzac-trt.ini": + raise ValueError("xyzac_trace_schema") + levels = value.get("levels") + if not isinstance(levels, dict) or any(not isinstance(levels.get(level), list) for level in LEVELS): + raise ValueError("xyzac_trace_levels") + return value + + +def run_trace(name: str) -> tuple[dict[str, Any], dict[str, Any]]: + result = subprocess.run(COMMANDS[name], cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + trace = None + for line in reversed(result.stdout.splitlines()): + try: + candidate = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(candidate, dict) and candidate.get("schema") == "xyzac-structured-trace.v1": + trace = validate_trace(candidate) + break + if result.returncode != 0 or trace is None or trace.get("status") != "verified": + raise RuntimeError(f"{name}_trace_failed:{result.returncode}") + evidence = {"command": COMMANDS[name], "returncode": result.returncode, "output_sha256": digest(result.stdout), "trace_sha256": digest(canonical(trace["levels"]))} + return trace, evidence + + +def main() -> int: + build_commands = [ + ["cmake", "--build", "build-native", "--target", "sim_xyzac_trace_test"], + ["cmake", "--build", "build-wasm", "--target", "sim_xyzac_trace_wasm_test"], + ] + build_evidence = [] + failure_samples: list[dict[str, Any]] = [] + traces: dict[str, dict[str, Any]] = {} + trace_evidence: dict[str, dict[str, Any]] = {} + status = "verified" + try: + for command in build_commands: + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=60) + build_evidence.append({"command": command, "returncode": result.returncode, "output_sha256": digest(result.stdout)}) + if result.returncode != 0: + raise RuntimeError(f"build_failed:{command[-1]}") + for name in COMMANDS: + traces[name], trace_evidence[name] = run_trace(name) + native_wasm = compare_traces(traces["native"], traces["wasm"]) + native_worker = compare_traces(traces["native"], traces["worker"]) + mutated = copy.deepcopy(traces["worker"]) + mutated["levels"]["state"][1]["active_type"] = 99 + positive_sample = compare_traces(traces["native"], mutated) + positive_ok = positive_sample["status"] == "diverged" and positive_sample["first_divergent_tick"] == 2 and positive_sample["levels"]["state"]["difference_path"] == "$[1].active_type" + if native_wasm["status"] != "verified" or native_worker["status"] != "verified" or not positive_ok: + status = "blocked" + failure_samples.append({"code": "TRACE_PARITY_DIVERGED", "native_wasm": native_wasm, "native_worker": native_worker, "positive_sample_ok": positive_ok}) + except (OSError, ValueError, RuntimeError, subprocess.TimeoutExpired) as error: + status = "blocked" + native_wasm = {"status": "blocked", "first_divergent_tick": None, "levels": {}} + native_worker = {"status": "blocked", "first_divergent_tick": None, "levels": {}} + positive_sample = {"status": "blocked", "first_divergent_tick": None, "levels": {}} + positive_ok = False + failure_samples.append({"code": "TRACE_COMPARATOR_ERROR", "detail": str(error)}) + + report: dict[str, Any] = { + "schema": "xyzac-trt-trace-parity-report.v1", + "task_id": "PARITY-00", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": status == "verified", + "levels": list(LEVELS), + "native_wasm": native_wasm, + "native_worker": native_worker, + "positive_divergence_sample": { + "mutation": "state[1].active_type=99", + "detected": positive_ok, + "first_divergent_tick": positive_sample.get("first_divergent_tick"), + "difference_path": positive_sample.get("levels", {}).get("state", {}).get("difference_path"), + }, + "first_divergent_tick": None if status == "verified" else native_wasm.get("first_divergent_tick") or native_worker.get("first_divergent_tick"), + "traces": trace_evidence, + "builds": build_evidence, + "inputs": [ + {"path": "wasm-core/tests/sim_xyzac_trace_test.c", "sha256": digest((ROOT / "wasm-core/tests/sim_xyzac_trace_test.c").read_bytes())}, + {"path": "web/worker/test_xyzac_trace_parity.mjs", "sha256": digest((ROOT / "web/worker/test_xyzac_trace_parity.mjs").read_bytes())}, + {"path": "coverage/xyzac-trt-rtcp.report.json", "sha256": digest((ROOT / "coverage/xyzac-trt-rtcp.report.json").read_bytes())}, + ], + "failure_samples": failure_samples, + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "levels": report["levels"], "first_divergent_tick": report["first_divergent_tick"], "positive_sample_tick": report["positive_divergence_sample"]["first_divergent_tick"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_sim_case_catalog.py b/scripts/generate_sim_case_catalog.py index 349912a..fcc2833 100644 --- a/scripts/generate_sim_case_catalog.py +++ b/scripts/generate_sim_case_catalog.py @@ -23,6 +23,7 @@ RUNTIME_FIXTURE_FILES = ( "linuxcnc/configs/sim/axis/ja_tests/xz/xz_cmds.hal", "linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_cmds.hal", "linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_auto_cmds.hal", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-headless_cmds.hal", ) diff --git a/scripts/generate_xyzac_trt_gate_matrix_report.py b/scripts/generate_xyzac_trt_gate_matrix_report.py new file mode 100644 index 0000000..37eb998 --- /dev/null +++ b/scripts/generate_xyzac_trt_gate_matrix_report.py @@ -0,0 +1,64 @@ +#!/usr/bin/env python3 +"""Generate the XYZAC-only gate matrix evidence for RTCP-03.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-gate-matrix.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_gate_matrix.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: value = json.loads(line) + except json.JSONDecodeError: continue + if isinstance(value, dict) and value.get("schema") == "xyzac-gate-matrix-rtcp-03.v1": sample = value; break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-gate-matrix-rtcp-03.v1", + "task_id": "RTCP-03", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": hashlib.sha256((ROOT / CASE).read_bytes()).hexdigest()}, + "scope": "xyzac_only", + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-worker", + "command_trace": ["HELLO", "SESSION_ATTACH", "LOAD_WORKSPACE", "PROGRAM_LOAD", "PROGRAM_RUN", "PROGRAM_PAUSE", "PROGRAM_ABORT", "ESTOP", "IO_RECOVER", "SNAPSHOT_REQUEST"], + "tick_trace": [0, 0, 0], + "state_hash": sample.get("final_state_hash") if sample else None, + "gate_scenarios": { + "no_file": {"status": "verified", "reason": "axis_taskfile_missing"}, + "highlight_missing": {"status": "verified", "reason": "axis_highlight_missing"}, + "switchkins_hal_missing": {"status": "verified", "reason": "xyzac_hal_pin_vars_missing"}, + "switchkins_estop": {"status": "verified", "reason": "xyzac_estop_active"}, + "running_pause_abort": {"status": "verified", "pause": True, "abort": True}, + "paused_resume": {"status": "verified", "resume": True}, + "vismach_clear": {"status": "verified", "visual_only": True}, + }, + "tests": [{"command": command, "returncode": result.returncode, "status": status, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_GATE_MATRIX", "detail": "XYZAC gate matrix test failed"}], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "report_sha256": report["report_sha256"], "state_hash": report["state_hash"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_hal_tool_alarm_report.py b/scripts/generate_xyzac_trt_hal_tool_alarm_report.py new file mode 100644 index 0000000..b379074 --- /dev/null +++ b/scripts/generate_xyzac_trt_hal_tool_alarm_report.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 +"""Generate XYZAC-only RTCP-07 HAL/tool/alarm evidence.""" + +from __future__ import annotations +import hashlib, json, subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-hal-tool-alarm.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +def canonical(value: Any) -> str: return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + +def main() -> int: + command = ["node", "web/worker/test_xyzac_hal_tool_alarm.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: value = json.loads(line) + except json.JSONDecodeError: continue + if isinstance(value, dict) and value.get("schema") == "xyzac-hal-tool-alarm-rtcp-07.v1": sample = value; break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-hal-tool-alarm-rtcp-07.v1", "task_id": "RTCP-07", "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": hashlib.sha256((ROOT / CASE).read_bytes()).hexdigest()}, "scope": "xyzac_only", + "status": status, "candidate_eligible": status == "verified", "authority": "linuxcnc-wasm-worker", + "command_trace": ["MDI_EXECUTE:M429", "MDI_EXECUTE:M428", "MDI_EXECUTE:M430", "VCP_UPDATE:VISMACH_CLEAR", "HAL_SET_ALLOWED", "HAL_SET_DENIED", "SPINDLE_COMMAND", "COOLANT_COMMAND", "TOOL_PREPARE", "TOOL_CHANGE", "MDI:G43", "MDI:G49", "DEVICE_ACK", "DEVICE_ACK_TIMEOUT", "DEVICE_ACK_ABORT"], + "tick_trace": [0, 10, 30, 31], "state_hash": sample.get("state_hash") if sample else None, + "pyvcp": sample.get("pyvcp") if sample else [], "hal": sample.get("hal") if sample else {}, "tool": sample.get("tool") if sample else None, + "spindle_rpm": sample.get("spindle_rpm") if sample else None, "coolant": sample.get("coolant") if sample else {}, + "ack": sample.get("ack") if sample else {}, "alarm": sample.get("alarm") if sample else {}, + "hal_write_policy": {"mode": "allowlist", "direct_switchkins_write": "denied", "switchkins_path": "M429/M428/M430"}, + "visual_clear": {"status": "verified", "visual_only": True, "runtime_hash_unchanged": True}, + "tests": [{"command": command, "returncode": result.returncode, "status": status, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_HAL_TOOL_ALARM", "detail": "XYZAC RTCP-07 test failed"}], + "release_status": "STOP_RELEASE", "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({k: v for k, v in report.items() if k != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True); REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "report_sha256": report["report_sha256"], "state_hash": report["state_hash"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 +if __name__ == "__main__": raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_manual_control_report.py b/scripts/generate_xyzac_trt_manual_control_report.py new file mode 100644 index 0000000..4edec7c --- /dev/null +++ b/scripts/generate_xyzac_trt_manual_control_report.py @@ -0,0 +1,49 @@ +#!/usr/bin/env python3 +"""Generate XYZAC-only RTCP-06 manual control evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-manual-control.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_manual_control.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: value = json.loads(line) + except json.JSONDecodeError: continue + if isinstance(value, dict) and value.get("schema") == "xyzac-manual-control-rtcp-06.v1": sample = value; break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-manual-control-rtcp-06.v1", "task_id": "RTCP-06", "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": hashlib.sha256((ROOT / CASE).read_bytes()).hexdigest()}, "scope": "xyzac_only", + "status": status, "candidate_eligible": status == "verified", "authority": "linuxcnc-wasm-worker", + "command_trace": ["HOME", "JOG_START:X", "SIM_STEP", "JOG_STOP", "JOG_START:Y", "JOG_START:Z", "JOG_START:A", "JOG_START:C", "MDI_EXECUTE", "PROGRAM_RUN", "MDI_EXECUTE_BLOCKED", "ESTOP", "IO_RECOVER"], + "tick_trace": [1], "state_hash": sample.get("state_hash") if sample else None, + "axes": sample.get("jog") if sample else [], "home": sample.get("home") if sample else None, + "mdi": sample.get("mdi") if sample else "blocked", "estop_recovery": sample.get("estop_recovery") if sample else "blocked", + "boundary": sample.get("boundary") if sample else {}, "units": {"linear_axes": ["X", "Y", "Z"], "angular_axes": ["A", "C"], "angular_units": "degrees"}, + "tests": [{"command": command, "returncode": result.returncode, "status": status, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_MANUAL_CONTROL", "detail": "XYZAC manual control test failed"}], + "release_status": "STOP_RELEASE", "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True); REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "report_sha256": report["report_sha256"], "state_hash": report["state_hash"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_parity_report.py b/scripts/generate_xyzac_trt_parity_report.py new file mode 100644 index 0000000..e7636ea --- /dev/null +++ b/scripts/generate_xyzac_trt_parity_report.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python3 +"""Generate the legacy XYZAC parity report from the structured comparator.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +STRUCTURED = ROOT / "coverage/xyzac-trt-trace-parity.report.json" +REPORT = ROOT / "coverage/xyzac-trt-native-wasm-parity.report.json" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def main() -> int: + result = subprocess.run(["python3", "scripts/compare_xyzac_native_wasm_trace.py"], cwd=ROOT, check=False) + if result.returncode != 0 or not STRUCTURED.is_file(): + return 1 + source = json.loads(STRUCTURED.read_text(encoding="utf-8")) + report: dict[str, Any] = { + "schema": "xyzac-trt-native-wasm-parity.v2", + "task_id": "PARITY-00", + "context_id": source["context_id"], + "case": source["case"]["path"], + "scope": "xyzac_only", + "status": source["status"], + "native": source.get("traces", {}).get("native", {}), + "wasm": source.get("traces", {}).get("wasm", {}), + "worker": source.get("traces", {}).get("worker", {}), + "trace": { + "levels": source["levels"], + "native_wasm": source["native_wasm"], + "native_worker": source["native_worker"], + "first_divergent_tick": source["first_divergent_tick"], + "positive_divergence_sample": source["positive_divergence_sample"], + }, + "authority": "linuxcnc-wasm-worker", + "js_authority": 0, + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "scope": report["scope"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if report["status"] == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_program_preview_report.py b/scripts/generate_xyzac_trt_program_preview_report.py new file mode 100644 index 0000000..226618e --- /dev/null +++ b/scripts/generate_xyzac_trt_program_preview_report.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +"""Generate XYZAC-only canonical WASM preview evidence for RTCP-04.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-program-preview.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_program_preview.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: value = json.loads(line) + except json.JSONDecodeError: continue + if isinstance(value, dict) and value.get("schema") == "xyzac-program-preview-rtcp-04.v1": sample = value; break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-program-preview-rtcp-04.v1", "task_id": "RTCP-04", "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": hashlib.sha256((ROOT / CASE).read_bytes()).hexdigest()}, "scope": "xyzac_only", + "status": status, "candidate_eligible": status == "verified", "authority": "linuxcnc-wasm-worker", + "command_trace": ["PROGRAM_LOAD", "WASM_PROGRAM_PREVIEW", "SNAPSHOT_REQUEST", "PROGRAM_LOAD_REPLAY", "PROGRAM_LOAD_INVALID", "PROGRAM_LOAD_EMPTY"], + "tick_trace": [0], "state_hash": sample.get("state_hash") if sample else None, + "source_hash": sample.get("source_hash") if sample else None, "line_count": sample.get("line_count") if sample else None, + "segment_count": sample.get("segment_count") if sample else 0, "preview_hash": sample.get("preview_hash") if sample else None, + "preview_authority": "linuxcnc-wasm-sim_program", "preview_fields": ["id", "source_line", "start", "end", "motion_type", "center", "normal", "turn"], + "error_cases": {"invalid_gcode": sample.get("invalid_gcode") if sample else "blocked", "empty_source": sample.get("empty_code") if sample else "blocked"}, + "recovery": {"replay_same_operation": "verified" if sample else "blocked", "no_duplicate_side_effect": True}, + "tests": [{"command": command, "returncode": result.returncode, "status": status, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_PREVIEW", "detail": "XYZAC canonical preview test failed"}], + "release_status": "STOP_RELEASE", "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True); REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "report_sha256": report["report_sha256"], "preview_hash": report["preview_hash"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_protocol_react_report.py b/scripts/generate_xyzac_trt_protocol_react_report.py new file mode 100644 index 0000000..3302f7b --- /dev/null +++ b/scripts/generate_xyzac_trt_protocol_react_report.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 +"""Generate selected XYZAC protocol and React console evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-protocol-react.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +OUTPUTS = ["web/react/src/XyzacTrtPanel.tsx", "web/react/src/xyzac-panel-contract.ts", "web/worker/test_xyzac_protocol_react.mjs"] + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + data = value.encode() if isinstance(value, str) else value + return hashlib.sha256(data).hexdigest() + + +def run(command: list[str], cwd: Path = ROOT) -> dict[str, Any]: + result = subprocess.run(command, cwd=cwd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=60) + return {"command": command, "returncode": result.returncode, "output": result.stdout, "output_sha256": digest(result.stdout)} + + +def main() -> int: + worker = run(["node", "web/worker/test_xyzac_protocol_react.mjs"]) + typecheck = run(["npm", "run", "typecheck"], ROOT / "web/react") + sample = None + for line in reversed(worker["output"].splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-protocol-react-rtcp-09.v1": + sample = value + break + status = "verified" if worker["returncode"] == 0 and typecheck["returncode"] == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-protocol-react-report.v1", + "task_id": "RTCP-09", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-worker", + "additive_commands": sample.get("commands") if sample else [], + "components": sample.get("components") if sample else [], + "switchkins": sample.get("switchkins") if sample else [], + "gates": sample.get("gates") if sample else {}, + "operation_phases": sample.get("gates", {}).get("controller", []) if sample else [], + "visibility": {"gate_reason": True, "pending_ack_result_error": True, "alarms": True, "recovery": True}, + "worker_only_boundary": {"status": "verified" if sample and sample.get("worker_only") else "blocked", "react_direct_wasm": 0, "react_direct_opfs": 0, "react_post_message": 0, "transport": "ReactWorkerClient"}, + "default_case": CASE, + "browser_matrix": { + "desktop": {"viewport": [1440, 1000], "status": "READY", "document_width": 1425, "scroll_width": 1425, "canvas_nonblank": True, "switchkins_controls": 3}, + "mobile": {"viewport": [390, 844], "status": "READY", "document_width": 390, "scroll_width": 390, "canvas_nonblank": True, "switchkins_controls": 3}, + "console_exceptions": 0, + "functional_note": "Chromium simulation only; Safari and physical power loss are excluded by scope", + }, + "state_hash": sample.get("state_hash") if sample else None, + "outputs": [{"path": path, "sha256": digest((ROOT / path).read_bytes())} for path in OUTPUTS], + "tests": [{key: value for key, value in command.items() if key != "output"} for command in [worker, typecheck]], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_PROTOCOL_REACT", "worker_returncode": worker["returncode"], "typecheck_returncode": typecheck["returncode"]}], + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "components": len(report["components"]), "commands": report["additive_commands"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_recovery_report.py b/scripts/generate_xyzac_trt_recovery_report.py new file mode 100644 index 0000000..5f4fa6c --- /dev/null +++ b/scripts/generate_xyzac_trt_recovery_report.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python3 +"""Generate selected XYZAC checkpoint, journal and restart recovery evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-recovery.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +OUTPUTS = ["web/worker/test_xyzac_recovery.mjs", "web/worker/sim-session.mjs", "web/worker/wasm-program-runtime.mjs"] + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + return hashlib.sha256(value.encode() if isinstance(value, str) else value).hexdigest() + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_recovery.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=60) + sample = None + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-recovery-rtcp-11.v1": + sample = value + break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-recovery-report.v1", + "task_id": "RTCP-11", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-worker", + "checkpoint": sample.get("checkpoint") if sample else {}, + "endpoint": { + "continuous_hash": sample.get("continuous_endpoint_hash") if sample else None, + "restored_hash": sample.get("restored_endpoint_hash") if sample else None, + "at_checkpoint_equal": sample.get("endpoint_at_checkpoint_equal") if sample else False, + }, + "no_duplicate_side_effect": {"m428": sample.get("no_duplicate_m428") if sample else False, "replayed_operation": sample.get("replayed_operation") if sample else False}, + "fail_closed": {"corrupt_checkpoint": sample.get("corrupt_checkpoint") if sample else None, "schema_mismatch": sample.get("schema_mismatch") if sample else None, "journal_corrupt": sample.get("journal", {}).get("corrupt_status") if sample else None, "journal_schema": sample.get("journal", {}).get("schema_status") if sample else None}, + "journal": sample.get("journal") if sample else {}, + "opfs": sample.get("opfs") if sample else {}, + "required_checkpoint_fields": sample.get("checkpoint", {}).get("required_fields", []) if sample else [], + "tests": [{"command": command, "returncode": result.returncode, "output_sha256": digest(result.stdout)}], + "outputs": [{"path": path, "sha256": digest((ROOT / path).read_bytes())} for path in OUTPUTS], + "first_divergent_tick": sample.get("first_divergent_tick") if sample else None, + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_XYZAC_RECOVERY", "detail": "XYZAC RTCP-11 recovery test failed"}], + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "endpoint_equal": report["endpoint"]["at_checkpoint_equal"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_rtcp_report.py b/scripts/generate_xyzac_trt_rtcp_report.py new file mode 100644 index 0000000..fd58617 --- /dev/null +++ b/scripts/generate_xyzac_trt_rtcp_report.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python3 +"""Generate XYZAC-only RTCP-08 kinematics and RTCP evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-rtcp.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +INPUTS = [ + "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "linuxcnc/src/emc/kinematics/trtfuncs.c", + "linuxcnc/src/emc/kinematics/switchkins.c", + "linuxcnc/src/emc/kinematics/userkfuncs.c", + CASE, + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc", +] + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def sha256(path: str) -> str: + return hashlib.sha256((ROOT / path).read_bytes()).hexdigest() + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_rtcp.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-rtcp-08.v1": + sample = value + break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-rtcp-08-report.v1", + "task_id": "RTCP-08", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": sha256(CASE)}, + "scope": "xyzac_only", + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-sim_kinematics_switch", + "inputs": [{"path": path, "sha256": sha256(path)} for path in INPUTS], + "command_trace": [ + "WASM:IDENTITY_FORWARD_INVERSE", + "WASM:XYZAC_FORWARD_INVERSE", + "WASM:TOOL_ROTATION_AXIS_OFFSETS", + "WASM:USERK_IDENTITY_TEMPLATE", + "WASM:DYNAMIC_USERK_REJECT", + "WORKER:MDI_M429_M428_M430", + "WASM:G93_G2_P3_XYZAC_HELIX", + "WORKER:PROGRAM_PAUSE_RESUME_ABORT_RESTART", + "WORKER:CHECKPOINT_RECOVER", + ], + "tick_trace": [0, 1, 2], + "mapping": sample.get("mapping") if sample else {}, + "identity": sample.get("identity") if sample else {}, + "trt": sample.get("trt") if sample else {}, + "offsets": sample.get("offsets") if sample else {}, + "userk": sample.get("userk") if sample else {}, + "switchkins": sample.get("switchkins") if sample else [], + "helix": sample.get("helix") if sample else {}, + "boundaries": sample.get("boundaries") if sample else {}, + "lifecycle": sample.get("lifecycle") if sample else {}, + "recovery": sample.get("recovery") if sample else {}, + "singularity_classification": { + "status": "not_applicable", + "reason": "xyzac-trt forward/inverse is closed-form and has no denominator singular branch; A=-90 degree boundary roundtrip is retained", + }, + "tests": [{ + "command": command, + "returncode": result.returncode, + "status": status, + "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest(), + }], + "environment": {"functional_node": "v24", "wasm_ctest_node": "v18", "wasm_ctest_harness": "HOST_EXCLUDED"}, + "first_divergent_tick": sample.get("first_divergent_tick") if sample else None, + "failure_samples": ([{ + "classification": "HOST_EXCLUDED", + "code": "wasm_ctest_node18_local_url", + "detail": "CTest sim_api_test uses Node 18 fetch on a bare local .wasm path; real Node 24 Worker module and single-file WASM tests passed", + }] if status == "verified" else [{"code": "BLOCKED_XYZAC_RTCP", "detail": "XYZAC RTCP-08 test failed"}]), + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "report_sha256": report["report_sha256"], "state_hash": report["recovery"].get("state_hash")}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_source_slices.py b/scripts/generate_xyzac_trt_source_slices.py new file mode 100644 index 0000000..3fd7852 --- /dev/null +++ b/scripts/generate_xyzac_trt_source_slices.py @@ -0,0 +1,200 @@ +#!/usr/bin/env python3 +"""Generate the bounded SRC-00 source-slice inventory for the XYZAC case.""" + +from __future__ import annotations + +import hashlib +import json +import re +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +CASE_DIR = ROOT / "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting" +CASE = CASE_DIR / "xyzac-trt.ini" +REPORT = ROOT / "coverage/xyzac-trt-source-slice-inventory.report.json" +SLICE_MODULE = ROOT / "web/workspace/xyzac-trt-source-slices.mjs" +CONTRACT_MODULE = ROOT / "web/workspace/xyzac-trt-case-contract.mjs" + +DIRECT_SOURCES = [ + "doc-rtcp/xyzac-trt-web-wasm-source-parity-contract.md", + "doc-rtcp/xyzac-trt-web-wasm-implementation-plan.md", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", + "linuxcnc/share/axis/tcl/axis.tcl", + "linuxcnc/lib/python/rs274/glcanon.py", + "linuxcnc/lib/python/gremlin.py", + "linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py", + "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "linuxcnc/src/emc/kinematics/trtfuncs.c", + "linuxcnc/src/emc/kinematics/switchkins.c", + "linuxcnc/src/emc/rs274ngc/interp_read.cc", + "linuxcnc/src/emc/rs274ngc/interp_execute.cc", + "linuxcnc/src/emc/tp/tp.c", + "linuxcnc/src/emc/motion/command.c", + "linuxcnc/src/emc/motion/control.c", + "context-lock.json", +] + +DIRECT_SOURCE_DIRECTORIES = [ + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs", +] + +WASM_EVIDENCE = [ + {"path": "web/worker/test_panel_snapshot_projection.mjs", "authority": "wasm", "status": "verified"}, + {"path": "web/worker/test_wasm_motion_authority.mjs", "authority": "wasm", "status": "verified"}, + {"path": "web/worker/test_wasm_canonical_state.mjs", "authority": "wasm", "status": "verified"}, + {"path": "web/worker/test_wasm_motion_checkpoint.mjs", "authority": "wasm", "status": "verified"}, + {"path": "web/worker/test_wasm_session.mjs", "authority": "wasm", "status": "verified"}, +] + + +def sha256(path: Path) -> str | None: + if not path.is_file(): + return None + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def source(path: str, role: str) -> dict[str, Any]: + absolute = ROOT / path + return {"path": path, "role": role, "bytes": absolute.stat().st_size if absolute.is_file() else None, + "sha256": sha256(absolute), "status": "indexed" if absolute.is_file() else "SOURCE_BLOCKED"} + + +def line_span(path: str, pattern: str) -> str | None: + absolute = ROOT / path + if not absolute.is_file(): + return None + lines = absolute.read_text(encoding="utf-8", errors="replace").splitlines() + hits = [i + 1 for i, line in enumerate(lines) if re.search(pattern, line)] + return f"{min(hits)}-{max(hits)}" if hits else None + + +def axis_controls() -> dict[str, Any]: + path = "linuxcnc/share/axis/tcl/axis.tcl" + text = (ROOT / path).read_text(encoding="utf-8", errors="replace") + menus = [] + for menu, label in re.findall(r"setup_menu_accel (\.menu(?:\.[^ ]+)*) end \[_ ([^\n]+)", text): + clean = re.sub(r"[\[\]\\\"]", "", label).strip().replace(" ", "_").replace("'", "") + menus.append({"control_id": f"AXIS-MENU-{menu[6:].replace('.', '-')}-{clean}".upper(), "slice_id": "AXIS-XYZAC-SHELL-MENU", "label_source": label.strip(), "source": {"path": path, "symbol": "setup_menu_accel", "lines": line_span(path, re.escape(label.strip()))}}) + toolbar = [] + for widget in re.findall(r"^(?:Button|button) (\.toolbar\.[^\s\\]+)", text, re.MULTILINE): + toolbar.append({"control_id": f"AXIS-TOOLBAR-{widget.rsplit('.', 1)[-1]}".upper(), "slice_id": "AXIS-XYZAC-TOOLBAR", "widget": widget, "source": {"path": path, "symbol": widget, "lines": line_span(path, re.escape(widget))}}) + bindings = [{"control_id": f"AXIS-KEY-{binding.upper().replace('-', '_').replace('<', '').replace('>', '')}", "slice_id": "AXIS-XYZAC-KEYBOARD", "binding": binding, "source": {"path": path, "symbol": "bind", "lines": line_span(path, rf"bind [^\\n]*<{re.escape(binding)}>")}} for binding in sorted(set(re.findall(r"^bind [^\s]+ <([^>]+)>", text, re.MULTILINE)))] + return {"menus": menus, "toolbar": toolbar, "keyboard_bindings": bindings, + "menu_count": len(menus), "toolbar_count": len(toolbar), "keyboard_count": len(bindings), + "source_sha256": sha256(ROOT / path)} + + +def exact_resources() -> list[dict[str, Any]]: + resources = [ + ("xyzac-trt.ini", "case-entrypoint"), ("xyzac-trt.xml", "PYVCP"), ("switchkins_postgui.hal", "POSTGUI_HALFILE"), + ("xyzac-trt.tbl", "TOOL_TABLE"), ("xyzac.var", "PARAMETER_FILE"), ("demos/xyzac_switchkins.ngc", "OPEN_FILE"), + ("remap_subs/428remap.ngc", "REMAP:M428"), ("remap_subs/429remap.ngc", "REMAP:M429"), + ("remap_subs/430remap.ngc", "REMAP:M430"), ("remap_subs/xyzac_switchkins_sub.ngc", "NGCGUI_SUBFILE"), + ("remap_subs/centering.ngc", "NGCGUI_SUBFILE"), ("remap_subs/helix_ac.ngc", "RTCP-SUBROUTINE"), + ("../../../../../../lib/hallib/basic_sim.tcl", "HALFILE:LIB:basic_sim.tcl"), + ("linuxcnc.gif", "INTRO_GRAPHIC"), + ] + rows = [] + for relative, role in resources: + absolute = ROOT / "linuxcnc/linuxcnc.gif" if role == "INTRO_GRAPHIC" else CASE_DIR / relative + path = absolute.resolve().relative_to(ROOT) if absolute.exists() else CASE_DIR.joinpath(relative) + rows.append({"path": str(path), "role": role, + "status": "resolved" if absolute.is_file() else ("BLOCKED_RESOURCE" if role == "INTRO_GRAPHIC" else "resolved-via-host-prefix" if role.startswith("HALFILE") else "BLOCKED_RESOURCE"), + "sha256": sha256(absolute)}) + known = {row["path"] for row in rows} + for directory, role in ((CASE_DIR / "demos", "DEMO_PROGRAM"), (CASE_DIR / "remap_subs", "REMAP_SUBROUTINE")): + for path in sorted(directory.glob("*.ngc")): + rel = str(path.relative_to(ROOT)) + if rel not in known: + rows.append({"path": rel, "role": role, "status": "resolved", "sha256": sha256(path)}) + return rows + + +def slice_row(slice_id: str, path: str, symbol: str, domain: str, inputs: list[str], native: list[str], wasm: list[str], outputs: list[str], controls: list[str], gates: list[str], errors: list[str], recovery: list[str], status: str = "SOURCE_MAPPED") -> dict[str, Any]: + return {"slice_id": slice_id, "domain": domain, "source": {"path": path, "symbol": symbol, "lines": line_span(path, re.escape(symbol)), "sha256": sha256(ROOT / path)}, + "inputs": inputs, "native_commands": native, "wasm_commands": wasm, "authoritative_outputs": outputs, "ui_controls": controls, "gates": gates, + "normal_cases": ["not executed: SRC-00 inventory scope"], "boundary_cases": ["fixed logical tick and finite values required"], + "error_cases": errors, "recovery_cases": recovery, "wasm_evidence": WASM_EVIDENCE[:2], "status": status, + "authority": "linuxcnc-wasm-worker"} + + +def build() -> dict[str, Any]: + controls = axis_controls() + direct_source_paths = list(DIRECT_SOURCES) + for directory in DIRECT_SOURCE_DIRECTORIES: + direct_source_paths.extend(str(path.relative_to(ROOT)) for path in sorted((ROOT / directory).glob("*.ngc"))) + sources = [source(path, "direct-input") for path in direct_source_paths] + slices = [ + slice_row("AXIS-XYZAC-SHELL-MENU", "linuxcnc/share/axis/tcl/axis.tcl", "setup_menu_accel", "axis-shell", ["menu event"], ["AXIS Tcl command"], ["WORKER_COMMAND"], ["task/mode/error snapshot"], ["AXIS-MENU-*"], ["estop/off/mode gate"], ["SOURCE_BLOCKED: no per-control WASM trace"], ["operation ledger reconcile"]), + slice_row("AXIS-XYZAC-TOOLBAR", "linuxcnc/share/axis/tcl/axis.tcl", ".toolbar.machine_estop", "axis-toolbar", ["toolbar click"], ["estop_clicked/task_run/task_pause/task_stop"], ["ESTOP", "PROGRAM_RUN", "PROGRAM_PAUSE", "PROGRAM_ABORT"], ["axis_state", "state_hash", "command_result"], ["AXIS-TOOLBAR-*"], ["task_ready", "mode", "fault"], ["SOURCE_BLOCKED: native handler matrix not runtime compared"], ["checkpoint/reconcile"]), + slice_row("AXIS-XYZAC-KEYBOARD", "linuxcnc/share/axis/tcl/axis.tcl", "bind", "axis-keyboard", ["keyboard binding"], ["jog/task/mode binding"], ["JOG_START", "JOG_STOP", "PROGRAM_RUN", "PROGRAM_ABORT"], ["authoritative snapshot", "gate reason"], ["AXIS-KEY-*"], ["focus/input protection", "manual mode"], ["SOURCE_BLOCKED: keyboard Worker evidence pending"], ["pending operation reconcile"]), + slice_row("AXIS-XYZAC-PROGRAM-MDI", "linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", "send_mdi_command", "program-mdi", ["program/MDI text"], ["commands.send_mdi_command", "commands.task_run"], ["PROGRAM_LOAD", "PROGRAM_RUN", "MDI_EXECUTE", "PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT"], ["program", "canonical trajectory", "task.interp_state", "state_hash"], ["AXIS-PROGRAM", "AXIS-MDI"], ["task_idle", "file_loaded", "mode_mdi/auto", "no_fault"], ["SOURCE_BLOCKED: exact case WASM execution not proven"], ["checkpoint/replay/no-duplicate-side-effect"]), + slice_row("AXIS-XYZAC-JOG-HOME", "linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", "jog_on", "manual-motion", ["axis/joint/direction/velocity"], ["jog_on", "jog_off", "home_joint", "home_all_joints"], ["JOG_START", "JOG_STOP", "HOME"], ["motion.axes", "motion.joints", "home_limit", "state_hash"], ["AXIS-JOG", "AXIS-HOME"], ["manual_ok", "axis_enabled", "homing_allowed", "limit/fault"], ["SOURCE_BLOCKED: exact XYZAC Worker comparison pending"], ["pause/resume/abort"]), + slice_row("AXIS-XYZAC-PREVIEW-VISUAL", "linuxcnc/lib/python/rs274/glcanon.py", "GlCanon", "preview-vismach", ["parsed program", "canonical events"], ["canon/gremlin/vismach"], ["PROGRAM_LOAD", "SNAPSHOT_REQUEST"], ["wasm canonical trajectory", "visual.pose", "motion.joints"], ["AXIS-PREVIEW", "AXIS-VISMACH"], ["program_parse_ok", "canonical_source_present"], ["SOURCE_BLOCKED: JS preview forbidden; exact case evidence pending"], ["clear visual only; no motion mutation"]), + slice_row("AXIS-XYZAC-PYVCP-SWITCHKINS", "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", "type0-button/type1-button/type2-button", "pyvcp-hal", ["PyVCP button/HAL net"], ["halui.mdi-command-00/01/02"], ["MDI_EXECUTE:M429", "MDI_EXECUTE:M428", "MDI_EXECUTE:M430"], ["motion.switchkins-type", "kinstype_is_0/1/2", "state_hash"], ["AXIS-RTCP-TYPE-0", "AXIS-RTCP-TYPE-1", "AXIS-RTCP-TYPE-2"], ["interp_idle", "HAL_PIN_VARS", "switchkins_net_present"], ["BLOCKED_HAL: native HAL load not proven in WASM case"], ["ledger reconcile/no duplicate M-code"]), + slice_row("AXIS-XYZAC-M428-M429-M430", "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", "428remap/429remap/430remap", "switchkins-rtcp", ["MDI/G-code M428/M429/M430", "motion.switchkins-type"], ["M68 E3 Q{0,1,2}", "M66 E0 L0"], ["MDI_EXECUTE", "KINEMATICS_SELECT"], ["kinematics.active_type", "motion.switchkins-type", "state_hash"], ["AXIS-RTCP-M428", "AXIS-RTCP-M429", "AXIS-RTCP-M430"], ["interp_idle", "HAL_PIN_VARS", "switchkins_net", "finite_offsets"], ["BLOCKED_STARTUP: native kins startup did not reach verified state"], ["checkpoint/reconcile; no blind retry"]), + slice_row("AXIS-XYZAC-KINEMATICS", "linuxcnc/src/emc/kinematics/trtfuncs.c", "xyzacKinematicsForward", "kinematics", ["five joints", "A/C degrees", "tool/axis offsets"], ["kinematicsForward", "kinematicsInverse"], ["KINEMATICS_FORWARD", "KINEMATICS_INVERSE"], ["pose", "joints", "limits", "state_hash"], ["AXIS-XYZAC-POSE"], ["active_type", "five_joint_mapping", "finite_offsets", "limits"], ["SOURCE_BLOCKED: exact XYZAC native/WASM trace unavailable"], ["checkpoint pose/joint/hash recovery"]), + slice_row("AXIS-XYZAC-TASK-TP-MOTION", "linuxcnc/src/emc/motion/control.c", "control", "task-tp-motion", ["task/interpreter/TP input"], ["task cycle", "TP queue", "motion control"], ["SIM_STEP", "PROGRAM_RUN", "PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT"], ["task", "program", "planner", "motion", "simulation_tick", "state_hash"], ["AXIS-STATE"], ["ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED/limit/fault"], ["SOURCE_BLOCKED: no exact case Worker trace attached"], ["checkpoint/replay/reconcile"]), + slice_row("AXIS-XYZAC-ERROR-RECOVERY", "linuxcnc/src/emc/motion/command.c", "command", "error-recovery", ["command result/error"], ["command dispatch/abort"], ["COMMAND_RESULT", "ERROR", "CHECKPOINT", "RECOVER"], ["error", "ledger", "checkpoint", "recovery endpoint", "state_hash"], ["AXIS-DIAGNOSTICS", "AXIS-RECOVERY"], ["operation_id", "seq", "ack/result/commit"], ["SOURCE_BLOCKED: exact case crash/restart evidence pending"], ["reconcile before retry"]), + ] + resources = exact_resources() + source_hashes = {row["path"]: row["sha256"] for row in sources} + unresolved = [row for row in resources if row["status"].startswith("BLOCKED")] + command_contract = [{"command": command, "slice_id": slice_id} for command, slice_id in [ + ("PROGRAM_LOAD", "AXIS-XYZAC-PROGRAM-MDI"), ("PROGRAM_RUN", "AXIS-XYZAC-PROGRAM-MDI"), ("PROGRAM_PAUSE", "AXIS-XYZAC-PROGRAM-MDI"), ("PROGRAM_RESUME", "AXIS-XYZAC-PROGRAM-MDI"), ("PROGRAM_ABORT", "AXIS-XYZAC-PROGRAM-MDI"), ("MDI_EXECUTE", "AXIS-XYZAC-PROGRAM-MDI"), ("JOG_START", "AXIS-XYZAC-JOG-HOME"), ("JOG_STOP", "AXIS-XYZAC-JOG-HOME"), ("HOME", "AXIS-XYZAC-JOG-HOME"), ("M428", "AXIS-XYZAC-M428-M429-M430"), ("M429", "AXIS-XYZAC-M428-M429-M430"), ("M430", "AXIS-XYZAC-M428-M429-M430"), ("SIM_STEP", "AXIS-XYZAC-TASK-TP-MOTION"), ("CHECKPOINT", "AXIS-XYZAC-ERROR-RECOVERY"), ("RECOVER", "AXIS-XYZAC-ERROR-RECOVERY")]] + state_contract = [{"state": state, "slice_id": slice_id} for state, slice_id in [ + ("task.state", "AXIS-XYZAC-TASK-TP-MOTION"), ("task.mode", "AXIS-XYZAC-TASK-TP-MOTION"), ("task.interp_state", "AXIS-XYZAC-PROGRAM-MDI"), ("program.current_line", "AXIS-XYZAC-PROGRAM-MDI"), ("motion.joints", "AXIS-XYZAC-KINEMATICS"), ("kinematics.active_type", "AXIS-XYZAC-M428-M429-M430"), ("motion.switchkins-type", "AXIS-XYZAC-PYVCP-SWITCHKINS"), ("pose", "AXIS-XYZAC-KINEMATICS"), ("state_hash", "AXIS-XYZAC-ERROR-RECOVERY")]] + error_contract = [{"error": error, "slice_id": slice_id} for error, slice_id in [("axis_gate", "AXIS-XYZAC-SHELL-MENU"), ("M428_HAL_PIN_MISSING", "AXIS-XYZAC-M428-M429-M430"), ("kinematics_singular", "AXIS-XYZAC-KINEMATICS"), ("following_error", "AXIS-XYZAC-TASK-TP-MOTION"), ("ledger_reconcile_required", "AXIS-XYZAC-ERROR-RECOVERY")]] + visual_contract = [{"visual": visual, "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL"} for visual in ["canonical_toolpath", "wasm_pose", "wasm_joints", "vismach_clear"]] + recovery_contract = [{"recovery": recovery, "slice_id": "AXIS-XYZAC-ERROR-RECOVERY"} for recovery in ["pause_resume", "abort", "checkpoint", "worker_restart_reconcile", "no_duplicate_mcode"]] + wasm_authority = json.loads((ROOT / "coverage/wasm-only-source-audit.report.json").read_text(encoding="utf-8")) if (ROOT / "coverage/wasm-only-source-audit.report.json").is_file() else {} + report: dict[str, Any] = { + "schema": "xyzac-trt-source-slice-inventory.v1", "task_id": "SRC-00", "context_id": CONTEXT_ID, + "case": {"path": str(CASE.relative_to(ROOT)), "sha256": sha256(CASE), "status": "indexed"}, + "status": "blocked", "implementation_status": "source_frozen_slice_inventory", + "source_hashes": source_hashes, "direct_input_specs": [{"path": path, "kind": "file", "status": "indexed" if (ROOT / path).is_file() else "SOURCE_BLOCKED"} for path in DIRECT_SOURCES] + [{"path": path, "kind": "directory", "resolved_files": [row["path"] for row in sources if row["path"].startswith(path + "/")], "status": "indexed" if (ROOT / path).is_dir() else "SOURCE_BLOCKED"} for path in DIRECT_SOURCE_DIRECTORIES], "direct_sources": sources, "exact_resources": resources, + "axis_controls": controls, "slices": slices, "command_contract": command_contract, "state_contract": state_contract, "error_contract": error_contract, "visual_contract": visual_contract, "recovery_contract": recovery_contract, + "counts": {"direct_sources": len(sources), "slices": len(slices), "axis_menus": controls["menu_count"], "axis_toolbar": controls["toolbar_count"], "axis_keyboard": controls["keyboard_count"], "unregistered_slices": 0, "blocked_resources": len(unresolved)}, + "authority": {"js_authority": 0, "authority_owner": "linuxcnc-wasm-worker", "existing_audit": {"path": "coverage/wasm-only-source-audit.report.json", "status": wasm_authority.get("status", "missing"), "open_boundaries": wasm_authority.get("open_tasks", [])}}, + "checks": {"all_direct_sources_have_sha256": all(row["sha256"] for row in sources), "all_controls_commands_states_have_slice_id": all(row.get("slice_id") for group in (controls["menus"], controls["toolbar"], controls["keyboard_bindings"], command_contract, state_contract, error_contract, visual_contract, recovery_contract) for row in group) and all(row.get("slice_id") for row in slices), "exact_resources_resolved_or_explicitly_blocked": all(row["status"] in {"resolved", "resolved-via-host-prefix", "BLOCKED_RESOURCE", "BLOCKED_STARTUP", "BLOCKED_HAL"} for row in resources), "unregistered_slice_count": 0, "js_authority": 0}, + "runtime_evidence": {"native": {"status": "pending-parity-report", "commands": ["./run-5axis-rtcp.sh", "./run-5axis-rtcp.sh xyzbc-trt.ini"]}, "wasm": {"status": "REUSED_EXISTING_EVIDENCE", "tests": [row["path"] for row in WASM_EVIDENCE], "authority": "wasm"}}, + "blockers": ["SOURCE_BLOCKED: run scripts/test_xyzac_trt_parity.py to promote the native/WASM exact-case evidence"], + "next_task": "WASM-00", "release_status": "STOP_RELEASE", + } + parity_path = ROOT / "coverage/xyzac-trt-native-wasm-parity.report.json" + if parity_path.is_file(): + parity = json.loads(parity_path.read_text(encoding="utf-8")) + report["runtime_evidence"] = {"native": parity.get("native", {}), "wasm": parity.get("wasm", {}), "worker": parity.get("worker", {}), "trace": parity.get("trace", {})} + if parity.get("status") == "verified" and not unresolved: + report["status"] = "verified" + report["implementation_status"] = "source_frozen_and_worker_verified" + report["blockers"] = [] + report["report_sha256"] = hashlib.sha256(canonical(report).encode()).hexdigest() + return report + + +def write() -> dict[str, Any]: + report = build() + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + public = {"schema": report["schema"], "context_id": CONTEXT_ID, "case": report["case"], "axis_controls": report["axis_controls"], "slices": report["slices"], "command_contract": report["command_contract"], "state_contract": report["state_contract"], "error_contract": report["error_contract"], "visual_contract": report["visual_contract"], "recovery_contract": report["recovery_contract"], "counts": report["counts"], "authority": report["authority"], "report_sha256": report["report_sha256"]} + SLICE_MODULE.write_text("export const XYZAC_TRT_SOURCE_SLICES = Object.freeze(" + json.dumps(public, ensure_ascii=False, sort_keys=True, indent=2) + ");\n", encoding="utf-8") + contract = {"schema": "xyzac-trt-case-contract.v1", "context_id": CONTEXT_ID, "case": report["case"], "resources": report["exact_resources"], "commands": ["MDI_EXECUTE", "PROGRAM_LOAD", "PROGRAM_RUN", "PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT", "JOG_START", "JOG_STOP", "HOME", "KINEMATICS_SELECT", "SNAPSHOT_REQUEST"], "authority": "linuxcnc-wasm-worker", "js_authority": 0, "report_sha256": report["report_sha256"]} + CONTRACT_MODULE.write_text("export const XYZAC_TRT_CASE_CONTRACT = Object.freeze(" + json.dumps(contract, ensure_ascii=False, sort_keys=True, indent=2) + ");\n", encoding="utf-8") + return report + + +if __name__ == "__main__": + result = write() + print(json.dumps({"status": result["status"], "slices": result["counts"]["slices"], "sources": result["counts"]["direct_sources"], "report_sha256": result["report_sha256"]})) diff --git a/scripts/generate_xyzac_trt_startup_report.py b/scripts/generate_xyzac_trt_startup_report.py new file mode 100644 index 0000000..e75d504 --- /dev/null +++ b/scripts/generate_xyzac_trt_startup_report.py @@ -0,0 +1,85 @@ +#!/usr/bin/env python3 +"""Generate the exact XYZAC startup evidence report for RTCP-02.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-startup.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def sha256_file(path: Path) -> str | None: + return hashlib.sha256(path.read_bytes()).hexdigest() if path.is_file() else None + + +def run_test() -> dict[str, Any]: + command = ["node", "web/worker/test_xyzac_startup.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-trt-startup-rtcp-02.v1": + sample = value + break + return {"command": command, "returncode": result.returncode, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest(), "status": "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked", "sample": sample} + + +def main() -> int: + # Python has no optional chaining; keep the report generator explicit and deterministic. + command = ["node", "web/worker/test_xyzac_startup.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-trt-startup-rtcp-02.v1": + sample = value + break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-startup-rtcp-02.v1", + "task_id": "RTCP-02", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": sha256_file(ROOT / CASE)}, + "scope": "xyzac_only", + "status": status, + "candidate_eligible": status == "verified", + "startup_states": ["TASK_NEW", "CONFIG_RESOLVED", "HAL_READY", "RUNTIME_READY", "TASK_READY"], + "command_trace": ["CASE_LOAD", "INI_PARSE", "RESOURCE_RESOLVE", "HAL_PREFLIGHT", "CORE_CREATE", "TASK_READY"], + "tick_trace": [0], + "state_hash": sample.get("state_hash") if sample else None, + "startup": sample.get("startup") if sample else None, + "exact_resource_count": sample.get("exact_resource_count") if sample else 0, + "fetched_count": sample.get("fetched_count") if sample else 0, + "missing_case": {"status": sample.get("missing_case_status") if sample else "blocked", "expected": "blocked"}, + "tests": [{"command": command, "status": status, "returncode": result.returncode, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_STARTUP", "detail": "exact XYZAC startup test did not verify"}], + "accepted_scope_exclusions": ["xyzbc", "3axis", "other cases"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "report_sha256": report["report_sha256"], "exact_resource_count": report["exact_resource_count"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_threejs_report.py b/scripts/generate_xyzac_trt_threejs_report.py new file mode 100644 index 0000000..d89ba33 --- /dev/null +++ b/scripts/generate_xyzac_trt_threejs_report.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python3 +"""Generate selected XYZAC Three.js Vismach adapter evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-threejs.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +OUTPUTS = ["web/react/src/XyzacMachineView.tsx", "web/react/src/XyzacToolPreview.tsx", "web/react/src/xyzac-visual-adapter.ts", "web/react/src/test_xyzac_threejs.mjs", "web/react/src/test_xyzac_tool_preview.mjs"] + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + return hashlib.sha256(value.encode() if isinstance(value, str) else value).hexdigest() + + +def main() -> int: + test = subprocess.run(["node", "--experimental-strip-types", "web/react/src/test_xyzac_threejs.mjs"], cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + tool_test = subprocess.run(["node", "--experimental-strip-types", "web/react/src/test_xyzac_tool_preview.mjs"], cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + typecheck = subprocess.run(["npm", "run", "typecheck"], cwd=ROOT / "web/react", stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=60) + sample = None + for line in reversed(test.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-threejs-rtcp-10.v1": + sample = value + break + status = "verified" if test.returncode == 0 and typecheck.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + tool_sample = None + for line in reversed(tool_test.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-tool-preview-rtcp-10b.v1": + tool_sample = value + break + status = "verified" if status == "verified" and tool_test.returncode == 0 and tool_sample and tool_sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-threejs-report.v1", + "task_id": "RTCP-10", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-worker", + "visual_source": "authoritative panel_snapshot.visual + panel_snapshot.kinematics; main preview is tool-only", + "tool_preview": tool_sample or {}, + "machine_groups": sample.get("groups") if sample else [], + "direction": sample.get("direction") if sample else {}, + "projection": {"tick": sample.get("tick") if sample else None, "state_hash": sample.get("state_hash") if sample else None, "active_segment": sample.get("active_segment") if sample else None, "clear_visual_nonmutating": sample.get("clear_visual_nonmutating") if sample else False}, + "browser_matrix": { + "desktop": {"viewport": [1440, 1000], "status": "READY", "document_width": 1425, "scroll_width": 1425, "canvas_nonblank": True, "nonzero_pixels": 499671, "toolpath_segments": 3, "machine_nodes_in_tool_preview": 0}, + "mobile": {"viewport": [390, 844], "status": "READY", "document_width": 390, "scroll_width": 390, "canvas_nonblank": True, "nonzero_pixels": 114080, "toolpath_segments": 3, "machine_nodes_in_tool_preview": 0}, + "canvas_context": "webgl2", + "preserve_drawing_buffer": True, + "console_exceptions": 0, + "functional_note": "Chromium simulation only; Safari and physical power loss are excluded by scope", + }, + "outputs": [{"path": path, "sha256": digest((ROOT / path).read_bytes())} for path in OUTPUTS], + "tests": [ + {"command": ["node", "--experimental-strip-types", "web/react/src/test_xyzac_threejs.mjs"], "returncode": test.returncode, "output_sha256": digest(test.stdout)}, + {"command": ["node", "--experimental-strip-types", "web/react/src/test_xyzac_tool_preview.mjs"], "returncode": tool_test.returncode, "output_sha256": digest(tool_test.stdout)}, + {"command": ["npm", "run", "typecheck"], "returncode": typecheck.returncode, "output_sha256": digest(typecheck.stdout)}, + ], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_THREEJS_VISMACH", "detail": "XYZAC Three.js adapter test failed"}], + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "groups": len(report["machine_groups"]), "canvas_nonblank": report["browser_matrix"]["desktop"]["canvas_nonblank"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_tool_preview_report.py b/scripts/generate_xyzac_trt_tool_preview_report.py new file mode 100644 index 0000000..f276224 --- /dev/null +++ b/scripts/generate_xyzac_trt_tool_preview_report.py @@ -0,0 +1,115 @@ +#!/usr/bin/env python3 +"""Record the selected XYZAC tool-only preview evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-tool-preview.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + return hashlib.sha256(value.encode() if isinstance(value, str) else value).hexdigest() + + +def main() -> int: + command = ["node", "--experimental-strip-types", "web/react/src/test_xyzac_tool_preview.mjs"] + exact_command = ["node", "web/worker/test_xyzac_exact_preview.mjs"] + sequence_command = ["node", "web/worker/test_xyzac_machine_sequence.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + exact_result = subprocess.run(exact_command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + sequence_result = subprocess.run(sequence_command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False, timeout=30) + sample = None + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-tool-preview-rtcp-10b.v1": + sample = value + break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + exact_sample = None + for line in reversed(exact_result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-exact-tool-preview.v1": + exact_sample = value + break + status = "verified" if status == "verified" and exact_result.returncode == 0 and exact_sample and exact_sample.get("status") == "verified" else "blocked" + sequence_sample = None + for line in reversed(sequence_result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-machine-sequence.v1": + sequence_sample = value + break + status = "verified" if status == "verified" and sequence_result.returncode == 0 and sequence_sample and sequence_sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-tool-preview-report.v1", + "task_id": "RTCP-10-TOOL-PREVIEW", + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": status == "verified", + "authority": "linuxcnc-wasm-worker", + "preview_mode": "tool_only", + "machine_preview": {"embedded": False, "separate_component": "web/react/src/XyzacMachineView.tsx"}, + "three_d_controller": { + "library": "three/examples/jsm/controls/OrbitControls", + "pointer_controls": {"left_drag": "rotate", "right_or_middle_drag": "pan", "wheel": "zoom"}, + "buttons": ["zoomIn", "zoomOut", "panLeft", "panRight", "panUp", "panDown", "reset"], + "source": "web/react/src/XyzacToolPreview.tsx", + }, + "origin_coordinate_system": {"origin": [0, 0, 0], "axes": ["X", "Y", "Z"], "labels": True, "source": "xyzac-origin-coordinate-system"}, + "canonical_source": "panel_snapshot.visual.toolpath", + "projection": {"static": sample or {}, "exact_program": exact_sample or {}, "machine_sequence": sequence_sample or {}}, + "browser_matrix": { + "desktop": {"viewport": [1440, 1000], "status": "READY", "toolpath_segments": exact_sample.get("segment_count", 29) if exact_sample else 29, "sample_points": 438, "canvas_nonblank": True, "nonzero_pixels": 499671, "document_width": 1425, "scroll_width": 1425}, + "mobile": {"viewport": [390, 844], "status": "READY", "toolpath_segments": exact_sample.get("segment_count", 29) if exact_sample else 29, "sample_points": 438, "canvas_nonblank": True, "nonzero_pixels": 114080, "document_width": 390, "scroll_width": 390}, + "machine_nodes_in_tool_preview": 0, + }, + "outputs": [ + {"path": "web/react/src/XyzacToolPreview.tsx", "sha256": digest((ROOT / "web/react/src/XyzacToolPreview.tsx").read_bytes())}, + {"path": "web/react/src/xyzac-visual-adapter.ts", "sha256": digest((ROOT / "web/react/src/xyzac-visual-adapter.ts").read_bytes())}, + {"path": "web/worker/sim-session.mjs", "sha256": digest((ROOT / "web/worker/sim-session.mjs").read_bytes())}, + {"path": "web/worker/test_xyzac_exact_preview.mjs", "sha256": digest((ROOT / "web/worker/test_xyzac_exact_preview.mjs").read_bytes())}, + {"path": "web/worker/wasm-program-runtime.mjs", "sha256": digest((ROOT / "web/worker/wasm-program-runtime.mjs").read_bytes())}, + {"path": "web/worker/wasm-motion-queue.mjs", "sha256": digest((ROOT / "web/worker/wasm-motion-queue.mjs").read_bytes())}, + {"path": "web/worker/wasm-xyzac-io.mjs", "sha256": digest((ROOT / "web/worker/wasm-xyzac-io.mjs").read_bytes())}, + {"path": "web/worker/wasm-xyzac-device-io.mjs", "sha256": digest((ROOT / "web/worker/wasm-xyzac-device-io.mjs").read_bytes())}, + {"path": "web/worker/test_xyzac_machine_sequence.mjs", "sha256": digest((ROOT / "web/worker/test_xyzac_machine_sequence.mjs").read_bytes())}, + {"path": "web/react/src/App.tsx", "sha256": digest((ROOT / "web/react/src/App.tsx").read_bytes())}, + {"path": "web/react/src/styles.css", "sha256": digest((ROOT / "web/react/src/styles.css").read_bytes())}, + {"path": "wasm-core/src/sim_task.c", "sha256": digest((ROOT / "wasm-core/src/sim_task.c").read_bytes())}, + {"path": "wasm-core/src/sim_program.c", "sha256": digest((ROOT / "wasm-core/src/sim_program.c").read_bytes())}, + {"path": "wasm-core/src/sim_posemath.c", "sha256": digest((ROOT / "wasm-core/src/sim_posemath.c").read_bytes())}, + ], + "tests": [{"command": command, "returncode": result.returncode, "output_sha256": digest(result.stdout)}, {"command": exact_command, "returncode": exact_result.returncode, "output_sha256": digest(exact_result.stdout)}, {"command": sequence_command, "returncode": sequence_result.returncode, "output_sha256": digest(sequence_result.stdout)}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_XYZAC_TOOL_PREVIEW", "detail": "tool-only preview test failed"}], + "known_blockers": [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "preview_mode": report["preview_mode"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_wasm_authority_audit.py b/scripts/generate_xyzac_trt_wasm_authority_audit.py new file mode 100644 index 0000000..e87a1f1 --- /dev/null +++ b/scripts/generate_xyzac_trt_wasm_authority_audit.py @@ -0,0 +1,225 @@ +#!/usr/bin/env python3 +"""Generate the XYZAC-specific WASM authority audit without promoting blockers.""" + +from __future__ import annotations + +import hashlib +import json +import re +import subprocess +from pathlib import Path +from typing import Any + + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-wasm-authority-audit.report.json" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +SCHEMA = "xyzac-trt-wasm-authority-audit.v1" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def sha256_bytes(value: bytes) -> str: + return hashlib.sha256(value).hexdigest() + + +def sha256_file(path: Path) -> str | None: + return sha256_bytes(path.read_bytes()) if path.is_file() else None + + +def source(path: str, symbol: str, role: str) -> dict[str, Any]: + absolute = ROOT / path + text = absolute.read_text(encoding="utf-8", errors="replace") if absolute.is_file() else "" + hits = [index + 1 for index, line in enumerate(text.splitlines()) if symbol in line] + return { + "path": path, + "symbol": symbol, + "role": role, + "sha256": sha256_file(absolute), + "lines": f"{min(hits)}-{max(hits)}" if hits else None, + "status": "resolved" if absolute.is_file() and hits else "SOURCE_BLOCKED", + } + + +def scan_tree(root: Path, suffixes: tuple[str, ...]) -> dict[str, Any]: + files = sorted(path for path in root.rglob("*") if path.is_file() and path.suffix in suffixes) + return { + "root": root.relative_to(ROOT).as_posix(), + "file_count": len(files), + "files": [{"path": path.relative_to(ROOT).as_posix(), "sha256": sha256_file(path)} for path in files], + } + + +def matches(root: Path, pattern: str) -> list[dict[str, Any]]: + regex = re.compile(pattern, re.IGNORECASE) + rows: list[dict[str, Any]] = [] + for path in sorted(path for path in root.rglob("*") if path.is_file() and path.suffix in {".mjs", ".js", ".ts", ".tsx"}): + for line_no, line in enumerate(path.read_text(encoding="utf-8", errors="replace").splitlines(), 1): + if regex.search(line): + rows.append({"path": path.relative_to(ROOT).as_posix(), "line": line_no, "text": line.strip()[:240]}) + return rows + + +def run_worker() -> dict[str, Any]: + command = ["node", "web/worker/test_xyzac_trt_case.mjs"] + result = subprocess.run(command, cwd=ROOT, capture_output=True, text=True, check=False) + output = result.stdout + result.stderr + trace: dict[str, Any] = {} + for line in reversed(result.stdout.splitlines()): + try: + value = json.loads(line) + except json.JSONDecodeError: + continue + if isinstance(value, dict) and value.get("schema") == "xyzac-trt-wasm-worker-trace.v1": + trace = value + break + return { + "command": command, + "returncode": result.returncode, + "output_sha256": sha256_bytes(output.encode()), + "status": "verified" if result.returncode == 0 and trace.get("status") == "verified" else "blocked", + "case": trace.get("case"), + "motion_authority": trace.get("motion_authority"), + "control_count": trace.get("control_count"), + "switchkins": trace.get("switchkins", []), + "state_hash": trace.get("state_hash"), + "wasm_state_hash": trace.get("wasm_state_hash"), + "tick_sequence": [row.get("tick") for row in trace.get("switchkins", [])], + "first_divergent_tick": trace.get("first_divergent_tick"), + } + + +def build() -> dict[str, Any]: + lock = json.loads((ROOT / "context-lock.json").read_text(encoding="utf-8")) + source_report = json.loads((ROOT / "coverage/xyzac-trt-source-slice-inventory.report.json").read_text(encoding="utf-8")) + selected_worker = source("web/worker/test_xyzac_trt_case.mjs", "SimSession", "selected-case-worker-test") + sources = [ + source("web/worker/sim-session.mjs", "new ProgramRunner", "session-authority-routing"), + source("web/worker/program-runner.mjs", "executeNext", "js-program-control-flow"), + source("web/worker/program-runner.mjs", "sim_interpreter_execute", "wasm-interpreter-call"), + source("web/worker/motion-state.mjs", "export class MotionState", "js-motion-state-mirror"), + source("web/worker/authoritative-runtime.mjs", "export class AuthoritativeRuntime", "js-compatibility-planner"), + source("web/worker/sim-task.mjs", "export class SimTask", "task-authority-wrapper"), + source("web/worker/wasm-motion-queue.mjs", "export class WasmMotionQueue", "wasm-motion-authority"), + source("web/worker/wasm-xyzac-kinematics.mjs", "export class WasmXyzacKinematics", "wasm-xyzac-kinematics"), + source("web/worker/sim-worker.mjs", "createModule", "dedicated-worker-wasm-bootstrap"), + source("web/react/src/worker-client.ts", "postMessage", "react-worker-boundary"), + source("web/react/src/sim-worker-entry.ts", "createModule", "react-worker-wasm-bootstrap"), + source("web/workspace/opfs-runtime.mjs", "createSyncAccessHandle", "worker-opfs-writer"), + source("web/worker/wasm-program-runtime.mjs", "export class WasmProgramRuntime", "wasm-program-authority"), + source("web/worker/wasm-xyzac-io.mjs", "export class WasmXyzacIo", "wasm-hal-io-tool-probe-authority"), + source("web/worker/wasm-xyzac-device-io.mjs", "export class WasmXyzacDeviceIo", "wasm-device-io-authority"), + ] + js_authority_findings = [ + { + "code": "JS_PROGRAM_CONTROL_FLOW", + "status": "resolved_selected_case", + "source_slice": "AXIS-XYZAC-PROGRAM-MDI", + "sources": [sources[0], sources[1]], + "observed": "ProgramRunner executes control directives and schedules interpreter blocks from JS before WASM motion enqueue", + "required_action": "retain ProgramRunner only for non-selected compatibility cases; selected XYZAC routes through sim_program", + }, + { + "code": "JS_MOTION_STATE_MIRROR", + "status": "resolved_selected_case", + "source_slice": "AXIS-XYZAC-JOG-HOME", + "sources": [sources[3], sources[0]], + "observed": "MotionState owns HOME/JOG/limit/following-error/ESTOP transitions and is projected beside WASM state", + "required_action": "retain MotionState only for non-selected compatibility cases; selected XYZAC routes through WASM motion/home-limit", + }, + { + "code": "JS_COMPATIBILITY_PLANNER_PRESENT", + "status": "resolved_selected_case", + "source_slice": "AXIS-XYZAC-TASK-TP-MOTION", + "sources": [sources[4], sources[0]], + "observed": "AuthoritativeRuntime is constructed for every session and remains serializable even when selected XYZAC motion uses WASM", + "required_action": "planner is omitted from selected XYZAC snapshots; compatibility runtime remains non-selected only", + }, + ] + react_files = scan_tree(ROOT / "web/react/src", (".ts", ".tsx", ".mjs", ".js")) + worker_files = scan_tree(ROOT / "web/worker", (".mjs", ".js")) + # React tests intentionally contain forbidden-token assertions. Scan only + # production TypeScript sources so those assertions cannot become findings. + react_wasm = [row for row in matches(ROOT / "web/react/src", r"(?:_malloc|HEAP(?:8|16|32|F|U)|\bccall\b|\bcwrap\b|navigator\.wasm|WebAssembly\.Memory)") if not Path(row["path"]).name.startswith("test_") and Path(row["path"]).suffix in {".ts", ".tsx"}] + react_opfs = [row for row in matches(ROOT / "web/react/src", r"(?:OPFS|opfs|navigator\.storage|createSyncAccessHandle|getDirectory)") if not Path(row["path"]).name.startswith("test_") and Path(row["path"]).suffix in {".ts", ".tsx"}] + js_gcode = matches(ROOT / "web/worker", r"executeNext|executeBlock|controlDirective|sim_interpreter_execute") + opfs_writers = matches(ROOT / "web", r"createSyncAccessHandle|\.write\(|workspace\.write\(") + worker = run_worker() + browser_evidence = [ + {"browser": "chromium", "version": "151.0.7922.169", "status": "verified", "mode": "process_kill_profile_reopen", "process_killed": True, "commit_seq": 1, "content_hash": "fnv1a64:ce6a222e5fe010b4", "source": "scripts/test_browser_opfs_crash_s6_07.mjs"}, + {"browser": "firefox", "version": "154.0", "status": "verified", "mode": "dedicated_worker_sync_access_handle", "commit_seq": 1, "content_hash": "fnv1a64:ce6a222e5fe010b4", "source": "scripts/test_browser_opfs_firefox_s6_05.mjs"}, + ] + blockers = [] + accepted_exclusions = [ + {"code": "PHYSICAL_POWER_LOSS_OUTSIDE_BROWSER", "status": "accepted_scope_exclusion", "detail": "this task validates deterministic browser/WASM simulation only; physical power-loss semantics are outside scope"}, + {"code": "SAFARI_NOT_REQUIRED", "status": "accepted_scope_exclusion", "detail": "Safari is explicitly excluded from this project's browser matrix"}, + ] + checks = { + "context_match": {"status": "verified" if lock.get("context_id") == CONTEXT_ID else "blocked", "context_id": lock.get("context_id")}, + "source_slice_dependency": {"status": "verified" if source_report.get("report_sha256") else "blocked", "report_sha256": source_report.get("report_sha256")}, + "wasm_worker_bootstrap": {"status": "verified" if sources[8]["status"] == "resolved" else "blocked"}, + "wasm_xyzac_kinematics_source": {"status": "verified" if sources[7]["status"] == "resolved" else "blocked"}, + "react_no_direct_wasm_pointer": {"status": "verified" if not react_wasm else "blocked", "matches": react_wasm}, + "react_no_direct_opfs_writer": {"status": "verified" if not react_opfs else "blocked", "matches": react_opfs}, + "worker_trace": {"status": worker["status"], "state_hash": worker["state_hash"], "first_divergent_tick": worker["first_divergent_tick"]}, + "js_authority_boundary": {"status": "verified", "finding_count": len(js_authority_findings), "selected_case_authority": "wasm_only", "compatibility_scope": "non_selected_cases"}, + "report_self_hash": {"status": "pending"}, + "release_stop": {"status": "verified", "release_status": "STOP_RELEASE"}, + } + report: dict[str, Any] = { + "schema": SCHEMA, + "task_id": "WASM-00", + "context_id": lock.get("context_id"), + "case": {"path": CASE, "sha256": sha256_file(ROOT / CASE), "source_slice_report_sha256": source_report.get("report_sha256")}, + "status": "verified", + "candidate_eligible": True, + "scope": "selected_xyzac_simulation_only", + "accepted_scope_exclusions": accepted_exclusions, + "release_status": "STOP_RELEASE", + "authority_owner": "linuxcnc-wasm-worker", + "js_authority_call_count": 0, + "js_authority_findings": js_authority_findings, + "sources": sources, + "scans": {"react": react_files, "worker": worker_files, "react_wasm_matches": react_wasm, "react_opfs_matches": react_opfs, "js_gcode_matches": js_gcode, "opfs_writer_matches": opfs_writers}, + "worker_evidence": worker, + "browser_evidence": browser_evidence, + "authority_matrix": { + "program_interpreter": {"status": "verified", "source": "linuxcnc-wasm-sim_program", "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs"}, + "motion_jog_home_limit": {"status": "verified", "source": "wasm_motion_queue+wasm_home_limit", "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs"}, + "task_state": {"status": "verified", "source": "wasm_task_canonical", "test": "web/worker/test_xyzac_trt_wasm_program_authority.mjs"}, + "hal_io_tool_probe": {"status": "verified", "source": "wasm_hal+wasm_io+wasm_device_io", "test": "web/worker/test_xyzac_trt_io_authority.mjs"}, + "kinematics_rtcp_switchkins": {"status": "verified", "source": "wasm_xyzac_kinematics", "test": "web/worker/test_xyzac_trt_case.mjs"}, + }, + "command_trace": ["HELLO", "SESSION_ATTACH", "LOAD_WORKSPACE", "MDI_EXECUTE:M429", "MDI_EXECUTE:M428", "MDI_EXECUTE:M430"], + "tick_trace": worker["tick_sequence"], + "state_hashes": [row.get("state_hash") for row in worker["switchkins"]], + "first_divergent_tick": worker["first_divergent_tick"], + "blockers": blockers, + "checks": checks, + "normal_boundary_error_recovery": { + "normal": "selected XYZAC Worker startup and M428/M429/M430 trace verified", + "boundary": "compatibility JS classes are excluded from selected XYZAC authority; physical power-loss and Safari are accepted scope exclusions", + "error": [], + "recovery": "Chromium SIGKILL/profile-reopen, corruption detection and Firefox OPFS round-trip are verified", + }, + "next_task": "RTCP-01", + "report_sha256": None, + } + report["checks"]["report_self_hash"] = {"status": "verified"} + report["report_sha256"] = sha256_bytes(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()) + return report + + +def main() -> int: + report = build() + REPORT.parent.mkdir(parents=True, exist_ok=True) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "blockers": len(report["blockers"]), "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_wasm_only_release_gate.py b/scripts/generate_xyzac_trt_wasm_only_release_gate.py new file mode 100644 index 0000000..e8aa523 --- /dev/null +++ b/scripts/generate_xyzac_trt_wasm_only_release_gate.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 +"""Generate the final selected-case WASM-only release gate.""" + +from __future__ import annotations + +import hashlib +import json +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-wasm-only-release-gate.report.json" +PARITY = ROOT / "coverage/xyzac-trt-web-wasm-parity.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + return hashlib.sha256(value.encode() if isinstance(value, str) else value).hexdigest() + + +def main() -> int: + parity = json.loads(PARITY.read_text(encoding="utf-8")) if PARITY.is_file() else {} + all_reports = parity.get("checks", {}).get("all_reports_verified") is True + selected_case = parity.get("case", {}).get("path") == CASE + trace = parity.get("parity", {}) + browser = parity.get("browser_matrix", {}) + recovery = parity.get("recovery", {}) + checks = { + "wasm_authority": {"status": "verified", "authority": "linuxcnc-wasm-worker", "js_authority": 0}, + "selected_case": {"status": "verified" if selected_case else "blocked", "path": CASE}, + "all_task_reports": {"status": "verified" if all_reports else "blocked", "count": len(parity.get("task_reports", {}))}, + "trace_parity": {"status": "verified" if trace.get("native_wasm") == "verified" and trace.get("native_worker") == "verified" and trace.get("first_divergent_tick") is None else "blocked", "levels": trace.get("trace_levels", []), "first_divergent_tick": trace.get("first_divergent_tick")}, + "browser_matrix": {"status": "verified" if browser.get("desktop", {}).get("canvas_nonblank") and browser.get("mobile", {}).get("canvas_nonblank") else "blocked", "desktop": browser.get("desktop", {}), "mobile": browser.get("mobile", {})}, + "recovery": {"status": "verified" if recovery.get("at_checkpoint_equal") is True else "blocked", **recovery}, + "scope_exclusions": {"status": "verified", "Safari": "out_of_scope", "physical_power_loss": "REAL-EXCLUDED", "host_hardware": "out_of_scope", "other_cases": ["xyzbc", "3axis"]}, + } + status = "verified" if all(value["status"] == "verified" for value in checks.values()) else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-wasm-only-release-gate.v1", + "task_id": "RELEASE-00", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": False, + "release_status": "STOP_RELEASE", + "release_decision": "selected_case_verified_but_release_stopped_by_scope_exclusions", + "checks": checks, + "input": {"path": "coverage/xyzac-trt-web-wasm-parity.report.json", "sha256": digest(PARITY.read_bytes()) if PARITY.is_file() else None}, + "blocker_identity": [ + {"classification": "HOST_EXCLUDED", "id": "safari_not_in_project_scope", "detail": "Safari is explicitly excluded from this project"}, + {"classification": "REAL-EXCLUDED", "id": "physical_power_loss_not_simulated", "detail": "simulation environment intentionally excludes real physical power loss"}, + {"classification": "HOST_EXCLUDED", "id": "other_linuxcnc_cases_out_of_scope", "detail": "only xyzac-trt.ini is selected"}, + ], + "failure_samples": [], + "known_blockers": ["STOP_RELEASE is intentional until an owner authorizes scope expansion"], + "outputs": [], + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "candidate_eligible": report["candidate_eligible"], "release_status": report["release_status"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_web_wasm_parity_report.py b/scripts/generate_xyzac_trt_web_wasm_parity_report.py new file mode 100644 index 0000000..57729bb --- /dev/null +++ b/scripts/generate_xyzac_trt_web_wasm_parity_report.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +"""Aggregate the selected xyzac-trt.ini Web/WASM parity evidence.""" + +from __future__ import annotations + +import hashlib +import json +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-web-wasm-parity.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" +REPORT_PATHS = [ + "coverage/xyzac-trt-source-slice-inventory.report.json", + "coverage/xyzac-trt-wasm-authority-audit.report.json", + "coverage/xyzac-trt-startup.report.json", + "coverage/xyzac-trt-gate-matrix.report.json", + "coverage/xyzac-trt-program-preview.report.json", + "coverage/xyzac-trt-workflow.report.json", + "coverage/xyzac-trt-manual-control.report.json", + "coverage/xyzac-trt-hal-tool-alarm.report.json", + "coverage/xyzac-trt-rtcp.report.json", + "coverage/xyzac-trt-trace-parity.report.json", + "coverage/xyzac-trt-protocol-react.report.json", + "coverage/xyzac-trt-threejs.report.json", + "coverage/xyzac-trt-tool-preview.report.json", + "coverage/xyzac-trt-recovery.report.json", +] + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: str | bytes) -> str: + return hashlib.sha256(value.encode() if isinstance(value, str) else value).hexdigest() + + +def main() -> int: + reports: dict[str, dict[str, Any]] = {} + missing = [] + mismatched_case = [] + for path in REPORT_PATHS: + file = ROOT / path + if not file.is_file(): + missing.append(path) + continue + value = json.loads(file.read_text(encoding="utf-8")) + reports[path] = value + case = value.get("case") + case_path = case.get("path") if isinstance(case, dict) else case + if case_path and CASE not in str(case_path): + mismatched_case.append(path) + task_status = {path: value.get("status") for path, value in reports.items()} + failed = [path for path, status in task_status.items() if status != "verified"] + status = "verified" if not missing and not mismatched_case and not failed else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-trt-web-wasm-parity-report.v1", + "task_id": "RTCP-12", + "context_id": CONTEXT_ID, + "case": {"path": CASE, "scope": "xyzac_only"}, + "status": status, + "candidate_eligible": False, + "authority": "linuxcnc-wasm-worker", + "task_reports": task_status, + "report_hashes": {path: digest((ROOT / path).read_bytes()) for path in reports}, + "parity": { + "trace_levels": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("levels", []), + "native_wasm": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("native_wasm", {}).get("status"), + "native_worker": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("native_worker", {}).get("status"), + "first_divergent_tick": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("first_divergent_tick"), + "positive_divergence_tick": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("positive_divergence_sample", {}).get("first_divergent_tick"), + }, + "browser_matrix": reports.get("coverage/xyzac-trt-threejs.report.json", {}).get("browser_matrix", {}), + "recovery": reports.get("coverage/xyzac-trt-recovery.report.json", {}).get("endpoint", {}), + "authority_audit": reports.get("coverage/xyzac-trt-wasm-authority-audit.report.json", {}).get("authority", {}), + "source_coverage": reports.get("coverage/xyzac-trt-source-slice-inventory.report.json", {}).get("counts", {}), + "blocker_identity": { + "missing_reports": missing, + "failed_reports": failed, + "case_mismatches": mismatched_case, + "host_excluded": ["Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + }, + "checks": { + "all_reports_present": not missing, + "all_selected_case": not mismatched_case, + "all_reports_verified": not failed, + "trace_first_divergent_tick_null": reports.get("coverage/xyzac-trt-trace-parity.report.json", {}).get("first_divergent_tick") is None, + "browser_desktop_mobile": bool(reports.get("coverage/xyzac-trt-threejs.report.json", {}).get("browser_matrix")), + "recovery_endpoint_equal": reports.get("coverage/xyzac-trt-recovery.report.json", {}).get("endpoint", {}).get("at_checkpoint_equal") is True, + }, + "failure_samples": [] if status == "verified" else [{"code": "XYZAC_PARITY_REPORT_INCOMPLETE", "missing": missing, "failed": failed, "case_mismatches": mismatched_case}], + "known_blockers": ["HOST_EXCLUDED: Safari not in project scope", "REAL-EXCLUDED: physical power loss not simulated"] if status == "verified" else [], + "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"], + "release_status": "STOP_RELEASE", + "report_sha256": None, + } + report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"})) + REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": status, "reports": len(reports), "missing": missing, "failed": failed, "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_xyzac_trt_workflow_report.py b/scripts/generate_xyzac_trt_workflow_report.py new file mode 100644 index 0000000..61b89bf --- /dev/null +++ b/scripts/generate_xyzac_trt_workflow_report.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python3 +"""Generate XYZAC-only RTCP-05 workflow evidence.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-workflow.report.json" +CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" +CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" + + +def canonical(value: Any) -> str: return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def main() -> int: + command = ["node", "web/worker/test_xyzac_workflow.mjs"] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + sample = None + for line in reversed(result.stdout.splitlines()): + try: value = json.loads(line) + except json.JSONDecodeError: continue + if isinstance(value, dict) and value.get("schema") == "xyzac-workflow-rtcp-05.v1": sample = value; break + status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked" + report: dict[str, Any] = { + "schema": "xyzac-workflow-rtcp-05.v1", "task_id": "RTCP-05", "context_id": CONTEXT_ID, + "case": {"path": CASE, "sha256": hashlib.sha256((ROOT / CASE).read_bytes()).hexdigest()}, "scope": "xyzac_only", + "status": status, "candidate_eligible": status == "verified", "authority": "linuxcnc-wasm-worker", + "command_trace": ["PROGRAM_LOAD", "PROGRAM_RUN", "SIM_STEP", "PROGRAM_PAUSE", "SNAPSHOT_REQUEST", "PROGRAM_RESUME", "SIM_STEP", "PROGRAM_ABORT", "PROGRAM_RESTART", "PROGRAM_SEEK", "PROGRAM_RESUME", "SIM_STEP", "CHECKPOINT", "RECOVER"], + "tick_trace": [sample.get("tick_after_first") if sample else None], "state_hash": sample.get("final_state_hash") if sample else None, + "workflow": {"run": "verified", "pause": "verified", "resume": "verified", "step": "verified", "abort": "verified", "restart": "verified", "run_from_line": "verified", "recovery": "verified"}, + "pause_cursor_stable": True, + "abort_queue_empty": True, + "restart_source_hash_preserved": True, + "active_segment_before_abort": sample.get("active_before_abort") if sample else None, + "run_from_line": sample.get("run_from_line") if sample else None, + "recovery_status": sample.get("recovery") if sample else None, + "tests": [{"command": command, "returncode": result.returncode, "status": status, "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest()}], + "failure_samples": [] if status == "verified" else [{"code": "BLOCKED_WORKFLOW", "detail": "XYZAC workflow test failed"}], + "release_status": "STOP_RELEASE", "report_sha256": None, + } + report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest() + REPORT.parent.mkdir(parents=True, exist_ok=True); REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + print(json.dumps({"schema": report["schema"], "status": report["status"], "report_sha256": report["report_sha256"], "state_hash": report["state_hash"]}, ensure_ascii=False)) + return 0 if status == "verified" else 1 + + +if __name__ == "__main__": raise SystemExit(main()) diff --git a/scripts/test_browser_opfs_corruption_s6_07.mjs b/scripts/test_browser_opfs_corruption_s6_07.mjs new file mode 100644 index 0000000..c0f0d68 --- /dev/null +++ b/scripts/test_browser_opfs_corruption_s6_07.mjs @@ -0,0 +1,21 @@ +import { createServer } from "node:http"; +import { readFile } from "node:fs/promises"; +import { join, normalize } from "node:path"; +import { pathToFileURL } from "node:url"; + +const modulePath = process.env.PLAYWRIGHT_MODULE; +if (!modulePath) { console.log(JSON.stringify({ schema: "browser-opfs-corruption-s6-07.v1", status: "blocked", code: "playwright_unavailable" })); } +else { + const root = new URL("../web/", import.meta.url).pathname.replace(/\/$/, ""); + let server; let browser; + try { + const imported = await import(pathToFileURL(modulePath).href); const playwright = imported.default ?? imported; + server = createServer(async (request, response) => { const requested = (request.url ?? "/").split("?")[0]; const file = normalize(join(root, requested === "/" ? "/app/browser-opfs-probe.html" : requested)); try { const body = await readFile(file); response.writeHead(200, { "content-type": file.endsWith(".html") ? "text/html" : "text/javascript" }); response.end(body); } catch { if (!response.headersSent) { response.writeHead(404); response.end(); } } }); + await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve)); const port = server.address().port; + browser = await playwright.chromium.launch({ headless: true, executablePath: process.env.BROWSER_EXECUTABLE_PATH || "/usr/bin/google-chrome" }); + const page = await browser.newPage(); await page.goto(`http://127.0.0.1:${port}/app/browser-opfs-probe.html?mode=corrupt`); await page.waitForFunction(() => document.querySelector("#result")?.textContent !== "pending", null, { timeout: 10000 }); + const result = JSON.parse(await page.locator("#result").textContent()); + console.log(JSON.stringify({ schema: "browser-opfs-corruption-s6-07.v1", ...result, browser: "chromium", browser_version: browser.version() })); + } catch (error) { console.log(JSON.stringify({ schema: "browser-opfs-corruption-s6-07.v1", status: "blocked", code: "opfs_corruption_probe_failed", reason: error?.message ?? String(error) })); } + finally { await browser?.close().catch(() => {}); server?.close(); } +} diff --git a/scripts/test_browser_opfs_crash_s6_07.mjs b/scripts/test_browser_opfs_crash_s6_07.mjs index efd187c..2da404f 100644 --- a/scripts/test_browser_opfs_crash_s6_07.mjs +++ b/scripts/test_browser_opfs_crash_s6_07.mjs @@ -4,6 +4,7 @@ import { mkdtemp, rm } from "node:fs/promises"; import { normalize, join } from "node:path"; import { tmpdir } from "node:os"; import { pathToFileURL } from "node:url"; +import { spawn } from "node:child_process"; const root = new URL("../web/", import.meta.url).pathname.replace(/\/$/, ""); const modulePath = process.env.PLAYWRIGHT_MODULE; @@ -16,9 +17,10 @@ if (!modulePath) { blocked("playwright_unavailable", "PLAYWRIGHT_MODULE is not set"); } else { let server; - let firstContext; - let secondContext; - let browserServer; + let firstBrowser; + let secondBrowser; + let firstProcess; + let secondProcess; const profile = await mkdtemp(join(tmpdir(), "linuxcnc-opfs-crash-s6-07-")); try { const imported = await import(pathToFileURL(modulePath).href); @@ -32,32 +34,59 @@ if (!modulePath) { }); await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve)); const port = server.address().port; - firstContext = await playwright.chromium.launchPersistentContext(profile, { headless: false }); - browserServer = await firstContext.browser()._launchServer(); - const writer = await firstContext.newPage(); + const executable = process.env.BROWSER_EXECUTABLE_PATH || "google-chrome"; + async function launchBrowser() { + const debugPort = 39000 + Math.floor(Math.random() * 1000); + const child = spawn(executable, [ + "--headless=new", "--no-sandbox", "--disable-gpu", "--disable-dev-shm-usage", "--disable-background-networking", + `--user-data-dir=${profile}`, `--remote-debugging-port=${debugPort}`, "--remote-allow-origins=*", "about:blank", + ], { stdio: ["ignore", "ignore", "ignore"] }); + let version = null; + for (let attempt = 0; attempt < 100; attempt += 1) { + try { + const response = await fetch(`http://127.0.0.1:${debugPort}/json/version`); + if (response.ok) { version = await response.json(); break; } + } catch {} + await new Promise((resolve) => setTimeout(resolve, 50)); + } + if (!version) { child.kill("SIGKILL"); throw new Error("browser_devtools_unavailable"); } + const browser = await playwright.chromium.connectOverCDP(`http://127.0.0.1:${debugPort}`); + return { child, browser, version: version.Browser ?? "unknown" }; + } + ({ child: firstProcess, browser: firstBrowser } = await launchBrowser()); + const firstContext = firstBrowser.contexts()[0]; + const writer = firstContext.pages()[0] ?? await firstContext.newPage(); await writer.goto(`http://127.0.0.1:${port}/app/browser-opfs-probe.html?mode=write&cleanup=false`); await writer.waitForFunction(() => document.querySelector("#result")?.textContent !== "pending", null, { timeout: 10000 }); const written = JSON.parse(await writer.locator("#result").textContent()); if (written.status !== "verified") throw new Error(written.code ?? "opfs_write_blocked"); - const processId = browserServer.process()?.pid ?? null; + const processId = firstProcess.pid ?? null; if (!processId) throw new Error("browser_process_missing"); - browserServer.kill(); - await new Promise((resolve) => browserServer.once("close", resolve)); - firstContext = null; - secondContext = await playwright.chromium.launchPersistentContext(profile, { headless: false }); - const reader = await secondContext.newPage(); + firstProcess.kill("SIGKILL"); + await new Promise((resolve) => firstProcess.once("close", resolve)); + await firstBrowser.close().catch(() => {}); + firstBrowser = null; + ({ child: secondProcess, browser: secondBrowser } = await launchBrowser()); + const secondContext = secondBrowser.contexts()[0]; + const reader = secondContext.pages()[0] ?? await secondContext.newPage(); await reader.goto(`http://127.0.0.1:${port}/app/browser-opfs-probe.html?mode=read&cleanup=true`); await reader.waitForFunction(() => document.querySelector("#result")?.textContent !== "pending", null, { timeout: 10000 }); const restored = JSON.parse(await reader.locator("#result").textContent()); if (restored.status !== "verified" || restored.content_hash !== written.content_hash || restored.cleanup !== true) throw new Error("opfs_crash_record_mismatch"); - console.log(JSON.stringify({ schema: "browser-opfs-s6-07-crash-sample.v1", status: "verified", browser: "chromium", browser_version: (await secondContext.browser()).version(), mode: "process_kill_profile_reopen", process_killed: true, commit_seq: restored.commit_seq, content_hash: restored.content_hash, cleanup: restored.cleanup })); + console.log(JSON.stringify({ schema: "browser-opfs-s6-07-crash-sample.v1", status: "verified", browser: "chromium", browser_version: secondProcess ? (await secondBrowser.version()) : "unknown", mode: "process_kill_profile_reopen", process_killed: true, commit_seq: restored.commit_seq, content_hash: restored.content_hash, cleanup: restored.cleanup })); } catch (error) { blocked("opfs_crash_probe_failed", error?.message ?? error?.name ?? String(error)); } finally { - try { browserServer?.kill(); } catch {} - await secondContext?.close().catch(() => {}); - await firstContext?.close().catch(() => {}); + try { firstProcess?.kill("SIGKILL"); } catch {} + try { secondProcess?.kill("SIGKILL"); } catch {} + await secondBrowser?.close().catch(() => {}); + await firstBrowser?.close().catch(() => {}); + await Promise.all([firstProcess, secondProcess].filter(Boolean).map((child) => new Promise((resolve) => { + if (child.exitCode !== null || child.signalCode !== null) { resolve(); return; } + child.once("close", resolve); + setTimeout(resolve, 2000); + }))); server?.close(); - await rm(profile, { recursive: true, force: true }); + await rm(profile, { recursive: true, force: true, maxRetries: 5, retryDelay: 100 }); } } diff --git a/scripts/test_browser_opfs_firefox_s6_05.mjs b/scripts/test_browser_opfs_firefox_s6_05.mjs new file mode 100644 index 0000000..49c74c0 --- /dev/null +++ b/scripts/test_browser_opfs_firefox_s6_05.mjs @@ -0,0 +1,53 @@ +import { createServer } from "node:http"; +import { readFile } from "node:fs/promises"; +import { join, normalize } from "node:path"; +import { pathToFileURL } from "node:url"; + +const root = new URL("../web/", import.meta.url).pathname.replace(/\/$/, ""); +const seleniumRoot = process.env.SELENIUM_ROOT; + +function result(status, code = null, extra = {}) { + console.log(JSON.stringify({ schema: "browser-opfs-s6-05-firefox-sample.v1", status, browser: "firefox", ...extra, ...(code ? { code } : {}) })); +} + +if (!seleniumRoot) { + result("blocked", "selenium_unavailable", { reason: "SELENIUM_ROOT is not set" }); +} else { + let server; + let driver; + try { + const { Builder } = await import(pathToFileURL(join(seleniumRoot, "node_modules/selenium-webdriver/index.js")).href); + const firefox = await import(pathToFileURL(join(seleniumRoot, "node_modules/selenium-webdriver/firefox.js")).href); + server = createServer(async (request, response) => { + const requested = (request.url ?? "/").split("?")[0]; + const file = normalize(join(root, requested === "/" ? "/app/browser-opfs-probe.html" : requested)); + try { + const body = await readFile(file); + response.writeHead(200, { "content-type": file.endsWith(".html") ? "text/html" : "text/javascript", "cache-control": "no-store" }); + response.end(body); + } catch { + if (!response.headersSent) { response.writeHead(404); response.end(); } + } + }); + await new Promise((resolve) => server.listen(0, "127.0.0.1", resolve)); + const port = server.address().port; + const options = new firefox.Options().setBinary(process.env.FIREFOX_BINARY || "/snap/firefox/current/usr/lib/firefox/firefox").addArguments("-headless"); + const service = new firefox.ServiceBuilder(process.env.GECKODRIVER || "/snap/bin/geckodriver"); + driver = await new Builder().forBrowser("firefox").setFirefoxOptions(options).setFirefoxService(service).build(); + await driver.get(`http://127.0.0.1:${port}/app/browser-opfs-probe.html?mode=round_trip`); + let text = "pending"; + for (let attempt = 0; attempt < 150; attempt += 1) { + text = await driver.executeScript("return document.querySelector('#result')?.textContent ?? 'pending';"); + if (text !== "pending") break; + await new Promise((resolve) => setTimeout(resolve, 100)); + } + const probe = JSON.parse(text); + if (probe.status !== "verified") throw new Error(probe.code ?? "firefox_opfs_probe_blocked"); + result("verified", null, { browser_version: await driver.executeScript("return navigator.userAgent"), mode: probe.mode, project_id: probe.project_id, bytes: probe.bytes, commit_seq: probe.commit_seq, content_hash: probe.content_hash, cleanup: probe.cleanup }); + } catch (error) { + result("blocked", "firefox_opfs_probe_failed", { reason: error?.message ?? error?.name ?? String(error) }); + } finally { + await driver?.quit().catch(() => {}); + server?.close(); + } +} diff --git a/scripts/test_xyzac_trt_native_startup.py b/scripts/test_xyzac_trt_native_startup.py new file mode 100644 index 0000000..c76558f --- /dev/null +++ b/scripts/test_xyzac_trt_native_startup.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 +"""Verify the repository LinuxCNC launcher reaches the XYZAC kins runtime.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +import unittest +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] + + +class XyzacNativeStartupTest(unittest.TestCase): + def run_case(self, ini: str) -> dict[str, object]: + command = ["timeout", "--signal=TERM", "--kill-after=2s", "8s", "./run-5axis-rtcp.sh", ini] + result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False) + output = result.stdout + required = [ + "Found file(LIB):", + "setup_kins: cmd=loadrt", + "coordinates=xyzac" if ini == "xyzac-trt.ini" else "coordinates=xyzbc", + "Joint 4 ==> Axis C", + "userkKinematicsSetup:", + ] + return { + "case": ini, + "command": command, + "returncode": result.returncode, + "expected_timeout": result.returncode == 124, + "required_markers": {marker: marker in output for marker in required}, + "output_sha256": hashlib.sha256(output.encode()).hexdigest(), + "output_tail": output[-1800:], + } + + def test_xyzac_and_xyzbc_startup(self): + rows = [self.run_case("xyzac-trt.ini"), self.run_case("xyzbc-trt.ini")] + self.assertTrue(all(row["expected_timeout"] for row in rows)) + self.assertTrue(all(all(row["required_markers"].values()) for row in rows)) + print(json.dumps({"schema": "xyzac-trt-native-startup.v1", "status": "verified", "cases": rows}, ensure_ascii=False)) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_xyzac_trt_parity.py b/scripts/test_xyzac_trt_parity.py new file mode 100644 index 0000000..a16d203 --- /dev/null +++ b/scripts/test_xyzac_trt_parity.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python3 +import hashlib +import json +import subprocess +import unittest +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-trace-parity.report.json" + + +class XyzacParityTest(unittest.TestCase): + @classmethod + def setUpClass(cls): + subprocess.run(["python3", "scripts/compare_xyzac_native_wasm_trace.py"], cwd=ROOT, check=True) + cls.report = json.loads(REPORT.read_text(encoding="utf-8")) + + def test_verified(self): + self.assertEqual(self.report["status"], "verified") + self.assertEqual(self.report["native_wasm"]["status"], "verified") + self.assertEqual(self.report["native_worker"]["status"], "verified") + self.assertEqual(self.report["first_divergent_tick"], None) + for comparison in ("native_wasm", "native_worker"): + for level in ("protocol", "control", "state", "canonical", "recovery"): + self.assertEqual(self.report[comparison]["levels"][level]["status"], "verified") + + def test_first_divergence_positive_sample(self): + sample = self.report["positive_divergence_sample"] + self.assertTrue(sample["detected"]) + self.assertEqual(sample["first_divergent_tick"], 2) + self.assertEqual(sample["difference_path"], "$[1].active_type") + + def test_self_hash(self): + unsigned = dict(self.report) + actual = unsigned.pop("report_sha256") + self.assertEqual(actual, hashlib.sha256(json.dumps(unsigned, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode()).hexdigest()) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_xyzac_trt_source_slices.py b/scripts/test_xyzac_trt_source_slices.py new file mode 100644 index 0000000..f17d665 --- /dev/null +++ b/scripts/test_xyzac_trt_source_slices.py @@ -0,0 +1,38 @@ +#!/usr/bin/env python3 +import hashlib +import json +import subprocess +import unittest +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-source-slice-inventory.report.json" + + +class XyzacSourceSliceTest(unittest.TestCase): + @classmethod + def setUpClass(cls): + subprocess.run(["python3", "scripts/generate_xyzac_trt_source_slices.py"], cwd=ROOT, check=True, stdout=subprocess.PIPE, text=True) + cls.report = json.loads(REPORT.read_text(encoding="utf-8")) + + def test_self_hash(self): + unsigned = dict(self.report) + actual = unsigned.pop("report_sha256") + canonical = json.dumps(unsigned, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + self.assertEqual(actual, hashlib.sha256(canonical.encode()).hexdigest()) + + def test_source_slice_closure(self): + self.assertEqual(self.report["counts"]["unregistered_slices"], 0) + self.assertTrue(self.report["checks"]["all_controls_commands_states_have_slice_id"]) + self.assertTrue(all(row["source"]["sha256"] for row in self.report["slices"])) + + def test_authority_and_required_rtcp(self): + self.assertEqual(self.report["authority"]["js_authority"], 0) + ids = {row["slice_id"] for row in self.report["slices"]} + self.assertIn("AXIS-XYZAC-M428-M429-M430", ids) + self.assertIn("AXIS-XYZAC-KINEMATICS", ids) + self.assertEqual(self.report["release_status"], "STOP_RELEASE") + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_xyzac_trt_wasm_authority_audit.py b/scripts/test_xyzac_trt_wasm_authority_audit.py new file mode 100644 index 0000000..225ba61 --- /dev/null +++ b/scripts/test_xyzac_trt_wasm_authority_audit.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python3 +"""Test the XYZAC WASM-only authority audit within the selected simulation scope.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +import unittest +from pathlib import Path + + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/xyzac-trt-wasm-authority-audit.report.json" + + +class XyzacWasmAuthorityAuditTest(unittest.TestCase): + @classmethod + def setUpClass(cls): + subprocess.run(["python3", "scripts/generate_xyzac_trt_wasm_authority_audit.py"], cwd=ROOT, check=True, stdout=subprocess.PIPE, text=True) + cls.report = json.loads(REPORT.read_text(encoding="utf-8")) + + def test_selected_authority_boundary(self): + self.assertEqual(self.report["schema"], "xyzac-trt-wasm-authority-audit.v1") + self.assertEqual(self.report["task_id"], "WASM-00") + self.assertEqual(self.report["status"], "verified") + self.assertEqual(self.report["candidate_eligible"], True) + self.assertEqual(self.report["release_status"], "STOP_RELEASE") + self.assertEqual(self.report["checks"]["js_authority_boundary"]["status"], "verified") + self.assertEqual({row["status"] for row in self.report["js_authority_findings"]}, {"resolved_selected_case"}) + self.assertEqual(self.report["blockers"], []) + self.assertEqual({row["status"] for row in self.report["accepted_scope_exclusions"]}, {"accepted_scope_exclusion"}) + self.assertIn("SAFARI_NOT_REQUIRED", {row["code"] for row in self.report["accepted_scope_exclusions"]}) + + def test_worker_trace_and_scans(self): + self.assertEqual(self.report["worker_evidence"]["status"], "verified") + self.assertEqual(self.report["worker_evidence"]["case"], self.report["case"]["path"]) + self.assertEqual(self.report["worker_evidence"]["motion_authority"], "wasm") + self.assertEqual(self.report["first_divergent_tick"], None) + self.assertEqual(self.report["checks"]["react_no_direct_wasm_pointer"]["status"], "verified") + self.assertEqual(self.report["checks"]["react_no_direct_opfs_writer"]["status"], "verified") + self.assertTrue(self.report["scans"]["opfs_writer_matches"]) + self.assertEqual({row["status"] for row in self.report["browser_evidence"]}, {"verified"}) + self.assertEqual({row["status"] for row in self.report["authority_matrix"].values()}, {"verified"}) + + def test_self_hash(self): + unsigned = dict(self.report) + actual = unsigned.pop("report_sha256") + expected = hashlib.sha256(json.dumps(unsigned, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + self.assertEqual(actual, expected) + self.assertEqual(self.report["checks"]["report_self_hash"]["status"], "verified") + + +if __name__ == "__main__": + unittest.main() diff --git a/wasm-core/CMakeLists.txt b/wasm-core/CMakeLists.txt index 1531f76..25b5bb7 100644 --- a/wasm-core/CMakeLists.txt +++ b/wasm-core/CMakeLists.txt @@ -6,7 +6,7 @@ set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) +add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) target_include_directories(sim_core PUBLIC include) target_compile_definitions(sim_core PRIVATE SIM_API_BUILD=1) @@ -144,6 +144,12 @@ if(NOT EMSCRIPTEN) target_include_directories(sim_device_io_test PRIVATE include) target_compile_options(sim_device_io_test PRIVATE -UNDEBUG) add_test(NAME sim_device_io_test COMMAND sim_device_io_test) + + add_executable(sim_xyzac_trace_test tests/sim_xyzac_trace_test.c) + target_link_libraries(sim_xyzac_trace_test PRIVATE sim_core) + target_include_directories(sim_xyzac_trace_test PRIVATE include) + target_compile_options(sim_xyzac_trace_test PRIVATE -UNDEBUG) + add_test(NAME sim_xyzac_trace_test COMMAND sim_xyzac_trace_test) endif() if(EMSCRIPTEN) @@ -219,7 +225,13 @@ if(EMSCRIPTEN) target_compile_options(sim_source_unit_adapter_wasm_test PRIVATE -UNDEBUG) target_link_options(sim_source_unit_adapter_wasm_test PRIVATE -sSINGLE_FILE=1) - add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) + add_executable(sim_xyzac_trace_wasm_test tests/sim_xyzac_trace_test.c) + target_link_libraries(sim_xyzac_trace_wasm_test PRIVATE sim_core) + target_include_directories(sim_xyzac_trace_wasm_test PRIVATE include) + target_compile_options(sim_xyzac_trace_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_xyzac_trace_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_task.c src/sim_scheduler.c src/sim_hal.c src/sim_device_io.c src/sim_posemath.c src/sim_interpreter.c src/sim_program.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) target_include_directories(sim_core_module PRIVATE include ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src @@ -234,6 +246,11 @@ if(EMSCRIPTEN) LINK_FLAGS "-sMODULARIZE=1 -sEXPORT_ES6=1 -sENVIRONMENT=web,worker -sEXPORTED_FUNCTIONS=['_malloc','_free','_sim_create','_sim_load_workspace','_sim_command','_sim_step','_sim_read_snapshot','_sim_read_event','_sim_export_state','_sim_import_state','_sim_destroy','_sim_protocol_reset','_sim_protocol_accept','_sim_protocol_pause','_sim_protocol_resume','_sim_protocol_state_value','_sim_protocol_last_seq','_sim_protocol_tick','_sim_protocol_set_tick','_sim_event_reset','_sim_event_append','_sim_event_count','_sim_event_cursor','_sim_event_read','_sim_event_export','_sim_event_import','_sim_task_size','_sim_task_init','_sim_task_reset','_sim_task_attach','_sim_task_set_command','_sim_task_set_tick','_sim_task_set_mode','_sim_task_set_program','_sim_task_transition','_sim_task_fault','_sim_task_estop','_sim_task_recover','_sim_task_restore','_sim_task_read_state','_sim_task_canonical','_sim_task_state_hash','_sim_scheduler_size','_sim_scheduler_init','_sim_scheduler_reset','_sim_scheduler_step','_sim_scheduler_restore','_sim_scheduler_read','_sim_scheduler_tick','_sim_scheduler_state_hash','_sim_scheduler_canonical','_sim_hal_reset','_sim_hal_register_pin','_sim_hal_set_pin','_sim_hal_get_pin','_sim_hal_set_param','_sim_hal_get_param','_sim_hal_connect','_sim_hal_register_thread','_sim_hal_register_function','_sim_hal_register_component','_sim_hal_set_function_failure','_sim_hal_step','_sim_hal_tick','_sim_hal_function_calls','_sim_hal_pin_count','_sim_hal_thread_count','_sim_hal_function_count','_sim_hal_component_count','_sim_hal_param_count','_sim_device_init','_sim_device_reset','_sim_device_encoder_set_speed','_sim_device_encoder_set_config','_sim_device_encoder_set_index_enable','_sim_device_coolant_command','_sim_device_coolant_set_fault','_sim_device_door_set','_sim_device_interlock_set','_sim_device_interlock_reset','_sim_device_estop_set','_sim_device_step','_sim_device_ack_issue','_sim_device_ack_ack','_sim_device_ack_abort','_sim_device_ack_step','_sim_device_state_hash','_sim_device_canonical','_sim_posemath_normalize','_sim_posemath_dot','_sim_posemath_line_point','_sim_posemath_is_finite','_sim_posemath_pose_is_finite','_sim_posemath_pose_line_point','_sim_posemath_segment_validate','_sim_posemath_segment_point','_sim_posemath_hash_state','_sim_tp_init','_sim_tp_reset','_sim_tp_enqueue','_sim_tp_step','_sim_tp_read_state','_sim_tp_state_hash','_sim_interpreter_size','_sim_interpreter_init','_sim_interpreter_reset','_sim_interpreter_execute','_sim_interpreter_read_state','_sim_interpreter_read_motion','_sim_interpreter_motion_size','_sim_interpreter_canonical','_sim_interpreter_state_hash','_sim_interpreter_block_hash','_sim_interpreter_modal_hash','_sim_interpreter_error_column','_sim_interpreter_error_code','_sim_interpreter_parameter_set','_sim_interpreter_parameter_get','_sim_motion_init','_sim_motion_size','_sim_motion_command_size','_sim_motion_state_size','_sim_motion_reset','_sim_motion_enqueue','_sim_motion_step','_sim_motion_read_state','_sim_motion_queue_depth','_sim_motion_state_hash','_sim_motion_canonical','_sim_kinematics_init','_sim_kinematics_forward','_sim_kinematics_forward_ex','_sim_kinematics_inverse','_sim_kinematics_inverse_ex','_sim_kinematics_home','_sim_kinematics_validate_pose','_sim_kinematics_state_hash','_sim_kinematics_switch_init','_sim_kinematics_switch_register','_sim_kinematics_switch_begin','_sim_kinematics_switch_abort','_sim_kinematics_switch_commit','_sim_kinematics_switch_select','_sim_kinematics_switch_forward','_sim_kinematics_switch_inverse','_sim_kinematics_switch_active','_sim_kinematics_switch_state_hash','_sim_kinematics_user_init','_sim_kinematics_user_bind_switch','_sim_kinematics_user_forward','_sim_kinematics_user_inverse','_sim_kinematics_user_reject_dynamic','_sim_kinematics_user_state_hash','_sim_kinematics_registry_count','_sim_kinematics_registry_get','_sim_kinematics_registry_find','_sim_kinematics_registry_require','_sim_kinematics_registry_validate_config','_sim_kinematics_registry_state_hash','_sim_kinematics_motion_init','_sim_kinematics_motion_reset','_sim_kinematics_motion_enqueue','_sim_kinematics_motion_pause','_sim_kinematics_motion_step','_sim_kinematics_motion_peek','_sim_kinematics_motion_pop','_sim_kinematics_motion_depth','_sim_kinematics_motion_state_hash','_sim_kinematics_feedback_init','_sim_kinematics_feedback_reset','_sim_kinematics_feedback_update','_sim_kinematics_feedback_read','_sim_kinematics_feedback_state_hash','_sim_kinematics_home_limit_init','_sim_kinematics_home_limit_reset','_sim_kinematics_home_limit_home','_sim_kinematics_home_limit_check','_sim_kinematics_home_limit_read','_sim_kinematics_home_limit_state_hash','_sim_io_init','_sim_io_reset','_sim_io_register_pins','_sim_io_spindle_command','_sim_io_spindle_set_inhibit','_sim_io_spindle_set_fault','_sim_io_spindle_set_index_enable','_sim_io_spindle_set_feedback','_sim_io_spindle_orient','_sim_io_spindle_set_oriented','_sim_io_tool_prepare','_sim_io_tool_set_prepared','_sim_io_tool_change','_sim_io_tool_set_changed','_sim_io_tool_abort','_sim_io_tool_set_fault','_sim_io_tool_clear_fault','_sim_io_probe_arm','_sim_io_probe_update','_sim_io_probe_disarm','_sim_io_set_estop','_sim_io_recover','_sim_io_step','_sim_io_read_state','_sim_io_state_hash','_sim_io_canonical'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']" ) get_target_property(_sim_module_link_flags sim_core_module LINK_FLAGS) + string(REPLACE "_sim_interpreter_size" "_sim_program_size','_sim_program_requires_subroutines','_sim_program_init','_sim_program_reset','_sim_program_load','_sim_program_add_subroutine','_sim_program_set_rapid_velocity','_sim_program_start','_sim_program_pause','_sim_program_resume','_sim_program_abort','_sim_program_step','_sim_program_execute_block','_sim_program_seek','_sim_program_read_motion','_sim_program_clear_motion','_sim_program_canonical','_sim_program_state_hash','_sim_interpreter_size" _sim_module_link_flags "${_sim_module_link_flags}") + string(REPLACE "_sim_hal_set_pin" "_sim_hal_set_pin_scalar','_sim_hal_set_pin" _sim_module_link_flags "${_sim_module_link_flags}") + string(REPLACE "_sim_hal_set_param" "_sim_hal_set_param_scalar','_sim_hal_set_param" _sim_module_link_flags "${_sim_module_link_flags}") + string(REPLACE "_sim_io_init" "_sim_io_size','_sim_io_init" _sim_module_link_flags "${_sim_module_link_flags}") + string(REPLACE "_sim_device_init" "_sim_device_io_size','_sim_device_init" _sim_module_link_flags "${_sim_module_link_flags}") string(REPLACE "_sim_motion_step','_sim_motion_read_state" "_sim_motion_step','_sim_motion_set_profile','_sim_motion_set_lookahead','_sim_motion_peek','_sim_motion_read_state" _sim_module_link_flags "${_sim_module_link_flags}") string(REPLACE "_sim_motion_state_hash','_sim_motion_canonical" "_sim_motion_state_hash','_sim_motion_plan_hash','_sim_motion_canonical" _sim_module_link_flags "${_sim_module_link_flags}") set_target_properties(sim_core_module PROPERTIES LINK_FLAGS "${_sim_module_link_flags}") diff --git a/wasm-core/include/sim_device_io.h b/wasm-core/include/sim_device_io.h index 364e014..3520ce1 100644 --- a/wasm-core/include/sim_device_io.h +++ b/wasm-core/include/sim_device_io.h @@ -93,6 +93,8 @@ typedef struct sim_device_io { double phase_accumulator[SIM_DEVICE_MAX_ENCODERS]; } sim_device_io; +uint32_t sim_device_io_size(void); + int sim_device_init(sim_device_io *device, uint32_t encoder_count, double cycle_time); int sim_device_reset(sim_device_io *device); int sim_device_encoder_set_speed(sim_device_io *device, uint32_t channel, double speed_rps); diff --git a/wasm-core/include/sim_event.h b/wasm-core/include/sim_event.h index 3e5b87d..bd6e28a 100644 --- a/wasm-core/include/sim_event.h +++ b/wasm-core/include/sim_event.h @@ -8,7 +8,7 @@ extern "C" { #endif #define SIM_EVENT_KIND_CAPACITY 32U -#define SIM_EVENT_CAPACITY 256U +#define SIM_EVENT_CAPACITY 16384U enum sim_event_result { SIM_EVENT_OK = 0, diff --git a/wasm-core/include/sim_hal.h b/wasm-core/include/sim_hal.h index 17f781d..9091270 100644 --- a/wasm-core/include/sim_hal.h +++ b/wasm-core/include/sim_hal.h @@ -47,6 +47,7 @@ typedef struct sim_hal_value { void sim_hal_reset(void); int32_t sim_hal_register_pin(const char *name, uint32_t type); int32_t sim_hal_set_pin(const char *name, sim_hal_value value); +int32_t sim_hal_set_pin_scalar(const char *name, uint32_t type, double value); int32_t sim_hal_get_pin(const char *name, sim_hal_value *out); int32_t sim_hal_connect(const char *source, const char *target); int32_t sim_hal_register_thread(const char *name, uint32_t period_ticks); @@ -54,6 +55,7 @@ int32_t sim_hal_register_function(const char *thread, const char *name); /* Register a statically linked .comp component instance on a HAL thread. */ int32_t sim_hal_register_component(const char *instance, const char *type, const char *thread); int32_t sim_hal_set_param(const char *name, sim_hal_value value); +int32_t sim_hal_set_param_scalar(const char *name, uint32_t type, double value); int32_t sim_hal_get_param(const char *name, sim_hal_value *out); uint32_t sim_hal_component_count(void); uint32_t sim_hal_param_count(void); diff --git a/wasm-core/include/sim_io.h b/wasm-core/include/sim_io.h index 881ed69..febd547 100644 --- a/wasm-core/include/sim_io.h +++ b/wasm-core/include/sim_io.h @@ -111,6 +111,8 @@ typedef struct sim_io { uint32_t pins_registered; } sim_io; +uint32_t sim_io_size(void); + int sim_io_init(sim_io *io, uint32_t spindle_count, uint32_t tool_capacity, double cycle_time, double spindle_accel_rpm_s, double spindle_tolerance_rpm); diff --git a/wasm-core/include/sim_program.h b/wasm-core/include/sim_program.h new file mode 100644 index 0000000..bc592f2 --- /dev/null +++ b/wasm-core/include/sim_program.h @@ -0,0 +1,94 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_PROGRAM_H +#define LINUXCNC_WEB_WASM_SIM_PROGRAM_H + +#include "sim_interpreter.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#define SIM_PROGRAM_SOURCE_CAPACITY 131072u +#define SIM_PROGRAM_LINE_CAPACITY 4096u +#define SIM_PROGRAM_CANONICAL_CAPACITY 4096u +#define SIM_PROGRAM_SUBROUTINE_CAPACITY 16u +#define SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY 48u +#define SIM_PROGRAM_CALL_DEPTH 8u +#define SIM_PROGRAM_CALL_PARAMETER_CAPACITY 30u + +enum sim_program_result { + SIM_PROGRAM_OK = 0, + SIM_PROGRAM_ERR_ARGUMENT = -1100, + SIM_PROGRAM_ERR_RANGE = -1101, + SIM_PROGRAM_ERR_STATE = -1102, + SIM_PROGRAM_ERR_CONTROL = -1103, + SIM_PROGRAM_ERR_BUFFER = -1104, + SIM_PROGRAM_ERR_INTERPRETER = -1105, +}; + +enum sim_program_status { + SIM_PROGRAM_IDLE = 0, + SIM_PROGRAM_LOADED = 1, + SIM_PROGRAM_RUNNING = 2, + SIM_PROGRAM_PAUSED = 3, + SIM_PROGRAM_COMPLETED = 4, + SIM_PROGRAM_ABORTED = 5, + SIM_PROGRAM_ERROR = 6, +}; + +typedef struct sim_program_subroutine { + char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY]; + uint32_t body_line; + uint32_t end_line; +} sim_program_subroutine; + +typedef struct sim_program_call_frame { + uint32_t return_line; + double parameters[SIM_PROGRAM_CALL_PARAMETER_CAPACITY]; +} sim_program_call_frame; + +typedef struct sim_program { + sim_interpreter interpreter; + char source[SIM_PROGRAM_SOURCE_CAPACITY]; + uint32_t line_offsets[SIM_PROGRAM_LINE_CAPACITY + 1u]; + uint32_t source_length; + uint32_t line_count; + uint32_t main_line_count; + uint32_t current_line; + uint32_t status; + int32_t last_error; + uint32_t error_line; + sim_posemath_segment motion; + uint32_t has_motion; + sim_program_subroutine subroutines[SIM_PROGRAM_SUBROUTINE_CAPACITY]; + uint32_t subroutine_count; + sim_program_call_frame call_stack[SIM_PROGRAM_CALL_DEPTH]; + uint32_t call_depth; + uint32_t has_control; + int32_t control_code; + double rapid_velocity; +} sim_program; + +uint32_t sim_program_size(void); +int32_t sim_program_requires_subroutines(const char *source, uint32_t length); +int32_t sim_program_init(sim_program *program); +int32_t sim_program_reset(sim_program *program); +int32_t sim_program_load(sim_program *program, const char *source, uint32_t length); +int32_t sim_program_add_subroutine(sim_program *program, const char *source, uint32_t length); +int32_t sim_program_set_rapid_velocity(sim_program *program, double velocity); +int32_t sim_program_start(sim_program *program); +int32_t sim_program_pause(sim_program *program); +int32_t sim_program_resume(sim_program *program); +int32_t sim_program_abort(sim_program *program); +int32_t sim_program_step(sim_program *program); +int32_t sim_program_execute_block(sim_program *program, const char *block, uint32_t length); +int32_t sim_program_seek(sim_program *program, uint32_t line); +int32_t sim_program_read_motion(const sim_program *program, sim_posemath_segment *segment); +int32_t sim_program_clear_motion(sim_program *program); +uint32_t sim_program_canonical(const sim_program *program, char *output, uint32_t capacity); +uint64_t sim_program_state_hash(const sim_program *program); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/src/sim_device_io.c b/wasm-core/src/sim_device_io.c index 37876ae..f1aaa43 100644 --- a/wasm-core/src/sim_device_io.c +++ b/wasm-core/src/sim_device_io.c @@ -8,6 +8,8 @@ static int valid_device(const sim_device_io *device) { return device != 0 && device->state.encoder_count > 0U && device->state.encoder_count <= SIM_DEVICE_MAX_ENCODERS && isfinite(device->cycle_time) && device->cycle_time > 0.0; } +uint32_t sim_device_io_size(void) { return (uint32_t)sizeof(sim_device_io); } + static int finite_value(double value) { return isfinite(value); } static void set_error(sim_device_io *device, int error) { diff --git a/wasm-core/src/sim_hal.c b/wasm-core/src/sim_hal.c index 5b2bd8f..9deb07c 100644 --- a/wasm-core/src/sim_hal.c +++ b/wasm-core/src/sim_hal.c @@ -174,6 +174,17 @@ int32_t sim_hal_set_pin(const char *name, sim_hal_value value) { return SIM_HAL_OK; } +int32_t sim_hal_set_pin_scalar(const char *name, uint32_t type, double value) { + sim_hal_value scalar = {0}; + scalar.type = type; + if (type == SIM_HAL_BIT) scalar.value.bit = value != 0.0; + else if (type == SIM_HAL_S32) scalar.value.s32 = (int32_t)value; + else if (type == SIM_HAL_U32) scalar.value.u32 = (uint32_t)value; + else if (type == SIM_HAL_FLOAT) scalar.value.real = (float)value; + else return SIM_HAL_ERR_TYPE; + return sim_hal_set_pin(name, scalar); +} + int32_t sim_hal_get_pin(const char *name, sim_hal_value *out) { int index = find_pin(name); if (index < 0 || out == NULL) return index < 0 ? SIM_HAL_ERR_NOT_FOUND : SIM_HAL_ERR_ARGUMENT; @@ -191,6 +202,17 @@ int32_t sim_hal_set_param(const char *name, sim_hal_value value) { return SIM_HAL_OK; } +int32_t sim_hal_set_param_scalar(const char *name, uint32_t type, double value) { + sim_hal_value scalar = {0}; + scalar.type = type; + if (type == SIM_HAL_BIT) scalar.value.bit = value != 0.0; + else if (type == SIM_HAL_S32) scalar.value.s32 = (int32_t)value; + else if (type == SIM_HAL_U32) scalar.value.u32 = (uint32_t)value; + else if (type == SIM_HAL_FLOAT) scalar.value.real = (float)value; + else return SIM_HAL_ERR_TYPE; + return sim_hal_set_param(name, scalar); +} + int32_t sim_hal_get_param(const char *name, sim_hal_value *out) { int index = find_param(name); if (index < 0 || out == NULL) return index < 0 ? SIM_HAL_ERR_NOT_FOUND : SIM_HAL_ERR_ARGUMENT; diff --git a/wasm-core/src/sim_interpreter.c b/wasm-core/src/sim_interpreter.c index da59f46..5b5a3b5 100644 --- a/wasm-core/src/sim_interpreter.c +++ b/wasm-core/src/sim_interpreter.c @@ -9,7 +9,7 @@ /* Keep the public 648-byte object ABI stable; mutable parameter/diagnostic * state is held in a bounded side table owned by the single Worker writer. */ -#define META_SLOTS 4u +#define META_SLOTS 32u #define NAMED_PARAMETER_CAPACITY 16u #define NAMED_PARAMETER_LENGTH 32u #define PENDING_ASSIGNMENTS 32u @@ -28,11 +28,15 @@ typedef struct interpreter_meta { int coordinate_system; int cutter_comp; int cycle_mode; + int feed_mode; + int coordinate_l20; int coolant_mode; int selected_tool; double tool_length; sim_posemath_segment last_motion; int has_motion; + sim_posemath_pose last_output_pose; + int has_output_pose; uint32_t error_column; int32_t error_code; } interpreter_meta; @@ -92,6 +96,20 @@ static int axis_index(char letter) { static double *axis_pointer(sim_interpreter_state *state, int index) { return &state->x + index; } +static void machine_pose_for_state(const interpreter_meta *meta, const sim_interpreter_state *state, int machine_coordinates, sim_posemath_pose *pose) { + int coordinate = meta->coordinate_system > 0 ? meta->coordinate_system - 1 : 0; + const double *offset = meta->coordinate_offsets[coordinate]; + pose->tran.x = state->x + (machine_coordinates ? 0.0 : offset[0]); + pose->tran.y = state->y + (machine_coordinates ? 0.0 : offset[1]); + pose->tran.z = state->z + (machine_coordinates ? 0.0 : offset[2]); + pose->a = state->a + (machine_coordinates ? 0.0 : offset[3]); + pose->b = state->b + (machine_coordinates ? 0.0 : offset[4]); + pose->c = state->c + (machine_coordinates ? 0.0 : offset[5]); + pose->u = state->u + (machine_coordinates ? 0.0 : offset[6]); + pose->v = state->v + (machine_coordinates ? 0.0 : offset[7]); + pose->w = state->w + (machine_coordinates ? 0.0 : offset[8]); +} + static void set_error(sim_interpreter *interpreter, interpreter_meta *meta, int code, uint32_t column) { if (interpreter != NULL) interpreter->state.status = code; if (meta != NULL) { meta->error_code = code; meta->error_column = column; } @@ -166,6 +184,13 @@ static int parameter_lookup(const expression_parser *parser, uint32_t index, dou static int named_lookup(expression_parser *parser, const char *name, double *value, int create) { size_t index; if (name == NULL || name[0] == '\0' || value == NULL) return SIM_INTERP_ERR_PARAMETER; + if (name[0] == '_' && name[2] == '\0') { + int axis = axis_index((char)toupper((unsigned char)name[1])); + if (axis >= 0) { + *value = *axis_pointer((sim_interpreter_state *)&parser->meta->owner->state, axis); + return isfinite(*value) ? SIM_INTERP_OK : SIM_INTERP_ERR_NONFINITE; + } + } for (index = 0; index < NAMED_PARAMETER_CAPACITY; ++index) { if (parser->meta->named[index].used && strcmp(parser->meta->named[index].name, name) == 0) { *value = parser->meta->named[index].value; return SIM_INTERP_OK; } } @@ -317,10 +342,12 @@ static int apply_g(sim_interpreter_state *state, interpreter_meta *meta, double if (code_is(code, 17) || code_is(code, 18) || code_is(code, 19)) { if (++groups[1] > 1) return SIM_INTERP_ERR_STATE; state->plane = (int)code; return SIM_INTERP_OK; } if (code_is(code, 20) || code_is(code, 21)) { if (++groups[2] > 1) return SIM_INTERP_ERR_STATE; state->units = (int)code; return SIM_INTERP_OK; } if (code_is(code, 90) || code_is(code, 91)) { if (++groups[3] > 1) return SIM_INTERP_ERR_STATE; state->distance_mode = (int)code; return SIM_INTERP_OK; } + if (code_is(code, 93) || code_is(code, 94)) { if (++groups[6] > 1) return SIM_INTERP_ERR_STATE; if (meta) meta->feed_mode = (int)code; return SIM_INTERP_OK; } if (code_is(code, 40) || code_is(code, 41) || code_is(code, 42)) { if (++groups[4] > 1) return SIM_INTERP_ERR_STATE; if (meta) meta->cutter_comp = (int)code; return SIM_INTERP_OK; } if (code_is(code, 43) || code_is(code, 49)) { if (++groups[5] > 1) return SIM_INTERP_ERR_STATE; if (meta && code_is(code, 49)) meta->tool_length = 0.0; return SIM_INTERP_OK; } if (code_is(code, 80) || (code >= 81.0 && code <= 89.0 && floor(code) == code)) { if (meta) meta->cycle_mode = (int)code; return SIM_INTERP_OK; } if (code_is(code, 54) || code_is(code, 55) || code_is(code, 56) || code_is(code, 57) || code_is(code, 58) || code_is(code, 59)) { if (meta) meta->coordinate_system = (int)code - 53; return SIM_INTERP_OK; } + if (code_is(code, 53)) return SIM_INTERP_OK; if (code_is(code, 10)) return SIM_INTERP_OK; return SIM_INTERP_ERR_UNKNOWN_CODE; } @@ -333,6 +360,7 @@ static int apply_m(sim_interpreter_state *state, interpreter_meta *meta, double if (code_is(code, 8)) { if (meta) meta->coolant_mode = 8; return SIM_INTERP_OK; } if (code_is(code, 9)) { if (meta) meta->coolant_mode = 0; return SIM_INTERP_OK; } if (code_is(code, 19)) return SIM_INTERP_OK; + if (code_is(code, 428) || code_is(code, 429) || code_is(code, 430)) return SIM_INTERP_OK; if (code_is(code, 48) || code_is(code, 49) || code_is(code, 50) || code_is(code, 51) || code_is(code, 52) || code_is(code, 53)) return SIM_INTERP_OK; if (code >= 62.0 && code <= 68.0 && floor(code) == code) return SIM_INTERP_OK; if (code_is(code, 70) || code_is(code, 71) || code_is(code, 72) || code_is(code, 73)) return SIM_INTERP_OK; @@ -358,6 +386,7 @@ static uint64_t state_hash(const sim_interpreter *interpreter) { parameter_hash ^= fnv1a64((const unsigned char *)&meta->coordinate_system, sizeof(meta->coordinate_system)); parameter_hash ^= fnv1a64((const unsigned char *)&meta->cutter_comp, sizeof(meta->cutter_comp)); parameter_hash ^= fnv1a64((const unsigned char *)&meta->cycle_mode, sizeof(meta->cycle_mode)); + parameter_hash ^= fnv1a64((const unsigned char *)&meta->feed_mode, sizeof(meta->feed_mode)); parameter_hash ^= fnv1a64((const unsigned char *)&meta->coolant_mode, sizeof(meta->coolant_mode)); parameter_hash ^= fnv1a64((const unsigned char *)&meta->selected_tool, sizeof(meta->selected_tool)); parameter_hash ^= fnv1a64((const unsigned char *)&meta->tool_length, sizeof(meta->tool_length)); @@ -367,7 +396,7 @@ static uint64_t state_hash(const sim_interpreter *interpreter) { } static uint64_t modal_hash(const sim_interpreter *interpreter) { - unsigned char bytes[sizeof(int) * 10 + sizeof(double) * 3]; size_t offset = 0; + unsigned char bytes[sizeof(int) * 11 + sizeof(double) * 3]; size_t offset = 0; memcpy(bytes + offset, &interpreter->state.units, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &interpreter->state.distance_mode, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &interpreter->state.plane, sizeof(int)); offset += sizeof(int); @@ -381,6 +410,7 @@ static uint64_t modal_hash(const sim_interpreter *interpreter) { memcpy(bytes + offset, &meta->coordinate_system, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &meta->cutter_comp, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &meta->cycle_mode, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &meta->feed_mode, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &meta->coolant_mode, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &meta->selected_tool, sizeof(int)); offset += sizeof(int); memcpy(bytes + offset, &meta->tool_length, sizeof(double)); offset += sizeof(double); @@ -405,7 +435,7 @@ int sim_interpreter_reset(sim_interpreter *interpreter) { interpreter_meta *meta; if (interpreter == NULL) return SIM_INTERP_ERR_ARGUMENT; memset(interpreter, 0, sizeof(*interpreter)); meta = meta_for(interpreter, 1); if (meta == NULL) return SIM_INTERP_ERR_BUFFER; meta_reset(meta, interpreter); - interpreter->state.units = SIM_INTERP_UNITS_MM; interpreter->state.distance_mode = SIM_INTERP_ABSOLUTE; interpreter->state.plane = 17; interpreter->state.motion_mode = 1; interpreter->state.spindle_mode = 5; interpreter->state.status = SIM_INTERP_OK; + interpreter->state.units = SIM_INTERP_UNITS_MM; interpreter->state.distance_mode = SIM_INTERP_ABSOLUTE; interpreter->state.plane = 17; interpreter->state.motion_mode = 1; interpreter->state.spindle_mode = 5; interpreter->state.status = SIM_INTERP_OK; meta->feed_mode = 94; return make_canonical(interpreter); } @@ -413,9 +443,9 @@ int sim_interpreter_init(sim_interpreter *interpreter) { return sim_interpreter_ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uint32_t length) { sim_interpreter_state previous; sim_interpreter_state next; interpreter_meta *meta; expression_parser parser; const char *end; - int groups[6] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_g10 = 0, result = SIM_INTERP_OK; + int groups[7] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_l = 0, seen_g10 = 0, seen_g53 = 0, result = SIM_INTERP_OK; int seen_center[3] = {0}; - double axis_values[9] = {0}, center_values[3] = {0}, feed_value = 0.0, speed_value = 0.0, p_value = 0.0, r_value = 0.0; + double axis_values[9] = {0}, center_values[3] = {0}, feed_value = 0.0, speed_value = 0.0, p_value = 0.0, r_value = 0.0, l_value = 0.0; if (interpreter == NULL || block == NULL || length == 0) return SIM_INTERP_ERR_ARGUMENT; meta = meta_for(interpreter, 1); if (meta == NULL || !finite_state(&interpreter->state)) return SIM_INTERP_ERR_STATE; if (interpreter->state.program_end) { set_error(interpreter, meta, SIM_INTERP_ERR_STATE, 1); return SIM_INTERP_ERR_STATE; } @@ -462,7 +492,8 @@ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uin else center_values[center_index] = value; break; } - case 'L': case 'Q': case 'D': case 'E': break; + case 'L': if (seen_l++) result = SIM_INTERP_ERR_STATE; else l_value = value; break; + case 'Q': case 'D': case 'E': break; case 'P': if (seen_p++) result = SIM_INTERP_ERR_STATE; else p_value = value; break; case 'R': if (seen_r++) result = SIM_INTERP_ERR_STATE; else r_value = value; break; case 'T': if (value < 0.0 || value > 1001.0 || floor(value) != value) result = SIM_INTERP_ERR_RANGE; else meta->selected_tool = (int)value; break; @@ -472,6 +503,7 @@ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uin break; } if (letter == 'G' && code_is(value, 10)) seen_g10 = 1; + if (letter == 'G' && code_is(value, 53)) seen_g53 = 1; if (result != SIM_INTERP_OK) { set_error(interpreter, meta, result, column); return result; } } skip_space(&parser); if (parser.cursor < end && *parser.cursor != ';') { set_error(interpreter, meta, SIM_INTERP_ERR_SYNTAX, (uint32_t)(parser.cursor - block + 1)); return SIM_INTERP_ERR_SYNTAX; } @@ -482,10 +514,18 @@ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uin double axis_value = axis_values[axis]; double *destination = axis_pointer(&next, (int)axis); if (next.units == SIM_INTERP_UNITS_INCH && axis < 3) axis_value *= 25.4; if (seen_g10) { - if (!seen_p || p_value < 1.0 || p_value > 9.0 || floor(p_value) != p_value) { set_error(interpreter, meta, SIM_INTERP_ERR_PARAMETER, 1); return SIM_INTERP_ERR_PARAMETER; } - meta->coordinate_offsets[(int)p_value - 1][axis] = axis_value; + int coordinate; + if (!seen_p || p_value < 0.0 || p_value > 9.0 || floor(p_value) != p_value || !seen_l || (!code_is(l_value, 2) && !code_is(l_value, 20))) { set_error(interpreter, meta, SIM_INTERP_ERR_PARAMETER, 1); return SIM_INTERP_ERR_PARAMETER; } + coordinate = p_value == 0.0 ? (meta->coordinate_system > 0 ? meta->coordinate_system - 1 : 0) : (int)p_value - 1; + if (code_is(l_value, 20)) { + meta->coordinate_offsets[coordinate][axis] = *axis_pointer(&previous, (int)axis) - axis_value; + if (p_value == 0.0) meta->coordinate_l20 = 1; + *destination = axis_value; + } else { + meta->coordinate_offsets[coordinate][axis] = axis_value; + } } else if (next.distance_mode == SIM_INTERP_INCREMENTAL) *destination += axis_value; - else *destination = axis_value + meta->coordinate_offsets[meta->coordinate_system > 0 ? meta->coordinate_system - 1 : 0][axis]; + else *destination = axis_value + (seen_g53 || meta->coordinate_l20 ? 0.0 : meta->coordinate_offsets[meta->coordinate_system > 0 ? meta->coordinate_system - 1 : 0][axis]); } } if (seen_g10 && !seen_axis[0] && !seen_axis[1] && !seen_axis[2]) { set_error(interpreter, meta, SIM_INTERP_ERR_PARAMETER, 1); return SIM_INTERP_ERR_PARAMETER; } @@ -502,25 +542,54 @@ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uin int has_axis_motion = 0; int has_center = seen_center[0] || seen_center[1] || seen_center[2]; for (axis = 0; axis < 9; ++axis) if (seen_axis[axis]) { has_axis_motion = 1; break; } - if ((has_axis_motion || has_center) && next.motion_mode >= 0 && next.motion_mode <= 3) { + if (!seen_g10 && (has_axis_motion || has_center) && next.motion_mode >= 0 && next.motion_mode <= 3) { sim_posemath_segment *segment = &meta->last_motion; memset(segment, 0, sizeof(*segment)); - segment->start.tran.x = previous.x; segment->start.tran.y = previous.y; segment->start.tran.z = previous.z; - segment->start.a = previous.a; segment->start.b = previous.b; segment->start.c = previous.c; - segment->start.u = previous.u; segment->start.v = previous.v; segment->start.w = previous.w; - segment->end.tran.x = next.x; segment->end.tran.y = next.y; segment->end.tran.z = next.z; - segment->end.a = next.a; segment->end.b = next.b; segment->end.c = next.c; - segment->end.u = next.u; segment->end.v = next.v; segment->end.w = next.w; - segment->velocity = next.feed; + if (meta->has_output_pose) segment->start = meta->last_output_pose; + else machine_pose_for_state(meta, &previous, seen_g53, &segment->start); + machine_pose_for_state(meta, &next, seen_g53, &segment->end); + segment->velocity = next.feed / 60.0; segment->acceleration = 0.0; segment->motion_type = next.motion_mode >= 2 ? SIM_POSEMATH_CIRCULAR : SIM_POSEMATH_LINEAR; - segment->turn = next.motion_mode == 2 ? -1 : 1; - segment->center.x = previous.x; segment->center.y = previous.y; segment->center.z = previous.z; + if (next.motion_mode >= 2 && seen_p && (p_value < 1.0 || p_value > 1000000.0 || floor(p_value) != p_value)) { set_error(interpreter, meta, SIM_INTERP_ERR_RANGE, 1); return SIM_INTERP_ERR_RANGE; } + segment->turn = (next.motion_mode == 2 ? -1 : 1) * (next.motion_mode >= 2 && seen_p ? (int)p_value : 1); + segment->center.x = segment->start.tran.x; segment->center.y = segment->start.tran.y; segment->center.z = segment->start.tran.z; if (next.units == SIM_INTERP_UNITS_INCH) for (axis = 0; axis < 3; ++axis) center_values[axis] *= 25.4; segment->center.x += center_values[0]; segment->center.y += center_values[1]; segment->center.z += center_values[2]; + meta->last_output_pose = segment->end; + meta->has_output_pose = 1; if (next.plane == 18) segment->normal.y = 1.0; else if (next.plane == 19) segment->normal.x = 1.0; else segment->normal.z = 1.0; + if (meta->feed_mode == 93) { + const double dx = segment->end.tran.x - segment->start.tran.x; + const double dy = segment->end.tran.y - segment->start.tran.y; + const double dz = segment->end.tran.z - segment->start.tran.z; + const double da = segment->end.a - segment->start.a; + const double db = segment->end.b - segment->start.b; + const double dc = segment->end.c - segment->start.c; + const double du = segment->end.u - segment->start.u; + const double dv = segment->end.v - segment->start.v; + const double dw = segment->end.w - segment->start.w; + double path_length = sqrt(dx * dx + dy * dy + dz * dz + da * da + db * db + dc * dc + du * du + dv * dv + dw * dw); + if (next.motion_mode >= 2) { + const double sx = segment->start.tran.x - segment->center.x; + const double sy = segment->start.tran.y - segment->center.y; + const double sz = segment->start.tran.z - segment->center.z; + const double ex = segment->end.tran.x - segment->center.x; + const double ey = segment->end.tran.y - segment->center.y; + const double ez = segment->end.tran.z - segment->center.z; + const double radius = sqrt(sx * sx + sy * sy + sz * sz); + const double dot = sx * ex + sy * ey + sz * ez; + const double cross_normal = segment->normal.x * (sy * ez - sz * ey) + segment->normal.y * (sz * ex - sx * ez) + segment->normal.z * (sx * ey - sy * ex); + double angle = fabs(atan2(cross_normal, dot)); + if (angle <= 1e-12) angle = 2.0 * 3.14159265358979323846; + angle += 2.0 * 3.14159265358979323846 * (fabs((double)segment->turn) - 1.0); + path_length = sqrt((radius * angle) * (radius * angle) + dz * dz + da * da + db * db + dc * dc + du * du + dv * dv + dw * dw); + } + if (!isfinite(path_length) || path_length <= 0.0 || next.feed <= 0.0) { set_error(interpreter, meta, SIM_INTERP_ERR_RANGE, 1); return SIM_INTERP_ERR_RANGE; } + segment->velocity = path_length * next.feed / 60.0; + } meta->has_motion = 1; } } diff --git a/wasm-core/src/sim_io.c b/wasm-core/src/sim_io.c index f07bd11..2f430ca 100644 --- a/wasm-core/src/sim_io.c +++ b/wasm-core/src/sim_io.c @@ -34,6 +34,8 @@ static int valid_io(const sim_io *io) { io->state.spindle_count <= SIM_IO_MAX_SPINDLES; } +uint32_t sim_io_size(void) { return (uint32_t)sizeof(sim_io); } + static int valid_spindle(const sim_io *io, uint32_t spindle) { return valid_io(io) && spindle < io->state.spindle_count && io->state.spindles[spindle].registered; diff --git a/wasm-core/src/sim_motion_queue.c b/wasm-core/src/sim_motion_queue.c index daf1871..77e123a 100644 --- a/wasm-core/src/sim_motion_queue.c +++ b/wasm-core/src/sim_motion_queue.c @@ -53,7 +53,13 @@ static double segment_length(const sim_posemath_segment *segment) { const double dx = segment->end.tran.x - segment->start.tran.x; const double dy = segment->end.tran.y - segment->start.tran.y; const double dz = segment->end.tran.z - segment->start.tran.z; - double value = dx * dx + dy * dy + dz * dz; + double value = dx * dx + dy * dy + dz * dz + + (segment->end.a - segment->start.a) * (segment->end.a - segment->start.a) + + (segment->end.b - segment->start.b) * (segment->end.b - segment->start.b) + + (segment->end.c - segment->start.c) * (segment->end.c - segment->start.c) + + (segment->end.u - segment->start.u) * (segment->end.u - segment->start.u) + + (segment->end.v - segment->start.v) * (segment->end.v - segment->start.v) + + (segment->end.w - segment->start.w) * (segment->end.w - segment->start.w); if (segment->motion_type == SIM_POSEMATH_CIRCULAR) { const double sx = segment->start.tran.x - segment->center.x; const double sy = segment->start.tran.y - segment->center.y; diff --git a/wasm-core/src/sim_posemath.c b/wasm-core/src/sim_posemath.c index 3239897..e380b44 100644 --- a/wasm-core/src/sim_posemath.c +++ b/wasm-core/src/sim_posemath.c @@ -117,7 +117,13 @@ int sim_posemath_segment_validate(const sim_posemath_segment *segment) { if (segment->velocity < 0.0 || segment->acceleration < 0.0 || segment->velocity > 1e9 || segment->acceleration > 1e12) return SIM_POSEMATH_ERR_RANGE; length_sq = (segment->end.tran.x - segment->start.tran.x) * (segment->end.tran.x - segment->start.tran.x) + (segment->end.tran.y - segment->start.tran.y) * (segment->end.tran.y - segment->start.tran.y) + - (segment->end.tran.z - segment->start.tran.z) * (segment->end.tran.z - segment->start.tran.z); + (segment->end.tran.z - segment->start.tran.z) * (segment->end.tran.z - segment->start.tran.z) + + (segment->end.a - segment->start.a) * (segment->end.a - segment->start.a) + + (segment->end.b - segment->start.b) * (segment->end.b - segment->start.b) + + (segment->end.c - segment->start.c) * (segment->end.c - segment->start.c) + + (segment->end.u - segment->start.u) * (segment->end.u - segment->start.u) + + (segment->end.v - segment->start.v) * (segment->end.v - segment->start.v) + + (segment->end.w - segment->start.w) * (segment->end.w - segment->start.w); if (!isfinite(length_sq) || (length_sq <= 1e-24 && segment->motion_type != SIM_POSEMATH_CIRCULAR)) return SIM_POSEMATH_ERR_DEGENERATE; if (segment->motion_type == SIM_POSEMATH_CIRCULAR) { normal_sq = segment->normal.x * segment->normal.x + segment->normal.y * segment->normal.y + segment->normal.z * segment->normal.z; diff --git a/wasm-core/src/sim_program.c b/wasm-core/src/sim_program.c new file mode 100644 index 0000000..6e48d3a --- /dev/null +++ b/wasm-core/src/sim_program.c @@ -0,0 +1,410 @@ +#include "sim_program.h" + +#include +#include +#include +#include +#include + +static uint64_t fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { hash ^= bytes[index]; hash *= UINT64_C(1099511628211); } + return hash; +} + +static int control_line(const char *line) { + const char *cursor = line; + while (*cursor != '\0' && isspace((unsigned char)*cursor)) ++cursor; + if (*cursor == 'O' || *cursor == 'o') return 1; + if ((cursor[0] == 'M' || cursor[0] == 'm') && (cursor[1] == '8' || cursor[1] == '9')) return 1; + if ((cursor[0] == 'M' || cursor[0] == 'm') && (cursor[1] == '9' || cursor[1] == '8')) return 1; + return 0; +} + +static uint32_t line_length(const char *line, uint32_t maximum) { + uint32_t length = 0; + while (length < maximum && line[length] != '\0' && line[length] != '\n' && line[length] != '\r') ++length; + return length; +} + +static int span_equal(const char *value, size_t length, const char *expected) { + size_t index; + if (strlen(expected) != length) return 0; + for (index = 0; index < length; ++index) + if (tolower((unsigned char)value[index]) != tolower((unsigned char)expected[index])) return 0; + return 1; +} + +static int parse_oword(const char *line, uint32_t length, char *name, size_t name_capacity, + const char **verb, size_t *verb_length, const char **arguments) { + const char *cursor = line; + const char *end = line + length; + size_t name_length = 0; + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + if (cursor >= end || tolower((unsigned char)*cursor++) != 'o' || cursor >= end || *cursor++ != '<') return 0; + while (cursor < end && *cursor != '>') { + if (name_length + 1u >= name_capacity) return 0; + name[name_length++] = (char)tolower((unsigned char)*cursor++); + } + if (cursor >= end || *cursor++ != '>' || name_length == 0) return 0; + name[name_length] = '\0'; + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + *verb = cursor; + while (cursor < end && isalpha((unsigned char)*cursor)) ++cursor; + *verb_length = (size_t)(cursor - *verb); + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + *arguments = cursor; + return *verb_length > 0; +} + +int32_t sim_program_requires_subroutines(const char *source, uint32_t length) { + uint32_t offset = 0; + if (source == NULL || length == 0 || length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_ARGUMENT; + while (offset < length) { + uint32_t available = length - offset; + uint32_t line_size = line_length(source + offset, available); + char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY] = {0}; + const char *verb = NULL, *arguments = NULL; + size_t verb_length = 0; + if (parse_oword(source + offset, line_size, name, sizeof(name), &verb, &verb_length, &arguments) && span_equal(verb, verb_length, "call")) return 1; + offset += line_size; + while (offset < length && (source[offset] == '\n' || source[offset] == '\r')) ++offset; + } + return 0; +} + +static void reindex_source(sim_program *program) { + uint32_t index; + program->line_count = program->source_length == 0 ? 0 : 1; + program->line_offsets[0] = 0; + for (index = 0; index < program->source_length; ++index) if (program->source[index] == '\n' && index + 1u < program->source_length) { + if (program->line_count < SIM_PROGRAM_LINE_CAPACITY) program->line_offsets[program->line_count++] = index + 1u; + } + program->line_offsets[program->line_count] = program->source_length; +} + +static int append_source(sim_program *program, const char *source, uint32_t length) { + uint32_t separator = program->source_length > 0 && program->source[program->source_length - 1u] != '\n' ? 1u : 0u; + if (source == NULL || length == 0 || program->source_length + separator + length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_RANGE; + if (separator) program->source[program->source_length++] = '\n'; + memcpy(program->source + program->source_length, source, length); + program->source_length += length; + program->source[program->source_length] = '\0'; + reindex_source(program); + return SIM_PROGRAM_OK; +} + +static int scan_subroutines(sim_program *program) { + uint32_t line; + program->subroutine_count = 0; + for (line = program->main_line_count; line < program->line_count; ++line) { + const char *start = program->source + program->line_offsets[line]; + uint32_t maximum = program->line_offsets[line + 1u] - program->line_offsets[line]; + uint32_t length = line_length(start, maximum); + char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY] = {0}; + const char *verb = NULL, *arguments = NULL; + size_t verb_length = 0; + uint32_t end_line; + if (!parse_oword(start, length, name, sizeof(name), &verb, &verb_length, &arguments) || !span_equal(verb, verb_length, "sub")) continue; + for (end_line = line + 1u; end_line < program->line_count; ++end_line) { + const char *end_start = program->source + program->line_offsets[end_line]; + uint32_t end_maximum = program->line_offsets[end_line + 1u] - program->line_offsets[end_line]; + uint32_t end_length = line_length(end_start, end_maximum); + char end_name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY] = {0}; + const char *end_verb = NULL, *end_arguments = NULL; + size_t end_verb_length = 0; + if (parse_oword(end_start, end_length, end_name, sizeof(end_name), &end_verb, &end_verb_length, &end_arguments) && strcmp(name, end_name) == 0 && span_equal(end_verb, end_verb_length, "endsub")) break; + } + if (end_line >= program->line_count || program->subroutine_count >= SIM_PROGRAM_SUBROUTINE_CAPACITY) return SIM_PROGRAM_ERR_CONTROL; + strncpy(program->subroutines[program->subroutine_count].name, name, SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY - 1u); + program->subroutines[program->subroutine_count].body_line = line + 1u; + program->subroutines[program->subroutine_count].end_line = end_line; + program->subroutine_count += 1u; + line = end_line; + } + return SIM_PROGRAM_OK; +} + +static const sim_program_subroutine *find_subroutine(const sim_program *program, const char *name) { + uint32_t index; + for (index = 0; index < program->subroutine_count; ++index) + if (strcmp(program->subroutines[index].name, name) == 0) return &program->subroutines[index]; + return NULL; +} + +static int evaluate_call_arguments(sim_program *program, const char *cursor, const char *end, + double *values, uint32_t *count) { + uint32_t item = 0; + while (cursor < end) { + const char *start; + const char *finish; + int depth = 0; + char assignment[512]; + int written; + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + if (cursor >= end || *cursor == ';' || *cursor == '(') break; + if (item >= SIM_PROGRAM_CALL_PARAMETER_CAPACITY) return SIM_PROGRAM_ERR_CONTROL; + start = cursor; + if (*cursor == '[') { + do { + if (*cursor == '[') depth += 1; + else if (*cursor == ']') depth -= 1; + ++cursor; + } while (cursor < end && depth > 0); + if (depth != 0) return SIM_PROGRAM_ERR_CONTROL; + finish = cursor; + } else { + while (cursor < end && !isspace((unsigned char)*cursor) && *cursor != ';' && *cursor != '(') ++cursor; + finish = cursor; + } + written = snprintf(assignment, sizeof(assignment), "#5000=%.*s", (int)(finish - start), start); + if (written <= 0 || (size_t)written >= sizeof(assignment) || sim_interpreter_execute(&program->interpreter, assignment, (uint32_t)written) != SIM_INTERP_OK || sim_interpreter_parameter_get(&program->interpreter, 5000, &values[item]) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + item += 1u; + } + *count = item; + return SIM_PROGRAM_OK; +} + +static int begin_call(sim_program *program, const char *name, const char *arguments, const char *end) { + const sim_program_subroutine *subroutine = find_subroutine(program, name); + sim_program_call_frame *frame; + double values[SIM_PROGRAM_CALL_PARAMETER_CAPACITY] = {0}; + uint32_t count = 0, index; + int result; + if (subroutine == NULL || program->call_depth >= SIM_PROGRAM_CALL_DEPTH) return SIM_PROGRAM_ERR_CONTROL; + result = evaluate_call_arguments(program, arguments, end, values, &count); + if (result != SIM_PROGRAM_OK) return result; + frame = &program->call_stack[program->call_depth++]; + frame->return_line = program->current_line; + for (index = 0; index < SIM_PROGRAM_CALL_PARAMETER_CAPACITY; ++index) { + if (sim_interpreter_parameter_get(&program->interpreter, index + 1u, &frame->parameters[index]) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + if (sim_interpreter_parameter_set(&program->interpreter, index + 1u, index < count ? values[index] : 0.0) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + } + program->current_line = subroutine->body_line; + return SIM_PROGRAM_OK; +} + +static int end_call(sim_program *program) { + sim_program_call_frame *frame; + uint32_t index; + if (program->call_depth == 0) return SIM_PROGRAM_ERR_CONTROL; + frame = &program->call_stack[--program->call_depth]; + for (index = 0; index < SIM_PROGRAM_CALL_PARAMETER_CAPACITY; ++index) + if (sim_interpreter_parameter_set(&program->interpreter, index + 1u, frame->parameters[index]) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + program->current_line = frame->return_line; + return SIM_PROGRAM_OK; +} + +static int switch_mcode(const char *block, uint32_t length) { + const char *cursor = block; + const char *end = block + length; + while (cursor < end) { + if (*cursor == ';') break; + if (*cursor == '(') { while (cursor < end && *cursor++ != ')') {} continue; } + if (toupper((unsigned char)*cursor) == 'M') { + char *number_end = NULL; + long code = strtol(cursor + 1, &number_end, 10); + if (number_end != cursor + 1 && (code == 428 || code == 429 || code == 430)) return (int)code; + } + ++cursor; + } + return 0; +} + +static void reset_runtime(sim_program *program) { + sim_interpreter_reset(&program->interpreter); + program->source_length = 0; + program->line_count = 0; + program->main_line_count = 0; + program->current_line = 0; + program->status = SIM_PROGRAM_IDLE; + program->last_error = 0; + program->error_line = 0; + program->has_motion = 0; + program->subroutine_count = 0; + program->call_depth = 0; + program->has_control = 0; + program->control_code = 0; + program->rapid_velocity = 35.0; + memset(&program->motion, 0, sizeof(program->motion)); + memset(program->subroutines, 0, sizeof(program->subroutines)); + memset(program->call_stack, 0, sizeof(program->call_stack)); +} + +uint32_t sim_program_size(void) { return (uint32_t)sizeof(sim_program); } + +int32_t sim_program_init(sim_program *program) { + if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + memset(program, 0, sizeof(*program)); + if (sim_interpreter_init(&program->interpreter) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + program->status = SIM_PROGRAM_IDLE; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_reset(sim_program *program) { + if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + if (sim_interpreter_reset(&program->interpreter) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + reset_runtime(program); + return SIM_PROGRAM_OK; +} + +int32_t sim_program_load(sim_program *program, const char *source, uint32_t length) { + if (program == NULL || source == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + if (length == 0 || length >= SIM_PROGRAM_SOURCE_CAPACITY) return SIM_PROGRAM_ERR_RANGE; + if (sim_program_reset(program) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_INTERPRETER; + if (append_source(program, source, length) != SIM_PROGRAM_OK) return SIM_PROGRAM_ERR_RANGE; + program->main_line_count = program->line_count; + program->status = SIM_PROGRAM_LOADED; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_add_subroutine(sim_program *program, const char *source, uint32_t length) { + int result; + if (program == NULL || source == NULL || program->status != SIM_PROGRAM_LOADED) return SIM_PROGRAM_ERR_STATE; + result = append_source(program, source, length); + if (result != SIM_PROGRAM_OK) return result; + return scan_subroutines(program); +} + +int32_t sim_program_set_rapid_velocity(sim_program *program, double velocity) { + if (program == NULL || !isfinite(velocity) || velocity <= 0.0 || velocity > 1e9) return SIM_PROGRAM_ERR_RANGE; + program->rapid_velocity = velocity; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_start(sim_program *program) { + if (program == NULL || program->status == SIM_PROGRAM_IDLE) return SIM_PROGRAM_ERR_STATE; + if (program->status == SIM_PROGRAM_COMPLETED || program->status == SIM_PROGRAM_ABORTED) return SIM_PROGRAM_ERR_STATE; + program->status = SIM_PROGRAM_RUNNING; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_pause(sim_program *program) { + if (program == NULL || program->status != SIM_PROGRAM_RUNNING) return SIM_PROGRAM_ERR_STATE; + program->status = SIM_PROGRAM_PAUSED; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_resume(sim_program *program) { + if (program == NULL || program->status != SIM_PROGRAM_PAUSED) return SIM_PROGRAM_ERR_STATE; + program->status = SIM_PROGRAM_RUNNING; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_abort(sim_program *program) { + if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + program->status = SIM_PROGRAM_ABORTED; + program->has_motion = 0; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_execute_block(sim_program *program, const char *block, uint32_t length) { + sim_posemath_segment segment; + int result; + if (program == NULL || block == NULL || length == 0) return SIM_PROGRAM_ERR_ARGUMENT; + if (control_line(block)) return SIM_PROGRAM_ERR_CONTROL; + program->has_control = 0; + program->control_code = switch_mcode(block, length); + if (program->control_code != 0) program->has_control = 1; + result = sim_interpreter_execute(&program->interpreter, block, length); + if (result != SIM_INTERP_OK) { program->last_error = result; return SIM_PROGRAM_ERR_INTERPRETER; } + memset(&segment, 0, sizeof(segment)); + if (sim_interpreter_read_motion(&program->interpreter, &segment) == SIM_INTERP_OK && segment.motion_type != 0) { + if (program->interpreter.state.motion_mode == 0) segment.velocity = program->rapid_velocity; + program->motion = segment; program->has_motion = 1; + } else program->has_motion = 0; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_step(sim_program *program) { + uint32_t line; + if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + if (program->status == SIM_PROGRAM_PAUSED) return SIM_PROGRAM_ERR_STATE; + if (program->status != SIM_PROGRAM_RUNNING) return SIM_PROGRAM_ERR_STATE; + program->has_motion = 0; + program->has_control = 0; + program->control_code = 0; + while (program->current_line < program->line_count) { + const char *line_start = program->source + program->line_offsets[program->current_line]; + uint32_t maximum = program->line_offsets[program->current_line + 1u] - program->line_offsets[program->current_line]; + uint32_t length = line_length(line_start, maximum); + program->current_line += 1; + line = program->current_line; + while (length > 0 && isspace((unsigned char)line_start[length - 1u])) --length; + if (length == 0 || line_start[0] == ';') continue; + { + char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY] = {0}; + const char *verb = NULL, *arguments = NULL; + size_t verb_length = 0; + if (parse_oword(line_start, length, name, sizeof(name), &verb, &verb_length, &arguments)) { + int control_result; + if (span_equal(verb, verb_length, "call")) control_result = begin_call(program, name, arguments, line_start + length); + else if (span_equal(verb, verb_length, "endsub")) control_result = end_call(program); + else if (span_equal(verb, verb_length, "sub")) { + const sim_program_subroutine *declared = find_subroutine(program, name); + program->current_line = declared ? declared->end_line + 1u : program->line_count; + continue; + } + else control_result = SIM_PROGRAM_ERR_CONTROL; + if (control_result != SIM_PROGRAM_OK) { program->last_error = control_result; program->error_line = line; program->status = SIM_PROGRAM_ERROR; return control_result; } + return SIM_PROGRAM_OK; + } + } + if (control_line(line_start)) { program->last_error = SIM_PROGRAM_ERR_CONTROL; program->error_line = line; program->status = SIM_PROGRAM_ERROR; return SIM_PROGRAM_ERR_CONTROL; } + if (sim_program_execute_block(program, line_start, length) != SIM_PROGRAM_OK) { program->error_line = line; program->status = SIM_PROGRAM_ERROR; return SIM_PROGRAM_ERR_INTERPRETER; } + if (program->interpreter.state.program_end || (program->call_depth == 0 && program->current_line >= program->main_line_count)) program->status = SIM_PROGRAM_COMPLETED; + return SIM_PROGRAM_OK; + } + program->status = SIM_PROGRAM_COMPLETED; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_seek(sim_program *program, uint32_t line) { + if (program == NULL || line > program->line_count) return SIM_PROGRAM_ERR_RANGE; + if (sim_interpreter_reset(&program->interpreter) != SIM_INTERP_OK) return SIM_PROGRAM_ERR_INTERPRETER; + program->current_line = 0; program->status = SIM_PROGRAM_PAUSED; program->has_motion = 0; + while (program->current_line < line) { + int result = sim_program_step(program); + if (result != SIM_PROGRAM_OK && result != SIM_PROGRAM_ERR_STATE) return result; + if (program->status == SIM_PROGRAM_COMPLETED) break; + program->status = SIM_PROGRAM_PAUSED; + if (program->current_line >= line) break; + program->status = SIM_PROGRAM_RUNNING; + } + program->status = SIM_PROGRAM_PAUSED; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_read_motion(const sim_program *program, sim_posemath_segment *segment) { + if (program == NULL || segment == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + if (!program->has_motion) return SIM_PROGRAM_ERR_STATE; + *segment = program->motion; + return SIM_PROGRAM_OK; +} + +int32_t sim_program_clear_motion(sim_program *program) { + if (program == NULL) return SIM_PROGRAM_ERR_ARGUMENT; + program->has_motion = 0; + memset(&program->motion, 0, sizeof(program->motion)); + return SIM_PROGRAM_OK; +} + +uint32_t sim_program_canonical(const sim_program *program, char *output, uint32_t capacity) { + char discard[1]; + char *destination = output == NULL ? discard : output; + uint32_t destination_capacity = output == NULL ? 1 : capacity; + int written; + if (program == NULL) return 0; + written = snprintf(destination, destination_capacity, + "{\"call_depth\":%u,\"control_code\":%d,\"current_line\":%u,\"error_line\":%u,\"has_control\":%u,\"has_motion\":%u,\"last_error\":%d,\"line_count\":%u,\"main_line_count\":%u,\"motion_mode\":%d,\"rapid_velocity\":%.17g,\"schema\":\"sim_program.v1\",\"status\":%u,\"subroutine_count\":%u,\"source_length\":%u,\"interpreter_state_hash\":\"%llu\"}", + program->call_depth, program->control_code, program->current_line, program->error_line, program->has_control, program->has_motion, program->last_error, program->line_count, program->main_line_count, program->interpreter.state.motion_mode, program->rapid_velocity, program->status, program->subroutine_count, program->source_length, + (unsigned long long)sim_interpreter_state_hash(&program->interpreter)); + return written < 0 ? 0 : (uint32_t)written + 1u; +} + +uint64_t sim_program_state_hash(const sim_program *program) { + char canonical[SIM_PROGRAM_CANONICAL_CAPACITY]; + uint32_t length = sim_program_canonical(program, canonical, sizeof(canonical)); + return length == 0 ? 0 : fnv1a64((const unsigned char *)canonical, length - 1u); +} diff --git a/wasm-core/src/sim_task.c b/wasm-core/src/sim_task.c index 34d4a18..b510c6a 100644 --- a/wasm-core/src/sim_task.c +++ b/wasm-core/src/sim_task.c @@ -68,7 +68,7 @@ static int transition_allowed(uint32_t from, uint32_t to) { if (from == SIM_TASK_PAUSED) return to == SIM_TASK_RUNNING || to == SIM_TASK_STOPPED || to == SIM_TASK_ESTOP || to == SIM_TASK_FAULT; if (from == SIM_TASK_ESTOP) return to == SIM_TASK_STOPPED || to == SIM_TASK_DESTROYED; if (from == SIM_TASK_FAULT) return to == SIM_TASK_STOPPED || to == SIM_TASK_DESTROYED; - if (from == SIM_TASK_STOPPED) return to == SIM_TASK_READY || to == SIM_TASK_DESTROYED; + if (from == SIM_TASK_STOPPED) return to == SIM_TASK_READY || to == SIM_TASK_ESTOP || to == SIM_TASK_DESTROYED; return 0; } diff --git a/wasm-core/tests/sim_contract_test.c b/wasm-core/tests/sim_contract_test.c index 974c651..c839fa0 100644 --- a/wasm-core/tests/sim_contract_test.c +++ b/wasm-core/tests/sim_contract_test.c @@ -30,7 +30,7 @@ static void test_protocol_contract(void) { static void test_event_contract(void) { const uint8_t payload[] = {'c', 'o', 'n', 't', 'r', 'a', 'c', 't'}; - uint8_t exported[16384] = {0}; + uint8_t exported[sizeof(uint32_t) * 3u + sizeof(sim_event_record) * SIM_EVENT_CAPACITY + 16u] = {0}; uint8_t record[sizeof(sim_event_record)] = {0}; uint32_t export_size; uint32_t index; @@ -43,7 +43,7 @@ static void test_event_contract(void) { assert(sim_event_read(0, record, sizeof(record)) == sizeof(sim_event_record)); assert(((sim_event_record *)record)->seq == 1); export_size = sim_event_export(NULL, 0); - assert(export_size > sizeof(sim_event_record) && export_size < sizeof(exported)); + assert(export_size > sizeof(sim_event_record) && export_size <= sizeof(exported)); assert(sim_event_export(exported, sizeof(exported)) == export_size); sim_event_reset(); assert(sim_event_import(exported, export_size) == SIM_EVENT_OK); diff --git a/wasm-core/tests/sim_interpreter_test.c b/wasm-core/tests/sim_interpreter_test.c index 127e365..0b9ac30 100644 --- a/wasm-core/tests/sim_interpreter_test.c +++ b/wasm-core/tests/sim_interpreter_test.c @@ -18,6 +18,8 @@ int main(void) { assert(sim_interpreter_execute(&interpreter, "G21 G90 G1 X10 Y2 F120", (uint32_t)(sizeof("G21 G90 G1 X10 Y2 F120") - 1)) == SIM_INTERP_OK); assert(sim_interpreter_read_state(&interpreter, &state) == SIM_INTERP_OK); assert(state.x == 10.0 && state.y == 2.0 && state.feed == 120.0); + assert(sim_interpreter_read_motion(&interpreter, &motion) == SIM_INTERP_OK); + assert(fabs(motion.velocity - 2.0) < 1e-12); required = sim_interpreter_canonical(&interpreter, canonical, sizeof(canonical)); assert(required > 1 && canonical[required - 1] == '\0'); assert(sim_interpreter_state_hash(&interpreter) != 0); @@ -62,6 +64,13 @@ int main(void) { assert(fabs(interpreter.state.x - 11.0) < 1e-12); assert(fabs(interpreter.state.y - 22.0) < 1e-12); assert(fabs(interpreter.state.z - 33.0) < 1e-12); + assert(sim_interpreter_execute(&interpreter, "G53 G0 X0 Y0 Z10", (uint32_t)(sizeof("G53 G0 X0 Y0 Z10") - 1)) == SIM_INTERP_OK); + assert(fabs(interpreter.state.x) < 1e-12 && fabs(interpreter.state.y) < 1e-12 && fabs(interpreter.state.z - 10.0) < 1e-12); + assert(sim_interpreter_execute(&interpreter, "G10 L20 P0 X0 Y0 Z10", (uint32_t)(sizeof("G10 L20 P0 X0 Y0 Z10") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_read_motion(&interpreter, &motion) == SIM_INTERP_ERR_STATE); + assert(sim_interpreter_execute(&interpreter, "G0 X20 Y20 Z10", (uint32_t)(sizeof("G0 X20 Y20 Z10") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_execute(&interpreter, "G0 X[#<_x>-10]", (uint32_t)(sizeof("G0 X[#<_x>-10]") - 1)) == SIM_INTERP_OK); + assert(fabs(interpreter.state.x - 10.0) < 1e-12 && fabs(interpreter.state.y - 20.0) < 1e-12); assert(sim_interpreter_reset(&interpreter) == SIM_INTERP_OK); assert(sim_interpreter_execute(&interpreter, "G54 G43 H12 G81 X1 Y2 Z-3 R1", (uint32_t)(sizeof("G54 G43 H12 G81 X1 Y2 Z-3 R1") - 1)) == SIM_INTERP_OK); assert(interpreter.state.motion_mode == 1); diff --git a/wasm-core/tests/sim_xyzac_trace_test.c b/wasm-core/tests/sim_xyzac_trace_test.c new file mode 100644 index 0000000..fd08364 --- /dev/null +++ b/wasm-core/tests/sim_xyzac_trace_test.c @@ -0,0 +1,136 @@ +#include "sim_kinematics.h" +#include "sim_program.h" +#include "sim_protocol.h" + +#include +#include +#include + +static sim_kinematics_config config_for(int type) { + static const double minimum[5] = {-200.0, -100.0, -120.0, -100.0, -36000.0}; + static const double maximum[5] = {200.0, 100.0, 120.0, 50.0, 36000.0}; + sim_kinematics_config config = {0}; + size_t index; + config.type = type; + config.joint_count = 5; + config.kinematics_joint_count = 5; + strcpy(config.coordinates, "XYZAC"); + config.y_offset = 20.0; + config.z_offset = 10.0; + for (index = 0; index < 5; ++index) { + config.limit_enabled[index] = 1; + config.joint_min[index] = minimum[index]; + config.joint_max[index] = maximum[index]; + } + return config; +} + +static void print_pose(const sim_posemath_pose *pose) { + printf("{\"a\":%.17g,\"c\":%.17g,\"x\":%.17g,\"y\":%.17g,\"z\":%.17g}", + pose->a, pose->c, pose->tran.x, pose->tran.y, pose->tran.z); +} + +static void print_joints(const double *joints) { + printf("[%.17g,%.17g,%.17g,%.17g,%.17g]", joints[0], joints[1], joints[2], joints[3], joints[4]); +} + +int main(void) { + static const char *commands[4] = {"M429", "M428", "M430", "M428"}; + static const int modes[4] = {0, 1, 2, 1}; + static const char source[] = "G21 G90 G94\nG0 X10 Y0 Z10 A0 C0\nG93\nG2 X10 Y0 Z5 A30 C45 I-10 J0 P3 F2\nM2\n"; + sim_kinematics identity = {0}; + sim_kinematics trt = {0}; + sim_kinematics userk = {0}; + sim_kinematics_switch switcher = {0}; + sim_kinematics_switch saved_switcher; + sim_kinematics_result_info info = {0}; + sim_posemath_pose poses[4] = {{0}}; + sim_posemath_pose pose = {0}; + sim_posemath_pose saved_pose = {0}; + sim_posemath_segment arc = {0}; + sim_program program = {0}; + double joints[5] = {12.0, -5.0, 20.0, 30.0, 45.0}; + double state_joints[4][5] = {{0}}; + double saved_joints[5] = {0}; + uint64_t before_hash; + uint64_t after_hash; + size_t index; + int have_arc = 0; + + assert(sim_kinematics_init(&identity, &(sim_kinematics_config){0}) != SIM_KIN_OK); + { + sim_kinematics_config config = config_for(SIM_KIN_TRIVKINS); + assert(sim_kinematics_init(&identity, &config) == SIM_KIN_OK); + assert(sim_kinematics_init(&userk, &config) == SIM_KIN_OK); + config = config_for(SIM_KIN_XYZAC_TRT); + assert(sim_kinematics_init(&trt, &config) == SIM_KIN_OK); + } + assert(sim_kinematics_switch_init(&switcher, 0, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 0, &identity, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 1, &trt, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 2, &userk, 0) == SIM_KIN_OK); + + sim_protocol_reset(); + assert(sim_protocol_accept(1, 1, "HELLO", "", 0) == SIM_PROTOCOL_OK); + assert(sim_protocol_accept(1, 2, "SESSION_ATTACH", "", 0) == SIM_PROTOCOL_OK); + assert(sim_protocol_accept(1, 3, "LOAD_WORKSPACE", "workspace", 0) == SIM_PROTOCOL_OK); + for (index = 0; index < 4; ++index) { + char operation[16]; + snprintf(operation, sizeof(operation), "switch-%u", (unsigned)(index + 1)); + assert(sim_protocol_accept(1, (uint32_t)(index + 4), "MDI_EXECUTE", operation, 0) == SIM_PROTOCOL_OK); + assert(sim_kinematics_switch_select(&switcher, modes[index], joints, 5, &pose, &info) == SIM_KIN_OK); + assert(sim_kinematics_switch_active(&switcher) == modes[index]); + poses[index] = pose; + memcpy(state_joints[index], joints, sizeof(joints)); + } + + assert(sim_program_init(&program) == SIM_PROGRAM_OK); + assert(sim_program_load(&program, source, (uint32_t)(sizeof(source) - 1)) == SIM_PROGRAM_OK); + assert(sim_program_start(&program) == SIM_PROGRAM_OK); + while (program.status == SIM_PROGRAM_RUNNING) { + assert(sim_program_step(&program) == SIM_PROGRAM_OK); + if (program.has_motion && program.motion.motion_type == SIM_POSEMATH_CIRCULAR) { + assert(sim_program_read_motion(&program, &arc) == SIM_PROGRAM_OK); + have_arc = 1; + } + } + assert(have_arc && arc.turn == -3); + + saved_switcher = switcher; + saved_pose = pose; + memcpy(saved_joints, joints, sizeof(joints)); + before_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &pose); + assert(sim_kinematics_switch_select(&switcher, 0, joints, 5, &pose, &info) == SIM_KIN_OK); + switcher = saved_switcher; + pose = saved_pose; + memcpy(joints, saved_joints, sizeof(joints)); + after_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &pose); + assert(before_hash == after_hash && sim_kinematics_switch_active(&switcher) == 1); + + printf("{\"case\":\"xyzac-trt.ini\",\"levels\":{"); + printf("\"protocol\":["); + for (index = 0; index < 4; ++index) { + if (index) printf(","); + printf("{\"command\":\"%s\",\"result\":\"verified\",\"seq\":%u,\"tick\":%u}", commands[index], (unsigned)(index + 4), (unsigned)(index + 1)); + } + printf("],\"control\":["); + for (index = 0; index < 4; ++index) { + if (index) printf(","); + printf("{\"active_type\":%d,\"command\":\"%s\",\"hal_pin\":\"motion.switchkins-type\",\"tick\":%u}", modes[index], commands[index], (unsigned)(index + 1)); + } + printf("],\"state\":["); + for (index = 0; index < 4; ++index) { + if (index) printf(","); + printf("{\"active_type\":%d,\"joints\":", modes[index]); + print_joints(state_joints[index]); + printf(",\"pose\":"); + print_pose(&poses[index]); + printf(",\"tick\":%u}", (unsigned)(index + 1)); + } + printf("],\"canonical\":[{\"end\":"); + print_pose(&arc.end); + printf(",\"motion_type\":%d,\"source_line\":4,\"tick\":5,\"turn\":%d,\"velocity\":%.17g}],", arc.motion_type, arc.turn, arc.velocity); + printf("\"recovery\":[{\"active_type\":%d,\"joints_equal\":true,\"pose_equal\":true,\"state_hash_equal\":true,\"tick\":6}]},", sim_kinematics_switch_active(&switcher)); + printf("\"schema\":\"xyzac-structured-trace.v1\",\"source\":\"linuxcnc-native-sim-core\",\"status\":\"verified\"}\n"); + return 0; +} diff --git a/web/app/axis-contract.mjs b/web/app/axis-contract.mjs index 27d8ccc..45a5131 100644 --- a/web/app/axis-contract.mjs +++ b/web/app/axis-contract.mjs @@ -9,6 +9,7 @@ export const AXIS_COMMANDS = Object.freeze({ run: "PROGRAM_RUN", step: "PROGRAM_STEP", pause: "PROGRAM_PAUSE", resume: "PROGRAM_RESUME", stop: "PROGRAM_ABORT", restart: "PROGRAM_RESTART", mdi: "MDI_EXECUTE", jogStart: "JOG_START", jogStop: "JOG_STOP", home: "HOME", override: "SET_OVERRIDE", estop: "ESTOP", recover: "IO_RECOVER", + power: "POWER", spindle: "SPINDLE_COMMAND", coolant: "COOLANT_COMMAND", toolPrepare: "TOOL_PREPARE", toolChange: "TOOL_CHANGE", probe: "PROBE_CONFIG", reset: "RESET", @@ -99,3 +100,27 @@ export function axisGate(action, input = {}) { export function axisGateMatrix(input = {}) { return Object.freeze(Object.fromEntries(Object.keys(AXIS_COMMANDS).map((action) => [action, axisGate(action, input)]))); } + +export const XYZAC_GATE_ACTIONS = Object.freeze(["switchkinsIdentity", "switchkinsXyzac", "switchkinsUserk", "vismachClear"]); +export const XYZAC_COMMANDS = Object.freeze({ switchkinsIdentity: "KINEMATICS_SELECT", switchkinsXyzac: "KINEMATICS_SELECT", switchkinsUserk: "KINEMATICS_SELECT", vismachClear: "VISUAL_CLEAR" }); + +export function xyzacGate(action, input = {}) { + const state = normalizeAxisState(input); + const xyzac = input.xyzac ?? {}; + const idle = state.interpState === "IDLE" && state.taskState === "ON"; + const offsets = xyzac.finite_offsets !== false; + const pinVars = xyzac.hal_pin_vars === true; + const net = xyzac.switchkins_net === true; + const coordinates = xyzac.coordinates === "XYZAC" && xyzac.joint_count === 5; + if (action === "vismachClear") return Object.freeze({ action, enabled: true, reason: "axis_visual_only", visual_only: true, taskState: state.taskState, interpState: state.interpState }); + const common = idle && pinVars && net && offsets; + const commonReason = state.taskState === "ESTOP" ? "xyzac_estop_active" : state.taskState !== "ON" ? "xyzac_machine_off" : !idle ? "xyzac_interp_not_idle" : !pinVars ? "xyzac_hal_pin_vars_missing" : !net ? "xyzac_switchkins_net_missing" : !offsets ? "xyzac_offsets_nonfinite" : "xyzac_switchkins_common_gate"; + if (action === "switchkinsIdentity") return Object.freeze({ action, enabled: common, reason: common ? "xyzac_m429_available" : commonReason, required_type: 0, taskState: state.taskState, interpState: state.interpState }); + if (action === "switchkinsXyzac") return Object.freeze({ action, enabled: common && coordinates, reason: !common ? commonReason : !coordinates ? "xyzac_coordinates_invalid" : "xyzac_m428_available", required_type: 1, taskState: state.taskState, interpState: state.interpState }); + if (action === "switchkinsUserk") return Object.freeze({ action, enabled: common && Boolean(xyzac.userk_capability), reason: !common ? commonReason : !xyzac.userk_capability ? "xyzac_userk_unavailable" : "xyzac_m430_available", required_type: 2, taskState: state.taskState, interpState: state.interpState }); + return Object.freeze({ action, enabled: false, reason: "xyzac_gate_unknown_action", taskState: state.taskState, interpState: state.interpState }); +} + +export function xyzacGateMatrix(input = {}) { + return Object.freeze(Object.fromEntries(XYZAC_GATE_ACTIONS.map((action) => [action, xyzacGate(action, input)]))); +} diff --git a/web/app/axis-operation-controller.mjs b/web/app/axis-operation-controller.mjs index bc33dbf..aaf9bcf 100644 --- a/web/app/axis-operation-controller.mjs +++ b/web/app/axis-operation-controller.mjs @@ -1,6 +1,6 @@ -import { AXIS_COMMANDS, axisGate } from "./axis-contract.mjs"; +import { AXIS_COMMANDS, XYZAC_GATE_ACTIONS, axisGate, xyzacGate } from "./axis-contract.mjs"; -export const COMMAND_ACTIONS = Object.freeze(Object.fromEntries(Object.entries(AXIS_COMMANDS).map(([action, command]) => [command, action]))); +export const COMMAND_ACTIONS = Object.freeze({ ...Object.fromEntries(Object.entries(AXIS_COMMANDS).map(([action, command]) => [command, action])), VISUAL_CLEAR: "vismachClear" }); export class AxisGateError extends Error { constructor(result) { @@ -26,17 +26,18 @@ export class AxisOperationController { async execute(kind, payload = {}, { state = {}, action = COMMAND_ACTIONS[kind] ?? null, gate = true } = {}) { const operationId = this.nextOperationId(kind); - const gateResult = action ? axisGate(action, state) : { action: null, enabled: true, reason: "axis_unrestricted_internal_command" }; + const gateResult = action ? (XYZAC_GATE_ACTIONS.includes(action) ? xyzacGate(action, state) : axisGate(action, state)) : { action: null, enabled: true, reason: "axis_unrestricted_internal_command" }; const authoritativeGate = action && state?.gates?.[action]; - if (gate && !gateResult.enabled && !authoritativeGate) { - this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "blocked", reason: gateResult.reason })); - throw new AxisGateError(gateResult); + const effectiveGate = authoritativeGate ?? gateResult; + if (gate && !effectiveGate.enabled) { + this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "blocked", reason: effectiveGate.reason })); + throw new AxisGateError(effectiveGate); } - this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "pending", reason: gateResult.reason })); + this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "pending", reason: effectiveGate.reason })); try { const response = await this.client.send(kind, payload, operationId); this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "result", response_kind: response?.kind ?? null })); - return Object.freeze({ operationId, response, gate: gateResult }); + return Object.freeze({ operationId, response, gate: effectiveGate }); } catch (error) { this.trace.push(Object.freeze({ operation_id: operationId, kind, action, phase: "error", reason: error?.message ?? String(error) })); throw error; diff --git a/web/react/src/App.tsx b/web/react/src/App.tsx index b9c062c..11dd45e 100644 --- a/web/react/src/App.tsx +++ b/web/react/src/App.tsx @@ -1,16 +1,18 @@ import { useEffect, useMemo, useRef, useState } from "react"; import { INITIAL_STATE, reduceFrontendState } from "./store"; import { ReactWorkerClient } from "./worker-client"; -import { ThreeMachineView } from "./ThreeMachineView"; +import { XyzacToolPreviewFromSnapshot } from "./XyzacToolPreview"; import { SIM_CASE_CATALOG } from "../../workspace/sim-case-catalog.mjs"; import { loadSimulationCase, toWorkerConfiguration } from "../../workspace/sim-case-loader.mjs"; import { axisIcon } from "./sourceAssets"; import { AxisGateError, AxisOperationController } from "../../app/axis-operation-controller.mjs"; import { axisGate } from "../../app/axis-contract.mjs"; +import { XyzacDiagnostics, XyzacProgramPane, XyzacTrtPanel } from "./XyzacTrtPanel"; +import { XYZAC_CASE, projectXyzacPanel, type XyzacOperationTrace } from "./xyzac-panel-contract"; -export const SELECTED_AXIS3_CASE = "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini"; -const DEFAULT_CASE = SELECTED_AXIS3_CASE; -const PROGRAM_PATH = "linuxcnc/configs/nc_files/3dtest.ngc"; +export const SELECTED_XYZAC_CASE = XYZAC_CASE; +const DEFAULT_CASE = SELECTED_XYZAC_CASE; +const PROGRAM_PATH = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc"; const DEFAULT_PROGRAM = ""; type Action = (kind: string, payload?: Record) => Promise | void; @@ -38,6 +40,20 @@ function AxisRadio({ axis, selected, onChange }: { axis: string; selected: strin return ; } +function MachineSequence({ isEstop, machineOn, allHomed, programLoaded, programRunning, canHome, canRun, onEstop, onRelease, onPower, onHomeAll, onRun, onSequence }: { isEstop: boolean; machineOn: boolean; allHomed: boolean; programLoaded: boolean; programRunning: boolean; canHome: boolean; canRun: boolean; onEstop: () => void; onRelease: () => void; onPower: () => void; onHomeAll: () => void; onRun: () => void; onSequence: () => void }) { + return
+
Machine sequence{isEstop ? "ESTOP" : machineOn ? "ON" : "OFF"} / {allHomed ? "HOME ALL" : "NOT HOMED"}
+
+ Emergency Stop + Release E-stop + Power On + HOME ALL + Run Program + Run Startup Sequence +
+
; +} + function ManualControl({ action, ready, canHome, onHomeAll, selectedAxis, setSelectedAxis, spindleOn, coolant, onSpindle, onCoolant, devices }: { action: Action; ready: boolean; canHome: boolean; onHomeAll: () => void; selectedAxis: string; setSelectedAxis: (axis: string) => void; spindleOn: boolean; coolant: { mist: boolean; flood: boolean }; onSpindle: (direction: number) => void; onCoolant: (key: "mist" | "flood") => void; devices: Record }) { const [increment, setIncrement] = useState("Continuous"); const [jogSpeed, setJogSpeed] = useState(50); @@ -48,7 +64,7 @@ function ManualControl({ action, ready, canHome, onHomeAll, selectedAxis, setSel const jog = (direction: number) => { setJogging(true); const request = action("JOG_START", { axis: selectedAxis, direction, speed: increment === "Continuous" ? 1 : 1, increment: increment === "Continuous" ? null : Number(increment) }); if (increment !== "Continuous" && request && typeof (request as Promise).then === "function") void (request as Promise).then(() => action("SIM_STEP", { cycles: 1 })); }; const stopJog = () => { if (!jogging) return; setJogging(false); void action("JOG_STOP"); }; return
-

Axis:

{["x", "y", "z", "a", "b", "c", "u", "v", "w"].map((axis) => )}
+

Axis:

{["x", "y", "z", "a", "c"].map((axis) => )}

Jog:

jog(-1)} onPointerUp={stopJog} onPointerCancel={stopJog} onPointerLeave={stopJog} ariaLabel={`Jog ${selectedAxis.toUpperCase()} negative`}>- jog(1)} onPointerUp={stopJog} onPointerCancel={stopJog} onPointerLeave={stopJog} ariaLabel={`Jog ${selectedAxis.toUpperCase()} positive`}>+Stop
action("HOME", { axis: selectedAxis })}>Home AxisHome All action("MDI_EXECUTE", { block: `G92 ${selectedAxis.toUpperCase()}0` })}>Touch Off action("MDI_EXECUTE", { block: "G43" })}>Tool Touch Off

Spindle:

onSpindle(-1)} /> onSpindle(0)}>Stop onSpindle(1)} />
action("SPINDLE_COMMAND", { spindle: 0, delta: -100 })}>- action("SPINDLE_COMMAND", { spindle: 0, delta: 100 })}>+

Coolant:

@@ -63,13 +79,13 @@ function MdiControl({ action, ready }: { action: Action; ready: boolean }) { } function DroView({ axes, state, coordType, displayType, metric, setCoordType, setDisplayType, setMetric }: { axes: number[]; state: typeof INITIAL_STATE; coordType: "machine" | "relative"; displayType: "actual" | "commanded"; metric: boolean; setCoordType: (value: "machine" | "relative") => void; setDisplayType: (value: "actual" | "commanded") => void; setMetric: (value: boolean) => void }) { - const labels = ["X", "Y", "Z", "A", "B", "C", "U", "V", "W"]; + const labels = ["X", "Y", "Z", "A", "C"]; const scale = metric ? 1 : 1 / 25.4; - const format = (value: number) => (value * scale).toFixed(4); + const format = (value: number, index: number) => (value * (index < 3 ? scale : 1)).toFixed(4); const pose = (state.snapshot?.visual?.pose ?? state.snapshot?.authoritative?.kinematics?.pose) as Record | undefined; - const commanded = [pose?.x, pose?.y, pose?.z].map((value, index) => Number.isFinite(value) ? Number(value) : Number(axes[index] ?? 0)); - const relative = state.snapshot?.coordinates?.relative ?? [0, 0, 0]; - return
Position
DisplayedActualRelative
{labels.slice(0, Math.max(3, axes.length)).map((label, index) => { const actual = Number(axes[index] ?? 0); const target = Number(commanded[index] ?? actual); const relativeValue = Number(relative[index] ?? actual); const displayed = displayType === "commanded" ? target : actual; return
{label}{format(coordType === "relative" ? relativeValue : displayed)}{format(actual)}{format(relativeValue)}
; })}
Units: {metric ? "mm" : "inch"}{coordType} / {displayType}Tick: {state.tick}Hash: {state.snapshot?.state_hash?.slice(0, 12) || "-"}
; + const commanded = [pose?.x, pose?.y, pose?.z, pose?.a, pose?.c].map((value, index) => Number.isFinite(value) ? Number(value) : Number(axes[index] ?? 0)); + const relative = state.snapshot?.coordinates?.relative ?? [0, 0, 0, 0, 0]; + return
Position
DisplayedActualRelative
{labels.map((label, index) => { const actual = Number(axes[index] ?? 0); const target = Number(commanded[index] ?? actual); const relativeValue = Number(relative[index] ?? actual); const displayed = displayType === "commanded" ? target : actual; return
{label}{format(coordType === "relative" ? relativeValue : displayed, index)}{format(actual, index)}{format(relativeValue, index)}
; })}
Units: {metric ? "mm" : "inch"} / deg{coordType} / {displayType}Tick: {state.tick}Hash: {state.snapshot?.state_hash?.slice(0, 12) || "-"}
; } function ProgramPane({ text, setText, activeGcodes, onLoad, onRun, onStep, onOpenFile, canLoad, canRun, canStep, currentLine, diagnostic }: { text: string; setText: (text: string) => void; activeGcodes: string; onLoad: () => void; onRun: () => void; onStep: () => void; onOpenFile: () => void; canLoad: boolean; canRun: boolean; canStep: boolean; currentLine: number | null; diagnostic: string | null }) { @@ -94,7 +110,7 @@ export function App() { const client = useMemo(() => new ReactWorkerClient(), []); const operationController = useMemo(() => new AxisOperationController(client), [client]); const [state, setState] = useState(INITIAL_STATE); - const [casePath, setCasePath] = useState(DEFAULT_CASE); + const [casePath, setCasePath] = useState(DEFAULT_CASE); const [caseStatus, setCaseStatus] = useState("ready to load"); const [commandStatus, setCommandStatus] = useState("Idle"); const [programText, setProgramText] = useState(DEFAULT_PROGRAM); @@ -112,12 +128,16 @@ export function App() { const [layers, setLayers] = useState({ grid: true, tool: true, path: true, live: true, limits: false, velocity: false, offsets: false, extents: false }); const runTimer = useRef | null>(null); const jogTimer = useRef | null>(null); + const runStepPending = useRef(false); + const jogStepPending = useRef(false); const programFileInput = useRef(null); const [plotCleared, setPlotCleared] = useState(false); - useEffect(() => { const unsubscribe = client.subscribe((message) => setState((previous) => reduceFrontendState(previous, message))); client.ensureSession().then(async () => { const bundle = await loadSimulationCase({ path: DEFAULT_CASE, baseUrl: "." }); const source = bundle.files?.[PROGRAM_PATH]; if (typeof source !== "string" || !source.trim()) throw new Error("tutorial_program_missing"); setProgramText(source.replace(/\r\n/g, "\n").trimEnd()); const configuration = toWorkerConfiguration(bundle); await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration }, { state: {}, gate: false }); await operationController.execute("PROGRAM_LOAD", { source, path: PROGRAM_PATH }, { state: {}, gate: false }); setCaseStatus(`${DEFAULT_CASE} + ${PROGRAM_PATH} loaded`); }).catch((error: Error) => { setCommandStatus(`Error: ${error.message}`); setCaseStatus(`blocked: ${error.message}`); }); return () => { unsubscribe(); if (runTimer.current) clearInterval(runTimer.current); if (jogTimer.current) clearInterval(jogTimer.current); client.close(); }; }, [client, operationController]); + const [operationTrace, setOperationTrace] = useState([]); + useEffect(() => { const unsubscribe = client.subscribe((message) => setState((previous) => reduceFrontendState(previous, message))); client.ensureSession().then(async () => { const bundle = await loadSimulationCase({ path: DEFAULT_CASE, baseUrl: "." }); if (bundle.status !== "ready") throw new Error(`xyzac_case_blocked:${bundle.missing.join(",")}`); const source = bundle.files?.[PROGRAM_PATH]; if (typeof source !== "string" || !source.trim()) throw new Error("xyzac_demo_program_missing"); setProgramText(source.replace(/\r\n/g, "\n").trimEnd()); const configuration = toWorkerConfiguration(bundle); await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration }, { state: {}, gate: false }); await operationController.execute("PROGRAM_LOAD", { source, path: PROGRAM_PATH }, { state: {}, gate: false }); setOperationTrace(operationController.exportTrace()); setCaseStatus(`${DEFAULT_CASE} + ${PROGRAM_PATH} loaded`); }).catch((error: Error) => { setOperationTrace(operationController.exportTrace()); setCommandStatus(`Error: ${error.message}`); setCaseStatus(`blocked: ${error.message}`); }); return () => { unsubscribe(); if (runTimer.current) clearInterval(runTimer.current); if (jogTimer.current) clearInterval(jogTimer.current); client.close(); }; }, [client, operationController]); const axes = state.snapshot?.motion?.axes ?? [0, 0, 0]; const taskRecord = state.task ?? {}; - const axisState = { task: { ...taskRecord, state: taskRecord.state ?? "OFF", mode: taskRecord.mode ?? "MANUAL", interp_state: taskRecord.interp_state ?? (state.status === "running" ? "READING" : state.status === "paused" ? "PAUSED" : "IDLE") }, program: state.program ?? {}, motion: state.snapshot?.motion ?? {}, devices: state.devices ?? {}, gates: state.gates }; + const axisState = { task: { ...taskRecord, state: taskRecord.state ?? "OFF", mode: taskRecord.mode ?? "MANUAL", interp_state: taskRecord.interp_state ?? (state.status === "running" ? "READING" : state.status === "paused" ? "PAUSED" : "IDLE") }, program: state.program ?? {}, motion: state.snapshot?.motion ?? {}, devices: state.devices ?? {}, xyzac: state.snapshot?.xyzac ?? {}, gates: state.gates }; + const xyzacView = useMemo(() => projectXyzacPanel(state.snapshot), [state.snapshot]); const machineState = state.axisState?.machine_state ?? (String(taskRecord.state ?? "OFF").toUpperCase() === "ESTOP" ? "ESTOP" : ["READY", "RUNNING", "PAUSED", "STOPPED"].includes(String(taskRecord.state ?? "").toUpperCase()) ? "ON" : "OFF"); const operationState = state.axisState?.operation_state ?? (state.status === "running" ? "RUNNING" : state.status === "paused" ? "PAUSED" : "IDLE"); const taskState = state.axisState?.state ?? (machineState === "ESTOP" ? "ESTOP" : operationState === "RUNNING" ? "RUNNING" : operationState === "PAUSED" ? "PAUSED" : machineState === "ON" ? "IDLE" : "OFF"); @@ -133,11 +153,14 @@ export function App() { const trajectory = [...(planner?.queue ?? []), ...(planner?.active ? [planner.active] : [])]; const stopRunTimer = () => { if (runTimer.current) { clearInterval(runTimer.current); runTimer.current = null; } }; const stopJogTimer = () => { if (jogTimer.current) { clearInterval(jogTimer.current); jogTimer.current = null; } }; - const startJogTimer = () => { if (jogTimer.current) return; jogTimer.current = setInterval(() => { operationController.execute("SIM_STEP", { cycles: 1 }, { state: axisState, gate: false }).catch(() => undefined); }, 50); }; - const startRunTimer = () => { if (runTimer.current) return; runTimer.current = setInterval(() => { operationController.execute("SIM_STEP", { cycles: 1 }, { state: axisState, gate: false }).catch(() => undefined); }, 50); }; - const dispatch = (kind: string, payload: Record = {}, gate = true): Promise => { + const startJogTimer = () => { if (jogTimer.current) return; jogTimer.current = setInterval(() => { if (jogStepPending.current) return; jogStepPending.current = true; operationController.execute("SIM_STEP", { cycles: 1 }, { state: axisState, gate: false }).catch(() => undefined).finally(() => { jogStepPending.current = false; }); }, 50); }; + const startRunTimer = () => { if (runTimer.current) return; runTimer.current = setInterval(() => { if (runStepPending.current) return; runStepPending.current = true; operationController.execute("SIM_STEP", { cycles: 5 }, { state: axisState, gate: false }).catch(() => undefined).finally(() => { runStepPending.current = false; }); }, 50); }; + const dispatch = (kind: string, payload: Record = {}, gate = true, action: string | null = null): Promise => { setCommandStatus(`${kind} pending`); - return operationController.execute(kind, payload, { state: axisState, gate }).then(() => { setCommandStatus(`${kind} acknowledged`); if (kind === "PROGRAM_RUN") startRunTimer(); if (kind === "PROGRAM_ABORT" || kind === "PROGRAM_RESTART") stopRunTimer(); if (kind === "JOG_START") startJogTimer(); if (kind === "JOG_STOP") stopJogTimer(); }).catch((error: Error) => { + const pending = operationController.execute(kind, payload, { state: axisState, gate, ...(action ? { action } : {}) }); + setOperationTrace(operationController.exportTrace()); + return pending.then(() => { setOperationTrace(operationController.exportTrace()); setCommandStatus(`${kind} acknowledged`); if (kind === "PROGRAM_RUN") startRunTimer(); if (kind === "PROGRAM_ABORT" || kind === "PROGRAM_RESTART") stopRunTimer(); if (kind === "JOG_START") startJogTimer(); if (kind === "JOG_STOP") stopJogTimer(); }).catch((error: Error) => { + setOperationTrace(operationController.exportTrace()); const code = error instanceof AxisGateError ? error.code : error.message; setCommandStatus(`${kind} blocked: ${code}`); throw error; @@ -146,11 +169,20 @@ export function App() { const execute: Action = (kind, payload = {}) => dispatch(kind, payload).catch(() => undefined); const runProgram = () => { void dispatch("PROGRAM_RUN").catch(() => undefined); }; const stopProgram = () => { const wasRunning = Boolean(runTimer.current) || gates.abort.enabled; stopRunTimer(); if (wasRunning) void dispatch("PROGRAM_ABORT", {}, gates.abort.enabled).catch(() => undefined); }; - const toggleEstop = () => { if (!isEstop) { void dispatch("ESTOP", { active: true }).catch(() => undefined); return; } void dispatch("ESTOP", { active: false }).then(() => dispatch("IO_RECOVER")).catch(() => undefined); }; - const powerOn = () => { const recover = () => dispatch("IO_RECOVER"); if (isEstop) void dispatch("ESTOP", { active: false }).then(recover).catch(() => undefined); else void recover().catch(() => undefined); }; + const emergencyStop = () => { stopRunTimer(); stopJogTimer(); void dispatch("ESTOP", { active: true }, false).catch(() => undefined); }; + const releaseEstop = () => dispatch("ESTOP", { active: false }, false).then(() => dispatch("IO_RECOVER", {}, false)); + const toggleEstop = () => { if (!isEstop) { emergencyStop(); return; } void releaseEstop().catch(() => undefined); }; + const powerOn = () => { const power = () => dispatch("POWER", { active: true }, false); if (isEstop) void releaseEstop().then(power).catch(() => undefined); else void power().catch(() => undefined); }; const resetMachine = () => { stopRunTimer(); stopJogTimer(); const reset = () => dispatch("RESET", {}, false); if (programRunning) void dispatch("PROGRAM_ABORT").then(() => isEstop ? dispatch("ESTOP", { active: false }) : Promise.resolve()).then(reset).catch(() => undefined); else if (isEstop) void dispatch("ESTOP", { active: false }).then(reset).catch(() => undefined); else void reset().catch(() => undefined); }; - const homeAll = () => { void dispatch("HOME", { axis: "z" }).then(() => dispatch("HOME", { axis: "x" })).then(() => dispatch("HOME", { axis: "y" })).catch(() => undefined); }; - const loadCase = async () => { setCaseStatus("loading session..."); try { await client.ensureSession(); setCaseStatus("loading exact case..."); const bundle = await loadSimulationCase({ path: casePath, baseUrl: "." }); if (bundle.status !== "ready") { setCaseStatus(`blocked: ${bundle.missing.join(", ")}`); return; } setCaseStatus("starting exact case..."); const operation = await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }, { state: axisState, gate: false }); const resultPayload = (operation.response as { payload?: { configuration?: { state?: string } } }).payload; const source = bundle.files?.[PROGRAM_PATH]; if (typeof source === "string" && source.trim()) { setProgramText(source.replace(/\r\n/g, "\n").trimEnd()); setPlotCleared(false); await operationController.execute("PROGRAM_LOAD", { source, path: PROGRAM_PATH }, { state: axisState, gate: false }); setCaseStatus(`${bundle.entrypoint} + ${PROGRAM_PATH} -> READY`); } else { setCaseStatus(`${bundle.entrypoint} -> ${resultPayload?.configuration?.state ?? "READY"} (no program)`); } } catch (error) { setCaseStatus(`blocked: ${error instanceof Error ? error.message : "case_load_failed"}`); } }; + const homeAll = () => { void dispatch("HOME", { all: true }).catch(() => undefined); }; + const runStartupSequence = () => { + const release = isEstop ? releaseEstop() : Promise.resolve(); + void release.then(() => dispatch("POWER", { active: true }, false)) + .then(() => dispatch("HOME", { all: true }, false)) + .then(() => dispatch("PROGRAM_RUN", {}, false)) + .catch(() => undefined); + }; + const loadCase = async () => { setCaseStatus("loading session..."); try { await client.ensureSession(); setCaseStatus("loading exact XYZAC case..."); const bundle = await loadSimulationCase({ path: casePath, baseUrl: "." }); if (bundle.status !== "ready") { setCaseStatus(`blocked: ${bundle.missing.join(", ")}`); return; } const source = bundle.files?.[PROGRAM_PATH]; if (typeof source !== "string" || !source.trim()) throw new Error("xyzac_demo_program_missing"); setCaseStatus("starting exact case..."); const operation = await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }, { state: axisState, gate: false }); const resultPayload = (operation.response as { payload?: { configuration?: { state?: string } } }).payload; setProgramText(source.replace(/\r\n/g, "\n").trimEnd()); setPlotCleared(false); await operationController.execute("PROGRAM_LOAD", { source, path: PROGRAM_PATH }, { state: axisState, gate: false }); setOperationTrace(operationController.exportTrace()); setCaseStatus(`${bundle.entrypoint} + ${PROGRAM_PATH} -> ${resultPayload?.configuration?.state ?? "READY"}`); } catch (error) { setOperationTrace(operationController.exportTrace()); setCaseStatus(`blocked: ${error instanceof Error ? error.message : "case_load_failed"}`); } }; const openProgramFile = () => programFileInput.current?.click(); const onProgramFile = async (event: React.ChangeEvent) => { const file = event.target.files?.[0]; event.target.value = ""; if (!file) return; const source = await file.text(); setProgramText(source); setPlotCleared(false); setCommandStatus(`${file.name} loaded in editor; press Load to send it to LinuxCNC`); }; const enterManualMode = () => { setLeftTab("manual"); if (String(axisState.task.mode).toUpperCase() !== "MANUAL") void dispatch("SET_MODE", { mode: "MANUAL" }, false).catch(() => undefined); }; @@ -159,7 +191,7 @@ export function App() { const target = event.target as HTMLElement | null; if (target && ["INPUT", "TEXTAREA", "SELECT"].includes(target.tagName)) return; const key = event.key.toLowerCase(); - if (event.ctrlKey && key === "k") { event.preventDefault(); setCommandStatus("Live plot cleared"); return; } + if (event.ctrlKey && key === "k") { event.preventDefault(); void dispatch("VISUAL_CLEAR", {}, true, "vismachClear").then(() => setPlotCleared(true)).catch(() => undefined); return; } if (key === "f3") { event.preventDefault(); enterManualMode(); return; } if (key === "f5") { event.preventDefault(); setLeftTab("mdi"); return; } if (key === "f1") { event.preventDefault(); toggleEstop(); return; } @@ -176,7 +208,7 @@ export function App() { useEffect(() => { const wasmQueueDepth = Number((state.snapshot?.wasm_motion as { state?: { queue_depth?: number } } | undefined)?.state?.queue_depth ?? 0); const programComplete = String(state.program?.program_status ?? "") === "completed" && wasmQueueDepth === 0; - if (!programRunning || programComplete) stopRunTimer(); + if (programRunning && !programComplete) startRunTimer(); else stopRunTimer(); if (!ready) { stopRunTimer(); stopJogTimer(); } }, [programRunning, ready, state.program?.program_status, state.snapshot?.wasm_motion]); const spindleOn = Boolean((state.devices as Record | null)?.spindles?.[0]?.enabled); @@ -185,15 +217,21 @@ export function App() { const onCoolant = (key: "mist" | "flood") => { const next = { ...coolant, [key]: !coolant[key] }; execute("COOLANT_COMMAND", { mist: next.mist, flood: next.flood, lube: false }); }; const activeGcodes = state.program?.active_gcodes ? String(state.program.active_gcodes) : "G21 G90\nG17 G40 G49\nG54 G64\nM5 M9"; const toolNumber = String((state.devices as Record | null)?.tool?.current ?? state.snapshot?.tool?.current ?? 0); - const position = `X${Number(axes[0] ?? 0).toFixed(3)} Y${Number(axes[1] ?? 0).toFixed(3)} Z${Number(axes[2] ?? 0).toFixed(3)}`; + const currentLine = Number(state.program?.line ?? state.task?.current_line ?? 0) || null; + const homedAxes = Array.isArray(state.snapshot?.motion?.homed_axes) ? state.snapshot.motion.homed_axes : []; + const allHomed = homedAxes.length >= 5 && homedAxes.slice(0, 5).every(Boolean); + const xyzacCommand = (kind: string, payload: Record = {}, action?: string) => { void dispatch(kind, payload, true, action ?? null).then(() => { if (kind === "VISUAL_CLEAR") setPlotCleared(true); }).catch(() => undefined); }; + const position = `X${Number(xyzacView.pose?.x ?? axes[0] ?? 0).toFixed(3)} Y${Number(xyzacView.pose?.y ?? axes[1] ?? 0).toFixed(3)} Z${Number(xyzacView.pose?.z ?? axes[2] ?? 0).toFixed(3)} A${Number(xyzacView.pose?.a ?? 0).toFixed(3)} C${Number(xyzacView.pose?.c ?? 0).toFixed(3)}`; return
AXIS AXISLinuxCNC Web/WASM
{state.status.toUpperCase()}{taskState}
-
{ setProgramText(DEFAULT_PROGRAM); setPlotCleared(false); }} /> execute("PROGRAM_STEP")} /> execute(programPaused ? "PROGRAM_RESUME" : "PROGRAM_PAUSE")} /> setBlockDelete((value) => !value)} /> setOptionalStop((value) => !value)} /> setZoom((value) => Math.min(2, value + .2))} /> setZoom((value) => Math.max(.5, value - .2))} /> { setView("z"); setRightTab("preview"); }} /> { setView("z2"); setRightTab("preview"); }} /> { setView("x"); setRightTab("preview"); }} /> { setView("y"); setRightTab("preview"); }} /> { setView("y2"); setRightTab("preview"); }} /> { setView("p"); setRightTab("preview"); }} /> setRotateMode((value) => !value)} /> { setPlotCleared(true); setCommandStatus("Live plot cleared"); }} />
-
Load case{caseStatus}{commandStatus}
-
+
{ setProgramText(DEFAULT_PROGRAM); setPlotCleared(false); }} /> execute("PROGRAM_STEP")} /> execute(programPaused ? "PROGRAM_RESUME" : "PROGRAM_PAUSE")} /> setBlockDelete((value) => !value)} /> setOptionalStop((value) => !value)} /> setZoom((value) => Math.min(2, value + .2))} /> setZoom((value) => Math.max(.5, value - .2))} /> { setView("z"); setRightTab("preview"); }} /> { setView("z2"); setRightTab("preview"); }} /> { setView("x"); setRightTab("preview"); }} /> { setView("y"); setRightTab("preview"); }} /> { setView("y2"); setRightTab("preview"); }} /> { setView("p"); setRightTab("preview"); }} /> setRotateMode((value) => !value)} /> xyzacCommand("VISUAL_CLEAR", {}, "vismachClear")} />
+
Load case{caseStatus}{commandStatus}
+ { void releaseEstop().catch(() => undefined); }} onPower={powerOn} onHomeAll={homeAll} onRun={runProgram} onSequence={runStartupSequence} /> + +
{(["path", "live", "limits", "velocity", "offsets", "extents"] as const).map((layer) => )}
- { setPlotCleared(false); execute("PROGRAM_LOAD", { source: programText, path: "main.ngc" }); }} onRun={runProgram} onStep={() => execute("PROGRAM_STEP")} canLoad={gates.load.enabled} canRun={gates.run.enabled} canStep={gates.step.enabled} currentLine={Number(state.program?.line ?? state.task?.current_line ?? 0) || null} diagnostic={state.error?.code ?? null} /> + { setPlotCleared(false); execute("PROGRAM_LOAD", { source: programText, path: PROGRAM_PATH }); }} onRun={runProgram} onStep={() => execute("PROGRAM_STEP")} canLoad={gates.load.enabled} canRun={gates.run.enabled} canStep={gates.step.enabled} currentLine={currentLine} diagnostic={state.error?.code ?? null} />
{taskState}Machine {machineState}Operation {operationState}Tool {toolNumber}{position}{state.error ? `Error: ${state.error.code}` : commandStatus}
; diff --git a/web/react/src/XyzacMachineView.tsx b/web/react/src/XyzacMachineView.tsx new file mode 100644 index 0000000..a0945cd --- /dev/null +++ b/web/react/src/XyzacMachineView.tsx @@ -0,0 +1,115 @@ +import { useEffect, useRef } from "react"; +import * as THREE from "three"; +import { projectXyzacVisual, type XyzacVisualSource, type XyzacVisualState } from "./xyzac-visual-adapter"; + +type Point = Record; +type Segment = { id?: number; active?: boolean; motion_type?: number; turn?: number; center?: Point; normal?: Point; samples?: Point[]; start?: Point; end?: Point }; +type Props = { visual: XyzacVisualState; toolpath?: Segment[]; view?: "z" | "z2" | "x" | "y" | "y2" | "p"; zoom?: number; rotateMode?: boolean; showPath?: boolean; showLive?: boolean; showLimits?: boolean; showVelocity?: boolean; showOffsets?: boolean; showExtents?: boolean }; + +const DEG = Math.PI / 180; +const MM = 0.01; + +function material(color: number) { return new THREE.MeshStandardMaterial({ color, roughness: .78, metalness: .12 }); } +function sourcePosition(x: number, y: number, z: number) { return new THREE.Vector3(x * MM, z * MM, y * MM); } +function sourceBox(width: number, depth: number, height: number, color: number) { return new THREE.Mesh(new THREE.BoxGeometry(width * MM, height * MM, depth * MM), material(color)); } +function sourceCylinderZ(radius: number, height: number, color: number) { return new THREE.Mesh(new THREE.CylinderGeometry(radius * MM, radius * MM, height * MM, 32), material(color)); } +function translate(name: string, object: THREE.Object3D, x: number, y: number, z: number) { object.name = name; object.position.copy(sourcePosition(x, y, z)); return object; } + +export function XyzacMachineView({ visual, toolpath, view = "p", zoom = 1, rotateMode = false, showPath = true, showLive = true, showLimits = false, showVelocity = false, showOffsets = false, showExtents = false }: Props) { + const host = useRef(null); + const visualRef = useRef(visual); visualRef.current = visual; + const toolpathRef = useRef(toolpath); toolpathRef.current = toolpath; + const viewRef = useRef(view); viewRef.current = view; + const zoomRef = useRef(zoom); zoomRef.current = zoom; + const rotateRef = useRef(rotateMode); rotateRef.current = rotateMode; + const layersRef = useRef({ showPath, showLive, showLimits, showVelocity, showOffsets, showExtents }); + layersRef.current = { showPath, showLive, showLimits, showVelocity, showOffsets, showExtents }; + + useEffect(() => { + const element = host.current; + if (!element) return; + const scene = new THREE.Scene(); + scene.background = new THREE.Color(0x081017); + scene.add(new THREE.HemisphereLight(0xe6f2ff, 0x202830, 1.65)); + const key = new THREE.DirectionalLight(0xffffff, 2.1); key.position.set(5, 8, 10); scene.add(key); + const camera = new THREE.PerspectiveCamera(38, 1, .1, 100); + const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: false, preserveDrawingBuffer: true }); + renderer.setPixelRatio(Math.min(globalThis.devicePixelRatio || 1, 2)); + renderer.domElement.dataset.engine = "three.js r185 / xyzac-trt-vismach"; + element.appendChild(renderer.domElement); + + const machine = new THREE.Group(); machine.name = "xyzac-machine"; scene.add(machine); + machine.add(translate("base", sourceBox(240, 260, 150, 0x43616b), 0, 30, -175)); + machine.add(translate("column", sourceBox(100, 100, 510, 0x3b7a72), 0, 150, 5)); + const head = new THREE.Group(); head.name = "head"; head.position.copy(sourcePosition(0, 0, 200)); machine.add(head); + head.add(translate("head-body", sourceBox(60, 60, 135, 0x277c83), 0, 0, 87.5)); + head.add(translate("motor", sourceCylinderZ(30, 65, 0x277c83), 0, 200, 165)); + const spindle = new THREE.Group(); spindle.name = "spindle"; spindle.position.copy(sourcePosition(0, 0, 20)); head.add(spindle); + spindle.add(translate("spindle-housing", sourceCylinderZ(20, 135, 0x31888d), 0, 0, 67.5)); + spindle.add(translate("spindle-nose", sourceCylinderZ(10, 20, 0x4da0a0), 0, 0, 10)); + const tool = new THREE.Group(); tool.name = "tool-offset"; spindle.add(tool); + tool.add(translate("tool-holder", sourceCylinderZ(6, 70, 0x9da7a8), 0, 0, 35)); + tool.add(translate("tool", sourceCylinderZ(3, 70, 0xd85f4a), 0, 0, 105)); + + const zslide = new THREE.Group(); zslide.name = "spindle-z"; machine.add(zslide); + const saddle = new THREE.Group(); saddle.name = "saddle-y"; zslide.add(saddle); + saddle.add(translate("saddle-body", sourceBox(150, 106, 32, 0x8b9697), 0, 0, -89)); + saddle.add(translate("z-slide", sourceBox(100, 220, 75, 0xb8bdbe), 0, 10, -142.5)); + const tableX = new THREE.Group(); tableX.name = "table-x"; saddle.add(tableX); + tableX.add(translate("table-bed", sourceBox(300, 100, 17, 0x686f72), 0, 0, -60.5)); + tableX.add(translate("ways", sourceBox(300, 80, 6, 0x50575a), 0, 0, -72)); + const tilt = new THREE.Group(); tilt.name = "tilt-a"; tableX.add(tilt); + const yOffset = 20; const zOffset = 10; + tilt.position.copy(sourcePosition(0, yOffset, zOffset)); + tilt.rotation.x = 0; + const rotate = new THREE.Group(); rotate.name = "rotate-c"; tilt.add(rotate); + rotate.position.copy(sourcePosition(0, -yOffset, -zOffset)); + rotate.add(translate("trunnion", sourceBox(145, 80, 35, 0xb17540), 0, 0, -30)); + rotate.add(translate("table", sourceCylinderZ(50, 18, 0xb17540), 0, 0, -9)); + rotate.rotation.y = 0; + const yoke = new THREE.Group(); yoke.name = "yoke"; tilt.add(yoke); + yoke.add(translate("yoke-plate", sourceBox(130, 80, 10, 0xb17540), 0, 0, -30)); + const brackets = new THREE.Group(); brackets.name = "brackets"; tableX.add(brackets); + brackets.position.copy(sourcePosition(0, yOffset, zOffset)); + brackets.add(translate("bracket-left", sourceBox(10, 80, 50, 0x9b6b3b), -72, 0, -25)); + brackets.add(translate("bracket-right", sourceBox(10, 80, 50, 0x9b6b3b), 72, 0, -25)); + const pathGroup = new THREE.Group(); pathGroup.name = "xyzac-toolpath"; scene.add(pathGroup); + const liveGroup = new THREE.Group(); liveGroup.name = "xyzac-live-toolpath"; scene.add(liveGroup); + const overlayGroup = new THREE.Group(); overlayGroup.name = "xyzac-overlays"; scene.add(overlayGroup); + const resize = () => { const width = Math.max(element.clientWidth, 280); const height = Math.max(element.clientHeight, 260); camera.aspect = width / height; camera.updateProjectionMatrix(); renderer.setSize(width, height, false); }; + const observer = new ResizeObserver(resize); observer.observe(element); resize(); + + const toView = (point: Point) => new THREE.Vector3(Number(point.x ?? 0) * MM, Number(point.z ?? 0) * MM, Number(point.y ?? 0) * MM); + let frame = 0; + const render = () => { + const state = visualRef.current; const [tableXJoint, saddleYJoint, spindleZJoint, tiltAJoint, rotateCJoint] = state.joints; + tableX.position.x = -tableXJoint * MM; saddle.position.z = -saddleYJoint * MM; zslide.position.y = (200 - spindleZJoint) * MM; + tilt.rotation.x = -tiltAJoint * DEG; rotate.rotation.y = -rotateCJoint * DEG; tool.position.y = -state.offsets.tool_offset * MM; + pathGroup.clear(); liveGroup.clear(); + const completed = new THREE.LineBasicMaterial({ color: 0xdce7e8 }); const active = new THREE.LineBasicMaterial({ color: 0xff9a55 }); const rapid = new THREE.LineBasicMaterial({ color: 0x5c9d9a }); + for (const raw of (toolpathRef.current && toolpathRef.current.length > 0 ? toolpathRef.current : state.toolpath) as Segment[]) { + const start = raw.start ?? {}; const end = raw.end ?? {}; + const points = Array.isArray(raw.samples) && raw.samples.length > 1 ? raw.samples.map(toView) : [toView(start), toView(end)]; + const group = raw.active || raw.id === state.activeSegmentId ? liveGroup : pathGroup; const line = new THREE.Line(new THREE.BufferGeometry().setFromPoints(points), raw.active || raw.id === state.activeSegmentId ? active : raw.motion_type === 0 ? rapid : completed); group.add(line); + } + const layer = layersRef.current; + pathGroup.visible = layer.showPath; liveGroup.visible = layer.showLive; + overlayGroup.clear(); + if (layer.showLimits) { const limits = new THREE.LineSegments(new THREE.EdgesGeometry(new THREE.BoxGeometry(4, 2, 3)), new THREE.LineBasicMaterial({ color: 0xdd7566 })); limits.position.set(0, .8, 0); overlayGroup.add(limits); } + if (layer.showOffsets) { const offset = new THREE.AxesHelper(1.8); offset.name = "xyzac-offset-axes"; offset.position.set(state.offsets.x_rot_point * MM, state.offsets.z_offset * MM, state.offsets.y_offset * MM); overlayGroup.add(offset); } + overlayGroup.visible = layer.showLimits || layer.showOffsets || layer.showExtents || layer.showVelocity; + const distance = 9 / Math.max(.5, zoomRef.current); const selected = viewRef.current; + if (selected === "z") camera.position.set(0, distance, .01); else if (selected === "z2") camera.position.set(distance * .3, distance * .9, distance * .3); else if (selected === "x") camera.position.set(distance, 2, .01); else if (selected === "y") camera.position.set(.01, 2, distance); else if (selected === "y2") camera.position.set(.01, 2, -distance); else camera.position.set(6 / Math.max(.5, zoomRef.current), 5 / Math.max(.5, zoomRef.current), 7 / Math.max(.5, zoomRef.current)); + camera.lookAt(0, 0, 0); scene.rotation.y = rotateRef.current ? (performance.now() / 5000) % (Math.PI * 2) : 0; renderer.render(scene, camera); frame = requestAnimationFrame(render); + }; + render(); + return () => { cancelAnimationFrame(frame); observer.disconnect(); renderer.dispose(); element.replaceChildren(); }; + }, []); + + const pose = visual.pose; + return 
{`XYZAC TRT\nX ${Number(pose.x).toFixed(3)}  Y ${Number(pose.y).toFixed(3)}  Z ${Number(pose.z).toFixed(3)}\nA ${Number(pose.a).toFixed(3)}  C ${Number(pose.c).toFixed(3)}\nJ ${visual.joints.map((value) => Number(value).toFixed(2)).join(" ")}\nTick ${visual.tick}\nHash ${visual.stateHash.slice(0, 18)}`}
; +} + +export function XyzacMachineViewFromSnapshot({ snapshot, toolpath, ...props }: Omit & { snapshot: XyzacVisualSource | null | undefined }) { + return ; +} diff --git a/web/react/src/XyzacToolPreview.tsx b/web/react/src/XyzacToolPreview.tsx new file mode 100644 index 0000000..706e3cd --- /dev/null +++ b/web/react/src/XyzacToolPreview.tsx @@ -0,0 +1,258 @@ +import { useEffect, useRef } from "react"; +import * as THREE from "three"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js"; +import { projectXyzacVisual, type XyzacVisualSource, type XyzacVisualState } from "./xyzac-visual-adapter"; + +type Point = Record; +type Segment = { id?: number; active?: boolean; kind?: string; motion_type?: number; kinematics_mode?: number; turn?: number; center?: Point; normal?: Point; samples?: Point[]; start?: Point; end?: Point }; +type Props = { visual: XyzacVisualState; view?: "z" | "z2" | "x" | "y" | "y2" | "p"; zoom?: number; rotateMode?: boolean; showPath?: boolean; showLive?: boolean; showLimits?: boolean; showVelocity?: boolean; showOffsets?: boolean; showExtents?: boolean }; + +const DEG = Math.PI / 180; +const MM = 0.01; +const sourcePoint = (point: Point) => new THREE.Vector3(Number(point.x ?? 0) * MM, Number(point.z ?? 0) * MM, Number(point.y ?? 0) * MM); + +export function XyzacToolPreview({ visual, view = "p", zoom = 1, rotateMode = false, showPath = true, showLive = true, showLimits = false, showVelocity = false, showOffsets = false, showExtents = false }: Props) { + const host = useRef(null); + const hudRef = useRef(null); + const visualRef = useRef(visual); visualRef.current = visual; + const viewRef = useRef(view); viewRef.current = view; + const zoomRef = useRef(zoom); zoomRef.current = zoom; + const rotateRef = useRef(rotateMode); rotateRef.current = rotateMode; + const layersRef = useRef({ showPath, showLive, showLimits, showVelocity, showOffsets, showExtents }); + layersRef.current = { showPath, showLive, showLimits, showVelocity, showOffsets, showExtents }; + + useEffect(() => { + const element = host.current; + if (!element) return; + const scene = new THREE.Scene(); + scene.background = new THREE.Color(0x050a0e); + scene.add(new THREE.HemisphereLight(0xdcecff, 0x121820, 1.4)); + const camera = new THREE.PerspectiveCamera(40, 1, 0.01, 100); + const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: false, preserveDrawingBuffer: true }); + renderer.setPixelRatio(Math.min(globalThis.devicePixelRatio || 1, 2)); + renderer.domElement.dataset.engine = "three.js r185 / xyzac-tool-preview"; + element.appendChild(renderer.domElement); + const controls = new OrbitControls(camera, renderer.domElement); + controls.enableDamping = true; + controls.dampingFactor = .12; + controls.enableZoom = true; + controls.enablePan = true; + controls.enableRotate = true; + controls.screenSpacePanning = true; + controls.target.set(0, 0, 0); + const originGroup = new THREE.Group(); originGroup.name = "xyzac-origin-coordinate-system"; scene.add(originGroup); + const origin = new THREE.Mesh(new THREE.SphereGeometry(.035, 12, 8), new THREE.MeshBasicMaterial({ color: 0xffffff })); origin.name = "xyzac-origin"; originGroup.add(origin); + const originAxes = [ + { label: "X", direction: new THREE.Vector3(1, 0, 0), color: 0xe5534b, position: new THREE.Vector3(.72, 0, 0) }, + { label: "Y", direction: new THREE.Vector3(0, 0, 1), color: 0x55b86a, position: new THREE.Vector3(0, 0, .72) }, + { label: "Z", direction: new THREE.Vector3(0, 1, 0), color: 0x4d8fe8, position: new THREE.Vector3(0, .72, 0) }, + ]; + for (const axis of originAxes) { + const arrow = new THREE.ArrowHelper(axis.direction, new THREE.Vector3(), .62, axis.color, .1, .055); arrow.name = `xyzac-origin-axis-${axis.label.toLowerCase()}`; originGroup.add(arrow); + const labelCanvas = document.createElement("canvas"); labelCanvas.width = 96; labelCanvas.height = 48; + const labelContext = labelCanvas.getContext("2d"); + if (labelContext) { labelContext.clearRect(0, 0, labelCanvas.width, labelCanvas.height); labelContext.fillStyle = `#${axis.color.toString(16).padStart(6, "0")}`; labelContext.font = "bold 32px sans-serif"; labelContext.textAlign = "center"; labelContext.textBaseline = "middle"; labelContext.fillText(axis.label, 48, 24); } + const label = new THREE.Sprite(new THREE.SpriteMaterial({ map: new THREE.CanvasTexture(labelCanvas), transparent: true, depthTest: false })); label.name = `xyzac-origin-label-${axis.label.toLowerCase()}`; label.position.copy(axis.position); label.scale.set(.42, .21, 1); originGroup.add(label); + } + const grid = new THREE.GridHelper(2.5, 10, 0x304553, 0x18252d); grid.name = "xyzac-preview-grid"; scene.add(grid); + const pathGroup = new THREE.Group(); pathGroup.name = "xyzac-preview-toolpath"; scene.add(pathGroup); + const liveGroup = new THREE.Group(); liveGroup.name = "xyzac-preview-live-toolpath"; scene.add(liveGroup); + const toolGroup = new THREE.Group(); toolGroup.name = "xyzac-preview-tool"; scene.add(toolGroup); + const overlayGroup = new THREE.Group(); overlayGroup.name = "xyzac-preview-overlays"; scene.add(overlayGroup); + const offsetAxes = new THREE.AxesHelper(1.5); offsetAxes.name = "xyzac-preview-offset-axes"; overlayGroup.add(offsetAxes); + const limitGrid = new THREE.GridHelper(2.5, 10, 0x8b4d47, 0x4f2d2d); limitGrid.name = "xyzac-preview-limits"; overlayGroup.add(limitGrid); + const toolMaterial = new THREE.MeshStandardMaterial({ color: 0xb8bec4, roughness: .45, metalness: .35 }); + const tool = new THREE.Mesh(new THREE.CylinderGeometry(.04, .04, .58, 20), toolMaterial); tool.name = "xyzac-preview-tool-shaft"; toolGroup.add(tool); + const tipGeometry = new THREE.ConeGeometry(.09, .28, 24); tipGeometry.rotateZ(Math.PI); tipGeometry.translate(0, .14, 0); + const tip = new THREE.Mesh(tipGeometry, new THREE.MeshBasicMaterial({ color: 0xf2f2f2 })); tip.name = "xyzac-preview-tool-tip"; toolGroup.add(tip); + const resize = () => { const width = Math.max(element.clientWidth, 280); const height = Math.max(element.clientHeight, 260); camera.aspect = width / height; camera.updateProjectionMatrix(); renderer.setSize(width, height, false); }; + const observer = new ResizeObserver(resize); observer.observe(element); resize(); + const fit = (segments: Segment[]) => { + const points = segments.flatMap((segment) => (Array.isArray(segment.samples) && segment.samples.length > 1 ? segment.samples : [segment.start ?? {}, segment.end ?? {}]).map(sourcePoint)); + if (!points.length) return { center: new THREE.Vector3(), radius: .12 }; + const box = new THREE.Box3().setFromPoints(points); + return { center: box.getCenter(new THREE.Vector3()), radius: Math.max(box.getSize(new THREE.Vector3()).length() * .65, .12) }; + }; + const clearLines = (group: THREE.Group) => { + for (const child of group.children) { + const line = child as THREE.Line; + line.geometry?.dispose(); + } + group.clear(); + }; + const completed = new THREE.LineBasicMaterial({ color: 0xd8dfe3, depthTest: false }); + const rapid = new THREE.LineDashedMaterial({ color: 0xa85d5d, dashSize: .025, gapSize: .018, depthTest: false }); + const live = new THREE.LineBasicMaterial({ color: 0xffd166, depthTest: false }); + const liveHistory = new THREE.LineBasicMaterial({ color: 0xff6b4a, depthTest: false }); + let frame = 0; + let liveTick = -1; + let liveTrace: THREE.Vector3[] = []; + let pathKey = ""; + let liveKey = ""; + let bounds = { center: new THREE.Vector3(), radius: .12 }; + let playbackQueue: Array<{ tick: number; pose: Point; joints: number[]; activeSegmentId: number; activeProgress: number }> = []; + let playbackStart = 0; + let queuedLastTick = -1; + let renderedTick = -1; + let renderedPose: Point = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }; + let renderedJoints: number[] = []; + let renderedActiveSegment = 0; + let renderedProgress = 0; + let lastPreset = ""; + const presetCamera = (selected: Props["view"], selectedZoom: number) => { + const distance = bounds.radius * 2.9 / Math.max(.5, selectedZoom); + controls.target.copy(bounds.center); + if (selected === "z") camera.position.copy(bounds.center).add(new THREE.Vector3(0, distance, .01)); + else if (selected === "z2") camera.position.copy(bounds.center).add(new THREE.Vector3(distance * .3, distance * .9, distance * .3)); + else if (selected === "x") camera.position.copy(bounds.center).add(new THREE.Vector3(distance, .02, .01)); + else if (selected === "y") camera.position.copy(bounds.center).add(new THREE.Vector3(.01, .02, distance)); + else if (selected === "y2") camera.position.copy(bounds.center).add(new THREE.Vector3(.01, .02, -distance)); + else camera.position.copy(bounds.center).add(new THREE.Vector3(distance * .85, distance * .7, distance)); + camera.lookAt(bounds.center); + controls.update(); + }; + const pan = (horizontal: number, vertical: number) => { + const amount = Math.max(.02, bounds.radius * .12); + const right = new THREE.Vector3().setFromMatrixColumn(camera.matrix, 0); + const up = new THREE.Vector3().setFromMatrixColumn(camera.matrix, 1); + const offset = right.multiplyScalar(horizontal * amount).add(up.multiplyScalar(vertical * amount)); + camera.position.add(offset); controls.target.add(offset); controls.update(); + }; + const zoomCamera = (factor: number) => { + const offset = new THREE.Vector3().subVectors(camera.position, controls.target); + offset.multiplyScalar(factor); + camera.position.copy(controls.target).add(offset); controls.update(); + }; + (element as typeof element & { xyzacController?: Record void> }).xyzacController = { + zoomIn: () => zoomCamera(.8), zoomOut: () => zoomCamera(1.25), panLeft: () => pan(-1, 0), panRight: () => pan(1, 0), panUp: () => pan(0, 1), panDown: () => pan(0, -1), reset: () => { lastPreset = ""; presetCamera(viewRef.current, zoomRef.current); }, + }; + const render = () => { + const state = visualRef.current; + const segments = state.toolpath as Segment[]; + const layer = layersRef.current; + const now = performance.now(); + if (state.tick < queuedLastTick) { + playbackQueue = []; + playbackStart = 0; + queuedLastTick = -1; + } + if (!state.motionTrace.length && state.tick > queuedLastTick) { + playbackQueue = []; + playbackStart = 0; + queuedLastTick = state.tick; + renderedTick = state.tick; + renderedPose = state.livePose; + renderedJoints = state.joints; + renderedActiveSegment = state.activeSegmentId ?? 0; + renderedProgress = state.activeProgress; + } + for (const sample of state.motionTrace) { + if (sample.tick > queuedLastTick) { + playbackQueue.push(sample); + queuedLastTick = sample.tick; + } + } + if (playbackQueue.length && playbackStart === 0) playbackStart = now; + if (playbackQueue.length) { + const index = Math.min(playbackQueue.length - 1, Math.max(0, Math.floor((now - playbackStart) / 10))); + const sample = playbackQueue[index]; + renderedTick = sample.tick; + renderedPose = sample.pose; + renderedJoints = sample.joints; + renderedActiveSegment = sample.activeSegmentId; + renderedProgress = sample.activeProgress; + if (index > 32) { + playbackQueue.splice(0, index); + playbackStart += index * 10; + } + } else { + renderedTick = state.tick; + renderedPose = state.livePose; + renderedJoints = state.joints; + renderedActiveSegment = state.activeSegmentId ?? 0; + renderedProgress = state.activeProgress; + } + // The planned path is immutable for a loaded program. Rebuilding all + // geometries on every animation frame starves worker snapshots and + // makes an otherwise continuous WASM trajectory appear to stutter. + const nextPathKey = segments.map((segment) => `${segment.id}:${segment.kind ?? ""}:${segment.samples?.length ?? 0}:${segment.start?.x ?? 0},${segment.start?.y ?? 0},${segment.start?.z ?? 0}:${segment.end?.x ?? 0},${segment.end?.y ?? 0},${segment.end?.z ?? 0}`).join("|"); + if (nextPathKey !== pathKey) { + clearLines(pathGroup); + bounds = fit(segments); + for (const segment of segments) { + const start = segment.start ?? {}; const end = segment.end ?? {}; + const points = Array.isArray(segment.samples) && segment.samples.length > 1 ? segment.samples.map(sourcePoint) : [sourcePoint(start), sourcePoint(end)]; + const line = new THREE.Line(new THREE.BufferGeometry().setFromPoints(points), segment.kind === "rapid" ? rapid : completed); + if (segment.kind === "rapid") line.computeLineDistances(); + line.renderOrder = 10; + pathGroup.add(line); + } + pathKey = nextPathKey; + liveKey = ""; + } + const presetKey = `${viewRef.current}:${zoomRef.current}:${bounds.radius}:${bounds.center.x}:${bounds.center.y}:${bounds.center.z}`; + if (presetKey !== lastPreset) { presetCamera(viewRef.current, zoomRef.current); lastPreset = presetKey; } + if (renderedTick < liveTick) liveTrace = []; + if (renderedTick !== liveTick) { + const current = sourcePoint(renderedPose); + const previous = liveTrace.at(-1); + if (!previous || previous.distanceTo(current) > 1e-9) liveTrace.push(current); + liveTick = renderedTick; + } + element.dataset.xyzacLiveTraceCount = String(liveTrace.length); + const nextLiveKey = `${renderedTick}:${renderedActiveSegment}:${renderedProgress}:${liveTrace.length}`; + if (nextLiveKey !== liveKey) { + clearLines(liveGroup); + if (liveTrace.length > 1) { + const historyLine = new THREE.Line(new THREE.BufferGeometry().setFromPoints(liveTrace), liveHistory); + historyLine.renderOrder = 19; + liveGroup.add(historyLine); + } + const activeSegment = segments.find((segment) => Boolean(segment.active || segment.id === renderedActiveSegment)); + if (activeSegment) { + const start = activeSegment.start ?? {}; const end = activeSegment.end ?? {}; + const points = Array.isArray(activeSegment.samples) && activeSegment.samples.length > 1 ? activeSegment.samples.map(sourcePoint) : [sourcePoint(start), sourcePoint(end)]; + if (points.length > 1) { + const progress = Math.max(0, Math.min(1, renderedProgress)); + const lastIndex = Math.max(1, Math.floor(progress * (points.length - 1)) + 1); + const travelled = points.slice(0, lastIndex); + const livePoint = sourcePoint(renderedPose); + const lastPoint = travelled.at(-1); + if (!lastPoint || lastPoint.distanceTo(livePoint) > 1e-9) travelled.push(livePoint); + if (travelled.length > 1) { + const liveLine = new THREE.Line(new THREE.BufferGeometry().setFromPoints(travelled), live); + liveLine.renderOrder = 20; + liveGroup.add(liveLine); + } + } + } + liveKey = nextLiveKey; + } + pathGroup.visible = layer.showPath; liveGroup.visible = layer.showLive; + grid.scale.setScalar(Math.max(.2, bounds.radius * 2.4)); + originGroup.scale.setScalar(Math.max(.35, bounds.radius * .55)); + const pose = sourcePoint(renderedPose); + toolGroup.position.copy(pose); + toolGroup.rotation.set(-Number(renderedPose.a ?? 0) * DEG, -Number(renderedPose.c ?? 0) * DEG, 0); + const toolScale = Math.min(1, Math.max(0.15, bounds.radius * 0.55)); + toolGroup.scale.setScalar(toolScale); + tool.position.set(0, .57, 0); tip.position.set(0, 0, 0); + grid.visible = true; limitGrid.visible = layer.showLimits; offsetAxes.visible = layer.showOffsets; + offsetAxes.position.copy(sourcePoint({ x: state.offsets.x_rot_point, y: state.offsets.y_offset, z: state.offsets.z_offset })); + if (hudRef.current) hudRef.current.textContent = `TOOL PREVIEW\nX ${Number(renderedPose.x).toFixed(3)} Y ${Number(renderedPose.y).toFixed(3)} Z ${Number(renderedPose.z).toFixed(3)}\nA ${Number(renderedPose.a).toFixed(3)} C ${Number(renderedPose.c).toFixed(3)}\nJ0 ${Number(renderedJoints[0] ?? 0).toFixed(3)} J1 ${Number(renderedJoints[1] ?? 0).toFixed(3)} J2 ${Number(renderedJoints[2] ?? 0).toFixed(3)}\nJ3 ${Number(renderedJoints[3] ?? 0).toFixed(3)} J4 ${Number(renderedJoints[4] ?? 0).toFixed(3)}\nHelix ${segments.filter((segment) => segment.kind === "helix").length} / Samples ${segments.reduce((count, segment) => count + (Array.isArray(segment.samples) ? segment.samples.length : 0), 0)}\nLive ${renderedActiveSegment || "-"} / ${renderedProgress.toFixed(3)}\nTick ${renderedTick}\nHash ${state.stateHash.slice(0, 18)}`; + controls.update(); scene.rotation.y = rotateRef.current ? (performance.now() / 5000) % (Math.PI * 2) : 0; renderer.render(scene, camera); frame = requestAnimationFrame(render); + }; + render(); + return () => { cancelAnimationFrame(frame); observer.disconnect(); clearLines(pathGroup); clearLines(liveGroup); completed.dispose(); rapid.dispose(); live.dispose(); liveHistory.dispose(); originGroup.traverse((child) => { const mesh = child as THREE.Mesh; mesh.geometry?.dispose?.(); const material = mesh.material as (THREE.Material & { map?: THREE.Texture }) | undefined; material?.map?.dispose?.(); material?.dispose?.(); }); controls.dispose(); delete (element as typeof element & { xyzacController?: unknown }).xyzacController; renderer.dispose(); element.replaceChildren(); }; + }, []); + + const pose = visual.pose; + const helixCount = visual.toolpath.filter((segment) => (segment as { kind?: string }).kind === "helix").length; + const sampleCount = visual.toolpath.reduce((count, segment) => count + (Array.isArray((segment as { samples?: unknown[] }).samples) ? (segment as { samples: unknown[] }).samples.length : 0), 0); + const controllerButton = (action: string, label: string, glyph: string) => ; + return
{controllerButton("zoomIn", "Zoom in", "+")}{controllerButton("zoomOut", "Zoom out", "-")}
{`TOOL PREVIEW\nX ${Number(pose.x).toFixed(3)}  Y ${Number(pose.y).toFixed(3)}  Z ${Number(pose.z).toFixed(3)}\nA ${Number(pose.a).toFixed(3)}  C ${Number(pose.c).toFixed(3)}\nJ0 ${Number(visual.joints[0]).toFixed(3)}  J1 ${Number(visual.joints[1]).toFixed(3)}  J2 ${Number(visual.joints[2]).toFixed(3)}\nJ3 ${Number(visual.joints[3]).toFixed(3)}  J4 ${Number(visual.joints[4]).toFixed(3)}\nHelix ${helixCount} / Samples ${sampleCount}\nLive ${visual.activeSegmentId ?? "-"} / ${visual.activeProgress.toFixed(3)}\nTick ${visual.tick}\nHash ${visual.stateHash.slice(0, 18)}`}
; +} + +export function XyzacToolPreviewFromSnapshot({ snapshot, ...props }: Omit & { snapshot: XyzacVisualSource | null | undefined }) { + return ; +} diff --git a/web/react/src/XyzacTrtPanel.tsx b/web/react/src/XyzacTrtPanel.tsx new file mode 100644 index 0000000..b47fbc8 --- /dev/null +++ b/web/react/src/XyzacTrtPanel.tsx @@ -0,0 +1,50 @@ +import type { ReactNode } from "react"; +import { XYZAC_KINEMATICS, type XyzacOperationTrace, type XyzacPanelView } from "./xyzac-panel-contract"; + +type Command = (kind: string, payload?: Record, action?: string) => void; + +export function XyzacKinematicsControl({ view, command }: { view: XyzacPanelView; command: Command }) { + const active = view.kinematics?.active_type; + return
+
Switchkins{view.kinematics?.native_type ?? "Unavailable"}
+
+ {XYZAC_KINEMATICS.map((item) => { + const gate = view.gates[item.action]; + const disabled = view.status !== "ready" || gate?.enabled === false; + return ; + })} +
+ +
; +} + +export function XyzacManualPanel({ view }: { view: XyzacPanelView }) { + const pose = view.pose; + const axes = ["x", "y", "z", "a", "c"] as const; + return
+
XYZAC authority{view.kinematics?.linear_units ?? "mm"} / {view.kinematics?.angular_units ?? "deg"}
+
+ {axes.map((axis, index) =>
{axis.toUpperCase()}{Number(pose?.[axis] ?? 0).toFixed(axis === "a" || axis === "c" ? 3 : 4)}J{index} {Number(view.joints[index] ?? 0).toFixed(4)}
)} +
+
Tool {Number(view.kinematics?.offsets.tool_offset ?? 0).toFixed(3)}Y offset {Number(view.kinematics?.offsets.y_offset ?? 0).toFixed(3)}Z offset {Number(view.kinematics?.offsets.z_offset ?? 0).toFixed(3)}
+
; +} + +export function XyzacProgramPane({ status, currentLine, sourceHash, children }: { status: string; currentLine: number | null; sourceHash?: string | null; children: ReactNode }) { + return
XYZAC Program{status}Line {currentLine ?? "-"}{sourceHash?.slice(0, 18) ?? "no source"}
{children}
; +} + +export function XyzacDiagnostics({ view, operations, alarms, error }: { view: XyzacPanelView; operations: XyzacOperationTrace[]; alarms: Array>; error: { code: string; message?: string } | null }) { + const disabled = Object.entries(view.gates).filter(([, gate]) => gate.enabled === false); + return
+
{view.status.toUpperCase()}Tick {view.tick}{view.stateHash || "no hash"}
+ {error &&
{error.code}{error.message}
} +

Operation trace

{operations.length ? operations.slice(-8).reverse().map((item, index) =>
{item.operation_id ?? "-"}{item.kind}{item.phase}{item.reason ?? item.response_kind}
) : No operations}
+

Alarms / recovery

{alarms.length ? alarms.slice(-5).map((alarm, index) =>
{String(alarm.code ?? "alarm")}{String(alarm.severity ?? "error")}
) : No alarms}
recovery{view.recovery ? JSON.stringify(view.recovery) : "idle"}
+

Gate reasons

{disabled.length ? disabled.slice(0, 10).map(([name, gate]) =>
{name}{gate.reason}
) : All XYZAC gates enabled}
+
; +} + +export function XyzacTrtPanel({ view, command }: { view: XyzacPanelView; command: Command }) { + return
; +} diff --git a/web/react/src/legacy.d.ts b/web/react/src/legacy.d.ts index 2a7a613..be22613 100644 --- a/web/react/src/legacy.d.ts +++ b/web/react/src/legacy.d.ts @@ -3,6 +3,7 @@ declare module "*.mjs" { export function loadSimulationCase(options: { path: string; baseUrl?: string }): Promise<{ status: string; entrypoint: string; files: Record; missing: string[]; fetched: string[]; state_hash: string; halManifest: unknown[] }>; export function toWorkerConfiguration(bundle: unknown): Record; export class SimSession { contextId: string; sessionId: string; constructor(core: unknown); accept(message: unknown): unknown; } + export class XyzacSession extends SimSession { authority(): Record; } export class AxisOperationController { constructor(client: { send(kind: string, payload?: unknown, operationId?: string): Promise }); execute(kind: string, payload?: Record, options?: { state?: unknown; action?: string | null; gate?: boolean }): Promise<{ operationId: string; response: unknown; gate: { enabled: boolean; reason: string } }>; diff --git a/web/react/src/protocol.ts b/web/react/src/protocol.ts index 0d4cb05..2443722 100644 --- a/web/react/src/protocol.ts +++ b/web/react/src/protocol.ts @@ -56,6 +56,37 @@ export type SimSnapshotV1 = { panel_snapshot?: PanelSnapshotV1; configuration?: Record | null; visual?: PanelSnapshotV1["visual"]; + kinematics?: XyzacKinematicsSnapshot; + xyzac?: XyzacCapabilitySnapshot; + gates?: Record; +}; + +export type XyzacKinematicsSnapshot = { + schema: "wasm-xyzac-kinematics.v1"; + status: "verified" | "error" | "blocked"; + active_type: 0 | 1 | 2; + native_type: string; + coordinates: "XYZAC"; + joint_count: 5; + linear_units: "mm"; + angular_units: "deg"; + pose: Record<"x" | "y" | "z" | "a" | "b" | "c" | "u" | "v" | "w", number>; + joints: [number, number, number, number, number]; + offsets: { x_rot_point: number; y_offset: number; z_offset: number; tool_offset: number }; + generation: number; + switch_count: number; + state_hash: string; + wasm_state_hash: string; +}; + +export type XyzacCapabilitySnapshot = { + coordinates: "XYZAC"; + joint_count: 5; + active_type: 0 | 1 | 2; + hal_pin_vars: boolean; + switchkins_net: boolean; + finite_offsets: boolean; + userk_capability: boolean; }; export type PanelSnapshotV1 = { @@ -81,13 +112,18 @@ export type PanelSnapshotV1 = { schema: "axis-visual.v1"; pose: Record; joints: number[]; - toolpath: Array>; + toolpath?: Array>; active_segment_id?: number | null; + active_progress?: number; + motion_trace?: Array<{ tick: number; pose: Record; joints: number[]; active_segment_id: number; active_progress: number }>; source: "wasm_canonical_motion"; }; authoritative: Record; motion_authority: string; task_authority: string; + kinematics?: XyzacKinematicsSnapshot; + xyzac?: XyzacCapabilitySnapshot; + io?: Record; }; export type Capabilities = { diff --git a/web/react/src/sim-worker-entry.ts b/web/react/src/sim-worker-entry.ts index a504308..0eb6eec 100644 --- a/web/react/src/sim-worker-entry.ts +++ b/web/react/src/sim-worker-entry.ts @@ -1,5 +1,5 @@ import createModule from "../../../build-wasm/linuxcnc-sim-core.js"; -import { SimSession } from "../../worker/sim-session.mjs"; +import { XyzacSession as SimSession } from "../../worker/xyzac-session.mjs"; // The boot event is a transport diagnostic; it carries no simulation state. self.postMessage({ schema_version: 1, kind: "WORKER_BOOT", context_id: "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", session_id: "boot", seq: 0, payload: { status: "booting", runtime: "react-vite-worker" } }); diff --git a/web/react/src/store.ts b/web/react/src/store.ts index 5ae5d0e..8c230ab 100644 --- a/web/react/src/store.ts +++ b/web/react/src/store.ts @@ -57,7 +57,7 @@ function payload(message: MessageEnvelope): T { function projection(result: Record, message: MessageEnvelope, previous: FrontendState) { const panel = result.panel_snapshot as PanelSnapshotV1 | undefined; if (panel?.schema === "axis-panel-snapshot.v1") { - const visualSegments = panel.visual.toolpath + const visualSegments = (Array.isArray(panel.visual.toolpath) ? panel.visual.toolpath : previous.toolpath) .filter((segment) => segment && typeof segment === "object" && Number.isSafeInteger((segment as { id?: unknown }).id ?? 0)) .map((segment, index) => { const value = segment as Record; @@ -68,13 +68,22 @@ function projection(result: Record, message: MessageEnvelope, p end: value.end as Record, ...(value.center ? { center: value.center as Record } : {}), ...(value.normal ? { normal: value.normal as Record } : {}), + ...(Array.isArray(value.samples) ? { samples: value.samples as Array> } : {}), + ...(typeof value.samples_source === "string" ? { samples_source: value.samples_source } : {}), + ...(typeof value.kind === "string" ? { kind: value.kind } : {}), + ...(typeof value.helix === "boolean" ? { helix: value.helix } : {}), + ...(typeof value.radius === "number" ? { radius: value.radius } : {}), + ...(typeof value.turns === "number" ? { turns: value.turns } : {}), + ...(typeof value.axial_delta === "number" ? { axial_delta: value.axial_delta } : {}), + ...(typeof value.canonical_motion_mode === "number" ? { canonical_motion_mode: value.canonical_motion_mode } : {}), + ...(typeof value.kinematics_mode === "number" ? { kinematics_mode: value.kinematics_mode } : {}), ...(typeof value.motion_type === "number" ? { motion_type: value.motion_type } : {}), ...(typeof value.turn === "number" ? { turn: value.turn } : {}), active: value.id === panel.visual.active_segment_id, }; }); const pose = panel.visual.pose; - const axes = [pose.x, pose.y, pose.z].map((value) => Number.isFinite(value) ? value : 0); + const axes = [pose.x, pose.y, pose.z, pose.a, pose.c].map((value) => Number.isFinite(value) ? value : 0); const snapshot = { schema: panel.schema, simulation_tick: panel.simulation_tick, @@ -85,17 +94,20 @@ function projection(result: Record, message: MessageEnvelope, p overrides: panel.overrides, wasm_motion: panel.wasm_motion, authoritative: panel.authoritative as SimSnapshotV1["authoritative"], - configuration: panel.configuration as SimSnapshotV1["configuration"], - visual: panel.visual, + configuration: (panel.configuration ?? previous.snapshot?.configuration ?? null) as SimSnapshotV1["configuration"], + visual: { ...panel.visual, toolpath: visualSegments }, + kinematics: panel.kinematics, + xyzac: panel.xyzac, + gates: panel.gates, } satisfies SimSnapshotV1; return { snapshot, toolpath: visualSegments, task: panel.task, program: panel.program, - devices: panel.devices, - deviceIo: panel.device_io, - hal: panel.hal, + devices: panel.devices ?? previous.devices, + deviceIo: panel.device_io ?? previous.deviceIo, + hal: panel.hal ?? previous.hal, axisState: panel.axis_state, gates: { ...panel.gates, jog: panel.gates.jogStart, load: panel.gates.load, run: panel.gates.run, step: panel.gates.step, pause: panel.gates.pause, resume: panel.gates.resume, abort: panel.gates.abort, mdi: panel.gates.mdi, home: panel.gates.home }, }; diff --git a/web/react/src/styles.css b/web/react/src/styles.css index 81976b5..0203add 100644 --- a/web/react/src/styles.css +++ b/web/react/src/styles.css @@ -16,7 +16,7 @@ } * { box-sizing: border-box; } -html, body, #root { min-height: 100%; margin: 0; } +html, body, #root { min-height: 100%; margin: 0; overflow-x: hidden; } body { min-width: 320px; background: #cfcfcf; color: var(--ink); } button, input, select, textarea { font: inherit; } button { color: inherit; } @@ -31,7 +31,7 @@ button { color: inherit; } .connection-state.ready, .connection-state.running { color: #185c1d; } .connection-state.error, .connection-state.blocked { color: #8b1010; background: #f3d2d2; } -.axis-menubar { display: flex; align-items: stretch; min-height: 27px; padding-left: 3px; border-bottom: 1px solid #888; background: #d3d3d3; } +.axis-menubar { display: flex; align-items: stretch; min-width: 0; min-height: 27px; padding-left: 3px; overflow-x: auto; border-bottom: 1px solid #888; background: #d3d3d3; } .axis-menu-item { position: relative; } .axis-menu-item summary { padding: 5px 10px; cursor: pointer; list-style: none; user-select: none; } .axis-menu-item summary::-webkit-details-marker { display: none; } @@ -41,7 +41,7 @@ button { color: inherit; } .axis-menu-popup button:hover, .axis-menu-popup button:focus-visible { outline: 1px solid var(--focus); background: #c8d7e8; } .axis-menu-popup kbd { margin-left: 22px; color: #555; font: 11px ui-monospace, monospace; } -.axis-toolbar { display: flex; align-items: center; min-height: 35px; padding: 3px 5px; overflow-x: auto; border-bottom: 1px solid #8a8a8a; background: #d9d9d9; } +.axis-toolbar { display: flex; align-items: center; width: 100%; min-width: 0; min-height: 35px; padding: 3px 5px; overflow-x: auto; border-bottom: 1px solid #8a8a8a; background: #d9d9d9; } .axis-tool-button { display: inline-grid; width: 29px; height: 29px; flex: 0 0 29px; place-items: center; padding: 2px; border: 1px solid transparent; border-radius: 2px; background: transparent; cursor: pointer; } .axis-tool-button img { width: 24px; height: 24px; object-fit: contain; pointer-events: none; } .axis-tool-button:hover, .axis-tool-button:focus-visible { border-color: #6a8db6; background: #c8d7e8; outline: none; } @@ -50,14 +50,60 @@ button { color: inherit; } .axis-tool-button:disabled { cursor: not-allowed; opacity: .48; } .axis-toolbar-separator { width: 1px; height: 26px; flex: 0 0 1px; margin: 0 5px; border-left: 1px solid #969696; border-right: 1px solid #eee; } -.axis-case-strip { display: flex; align-items: center; gap: 7px; min-height: 34px; padding: 4px 8px; border-bottom: 1px solid #999; background: #c7c7c7; } -.axis-case-strip label { display: inline-flex; align-items: center; gap: 5px; font-size: 12px; } -.axis-case-strip select { max-width: min(420px, 46vw); min-height: 24px; border: 1px solid var(--border-dark); background: white; } +.axis-case-strip { display: flex; align-items: center; width: 100%; min-width: 0; gap: 7px; min-height: 34px; padding: 4px 8px; border-bottom: 1px solid #999; background: #c7c7c7; } +.axis-case-strip label { display: inline-flex; align-items: center; min-width: 0; flex: 0 0 auto; gap: 5px; font-size: 12px; } +.axis-case-strip select { width: min(420px, 46vw); max-width: 100%; min-height: 24px; border: 1px solid var(--border-dark); background: white; } +.axis-case-strip > .axis-text-button { min-width: 68px; white-space: nowrap; } .case-status, .command-status { overflow: hidden; color: #4d4d4d; font: 11px ui-monospace, monospace; text-overflow: ellipsis; white-space: nowrap; } +.case-status { min-width: 0; flex: 1 1 auto; } .command-status { margin-left: auto; } +.machine-sequence { display: flex; align-items: center; gap: 12px; min-width: 0; padding: 6px 9px; border-bottom: 1px solid #858585; background: #cfcfcf; } +.machine-sequence-heading { display: grid; gap: 2px; min-width: 148px; } +.machine-sequence-heading strong { font-size: 12px; } +.machine-sequence-heading span { color: #555; font: 10px ui-monospace, monospace; } +.machine-sequence-actions { display: flex; flex-wrap: wrap; align-items: center; gap: 5px; min-width: 0; } +.machine-sequence-actions .axis-text-button { min-height: 28px; } +.machine-sequence-actions .axis-text-button:first-child { border-color: #9b4a4a; } + +.xyzac-control-band { display: grid; grid-template-columns: minmax(330px, .8fr) minmax(470px, 1.5fr); gap: 12px; padding: 7px 10px; border-bottom: 1px solid #858585; background: #d5d5d5; } +.xyzac-kinematics, .xyzac-manual-summary { min-width: 0; } +.xyzac-section-title { display: flex; align-items: baseline; justify-content: space-between; gap: 10px; margin-bottom: 5px; font-size: 11px; } +.xyzac-section-title strong { font-size: 12px; } +.xyzac-section-title span { overflow: hidden; color: #555; font: 10px ui-monospace, monospace; text-overflow: ellipsis; white-space: nowrap; } +.xyzac-segments { display: grid; grid-template-columns: repeat(3, minmax(86px, 1fr)); min-height: 38px; } +.xyzac-segments button { display: grid; place-content: center; min-width: 0; min-height: 38px; padding: 3px 7px; border: 1px solid #777; border-right-width: 0; border-radius: 0; background: #ededed; cursor: pointer; } +.xyzac-segments button:first-child { border-radius: 3px 0 0 3px; } +.xyzac-segments button:last-child { border-right-width: 1px; border-radius: 0 3px 3px 0; } +.xyzac-segments button.active { color: #fff; background: #315f8b; box-shadow: inset 0 0 0 1px #173b5e; } +.xyzac-segments button:disabled { color: #777; cursor: not-allowed; background: #c9c9c9; } +.xyzac-segments button span { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; } +.xyzac-segments button small { font: 9px ui-monospace, monospace; } +.xyzac-clear { min-height: 24px; margin-top: 5px; padding: 2px 9px; border: 1px solid #858585; border-radius: 2px; background: #eee; cursor: pointer; } +.xyzac-position-grid { display: grid; grid-template-columns: repeat(5, minmax(74px, 1fr)); border: 1px solid #909090; background: #f4f4f4; } +.xyzac-position-grid > div { display: grid; grid-template-columns: 18px 1fr; align-items: baseline; min-width: 0; padding: 4px 6px; border-right: 1px solid #aaa; } +.xyzac-position-grid > div:last-child { border-right: 0; } +.xyzac-position-grid b { grid-row: span 2; font-size: 12px; } +.xyzac-position-grid output { overflow: hidden; font-size: 13px; text-overflow: ellipsis; } +.xyzac-position-grid small { overflow: hidden; color: #666; font: 9px ui-monospace, monospace; text-overflow: ellipsis; white-space: nowrap; } +.xyzac-offset-row { display: flex; gap: 12px; margin-top: 5px; color: #555; font: 10px ui-monospace, monospace; } +.xyzac-program { display: contents; } +.xyzac-program > header { display: flex; align-items: center; gap: 14px; min-height: 25px; margin: 0 5px; padding: 3px 8px; border: 1px solid #888; border-bottom: 0; background: #d4d4d4; font-size: 11px; } +.xyzac-program > header code { margin-left: auto; color: #4d4d4d; } +.xyzac-diagnostics { display: grid; gap: 8px; padding: 10px; border-top: 1px solid #aaa; background: #ededed; font-size: 11px; } +.xyzac-diagnostics h3 { margin: 0 0 3px; font-size: 11px; } +.xyzac-diagnostic-summary, .xyzac-diagnostic-row, .xyzac-error { display: flex; align-items: baseline; gap: 8px; min-width: 0; } +.xyzac-diagnostic-summary code, .xyzac-diagnostic-row span:last-child { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; } +.xyzac-diagnostic-row code { min-width: 128px; } +.xyzac-error { padding: 5px; color: #7b1111; border: 1px solid #bd8585; background: #f7dddd; } + .axis-top-pane { display: grid; grid-template-columns: minmax(360px, .48fr) minmax(430px, 1fr); height: clamp(360px, calc(100vh - 415px), 680px); min-height: 360px; flex: 0 0 auto; padding: 5px; gap: 5px; } -.axis-notebook { min-width: 0; display: flex; flex-direction: column; border: 1px solid var(--border-dark); background: var(--face-light); } +.axis-notebook { min-width: 0; min-height: 0; display: flex; flex-direction: column; border: 1px solid var(--border-dark); background: var(--face-light); } +.axis-notebook > [role="tabpanel"] { min-width: 0; min-height: 0; flex: 1; overflow: auto; } +.axis-notebook > [role="tabpanel"] > .manual-control, +.axis-notebook > [role="tabpanel"] > .mdi-control, +.axis-notebook > [role="tabpanel"] > .dro-view, +.axis-notebook > [role="tabpanel"] > .axis-preview { height: 100%; min-height: 0; } .notebook-tabs { display: flex; align-items: end; min-height: 29px; padding: 3px 3px 0; border-bottom: 1px solid #777; background: #c5c5c5; } .notebook-tabs button { min-height: 26px; padding: 4px 12px; border: 1px solid transparent; border-bottom: 0; background: transparent; cursor: pointer; } .notebook-tabs button.active { margin-bottom: -1px; border-color: #777; background: var(--face-light); font-weight: 700; } @@ -104,6 +150,10 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .three-viewer { position: relative; width: 100%; height: 100%; min-height: 0; flex: 1; overflow: hidden; border: 1px solid #303030; background: #000; } .three-viewer canvas { display: block; width: 100%; height: 100%; } .axis-preview-hud { position: absolute; z-index: 1; top: 11px; left: 34px; margin: 0; color: #f2f2f2; font: 12px/1.45 ui-monospace, monospace; white-space: pre; pointer-events: none; text-shadow: 0 1px #000; } +.xyzac-view-controller { position: absolute; z-index: 2; top: 8px; right: 8px; display: grid; grid-template-columns: repeat(2, 27px); gap: 3px; padding: 4px; border: 1px solid #68747c; background: rgba(12, 18, 22, .88); box-shadow: 0 1px 4px #0008; } +.xyzac-view-controller button { width: 27px; height: 25px; padding: 0; border: 1px solid #93a1a8; background: #e6ebed; color: #182126; font: 700 14px/1 ui-monospace, monospace; cursor: pointer; } +.xyzac-view-controller button:hover, .xyzac-view-controller button:focus-visible { background: #fff; outline: 2px solid #e7b84b; outline-offset: 1px; } +.xyzac-controller-divider { width: 100%; height: 1px; grid-column: 1 / -1; background: #68747c; } .dro-view { background: #ececec; } .dro-mode-row, .dro-column-headings, .dro-row { display: grid; grid-template-columns: 42px repeat(3, minmax(100px, 1fr)); align-items: center; gap: 9px; } .dro-mode-row { padding: 5px 6px; border-bottom: 1px solid #888; color: #555; font-size: 11px; } @@ -141,16 +191,17 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .visually-hidden-file-input { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0 0 0 0); clip-path: inset(50%); white-space: nowrap; } .axis-layer-controls { display: flex; flex-wrap: wrap; gap: 8px 12px; margin-top: 4px; color: #4d4d4d; font-size: 11px; } .axis-layer-controls input { margin: 0; } -.axis-info-bar { display: flex; align-items: stretch; min-height: 27px; margin-top: auto; border-top: 1px solid #777; background: #c4c4c4; } -.axis-info-bar > span { display: flex; align-items: center; min-height: 25px; padding: 2px 9px; border-right: 1px solid #999; font: 12px ui-monospace, monospace; } +.axis-info-bar { display: flex; align-items: stretch; width: 100%; min-width: 0; min-height: 27px; margin-top: auto; border-top: 1px solid #777; background: #c4c4c4; } +.axis-info-bar > span { display: flex; align-items: center; min-width: 0; min-height: 25px; padding: 2px 9px; overflow: hidden; border-right: 1px solid #999; font: 12px ui-monospace, monospace; text-overflow: ellipsis; white-space: nowrap; } .task-state { min-width: 92px; background: #ececec; font-weight: 700 !important; } .task-state.running { color: #145d1c; } .task-state.blocked, .task-state.error { color: #9b111e; background: #f2d6d6; } -.tool-state { flex: 1; } +.tool-state { min-width: 0; flex: 1; } .position-state { min-width: 230px; } .footer-status { min-width: 180px; color: #505050; } @media (max-width: 900px) { + .xyzac-control-band { grid-template-columns: 1fr; } .axis-top-pane { grid-template-columns: 1fr; height: auto; min-height: 0; flex: 0 0 auto; } .axis-notebook { min-height: 330px; } .axis-preview { min-height: 320px; } @@ -163,6 +214,15 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .axis-case-strip { flex-wrap: wrap; } .axis-case-strip select { max-width: 62vw; } .command-status { margin-left: 0; width: 100%; } + .machine-sequence { align-items: flex-start; flex-direction: column; gap: 5px; } + .machine-sequence-heading { min-width: 0; } + .xyzac-control-band { padding: 6px; } + .xyzac-position-grid { grid-template-columns: repeat(5, minmax(54px, 1fr)); } + .xyzac-position-grid > div { grid-template-columns: 14px 1fr; padding: 3px; } + .xyzac-position-grid output { font-size: 10px; } + .xyzac-offset-row { flex-wrap: wrap; gap: 4px 9px; } + .xyzac-program > header { flex-wrap: wrap; gap: 4px 10px; } + .xyzac-program > header code { width: 100%; margin-left: 0; } .manual-grid, .manual-sliders, .axis-slider { grid-template-columns: 1fr; } .manual-axis-block, .manual-coolant-block { grid-row: auto; grid-column: auto; } .dro-mode-row, .dro-column-headings, .dro-row { grid-template-columns: 27px repeat(3, minmax(0, 1fr)); gap: 4px; } diff --git a/web/react/src/test_xyzac_threejs.mjs b/web/react/src/test_xyzac_threejs.mjs new file mode 100644 index 0000000..80a9569 --- /dev/null +++ b/web/react/src/test_xyzac_threejs.mjs @@ -0,0 +1,44 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import { projectXyzacVisual, XYZAC_MACHINE_GROUPS } from "./xyzac-visual-adapter.ts"; + +const source = await readFile(new URL("./XyzacMachineView.tsx", import.meta.url), "utf8"); +const adapter = await readFile(new URL("./xyzac-visual-adapter.ts", import.meta.url), "utf8"); +const snapshot = { + schema: "axis-panel-snapshot.v1", + simulation_tick: 42, + state_hash: "fnv1a64:xyzac-authoritative", + kinematics: { + schema: "wasm-xyzac-kinematics.v1", + status: "verified", + active_type: 1, + native_type: "xyzac-trt-kins", + coordinates: "XYZAC", + joint_count: 5, + linear_units: "mm", + angular_units: "deg", + pose: { x: 12, y: -5, z: 20, a: 30, b: 0, c: 45, u: 0, v: 0, w: 0 }, + joints: [12, -5, 20, 30, 45], + offsets: { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 25 }, + generation: 2, + switch_count: 2, + state_hash: "fnv1a64:kinematics", + wasm_state_hash: "fnv1a64:wasm-kinematics", + }, + visual: { active_segment_id: 7, active_progress: 0.5, pose: { x: 12, y: -5, z: 20, a: 30, c: 45 }, joints: [12, -5, 20, 30, 45], toolpath: [{ id: 7, active: true, start: { x: 0, y: 0, z: 0 }, end: { x: 12, y: -5, z: 20 }, motion_type: 1 }] }, +}; +const visual = projectXyzacVisual(snapshot); +assert.equal(visual.schema, "xyzac-visual-state.v1"); +assert.equal(visual.tick, 42); +assert.equal(visual.stateHash, snapshot.state_hash); +assert.deepEqual(visual.joints, [12, -5, 20, 30, 45]); +assert.deepEqual(visual.pose, snapshot.kinematics.pose); +assert.deepEqual(visual.offsets, snapshot.kinematics.offsets); +assert.equal(visual.activeSegmentId, 7); +assert.equal(visual.activeProgress, 0.5); +assert.equal(visual.source, "linuxcnc-wasm-worker"); +assert.deepEqual(XYZAC_MACHINE_GROUPS, ["xyzac-machine", "table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "xyzac-toolpath", "xyzac-live-toolpath"]); +for (const token of ["table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "tableX.position.x = -tableXJoint * MM", "saddle.position.z = -saddleYJoint * MM", "zslide.position.y = (200 - spindleZJoint) * MM", "tilt.rotation.x = -tiltAJoint * DEG", "rotate.rotation.y = -rotateCJoint * DEG", "tool.position.y = -state.offsets.tool_offset * MM", "data-xyzac-tick", "data-xyzac-state-hash", "data-xyzac-active-segment", "data-xyzac-joints", "data-xyzac-offsets"]) assert.ok(source.includes(token), token); +for (const forbidden of [/accept\s*\(/, /postMessage\s*\(/, /_sim_/, /_malloc/, /navigator\.storage/, /HAL_SET/, /KINEMATICS_SELECT/]) assert.equal(forbidden.test(source), false, String(forbidden)); +assert.ok(adapter.includes("source: \"linuxcnc-wasm-worker\"")); +console.log(JSON.stringify({ schema: "xyzac-threejs-rtcp-10.v1", status: "verified", tick: visual.tick, state_hash: visual.stateHash, groups: XYZAC_MACHINE_GROUPS, active_segment: visual.activeSegmentId, direction: { table_x: -1, saddle_y: -1, spindle_z: -1, tilt_a: "x+", rotate_c: "z+", tool_offset: "z-" }, clear_visual_nonmutating: true, source: visual.source })); diff --git a/web/react/src/test_xyzac_tool_preview.mjs b/web/react/src/test_xyzac_tool_preview.mjs new file mode 100644 index 0000000..9560208 --- /dev/null +++ b/web/react/src/test_xyzac_tool_preview.mjs @@ -0,0 +1,22 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import { projectXyzacVisual } from "./xyzac-visual-adapter.ts"; + +const source = await readFile(new URL("./XyzacToolPreview.tsx", import.meta.url), "utf8"); +const visual = projectXyzacVisual({ + simulation_tick: 12, + state_hash: "fnv1a64:tool-preview", + kinematics: { schema: "wasm-xyzac-kinematics.v1", status: "verified", active_type: 1, native_type: "xyzac-trt-kins", coordinates: "XYZAC", joint_count: 5, linear_units: "mm", angular_units: "deg", pose: { x: 10, y: -5, z: 20, a: 30, b: 0, c: 45, u: 0, v: 0, w: 0 }, joints: [10, -5, 20, 30, 45], offsets: { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 5 }, generation: 1, switch_count: 1, state_hash: "fnv1a64:k", wasm_state_hash: "fnv1a64:w" }, + visual: { active_segment_id: 3, active_progress: 0.375, pose: { x: 11, y: -4, z: 19, a: 31, c: 44 }, joints: [11, -4, 19, 31, 44], toolpath: [{ id: 3, active: true, motion_type: 1, start: { x: 0, y: 0, z: 0 }, end: { x: 10, y: -5, z: 20 } }] }, +}); +assert.equal(visual.tick, 12); +assert.equal(visual.stateHash, "fnv1a64:tool-preview"); +assert.deepEqual(visual.joints, [11, -4, 19, 31, 44]); +assert.deepEqual(visual.pose, { x: 11, y: -4, z: 19, a: 31, b: 0, c: 44, u: 0, v: 0, w: 0 }); +assert.deepEqual(visual.livePose, visual.pose); +assert.equal(visual.activeProgress, 0.375); +assert.equal(visual.activeSegmentId, 3); +for (const token of ["xyzac-tool-preview", "xyzac-preview-toolpath", "xyzac-preview-live-toolpath", "xyzac-preview-tool", "xyzac-preview-tool-shaft", "xyzac-preview-tool-tip", "xyzac-origin-coordinate-system", "xyzac-origin-axis-${axis.label.toLowerCase()}", "xyzac-origin-label-${axis.label.toLowerCase()}", "OrbitControls", "enablePan", "enableRotate", "zoomIn", "panRight", "data-xyzac-controller=\"orbit\"", "data-xyzac-origin=\"0,0,0\"", "sourcePoint", "toolGroup.position.copy(pose)", "toolGroup.rotation.set(-Number(renderedPose.a ?? 0) * DEG, -Number(renderedPose.c ?? 0) * DEG, 0)", "const segments = state.toolpath as Segment[]", "segment.samples.map(sourcePoint)", "state.activeProgress", "state.livePose", "motionTrace", "playbackQueue", "data-xyzac-preview=\"toolpath\"", "data-xyzac-helix-count", "data-xyzac-sample-count", "data-xyzac-samples-source", "data-xyzac-live-source", "data-xyzac-live-pose", "preserveDrawingBuffer: true", "authoritative tool preview"]) assert.ok(source.includes(token), token); +for (const forbidden of [/arcPoints/, /Math\.atan2/, /Quaternion/, /cross\(/]) assert.equal(forbidden.test(source), false, String(forbidden)); +for (const forbidden of [/xyzac-machine/, /table-x/, /saddle-y/, /spindle-z/, /accept\s*\(/, /postMessage\s*\(/, /_sim_/, /_malloc/, /navigator\.storage/]) assert.equal(forbidden.test(source), false, String(forbidden)); +console.log(JSON.stringify({ schema: "xyzac-tool-preview-rtcp-10b.v1", status: "verified", tick: visual.tick, state_hash: visual.stateHash, active_segment: visual.activeSegmentId, tool_pose: visual.pose, joints: visual.joints, machine_scene_nodes: 0, canonical_toolpath_segments: visual.toolpath.length, source: visual.source })); diff --git a/web/react/src/xyzac-panel-contract.ts b/web/react/src/xyzac-panel-contract.ts new file mode 100644 index 0000000..0f27454 --- /dev/null +++ b/web/react/src/xyzac-panel-contract.ts @@ -0,0 +1,59 @@ +import type { XyzacCapabilitySnapshot, XyzacKinematicsSnapshot } from "./protocol"; + +export const XYZAC_CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" as const; +export const XYZAC_AXES = ["x", "y", "z", "a", "c"] as const; +export const XYZAC_COMMANDS = { + power: "POWER", + selectKinematics: "KINEMATICS_SELECT", + clearVisual: "VISUAL_CLEAR", +} as const; +export const XYZAC_KINEMATICS = [ + { type: 0, action: "switchkinsIdentity", label: "Identity", mcode: "M429" }, + { type: 1, action: "switchkinsXyzac", label: "TCP: XYZAC", mcode: "M428" }, + { type: 2, action: "switchkinsUserk", label: "User K", mcode: "M430" }, +] as const; + +export type XyzacGate = { action: string; enabled: boolean; reason: string; required_type?: number; visual_only?: boolean }; +export type XyzacOperationTrace = { operation_id?: string; kind?: string; action?: string | null; phase?: string; reason?: string; response_kind?: string }; +export type XyzacPanelView = { + status: "ready" | "unavailable"; + tick: number; + stateHash: string; + kinematics: XyzacKinematicsSnapshot | null; + capability: XyzacCapabilitySnapshot | null; + pose: XyzacKinematicsSnapshot["pose"] | null; + joints: number[]; + gates: Record; + recovery: Record | null; +}; + +type XyzacPanelSource = { + simulation_tick?: number; + state_hash?: string; + kinematics?: XyzacKinematicsSnapshot; + xyzac?: XyzacCapabilitySnapshot; + gates?: Record; + authoritative?: Record; + visual?: { pose?: Record; joints?: number[] }; +}; + +export function projectXyzacPanel(snapshot: XyzacPanelSource | null | undefined): XyzacPanelView { + const kinematics = snapshot?.kinematics?.coordinates === "XYZAC" && snapshot.kinematics.joint_count === 5 ? snapshot.kinematics : null; + const capability = snapshot?.xyzac?.coordinates === "XYZAC" && snapshot.xyzac.joint_count === 5 ? snapshot.xyzac : null; + const visualPose = snapshot?.visual?.pose; + const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value)) + ? { ...(kinematics?.pose ?? { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }), ...visualPose } + : kinematics?.pose ?? null; + const joints = snapshot?.visual?.joints?.length === 5 ? snapshot.visual.joints.slice(0, 5) : kinematics?.joints ? [...kinematics.joints] : []; + return { + status: kinematics && capability ? "ready" : "unavailable", + tick: snapshot?.simulation_tick ?? 0, + stateHash: snapshot?.state_hash ?? "", + kinematics, + capability, + pose, + joints, + gates: snapshot?.gates ?? {}, + recovery: (snapshot?.authoritative?.recovery as Record | undefined) ?? null, + }; +} diff --git a/web/react/src/xyzac-visual-adapter.ts b/web/react/src/xyzac-visual-adapter.ts new file mode 100644 index 0000000..5107924 --- /dev/null +++ b/web/react/src/xyzac-visual-adapter.ts @@ -0,0 +1,57 @@ +import type { XyzacKinematicsSnapshot } from "./protocol"; + +export type XyzacVisualState = { + schema: "xyzac-visual-state.v1"; + tick: number; + stateHash: string; + pose: XyzacKinematicsSnapshot["pose"]; + joints: [number, number, number, number, number]; + livePose: XyzacKinematicsSnapshot["pose"]; + activeProgress: number; + motionTrace: Array<{ tick: number; pose: XyzacKinematicsSnapshot["pose"]; joints: number[]; activeSegmentId: number; activeProgress: number }>; + offsets: XyzacKinematicsSnapshot["offsets"]; + activeSegmentId: number | null; + toolpath: Array>; + source: "linuxcnc-wasm-worker"; +}; + +const ZERO_POSE: XyzacKinematicsSnapshot["pose"] = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }; +const ZERO_OFFSETS: XyzacKinematicsSnapshot["offsets"] = { x_rot_point: 0, y_offset: 0, z_offset: 0, tool_offset: 0 }; + +export type XyzacVisualSource = { + simulation_tick?: number; + state_hash?: string; + kinematics?: XyzacKinematicsSnapshot; + visual?: { active_segment_id?: number | null; active_progress?: number; motion_trace?: Array<{ tick: number; pose: Record; joints: number[]; active_segment_id: number; active_progress: number }>; pose?: Record; joints?: number[]; toolpath?: Array> }; +}; + +export function projectXyzacVisual(snapshot: XyzacVisualSource | null | undefined): XyzacVisualState { + const kinematics = snapshot?.kinematics; + const visualPose = snapshot?.visual?.pose; + const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value)) + ? { ...ZERO_POSE, ...visualPose } + : kinematics?.pose ?? ZERO_POSE; + const visualJoints = snapshot?.visual?.joints; + const joints: [number, number, number, number, number] = visualJoints?.length === 5 + ? visualJoints.slice(0, 5).map((value) => Number(value)) as [number, number, number, number, number] + : kinematics?.joints?.length === 5 ? [...kinematics.joints] as [number, number, number, number, number] : [0, 0, 0, 0, 0]; + const rawProgress = snapshot?.visual?.active_progress; + const activeProgress = Number.isFinite(rawProgress) ? Math.max(0, Math.min(1, Number(rawProgress))) : 0; + const motionTrace = (snapshot?.visual?.motion_trace ?? []).filter((sample) => sample && Number.isSafeInteger(sample.tick) && sample.pose && Array.isArray(sample.joints)).map((sample) => ({ tick: sample.tick, pose: { ...ZERO_POSE, ...sample.pose }, joints: sample.joints.slice(0, 5).map(Number), activeSegmentId: Number(sample.active_segment_id ?? 0), activeProgress: Math.max(0, Math.min(1, Number(sample.active_progress ?? 0))) })); + return { + schema: "xyzac-visual-state.v1", + tick: snapshot?.simulation_tick ?? 0, + stateHash: snapshot?.state_hash ?? "", + pose, + joints, + livePose: pose, + activeProgress, + motionTrace, + offsets: kinematics?.offsets ?? ZERO_OFFSETS, + activeSegmentId: snapshot?.visual?.active_segment_id ?? null, + toolpath: snapshot?.visual?.toolpath ?? [], + source: "linuxcnc-wasm-worker", + }; +} + +export const XYZAC_MACHINE_GROUPS = Object.freeze(["xyzac-machine", "table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "xyzac-toolpath", "xyzac-live-toolpath"]); diff --git a/web/worker/sim-session.mjs b/web/worker/sim-session.mjs index db6159a..40d9889 100644 --- a/web/worker/sim-session.mjs +++ b/web/worker/sim-session.mjs @@ -1,7 +1,7 @@ import { ReplayTimeline, fnv1a64 } from "./replay.mjs"; import { capabilities, validateLimit } from "./capabilities.mjs"; import { mapCoreError } from "./error-map.mjs"; -import { createCheckpoint, recoverSimulation } from "../workspace/recovery.mjs"; +import { createCheckpoint, recoverSimulation, validateCheckpoint } from "../workspace/recovery.mjs"; import { preflightConfiguration } from "../workspace/configuration.mjs"; import { ConfigurationStartupStateMachine } from "../workspace/configuration.mjs"; import { preflightHalConfiguration } from "../workspace/hal-configuration.mjs"; @@ -23,7 +23,11 @@ import { AuthoritativeRuntime } from "./authoritative-runtime.mjs"; import { axisState } from "./axis-state.mjs"; import { WasmMotionQueue } from "./wasm-motion-queue.mjs"; import { WasmHomeLimit } from "./wasm-home-limit.mjs"; -import { axisGate } from "../app/axis-contract.mjs"; +import { WasmXyzacKinematics, XYZAC_MODES } from "./wasm-xyzac-kinematics.mjs"; +import { WasmXyzacIo } from "./wasm-xyzac-io.mjs"; +import { WasmXyzacDeviceIo } from "./wasm-xyzac-device-io.mjs"; +import { WasmProgramRuntime } from "./wasm-program-runtime.mjs"; +import { axisGate, xyzacGate, xyzacGateMatrix } from "../app/axis-contract.mjs"; const PROTOCOL_SCHEMA = 1; const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1"; @@ -41,6 +45,7 @@ const OPERATION_KINDS = new Set([ "PYTHON_IMPORT", "PYTHON_CALL", "PYTHON_CAPABILITY", "PROGRAM_STEP", "PROGRAM_SEEK", "MDI_EXECUTE", "PLC_CONFIG", "PLC_SET", "PLC_TRIGGER", "FOLLOWING_ERROR", "IO_COMMAND", "IO_ACK", "IO_TIMEOUT", "REMAP_REGISTER", "REMAP_CALL", "VCP_REGISTER", "VCP_UPDATE", "FILTER_EXEC", + "POWER", "KINEMATICS_SELECT", "VISUAL_CLEAR", ]); const PANEL_GATE_ACTIONS = Object.freeze({ @@ -48,6 +53,7 @@ const PANEL_GATE_ACTIONS = Object.freeze({ PROGRAM_RESUME: "resume", PROGRAM_ABORT: "abort", PROGRAM_RESTART: "restart", JOG_START: "jogStart", JOG_STOP: "jogStop", HOME: "home", SET_OVERRIDE: "override", ESTOP: "estop", IO_RECOVER: "recover", + POWER: "power", }); function text(value) { @@ -102,21 +108,33 @@ export class SimSession { this.authoritative = new AuthoritativeRuntime(); this.wasmMotion = new WasmMotionQueue(core); this.wasmHomeLimit = new WasmHomeLimit(core); + this.xyzacKinematics = null; + this.xyzacIo = null; + this.xyzacDeviceIo = null; + this.xyzacProgram = null; + this.xyzacProgramKinematicsMode = XYZAC_MODES.identity; + this.xyzacRapidVelocity = 35; + this.pendingProgramControl = 0; this.motionAuthority = "js"; this.task = new SimTask(core, { contextId, sessionId: sessionId || null }); this.scheduler = new SimScheduler(core); this.configurationState = null; this.halState = null; this.previewState = null; + this.workspaceFiles = {}; call(core, "sim_protocol_reset"); if (typeof core.ccall === "function") core.ccall("sim_event_reset", null, [], []); } envelope(kind, input, payload, tick = this.tick) { const statePayload = payload && typeof payload === "object" ? payload : {}; - const program = statePayload.program ?? (this.program.loaded ? this.program.snapshot() : {}); + const program = statePayload.program ?? (this.xyzacProgram ? this.xyzacProgram.snapshot() : this.program.loaded ? this.program.snapshot() : {}); const task = statePayload.task ?? this.task.export(); - const panelSnapshot = this.panelSnapshot({ task, program, input, tick }); + // The loaded toolpath is immutable during execution. Avoid cloning all + // WASM pose samples into every 10 ms step response; the frontend retains + // the canonical path from PROGRAM_LOAD/PROGRAM_RESTART. + const lightweightXyzacStep = input.kind === "SIM_STEP" && Boolean(this.xyzacProgram); + const panelSnapshot = this.panelSnapshot({ task, program, input, tick, motionTrace: statePayload.motion_trace, includeToolpath: !lightweightXyzacStep, includeConfiguration: !lightweightXyzacStep, includeStableRuntime: !lightweightXyzacStep }); return { schema_version: PROTOCOL_SCHEMA, kind, @@ -130,39 +148,114 @@ export class SimSession { panel_snapshot: panelSnapshot, motion_authority: statePayload.motion_authority ?? this.motionAuthority, task_authority: statePayload.task_authority ?? this.task.authority(), - wasm_home_limit: statePayload.wasm_home_limit ?? this.wasmHomeLimit.read(), + ...(!lightweightXyzacStep ? { wasm_home_limit: statePayload.wasm_home_limit ?? this.wasmHomeLimit.read() } : {}), axis_state: axisState({ task, program, action: input.kind, payload: input.payload ?? {} }), }, }; } - panelSnapshot({ task = this.task.export(), program = this.program.loaded ? this.program.snapshot() : null, input = {}, tick = this.tick } = {}) { - const motion = this.motion.export(); + wasmMotionProjection() { + const wasmMotion = this.wasmMotion.read(); + const position = wasmMotion.status === "verified" ? wasmMotion.state.position : { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }; + const home = this.wasmHomeLimit.read(); + const io = this.xyzacIo?.canonical?.(); + const ioState = io && typeof io === "object" && io.status !== "blocked" ? io : null; + const kinematics = this.xyzacKinematics?.snapshot?.(); + const kinematicsJoints = kinematics?.joints?.length === 5 ? [...kinematics.joints] : null; + const unsigned = { + schema: "sim_motion.v1", + source: "wasm_motion_queue", + tick: wasmMotion.status === "verified" ? wasmMotion.state.tick : this.tick, + axes: { x: position.x, y: position.y, z: position.z }, + joints: kinematicsJoints ?? (home.status === "verified" && Array.isArray(home.state.joints) ? [...home.state.joints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0]), + velocity: wasmMotion.status === "verified" ? wasmMotion.state.velocity : 0, + feed_override: 1, + spindle_override: 1, + homed: Boolean(home.state?.homed), + homed_axes: Array.from({ length: 5 }, (_, index) => Boolean(home.state?.homed && index < (home.state?.joint_count ?? 0))), + limits: { x: Boolean(home.state?.limit_error), y: Boolean(home.state?.limit_error), z: Boolean(home.state?.limit_error), a: Boolean(home.state?.limit_error), c: Boolean(home.state?.limit_error) }, + on_any_limit: Boolean(home.state?.limit_error), + following_error: 0, + jog: null, + estop: Boolean(ioState?.estop), + fault: ioState?.fault ? (ioState.fault_reason ?? "io_fault") : null, + }; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } + + motionProjection() { + if (this.xyzacProgram) return this.wasmMotionProjection(); + if (this.motionAuthority !== "wasm") return this.motion.export(); + const wasm = this.wasmMotion.read(); + return wasm.status === "verified" ? { ...this.motion.export(), axes: { ...wasm.state.position } } : this.motion.export(); + } + + wasmDeviceProjection({ includeBytes = false } = {}) { + if (!this.xyzacIo) return this.devices.export(); + const state = this.xyzacIo.canonical(); + if (!state || state.status === "blocked") return { schema: "wasm_xyzac_devices.v1", source: "wasm_io", status: "blocked" }; + const ioExport = includeBytes ? this.xyzacIo.export() : null; + const unsigned = { schema: "wasm_xyzac_devices.v1", source: "wasm_io", ...state, ...(includeBytes ? { state_bytes: ioExport.state_bytes } : {}) }; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } + + loadXyzacSubroutines(programPath) { + if (!this.xyzacProgram) return { status: "verified", count: 0 }; + const requirement = this.xyzacProgram.requiresSubroutines(); + if (requirement.status !== "verified") return requirement; + if (!requirement.required) return { status: "verified", count: 0 }; + const basePath = String(programPath ?? "").split("/").slice(0, -1).join("/"); + const rows = [["remap_subs/xyzac_switchkins_sub.ngc", "xyzac_switchkins_sub"], ["remap_subs/helix_ac.ngc", "helix_ac"]]; + for (const [suffix, name] of rows) { + const path = `${basePath.replace(/\/demos$/, "")}/${suffix}`; + const source = this.workspaceFiles[path]; + if (typeof source !== "string") return { status: "error", code: "program_subroutine_missing", path }; + const added = this.xyzacProgram.addSubroutine(name, source); + if (added.status !== "verified") return added; + } + return { status: "verified", count: rows.length }; + } + + panelSnapshot({ task = this.task.export(), program = this.xyzacProgram ? this.xyzacProgram.snapshot() : this.program.loaded ? this.program.snapshot() : null, input = {}, tick = this.tick, motionTrace = null, includeToolpath = input.kind !== "SIM_STEP" || !this.xyzacProgram, includeConfiguration = input.kind !== "SIM_STEP" || !this.xyzacProgram, includeStableRuntime = input.kind !== "SIM_STEP" || !this.xyzacProgram } = {}) { + const motion = this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export(); const wasmMotion = this.wasmMotion.read(); const homeLimit = this.wasmHomeLimit.read(); - const devices = this.devices.export(); - const deviceIo = this.deviceIo.export(); - const halRuntime = this.hal.export(); - const authoritative = this.authoritative.export(); + const devices = this.wasmDeviceProjection(); + const deviceIo = this.xyzacDeviceIo ? this.xyzacDeviceIo.export() : this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(); + const halRuntime = this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(); + const authoritative = this.xyzacProgram + ? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker", state_hash: fnv1a64({ motion: wasmMotion, kinematics: this.xyzacKinematics?.snapshot() ?? null, task }) } + : this.authoritative.export(); const axis = axisState({ task, program: program ?? {}, action: input.kind, payload: input.payload ?? {} }); - const gateInput = { task, program: program ?? {}, motion, devices, taskfile: Boolean(this.program.loaded), kinematicsIdentity: this.motionAuthority === "wasm" }; - const gateActions = ["load", "run", "step", "pause", "resume", "abort", "restart", "mdi", "jogStart", "jogStop", "home", "estop", "recover", "override", "reset", "spindle", "coolant"]; - const gates = Object.fromEntries(gateActions.map((action) => [action, axisGate(action, gateInput)])); - const position = this.motionAuthority === "wasm" && wasmMotion.status === "verified" + const xyzac = this.xyzacKinematics ? { coordinates: "XYZAC", joint_count: 5, hal_pin_vars: true, switchkins_net: true, finite_offsets: true, userk_capability: true, active_type: this.xyzacKinematics.snapshot().active_type } : null; + const gateInput = { task, program: program ?? {}, motion, devices, xyzac, taskfile: Boolean(this.xyzacProgram ? this.xyzacProgram.snapshot().status !== 0 : this.program.loaded), kinematicsIdentity: this.motionAuthority === "wasm" }; + const gateActions = ["load", "run", "runLine", "step", "pause", "resume", "abort", "restart", "reload", "edit", "mdi", "jogStart", "jogStop", "home", "estop", "recover", "override", "overrideLimits", "reset", "spindle", "coolant", "touchOff", "toolTouchOff"]; + const gates = { ...Object.fromEntries(gateActions.map((action) => [action, axisGate(action, gateInput)])), ...xyzacGateMatrix(gateInput) }; + const wasmPosition = this.motionAuthority === "wasm" && wasmMotion.status === "verified" ? wasmMotion.state.position : authoritative.kinematics.pose; + // Generic WASM-compatible cases expose their historical XYZ panel shape; + // the selected XYZAC case is the only panel that publishes all nine pose + // coordinates and the five inverse joints. + const position = this.xyzacProgram + ? wasmPosition + : { x: wasmPosition.x, y: wasmPosition.y, z: wasmPosition.z }; + const inverseJoints = this.xyzacKinematics?.snapshot?.()?.joints; const joints = this.motionAuthority === "wasm" && wasmMotion.status === "verified" - ? [position.x, position.y, position.z] + ? (inverseJoints?.length === 5 ? [...inverseJoints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0]) : authoritative.kinematics.joints; const preview = this.previewState?.status === "verified" ? this.previewState : null; const visual = { schema: "axis-visual.v1", - pose: { x: position.x, y: position.y, z: position.z }, + pose: { ...position }, joints: Array.isArray(joints) ? [...joints] : [], - toolpath: (preview?.segments ?? []).map((segment, index) => ({ id: index + 1, ...segment })), + ...(includeToolpath ? { toolpath: (preview?.segments ?? []).map((segment, index) => ({ id: index + 1, ...segment })) } : {}), active_segment_id: wasmMotion.status === "verified" ? wasmMotion.state.active_id : authoritative.planner.active_id, + active_progress: wasmMotion.status === "verified" ? wasmMotion.state.progress : 0, + ...(Array.isArray(motionTrace) && motionTrace.length ? { motion_trace: motionTrace } : {}), source: "wasm_canonical_motion", }; + const axisCoordinates = [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0]; const unsigned = { schema: "axis-panel-snapshot.v1", context_id: this.contextId, @@ -171,20 +264,20 @@ export class SimSession { task, program, motion, - coordinates: { machine: [position.x, position.y, position.z], relative: [position.x, position.y, position.z], commanded: [position.x, position.y, position.z] }, + coordinates: { machine: [...axisCoordinates], relative: [...axisCoordinates], commanded: [...axisCoordinates] }, overrides: { feed: motion.feed_override, spindle: [motion.spindle_override] }, wasm_motion: wasmMotion, - home_limit: homeLimit, - hal: { configuration: this.halState, runtime: halRuntime }, - devices, - device_io: deviceIo, - configuration: this.configurationState, + ...(includeStableRuntime ? { home_limit: homeLimit, hal: { configuration: this.halState, runtime: halRuntime }, devices, device_io: deviceIo } : {}), + ...(includeConfiguration ? { configuration: this.configurationState } : {}), axis_state: axis, gates, visual, authoritative, motion_authority: this.motionAuthority, task_authority: this.task.authority(), + ...(this.xyzacKinematics ? { kinematics: this.xyzacKinematics.snapshot() } : {}), + ...(includeStableRuntime && this.xyzacIo ? { io: this.xyzacIo.export() } : {}), + ...(xyzac ? { xyzac } : {}), }; return { ...unsigned, state_hash: fnv1a64(unsigned) }; } @@ -211,18 +304,24 @@ export class SimSession { } commandGate(input) { + const task = this.task.export(); + const program = this.xyzacProgram ? this.xyzacProgram.snapshot() : this.program.loaded ? this.program.snapshot() : {}; + const motion = this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export(); + const devices = this.wasmDeviceProjection(); + if (input.kind === "KINEMATICS_SELECT" || input.kind === "VISUAL_CLEAR") { + const type = Number(input.payload?.type); + const action = input.kind === "VISUAL_CLEAR" ? "vismachClear" : type === 0 ? "switchkinsIdentity" : type === 1 ? "switchkinsXyzac" : type === 2 ? "switchkinsUserk" : null; + if (!action) return { action: null, enabled: false, reason: "xyzac_kinematics_type_invalid" }; + return xyzacGate(action, { task, program, motion, devices, xyzac: this.xyzacKinematics ? { coordinates: "XYZAC", joint_count: 5, hal_pin_vars: true, switchkins_net: true, finite_offsets: true, userk_capability: true } : null }); + } const action = PANEL_GATE_ACTIONS[input.kind]; if (!action) return { action: null, enabled: true, reason: "axis_internal_command" }; - const task = this.task.export(); - const program = this.program.loaded ? this.program.snapshot() : {}; - const motion = this.motion.export(); - const devices = this.devices.export(); return axisGate(action, { task, program, motion, devices, - taskfile: Boolean(this.program.loaded), + taskfile: Boolean(this.xyzacProgram ? this.xyzacProgram.snapshot().loaded : this.program.loaded), kinematicsIdentity: this.motionAuthority === "wasm", }); } @@ -234,11 +333,11 @@ export class SimSession { tick: this.tick, created: this.created, protocol_seq: this.timeline.events.cursor, - devices: this.devices.export(), - motion: this.motion.export(), + devices: this.wasmDeviceProjection({ includeBytes: true }), + motion: this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export(), plc: this.plc.export(), - hal_runtime: this.hal.export(), - device_io: this.deviceIo.export(), + hal_runtime: this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(), + device_io: this.xyzacDeviceIo ? this.xyzacDeviceIo.export() : this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), @@ -249,13 +348,15 @@ export class SimSession { wasm_motion: this.wasmMotion.exportState(), task_authority: this.task.authority(), wasm_home_limit: this.wasmHomeLimit.exportState(), + ...(this.xyzacKinematics ? { kinematics: this.xyzacKinematics.snapshot() } : {}), preview: this.previewState, task: this.task.export(), scheduler: this.scheduler.export(), - authoritative: this.authoritative.export(), + authoritative: this.xyzacProgram ? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker" } : this.authoritative.export(), ledger: this.ledger.export(), }; - if (this.program.loaded) state.program = this.program.exportState(); + if (this.xyzacProgram) state.program = { ...this.xyzacProgram.snapshot(), source_text: this.xyzacProgram.source }; + else if (this.program.loaded) state.program = this.program.exportState(); return state; } @@ -265,11 +366,11 @@ export class SimSession { session_id: this.sessionId, configuration: this.configurationState, hal: this.halState, - devices: this.devices.export(), - motion: this.motion.export(), + devices: this.wasmDeviceProjection(), + motion: this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export(), plc: this.plc.export(), - hal_runtime: this.hal.export(), - device_io: this.deviceIo.export(), + hal_runtime: this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(), + device_io: this.xyzacDeviceIo ? this.xyzacDeviceIo.export() : this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), @@ -278,13 +379,15 @@ export class SimSession { event_cursor: this.timeline.events.cursor, task: this.task.export(), scheduler: this.scheduler.export(), - authoritative: this.authoritative.export(), + authoritative: this.xyzacProgram ? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker" } : this.authoritative.export(), motion_authority: this.motionAuthority, wasm_motion: this.wasmMotion.exportState(), task_authority: this.task.authority(), wasm_home_limit: this.wasmHomeLimit.exportState(), + ...(this.xyzacKinematics ? { kinematics: this.xyzacKinematics.snapshot() } : {}), }; - if (this.program.loaded) value.program = this.program.exportState(); + if (this.xyzacProgram) value.program = { ...this.xyzacProgram.snapshot(), source_text: this.xyzacProgram.source }; + else if (this.program.loaded) value.program = this.program.exportState(); return { ...value, state_hash: fnv1a64(value) }; } @@ -325,6 +428,9 @@ export class SimSession { if (trace.state?.motion_authority) this.motionAuthority = trace.state.motion_authority; if (trace.state?.wasm_motion) this.wasmMotion.restoreState(trace.state.wasm_motion); if (trace.state?.wasm_home_limit) this.wasmHomeLimit.restoreState(trace.state.wasm_home_limit); + if (trace.state?.device_io?.schema === "wasm_xyzac_device_io.v1" && this.xyzacDeviceIo) this.xyzacDeviceIo.restoreState(trace.state.device_io); + if (trace.state?.io?.schema === "wasm_xyzac_io.v1" && this.xyzacIo) this.xyzacIo.restoreState(trace.state.io); + if (trace.state?.kinematics && this.xyzacKinematics) this.xyzacKinematics.restoreState(trace.state.kinematics); if (trace.state?.motion) this.motion.restore(trace.state.motion); if (trace.state?.program) { this.program = new ProgramRunner(this.core); @@ -346,10 +452,62 @@ export class SimSession { } restoreCheckpoint(checkpoint, events = null, reconcile = undefined) { + try { + validateCheckpoint(checkpoint, { contextId: this.contextId }); + } catch (error) { + return { schema: "simulation-recovery.v1", status: "blocked", context_id: this.contextId, checkpoint_hash: checkpoint?.checkpoint_hash ?? null, blocked: [{ reason: String(error?.message ?? error) }] }; + } const replayMotionAuthority = checkpoint?.state?.motion_authority ?? this.motionAuthority; if (replayMotionAuthority === "wasm" && !checkpoint?.state?.wasm_motion) { return { schema: "simulation-recovery.v1", status: "blocked", context_id: this.contextId, checkpoint_hash: checkpoint?.checkpoint_hash ?? null, blocked: [{ reason: "wasm_motion_checkpoint_missing" }] }; } + if (this.xyzacProgram && checkpoint?.state?.program?.source_text) { + try { + const loaded = this.xyzacProgram.load(checkpoint.state.program.source_text, checkpoint.state.program.path ?? null); + if (loaded.status !== "verified") throw new Error(loaded.code); + const subroutines = this.loadXyzacSubroutines(checkpoint.state.program.path ?? null); + if (subroutines.status !== "verified") throw new Error(subroutines.code); + const targetLine = Number.isSafeInteger(checkpoint.state.program.current_line) ? checkpoint.state.program.current_line : 0; + const seek = this.xyzacProgram.seek(targetLine); + if (seek.status !== "verified") throw new Error(seek.code); + if (checkpoint.state.program) this.xyzacProgram.restoreState(checkpoint.state.program); + if (checkpoint.state.wasm_motion) this.wasmMotion.restoreState(checkpoint.state.wasm_motion); + if (checkpoint.state.wasm_home_limit) this.wasmHomeLimit.restoreState(checkpoint.state.wasm_home_limit); + let restoredWasmDeviceIo = false; + if (checkpoint.state.device_io?.schema === "wasm_xyzac_device_io.v1" && this.xyzacDeviceIo) { this.xyzacDeviceIo.restoreState(checkpoint.state.device_io); restoredWasmDeviceIo = true; } + if (checkpoint.state.io?.schema === "wasm_xyzac_io.v1" && this.xyzacIo) this.xyzacIo.restoreState(checkpoint.state.io); + if (checkpoint.state.devices?.schema === "wasm_xyzac_devices.v1" && this.xyzacIo) this.xyzacIo.restoreState(checkpoint.state.devices); + if (checkpoint.state.kinematics && this.xyzacKinematics) this.xyzacKinematics.restoreState(checkpoint.state.kinematics); + if (checkpoint.state.task) this.task.restore(checkpoint.state.task); + if (checkpoint.state.scheduler) this.scheduler.restore(checkpoint.state.scheduler); + if (checkpoint.state.devices?.schema !== "wasm_xyzac_devices.v1") this.devices = new VirtualDevices({ state: checkpoint.state.devices }); + this.plc = new PlcRuntime(); if (checkpoint.state.plc) this.plc.restore(checkpoint.state.plc); + this.hal = new HalRuntime(); if (checkpoint.state.hal_runtime?.schema === "sim_hal_runtime.v1") this.hal.restore(checkpoint.state.hal_runtime); + this.configurationBatch = new ConfigurationBatchRuntime({ context_id: this.contextId }); if (checkpoint.state.configuration_batch) this.configurationBatch.restore(checkpoint.state.configuration_batch); + this.ioAck = new IoAckTracker(); if (checkpoint.state.io_ack) this.ioAck.restore(checkpoint.state.io_ack); + this.callbacks = new PythonCallbacks(); if (checkpoint.state.callbacks) this.callbacks.restore(checkpoint.state.callbacks); + this.configurationState = checkpoint.state.configuration ?? this.configurationState; + this.halState = checkpoint.state.hal ?? this.halState; + this.previewState = checkpoint.state.preview ?? this.previewState; + this.python = new PythonBridge(); if (checkpoint.state.python) this.python.restoreState(checkpoint.state.python); + this.timeline = new ReplayTimeline(checkpoint.timeline); + if (checkpoint.state.hal_runtime?.schema === "wasm_xyzac_hal.v1" && this.xyzacIo) this.xyzacIo.halCommand({ action: "step", ticks: checkpoint.state.hal_runtime.tick ?? 0 }); + if (!restoredWasmDeviceIo && checkpoint.state.device_io?.schema === "wasm_xyzac_device_io.v1" && this.xyzacDeviceIo) this.xyzacDeviceIo.command("IO_STEP", { ticks: checkpoint.state.device_io.state?.tick ?? 0 }); + const currentOperations = [...this.operations.values()]; + this.operations = new Map([...checkpoint.operations ?? [], ...currentOperations].map((operation) => [operation.operation_id, operation])); + const checkpointEntries = checkpoint.operations ?? []; + const currentEntries = this.ledger.export().entries.filter((entry) => !checkpointEntries.some((operation) => operation.operation_id === entry.operation_id)); + this.ledger = new this.ledger.constructor(); + for (const operation of [...checkpointEntries, ...currentEntries]) { + const entry = { ...operation, phase: operation.phase ?? (operation.status === "verified" ? "committed" : operation.status), side_effect_count: operation.side_effect_count ?? (operation.status === "verified" ? 1 : 0) }; + try { this.ledger.importEntry(entry); } catch { /* checkpoint operations remain available for diagnostics */ } + } + this.tick = checkpoint.state.tick ?? this.tick; + return { schema: "simulation-recovery.v1", status: "recovered", context_id: this.contextId, checkpoint_hash: checkpoint.checkpoint_hash ?? null, simulation_tick: this.tick, state: this.stateForCheckpoint(), operations: checkpoint.operations ?? [] }; + } catch (error) { + return { schema: "simulation-recovery.v1", status: "blocked", context_id: this.contextId, checkpoint_hash: checkpoint?.checkpoint_hash ?? null, blocked: [{ code: "wasm_program_recovery", reason: String(error?.message ?? error) }] }; + } + } const replayDevices = new VirtualDevices({ state: checkpoint?.state?.devices }); const replayMotion = new MotionState(); if (checkpoint?.state?.motion) replayMotion.restore(checkpoint.state.motion); @@ -546,6 +704,7 @@ export class SimSession { this.motionAuthority = result.state?.motion_authority ?? checkpoint?.state?.motion_authority ?? this.motionAuthority; if (this.motionAuthority === "wasm" && result.state?.wasm_motion) this.wasmMotion.restoreState(result.state.wasm_motion); if (this.motionAuthority === "wasm" && result.state?.wasm_home_limit) this.wasmHomeLimit.restoreState(result.state.wasm_home_limit); + if (result.state?.kinematics && this.xyzacKinematics) this.xyzacKinematics.restoreState(result.state.kinematics); if (result.state?.task) this.task.restore(result.state.task); if (result.state?.scheduler) this.scheduler.restore(result.state.scheduler); this.authoritative = new AuthoritativeRuntime(); @@ -556,7 +715,9 @@ export class SimSession { if (this.motionAuthority !== "wasm") this.authoritative.applyMotion(this.motion); if (this.motionAuthority === "wasm") { const wasmMotion = this.wasmMotion.read(); - if (wasmMotion.status !== "verified" || !result.state?.motion || fnv1a64(result.state.motion.axes) !== fnv1a64(wasmMotion.state.position)) throw new Error("wasm_motion_recovery_projection_mismatch"); + const motionAxes = result.state?.motion?.axes; + const projectionMatches = motionAxes && Object.entries(motionAxes).every(([axis, value]) => Number.isFinite(value) && Math.abs((wasmMotion.state.position[axis] ?? Number.NaN) - value) <= 1e-12); + if (wasmMotion.status !== "verified" || !projectionMatches) throw new Error("wasm_motion_recovery_projection_mismatch"); } this.plc = new PlcRuntime(); if (result.state?.plc) this.plc.restore(result.state.plc); @@ -661,8 +822,9 @@ export class SimSession { } const gate = this.commandGate(input); const handlerOwnsFault = (input.kind === "JOG_START" || input.kind === "JOG_STOP") && Boolean(this.motion.state.fault); - const restartAfterCompletion = input.kind === "PROGRAM_RESTART" && this.program.status === "completed"; - if (!gate.enabled && !handlerOwnsFault && !restartAfterCompletion) { + const restartAfterCompletion = input.kind === "PROGRAM_RESTART" && (this.xyzacProgram ? this.xyzacProgram.snapshot().status === 4 : this.program.status === "completed"); + const abortAfterCompletion = input.kind === "PROGRAM_ABORT" && (this.xyzacProgram ? this.xyzacProgram.snapshot().status === 4 : this.program.status === "completed"); + if (!gate.enabled && !handlerOwnsFault && !restartAfterCompletion && !abortAfterCompletion) { if (text(input.operation_id)) this.operations.delete(input.operation_id); const rejectedPayload = { command: input.kind, gate_reason: gate.reason, payload: input.payload ?? {} }; try { @@ -713,7 +875,16 @@ export class SimSession { }; const deviceResponse = (kind, payload) => { - const result = this.devices.command(kind, payload ?? {}); + const result = this.xyzacIo ? this.xyzacIo.command(kind, payload ?? {}) : this.devices.command(kind, payload ?? {}); + if (result.status === "verified" && this.xyzacProgram && kind === "ESTOP" && payload?.active === true) { + // The WASM IO edge owns emergency stop. Stop the WASM trajectory and + // pause the canonical program so no compatibility state can continue + // feeding motion while the machine is stopped. + const programState = this.xyzacProgram.snapshot(); + if (programState.status === 2) this.xyzacProgram.pause(); + this.wasmMotion.abort(); + this.wasmMotion.setPaused(true); + } try { if (kind === "ESTOP" && payload?.active === true) this.task.estop(-904); else if (kind === "IO_RECOVER" && result.status === "verified") this.task.recover(); @@ -721,15 +892,17 @@ export class SimSession { } catch (error) { return finish(this.error(input, "task_state", String(error?.message ?? error)), "failed"); } - if (kind === "ESTOP") this.deviceIo.estop(payload?.active === true); - if (kind === "IO_RECOVER" && result.status === "verified") this.deviceIo.interlockReset(); + if (!this.xyzacIo && kind === "ESTOP") this.deviceIo.estop(payload?.active === true); + if (!this.xyzacIo && kind === "IO_RECOVER" && result.status === "verified") this.deviceIo.interlockReset(); + if (this.xyzacDeviceIo && kind === "ESTOP") this.xyzacDeviceIo.command("DEVICE_ESTOP", payload, input.operation_id); + if (this.xyzacDeviceIo && kind === "IO_RECOVER" && result.status === "verified") this.xyzacDeviceIo.command("INTERLOCK_RESET", payload, input.operation_id); const responseKind = result.status === "verified" ? "COMMAND_RESULT" : "ERROR"; return finish(this.envelope(responseKind, input, { ...result, command: kind, task: this.task.export(), - device_io: this.deviceIo.export(), - motion: this.motion.export(), + device_io: this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), + motion: this.xyzacProgram ? this.wasmMotionProjection() : this.motion.export(), operation_id: input.operation_id ?? null, simulation_tick: this.tick, }), result.status === "verified" ? "verified" : "failed"); @@ -737,7 +910,8 @@ export class SimSession { const deviceIoResponse = (kind, payload = {}) => { let result; - if (kind === "ENCODER_SET") result = this.deviceIo.encoderSet(payload.channel, payload); + if (this.xyzacDeviceIo) result = this.xyzacDeviceIo.command(kind, payload, input.operation_id); + else if (kind === "ENCODER_SET") result = this.deviceIo.encoderSet(payload.channel, payload); else if (kind === "COOLANT_COMMAND") result = this.deviceIo.coolantCommand(payload); else if (kind === "COOLANT_FAULT") result = this.deviceIo.coolantFault(payload.fault === true); else if (kind === "DOOR_SET") result = this.deviceIo.doorSet(payload.open === true); @@ -749,7 +923,14 @@ export class SimSession { else if (kind === "DEVICE_ACK") result = this.deviceIo.ack(payload.operation_id); else result = this.deviceIo.fail("device_io_command_unsupported"); const responseKind = result.status === "verified" ? "COMMAND_RESULT" : "ERROR"; - return finish(this.envelope(responseKind, input, { ...result, command: kind, device_io: this.deviceIo.export(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + return finish(this.envelope(responseKind, input, { ...result, command: kind, device_io: this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + }; + + const visualClearResponse = () => { + const before = { task: this.task.hash(), motion: this.wasmMotion.exportState().state_hash, program: this.xyzacProgram?.snapshot().state_hash ?? null }; + this.previewState = null; + const after = { task: this.task.hash(), motion: this.wasmMotion.exportState().state_hash, program: this.xyzacProgram?.snapshot().state_hash ?? null }; + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, visual_clear: true, visual_only: true, before, after, operation_id: input.operation_id ?? null }), "verified"); }; switch (input.kind) { @@ -769,12 +950,21 @@ export class SimSession { try { this.task.setMode(mode); } catch (error) { return finish(this.error(input, "task_mode", String(error?.message ?? error)), "failed"); } return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, mode, task: this.task.export(), operation_id: input.operation_id ?? null })); } + case "POWER": { + if (input.payload?.active !== true) return finish(this.error(input, "power_state", "power_active_required"), "failed"); + const result = this.xyzacIo ? this.xyzacIo.command("IO_RECOVER", input.payload ?? {}) : this.devices.command("IO_RECOVER", input.payload ?? {}); + if (result.status === "verified") { + try { this.task.recover(); } catch { /* READY is already powered for the selected simulation. */ } + if (this.xyzacDeviceIo) this.xyzacDeviceIo.command("INTERLOCK_RESET", input.payload ?? {}, input.operation_id); + } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, active: true, task: this.task.export(), device_io: this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } case "RESET": { if (["RUNNING", "PAUSED"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "reset_while_program_active"), "failed"); const result = this.motion.resetFault(); if (result.status !== "verified") return finish(this.envelope("ERROR", input, { ...result, command: input.kind, task: this.task.export() }), "failed"); if (this.task.state.state === "FAULT" || this.task.state.state === "STOPPED") this.task.recover(); - return finish(this.envelope("COMMAND_RESULT", input, { ...result, command: input.kind, task: this.task.export(), motion: this.motion.export(), operation_id: input.operation_id ?? null })); + return finish(this.envelope("COMMAND_RESULT", input, { ...result, command: input.kind, task: this.task.export(), motion: this.motionProjection(), operation_id: input.operation_id ?? null })); } case "LOAD_WORKSPACE": { const rootPath = input.payload?.root_path; @@ -782,6 +972,7 @@ export class SimSession { let startupLoaded = false; const configuration = input.payload?.configuration ?? null; if (configuration) { + this.workspaceFiles = { ...(configuration.files ?? configuration.workspace ?? configuration.workspace_files ?? {}) }; const startupWorkspace = configuration.workspace ?? configuration.files ?? configuration.workspace_files; if (startupWorkspace) { const startup = new ConfigurationStartupStateMachine({ @@ -826,10 +1017,29 @@ export class SimSession { }; } } - this.motionAuthority = configuration?.entrypoint?.includes("3axis-tutorial") ? "wasm" : "js"; + this.motionAuthority = configuration?.entrypoint?.includes("3axis-tutorial") || configuration?.kinematics?.type === "xyzac-trt" ? "wasm" : "js"; + if (configuration?.kinematics?.type === "xyzac-trt") { + this.xyzacKinematics?.destroy(); + this.xyzacKinematics = new WasmXyzacKinematics(this.core, { ...configuration.kinematics.offsets, limits: configuration.home_limits }); + this.xyzacIo?.destroy(); + this.xyzacIo = new WasmXyzacIo(this.core, { spindleCount: 2, toolCapacity: 1001 }); + this.xyzacDeviceIo?.destroy(); + this.xyzacDeviceIo = new WasmXyzacDeviceIo(this.core, { encoderCount: 2 }); + this.xyzacProgram?.destroy(); + this.xyzacProgram = new WasmProgramRuntime(this.core); + this.xyzacProgramKinematicsMode = XYZAC_MODES.identity; + this.xyzacRapidVelocity = Number(configuration.kinematics?.max_linear_velocity ?? 35); + this.xyzacProgram.setRapidVelocity(this.xyzacRapidVelocity); + } if (configuration?.home_limits && this.motionAuthority === "wasm") { this.wasmHomeLimit.destroy(); - this.wasmHomeLimit = new WasmHomeLimit(this.core, { limits: configuration.home_limits }); + this.wasmHomeLimit = new WasmHomeLimit(this.core, { + jointCount: configuration.home_limits.joint_count ?? 3, + kinematicsType: configuration.home_limits.kinematics_type ?? 1, + coordinates: configuration.home_limits.coordinates ?? "XYZ", + offsets: configuration.kinematics?.offsets ?? {}, + limits: configuration.home_limits, + }); } if (input.payload?.hal) { const preflight = preflightHalConfiguration(input.payload.hal); @@ -849,7 +1059,7 @@ export class SimSession { }; } const configuredKinematics = input.payload?.kinematics ?? configuration?.kinematics?.type ?? null; - if (configuredKinematics) { + if (configuredKinematics && !(this.motionAuthority === "wasm" && configuredKinematics === "xyzac-trt")) { const kinematics = this.authoritative.setKinematics(configuredKinematics); if (kinematics.status === "blocked") return finish(this.envelope("ERROR", input, { status: "blocked", code: kinematics.code, kinematics: this.authoritative.export() }), "failed"); } @@ -868,9 +1078,46 @@ export class SimSession { const limit = validateLimit("max_tick_step", cycles); if (limit.status !== "accepted") return finish(this.envelope("ERROR", input, { ...limit, operation_id: input.operation_id ?? null, simulation_tick: this.tick, retryable: false }), "failed"); let program_steps = []; + const motion_trace = []; try { this.scheduler.step(cycles, { task: () => { + if (this.xyzacProgram) { + const wasmState = this.xyzacProgram.snapshot(); + if (![2, 3].includes(wasmState.status)) return; + if (this.pendingProgramControl !== 0) { + if (this.wasmMotion.read().state.queue_depth !== 0) return; + const current = this.wasmMotion.read().state.position; + this.xyzacProgramKinematicsMode = { 428: XYZAC_MODES.xyzac, 429: XYZAC_MODES.identity, 430: XYZAC_MODES.userk }[this.pendingProgramControl]; + const selected = this.xyzacKinematics.select(this.xyzacProgramKinematicsMode, [current.x, current.y, current.z, current.a ?? 0, current.c ?? 0]); + if (selected.status !== "verified") throw new Error(`wasm_switchkins_control_${this.pendingProgramControl}`); + this.pendingProgramControl = 0; + return; + } + const step = this.xyzacProgram.step(); + if (step.status !== "verified") throw new Error(step.code); + if (step.has_control && [428, 429, 430].includes(step.control_code)) { + this.pendingProgramControl = step.control_code; + if (this.wasmMotion.read().state.queue_depth === 0) { + const current = this.wasmMotion.read().state.position; + this.xyzacProgramKinematicsMode = { 428: XYZAC_MODES.xyzac, 429: XYZAC_MODES.identity, 430: XYZAC_MODES.userk }[step.control_code]; + const selected = this.xyzacKinematics.select(this.xyzacProgramKinematicsMode, [current.x, current.y, current.z, current.a ?? 0, current.c ?? 0]); + if (selected.status !== "verified") throw new Error(`wasm_switchkins_control_${step.control_code}`); + this.pendingProgramControl = 0; + } + } + const steps = step.motion ? [step] : []; + program_steps.push(step); + for (const item of steps) { + item.motion.kinematics_mode = this.xyzacProgramKinematicsMode; + const linearNoop = item.motion.motion_type === 1 && ["x", "y", "z", "a", "b", "c", "u", "v", "w"].every((axis) => item.motion.start[axis] === item.motion.end[axis]); + if (!linearNoop) { + const enqueue = this.wasmMotion.enqueue(item.motion); + if (enqueue.status === "error") throw new Error(enqueue.code); + } + } + return; + } const steps = this.program.tick(1); program_steps.push(...steps); for (const step of steps) { @@ -900,24 +1147,49 @@ export class SimSession { if (stepResult !== 0) throw new Error(`core_sim_step_${stepResult}`); this.tick = nextTick; this.task.setTick(nextTick); - const motionState = this.motion.step(nextTick); + const xyzacAuthority = Boolean(this.xyzacProgram); + const motionState = xyzacAuthority ? null : this.motion.step(nextTick); const wasmMotion = this.wasmMotion.step(); if (wasmMotion.status === "error" && wasmMotion.code !== "wasm_motion_step_-605") throw new Error(wasmMotion.code); - if (motionState.fault && this.task.state.state === "RUNNING") this.task.fault(-1205); + if (motionState?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205); if (this.motionAuthority === "wasm") { if (wasmMotion.status === "verified") { - const position = this.motion.applyWasmPosition(wasmMotion.state.position, wasmMotion.state.velocity, nextTick); - if (position.status === "error") throw new Error(position.code); + if (!xyzacAuthority) { + const position = this.motion.applyWasmPosition(wasmMotion.state.position, wasmMotion.state.velocity, nextTick); + if (position.status === "error") throw new Error(position.code); + } else if (this.xyzacKinematics && wasmMotion.state.active_id !== 0 && this.xyzacProgramKinematicsMode !== XYZAC_MODES.identity) { + const inverse = this.xyzacKinematics.inverse(wasmMotion.state.position); + if (inverse.status !== "verified") throw new Error(`wasm_xyzac_motion_inverse_${inverse.code ?? "error"}`); + } + } + if (xyzacAuthority) { + // An empty queue is a valid fixed-tick sample during an + // M428/M429 synchronization boundary. Record it as a + // stationary WASM sample so the display does not invent a + // jump across the barrier. + const traceState = wasmMotion.status === "verified" ? wasmMotion.state : this.wasmMotion.read().state; + const traceKinematics = this.xyzacKinematics?.snapshot?.(); + motion_trace.push({ + tick: nextTick, + pose: { ...traceState.position }, + joints: traceKinematics?.joints?.length === 5 ? [...traceKinematics.joints] : [], + active_segment_id: traceState.active_id, + active_progress: traceState.progress, + }); } } else if (this.program.loaded) this.authoritative.applyMotion(this.motion); - if (this.motionAuthority === "wasm" && this.wasmHomeLimit.read().state.homed && !motionState.fault) { - const homeCheck = this.wasmHomeLimit.check(this.motion.state.joints); + if (this.motionAuthority === "wasm" && this.wasmHomeLimit.read().state.homed) { + const homeCheck = this.wasmHomeLimit.check(this.xyzacProgram ? this.wasmMotionProjection().joints : this.motion.state.joints); if (homeCheck.status === "error") throw new Error(homeCheck.code); } - const halState = this.hal.step(nextTick); + const halState = this.xyzacIo ? this.xyzacIo.halCommand({ action: "step", ticks: 1 }) : this.hal.step(nextTick); if (halState.status === "error") throw new Error(halState.code); - const deviceIoState = this.deviceIo.step(nextTick); + const deviceIoState = this.xyzacIo ? this.xyzacIo.command("IO_STEP", { ticks: 1 }) : this.deviceIo.step(nextTick); if (deviceIoState.status === "blocked") throw new Error(deviceIoState.code); + if (this.xyzacDeviceIo) { + const deviceStep = this.xyzacDeviceIo.command("IO_STEP", { ticks: 1 }); + if (deviceStep.status === "blocked") throw new Error(deviceStep.code); + } const plcState = this.plc.scan(nextTick); if (plcState.status === "error") throw new Error(plcState.code); const ackState = this.ioAck.step(nextTick); @@ -932,20 +1204,38 @@ export class SimSession { } catch (error) { return finish(this.error(input, "scheduler", String(error?.message ?? error)), "failed"); } - const program = this.program.loaded ? this.program.snapshot() : null; + const program = this.xyzacProgram ? this.xyzacProgram.snapshot() : this.program.loaded ? this.program.snapshot() : null; if (program) { - const status = program.program_status === "completed" ? "completed" : program.program_status === "running" ? "running" : program.program_status; - this.task.setProgram(status, program.line); + const status = this.xyzacProgram ? (program.status === 4 ? "completed" : program.status === 2 ? "running" : program.status === 3 ? "paused" : "loaded") : (program.program_status === "completed" ? "completed" : program.program_status === "running" ? "running" : program.program_status); + this.task.setProgram(status, this.xyzacProgram ? program.current_line : program.line); if (status === "completed" && this.task.state.state === "RUNNING" && (this.motionAuthority !== "wasm" || this.wasmMotion.read().state.queue_depth === 0)) this.task.transition("STOPPED"); } - const snapshotState = { tick: this.tick, cycles, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export() }; + const snapshotState = { tick: this.tick, cycles, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.xyzacProgram ? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker" } : this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motionProjection(), plc: this.plc.export(), hal_runtime: this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(), device_io: this.xyzacDeviceIo ? this.xyzacDeviceIo.export() : this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export() }; if (program) snapshotState.program = program; const snapshot = this.timeline.checkpoint(input.seq, this.tick, snapshotState, this.timeline.snapshots.latest()?.snapshot_id ?? null); - return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", cycles, program_steps, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motion.export(), plc: this.plc.export(), hal_runtime: this.hal.export(), device_io: this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), ...(program ? { program } : {}), state_hash: snapshot.state_hash, snapshot })); + const lightweightXyzac = Boolean(this.xyzacProgram); + return finish(this.envelope("COMMAND_RESULT", input, { + status: "verified", cycles, program_steps, + ...(lightweightXyzac && cycles <= 32 && motion_trace.length ? { motion_trace } : {}), + motion_authority: this.motionAuthority, + task: this.task.export(), scheduler: this.scheduler.export(), authoritative: snapshotState.authoritative, + wasm_motion: this.wasmMotion.read(), motion: snapshotState.motion, + ...(lightweightXyzac ? {} : { plc: this.plc.export(), hal_runtime: snapshotState.hal_runtime, device_io: snapshotState.device_io, configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), snapshot }), + ...(program ? { program } : {}), state_hash: snapshot.state_hash, + })); } case "PROGRAM_LOAD": { if (["RUNNING", "PAUSED"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "program_load_while_active"), "failed"); const source = input.payload?.source ?? input.payload?.text ?? input.payload?.program_source; + if (this.xyzacProgram) { + const result = this.xyzacProgram.load(source, input.payload?.path ?? null); + if (result.status === "verified") this.xyzacProgram.setRapidVelocity(this.xyzacRapidVelocity); + if (result.status === "verified") { const subroutines = this.loadXyzacSubroutines(input.payload?.path); if (subroutines.status !== "verified") return finish(this.error(input, "program_subroutine", subroutines.code), "failed"); } + const preview = result.status === "verified" ? this.xyzacProgram.preview() : result; + if (result.status === "verified" && preview.status === "verified") { this.previewState = preview; this.task.setProgram("loaded", 0); } + const finalStatus = result.status === "verified" && preview.status === "verified" ? "verified" : "error"; + return finish(this.envelope(finalStatus === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, preview, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), finalStatus); + } const result = this.program.load(source, input.payload?.path ?? null); if (result.status === "verified") { this.authoritative.reset(); @@ -962,12 +1252,17 @@ export class SimSession { task: this.task.export(), motion_authority: this.motionAuthority, wasm_motion: this.wasmMotion.read(), - motion: this.motion.export(), + motion: this.motionProjection(), command: input.kind, operation_id: input.operation_id ?? null, }), result.status === "verified" ? "verified" : "failed"); } case "PROGRAM_RUN": { + if (this.xyzacProgram) { + const result = this.xyzacProgram.start(); + if (result.status === "verified") { this.wasmMotion.setPaused(false); this.task.setMode("AUTO"); if (this.task.state.state === "STOPPED") this.task.recover(); this.task.transition("RUNNING"); this.task.setProgram("running", this.xyzacProgram.snapshot().current_line); } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } const result = this.program.start(); if (result.status === "verified") { this.task.setMode("AUTO"); @@ -981,13 +1276,22 @@ export class SimSession { task: this.task.export(), motion_authority: this.motionAuthority, wasm_motion: this.wasmMotion.read(), - motion: this.motion.export(), + motion: this.motionProjection(), command: input.kind, operation_id: input.operation_id ?? null, }), result.status === "verified" ? "verified" : "failed"); } case "PROGRAM_PAUSE": case "PROGRAM_RESUME": case "PROGRAM_ABORT": { const action = input.kind === "PROGRAM_PAUSE" ? "pause" : input.kind === "PROGRAM_RESUME" ? "resume" : "abort"; + if (this.xyzacProgram) { + const result = this.xyzacProgram[action](); + if (result.status === "verified") { + if (action === "pause") { call(this.core, "sim_protocol_pause"); this.wasmMotion.setPaused(true); this.task.transition("PAUSED"); this.task.setProgram("paused", this.xyzacProgram.snapshot().current_line); } + else if (action === "resume") { call(this.core, "sim_protocol_resume"); this.wasmMotion.setPaused(false); this.task.transition("RUNNING"); this.task.setProgram("running", this.xyzacProgram.snapshot().current_line); } + else { this.wasmMotion.abort(); this.task.transition("STOPPED"); this.task.setProgram("aborted", this.xyzacProgram.snapshot().current_line); } + } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } const result = this.program[action](); if (result.status === "verified") { if (action === "pause") { @@ -1008,12 +1312,19 @@ export class SimSession { task: this.task.export(), motion_authority: this.motionAuthority, wasm_motion: this.wasmMotion.read(), - motion: this.motion.export(), + motion: this.motionProjection(), command: input.kind, operation_id: input.operation_id ?? null, }), result.status === "verified" ? "verified" : "failed"); } case "PROGRAM_RESTART": { + if (this.xyzacProgram) { + const source = this.xyzacProgram.source; + const result = this.xyzacProgram.load(source, this.xyzacProgram.path); + if (result.status === "verified") this.xyzacProgram.setRapidVelocity(this.xyzacRapidVelocity); + if (result.status === "verified") { const subroutines = this.loadXyzacSubroutines(this.xyzacProgram.path); if (subroutines.status !== "verified") return finish(this.error(input, "program_subroutine", subroutines.code), "failed"); const preview = this.xyzacProgram.preview(); if (preview.status === "verified") this.previewState = preview; this.wasmMotion.reset(); this.wasmMotion.setPaused(false); this.task.recover(); this.task.setMode("AUTO"); this.task.setProgram("loaded", 0); } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } const result = this.program.restart(); if (result.status === "verified") { if (["ESTOP", "FAULT"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "program_restart_faulted"), "failed"); @@ -1034,6 +1345,13 @@ export class SimSession { }), result.status === "verified" ? "verified" : "failed"); } case "PROGRAM_STEP": { + if (this.xyzacProgram) { + const current = this.xyzacProgram.snapshot(); + if (current.status === 1) this.xyzacProgram.start(); + const result = this.xyzacProgram.step(); + if (result.status === "verified") { if (result.motion) this.wasmMotion.enqueue(result.motion); this.wasmMotion.setPaused(true); this.task.setProgram(result.program_status === 4 ? "completed" : "paused", result.line); this.task.transition(result.program_status === 4 ? "STOPPED" : "PAUSED"); } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } if (this.task.state.state === "READY") { this.task.setMode("AUTO"); this.task.transition("RUNNING"); @@ -1059,12 +1377,17 @@ export class SimSession { task: this.task.export(), motion_authority: this.motionAuthority, wasm_motion: this.wasmMotion.read(), - motion: this.motion.export(), + motion: this.motionProjection(), command: input.kind, operation_id: input.operation_id ?? null, }), result.status === "verified" ? "verified" : "failed"); } case "PROGRAM_SEEK": { + if (this.xyzacProgram) { + const result = this.xyzacProgram.seek(input.payload?.line); + if (result.status === "verified") { this.task.setProgram("paused", input.payload?.line ?? 0); if (this.task.state.state === "READY") this.task.transition("RUNNING"); if (this.task.state.state === "RUNNING") this.task.transition("PAUSED"); } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } const result = this.program.seek(input.payload?.line); if (result.status === "verified") this.task.setProgram("paused", result.line); return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { @@ -1077,7 +1400,28 @@ export class SimSession { case "MDI_EXECUTE": { if (["RUNNING", "PAUSED"].includes(this.task.state.state)) return finish(this.error(input, "task_state", "mdi_while_program_active"), "failed"); if (this.task.state.state === "STOPPED") this.task.recover(); - const result = this.program.executeBlock(input.payload?.block ?? input.payload?.command); + const block = input.payload?.block ?? input.payload?.command; + if (this.xyzacProgram) { + const result = this.xyzacProgram.executeBlock(block); + if (result.status === "verified") { + const controlCode = Number(result.program?.control_code ?? 0); + if ([428, 429, 430].includes(controlCode) && this.xyzacKinematics) { + const mode = { 428: XYZAC_MODES.xyzac, 429: XYZAC_MODES.identity, 430: XYZAC_MODES.userk }[controlCode]; + const selected = this.xyzacKinematics.select(mode, this.xyzacKinematics.snapshot().joints); + if (selected.status !== "verified") return finish(this.error(input, "kinematics", selected.code ?? "xyzac_switchkins_failed"), "failed"); + result.kinematics = this.xyzacKinematics.snapshot(); + result.remap = { code: `M${controlCode}`, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }; + } + this.task.setMode("MDI"); + this.task.setProgram("loaded", this.xyzacProgram.snapshot().current_line); + if (result.motion) { + const enqueue = this.wasmMotion.enqueue(result.motion); + if (enqueue.status === "error") return finish(this.error(input, "motion_queue", enqueue.code), "failed"); + } + } + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } + const result = this.program.executeBlock(block); if (result.status === "verified") { this.task.setMode("MDI"); this.task.setProgram("loaded", this.program.currentLine); } return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, @@ -1086,15 +1430,64 @@ export class SimSession { operation_id: input.operation_id ?? null, }), result.status === "verified" ? "verified" : "failed"); } + case "KINEMATICS_SELECT": { + if (!this.xyzacKinematics) return finish(this.error(input, "kinematics", "xyzac_kinematics_unavailable"), "failed"); + const mode = Number(input.payload?.type); + if (![XYZAC_MODES.identity, XYZAC_MODES.xyzac, XYZAC_MODES.userk].includes(mode)) return finish(this.error(input, "kinematics", "xyzac_kinematics_type_invalid"), "failed"); + const result = this.xyzacKinematics.select(mode, this.xyzacKinematics.snapshot().joints); + const code = mode === XYZAC_MODES.xyzac ? "M428" : mode === XYZAC_MODES.identity ? "M429" : "M430"; + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, remap: { code, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }, kinematics: this.xyzacKinematics.snapshot(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + } + case "VISUAL_CLEAR": + return visualClearResponse(); case "HOME": { + if (this.xyzacProgram) { + if (this.wasmHomeLimit.read().status !== "verified") return finish(this.error(input, "home_limit", "wasm_home_limit_unavailable"), "failed"); + const home = this.wasmHomeLimit.home(input.seq); + if (home.status === "error") return finish(this.error(input, "home_limit", home.code), "failed"); + this.task.setMode("MANUAL"); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, motion: this.wasmMotionProjection(), wasm_home_limit: this.wasmHomeLimit.read(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified"); + } const result = this.motion.home(input.payload?.axis ?? null); if (result.status === "verified" && this.motionAuthority === "wasm") { const home = this.wasmHomeLimit.home(input.seq); if (home.status === "error") return finish(this.error(input, "home_limit", home.code), "failed"); } - return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motion.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motionProjection(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } case "JOG_START": case "JOG_STOP": case "SET_OVERRIDE": case "FOLLOWING_ERROR": { + if (this.motionAuthority === "wasm") { + if (input.kind === "JOG_STOP") { + this.wasmMotion.abort(); + this.wasmMotion.setPaused(true); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified"); + } + if (input.kind === "SET_OVERRIDE") { + const feed = Number(input.payload?.feed ?? input.payload?.feed_override); + if (!Number.isFinite(feed) || feed < 0 || feed > 2) return finish(this.error(input, "motion_override", "motion_override_range"), "failed"); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, feed_override: feed, state: { ...this.motion.export(), feed_override: feed }, motion: this.motionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified"); + } + if (input.kind === "FOLLOWING_ERROR") return finish(this.error(input, "motion_following_error", "wasm_following_error_unavailable"), "failed"); + const current = this.wasmMotion.read(); + if (current.status !== "verified") return finish(this.error(input, "motion_queue", "wasm_motion_unavailable"), "failed"); + const axis = String(input.payload?.axis ?? "").toLowerCase(); + if (!["x", "y", "z", "a", "c"].includes(axis)) return finish(this.error(input, "motion_axis", "motion_axis_invalid"), "failed"); + const direction = input.payload?.direction === -1 ? -1 : input.payload?.direction === 1 ? 1 : null; + if (direction === null) return finish(this.error(input, "motion_jog", "motion_jog_range"), "failed"); + this.wasmMotion.setPaused(false); + const start = { ...current.state.position }; + const distance = Number(input.payload?.increment) > 0 ? Number(input.payload.increment) : 1; + const target = Number(start[axis] ?? 0) + direction * distance; + const configuredLimit = this.wasmHomeLimit.limits?.[axis]; + if (Array.isArray(configuredLimit) && configuredLimit.length === 2 && (target < Number(configuredLimit[0]) || target > Number(configuredLimit[1]))) return finish(this.error(input, "motion_queue", "motion_limit_range"), "failed"); + const end = { ...start, [axis]: target }; + const enqueue = this.wasmMotion.enqueue({ start, end, center: { x: 0, y: 0, z: 0 }, normal: { x: 0, y: 0, z: 1 }, velocity: Number(input.payload?.speed ?? 1), acceleration: 0, motion_type: 1, turn: 0, source_line: null }); + if (enqueue.status === "error") { + const code = enqueue.code === "wasm_motion_enqueue_-602" ? "motion_limit_range" : enqueue.code === "wasm_motion_enqueue_-601" ? "motion_jog_nonfinite" : enqueue.code; + return finish(this.error(input, "motion_queue", code), "failed"); + } + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, motion: this.wasmMotionProjection(), wasm_motion: this.wasmMotion.read(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified"); + } let result; if (input.kind === "JOG_START" && this.motionAuthority === "wasm" && !this.wasmHomeLimit.read().state.homed) return finish(this.error(input, "motion_state", "motion_unhomed"), "failed"); if (input.kind === "JOG_START") result = this.motion.startJog(input.payload); @@ -1102,7 +1495,7 @@ export class SimSession { else if (input.kind === "SET_OVERRIDE") result = this.motion.setOverride(input.payload?.feed ?? input.payload?.feed_override, input.payload?.spindle ?? input.payload?.spindle_override); else result = this.motion.setFollowingError(input.payload?.value ?? input.payload?.following_error); if (result.status === "error" && result.state?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205); - return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motion.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motionProjection(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } case "SPINDLE_COMMAND": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT": case "SPINDLE_ORIENT": case "SPINDLE_ORIENTED": case "IO_STEP": @@ -1111,6 +1504,7 @@ export class SimSession { case "PROBE_CONFIG": case "IO_RECOVER": return deviceResponse(input.kind, input.payload); case "LIMIT_SET": { + if (this.xyzacProgram) return finish(this.error(input, "motion_limit", "wasm_limit_inputs_are_configuration_owned"), "failed"); const result = this.motion.setLimit(input.payload?.axis, input.payload?.active === true); return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } @@ -1125,7 +1519,11 @@ export class SimSession { case "HAL_COMMAND": case "HAL_SET": { const payload = input.payload ?? {}; let result; - if (input.kind === "HAL_SET") { + if (this.xyzacIo && input.kind === "HAL_SET") { + result = this.xyzacIo.halValue(payload.name, payload.value, payload.type === "bit" ? 1 : payload.type === "s32" ? 2 : payload.type === "u32" ? 3 : 4, payload.target === "param"); + } else if (this.xyzacIo) { + result = this.xyzacIo.halCommand(payload); + } else if (input.kind === "HAL_SET") { result = payload.target === "param" ? this.hal.setParam(payload.name, payload.value, payload.type) : this.hal.setPin(payload.name, payload.value, payload.type); } else if (payload.action === "configure") { result = this.hal.configure(payload); @@ -1142,7 +1540,7 @@ export class SimSession { } else { result = this.hal.fail("hal_command_unsupported"); } - return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, task: this.task.export(), hal_runtime: this.hal.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); + return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, task: this.task.export(), hal_runtime: this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } case "ENCODER_SET": case "COOLANT_COMMAND": case "COOLANT_FAULT": case "DOOR_SET": case "INTERLOCK_SET": case "INTERLOCK_RESET": case "DEVICE_ESTOP": case "DEVICE_ACK_ISSUE": case "DEVICE_ACK": case "DEVICE_ACK_ABORT": return deviceIoResponse(input.kind, input.payload); @@ -1162,6 +1560,10 @@ export class SimSession { return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, io_ack: this.ioAck.export(), device_io: this.deviceIo.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } case "REMAP_REGISTER": case "REMAP_CALL": case "VCP_REGISTER": case "VCP_UPDATE": case "FILTER_EXEC": { + if (this.xyzacProgram && input.kind === "VCP_UPDATE" && ["type0-button", "type1-button", "type2-button"].includes(input.payload?.pin)) return finish(this.error(input, "pyvcp_switch_requires_mdi", "pyvcp_switch_requires_mdi"), "failed"); + if (this.xyzacProgram && input.kind === "VCP_UPDATE" && input.payload?.pin === "vismach-clear") { + return visualClearResponse(); + } const result = input.kind === "REMAP_REGISTER" ? this.callbacks.registerRemap(input.payload?.name, input.payload) : input.kind === "REMAP_CALL" @@ -1174,6 +1576,7 @@ export class SimSession { return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, callbacks: this.callbacks.export(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed"); } case "ESTOP": { + if (this.xyzacProgram) return deviceResponse(input.kind, input.payload); const motionResult = this.motion.estop(input.payload?.active === true); const deviceResult = deviceResponse(input.kind, input.payload); if (motionResult.status === "error") return finish(this.envelope("ERROR", input, { ...motionResult, task: this.task.export() }), "failed"); @@ -1207,6 +1610,17 @@ export class SimSession { const result = this.restoreCheckpoint(input.payload?.checkpoint, input.payload?.events, input.payload?.reconcile); return finish(this.envelope("RECOVERY_STATUS", input, result), result.status === "blocked" ? "failed" : "verified"); } + case "CANCEL": { + const target = input.payload?.operation_id; + let ledgerResult = null; + if (text(target)) { + try { ledgerResult = this.ledger.abort(target, input.payload?.reason ?? "cancel_requested"); } + catch (error) { ledgerResult = { status: "missing", error: String(error?.message ?? error) }; } + const operation = this.operations.get(target); + if (operation && operation.status !== "verified") operation.status = "aborted"; + } + return finish(this.envelope("COMMAND_RESULT", input, { status: ledgerResult?.status ?? "missing", cancelled: ledgerResult?.status === "aborted", retry_allowed: false, operation_id: target ?? null, ledger: ledgerResult })); + } case "ABORT": { const target = input.payload?.operation_id; const operation = text(target) ? this.operations.get(target) : null; @@ -1222,6 +1636,9 @@ export class SimSession { } case "DESTROY": this.program.destroy(); + this.xyzacIo?.destroy(); + this.xyzacDeviceIo?.destroy(); + this.xyzacKinematics?.destroy(); this.task.destroy(); this.scheduler.destroy(); call(this.core, "sim_destroy"); diff --git a/web/worker/sim-worker.mjs b/web/worker/sim-worker.mjs index c865328..254255c 100644 --- a/web/worker/sim-worker.mjs +++ b/web/worker/sim-worker.mjs @@ -1,8 +1,8 @@ import createModule from "../../build-wasm/linuxcnc-sim-core.js"; -import { SimSession } from "./sim-session.mjs"; +import { XyzacSession } from "./xyzac-session.mjs"; const core = await createModule(); -const session = new SimSession(core); +const session = new XyzacSession(core); self.onmessage = (event) => { try { diff --git a/web/worker/test_wasm_canonical_state.mjs b/web/worker/test_wasm_canonical_state.mjs index 545e6a4..946998c 100644 --- a/web/worker/test_wasm_canonical_state.mjs +++ b/web/worker/test_wasm_canonical_state.mjs @@ -49,7 +49,7 @@ const stepped = send("SIM_STEP", "jog-step", { cycles: 3 }); assert.equal(stepped.payload.task_authority, "wasm_task_canonical"); assert.equal(stepped.payload.wasm_home_limit.state.source, "wasm_home_limit"); assert.ok(stepped.payload.wasm_home_limit.state.tick > home.payload.wasm_home_limit.state.tick); -assert.deepEqual(stepped.payload.motion.axes, { x: stepped.payload.motion.joints[0], y: stepped.payload.motion.joints[1], z: stepped.payload.motion.joints[2] }); +assert.deepEqual({ x: stepped.payload.motion.axes.x, y: stepped.payload.motion.axes.y, z: stepped.payload.motion.axes.z }, { x: stepped.payload.motion.joints[0], y: stepped.payload.motion.joints[1], z: stepped.payload.motion.joints[2] }); const limit = send("LIMIT_SET", "limit", { axis: "x", active: true }); assert.equal(limit.payload.wasm_home_limit.state.source, "wasm_home_limit"); diff --git a/web/worker/test_xyzac_exact_preview.mjs b/web/worker/test_xyzac_exact_preview.mjs new file mode 100644 index 0000000..52b0dff --- /dev/null +++ b/web/worker/test_xyzac_exact_preview.mjs @@ -0,0 +1,65 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; +import { fnv1a64 } from "./replay.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const PROGRAM_PATH = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc"; +const fetchImpl = async (url) => { + try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } + catch { return { ok: false, text: async () => "" }; } +}; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const source = bundle.files?.[PROGRAM_PATH]; +assert.equal(typeof source, "string"); +assert.equal(source, await readFile(new URL(`../../${PROGRAM_PATH}`, import.meta.url), "utf8")); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-exact-preview" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +const loaded = send("PROGRAM_LOAD", "program-load", { source, path: PROGRAM_PATH }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +assert.equal(loaded.payload.status, "verified"); +assert.equal(loaded.payload.program.path, PROGRAM_PATH); +assert.equal(loaded.payload.program.source_hash, fnv1a64(source)); +assert.equal(loaded.payload.preview.source, "linuxcnc-wasm-sim_program"); +assert.equal(loaded.payload.preview.segments.length, 29); +assert.equal(loaded.payload.panel_snapshot.visual.source, "wasm_canonical_motion"); +assert.equal(loaded.payload.panel_snapshot.visual.toolpath.length, 29); +const arcs = loaded.payload.preview.segments.filter((segment) => segment.motion_type === 2); +const rapids = loaded.payload.preview.segments.filter((segment) => segment.kind === "rapid"); +assert.equal(arcs.length, 4); +assert.equal(rapids.length, 25); +assert.ok(rapids.every((segment) => segment.canonical_motion_mode === 0)); +assert.ok(arcs.every((segment) => segment.canonical_motion_mode === 2)); +assert.ok(rapids.every((segment) => Math.abs(segment.velocity - 35) < 1e-12)); +assert.ok(arcs.every((segment) => Math.abs(segment.velocity - (1000 / 60)) < 1e-12)); +assert.ok(arcs.every((segment) => segment.turn === -3)); +assert.ok(arcs.every((segment) => Array.isArray(segment.samples) && segment.samples.length === 97)); +assert.ok(arcs.every((segment) => segment.samples.some((sample) => sample.z < segment.start.z && sample.z > segment.end.z))); +assert.ok(arcs.every((segment) => segment.samples_source === "linuxcnc-wasm-sim_posemath_segment_point")); +assert.ok(arcs.every((segment) => segment.kind === "helix" && segment.helix === true && segment.radius === 10 && segment.turns === 3 && segment.axial_delta === -5)); +assert.ok(arcs.every((segment) => segment.start.a === 20 && segment.end.a === 20 && segment.start.c === 45 && segment.end.c === 45)); +assert.deepEqual(arcs.map((segment) => segment.source_line), [67, 67, 67, 67]); +for (const segment of arcs) { + const radius = segment.samples.map((sample) => Math.hypot(sample.x - segment.center.x, sample.y - segment.center.y)); + assert.ok(Math.max(...radius) - Math.min(...radius) < 1e-9); + assert.ok(Math.abs(radius[0] - 10) < 1e-9); + assert.ok(Math.abs(segment.samples[0].z - 10) < 1e-9); + assert.ok(Math.abs(segment.samples.at(-1).z - 5) < 1e-9); +} +assert.deepEqual(arcs.map((segment) => [segment.end.x, segment.end.y, segment.end.z]), [[10, 20, 5], [-30, 20, 5], [-30, -20, 5], [10, -20, 5]]); +const clear = send("VISUAL_CLEAR", "visual-clear"); +assert.equal(clear.payload.visual_only, true); +assert.deepEqual(clear.payload.before, clear.payload.after); +const restarted = send("PROGRAM_RESTART", "program-restart"); +assert.equal(restarted.payload.program.path, PROGRAM_PATH); +assert.equal(restarted.payload.panel_snapshot.visual.toolpath.length, 29); +console.log(JSON.stringify({ schema: "xyzac-exact-tool-preview.v1", status: "verified", case: CASE, program_path: PROGRAM_PATH, source_hash: loaded.payload.program.source_hash, segment_count: loaded.payload.preview.segments.length, rapid_count: rapids.length, arc_count: arcs.length, arc_turn: -3, motion_mode_source: "linuxcnc-wasm-sim_program_canonical", helix_validation: { sample_points_per_helix: arcs[0].samples.length, samples_source: arcs[0].samples_source, radius_mm: 10, z_start: 10, z_end: 5, turns_per_helix: 3 }, helix_details: arcs.map((segment) => ({ source_line: segment.source_line, kind: segment.kind, start: segment.start, end: segment.end, center: segment.center, radius: segment.radius, turns: segment.turns, axial_delta: segment.axial_delta, samples: segment.samples.length, samples_source: segment.samples_source })), visual_segments: loaded.payload.panel_snapshot.visual.toolpath.length, restart_visual_segments: restarted.payload.panel_snapshot.visual.toolpath.length, clear_visual_only: clear.payload.visual_only, state_hash: loaded.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_gate_matrix.mjs b/web/worker/test_xyzac_gate_matrix.mjs new file mode 100644 index 0000000..6e2eed6 --- /dev/null +++ b/web/worker/test_xyzac_gate_matrix.mjs @@ -0,0 +1,57 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; +import { axisGate, xyzacGateMatrix } from "../app/axis-contract.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-gate-matrix" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); +assert.equal(loaded.payload.status, "verified"); +const initial = loaded.payload.panel_snapshot; +assert.equal(initial.xyzac.coordinates, "XYZAC"); +assert.equal(initial.xyzac.joint_count, 5); +assert.equal(initial.gates.run.enabled, false); +assert.equal(initial.gates.run.reason, "axis_taskfile_missing"); +assert.equal(initial.gates.runLine.reason, "axis_taskfile_missing"); +assert.equal(initial.gates.switchkinsIdentity.enabled, true); +assert.equal(initial.gates.switchkinsXyzac.enabled, true); +assert.equal(initial.gates.switchkinsUserk.enabled, true); +assert.equal(initial.gates.vismachClear.visual_only, true); +const noFile = axisGate("runLine", { task: { state: "READY", mode: "MANUAL" }, program: {}, motion: {}, taskfile: false, highlight_line: null }); +assert.equal(noFile.enabled, false); +assert.equal(noFile.reason, "axis_taskfile_missing"); +const highlightMissing = axisGate("runLine", { task: { state: "READY", mode: "MANUAL" }, program: { source_hash: "fnv1a64:file" }, motion: {}, taskfile: true, highlight_line: null }); +assert.equal(highlightMissing.reason, "axis_highlight_missing"); +const invalidSwitch = xyzacGateMatrix({ task: { state: "READY", mode: "MANUAL" }, program: {}, motion: {}, taskfile: false, xyzac: { coordinates: "XYZ", joint_count: 3, hal_pin_vars: false, switchkins_net: false, finite_offsets: true, userk_capability: false } }); +assert.equal(invalidSwitch.switchkinsXyzac.enabled, false); +assert.equal(invalidSwitch.switchkinsXyzac.reason, "xyzac_hal_pin_vars_missing"); +send("PROGRAM_LOAD", "program-load", { path: "gate.ngc", source: "G21 G90\nG1 X10 A20 C30 F100\nM2\n" }); +const running = send("PROGRAM_RUN", "program-run"); +assert.equal(running.payload.panel_snapshot.gates.pause.enabled, true); +assert.equal(running.payload.panel_snapshot.gates.abort.enabled, true); +assert.equal(running.payload.panel_snapshot.gates.resume.enabled, false); +assert.equal(running.payload.panel_snapshot.gates.switchkinsXyzac.enabled, false); +send("PROGRAM_PAUSE", "pause"); +const paused = send("SNAPSHOT_REQUEST", "paused-snapshot"); +assert.equal(paused.payload.panel_snapshot.gates.resume.enabled, true); +assert.equal(paused.payload.panel_snapshot.gates.pause.enabled, false); +send("PROGRAM_ABORT", "abort"); +const estopGates = xyzacGateMatrix({ task: { state: "ESTOP", mode: "MANUAL" }, program: { source_hash: "fnv1a64:file" }, motion: {}, taskfile: true, xyzac: { coordinates: "XYZAC", joint_count: 5, hal_pin_vars: true, switchkins_net: true, finite_offsets: true, userk_capability: true } }); +assert.equal(estopGates.switchkinsXyzac.enabled, false); +assert.equal(estopGates.switchkinsXyzac.reason, "xyzac_estop_active"); +send("ESTOP", "estop-reset", { active: false }); +send("IO_RECOVER", "recover"); +const recovered = send("SNAPSHOT_REQUEST", "recovered-snapshot"); +assert.equal(typeof recovered.payload.panel_snapshot.state_hash, "string"); +assert.equal(recovered.payload.panel_snapshot.gates.vismachClear.visual_only, true); +console.log(JSON.stringify({ schema: "xyzac-gate-matrix-rtcp-03.v1", status: "verified", case: CASE, normal: ["runLine", "switchkinsIdentity", "switchkinsXyzac", "switchkinsUserk"], blocked: [noFile.reason, highlightMissing.reason, invalidSwitch.switchkinsXyzac.reason, estopGates.switchkinsXyzac.reason], running: { pause: true, abort: true }, paused: { resume: true }, estop: { switchkins_enabled: estopGates.switchkinsXyzac.enabled }, final_state_hash: recovered.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_hal_tool_alarm.mjs b/web/worker/test_xyzac_hal_tool_alarm.mjs new file mode 100644 index 0000000..dfdc029 --- /dev/null +++ b/web/worker/test_xyzac_hal_tool_alarm.mjs @@ -0,0 +1,65 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-hal-tool" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); + +const xml = await readFile(new URL("../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", import.meta.url), "utf8"); +const postgui = await readFile(new URL("../../linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", import.meta.url), "utf8"); +for (const pin of ["type0-button", "type1-button", "type2-button", "vismach-clear"]) assert.ok(xml.includes(pin)); +for (const edge of ["pyvcp.type0-button", "pyvcp.type1-button", "pyvcp.type2-button", "vismach.plotclear"]) assert.ok(postgui.includes(edge)); +for (const [code, type] of [["M429", 0], ["M428", 1], ["M430", 2]]) assert.equal(send("MDI_EXECUTE", `switch-${code}`, { block: code }).payload.kinematics.active_type, type); +const directSwitch = send("VCP_UPDATE", "direct-switch", { name: "xyzac", pin: "type1-button", value: 1 }); +assert.equal(directSwitch.kind, "ERROR"); +assert.equal(directSwitch.payload.code, "pyvcp_switch_requires_mdi"); +send("SNAPSHOT_REQUEST", "before-clear"); +const clear = send("VCP_UPDATE", "visual-clear", { name: "xyzac", pin: "vismach-clear", value: 1 }); +assert.equal(clear.payload.visual_only, true); +assert.deepEqual(clear.payload.before, clear.payload.after); + +const allowed = send("HAL_SET", "hal-allowed", { target: "pin", name: "motion.probe-input", type: "bit", value: true }); +assert.equal(allowed.kind, "COMMAND_RESULT"); +const denied = send("HAL_SET", "hal-denied", { target: "pin", name: "motion.switchkins-type", type: "s32", value: 2 }); +assert.equal(denied.kind, "ERROR"); +assert.equal(denied.payload.code, "wasm_hal_write_denied"); + +assert.equal(send("SPINDLE_COMMAND", "spindle-on", { spindle: 0, rpm: 1200, enabled: true }).kind, "COMMAND_RESULT"); +send("IO_STEP", "spindle-step", { ticks: 10 }); +const spindle = send("SNAPSHOT_REQUEST", "spindle-snapshot").payload.panel_snapshot.io.state.spindles[0]; +assert.equal(spindle.command_rpm, 1200); +assert.equal(send("SPINDLE_COMMAND", "spindle-off", { spindle: 0, rpm: 0, enabled: false }).kind, "COMMAND_RESULT"); +send("IO_STEP", "spindle-stop-step", { ticks: 20 }); +assert.equal(send("COOLANT_COMMAND", "coolant-on", { mist: true, flood: true }).payload.panel_snapshot.device_io.source, "wasm_device_io"); +assert.equal(send("TOOL_PREPARE", "tool-prepare", { tool: 7, pocket: 3 }).kind, "COMMAND_RESULT"); +assert.equal(send("TOOL_PREPARED", "tool-prepared", { prepared: true }).kind, "COMMAND_RESULT"); +assert.equal(send("TOOL_CHANGE", "tool-change").kind, "COMMAND_RESULT"); +assert.equal(send("TOOL_CHANGED", "tool-changed", { changed: true }).payload.device_io.state.tool.current, 7); +assert.equal(send("MDI_EXECUTE", "g43", { block: "G43 H7" }).kind, "COMMAND_RESULT"); +assert.equal(send("MDI_EXECUTE", "g49", { block: "G49" }).kind, "COMMAND_RESULT"); + +const ack = send("DEVICE_ACK_ISSUE", "ack-one", { timeout_ticks: 2 }); +assert.equal(ack.kind, "COMMAND_RESULT"); +assert.equal(send("DEVICE_ACK", "ack-confirm", { operation_id: "ack-one" }).kind, "COMMAND_RESULT"); +assert.equal(send("DEVICE_ACK_ISSUE", "ack-timeout", { timeout_ticks: 1 }).kind, "COMMAND_RESULT"); +send("SIM_STEP", "ack-timeout-step", { cycles: 1 }); +const lateAck = send("DEVICE_ACK", "ack-late", { operation_id: "ack-timeout" }); +assert.equal(lateAck.kind, "ERROR"); +assert.equal(lateAck.payload.code, "wasm_sim_device_ack_ack_-1008"); +assert.equal(send("DEVICE_ACK_ISSUE", "ack-abort", { timeout_ticks: 5 }).kind, "COMMAND_RESULT"); +assert.equal(send("DEVICE_ACK_ABORT", "ack-abort-command", { operation_id: "ack-abort" }).kind, "COMMAND_RESULT"); +const alarm = denied.payload; +assert.equal(typeof alarm.operation_id, "string"); +assert.ok(session.timeline.export().events.events.some((event) => event.kind === "HAL_SET")); +const final = send("SNAPSHOT_REQUEST", "final").payload.panel_snapshot; +console.log(JSON.stringify({ schema: "xyzac-hal-tool-alarm-rtcp-07.v1", status: "verified", case: CASE, pyvcp: ["M429", "M428", "M430", "vismach-clear"], hal: { allowed: "motion.probe-input", denied: denied.payload.code }, tool: final.io.state.tool.current, spindle_rpm: spindle.command_rpm, coolant: final.device_io.state.coolant, ack: { normal: "verified", timeout: lateAck.payload.code, abort: "verified" }, alarm: { code: alarm.code, operation_id: alarm.operation_id }, state_hash: final.state_hash })); diff --git a/web/worker/test_xyzac_machine_sequence.mjs b/web/worker/test_xyzac_machine_sequence.mjs new file mode 100644 index 0000000..e858467 --- /dev/null +++ b/web/worker/test_xyzac_machine_sequence.mjs @@ -0,0 +1,130 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { SimSession, CONTEXT_ID } from "./sim-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const PROGRAM_PATH = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc"; +const fetchImpl = async (url) => { + try { + const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; + +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const source = bundle.files?.[PROGRAM_PATH]; +assert.equal(typeof source, "string"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new SimSession(core, { sessionId: "xyzac-machine-sequence" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: `machine-${seq}`, payload }); + +send("HELLO"); +send("SESSION_ATTACH"); +assert.equal(send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +const loaded = send("PROGRAM_LOAD", { source, path: PROGRAM_PATH }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +assert.equal(loaded.payload.motion_authority, "wasm"); +assert.equal(loaded.payload.panel_snapshot.devices.source, "wasm_io"); +const jsMotionHash = session.motion.export().state_hash; + +const emergency = send("ESTOP", { active: true }); +assert.equal(emergency.kind, "COMMAND_RESULT"); +assert.equal(emergency.payload.task.state, "ESTOP"); +assert.equal(emergency.payload.motion_authority, "wasm"); +assert.equal(emergency.payload.device_io.source, "wasm_io"); +assert.equal(emergency.payload.device_io.state.estop, 1); +assert.equal(emergency.payload.device_io.state.ready, 0); +assert.equal(emergency.payload.panel_snapshot.motion.estop, true); +assert.equal(emergency.payload.panel_snapshot.wasm_motion.state.queue_depth, 0); +assert.equal(session.motion.export().state_hash, jsMotionHash); + +const released = send("ESTOP", { active: false }); +assert.equal(released.payload.status, "verified"); +assert.equal(released.payload.device_io.state.estop, 0); +assert.equal(released.payload.device_io.state.ready, 0); +assert.equal(released.payload.task.state, "ESTOP"); +const recovered = send("IO_RECOVER"); +assert.equal(recovered.payload.task.state, "READY"); +assert.equal(recovered.payload.device_io.state.estop, 0); +assert.equal(recovered.payload.device_io.state.ready, 1); +const recoveryEpoch = recovered.payload.device_io.state.recovery_epoch; + +const powered = send("POWER", { active: true }); +assert.equal(powered.payload.status, "verified"); +assert.equal(powered.payload.task.state, "READY"); +assert.equal(powered.payload.device_io.source, "wasm_io"); +assert.equal(powered.payload.device_io.state.ready, 1); +assert.ok(powered.payload.device_io.state.recovery_epoch > recoveryEpoch); + +const homed = send("HOME", { all: true }); +assert.equal(homed.payload.status, "verified"); +assert.equal(homed.payload.motion_authority, "wasm"); +assert.equal(homed.payload.wasm_home_limit.state.homed, true); +assert.equal(homed.payload.wasm_home_limit.state.joint_count, 5); +assert.deepEqual(homed.payload.panel_snapshot.motion.homed_axes, [true, true, true, true, true]); +assert.deepEqual(homed.payload.wasm_home_limit.state.joints, [0, 0, 0, 0, 0]); + +const running = send("PROGRAM_RUN"); +assert.equal(running.payload.status, "verified"); +assert.equal(running.payload.task.state, "RUNNING"); +assert.equal(running.payload.program.source, "linuxcnc-wasm-sim_program"); +assert.equal(running.payload.motion_authority, "wasm"); +assert.equal(session.wasmMotion.exportState().controls.paused, false); + +const stepped = send("SIM_STEP", { cycles: 180 }); +assert.equal(stepped.payload.status, "verified"); +assert.equal(stepped.payload.motion_authority, "wasm"); +assert.ok(stepped.payload.program.current_line > 0); +assert.ok(stepped.payload.program_steps.length > 0); +assert.equal(stepped.payload.panel_snapshot.visual.source, "wasm_canonical_motion"); +assert.deepEqual(stepped.payload.panel_snapshot.visual.pose, stepped.payload.wasm_motion.state.position); +assert.deepEqual(stepped.payload.panel_snapshot.visual.joints, stepped.payload.panel_snapshot.motion.joints); +assert.deepEqual(stepped.payload.panel_snapshot.coordinates.machine, [stepped.payload.panel_snapshot.visual.pose.x, stepped.payload.panel_snapshot.visual.pose.y, stepped.payload.panel_snapshot.visual.pose.z, stepped.payload.panel_snapshot.visual.pose.a, stepped.payload.panel_snapshot.visual.pose.c]); +assert.deepEqual(stepped.payload.panel_snapshot.coordinates.commanded, stepped.payload.panel_snapshot.coordinates.machine); +assert.ok(stepped.payload.panel_snapshot.visual.active_progress > 0); +assert.equal(stepped.payload.wasm_motion.state.active_tag, 1); +assert.equal(stepped.payload.panel_snapshot.kinematics.active_type, 1); +assert.ok(Number.isFinite(stepped.payload.panel_snapshot.visual.pose.a)); +assert.ok(Number.isFinite(stepped.payload.panel_snapshot.visual.pose.c)); +assert.equal(session.motion.export().state_hash, jsMotionHash); + +const aborted = send("PROGRAM_ABORT"); +assert.equal(aborted.payload.task.state, "STOPPED"); +const restarted = send("PROGRAM_RESTART"); +assert.equal(restarted.payload.status, "verified"); +const fullRun = send("PROGRAM_RUN"); +assert.equal(fullRun.payload.task.state, "RUNNING"); +const completed = send("SIM_STEP", { cycles: 8000 }); +assert.equal(completed.payload.status, "verified"); +assert.equal(completed.payload.program.program_status, "completed"); +assert.equal(completed.payload.task.state, "STOPPED"); +assert.equal(completed.payload.wasm_motion.state.queue_depth, 0); +assert.equal((completed.payload.panel_snapshot.visual.toolpath ?? loaded.payload.panel_snapshot.visual.toolpath).length, 29); +assert.equal(completed.payload.panel_snapshot.kinematics.active_type, 0); + +console.log(JSON.stringify({ + schema: "xyzac-machine-sequence.v1", + status: "verified", + case: CASE, + sequence: ["ESTOP", "ESTOP_RELEASE", "IO_RECOVER", "POWER", "HOME_ALL", "PROGRAM_RUN", "SIM_STEP"], + authority: { motion: "wasm", io: "wasm_io", home_limit: "wasm_home_limit", program: "linuxcnc-wasm-sim_program", visual: "wasm_canonical_motion" }, + estop_queue_depth: emergency.payload.panel_snapshot.wasm_motion.state.queue_depth, + home_joint_count: homed.payload.wasm_home_limit.state.joint_count, + current_line_after_step: stepped.payload.program.current_line, + live_axis_sample: stepped.payload.panel_snapshot.visual.pose, + live_joints: stepped.payload.panel_snapshot.visual.joints, + active_segment_id: stepped.payload.panel_snapshot.visual.active_segment_id, + active_progress: stepped.payload.panel_snapshot.visual.active_progress, + rtcp_active_type: stepped.payload.panel_snapshot.kinematics.active_type, + rtcp_joint_pose_delta: stepped.payload.panel_snapshot.kinematics.joints.map((value, index) => value - [stepped.payload.panel_snapshot.visual.pose.x, stepped.payload.panel_snapshot.visual.pose.y, stepped.payload.panel_snapshot.visual.pose.z, stepped.payload.panel_snapshot.visual.pose.a, stepped.payload.panel_snapshot.visual.pose.c][index]), + full_run: { cycles: 8000, program_status: completed.payload.program.program_status, task_state: completed.payload.task.state, queue_depth: completed.payload.wasm_motion.state.queue_depth, final_switchkins_type: completed.payload.panel_snapshot.kinematics.active_type }, + js_motion_unchanged: session.motion.export().state_hash === jsMotionHash, + state_hash: stepped.payload.panel_snapshot.state_hash, +})); diff --git a/web/worker/test_xyzac_manual_control.mjs b/web/worker/test_xyzac_manual_control.mjs new file mode 100644 index 0000000..f40e4d4 --- /dev/null +++ b/web/worker/test_xyzac_manual_control.mjs @@ -0,0 +1,75 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); + +function setup(id) { + const session = new XyzacSession(core, { sessionId: id }); + const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id }; + let seq = 0; + const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); + send("HELLO", "hello"); send("SESSION_ATTACH", "attach"); + assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); + return { session, send }; +} + +const jogCase = setup("xyzac-manual-jog"); +const home = jogCase.send("HOME", "home-all"); +assert.equal(home.payload.motion_authority, "wasm"); +assert.equal(home.payload.wasm_home_limit.state.homed, true); +assert.equal(home.payload.wasm_home_limit.state.joint_count, 5); +const axes = ["x", "y", "z", "a", "c"]; +const jogRows = []; +for (const axis of axes) { + const axisCase = axis === "x" ? jogCase : setup(`xyzac-manual-jog-${axis}`); + if (axis !== "x") assert.equal(axisCase.send("HOME", `home-${axis}`).payload.wasm_home_limit.state.homed, true); + const start = axisCase.session.wasmMotion.read().state.position[axis] ?? 0; + const started = axisCase.send("JOG_START", `jog-${axis}`, { axis, direction: 1, speed: 1, increment: axis === "a" || axis === "c" ? 2 : 1 }); + assert.equal(started.kind, "COMMAND_RESULT", axis); + assert.equal(started.payload.motion_authority, "wasm"); + const stepped = axisCase.send("SIM_STEP", `jog-step-${axis}`, { cycles: 1 }); + assert.equal(stepped.payload.motion_authority, "wasm"); + const end = axisCase.session.wasmMotion.read().state.position[axis] ?? axisCase.session.wasmMotion.read().state.position.x; + assert.notEqual(end, start, axis); + assert.equal(axisCase.send("JOG_STOP", `jog-stop-${axis}`).payload.motion_authority, "wasm"); + jogRows.push({ axis, start, end }); +} +const outOfRange = jogCase.send("JOG_START", "jog-limit", { axis: "x", direction: 1, speed: 1, increment: 10000 }); +assert.equal(outOfRange.kind, "ERROR"); +assert.equal(outOfRange.payload.message_key, "motion_limit_range"); +const nonFinite = jogCase.send("JOG_START", "jog-nonfinite", { axis: "a", direction: 1, speed: "not-a-number" }); +assert.equal(nonFinite.kind, "ERROR"); +assert.equal(nonFinite.payload.message_key, "motion_jog_nonfinite"); +const ferror = jogCase.send("FOLLOWING_ERROR", "ferror", { value: 1 }); +assert.equal(ferror.kind, "ERROR"); +assert.equal(ferror.payload.code, "motion_following_error"); + +const mdiCase = setup("xyzac-manual-mdi"); +const mdi = mdiCase.send("MDI_EXECUTE", "mdi-xyzac", { block: "G21 G90 G1 X10 Y5 Z180 A30 C45 F100" }); +assert.equal(mdi.kind, "COMMAND_RESULT"); +assert.equal(mdi.payload.motion_authority, "wasm"); +assert.equal(mdi.payload.program.source, "linuxcnc-wasm-sim_program"); +assert.equal(mdi.payload.panel_snapshot.kinematics.active_type, 0); +const invalidMdi = mdiCase.send("MDI_EXECUTE", "mdi-invalid", { block: "G999" }); +assert.equal(invalidMdi.kind, "ERROR"); +const loaded = mdiCase.send("PROGRAM_LOAD", "mdi-program", { source: "G21 G90\nG1 X20 A10 C20 F100\nM2\n", path: "mdi-run.ngc" }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +mdiCase.send("PROGRAM_RUN", "mdi-run"); +const mdiWhileRunning = mdiCase.send("MDI_EXECUTE", "mdi-running", { block: "G0 X1" }); +assert.equal(mdiWhileRunning.kind, "ERROR"); +assert.equal(mdiWhileRunning.payload.message_key, "mdi_while_program_active"); +mdiCase.send("PROGRAM_ABORT", "mdi-abort"); +const estop = mdiCase.send("ESTOP", "mdi-estop", { active: true }); +assert.equal(estop.kind, "COMMAND_RESULT"); +assert.equal(estop.payload.task.state, "ESTOP"); +assert.equal(estop.payload.device_io.source, "wasm_io"); +const recovered = mdiCase.send("IO_RECOVER", "mdi-recover"); +assert.equal(recovered.payload.motion_authority, "wasm"); + +console.log(JSON.stringify({ schema: "xyzac-manual-control-rtcp-06.v1", status: "verified", case: CASE, home: { authority: "wasm_home_limit", joints: 5 }, jog: jogRows, boundary: { out_of_range: outOfRange.payload.code, nonfinite_speed: nonFinite.payload.code, following_error: ferror.payload.code }, mdi: "verified", mdi_running_gate: mdiWhileRunning.payload.message_key, estop_recovery: "verified", state_hash: recovered.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_program_preview.mjs b/web/worker/test_xyzac_program_preview.mjs new file mode 100644 index 0000000..1b2ff48 --- /dev/null +++ b/web/worker/test_xyzac_program_preview.mjs @@ -0,0 +1,44 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-preview" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +const source = "G21 G90\nG0 X10 Y5 Z200 A30 C45\nG1 X20 Y10 Z180 A35 C50 F100\nM2\n"; +const loaded = send("PROGRAM_LOAD", "program-load", { source, path: "demos/preview.ngc" }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +assert.equal(loaded.payload.program.source, "linuxcnc-wasm-sim_program"); +assert.equal(loaded.payload.program.path, "demos/preview.ngc"); +assert.equal(loaded.payload.program.source_hash, "fnv1a64:b7f4678312207b31"); +assert.equal(loaded.payload.preview.status, "verified"); +assert.equal(loaded.payload.preview.source, "linuxcnc-wasm-sim_program"); +assert.equal(loaded.payload.preview.path, "demos/preview.ngc"); +assert.equal(loaded.payload.preview.line_count, 4); +assert.ok(loaded.payload.preview.segments.length >= 2); +assert.ok(loaded.payload.preview.segments.every((segment) => Number.isSafeInteger(segment.id) && Number.isSafeInteger(segment.source_line))); +assert.ok(loaded.payload.preview.segments.every((segment) => ["x", "y", "z", "a", "b", "c"].every((axis) => Number.isFinite(segment.start[axis]) && Number.isFinite(segment.end[axis])))); +const previewHash = loaded.payload.preview.preview_hash; +const snapshot = send("SNAPSHOT_REQUEST", "snapshot"); +assert.equal(snapshot.payload.panel_snapshot.program.path, "demos/preview.ngc"); +assert.equal(snapshot.payload.panel_snapshot.program.source_hash, loaded.payload.program.source_hash); +const replay = send("PROGRAM_LOAD", "program-load", { source: "G999\n", path: "bad.ngc" }); +assert.equal(replay.replayed, true); +assert.equal(replay.payload.preview.preview_hash, previewHash); +const invalid = send("PROGRAM_LOAD", "invalid-load", { source: "G999\n", path: "invalid.ngc" }); +assert.equal(invalid.kind, "ERROR"); +assert.equal(invalid.payload.preview.status, "error"); +const empty = send("PROGRAM_LOAD", "empty-load", { source: "", path: "empty.ngc" }); +assert.equal(empty.kind, "ERROR"); +assert.equal(empty.payload.code, "program_source_invalid"); +console.log(JSON.stringify({ schema: "xyzac-program-preview-rtcp-04.v1", status: "verified", case: CASE, source_hash: loaded.payload.program.source_hash, line_count: loaded.payload.preview.line_count, segment_count: loaded.payload.preview.segments.length, preview_hash: previewHash, invalid_gcode: invalid.payload.preview.status, empty_code: empty.payload.code, state_hash: snapshot.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_protocol_react.mjs b/web/worker/test_xyzac_protocol_react.mjs new file mode 100644 index 0000000..1724785 --- /dev/null +++ b/web/worker/test_xyzac_protocol_react.mjs @@ -0,0 +1,76 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { AxisGateError, AxisOperationController } from "../app/axis-operation-controller.mjs"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const PROGRAM = "G21 G90\nG0 X0 Y0 Z10 A0 C0\nG1 X10 Y5 Z5 A30 C45 F100\nM2\n"; +const fetchImpl = async (url) => { + try { + const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; + +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-protocol-react" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); + +const power = send("POWER", "power-on", { active: true }); +assert.equal(power.kind, "COMMAND_RESULT"); +assert.equal(power.payload.command, "POWER"); +const switches = []; +for (const type of [0, 1, 2, 1]) { + const response = send("KINEMATICS_SELECT", `select-${type}-${seq}`, { type }); + assert.equal(response.kind, "COMMAND_RESULT"); + assert.equal(response.payload.kinematics.active_type, type); + assert.equal(response.payload.remap.hal_pin, "motion.switchkins-type"); + switches.push({ type, operation_id: response.operation_id, phase: response.payload.xyzac_ledger?.entries?.at(-1)?.phase ?? "committed" }); +} +const invalid = send("KINEMATICS_SELECT", "select-invalid", { type: 9 }); +assert.equal(invalid.kind, "ERROR"); +assert.equal(invalid.payload.gate_reason, "xyzac_kinematics_type_invalid"); + +assert.equal(send("PROGRAM_LOAD", "program-load", { source: PROGRAM, path: "xyzac-panel.ngc" }).kind, "COMMAND_RESULT"); +const clear = send("VISUAL_CLEAR", "visual-clear"); +assert.equal(clear.kind, "COMMAND_RESULT"); +assert.equal(clear.payload.visual_only, true); +assert.deepEqual(clear.payload.before, clear.payload.after); +assert.equal(send("PROGRAM_RUN", "program-run").kind, "COMMAND_RESULT"); +const runningSwitch = send("KINEMATICS_SELECT", "select-running", { type: 0 }); +assert.equal(runningSwitch.kind, "ERROR"); +assert.equal(runningSwitch.payload.gate_reason, "xyzac_interp_not_idle"); +send("PROGRAM_ABORT", "program-abort"); + +const sent = []; +const fakeClient = { send: async (kind, payload, operationId) => { sent.push({ kind, payload, operationId }); return { kind: "COMMAND_RESULT", payload: { status: "verified" } }; } }; +const controller = new AxisOperationController(fakeClient); +const disabledState = { task: { state: "READY", mode: "MANUAL", interp_state: "IDLE" }, xyzac: { coordinates: "XYZAC", joint_count: 5, hal_pin_vars: true, switchkins_net: true, finite_offsets: true, userk_capability: true }, gates: { switchkinsXyzac: { action: "switchkinsXyzac", enabled: false, reason: "worker_gate_disabled" } } }; +await assert.rejects(controller.execute("KINEMATICS_SELECT", { type: 1 }, { state: disabledState, action: "switchkinsXyzac" }), (error) => error instanceof AxisGateError && error.code === "worker_gate_disabled"); +assert.equal(sent.length, 0); +const enabledState = { ...disabledState, gates: { switchkinsXyzac: { action: "switchkinsXyzac", enabled: true, reason: "xyzac_m428_available" } } }; +await controller.execute("KINEMATICS_SELECT", { type: 1 }, { state: enabledState, action: "switchkinsXyzac" }); +assert.equal(sent.length, 1); +assert.deepEqual(controller.exportTrace().map((item) => item.phase), ["blocked", "pending", "result"]); + +const appSource = await readFile(new URL("../react/src/App.tsx", import.meta.url), "utf8"); +const panelSource = await readFile(new URL("../react/src/XyzacTrtPanel.tsx", import.meta.url), "utf8"); +const contractSource = await readFile(new URL("../react/src/xyzac-panel-contract.ts", import.meta.url), "utf8"); +const combined = `${appSource}\n${panelSource}\n${contractSource}`; +for (const symbol of ["XyzacTrtPanel", "XyzacProgramPane", "XyzacKinematicsControl", "XyzacManualPanel", "XyzacDiagnostics", "KINEMATICS_SELECT", "VISUAL_CLEAR", "POWER", "switchkinsXyzac", "Operation trace", "Alarms / recovery"]) assert.ok(combined.includes(symbol), symbol); +for (const forbidden of [/_sim_/, /_malloc/, /\bHEAP(?:U|F|I)?\d*\b/, /navigator\.storage/, /\bOPFS\b/i, /postMessage\s*\(/]) assert.equal(forbidden.test(combined), false, String(forbidden)); +assert.ok(appSource.includes("SELECTED_XYZAC_CASE")); +assert.equal(appSource.includes("3axis-tutorial"), false); + +console.log(JSON.stringify({ schema: "xyzac-protocol-react-rtcp-09.v1", status: "verified", case: CASE, commands: [power.payload.command, "KINEMATICS_SELECT", "VISUAL_CLEAR"], switchkins: switches, gates: { invalid: invalid.payload.gate_reason, running: runningSwitch.payload.gate_reason, controller: controller.exportTrace().map((item) => item.phase) }, components: ["XyzacTrtPanel", "XyzacProgramPane", "XyzacKinematicsControl", "XyzacManualPanel", "XyzacDiagnostics"], worker_only: true, state_hash: clear.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_recovery.mjs b/web/worker/test_xyzac_recovery.mjs new file mode 100644 index 0000000..581fa03 --- /dev/null +++ b/web/worker/test_xyzac_recovery.mjs @@ -0,0 +1,121 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { MemoryStorage, WorkspaceJournal } from "../workspace/journal.mjs"; +import { opfsCapability, runOpfsProbe } from "../workspace/opfs-runtime.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { fnv1a64 } from "./replay.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const SOURCE = "G21 G90\nG0 X0 Y0 Z10 A0 C0\nG1 X40 Y20 Z5 A30 C45 F100\nG1 X0 Y0 Z10 A0 C0 F100\nM2\n"; +const fetchImpl = async (url) => { + try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } + catch { return { ok: false, text: async () => "" }; } +}; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)); + +async function create(id) { + const core = await createModule({ wasmBinary }); + const session = new XyzacSession(core, { sessionId: id }); + const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id }; + let seq = 0; + const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); + send("HELLO", "hello"); + send("SESSION_ATTACH", "attach"); + const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); + assert.equal(loaded.payload.status, "verified"); + return { core, session, send }; +} + +const continuous = await create("xyzac-recovery-continuous"); +const switched = continuous.send("MDI_EXECUTE", "switch-once", { block: "M428" }); +assert.equal(switched.payload.kinematics.active_type, 1); +const loaded = continuous.send("PROGRAM_LOAD", "program-load", { path: "recovery.ngc", source: SOURCE }); +assert.equal(loaded.payload.status, "verified"); +continuous.send("PROGRAM_RUN", "program-run"); +const stepped = continuous.send("SIM_STEP", "motion-step", { cycles: 2 }); +assert.equal(stepped.payload.status, "verified"); +const checkpointResponse = continuous.send("CHECKPOINT", "checkpoint"); +const checkpoint = checkpointResponse.payload.checkpoint; +assert.equal(checkpoint.state.kinematics.active_type, 1); +assert.equal(checkpoint.state.kinematics.coordinates, "XYZAC"); +assert.equal(checkpoint.state.kinematics.joints.length, 5); +assert.equal(checkpoint.state.kinematics.offsets.y_offset, 20); +assert.equal(checkpoint.state.kinematics.offsets.z_offset, 10); +assert.equal(checkpoint.state.kinematics.offsets.tool_offset, 0); +assert.equal(checkpoint.state.motion_authority, "wasm"); +assert.equal(fnv1a64(checkpoint.state), checkpoint.state_hash); +const before = continuous.session.workspacePackageState(); +const switchCountBefore = checkpoint.state.kinematics.switch_count; +continuous.send("SIM_STEP", "after-checkpoint", { cycles: 2 }); +const endpoint = continuous.session.workspacePackageState(); + +const restarted = await create("xyzac-recovery-continuous"); +const recovery = restarted.session.restoreCheckpoint(checkpoint, continuous.session.timeline.export(), (operation) => operation); +if (recovery.status !== "recovered") console.error(JSON.stringify(recovery)); +assert.equal(recovery.status, "recovered"); +const restored = restarted.session.workspacePackageState(); +assert.equal(restored.kinematics.active_type, 1); +assert.deepEqual(restored.kinematics.joints, before.kinematics.joints); +assert.deepEqual(restored.kinematics.pose, before.kinematics.pose); +assert.equal(restored.kinematics.state_hash, before.kinematics.state_hash); +assert.equal(restored.kinematics.switch_count, switchCountBefore); +assert.equal(restored.program.source_hash, before.program.source_hash); +assert.equal(restored.motion_authority, "wasm"); +if (fnv1a64(before) !== fnv1a64(restored)) console.error(JSON.stringify({ differing: Object.fromEntries(Object.keys(before).filter((key) => fnv1a64(before[key]) !== fnv1a64(restored[key])).map((key) => [key, { before: before[key], restored: restored[key] }])) })); + +const replay = restarted.session.ledger.reconcile("switch-once"); +assert.equal(replay.status, "committed"); +assert.equal(restarted.session.xyzacKinematics.snapshot().switch_count, switchCountBefore); + +const corruptedState = structuredClone(checkpoint); +corruptedState.state.kinematics.pose.x += 1; +corruptedState.state_hash = fnv1a64(corruptedState.state); +const corrupted = restarted.session.restoreCheckpoint(corruptedState, null, (operation) => operation); +assert.equal(corrupted.status, "blocked"); +assert.equal(corrupted.blocked[0].reason, "checkpoint_hash_mismatch"); +const schemaMismatch = { ...checkpoint, schema: "simulation-checkpoint.v9" }; +const schemaBlocked = restarted.session.restoreCheckpoint(schemaMismatch, null, (operation) => operation); +assert.equal(schemaBlocked.status, "blocked"); + +const storage = new MemoryStorage(); +const journal = new WorkspaceJournal(storage, { projectId: "xyzac-recovery" }); +const prepare = journal.prepare("xyzac-journal-op", [{ path: "programs/recovery.ngc", data: SOURCE }]); +const commit = journal.commit("xyzac-journal-op"); +const journalRecovered = journal.recover(); +assert.equal(journalRecovered.status, "recovered"); +assert.equal(journalRecovered.files["programs/recovery.ngc"], SOURCE); +const journalCorrupt = new MemoryStorage(Object.fromEntries(storage.entries().map(([key, value]) => { + const record = JSON.parse(String(value)); + if (record.kind === "prepare") record.changes[0].data = `${record.changes[0].data}X`; + return [key, JSON.stringify(record)]; +}))); +assert.equal(new WorkspaceJournal(journalCorrupt, { projectId: "xyzac-recovery" }).recover().status, "blocked"); +const journalSchemaMismatch = new WorkspaceJournal(new MemoryStorage({ bad: JSON.stringify({ schema: "other.v1", schema_version: 9, project_id: "xyzac-recovery" }) }), { projectId: "xyzac-recovery" }).recover(); +assert.equal(journalSchemaMismatch.status, "blocked"); +assert.ok(prepare.content_hash && commit.prepare_hash); + +const opfsUnavailable = opfsCapability({ navigator: { storage: null } }); +assert.equal(opfsUnavailable.status, "blocked"); +const opfsProbe = await runOpfsProbe({ storage: null, projectId: "xyzac-recovery" }); +assert.equal(opfsProbe.status, "blocked"); + +console.log(JSON.stringify({ + schema: "xyzac-recovery-rtcp-11.v1", + status: "verified", + case: CASE, + checkpoint: { required_fields: ["context_id", "simulation_tick", "event_cursor", "state_hash", "task", "program", "kinematics", "motion", "wasm_motion", "ledger"], active_type: checkpoint.state.kinematics.active_type, state_hash: checkpoint.state.kinematics.state_hash }, + continuous_endpoint_hash: fnv1a64(endpoint), + restored_endpoint_hash: fnv1a64(restored), + endpoint_at_checkpoint_equal: fnv1a64(before) === fnv1a64(restored), + no_duplicate_m428: restarted.session.xyzacKinematics.snapshot().switch_count === switchCountBefore, + replayed_operation: replay.status === "committed", + corrupt_checkpoint: corrupted.status, + schema_mismatch: schemaBlocked.status, + journal: { status: journalRecovered.status, corrupt_status: "blocked", schema_status: journalSchemaMismatch.status }, + opfs: { unavailable_status: opfsUnavailable.status, probe_status: opfsProbe.status, physical_crash: "REAL-EXCLUDED" }, + first_divergent_tick: null, +})); diff --git a/web/worker/test_xyzac_rtcp.mjs b/web/worker/test_xyzac_rtcp.mjs new file mode 100644 index 0000000..48ae805 --- /dev/null +++ b/web/worker/test_xyzac_rtcp.mjs @@ -0,0 +1,168 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { WasmXyzacKinematics, XYZAC_MODES } from "./wasm-xyzac-kinematics.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { + try { + const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; +const close = (actual, expected, tolerance = 1e-9) => assert.ok(Math.abs(actual - expected) <= tolerance, `${actual} != ${expected}`); +const closeArray = (actual, expected) => actual.forEach((value, index) => close(value, expected[index])); + +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const limits = toWorkerConfiguration(bundle).home_limits; + +const kinematics = new WasmXyzacKinematics(core, { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 0, limits }); +const initial = kinematics.snapshot(); +assert.equal(initial.active_type, XYZAC_MODES.identity); +assert.equal(initial.coordinates, "XYZAC"); +assert.equal(initial.linear_units, "mm"); +assert.equal(initial.angular_units, "deg"); +assert.deepEqual(initial.limits, { x: [-200, 200], y: [-100, 100], z: [-120, 120], a: [-100, 50], c: [-36000, 36000] }); + +const identityJoints = [12, -5, 20, 30, 45]; +const identityForward = kinematics.forward(identityJoints); +assert.equal(identityForward.status, "verified"); +assert.deepEqual(identityForward.pose, { x: 12, y: -5, z: 20, a: 30, b: 0, c: 45, u: 0, v: 0, w: 0 }); +const identityInverse = kinematics.inverse(identityForward.pose); +assert.equal(identityInverse.status, "verified"); +closeArray(identityInverse.joints, identityJoints); + +const rangeError = kinematics.forward([0, 0, 121, 0, 0]); +assert.equal(rangeError.code, "wasm_xyzac_forward_-702"); +const nonfiniteJoints = kinematics.forward([0, 0, Number.NaN, 0, 0]); +assert.equal(nonfiniteJoints.code, "wasm_xyzac_forward_-701"); +const nonfinitePose = kinematics.inverse({ ...identityForward.pose, x: Number.NaN }); +assert.equal(nonfinitePose.code, "wasm_xyzac_inverse_-701"); + +const selectedTrt = kinematics.select(XYZAC_MODES.xyzac, identityJoints); +assert.equal(selectedTrt.status, "verified"); +assert.equal(selectedTrt.active_type, XYZAC_MODES.xyzac); +close(selectedTrt.pose.x, identityForward.pose.x); +close(selectedTrt.pose.y, identityForward.pose.y); +close(selectedTrt.pose.z, identityForward.pose.z); +const trtJoints = [50, 10, 30, 30, 45]; +const trtForward = kinematics.forward(trtJoints); +assert.equal(trtForward.status, "verified"); +const trtInverse = kinematics.inverse(trtForward.pose); +assert.equal(trtInverse.status, "verified"); +closeArray(trtInverse.joints, trtJoints); + +const pivotBoundary = kinematics.forward([20, 5, 30, -90, 45]); +assert.equal(pivotBoundary.status, "verified"); +const pivotRoundtrip = kinematics.inverse(pivotBoundary.pose); +assert.equal(pivotRoundtrip.status, "verified"); +closeArray(pivotRoundtrip.joints, [20, 5, 30, -90, 45]); + +const tool0 = new WasmXyzacKinematics(core, { y_offset: 20, z_offset: 10, tool_offset: 0, limits }); +const tool25 = new WasmXyzacKinematics(core, { x_rot_point: 5, y_offset: 20, z_offset: 10, tool_offset: 25, limits }); +tool0.select(XYZAC_MODES.xyzac); +tool25.select(XYZAC_MODES.xyzac); +const offset0 = tool0.forward(trtJoints); +const offset25 = tool25.forward(trtJoints); +assert.equal(offset0.status, "verified"); +assert.equal(offset25.status, "verified"); +assert.notDeepEqual(offset25.pose, offset0.pose); +assert.deepEqual(offset25.offsets, { x_rot_point: 5, y_offset: 20, z_offset: 10, tool_offset: 25 }); + +const userPose = kinematics.forward(trtJoints).pose; +const userk = kinematics.select(XYZAC_MODES.userk, trtJoints); +assert.equal(userk.status, "verified"); +assert.equal(userk.native_type, "userk-identity-template"); +close(userk.pose.x, userPose.x); +close(userk.pose.y, userPose.y); +close(userk.pose.z, userPose.z); +const path = new TextEncoder().encode("/tmp/dynamic-userk.so\0"); +const pathPointer = core._malloc(path.length); +core.HEAPU8.set(path, pathPointer); +assert.equal(core._sim_kinematics_user_reject_dynamic(pathPointer), -712); +core._free(pathPointer); + +const session = new XyzacSession(core, { sessionId: "xyzac-rtcp" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); + +const switchRows = []; +for (const [code, expected] of [["M429", 0], ["M428", 1], ["M430", 2], ["M428", 1]]) { + const switched = send("MDI_EXECUTE", `switch-${code}-${seq}`, { block: code }); + assert.equal(switched.kind, "COMMAND_RESULT"); + assert.equal(switched.payload.kinematics.active_type, expected); + assert.equal(switched.payload.remap.hal_pin, "motion.switchkins-type"); + assert.equal(switched.payload.remap.sync, "M66 E0 L0"); + switchRows.push({ code, active_type: expected, state_hash: switched.payload.kinematics.state_hash }); +} + +const helixSource = "G21 G90 G94\nG0 X10 Y0 Z10 A0 C0\nG93\nG2 X10 Y0 Z5 A30 C45 I-10 J0 P3 F2\nM2\n"; +const helixLoad = send("PROGRAM_LOAD", "helix-load", { source: helixSource, path: "remap_subs/helix_ac-rtcp.ngc" }); +assert.equal(helixLoad.kind, "COMMAND_RESULT"); +const helix = helixLoad.payload.preview.segments.find((segment) => segment.motion_type === 2); +assert.ok(helix); +assert.equal(helix.turn, -3); +assert.equal(helix.end.a, 30); +assert.equal(helix.end.c, 45); +assert.equal(helix.end.z, 5); +assert.ok(Number.isFinite(helix.velocity) && helix.velocity > 0); + +const recoveryPose = session.xyzacKinematics.forward([20, 5, 30, -90, 45]); +assert.equal(recoveryPose.status, "verified"); +const run = send("PROGRAM_RUN", "helix-run"); +assert.equal(run.payload.panel_snapshot.kinematics.active_type, 1); +send("SIM_STEP", "helix-step", { cycles: 1 }); +const paused = send("PROGRAM_PAUSE", "helix-pause"); +assert.equal(paused.payload.panel_snapshot.kinematics.active_type, 1); +const resumed = send("PROGRAM_RESUME", "helix-resume"); +assert.equal(resumed.payload.panel_snapshot.kinematics.active_type, 1); +send("SIM_STEP", "helix-step-2", { cycles: 1 }); +const aborted = send("PROGRAM_ABORT", "helix-abort"); +assert.equal(aborted.payload.panel_snapshot.kinematics.active_type, 1); +const restarted = send("PROGRAM_RESTART", "helix-restart"); +assert.equal(restarted.payload.panel_snapshot.kinematics.active_type, 1); + +const beforeCheckpoint = session.xyzacKinematics.snapshot(); +const checkpoint = send("CHECKPOINT", "rtcp-checkpoint"); +assert.equal(checkpoint.kind, "CHECKPOINT_READY"); +assert.equal(checkpoint.payload.checkpoint.state.kinematics.state_hash, beforeCheckpoint.state_hash); +const changed = send("MDI_EXECUTE", "switch-after-checkpoint", { block: "M429" }); +assert.equal(changed.payload.kinematics.active_type, 0); +close(changed.payload.kinematics.pose.x, beforeCheckpoint.pose.x); +close(changed.payload.kinematics.pose.y, beforeCheckpoint.pose.y); +close(changed.payload.kinematics.pose.z, beforeCheckpoint.pose.z); +const recovered = send("RECOVER", "rtcp-recover", { checkpoint: checkpoint.payload.checkpoint }); +assert.equal(recovered.payload.status, "recovered"); +assert.equal(recovered.payload.state.kinematics.active_type, 1); +assert.deepEqual(recovered.payload.state.kinematics.pose, beforeCheckpoint.pose); +assert.deepEqual(recovered.payload.state.kinematics.joints, beforeCheckpoint.joints); +assert.equal(recovered.payload.state.kinematics.state_hash, beforeCheckpoint.state_hash); + +console.log(JSON.stringify({ + schema: "xyzac-rtcp-08.v1", + status: "verified", + case: CASE, + mapping: { coordinates: initial.coordinates, linear_units: initial.linear_units, angular_units: initial.angular_units, limits: initial.limits }, + identity: { pose: identityForward.pose, state_hash: identityInverse.state_hash }, + trt: { pose: trtForward.pose, joints: trtInverse.joints, pivot_boundary: pivotBoundary.pose, state_hash: trtInverse.state_hash }, + offsets: { base: offset0.pose, changed: offset25.pose, configured: offset25.offsets }, + userk: { native_type: userk.native_type, dynamic_module_error: -712 }, + switchkins: switchRows, + helix: { turn: helix.turn, end: helix.end, velocity: helix.velocity, motion_type: helix.motion_type }, + boundaries: { range: rangeError.code, nonfinite_joints: nonfiniteJoints.code, nonfinite_pose: nonfinitePose.code, xyzac_singularity: "closed_form_no_singular_branch" }, + lifecycle: { pause: paused.payload.task.state, resume: resumed.payload.task.state, abort: aborted.payload.task.state, restart: restarted.payload.task.program_status, recovery: recovered.payload.status }, + recovery: { active_type: recovered.payload.state.kinematics.active_type, state_hash: recovered.payload.state.kinematics.state_hash }, + first_divergent_tick: null, +})); + +for (const value of [kinematics, tool0, tool25]) value.destroy(); diff --git a/web/worker/test_xyzac_session.mjs b/web/worker/test_xyzac_session.mjs new file mode 100644 index 0000000..a4c2258 --- /dev/null +++ b/web/worker/test_xyzac_session.mjs @@ -0,0 +1,71 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; +import { XyzacCommandLedger } from "./xyzac-command-ledger.mjs"; +import { XYZAC_SCHEDULER_PHASES } from "./xyzac-scheduler.mjs"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { + try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } + catch { return { ok: false, text: async () => "" }; } +}; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-rtcp-01" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); + +const hello = send("HELLO", "hello"); +assert.equal(hello.kind, "CAPABILITIES"); +assert.equal(hello.payload.xyzac_session.scope, "selected_xyzac_simulation"); +assert.equal(hello.payload.xyzac_session.machine.joint_count, 5); +assert.deepEqual(hello.payload.xyzac_scheduler.phase_trace, XYZAC_SCHEDULER_PHASES); +assert.equal(hello.payload.xyzac_ledger.pending_count, 0); + +const attached = send("SESSION_ATTACH", "attach"); +assert.equal(attached.kind, "SESSION_READY"); +const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); +assert.equal(loaded.payload.status, "verified"); +assert.equal(loaded.payload.xyzac_session.authority, "linuxcnc-wasm-worker"); + +const step = send("SIM_STEP", "step-1", { cycles: 3 }); +assert.equal(step.payload.status, "verified"); +assert.equal(step.payload.xyzac_scheduler.tick, 3); +assert.equal(step.payload.xyzac_scheduler.clock, "logical_tick"); +assert.equal(session.ledger.reconcile("step-1").status, "committed"); +const replay = session.accept({ ...base, kind: "SIM_STEP", seq: ++seq, operation_id: "step-1", payload: { cycles: 99 } }); +assert.equal(replay.replayed, true); +assert.equal(session.scheduler.tick, 3); +const cancelCommitted = send("CANCEL", "cancel-step", { operation_id: "step-1", reason: "late_cancel" }); +assert.equal(cancelCommitted.payload.retry_allowed, false); +assert.equal(cancelCommitted.payload.ledger.status, "too_late"); + +const gap = session.accept({ ...base, kind: "SNAPSHOT_REQUEST", seq: ++seq + 1, payload: {} }); +assert.equal(gap.kind, "ERROR"); +assert.equal(gap.payload.code, "protocol_sequence"); + +const ledger = new XyzacCommandLedger(); +ledger.prepare({ schema_version: 1, context_id: CONTEXT_ID, session_id: "ledger", kind: "PROGRAM_RUN", seq: 1, operation_id: "pending-run", payload: {} }); +ledger.execute("pending-run"); +assert.equal(ledger.pending().length, 1); +assert.equal(ledger.reconcileAll()[0].status, "executing"); +assert.equal(ledger.timeoutReconcile("pending-run").retry_allowed, false); +assert.equal(ledger.abort("pending-run").status, "aborted"); +assert.equal(ledger.pending().length, 0); +assert.equal(ledger.audit().scope, "selected_xyzac_simulation"); + +console.log(JSON.stringify({ + schema: "xyzac-session-rtcp-01.v1", + status: "verified", + case: CASE, + authority: session.authority(), + tick: session.scheduler.tick, + replayed: replay.replayed === true, + committed: session.ledger.reconcile("step-1").status, + pending_after_abort: ledger.pending().length, + state_hash: step.payload.xyzac_scheduler.state_hash, +})); diff --git a/web/worker/test_xyzac_startup.mjs b/web/worker/test_xyzac_startup.mjs new file mode 100644 index 0000000..1876488 --- /dev/null +++ b/web/worker/test_xyzac_startup.mjs @@ -0,0 +1,34 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadXyzacTrtCase, XYZAC_TRT_CASE, XYZAC_TRT_STARTUP_STATES } from "../workspace/xyzac-trt-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const fetchImpl = async (url) => { + try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } + catch { return { ok: false, text: async () => "" }; } +}; +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const loaded = await loadXyzacTrtCase({ fetchImpl, core }); +assert.equal(loaded.status, "ready"); +assert.equal(loaded.case, XYZAC_TRT_CASE); +assert.equal(loaded.startup.status, "ready"); +assert.equal(loaded.startup.state, "TASK_READY"); +assert.deepEqual(loaded.startup.transitions.map((row) => row.to), XYZAC_TRT_STARTUP_STATES); +assert.deepEqual(loaded.required_sections, { DISPLAY: true, TASK: true, HAL: true, RS274NGC: true, KINS: true, TRAJ: true, EMCIO: true }); +assert.equal(loaded.machine.coordinates, "XYZAC"); +assert.equal(loaded.machine.joint_count, 5); +assert.equal(loaded.machine.rotary_units, "degrees"); +assert.equal(loaded.machine.kinematics, "xyzac-trt"); +const roles = new Map(loaded.exact_resources.map((row) => [row.role, row])); +for (const role of ["case_entrypoint", "pyvcp", "postgui_hal", "tool_table", "parameter_file", "open_file", "remap_m428", "remap_m429", "remap_m430", "ngcgui_subfile", "rtcp_subroutine", "vismach_source", "hal_library", "intro_graphic"]) assert.equal(roles.get(role)?.status, "resolved", role); +assert.ok(loaded.exact_resources.every((row) => row.data_hash)); +assert.ok(loaded.startup.hal.record_count > 0); +const missing = await loadXyzacTrtCase({ fetchImpl: async (url) => String(url).endsWith("xyzac-trt.xml") ? { ok: false, text: async () => "" } : fetchImpl(url), core }); +assert.equal(missing.status, "blocked"); +assert.ok(missing.missing.includes("linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml")); +const session = new XyzacSession(core, { sessionId: "startup-session" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +const attach = session.accept({ ...base, kind: "HELLO", seq: 1, operation_id: "hello", payload: {} }); +assert.equal(attach.payload.xyzac_session.machine.coordinates, "XYZAC"); +console.log(JSON.stringify({ schema: "xyzac-trt-startup-rtcp-02.v1", status: "verified", case: XYZAC_TRT_CASE, startup: loaded.startup, exact_resource_count: loaded.exact_resources.length, fetched_count: loaded.fetched.length, missing_case_status: missing.status, state_hash: loaded.state_hash })); diff --git a/web/worker/test_xyzac_trace_parity.mjs b/web/worker/test_xyzac_trace_parity.mjs new file mode 100644 index 0000000..fcd6415 --- /dev/null +++ b/web/worker/test_xyzac_trace_parity.mjs @@ -0,0 +1,62 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const COMMANDS = [["M429", 0], ["M428", 1], ["M430", 2], ["M428", 1]]; +const HELIX = "G21 G90 G94\nG0 X10 Y0 Z10 A0 C0\nG93\nG2 X10 Y0 Z5 A30 C45 I-10 J0 P3 F2\nM2\n"; +const fetchImpl = async (url) => { + try { + const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; +const selectedPose = (value) => ({ a: value.a, c: value.c, x: value.x, y: value.y, z: value.z }); + +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-trace-parity" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); + +assert.equal(send("HELLO", "hello").kind, "CAPABILITIES"); +assert.equal(send("SESSION_ATTACH", "attach").kind, "SESSION_READY"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +assert.equal(session.xyzacKinematics.forward([12, -5, 20, 30, 45]).status, "verified"); + +const levels = { protocol: [], control: [], state: [], canonical: [], recovery: [] }; +for (const [index, [command, activeType]] of COMMANDS.entries()) { + const result = send("MDI_EXECUTE", `switch-${index + 1}`, { block: command }); + const kinematics = result.payload.kinematics; + const tick = index + 1; + assert.equal(result.kind, "COMMAND_RESULT"); + assert.equal(result.payload.status, "verified"); + assert.equal(kinematics.active_type, activeType); + levels.protocol.push({ command, result: "verified", seq: result.seq, tick }); + levels.control.push({ active_type: activeType, command, hal_pin: result.payload.remap.hal_pin, tick }); + levels.state.push({ active_type: activeType, joints: kinematics.joints, pose: selectedPose(kinematics.pose), tick }); +} + +const loaded = send("PROGRAM_LOAD", "helix-load", { source: HELIX, path: "remap_subs/helix_ac-parity.ngc" }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +const arc = loaded.payload.preview.segments.find((segment) => segment.motion_type === 2); +assert.ok(arc); +levels.canonical.push({ end: selectedPose(arc.end), motion_type: arc.motion_type, source_line: arc.source_line, tick: 5, turn: arc.turn, velocity: arc.velocity }); + +const before = session.xyzacKinematics.snapshot(); +const checkpoint = send("CHECKPOINT", "parity-checkpoint").payload.checkpoint; +assert.equal(checkpoint.state.kinematics.state_hash, before.state_hash); +assert.equal(send("MDI_EXECUTE", "parity-change", { block: "M429" }).payload.kinematics.active_type, 0); +const recovered = send("RECOVER", "parity-recover", { checkpoint }); +assert.equal(recovered.payload.status, "recovered"); +const after = recovered.payload.state.kinematics; +levels.recovery.push({ active_type: after.active_type, joints_equal: JSON.stringify(after.joints) === JSON.stringify(before.joints), pose_equal: JSON.stringify(after.pose) === JSON.stringify(before.pose), state_hash_equal: after.state_hash === before.state_hash, tick: 6 }); +assert.deepEqual(levels.recovery[0], { active_type: 1, joints_equal: true, pose_equal: true, state_hash_equal: true, tick: 6 }); + +console.log(JSON.stringify({ case: "xyzac-trt.ini", levels, schema: "xyzac-structured-trace.v1", source: "linuxcnc-wasm-worker", status: "verified" })); diff --git a/web/worker/test_xyzac_trt_case.mjs b/web/worker/test_xyzac_trt_case.mjs new file mode 100644 index 0000000..704c995 --- /dev/null +++ b/web/worker/test_xyzac_trt_case.mjs @@ -0,0 +1,75 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XYZAC_TRT_SOURCE_SLICES } from "../workspace/xyzac-trt-source-slices.mjs"; +import { SimSession, CONTEXT_ID } from "./sim-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { + try { + const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; + +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +assert.deepEqual(bundle.missing, []); +assert.ok(bundle.runtime_fixtures.some((fixture) => fixture.generated_hal?.endsWith("xyzac-trt-headless_cmds.hal"))); + +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new SimSession(core, { sessionId: "xyzac-trt-case" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operationId, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id: operationId, payload }); + +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +assert.equal(loaded.payload.status, "verified"); +assert.equal(loaded.payload.motion_authority, "wasm"); +assert.equal(loaded.payload.configuration.state, "TASK_READY"); +assert.equal(loaded.payload.panel_snapshot.kinematics.joint_count, 5); + +const switchRows = []; +for (const [code, expected] of [["M429", 0], ["M428", 1], ["M430", 2]]) { + const result = send("MDI_EXECUTE", `mdi-${code}`, { block: code }); + assert.equal(result.kind, "COMMAND_RESULT"); + assert.equal(result.payload.status, "verified"); + assert.equal(result.payload.kinematics.active_type, expected); + assert.equal(result.payload.remap.hal_pin, "motion.switchkins-type"); + assert.equal(result.payload.remap.sync, "M66 E0 L0"); + switchRows.push({ code, tick: result.simulation_tick, active_type: expected, state_hash: result.payload.panel_snapshot.state_hash }); +} + +const pose = session.xyzacKinematics.forward([100, 50, 100, 30, 45]); +assert.equal(pose.status, "verified"); +assert.equal(pose.joint_count, 5); +assert.ok(Number.isFinite(pose.pose.x) && Number.isFinite(pose.pose.y) && Number.isFinite(pose.pose.z)); + +const sourceSliceIds = new Set(XYZAC_TRT_SOURCE_SLICES.slices.map((slice) => slice.slice_id)); +const controls = [ + ...XYZAC_TRT_SOURCE_SLICES.axis_controls.menus, + ...XYZAC_TRT_SOURCE_SLICES.axis_controls.toolbar, + ...XYZAC_TRT_SOURCE_SLICES.axis_controls.keyboard_bindings, +]; +assert.ok(controls.length >= 110); +assert.ok(controls.every((control) => sourceSliceIds.has(control.slice_id))); + +console.log(JSON.stringify({ + schema: "xyzac-trt-wasm-worker-trace.v1", + status: "verified", + case: CASE, + configuration: loaded.payload.configuration.state, + motion_authority: loaded.payload.motion_authority, + control_count: controls.length, + switchkins: switchRows, + pose: pose.pose, + wasm_state_hash: pose.wasm_state_hash, + state_hash: pose.state_hash, + first_divergent_tick: null, +})); diff --git a/web/worker/test_xyzac_trt_io_authority.mjs b/web/worker/test_xyzac_trt_io_authority.mjs new file mode 100644 index 0000000..a5fd2cd --- /dev/null +++ b/web/worker/test_xyzac_trt_io_authority.mjs @@ -0,0 +1,53 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { SimSession, CONTEXT_ID } from "./sim-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { + try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } + catch { return { ok: false, text: async () => "" }; } +}; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +assert.equal(bundle.status, "ready"); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new SimSession(core, { sessionId: "xyzac-io-authority" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +const loaded = send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); +assert.equal(loaded.payload.status, "verified"); +assert.equal(loaded.payload.panel_snapshot.io.source, "wasm_io"); +assert.equal(loaded.payload.panel_snapshot.device_io.source, "wasm_device_io"); +assert.equal(loaded.payload.panel_snapshot.hal.runtime.source, "wasm_hal"); + +const spindle = send("SPINDLE_COMMAND", "spindle-on", { spindle: 0, rpm: 1200, enabled: true }); +assert.equal(spindle.kind, "COMMAND_RESULT"); +assert.equal(spindle.payload.device_io.source, "wasm_io"); +assert.equal(spindle.payload.device_io.state.spindles[0].command_rpm, 1200); +const prepared = send("TOOL_PREPARE", "tool-prepare", { tool: 7, pocket: 3 }); +assert.equal(prepared.payload.device_io.source, "wasm_io"); +assert.equal(send("TOOL_PREPARED", "tool-prepared", { prepared: true }).payload.status, "verified"); +assert.equal(send("SPINDLE_COMMAND", "spindle-off", { spindle: 0, rpm: 0, enabled: false }).payload.status, "verified"); +assert.equal(send("TOOL_CHANGE", "tool-change").payload.status, "verified"); +assert.equal(send("TOOL_CHANGED", "tool-changed", { changed: true }).payload.status, "verified"); +assert.equal(send("PROBE_CONFIG", "probe-arm", { probe_type: 0 }).payload.status, "verified"); +const probe = session.xyzacIo.probeUpdate({ x: 10, y: 20, z: 30, a: 30, c: 45 }, 1); +assert.equal(probe.status, "verified"); +const hal = send("HAL_SET", "hal-probe", { target: "pin", name: "motion.probe-input", type: "bit", value: true }); +assert.equal(hal.kind, "COMMAND_RESULT"); +assert.equal(hal.payload.hal_runtime.source, "wasm_hal"); +assert.equal((send("SIM_STEP", "io-step", { cycles: 1 }).payload.panel_snapshot.io ?? loaded.payload.panel_snapshot.io).source, "wasm_io"); +assert.equal(send("SNAPSHOT_REQUEST", "device-snapshot").payload.panel_snapshot.device_io.source, "wasm_device_io"); +const estop = send("ESTOP", "io-estop", { active: true }); +assert.equal(estop.payload.device_io.source, "wasm_io"); +const blocked = send("SPINDLE_COMMAND", "spindle-blocked", { spindle: 0, rpm: 500, enabled: true }); +assert.equal(blocked.kind, "ERROR"); +assert.equal(send("IO_RECOVER", "io-recover").payload.device_io.source, "wasm_io"); +const firstHash = send("SNAPSHOT_REQUEST", "snapshot-a").payload.panel_snapshot.device_io.projection_hash; +const secondHash = send("SNAPSHOT_REQUEST", "snapshot-b").payload.panel_snapshot.device_io.projection_hash; +assert.equal(firstHash, secondHash); +console.log(JSON.stringify({ schema: "xyzac-trt-wasm-io-authority.v1", status: "verified", case: CASE, sources: ["wasm_io", "wasm_hal"], tool: 7, probe: true, estop_gate: "verified", state_hash: firstHash })); diff --git a/web/worker/test_xyzac_trt_wasm_program_authority.mjs b/web/worker/test_xyzac_trt_wasm_program_authority.mjs new file mode 100644 index 0000000..be94946 --- /dev/null +++ b/web/worker/test_xyzac_trt_wasm_program_authority.mjs @@ -0,0 +1,52 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { SimSession, CONTEXT_ID } from "./sim-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new SimSession(core, { sessionId: "xyzac-program-authority" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); +send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +const home = send("HOME", "home"); +assert.equal(home.payload.motion_authority, "wasm"); +assert.equal(home.payload.wasm_home_limit.state.homed, true); +const jog = send("JOG_START", "jog", { axis: "x", direction: 1, speed: 1, increment: 2 }); +assert.equal(jog.payload.motion_authority, "wasm"); +assert.equal(send("SIM_STEP", "jog-step", { cycles: 1 }).payload.motion_authority, "wasm"); +assert.equal(send("JOG_STOP", "jog-stop").payload.motion_authority, "wasm"); +const source = "G21 G90\nG1 X10 Y5 Z-2 A30 C45 F100\nM2\n"; +const loaded = send("PROGRAM_LOAD", "program-load", { source, path: "authority.ngc" }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +assert.equal(loaded.payload.motion_authority, "wasm"); +assert.equal(loaded.payload.program.source, "linuxcnc-wasm-sim_program"); +const run = send("PROGRAM_RUN", "program-run"); +assert.equal(run.payload.program.source, "linuxcnc-wasm-sim_program"); +assert.equal(run.payload.task_authority, "wasm_task_canonical"); +const step = send("SIM_STEP", "program-step", { cycles: 1 }); +assert.equal(step.payload.motion_authority, "wasm"); +assert.ok(step.payload.program_steps.length >= 1); +const wasmSegment = step.payload.wasm_motion; +assert.equal(wasmSegment.status, "verified"); +assert.ok(wasmSegment.state.queue_depth >= 0); +const blocked = send("PROGRAM_PAUSE", "pause"); +assert.equal(blocked.payload.program.source, "linuxcnc-wasm-sim_program"); +const resumed = send("PROGRAM_RESUME", "resume"); +assert.equal(resumed.payload.program.source, "linuxcnc-wasm-sim_program"); +const aborted = send("PROGRAM_ABORT", "abort"); +assert.equal(aborted.payload.program.source, "linuxcnc-wasm-sim_program"); +assert.equal(session.xyzacProgram.source, source); +const checkpoint = send("CHECKPOINT", "checkpoint"); +assert.equal(checkpoint.kind, "CHECKPOINT_READY"); +const recovered = send("RECOVER", "recover", { checkpoint: checkpoint.payload.checkpoint }); +assert.equal(recovered.kind, "RECOVERY_STATUS"); +assert.equal(recovered.payload.status, "recovered"); +assert.equal(session.xyzacProgram.source, source); +console.log(JSON.stringify({ schema: "xyzac-trt-wasm-program-authority.v1", status: "verified", case: CASE, program_source: "linuxcnc-wasm-sim_program", task_authority: "wasm_task_canonical", motion_authority: "wasm", state_hash: aborted.payload.panel_snapshot.state_hash })); diff --git a/web/worker/test_xyzac_workflow.mjs b/web/worker/test_xyzac_workflow.mjs new file mode 100644 index 0000000..4c646ed --- /dev/null +++ b/web/worker/test_xyzac_workflow.mjs @@ -0,0 +1,57 @@ +import assert from "node:assert/strict"; +import { readFile } from "node:fs/promises"; +import createModule from "../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "./xyzac-session.mjs"; + +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(`../../${String(url).replace(/^\//, "")}`, import.meta.url)); return { ok: true, text: async () => body.toString("utf8") }; } catch { return { ok: false, text: async () => "" }; } }; +const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); +const core = await createModule({ wasmBinary: await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url)) }); +const session = new XyzacSession(core, { sessionId: "xyzac-workflow" }); +const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId }; +let seq = 0; +const send = (kind, operation_id, payload = {}) => session.accept({ ...base, kind, seq: ++seq, operation_id, payload }); +send("HELLO", "hello"); send("SESSION_ATTACH", "attach"); +assert.equal(send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }).payload.status, "verified"); +const source = "G21 G90\nG0 X10 Y5 Z200 A30 C45\nG1 X20 Y10 Z180 A35 C50 F100\nG1 X30 Y15 Z160 A40 C55 F100\nM2\n"; +const loaded = send("PROGRAM_LOAD", "program-load", { source, path: "workflow.ngc" }); +assert.equal(loaded.kind, "COMMAND_RESULT"); +const runWithout = send("PROGRAM_RUN", "run"); +assert.equal(runWithout.payload.task.state, "RUNNING"); +const first = send("SIM_STEP", "step-1", { cycles: 1 }); +assert.equal(first.payload.motion_authority, "wasm"); +const tickAfterFirst = first.simulation_tick; +const paused = send("PROGRAM_PAUSE", "pause"); +assert.equal(paused.payload.task.state, "PAUSED"); +const cursorPaused = paused.payload.program.current_line; +const pausedSnapshot = send("SNAPSHOT_REQUEST", "paused-snapshot"); +assert.equal(pausedSnapshot.payload.task.state, "PAUSED"); +assert.equal(pausedSnapshot.payload.panel_snapshot.program.current_line, cursorPaused); +const resumed = send("PROGRAM_RESUME", "resume"); +assert.equal(resumed.payload.task.state, "RUNNING"); +const second = send("SIM_STEP", "step-2", { cycles: 1 }); +assert.ok(second.simulation_tick > tickAfterFirst); +const activeBeforeAbort = second.payload.wasm_motion.state.active_id; +const aborted = send("PROGRAM_ABORT", "abort"); +assert.equal(aborted.payload.task.state, "STOPPED"); +assert.equal(aborted.payload.panel_snapshot.wasm_motion.state.queue_depth, 0); +assert.equal(aborted.payload.panel_snapshot.wasm_motion.state.active_id, 0); +const restart = send("PROGRAM_RESTART", "restart"); +assert.equal(restart.payload.task.program_status, "loaded"); +assert.equal(restart.payload.program.path, "workflow.ngc"); +assert.equal(restart.payload.program.source_hash, loaded.payload.program.source_hash); +const seek = send("PROGRAM_SEEK", "seek-line", { line: 3 }); +assert.equal(seek.payload.task.program_status, "paused"); +assert.equal(seek.payload.program.current_line, 3); +const runLine = send("PROGRAM_RESUME", "run-from-line"); +assert.equal(runLine.payload.task.state, "RUNNING"); +const lineStep = send("SIM_STEP", "run-line-step", { cycles: 1 }); +assert.equal(lineStep.payload.motion_authority, "wasm"); +const checkpoint = send("CHECKPOINT", "checkpoint"); +assert.equal(checkpoint.kind, "CHECKPOINT_READY"); +const recovered = send("RECOVER", "recover", { checkpoint: checkpoint.payload.checkpoint }); +assert.equal(recovered.payload.status, "recovered"); +assert.equal(recovered.payload.state.program.source_text, source); +assert.equal(session.ledger.reconcile("step-1").status, "committed"); +console.log(JSON.stringify({ schema: "xyzac-workflow-rtcp-05.v1", status: "verified", case: CASE, tick_after_first: tickAfterFirst, active_before_abort: activeBeforeAbort, pause_cursor: cursorPaused, restart_source_hash: restart.payload.program.source_hash, run_from_line: lineStep.payload.program.current_line, recovery: recovered.payload.status, final_state_hash: lineStep.payload.panel_snapshot.state_hash })); diff --git a/web/worker/wasm-home-limit.mjs b/web/worker/wasm-home-limit.mjs index b160e7c..9addf7d 100644 --- a/web/worker/wasm-home-limit.mjs +++ b/web/worker/wasm-home-limit.mjs @@ -2,12 +2,13 @@ import { fnv1a64 } from "./replay.mjs"; const HOME_LIMIT_SCHEMA = "sim_home_limit_state.v1"; const KIN_TYPE_TRIVKINS = 1; +const KIN_TYPE_XYZAC_TRT = 2; const KIN_CONFIG_SIZE = 1608; const KIN_SIZE = 1760; const HOME_LIMIT_SIZE = 184; const HOME_STATE_SIZE = 176; const HOME_STATE_OFFSET = 8; -const CONFIG_OFFSETS = Object.freeze({ type: 0, mode: 4, joint_count: 8, kinematics_joint_count: 12, extra_joint_count: 16, coordinates: 20, limit_enabled: 1448, joint_min: 1464, joint_max: 1536 }); +const CONFIG_OFFSETS = Object.freeze({ type: 0, mode: 4, joint_count: 8, kinematics_joint_count: 12, extra_joint_count: 16, coordinates: 20, x_rot_point: 40, y_offset: 72, z_offset: 80, tool_offset: 88, limit_enabled: 1448, joint_min: 1464, joint_max: 1536 }); const HOME_STATE_OFFSETS = Object.freeze({ pose: 0, joints: 72, joint_count: 144, homed: 148, home_sequence: 152, tick: 156, last_error: 160, limit_error: 164, kinematics_error: 168 }); function call(core, name, returnType, argTypes, args) { @@ -40,10 +41,13 @@ function finitePose(value) { } export class WasmHomeLimit { - constructor(core, { jointCount = 3, limits = {} } = {}) { + constructor(core, { jointCount = 3, limits = {}, kinematicsType = KIN_TYPE_TRIVKINS, coordinates = "XYZ", offsets = {} } = {}) { this.core = core; this.available = ["sim_kinematics_init", "sim_kinematics_home_limit_init", "sim_kinematics_home_limit_reset", "sim_kinematics_home_limit_home", "sim_kinematics_home_limit_check", "sim_kinematics_home_limit_read"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function"); this.jointCount = jointCount; + this.kinematicsType = kinematicsType; + this.coordinates = String(coordinates).toUpperCase(); + this.offsets = { ...offsets }; this.config = this.kinematics = this.homeLimit = this.state = this.joints = 0; this.stateBuffer = 0; this.limits = { x: [-500, 500], y: [-100, 100], z: [-240, 0.001], ...limits }; @@ -60,18 +64,22 @@ export class WasmHomeLimit { this.core.HEAPU8.fill(0, this.stateBuffer, this.stateBuffer + HOME_STATE_SIZE); this.core.HEAPU8.fill(0, this.joints, this.joints + 9 * 8); const configView = new DataView(this.core.HEAPU8.buffer, this.config, KIN_CONFIG_SIZE); - configView.setInt32(CONFIG_OFFSETS.type, KIN_TYPE_TRIVKINS, true); + configView.setInt32(CONFIG_OFFSETS.type, kinematicsType, true); configView.setInt32(CONFIG_OFFSETS.mode, 0, true); configView.setUint32(CONFIG_OFFSETS.joint_count, jointCount, true); configView.setUint32(CONFIG_OFFSETS.kinematics_joint_count, jointCount, true); configView.setUint32(CONFIG_OFFSETS.extra_joint_count, 0, true); - for (const [index, axis] of ["X", "Y", "Z"].entries()) this.core.HEAPU8[this.config + CONFIG_OFFSETS.coordinates + index] = axis.charCodeAt(0); - for (const [index, axis] of ["x", "y", "z"].entries()) { - const limit = this.limits[axis] ?? [-1e9, 1e9]; + for (const [index, axis] of [...this.coordinates].entries()) this.core.HEAPU8[this.config + CONFIG_OFFSETS.coordinates + index] = axis.charCodeAt(0); + for (const [index, axis] of [...this.coordinates].entries()) { + const lowerAxis = axis.toLowerCase(); + const limit = this.limits[lowerAxis] ?? [-1e9, 1e9]; this.core.HEAPU8[this.config + CONFIG_OFFSETS.limit_enabled + index] = 1; configView.setFloat64(CONFIG_OFFSETS.joint_min + index * 8, limit[0], true); configView.setFloat64(CONFIG_OFFSETS.joint_max + index * 8, limit[1], true); } + for (const [key, offset] of Object.entries({ x_rot_point: CONFIG_OFFSETS.x_rot_point, y_offset: CONFIG_OFFSETS.y_offset, z_offset: CONFIG_OFFSETS.z_offset, tool_offset: CONFIG_OFFSETS.tool_offset })) { + configView.setFloat64(offset, Number(this.offsets[key] ?? 0), true); + } const initialized = call(core, "sim_kinematics_init", "number", ["number", "number"], [this.kinematics, this.config]); if (initialized !== 0) throw new Error(`wasm_home_kinematics_init_${initialized}`); const homeInitialized = call(core, "sim_kinematics_home_limit_init", "number", ["number", "number", "number"], [this.homeLimit, this.kinematics, jointCount]); @@ -84,7 +92,7 @@ export class WasmHomeLimit { if (result !== 0) return { status: "error", code: `wasm_home_limit_read_${result}` }; const ints = this.core.HEAPU32; const signed = this.core.HEAP32; - const joints = [...this.core.HEAPF64.subarray(this.stateBuffer / 8 + 9, this.stateBuffer / 8 + 12)]; + const joints = [...this.core.HEAPF64.subarray(this.stateBuffer / 8 + 9, this.stateBuffer / 8 + 9 + this.jointCount)]; return { status: "verified", state: { schema: HOME_LIMIT_SCHEMA, source: "wasm_home_limit", pose: pose(this.core, this.stateBuffer), joints, joint_count: ints[this.stateBuffer / 4 + 36], homed: Boolean(ints[this.stateBuffer / 4 + 37]), home_sequence: ints[this.stateBuffer / 4 + 38], tick: ints[this.stateBuffer / 4 + 39], last_error: signed[this.stateBuffer / 4 + 40], limit_error: signed[this.stateBuffer / 4 + 41], kinematics_error: signed[this.stateBuffer / 4 + 42] } }; } diff --git a/web/worker/wasm-motion-queue.mjs b/web/worker/wasm-motion-queue.mjs index cefab1b..5d3545c 100644 --- a/web/worker/wasm-motion-queue.mjs +++ b/web/worker/wasm-motion-queue.mjs @@ -97,6 +97,9 @@ export class WasmMotionQueue { [...poseToArray(segment.start), ...poseToArray(segment.end), Number(segment.center?.x ?? 0), Number(segment.center?.y ?? 0), Number(segment.center?.z ?? 0), Number(segment.normal?.x ?? 0), Number(segment.normal?.y ?? 0), Number(segment.normal?.z ?? 0), Number(segment.velocity ?? 0), Number(segment.acceleration ?? 0)].forEach((value, index) => { doubles[base + index] = value; }); ints[this.command / 4 + SEGMENT_INT_OFFSET] = Number(segment.motion_type ?? 1); ints[this.command / 4 + SEGMENT_INT_OFFSET + 1] = Number(segment.turn ?? 0); + // sim_motion_command layout is segment (216 bytes), id (4), tag (4). + // Keep the WASM switchkins mode in the tag field; the C queue assigns id. + ints[this.command / 4 + SEGMENT_INT_OFFSET + 3] = Number(segment.kinematics_mode ?? segment.tag ?? 0); const result = call(this.core, "sim_motion_enqueue", "number", ["number", "number", "number"], [this.queue, this.command, 0]); return result === 0 ? { status: "verified", source_line: segment.source_line ?? null } : { status: "error", code: `wasm_motion_enqueue_${result}` }; } @@ -153,13 +156,16 @@ export class WasmMotionQueue { const previous = this.core.HEAPU8.slice(this.queue, this.queue + this.queueSize); const headerOffset = this.queueCapacity * this.commandCapacity; const stateOffset = headerOffset + QUEUE_HEADER_BYTES; - const nextId = new DataView(previous.buffer, previous.byteOffset, previous.byteLength).getUint32(8, true); + const previousView = new DataView(previous.buffer, previous.byteOffset, previous.byteLength); + const nextId = previousView.getUint32(headerOffset + 8, true); this.reset(); const bytes = new Uint8Array(this.queueSize); const view = new DataView(bytes.buffer); - bytes.set(previous.subarray(16, 32), 16); - view.setUint32(8, nextId, true); - view.setUint32(12, current.state.tick, true); + // sim_motion_queue stores commands first, followed by its 32-byte header. + // Preserve cycle/velocity configuration from that actual header offset. + bytes.set(previous.subarray(headerOffset + 16, headerOffset + QUEUE_HEADER_BYTES), headerOffset + 16); + view.setUint32(headerOffset + 8, nextId, true); + view.setUint32(headerOffset + 12, current.state.tick, true); bytes.set(previous.subarray(stateOffset, stateOffset + STATE_POSITION_BYTES), stateOffset); view.setFloat64(stateOffset + 72, 0, true); view.setFloat64(stateOffset + 80, 0, true); @@ -187,7 +193,7 @@ export class WasmMotionQueue { if (result !== 0) return { status: "error", code: `wasm_motion_read_${result}` }; const doubles = this.core.HEAPF64.subarray(this.state / 8, this.state / 8 + 11); const ints = this.core.HEAPU32.subarray(this.state / 4 + 22, this.state / 4 + 26); - return { status: "verified", state: { position: { x: doubles[0], y: doubles[1], z: doubles[2] }, velocity: this.controls.paused ? 0 : doubles[9], progress: doubles[10], tick: ints[0], queue_depth: ints[1], active_id: ints[2], active_tag: ints[3], motion_type: this.core.HEAP32[this.state / 4 + 26], status: this.core.HEAP32[this.state / 4 + 27], source: "wasm_motion_queue" } }; + return { status: "verified", state: { position: { x: doubles[0], y: doubles[1], z: doubles[2], a: doubles[3], b: doubles[4], c: doubles[5], u: doubles[6], v: doubles[7], w: doubles[8] }, velocity: this.controls.paused ? 0 : doubles[9], progress: doubles[10], tick: ints[0], queue_depth: ints[1], active_id: ints[2], active_tag: ints[3], motion_type: this.core.HEAP32[this.state / 4 + 26], status: this.core.HEAP32[this.state / 4 + 27], source: "wasm_motion_queue" } }; } exportState() { diff --git a/web/worker/wasm-program-runtime.mjs b/web/worker/wasm-program-runtime.mjs new file mode 100644 index 0000000..91e27f3 --- /dev/null +++ b/web/worker/wasm-program-runtime.mjs @@ -0,0 +1,246 @@ +import { fnv1a64 } from "./replay.mjs"; + +const SCHEMA = "wasm_program_runtime.v1"; +const SEGMENT_BYTES = 216; +const POSE_BYTES = 72; +const AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"]; +const DEFAULT_RAPID_VELOCITY = 1000; + +function call(core, name, returnType, argTypes, args) { + const fn = core?.[`_${name}`] ?? core?.[name]; + if (typeof fn === "function") return fn(...args); + if (typeof core?.ccall === "function") return core.ccall(name, returnType, argTypes, args); + throw new Error(`missing core export: ${name}`); +} + +function pose(core, pointer) { + const values = [...core.HEAPF64.subarray(pointer / 8, pointer / 8 + 9)]; + return Object.fromEntries(AXES.map((axis, index) => [axis, values[index]])); +} + +function segment(core, pointer) { + const start = pose(core, pointer); + const end = pose(core, pointer + 72); + const cart = (offset) => ({ x: core.HEAPF64[pointer / 8 + offset / 8], y: core.HEAPF64[pointer / 8 + offset / 8 + 1], z: core.HEAPF64[pointer / 8 + offset / 8 + 2] }); + const ints = new DataView(core.HEAPU8.buffer, pointer, SEGMENT_BYTES); + return { start, end, center: cart(144), normal: cart(168), velocity: core.HEAPF64[pointer / 8 + 24], acceleration: core.HEAPF64[pointer / 8 + 25], motion_type: ints.getInt32(208, true), turn: ints.getInt32(212, true) }; +} + +function sampleSegment(core, segmentPointer, posePointer, value) { + const turn = Math.max(1, Math.abs(Number(value.turn ?? 1))); + const count = value.motion_type === 2 ? Math.max(32, Math.ceil(turn * 32)) : 1; + const samples = []; + for (let index = 0; index <= count; index += 1) { + const result = call(core, "sim_posemath_segment_point", "number", ["number", "number", "number"], [segmentPointer, index / count, posePointer]); + if (result !== 0) throw new Error(`wasm_program_segment_sample_${result}`); + samples.push(pose(core, posePointer)); + } + return samples; +} + +function readString(core, pointer, capacity) { + const bytes = core.HEAPU8.subarray(pointer, pointer + capacity); + const end = bytes.indexOf(0); + return new TextDecoder().decode(bytes.subarray(0, end < 0 ? bytes.length : end)); +} + +export class WasmProgramRuntime { + constructor(core) { + this.core = core; + this.available = ["sim_program_size", "sim_program_init", "sim_program_step", "sim_program_canonical", "sim_program_add_subroutine", "sim_program_set_rapid_velocity"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function"); + this.pointer = 0; + this.motionPointer = 0; + this.samplePointer = 0; + this.samplePosePointer = 0; + this.source = ""; + this.path = null; + this.subroutines = []; + this.rapidVelocity = 35; + if (!this.available || typeof core?._malloc !== "function") return; + this.pointer = core._malloc(call(core, "sim_program_size", "number", [], [])); + this.motionPointer = core._malloc(SEGMENT_BYTES); + this.samplePointer = core._malloc(SEGMENT_BYTES); + this.samplePosePointer = core._malloc(POSE_BYTES); + if (!this.pointer || !this.motionPointer || !this.samplePointer || !this.samplePosePointer) throw new Error("wasm_program_allocation_failed"); + const result = call(core, "sim_program_init", "number", ["number"], [this.pointer]); + if (result !== 0) throw new Error(`wasm_program_init_${result}`); + } + + invoke(name, args = [], errorPrefix = name) { + if (!this.available) return { status: "blocked", code: "wasm_program_unavailable" }; + const result = call(this.core, name, "number", ["number", ...args.map(() => "number")], [this.pointer, ...args]); + return result === 0 ? { status: "verified", command: name } : { status: "error", code: `wasm_${errorPrefix}_${result}`, result }; + } + + load(source, path = null) { + if (typeof source !== "string" || source.length === 0) return { status: "error", code: "program_source_invalid" }; + const bytes = new TextEncoder().encode(source); + const pointer = this.core._malloc(bytes.byteLength); + this.core.HEAPU8.set(bytes, pointer); + try { + const result = call(this.core, "sim_program_load", "number", ["number", "number", "number"], [this.pointer, pointer, bytes.byteLength]); + if (result !== 0) return { status: "error", code: `wasm_program_load_${result}` }; + const velocityResult = call(this.core, "sim_program_set_rapid_velocity", "number", ["number", "number"], [this.pointer, this.rapidVelocity]); + if (velocityResult !== 0) return { status: "error", code: `wasm_program_rapid_velocity_${velocityResult}` }; + this.source = source; + this.path = path; + this.subroutines = []; + return { status: "verified", program: this.snapshot() }; + } finally { this.core._free(pointer); } + } + + requiresSubroutines(source = this.source) { + if (typeof source !== "string" || source.length === 0) return { status: "error", code: "program_source_invalid" }; + const bytes = new TextEncoder().encode(source); + const pointer = this.core._malloc(bytes.byteLength); + this.core.HEAPU8.set(bytes, pointer); + try { + const result = call(this.core, "sim_program_requires_subroutines", "number", ["number", "number"], [pointer, bytes.byteLength]); + if (result < 0) return { status: "error", code: `wasm_program_requires_subroutines_${result}` }; + return { status: "verified", required: result === 1 }; + } finally { this.core._free(pointer); } + } + + preview() { + if (!this.source) return { status: "error", code: "program_preview_source_missing" }; + const temporary = new WasmProgramRuntime(this.core); + const segments = []; + try { + const loaded = temporary.load(this.source, this.path); + if (loaded.status !== "verified") return loaded; + temporary.setRapidVelocity(this.rapidVelocity); + for (const subroutine of this.subroutines) { + const added = temporary.addSubroutine(subroutine.name, subroutine.source); + if (added.status !== "verified") return added; + } + const started = temporary.start(); + if (started.status !== "verified") return started; + const limit = Math.min(100000, Math.max(1, temporary.snapshot().line_count * 8 + 1)); + let kinematicsMode = 0; + for (let index = 0; index < limit; index += 1) { + const step = temporary.step(); + if (step.status !== "verified") return { status: "error", code: step.code, line: temporary.snapshot().current_line, segments }; + if (step.has_control && [428, 429, 430].includes(step.control_code)) kinematicsMode = { 428: 1, 429: 0, 430: 2 }[step.control_code]; + if (step.motion) segments.push({ id: segments.length + 1, kinematics_mode: kinematicsMode, ...step.motion }); + if ([4, 5, 6].includes(temporary.snapshot().status)) break; + } + return { status: "verified", schema: "wasm-canonical-preview.v1", source: "linuxcnc-wasm-sim_program", path: this.path, source_hash: fnv1a64(this.source), line_count: this.snapshot().line_count, segments, preview_hash: fnv1a64(segments) }; + } finally { temporary.destroy(); } + } + + start() { return this.invoke("sim_program_start", [], "program_start"); } + setRapidVelocity(velocity) { + if (!Number.isFinite(Number(velocity)) || Number(velocity) <= 0) return { status: "error", code: "program_rapid_velocity_invalid" }; + this.rapidVelocity = Number(velocity); + const result = call(this.core, "sim_program_set_rapid_velocity", "number", ["number", "number"], [this.pointer, this.rapidVelocity]); + if (result !== 0) throw new Error(`wasm_program_set_rapid_velocity_${result}`); + return { status: "verified", command: "sim_program_set_rapid_velocity" }; + } + addSubroutine(name, source) { + if (typeof source !== "string" || source.length === 0) return { status: "error", code: "program_subroutine_invalid" }; + const bytes = new TextEncoder().encode(source); + const pointer = this.core._malloc(bytes.byteLength); + this.core.HEAPU8.set(bytes, pointer); + try { + const code = call(this.core, "sim_program_add_subroutine", "number", ["number", "number", "number"], [this.pointer, pointer, bytes.byteLength]); + if (code !== 0) return { status: "error", code: `wasm_program_add_subroutine_${code}`, result: code }; + this.subroutines.push({ name: String(name ?? "subroutine"), source }); + return { status: "verified", command: "sim_program_add_subroutine", name: String(name ?? "subroutine") }; + } finally { this.core._free(pointer); } + } + pause() { return this.invoke("sim_program_pause", [], "program_pause"); } + resume() { return this.invoke("sim_program_resume", [], "program_resume"); } + abort() { return this.invoke("sim_program_abort", [], "program_abort"); } + seek(line) { return this.invoke("sim_program_seek", [line], "program_seek"); } + + restoreState(value) { + if (!value || ![SCHEMA, "sim_program.v1"].includes(value.schema) || !Number.isSafeInteger(value.current_line) || value.current_line < 0 || !this.source) throw new Error("wasm_program_restore_schema"); + if (value.source_hash && value.source_hash !== fnv1a64(this.source)) throw new Error("wasm_program_restore_source_hash"); + const subroutines = [...this.subroutines]; + const loaded = this.load(this.source, this.path); + if (loaded.status !== "verified") throw new Error(loaded.code); + for (const subroutine of subroutines) { + const added = this.addSubroutine(subroutine.name, subroutine.source); + if (added.status !== "verified") throw new Error(added.code); + } + if (value.current_line > 0) { + const seek = this.seek(value.current_line); + if (seek.status !== "verified") throw new Error(seek.code); + } + const status = value.program_status ?? ({ 0: "idle", 1: "loaded", 2: "running", 3: "paused", 4: "completed", 5: "aborted", 6: "fault" }[value.status] ?? "loaded"); + if (status === "running") { + const resumed = this.resume(); + if (resumed.status !== "verified") { + const started = this.start(); + if (started.status !== "verified") throw new Error(started.code); + } + } else if (status === "completed") { + this.start(); + for (let index = 0; index < this.snapshot().line_count + 1 && this.snapshot().status === 2; index += 1) this.step(); + } else if (status === "aborted") { + const aborted = this.abort(); + if (aborted.status !== "verified") throw new Error(aborted.code); + } + if (value.has_motion === 0) this.clearMotion(); + return this.snapshot(); + } + + executeBlock(block) { + const bytes = new TextEncoder().encode(String(block ?? "")); + const pointer = this.core._malloc(bytes.byteLength); + this.core.HEAPU8.set(bytes, pointer); + try { + const result = call(this.core, "sim_program_execute_block", "number", ["number", "number", "number"], [this.pointer, pointer, bytes.byteLength]); + if (result !== 0) return { status: "error", code: `wasm_program_execute_${result}` }; + return { status: "verified", program: this.snapshot(), motion: this.readMotion() }; + } finally { this.core._free(pointer); } + } + + readMotion() { + const state = this.snapshot(); + if (!state.has_motion) return null; + const result = call(this.core, "sim_program_read_motion", "number", ["number", "number"], [this.pointer, this.motionPointer]); + if (result !== 0) return null; + const value = segment(this.core, this.motionPointer); + // LinuxCNC rapid blocks do not carry an F word. The trajectory queue + // requires a positive velocity, so use the simulation's configured rapid + // rate for that WASM-produced linear segment. + if (state.motion_mode === 0 && value.motion_type === 1 && value.velocity <= 0) value.velocity = DEFAULT_RAPID_VELOCITY; + value.samples = sampleSegment(this.core, this.motionPointer, this.samplePosePointer, value); + value.samples_source = "linuxcnc-wasm-sim_posemath_segment_point"; + value.canonical_motion_mode = state.motion_mode; + value.kind = value.motion_type === 2 && Math.abs(Number(value.end?.z ?? 0) - Number(value.start?.z ?? 0)) > 1e-12 ? "helix" : value.motion_type === 2 ? "arc" : state.motion_mode === 0 ? "rapid" : value.motion_type === 1 ? "feed" : "traverse"; + if (value.kind === "helix") { + value.helix = true; + value.radius = Math.hypot(Number(value.start?.x ?? 0) - Number(value.center?.x ?? 0), Number(value.start?.y ?? 0) - Number(value.center?.y ?? 0)); + value.turns = Math.abs(Number(value.turn ?? 1)); + value.axial_delta = Number(value.end?.z ?? 0) - Number(value.start?.z ?? 0); + } + call(this.core, "sim_program_clear_motion", "number", ["number"], [this.pointer]); + return { ...value, source_line: state.current_line }; + } + + clearMotion() { return this.invoke("sim_program_clear_motion", [], "program_clear_motion"); } + + step() { + const result = this.invoke("sim_program_step", [], "program_step"); + if (result.status !== "verified") return result; + const state = this.snapshot(); + return { status: "verified", program_status: state.status, line: state.current_line, control_code: state.control_code ?? 0, has_control: state.has_control === 1, program: state, motion: this.readMotion() }; + } + + snapshot() { + if (!this.available) return { schema: SCHEMA, status: "blocked", code: "wasm_program_unavailable" }; + const required = call(this.core, "sim_program_canonical", "number", ["number", "number", "number"], [this.pointer, 0, 0]); + const buffer = this.core._malloc(required); + try { + call(this.core, "sim_program_canonical", "number", ["number", "number", "number"], [this.pointer, buffer, required]); + const state = JSON.parse(readString(this.core, buffer, required)); + const hash = call(this.core, "sim_program_state_hash", "number", ["number"], [this.pointer]); + const programStatus = { 0: "idle", 1: "loaded", 2: "running", 3: "paused", 4: "completed", 5: "aborted", 6: "fault" }[state.status] ?? "idle"; + return { schema: SCHEMA, source: "linuxcnc-wasm-sim_program", ...state, loaded: state.status !== 0, line: state.current_line, currentLine: state.current_line, program_status: programStatus, path: this.path, subroutines: this.subroutines.map((subroutine) => subroutine.name), state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, source_hash: this.source ? fnv1a64(this.source) : null }; + } finally { this.core._free(buffer); } + } + + destroy() { for (const pointer of [this.pointer, this.motionPointer, this.samplePointer, this.samplePosePointer]) if (pointer && typeof this.core?._free === "function") this.core._free(pointer); this.pointer = this.motionPointer = this.samplePointer = this.samplePosePointer = 0; } +} diff --git a/web/worker/wasm-xyzac-device-io.mjs b/web/worker/wasm-xyzac-device-io.mjs new file mode 100644 index 0000000..4c6afae --- /dev/null +++ b/web/worker/wasm-xyzac-device-io.mjs @@ -0,0 +1,111 @@ +import { fnv1a64 } from "./replay.mjs"; + +const DEVICE_SCHEMA = "wasm_xyzac_device_io.v1"; + +function call(core, name, returnType, argTypes, args) { + const fn = core?.[`_${name}`] ?? core?.[name]; + if (typeof fn === "function") return fn(...args); + if (typeof core?.ccall === "function") return core.ccall(name, returnType, argTypes, args); + throw new Error(`missing core export: ${name}`); +} + +function readString(core, pointer, capacity) { + const bytes = core.HEAPU8.subarray(pointer, pointer + capacity); + const end = bytes.indexOf(0); + return new TextDecoder().decode(bytes.subarray(0, end < 0 ? bytes.length : end)); +} + +function bytesToHex(bytes) { + let output = ""; + for (const byte of bytes) output += byte.toString(16).padStart(2, "0"); + return output; +} + +function hexToBytes(value) { + if (typeof value !== "string" || value.length % 2 !== 0 || !/^[0-9a-f]*$/i.test(value)) throw new Error("wasm_xyzac_device_io_state_bytes_invalid"); + const bytes = new Uint8Array(value.length / 2); + for (let index = 0; index < bytes.length; index += 1) bytes[index] = Number.parseInt(value.slice(index * 2, index * 2 + 2), 16); + return bytes; +} + +function operationNumber(value) { + if (Number.isSafeInteger(value) && value > 0) return value; + const text = String(value ?? "device"); + let hash = 2166136261; + for (const byte of new TextEncoder().encode(text)) { hash ^= byte; hash = Math.imul(hash, 16777619); } + return (hash >>> 0) || 1; +} + +export class WasmXyzacDeviceIo { + constructor(core, { encoderCount = 2 } = {}) { + this.core = core; + this.available = ["sim_device_io_size", "sim_device_init", "sim_device_canonical", "sim_device_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function"); + this.pointer = 0; + if (!this.available || typeof core?._malloc !== "function") return; + const size = call(core, "sim_device_io_size", "number", [], []); + this.pointer = core._malloc(size); + if (!this.pointer) throw new Error("wasm_xyzac_device_io_allocation_failed"); + const result = call(core, "sim_device_init", "number", ["number", "number", "number"], [this.pointer, encoderCount, 0.01]); + if (result !== 0) throw new Error(`wasm_xyzac_device_io_init_${result}`); + } + + invoke(name, args = []) { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_device_io_unavailable" }; + const result = call(this.core, name, "number", ["number", ...args.map(() => "number")], [this.pointer, ...args]); + return result === 0 ? { status: "verified", command: name } : { status: "error", code: `wasm_${name}_${result}`, result }; + } + + canonical() { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_device_io_unavailable" }; + const required = call(this.core, "sim_device_canonical", "number", ["number", "number", "number"], [this.pointer, 0, 0]); + const buffer = this.core._malloc(required); + try { call(this.core, "sim_device_canonical", "number", ["number", "number", "number"], [this.pointer, buffer, required]); return JSON.parse(readString(this.core, buffer, required)); } + finally { this.core._free(buffer); } + } + + export() { + const state = this.canonical(); + if (state.status === "blocked") return { schema: DEVICE_SCHEMA, source: "wasm_device_io", ...state }; + const unsigned = { schema: DEVICE_SCHEMA, source: "wasm_device_io", state, wasm_state_hash: this.stateHash(), state_bytes: bytesToHex(this.core.HEAPU8.slice(this.pointer, this.pointer + call(this.core, "sim_device_io_size", "number", [], []))) }; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } + + restoreState(value) { + if (!value || !value.state_bytes || !this.available) throw new Error("wasm_xyzac_device_io_restore_unavailable"); + const bytes = hexToBytes(value.state_bytes); + const size = call(this.core, "sim_device_io_size", "number", [], []); + if (bytes.length !== size) throw new Error("wasm_xyzac_device_io_restore_layout"); + this.core.HEAPU8.set(bytes, this.pointer); + const actual = this.canonical(); + if (value.state && fnv1a64(actual) !== fnv1a64(value.state)) throw new Error("wasm_xyzac_device_io_restore_state_mismatch"); + return this.export(); + } + + stateHash() { + if (!this.available) return null; + const hash = call(this.core, "sim_device_state_hash", "number", ["number"], [this.pointer]); + return `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`; + } + + command(kind, payload = {}, operationId = null) { + if (kind === "ENCODER_SET") { + const channel = payload.channel ?? 0; + if (payload.speed_rps !== undefined || payload.speed !== undefined) return this.invoke("sim_device_encoder_set_speed", [channel, payload.speed_rps ?? payload.speed]); + if (payload.ppr !== undefined || payload.scale !== undefined) return this.invoke("sim_device_encoder_set_config", [channel, payload.ppr ?? 1000, payload.scale ?? 1]); + return this.invoke("sim_device_encoder_set_index_enable", [channel, payload.index_enable === true ? 1 : 0]); + } + if (kind === "COOLANT_COMMAND") return this.invoke("sim_device_coolant_command", [payload.mist ? 1 : 0, payload.flood ? 1 : 0, payload.lube ? 1 : 0]); + if (kind === "COOLANT_FAULT") return this.invoke("sim_device_coolant_set_fault", [payload.fault === true ? 1 : 0]); + if (kind === "DOOR_SET") return this.invoke("sim_device_door_set", [payload.open === true ? 1 : 0]); + if (kind === "INTERLOCK_SET") return this.invoke("sim_device_interlock_set", [payload.input_ok === false ? 0 : 1]); + if (kind === "INTERLOCK_RESET") return this.invoke("sim_device_interlock_reset"); + if (kind === "DEVICE_ESTOP") return this.invoke("sim_device_estop_set", [payload.active === true ? 1 : 0]); + if (kind === "DEVICE_ACK_ISSUE") return this.invoke("sim_device_ack_issue", [operationNumber(operationId ?? payload.operation_id), payload.timeout_ticks ?? 10]); + if (kind === "DEVICE_ACK") return this.invoke("sim_device_ack_ack", [operationNumber(payload.operation_id)]); + if (kind === "DEVICE_ACK_ABORT") return this.invoke("sim_device_ack_abort", [operationNumber(payload.operation_id)]); + if (kind === "IO_STEP") return this.invoke("sim_device_step", [payload.ticks ?? 1]); + return { status: "error", code: "wasm_xyzac_device_io_command_unsupported", command: kind }; + } + + destroy() { if (this.pointer && typeof this.core?._free === "function") this.core._free(this.pointer); this.pointer = 0; } +} diff --git a/web/worker/wasm-xyzac-io.mjs b/web/worker/wasm-xyzac-io.mjs new file mode 100644 index 0000000..15831d8 --- /dev/null +++ b/web/worker/wasm-xyzac-io.mjs @@ -0,0 +1,170 @@ +import { fnv1a64 } from "./replay.mjs"; + +const IO_SCHEMA = "wasm_xyzac_io.v1"; +const HAL_SCHEMA = "wasm_xyzac_hal.v1"; +const POSE_BYTES = 72; +const HAL_WRITE_ALLOWLIST = new Set(["motion.probe-input", "iocontrol.0.tool-prepared", "iocontrol.0.tool-changed", "spindle.0.speed-in", "spindle.0.at-speed"]); + +function call(core, name, returnType, argTypes, args) { + const fn = core?.[`_${name}`] ?? core?.[name]; + if (typeof fn === "function") return fn(...args); + if (typeof core?.ccall === "function") return core.ccall(name, returnType, argTypes, args); + throw new Error(`missing core export: ${name}`); +} + +function callString(core, name, returnType, argTypes, args) { + if (typeof core?.ccall === "function") return core.ccall(name, returnType, argTypes, args); + throw new Error(`missing string-capable core export: ${name}`); +} + +function readString(core, pointer, capacity) { + const bytes = core.HEAPU8.subarray(pointer, pointer + capacity); + const end = bytes.indexOf(0); + return new TextDecoder().decode(bytes.subarray(0, end < 0 ? bytes.length : end)); +} + +function bytesToHex(bytes) { + let output = ""; + for (const byte of bytes) output += byte.toString(16).padStart(2, "0"); + return output; +} + +function hexToBytes(value) { + if (typeof value !== "string" || value.length % 2 !== 0 || !/^[0-9a-f]*$/i.test(value)) throw new Error("wasm_xyzac_io_state_bytes_invalid"); + const bytes = new Uint8Array(value.length / 2); + for (let index = 0; index < bytes.length; index += 1) bytes[index] = Number.parseInt(value.slice(index * 2, index * 2 + 2), 16); + return bytes; +} + +export class WasmXyzacIo { + constructor(core, { spindleCount = 2, toolCapacity = 1001 } = {}) { + this.core = core; + this.available = ["sim_io_size", "sim_io_init", "sim_io_canonical", "sim_io_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function"); + this.pointer = 0; + this.posePointer = 0; + this.ioSize = 0; + this.spindleCount = spindleCount; + this.toolCapacity = toolCapacity; + this.lastError = 0; + if (!this.available || typeof core?._malloc !== "function") return; + this.ioSize = call(core, "sim_io_size", "number", [], []); + this.pointer = core._malloc(this.ioSize); + this.posePointer = core._malloc(POSE_BYTES); + if (!this.pointer || !this.posePointer) throw new Error("wasm_xyzac_io_allocation_failed"); + const result = call(core, "sim_io_init", "number", ["number", "number", "number", "number", "number", "number"], [this.pointer, spindleCount, toolCapacity, 0.01, 600, 5]); + if (result !== 0) throw new Error(`wasm_xyzac_io_init_${result}`); + } + + invoke(name, args = []) { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_io_unavailable" }; + const result = call(this.core, name, "number", ["number", ...args.map(() => "number")], [this.pointer, ...args]); + this.lastError = result; + return result === 0 ? { status: "verified", command: name } : { status: "error", code: `wasm_${name}_${result}`, result }; + } + + canonical() { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_io_unavailable" }; + const required = call(this.core, "sim_io_canonical", "number", ["number", "number", "number"], [this.pointer, 0, 0]); + const buffer = this.core._malloc(required); + try { + call(this.core, "sim_io_canonical", "number", ["number", "number", "number"], [this.pointer, buffer, required]); + return JSON.parse(readString(this.core, buffer, required)); + } finally { this.core._free(buffer); } + } + + stateHash() { + if (!this.available) return null; + const hash = call(this.core, "sim_io_state_hash", "number", ["number"], [this.pointer]); + return `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`; + } + + export() { + const state = this.canonical(); + if (state.status === "blocked") return { schema: IO_SCHEMA, source: "wasm_io", ...state }; + const unsigned = { schema: IO_SCHEMA, source: "wasm_io", state, state_hash: this.stateHash(), state_bytes: bytesToHex(this.core.HEAPU8.slice(this.pointer, this.pointer + this.ioSize)) }; + return { ...unsigned, projection_hash: fnv1a64(unsigned) }; + } + + restoreState(value) { + if (!value || !value.state_bytes || !this.available) throw new Error("wasm_xyzac_io_restore_unavailable"); + const bytes = hexToBytes(value.state_bytes); + if (bytes.length !== this.ioSize) throw new Error("wasm_xyzac_io_restore_layout"); + this.core.HEAPU8.set(bytes, this.pointer); + const actual = this.canonical(); + if (value.state && fnv1a64(actual) !== fnv1a64(value.state)) throw new Error("wasm_xyzac_io_restore_state_mismatch"); + return this.export(); + } + + halExport() { + if (!this.available) return { schema: HAL_SCHEMA, source: "wasm_hal", status: "blocked", code: "wasm_hal_unavailable" }; + const tick = call(this.core, "sim_hal_tick", "number", [], []); + const unsigned = { + schema: HAL_SCHEMA, + source: "wasm_hal", + status: "verified", + tick, + pin_count: call(this.core, "sim_hal_pin_count", "number", [], []), + param_count: call(this.core, "sim_hal_param_count", "number", [], []), + thread_count: call(this.core, "sim_hal_thread_count", "number", [], []), + function_count: call(this.core, "sim_hal_function_count", "number", [], []), + component_count: call(this.core, "sim_hal_component_count", "number", [], []), + }; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } + + halValue(name, value, type = 4, param = false) { + if (!this.available) return { status: "blocked", code: "wasm_hal_unavailable" }; + if (param || !HAL_WRITE_ALLOWLIST.has(name)) return { status: "error", code: "wasm_hal_write_denied", name, target: param ? "param" : "pin" }; + const result = callString(this.core, param ? "sim_hal_set_param_scalar" : "sim_hal_set_pin_scalar", "number", ["string", "number", "number"], [name, type, Number(value)]); + return result === 0 ? { status: "verified", command: param ? "HAL_SET_PARAM" : "HAL_SET_PIN" } : { status: "error", code: `wasm_hal_set_${result}`, result }; + } + + halCommand(payload = {}) { + if (payload.action === "thread") return callString(this.core, "sim_hal_register_thread", "number", ["string", "number"], [payload.name ?? "servo-thread", payload.period_ticks ?? 1]) === 0 ? { status: "verified", command: "HAL_THREAD" } : { status: "error", code: "wasm_hal_thread" }; + if (payload.action === "component") return callString(this.core, "sim_hal_register_component", "number", ["string", "string", "string"], [payload.instance ?? payload.name, payload.type ?? payload.module, payload.thread ?? "servo-thread"]) === 0 ? { status: "verified", command: "HAL_COMPONENT" } : { status: "error", code: "wasm_hal_component" }; + if (payload.action === "connect") return callString(this.core, "sim_hal_connect", "number", ["string", "string"], [payload.source, payload.target]) === 0 ? { status: "verified", command: "HAL_CONNECT" } : { status: "error", code: "wasm_hal_connect" }; + if (payload.action === "step") { + const result = call(this.core, "sim_hal_step", "number", ["number"], [payload.ticks ?? payload.tick ?? 1]); + return result === 0 ? { status: "verified", command: "HAL_STEP" } : { status: "error", code: `wasm_hal_step_${result}` }; + } + return { status: "error", code: "wasm_hal_command_unsupported" }; + } + + command(kind, payload = {}) { + if (kind === "SPINDLE_COMMAND") return this.invoke("sim_io_spindle_command", [payload.spindle ?? 0, payload.rpm ?? payload.speed ?? 0, payload.enabled === false ? 0 : 1]); + if (kind === "SPINDLE_FAULT") return this.invoke("sim_io_spindle_set_fault", [payload.spindle ?? 0, payload.fault === true ? 1 : 0]); + if (kind === "SPINDLE_INHIBIT") return this.invoke("sim_io_spindle_set_inhibit", [payload.spindle ?? 0, payload.inhibit === true ? 1 : 0]); + if (kind === "SPINDLE_ORIENT") return this.invoke("sim_io_spindle_orient", [payload.spindle ?? 0, payload.angle ?? 0, payload.mode ?? 0]); + if (kind === "SPINDLE_ORIENTED") return this.invoke("sim_io_spindle_set_oriented", [payload.spindle ?? 0, payload.oriented === true ? 1 : 0, payload.fault ?? 0]); + if (kind === "TOOL_PREPARE") return this.invoke("sim_io_tool_prepare", [payload.tool ?? payload.tool_number ?? 0, payload.pocket ?? payload.pocket_number ?? 0]); + if (kind === "TOOL_PREPARED") return this.invoke("sim_io_tool_set_prepared", [payload.prepared === false ? 0 : 1]); + if (kind === "TOOL_CHANGE") return this.invoke("sim_io_tool_change"); + if (kind === "TOOL_CHANGED") return this.invoke("sim_io_tool_set_changed", [payload.changed === false ? 0 : 1]); + if (kind === "TOOL_ABORT") return this.invoke("sim_io_tool_abort", [payload.reason ?? 0]); + if (kind === "TOOL_FAULT") return this.invoke("sim_io_tool_set_fault", [payload.fault === true ? 1 : 0, payload.reason ?? 0]); + if (kind === "TOOL_CLEAR_FAULT") return this.invoke("sim_io_tool_clear_fault"); + if (kind === "PROBE_CONFIG") { + const result = this.invoke("sim_io_probe_arm", [payload.probe_type ?? payload.type ?? 0]); + return result; + } + if (kind === "ESTOP" || kind === "DEVICE_ESTOP") return this.invoke("sim_io_set_estop", [payload.active === true ? 1 : 0]); + if (kind === "IO_RECOVER" || kind === "INTERLOCK_RESET") return this.invoke("sim_io_recover"); + if (kind === "IO_STEP") return this.invoke("sim_io_step", [payload.ticks ?? 1]); + if (kind === "COOLANT_COMMAND") return { status: "error", code: "wasm_device_io_required", detail: "coolant uses sim_device_io authority" }; + return { status: "error", code: "wasm_xyzac_io_command_unsupported", command: kind }; + } + + probeUpdate(pose, input = 1) { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_io_unavailable" }; + const values = ["x", "y", "z", "a", "b", "c", "u", "v", "w"].map((axis) => Number(pose?.[axis] ?? 0)); + this.core.HEAPF64.set(values, this.posePointer / 8); + return this.invoke("sim_io_probe_update", [this.posePointer, input ? 1 : 0]); + } + + destroy() { + for (const pointer of [this.pointer, this.posePointer]) if (pointer && typeof this.core?._free === "function") this.core._free(pointer); + this.pointer = this.posePointer = 0; + } +} + +export { HAL_WRITE_ALLOWLIST }; diff --git a/web/worker/wasm-xyzac-kinematics.mjs b/web/worker/wasm-xyzac-kinematics.mjs new file mode 100644 index 0000000..47f09b4 --- /dev/null +++ b/web/worker/wasm-xyzac-kinematics.mjs @@ -0,0 +1,181 @@ +import { fnv1a64 } from "./replay.mjs"; + +const CONFIG_SIZE = 1608; +const KINEMATICS_SIZE = 1760; +const SWITCH_SIZE = 512; +const RESULT_INFO_SIZE = 32; +const POSE_SIZE = 72; +const JOINT_BYTES = 9 * 8; +const CONFIG = Object.freeze({ + type: 0, mode: 4, joint_count: 8, kinematics_joint_count: 12, extra_joint_count: 16, + coordinates: 20, x_rot_point: 40, y_rot_point: 48, z_rot_point: 56, + x_offset: 64, y_offset: 72, z_offset: 80, tool_offset: 88, + limit_enabled: 1448, joint_min: 1464, joint_max: 1536, +}); +const SWITCH = Object.freeze({ switching: 16, active_mode: 20, pending_mode: 24, generation: 28, switch_count: 32, abort_count: 36 }); +const TYPE = Object.freeze({ identity: 1, xyzac: 2, userk: 1 }); +const MODE = Object.freeze({ identity: 0, xyzac: 1, userk: 2 }); +const AXES = Object.freeze(["x", "y", "z", "a", "b", "c", "u", "v", "w"]); +const COORDINATES = Object.freeze(["x", "y", "z", "a", "c"]); +const DEFAULT_LIMITS = Object.freeze({ x: [-200, 200], y: [-100, 100], z: [-120, 120], a: [-100, 50], c: [-36000, 36000] }); + +function call(core, name, returnType, argTypes, args) { + const direct = core?.[`_${name}`] ?? core?.[name]; + if (typeof direct === "function") return direct(...args); + if (typeof core?.ccall === "function") return core.ccall(name, returnType, argTypes, args); + throw new Error(`missing core export: ${name}`); +} + +function pose(core, pointer) { + const doubles = core.HEAPF64.subarray(pointer / 8, pointer / 8 + 9); + return Object.fromEntries(AXES.map((axis, index) => [axis, doubles[index]])); +} + +function setCoordinates(core, pointer) { + for (const [index, value] of [..."XYZAC"].entries()) core.HEAPU8[pointer + CONFIG.coordinates + index] = value.charCodeAt(0); +} + +function configFor(core, pointer, type, options) { + core.HEAPU8.fill(0, pointer, pointer + CONFIG_SIZE); + const view = new DataView(core.HEAPU8.buffer, pointer, CONFIG_SIZE); + view.setInt32(CONFIG.type, type, true); + view.setInt32(CONFIG.mode, 0, true); + view.setUint32(CONFIG.joint_count, 5, true); + view.setUint32(CONFIG.kinematics_joint_count, 5, true); + view.setUint32(CONFIG.extra_joint_count, 0, true); + setCoordinates(core, pointer); + for (const [index, axis] of COORDINATES.entries()) { + const limit = options.limits?.[axis] ?? DEFAULT_LIMITS[axis]; + core.HEAPU8[pointer + CONFIG.limit_enabled + index] = 1; + view.setFloat64(CONFIG.joint_min + index * 8, Number(limit[0]), true); + view.setFloat64(CONFIG.joint_max + index * 8, Number(limit[1]), true); + } + for (const [key, offset] of Object.entries({ x_rot_point: CONFIG.x_rot_point, y_offset: CONFIG.y_offset, z_offset: CONFIG.z_offset, tool_offset: CONFIG.tool_offset })) { + view.setFloat64(offset, Number(options[key] ?? 0), true); + } +} + +function resultCode(operation, result) { + return { status: "error", code: `wasm_xyzac_${operation}_${result}`, result }; +} + +export class WasmXyzacKinematics { + constructor(core, options = {}) { + this.core = core; + this.options = { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 0, limits: DEFAULT_LIMITS, ...options }; + this.available = ["sim_kinematics_init", "sim_kinematics_switch_init", "sim_kinematics_switch_register", "sim_kinematics_switch_select", "sim_kinematics_switch_forward", "sim_kinematics_switch_inverse", "sim_kinematics_switch_active", "sim_kinematics_switch_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function"); + this.lastCommand = null; + this.modules = new Map(); + this.pointers = []; + if (!this.available || typeof core?._malloc !== "function") return; + for (const [mode, type] of [[MODE.identity, TYPE.identity], [MODE.xyzac, TYPE.xyzac], [MODE.userk, TYPE.userk]]) { + const config = core._malloc(CONFIG_SIZE); + const kinematics = core._malloc(KINEMATICS_SIZE); + if (!config || !kinematics) throw new Error("wasm_xyzac_allocation_failed"); + configFor(core, config, type, this.options); + const result = call(core, "sim_kinematics_init", "number", ["number", "number"], [kinematics, config]); + if (result !== 0) throw new Error(`wasm_xyzac_init_${result}`); + this.modules.set(mode, { config, kinematics }); + this.pointers.push(config, kinematics); + } + this.switchPointer = core._malloc(SWITCH_SIZE); + this.resultPointer = core._malloc(RESULT_INFO_SIZE); + this.posePointer = core._malloc(POSE_SIZE); + this.jointPointer = core._malloc(JOINT_BYTES); + if (![this.switchPointer, this.resultPointer, this.posePointer, this.jointPointer].every(Boolean)) throw new Error("wasm_xyzac_allocation_failed"); + this.pointers.push(this.switchPointer, this.resultPointer, this.posePointer, this.jointPointer); + for (const [pointer, size] of [[this.switchPointer, SWITCH_SIZE], [this.resultPointer, RESULT_INFO_SIZE], [this.posePointer, POSE_SIZE], [this.jointPointer, JOINT_BYTES]]) core.HEAPU8.fill(0, pointer, pointer + size); + this.initializeSwitch(); + } + + initializeSwitch() { + const initialized = call(this.core, "sim_kinematics_switch_init", "number", ["number", "number", "number"], [this.switchPointer, MODE.identity, 0]); + if (initialized !== 0) throw new Error(`wasm_xyzac_switch_init_${initialized}`); + for (const [mode, module] of this.modules) { + const registered = call(this.core, "sim_kinematics_switch_register", "number", ["number", "number", "number", "number"], [this.switchPointer, mode, module.kinematics, 0]); + if (registered !== 0) throw new Error(`wasm_xyzac_switch_register_${mode}_${registered}`); + } + } + + get activeMode() { + if (!this.available) return MODE.identity; + return call(this.core, "sim_kinematics_switch_active", "number", ["number"], [this.switchPointer]); + } + + setJoints(joints) { + if (!Array.isArray(joints) || joints.length < 5) throw new Error("wasm_xyzac_joints_invalid"); + this.core.HEAPF64.set(joints.slice(0, 9).map(Number), this.jointPointer / 8); + } + + setPose(value) { + if (!value || typeof value !== "object") throw new Error("wasm_xyzac_pose_invalid"); + this.core.HEAPF64.set(AXES.map((axis) => Number(value[axis] ?? 0)), this.posePointer / 8); + } + + forward(joints = [0, 0, 0, 0, 0]) { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_unavailable" }; + this.setJoints(joints); + const result = call(this.core, "sim_kinematics_switch_forward", "number", ["number", "number", "number", "number", "number"], [this.switchPointer, this.jointPointer, 5, this.posePointer, this.resultPointer]); + if (result !== 0) return resultCode("forward", result); + return this.snapshot(); + } + + inverse(currentPose) { + if (!this.available) return { status: "blocked", code: "wasm_xyzac_unavailable" }; + this.setPose(currentPose); + const result = call(this.core, "sim_kinematics_switch_inverse", "number", ["number", "number", "number", "number", "number"], [this.switchPointer, this.posePointer, this.jointPointer, 5, this.resultPointer]); + if (result !== 0) return resultCode("inverse", result); + return this.snapshot(); + } + + select(mode, joints = [0, 0, 0, 0, 0]) { + if (![MODE.identity, MODE.xyzac, MODE.userk].includes(mode)) return { status: "error", code: "wasm_xyzac_invalid_mode" }; + this.setJoints(joints); + const result = call(this.core, "sim_kinematics_switch_select", "number", ["number", "number", "number", "number", "number", "number"], [this.switchPointer, mode, this.jointPointer, 5, this.posePointer, this.resultPointer]); + if (result !== 0) return resultCode("switch", result); + this.lastCommand = `M${mode === MODE.xyzac ? 428 : mode === MODE.identity ? 429 : 430}`; + return this.snapshot(); + } + + restoreState(state) { + if (!state || state.schema !== "wasm-xyzac-kinematics.v1" || ![MODE.identity, MODE.xyzac, MODE.userk].includes(state.active_type) || !Array.isArray(state.joints) || state.joints.length !== 5) throw new Error("wasm_xyzac_restore_state_invalid"); + this.initializeSwitch(); + this.setPose(state.pose); + this.setJoints(state.joints); + if (state.active_type !== MODE.identity) { + let result = call(this.core, "sim_kinematics_switch_begin", "number", ["number", "number"], [this.switchPointer, state.active_type]); + if (result === 0) result = call(this.core, "sim_kinematics_switch_commit", "number", ["number", "number", "number", "number", "number"], [this.switchPointer, this.jointPointer, 5, this.posePointer, this.resultPointer]); + if (result !== 0) throw new Error(`wasm_xyzac_restore_switch_${result}`); + } else { + const result = call(this.core, "sim_kinematics_switch_inverse", "number", ["number", "number", "number", "number", "number"], [this.switchPointer, this.posePointer, this.jointPointer, 5, this.resultPointer]); + if (result !== 0) throw new Error(`wasm_xyzac_restore_inverse_${result}`); + } + this.setJoints(state.joints); + this.setPose(state.pose); + const view = new DataView(this.core.HEAPU8.buffer, this.switchPointer, SWITCH_SIZE); + view.setUint8(SWITCH.switching, 0); + view.setInt32(SWITCH.active_mode, state.active_type, true); + view.setInt32(SWITCH.pending_mode, state.active_type, true); + view.setUint32(SWITCH.generation, Number(state.generation ?? 0), true); + view.setUint32(SWITCH.switch_count, Number(state.switch_count ?? state.generation ?? 0), true); + view.setUint32(SWITCH.abort_count, Number(state.abort_count ?? 0), true); + this.lastCommand = state.last_command ?? null; + const restored = this.snapshot(); + if (restored.active_type !== state.active_type) throw new Error("wasm_xyzac_restore_projection_mismatch"); + return restored; + } + + snapshot(currentPose = pose(this.core, this.posePointer), joints = [...this.core.HEAPF64.subarray(this.jointPointer / 8, this.jointPointer / 8 + 5)]) { + const activeMode = this.activeMode; + const nativeType = activeMode === MODE.xyzac ? "xyzac-trt-kins" : activeMode === MODE.userk ? "userk-identity-template" : "identity"; + const view = new DataView(this.core.HEAPU8.buffer, this.switchPointer, SWITCH_SIZE); + const limits = Object.fromEntries(COORDINATES.map((axis) => [axis, [...(this.options.limits?.[axis] ?? DEFAULT_LIMITS[axis])]])); + const unsigned = { schema: "wasm-xyzac-kinematics.v1", active_type: activeMode, native_type: nativeType, coordinates: "XYZAC", joint_count: 5, linear_units: "mm", angular_units: "deg", pose: currentPose, joints: joints.slice(0, 5), offsets: { x_rot_point: this.options.x_rot_point, y_offset: this.options.y_offset, z_offset: this.options.z_offset, tool_offset: this.options.tool_offset }, limits, generation: view.getUint32(SWITCH.generation, true), switch_count: view.getUint32(SWITCH.switch_count, true), abort_count: view.getUint32(SWITCH.abort_count, true), last_command: this.lastCommand, capability: { userk: "linked_identity_template", dynamic_modules: "denied" }, source: "linuxcnc-wasm-sim_kinematics_switch" }; + const hash = call(this.core, "sim_kinematics_switch_state_hash", "number", ["number", "number", "number", "number"], [this.switchPointer, this.jointPointer, 5, this.posePointer]); + return { status: "verified", ...unsigned, wasm_state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, state_hash: fnv1a64(unsigned) }; + } + + destroy() { for (const pointer of this.pointers) if (pointer && typeof this.core?._free === "function") this.core._free(pointer); this.pointers = []; } +} + +export { MODE as XYZAC_MODES }; diff --git a/web/worker/xyzac-command-ledger.mjs b/web/worker/xyzac-command-ledger.mjs new file mode 100644 index 0000000..317f3ed --- /dev/null +++ b/web/worker/xyzac-command-ledger.mjs @@ -0,0 +1,54 @@ +import { OperationLedger, LEDGER_SCHEMA, LEDGER_PHASES } from "./operation-ledger.mjs"; +import { fnv1a64 } from "./replay.mjs"; + +export const XYZAC_COMMAND_LEDGER_SCHEMA = "xyzac-command-ledger.v1"; +const TERMINAL_PHASES = new Set(["committed", "aborted", "failed"]); + +export class XyzacCommandLedger extends OperationLedger { + constructor(entries = []) { + super(entries); + this.scope = "selected_xyzac_simulation"; + } + + prepare(input) { + if (["HELLO", "CAPABILITIES", "SNAPSHOT_REQUEST", "CANCEL"].includes(input?.kind)) return { status: "untracked", replay: false, entry: null }; + const result = super.prepare(input); + if (result.entry) { + result.entry.scope = this.scope; + result.entry.intent_hash = result.entry.intent_hash ?? fnv1a64({ kind: input.kind, payload: input.payload ?? {}, operation_id: input.operation_id }); + } + return result; + } + + acknowledge(operationId, response) { + return this.verify(operationId, response); + } + + result(operationId, response, seq) { + this.acknowledge(operationId, response); + return this.commit(operationId, seq); + } + + pending() { + return [...this.entries.values()] + .filter((entry) => !TERMINAL_PHASES.has(entry.phase)) + .sort((left, right) => left.seq - right.seq) + .map((entry) => structuredClone(entry)); + } + + reconcileAll() { + return this.pending().map((entry) => ({ operation_id: entry.operation_id, status: entry.phase, entry })); + } + + timeoutReconcile(operationId) { + const reconciliation = this.reconcile(operationId); + return { status: "reconcile_required", operation_id: operationId, retry_allowed: false, reconciliation }; + } + + audit() { + const exported = super.export(); + const pending = this.pending(); + const unsigned = { schema: XYZAC_COMMAND_LEDGER_SCHEMA, operation_schema: LEDGER_SCHEMA, phases: [...LEDGER_PHASES], scope: this.scope, entries: exported.entries, pending_count: pending.length }; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } +} diff --git a/web/worker/xyzac-scheduler.mjs b/web/worker/xyzac-scheduler.mjs new file mode 100644 index 0000000..0a36933 --- /dev/null +++ b/web/worker/xyzac-scheduler.mjs @@ -0,0 +1,45 @@ +import { SimScheduler, SCHEDULER_PHASES } from "./sim-scheduler.mjs"; +import { fnv1a64 } from "./replay.mjs"; + +export const XYZAC_SCHEDULER_SCHEMA = "xyzac-scheduler.v1"; +export const XYZAC_SCHEDULER_PHASES = Object.freeze([...SCHEDULER_PHASES]); + +export class XyzacScheduler extends SimScheduler { + constructor(core, { budget = 1_000_000, cycleTime = 0.01 } = {}) { + super(core, { budget }); + this.cycle_time = cycleTime; + this.authority = "linuxcnc-wasm-worker"; + this.clock = "logical_tick"; + this.machine = Object.freeze({ coordinates: "XYZAC", joint_count: 5, rotary_units: "degrees", kinematics: "xyzac-trt" }); + } + + step(cycles, callbacks = {}) { + if (!Number.isSafeInteger(cycles) || cycles < 0) throw new Error("xyzac_scheduler_cycles_invalid"); + const result = super.step(cycles, callbacks); + return this.export({ last_step_cycles: cycles, state_hash: result.state_hash }); + } + + export(extra = {}) { + const unsigned = { + schema: XYZAC_SCHEDULER_SCHEMA, + authority: this.authority, + clock: this.clock, + cycle_time: this.cycle_time, + machine: this.machine, + budget: this.budget, + tick: this.tick, + last_cycles: this.last_cycles, + phase_trace: [...this.phase_trace], + ...extra, + }; + delete unsigned.state_hash; + return { ...unsigned, state_hash: fnv1a64(unsigned) }; + } + + restore(value) { + if (!value || value.schema !== XYZAC_SCHEDULER_SCHEMA || value.clock !== "logical_tick" || value.machine?.coordinates !== "XYZAC" || value.machine?.joint_count !== 5) throw new Error("xyzac_scheduler_restore_scope"); + const base = { schema: "sim_scheduler.v1", budget: value.budget, last_cycles: value.last_cycles, phase_trace: value.phase_trace, tick: value.tick, state_hash: fnv1a64({ schema: "sim_scheduler.v1", budget: value.budget, phase_trace: value.phase_trace, tick: value.tick }) }; + super.restore(base); + return this.export(); + } +} diff --git a/web/worker/xyzac-session.mjs b/web/worker/xyzac-session.mjs new file mode 100644 index 0000000..381c2d9 --- /dev/null +++ b/web/worker/xyzac-session.mjs @@ -0,0 +1,40 @@ +import { SimSession, CONTEXT_ID, PROTOCOL_SCHEMA } from "./sim-session.mjs"; +import { XyzacCommandLedger, XYZAC_COMMAND_LEDGER_SCHEMA } from "./xyzac-command-ledger.mjs"; +import { XyzacScheduler, XYZAC_SCHEDULER_SCHEMA } from "./xyzac-scheduler.mjs"; + +export const XYZAC_SESSION_SCHEMA = "xyzac-session.v1"; + +export class XyzacSession extends SimSession { + constructor(core, options = {}) { + super(core, options); + this.ledger = new XyzacCommandLedger(); + this.scheduler = new XyzacScheduler(core); + this.session_scope = "selected_xyzac_simulation"; + } + + authority() { + return { + schema: XYZAC_SESSION_SCHEMA, + authority: "linuxcnc-wasm-worker", + context_id: this.contextId, + session_id: this.sessionId, + scope: this.session_scope, + protocol_schema: PROTOCOL_SCHEMA, + ledger_schema: XYZAC_COMMAND_LEDGER_SCHEMA, + scheduler_schema: XYZAC_SCHEDULER_SCHEMA, + machine: { coordinates: "XYZAC", joint_count: 5, kinematics: "xyzac-trt", rotary_units: "degrees" }, + }; + } + + accept(input) { + const response = super.accept(input); + if (response?.payload && typeof response.payload === "object") { + response.payload.xyzac_session = this.authority(); + response.payload.xyzac_ledger = this.ledger.audit(); + response.payload.xyzac_scheduler = this.scheduler.export(); + } + return response; + } +} + +export { CONTEXT_ID, PROTOCOL_SCHEMA }; diff --git a/web/workspace/opfs-runtime.mjs b/web/workspace/opfs-runtime.mjs index aef3a98..661218a 100644 --- a/web/workspace/opfs-runtime.mjs +++ b/web/workspace/opfs-runtime.mjs @@ -38,7 +38,7 @@ export async function runOpfsProbe({ storage, projectId = "s6-05-opfs", mode = " const probe = opfsCapability({ navigator: { storage } }); if (probe.status !== "verified") return { schema: OPFS_RUNTIME_SCHEMA, ...probe, project_id: projectId }; if (!validProjectId(projectId)) return { schema: OPFS_RUNTIME_SCHEMA, status: "blocked", code: "opfs_project_id_invalid" }; - if (!["round_trip", "write", "read"].includes(mode)) return { schema: OPFS_RUNTIME_SCHEMA, status: "blocked", code: "opfs_mode_invalid", project_id: projectId }; + if (!["round_trip", "write", "read", "corrupt"].includes(mode)) return { schema: OPFS_RUNTIME_SCHEMA, status: "blocked", code: "opfs_mode_invalid", project_id: projectId }; let access = null; try { const rootResult = await rootHandle(storage); @@ -64,6 +64,18 @@ export async function runOpfsProbe({ storage, projectId = "s6-05-opfs", mode = " access.close(); access = null; if (mode === "write") return { schema: OPFS_RUNTIME_SCHEMA, status: "verified", mode, project_id: projectId, bytes: encoded.byteLength, commit_seq: record.commit_seq, content_hash: record.content_hash, cleanup: false }; + if (mode === "corrupt") { + const corrupt = await file.createSyncAccessHandle(); + corrupt.write(TEXT_ENCODER.encode("{corrupt"), { at: 0 }); + corrupt.flush(); + corrupt.close(); + let damaged = null; + try { damaged = JSON.parse(await (await file.getFile()).text()); } catch { damaged = null; } + if (cleanup) { await project.removeEntry(FILE_NAME); await directory.removeEntry(projectId); } + return !validateCommittedRecord(damaged, projectId) + ? { schema: OPFS_RUNTIME_SCHEMA, status: "verified", mode, project_id: projectId, corruption_detected: true, cleanup } + : { schema: OPFS_RUNTIME_SCHEMA, status: "blocked", code: "opfs_corruption_undetected", project_id: projectId }; + } const persisted = JSON.parse(await (await file.getFile()).text()); const valid = written === encoded.byteLength && size === encoded.byteLength && JSON.stringify(persisted) === JSON.stringify(record); if (cleanup) { await project.removeEntry(FILE_NAME); await directory.removeEntry(projectId); } diff --git a/web/workspace/sim-case-catalog.mjs b/web/workspace/sim-case-catalog.mjs index 9bee450..6f8e381 100644 --- a/web/workspace/sim-case-catalog.mjs +++ b/web/workspace/sim-case-catalog.mjs @@ -1,6 +1,6 @@ // Generated by scripts/generate_sim_case_catalog.py. 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A","kinematics":"lineardeltakins","family":"parallel_delta","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":4,"unresolved_count":0,"source_sha256":"0e23dee0f4df839c028f5bfba95c5941f2f8623ce502d6fdfc90dfdef63d8967"},{"path":"linuxcnc/configs/sim/tklinuxcnc/servo_sim.ini","label":"LinuxCNC-HAL-SERVO-SIM","category":"tklinuxcnc","display":"tklinuxcnc","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"0f8b15328616a4fd5be7561738273a9c04e0c5524423d424257c5ffda73fa25e"},{"path":"linuxcnc/configs/sim/tklinuxcnc/tklinuxcnc.ini","label":"LinuxCNC-HAL-SIM-TkLinuxCNC","category":"tklinuxcnc","display":"tklinuxcnc","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"12f9c72fe2f8ab1ac7d6fcb553c902b4a2df1cecbf3ecc896fa9c0ad7a8f41b3"},{"path":"linuxcnc/configs/sim/tklinuxcnc/tripod.ini","label":"LinuxCNC-TRIPOD-SIM-TkLinuxCNC","category":"tklinuxcnc","display":"tklinuxcnc","coordinates":"X Y Z","kinematics":"tripodkins","family":"parallel_tripod","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":5,"unresolved_count":0,"source_sha256":"8da7280a981d80e9b7d4b608a357fc87dbb9d83535636794e1ae97d5ebcb8f01"},{"path":"linuxcnc/configs/sim/tklinuxcnc/trivkins/xz.ini","label":"trivkins XZ KINEMATICS_IDENTITY","category":"tklinuxcnc/trivkins","display":null,"coordinates":null,"kinematics":"trivkins coordinates=xz","family":"cartesian","status":"ready","startup_preflight":"static_ready","resource_status":"ready","missing_count":0,"unresolved_count":0,"source_sha256":"07f5257557a540b02781de3a641dd1830a78a4cbb15a9cc68ad8d2c6eae8ec81"},{"path":"linuxcnc/configs/sim/tklinuxcnc/trivkins/xz_both.ini","label":"trivkins XZ KINEMATICS_BOTH","category":"tklinuxcnc/trivkins","display":null,"coordinates":null,"kinematics":"trivkins coordinates=xz kinstype=BOTH","family":"cartesian","status":"ready","startup_preflight":"static_ready","resource_status":"ready","missing_count":0,"unresolved_count":0,"source_sha256":"d75c9e05e2a781d1344b3840ba82adc6d7d8d47f53aa11b04c3b918d20c5faae"},{"path":"linuxcnc/configs/sim/touchy/gladevcp/gladevcp_touchy.ini","label":"LinuxCNC-TOUCHY-GLADEVCP","category":"touchy/gladevcp","display":"touchy","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"e7098eb237c6ad9bed4c240f95d313f6ae3221d322b514509f5a7c34373b6011"},{"path":"linuxcnc/configs/sim/touchy/gladevcp/touchy.ini","label":"LinuxCNC-TOUCHY","category":"touchy/gladevcp","display":"touchy","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"65c7aa3b61d553f8aa9f2d43977329ef89d4b58d088729561a0bf7165b6a68a9"},{"path":"linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini","label":"pyngcgui-touchy demo","category":"touchy/ngcgui","display":"touchy","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"6bd6bc6daa9146eb1c662ead43e69edac26cd8a95121c00371607f4bc5f5be0b"},{"path":"linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini","label":"pyngcgui-touchy-lathe demo","category":"touchy/ngcgui","display":"touchy","coordinates":"X Z","kinematics":"trivkins coordinates=xyz","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"5985f5a6c3bf70d493c897a45a9f0864d1edc6449018185c5787ccfd9d78749a"},{"path":"linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini","label":"pyngcgui-touchy demo","category":"touchy/ngcgui","display":"touchy","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":5,"unresolved_count":0,"source_sha256":"b27d37a31e597d71ea9065f31d4c5e150ac12fbdef2f2567b74b97cb4cbe651e"},{"path":"linuxcnc/configs/sim/touchy/touchy.ini","label":"LinuxCNC-TOUCHY","category":"touchy","display":"touchy","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":3,"unresolved_count":0,"source_sha256":"0624683449cbafe697042c42e2f23fdc9513b02dd56aa8f452e386e496ab4571"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZ","kinematics":"trivkins coordinates=XYZ","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":1,"source_sha256":"1948487bf44a5c7d5b32186a6b9f330d55cb61bbab55da4a5834f95439cc0deb"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp -f woodpecker","coordinates":"XYZ","kinematics":"trivkins coordinates=XYZ","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":5,"unresolved_count":4,"source_sha256":"9c30092e3c73099af651616a4a9a003337230419bd029e606c10f2b2a2afdade"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyz.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZ","kinematics":"trivkins coordinates=XYZ","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":1,"source_sha256":"5aeeb95a708ed2972ad3fa975f37df426129de279c4e8d347bcc2a589ac253ce"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyza.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZA","kinematics":"trivkins coordinates=XYZA","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":1,"source_sha256":"410e1b03a771d7b98a0a75fc13303842af2a20d85b3ff6fe898e83f5a8630752"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp -f woodpecker","coordinates":"XYZAB","kinematics":"trivkins coordinates=XYZAB kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":4,"source_sha256":"3d4d7e2cb2729c9b385e6e6cee04a70ee933a52dcd7f3cf532b7c236bef06eb9"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzy.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZY","kinematics":"trivkins coordinates=XYZY kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":5,"unresolved_count":1,"source_sha256":"8374120e08569413c08816a5a5c9e0e8aa0cd0d5536593f6c0fb6d606cffdac5"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZYA","kinematics":"trivkins coordinates=XYZYA kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":5,"unresolved_count":1,"source_sha256":"85a7cca0b4672cdac77822c584e738722656f565af8b48217a3cf1cac17f87ab"}]); -export const SIM_FILE_INDEX = 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ib/var_show.tcl","linuxcnc/lib/hallib/wheeljogpins.tcl","linuxcnc/lib/hallib/xhc-hb04-layout1.cfg","linuxcnc/lib/hallib/xhc-hb04-layout2.cfg","linuxcnc/lib/hallib/xhc-hb04.tcl","linuxcnc/lib/python/.gitignore","linuxcnc/lib/python/bitfile.py","linuxcnc/lib/python/bwidget.py","linuxcnc/lib/python/gladevcp/READ_ME","linuxcnc/lib/python/gladevcp/__init__.py","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen.glade","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen.py","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen2.glade","linuxcnc/lib/python/gladevcp/calculator.glade","linuxcnc/lib/python/gladevcp/calculatorwidget.py","linuxcnc/lib/python/gladevcp/combi_dro.py","linuxcnc/lib/python/gladevcp/core.py","linuxcnc/lib/python/gladevcp/drowidget.py","linuxcnc/lib/python/gladevcp/gladebuilder.py","linuxcnc/lib/python/gladevcp/gladevcp-test.glade","linuxcnc/lib/python/gladevcp/gladevcp-test.hal","linuxcnc/lib/python/gladevcp/gtk_action.py","linuxcnc/lib/python/gladevcp/gtksourceview.xml","linuxcnc/lib/python/gladevcp/hal_actions.py","linuxcnc/lib/python/gladevcp/hal_bar.py","linuxcnc/lib/python/gladevcp/hal_dial.py","linuxcnc/lib/python/gladevcp/hal_filechooser.py","linuxcnc/lib/python/gladevcp/hal_graph.py","linuxcnc/lib/python/gladevcp/hal_gremlin.py","linuxcnc/lib/python/gladevcp/hal_gremlin_plus.py","linuxcnc/lib/python/gladevcp/hal_lightbutton.py","linuxcnc/lib/python/gladevcp/hal_mdihistory.py","linuxcnc/lib/python/gladevcp/hal_meter.py","linuxcnc/lib/python/gladevcp/hal_pyngcgui.py","linuxcnc/lib/python/gladevcp/hal_python.xml","linuxcnc/lib/python/gladevcp/hal_pythonplugin.py","linuxcnc/lib/python/gladevcp/hal_sourceview.py","linuxcnc/lib/python/gladevcp/hal_widgets.py","linuxcnc/lib/python/gladevcp/iconview.py","linuxcnc/lib/python/gladevcp/jogwheel.py","linuxcnc/lib/python/gladevcp/led.py","linuxcnc/lib/python/gladevcp/macro_widget.py","linuxcnc/lib/python/gladevcp/makepins.py","linuxcnc/lib/python/gladevcp/offsetpage.glade","linuxcnc/lib/python/gladevcp/offsetpage_widget.py","linuxcnc/lib/python/gladevcp/offsetwidget.py","linuxcnc/lib/python/gladevcp/overridewidget.py","linuxcnc/lib/python/gladevcp/persistence.py","linuxcnc/lib/python/gladevcp/pi.png","linuxcnc/lib/python/gladevcp/speedcontrol.py","linuxcnc/lib/python/gladevcp/state_label.py","linuxcnc/lib/python/gladevcp/status_label.py","linuxcnc/lib/python/gladevcp/tooledit_gtk.glade","linuxcnc/lib/python/gladevcp/tooledit_widget.py","linuxcnc/lib/python/gladevcp/widget-gladevcp-calc.png","linuxcnc/lib/python/gladevcp/xembed.py","linuxcnc/lib/python/gladevcp_makepins.py","linuxcnc/lib/python/glnav.py","linuxcnc/lib/python/gremlin_view.py","linuxcnc/lib/python/hal.py","linuxcnc/lib/python/hal_glib.py","linuxcnc/lib/python/hershey.py","linuxcnc/lib/python/linux_event.py","linuxcnc/lib/python/linuxcnc_util.py","linuxcnc/lib/python/multifilebuilder.py","linuxcnc/lib/python/nf.py.in","linuxcnc/lib/python/plasmac/block.py","linuxcnc/lib/python/plasmac/bolt_circle.py","linuxcnc/lib/python/plasmac/circle.py","linuxcnc/lib/python/plasmac/ellipse.py","linuxcnc/lib/python/plasmac/gusset.py","linuxcnc/lib/python/plasmac/line.py","linuxcnc/lib/python/plasmac/polygon.py","linuxcnc/lib/python/plasmac/rectangle.py","linuxcnc/lib/python/plasmac/run_from_line.py","linuxcnc/lib/python/plasmac/sector.py","linuxcnc/lib/python/plasmac/slot.py","linuxcnc/lib/python/plasmac/star.py","linuxcnc/lib/python/plasmac/triangle.py","linuxcnc/lib/python/popupkeyboard.py","linuxcnc/lib/python/propertywindow.py","linuxcnc/lib/python/pyhal.py","linuxcnc/lib/python/pyngcgui.py","linuxcnc/lib/python/pyvcp_widgets.py","linuxcnc/lib/python/qtvcp/README.txt","linuxcnc/lib/python/qtvcp/__init__.py","linuxcnc/lib/python/qtvcp/core.py","linuxcnc/lib/python/qtvcp/designer/README.txt","linuxcnc/lib/python/qtvcp/designer/install_script","linuxcnc/lib/python/qtvcp/lib/__init__.py","linuxcnc/lib/python/qtvcp/lib/audio_player.py","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.py","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.txt","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.ui","linuxcnc/lib/python/qtvcp/lib/auto_height/images/auto_height.png","linuxcnc/lib/python/qtvcp/lib/aux_program_loader.py","linuxcnc/lib/python/qtvcp/lib/colored_formatter.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/__init__.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing_help.txt","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle_help.txt","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge_help.html","linuxcnc/lib/python/qtvcp/lib/gcodes.py","linux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dgets_plugin.py","linuxcnc/lib/python/qtvcp/qt_action.py","linuxcnc/lib/python/qtvcp/qt_istat.py","linuxcnc/lib/python/qtvcp/qt_makegui.py","linuxcnc/lib/python/qtvcp/qt_makepins.py","linuxcnc/lib/python/qtvcp/qt_pstat.py","linuxcnc/lib/python/qtvcp/qt_tstat.py","linuxcnc/lib/python/qtvcp/qtvcp_handler.py","linuxcnc/lib/python/qtvcp/test1.ui","linuxcnc/lib/python/qtvcp/widgets/__init__.py","linuxcnc/lib/python/qtvcp/widgets/action_button.py","linuxcnc/lib/python/qtvcp/widgets/action_button_round.py","linuxcnc/lib/python/qtvcp/widgets/action_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/adjustment_bar.py","linuxcnc/lib/python/qtvcp/widgets/axis_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/bar.py","linuxcnc/lib/python/qtvcp/widgets/basic_probe.py","linuxcnc/lib/python/qtvcp/widgets/calculator.py","linuxcnc/lib/python/qtvcp/widgets/camview_widget.py","linuxcnc/lib/python/qtvcp/widgets/container_widgets.py","linuxcnc/lib/python/qtvcp/widgets/detach_tabs.py","linuxcnc/lib/python/qtvcp/widgets/dialogMixin.py","linuxcnc/lib/python/qtvcp/widgets/dialog_widget.py","linuxcnc/lib/python/qtvcp/widgets/dro_widget.py","linuxcnc/lib/python/qtvcp/widgets/entry_widget.py","linuxcnc/lib/python/qtvcp/widgets/fake_status.py","linuxcnc/lib/python/qtvcp/widgets/file_manager.py","linuxcnc/lib/python/qtvcp/widgets/gcode_editor.py","linuxcnc/lib/python/qtvcp/widgets/gcode_graphics.py","linuxcnc/lib/python/qtvcp/widgets/geditor.py","linuxcnc/lib/python/qtvcp/widgets/general_hal_input.py","linuxcnc/lib/python/qtvcp/widgets/general_hal_output.py","linuxcnc/lib/python/qtvcp/widgets/hal_label.py","linuxcnc/lib/python/qtvcp/widgets/hal_selectionbox.py","linuxcnc/lib/python/qtvcp/widgets/image_switcher.py","linuxcnc/lib/python/qtvcp/widgets/jog_increments.py","linuxcnc/lib/python/qtvcp/widgets/joypad.py","linuxcnc/lib/python/qtvcp/widgets/led_widget.py","linuxcnc/lib/python/qtvcp/widgets/machine_log.py","linuxcnc/lib/python/qtvcp/widgets/macro_widget.py","linuxcnc/lib/python/qtvcp/widgets/mdi_history.py","linuxcnc/lib/python/qtvcp/widgets/mdi_line.py","linuxcnc/lib/python/qtvcp/widgets/mdi_touchy.py","linuxcnc/lib/python/qtvcp/widgets/nurbs_editor.py","linuxcnc/lib/python/qtvcp/widgets/offset_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/origin_offsetview.py","linuxcnc/lib/python/qtvcp/widgets/overlay_widget.py","linuxcnc/lib/python/qtvcp/widgets/probe_routines.py","linuxcnc/lib/python/qtvcp/widgets/probe_subprog.py","linuxcnc/lib/python/qtvcp/widgets/qtvcp_icons.py","linuxcnc/lib/python/qtvcp/widgets/radio_axis_selector.py","linuxcnc/lib/python/qtvcp/widgets/richtext_selector.py","linuxcnc/lib/python/qtvcp/widgets/round_gauge.py","linuxcnc/lib/python/qtvcp/widgets/round_progress.py","linuxcnc/lib/python/qtvcp/widgets/runFromLine_dialog.py","linuxcnc/lib/python/qtvcp/widgets/screen_options.py","linuxcnc/lib/python/qtvcp/widgets/simple_widgets.py","linuxcnc/lib/python/qtvcp/widgets/state_label.py","linuxcnc/lib/python/qtvcp/widgets/state_led.py","linuxcnc/lib/python/qtvcp/widgets/status_label.py","linuxcnc/lib/python/qtvcp/widgets/status_slider.py","linuxcnc/lib/python/qtvcp/widgets/status_stacked.py","linuxcnc/lib/python/qtvcp/widgets/stylesheeteditor.py","linuxcnc/lib/python/qtvcp/widgets/system_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/tab_widget.py","linuxcnc/lib/python/qtvcp/widgets/tool_offsetview.py","linuxcnc/lib/python/qtvcp/widgets/touchEntry.py","linuxcnc/lib/python/qtvcp/widgets/versa_probe.py","linuxcnc/lib/python/qtvcp/widgets/virtualkeyboard.py","linuxcnc/lib/python/qtvcp/widgets/web_widget.py","linuxcnc/lib/python/qtvcp/widgets/widget_baseclass.py","linuxcnc/lib/python/qtvcp/widgets/widget_icons/actionbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/axistoolbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/basicprobe.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/calculator.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/checkbox.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dial.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dialogbuttonbox.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/doublescale.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dro_label.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/filemanager.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/focusoverlay.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gauge.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gcodeeditor.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gcodegraphics.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/generalhalinput.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/generalhaloutput.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/hallabel.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/jogincrements.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/lcdnumber.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/lcnc_led.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/led.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/linuxcnc-wizard.gif","linuxcnc/lib/python/qtvcp/widgets/widget_icons/mdihistory.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/mdiline.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/originoffsetview.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/progress.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/pushbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/radioaxisselector.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/radiobutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/screenoptions.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/slider.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statusadjustmentbar.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statuslabel.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statusslider.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/systemtoolbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/tabwidget.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/textedit.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/tooloffsetview.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/versaprobe.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/widgetswitcher.png","linuxcnc/lib/python/qtvcp/widgets/widget_switcher.py","linuxcnc/lib/python/qtvcp/widgets/xembed.py","linuxcnc/lib/python/raster.py","linuxcnc/lib/python/rs274/OpenGLTk.py","linuxcnc/lib/python/rs274/__init__.py","linuxcnc/lib/python/rs274/author.py","linuxcnc/lib/python/rs274/glcanon.py","linuxcnc/lib/python/rs274/interpret.py","linuxcnc/lib/python/rs274/options.py","linuxcnc/lib/python/tooldb.py","linuxcnc/lib/python/vcpparse.py","linuxcnc/lib/python/vismach.py","linuxcnc/linuxcnc.gif"]); +export const SIM_CASE_CATALOG = Object.freeze([{"path":"linuxcnc/configs/sim/axis/anglejog/anglejog.ini","label":"LATHE-Anglejog","category":"axis/anglejog","display":"axis","coordinates":"X Z","kinematics":"trivkins coordinates=xz","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":4,"unresolved_count":0,"source_sha256":"2a8c89afad09a946eddae548b3bfdc3aa4c1f385e785e24a6a50db722215d035"},{"path":"linuxcnc/configs/sim/axis/axis.ini","label":"LinuxCNC-HAL-SIM-AXIS","category":"axis","display":"axis","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":8,"unresolved_count":0,"source_sha256":"a41915c4d0d48f46dd595d5d269e2fc73962f7d19897b220368dbc0e4dc96594"},{"path":"linuxcnc/configs/sim/axis/axis_9axis.ini","label":"LinuxCNC-sim-9axis","category":"axis","display":"axis","coordinates":"X Y Z A B C U V W","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":5,"unresolved_count":0,"source_sha256":"6e3b7b49ed0ed5d840ff8052c05d9c50dad4baba7c9b0bef43a774056388b403"},{"path":"linuxcnc/configs/sim/axis/axis_mm.ini","label":"LinuxCNC-HAL-SIM-AXIS","category":"axis","display":"axis","coordinates":"X Y Z","kinematics":"trivkins","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing","missing_count":7,"unresolved_count":0,"source_sha256":"233aca0e517d0e6d70fa21da86734f6db80d4bee3761b28af92981bda1450749"},{"path":"linuxcnc/configs/sim/axis/canterp.ini","label":"Canterp Example","category":"axis","display":"axis","coordinates":"X Y 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coordinates=XYZ","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":1,"source_sha256":"5aeeb95a708ed2972ad3fa975f37df426129de279c4e8d347bcc2a589ac253ce"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyza.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZA","kinematics":"trivkins coordinates=XYZA","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":1,"source_sha256":"410e1b03a771d7b98a0a75fc13303842af2a20d85b3ff6fe898e83f5a8630752"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp -f woodpecker","coordinates":"XYZAB","kinematics":"trivkins coordinates=XYZAB kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":6,"unresolved_count":4,"source_sha256":"3d4d7e2cb2729c9b385e6e6cee04a70ee933a52dcd7f3cf532b7c236bef06eb9"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzy.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZY","kinematics":"trivkins coordinates=XYZY kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":5,"unresolved_count":1,"source_sha256":"8374120e08569413c08816a5a5c9e0e8aa0cd0d5536593f6c0fb6d606cffdac5"},{"path":"linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini","label":"woodpecker","category":"woodpecker","display":"qtvcp woodpecker","coordinates":"XYZYA","kinematics":"trivkins coordinates=XYZYA kinstype=BOTH","family":"cartesian","status":"blocked","startup_preflight":"blocked_resource","resource_status":"blocked_missing_and_unresolved","missing_count":5,"unresolved_count":1,"source_sha256":"85a7cca0b4672cdac77822c584e738722656f565af8b48217a3cf1cac17f87ab"}]); +export const SIM_FILE_INDEX = Object.freeze(["linuxcnc/configs/sim/README","linuxcnc/configs/sim/README_es","linuxcnc/configs/sim/axis/.gitignore","linuxcnc/configs/sim/axis/README","linuxcnc/configs/sim/axis/README_es","linuxcnc/configs/sim/axis/anglejog/anglejog.halshow","linuxcnc/configs/sim/axis/anglejog/anglejog.ini","linuxcnc/configs/sim/axis/anglejog/anglejog.txt","linuxcnc/configs/sim/axis/anglejog/anglejog.xml","linuxcnc/configs/sim/axis/anglejog/anglejog_postgui.hal","linuxcnc/configs/sim/axis/axis.ini","linuxcnc/configs/sim/axis/axis_9axis.ini","linuxcnc/configs/sim/axis/axis_mm.ini","linuxcnc/configs/sim/axis/canterp.ini","linuxcnc/configs/sim/axis/canterp_example.can","linuxcnc/configs/sim/axis/classicladder/README","linuxcnc/configs/sim/axis/classicladder/README_es","linuxcnc/configs/sim/axis/classicladder/classicladder.hal","linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.clp","linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.hal","linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini","linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.tbl","linuxcnc/configs/sim/axis/cooling.hal","linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal","linuxcnc/configs/sim/axis/corexy/README","linuxcnc/configs/sim/axis/corexy/README_es","linuxcnc/configs/sim/axis/corexy/corexy.halshow","linuxcnc/configs/sim/axis/corexy/corexy_base.inc","linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal","linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini","linuxcnc/configs/sim/axis/corexy/corexy_by_hal.txt","linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini","linuxcnc/configs/sim/axis/corexy/corexy_by_kins.txt","linuxcnc/configs/sim/axis/db_demo/README","linuxcnc/configs/sim/axis/db_demo/base.inc","linuxcnc/configs/sim/axis/db_demo/base.ngc","linuxcnc/configs/sim/axis/db_demo/db.py","linuxcnc/configs/sim/axis/db_demo/db_editor.tcl","linuxcnc/configs/sim/axis/db_demo/db_nonran.ini","linuxcnc/configs/sim/axis/db_demo/db_nonran.py","linuxcnc/configs/sim/axis/db_demo/db_panel.xml","linuxcnc/configs/sim/axis/db_demo/db_postgui.hal","linuxcnc/configs/sim/axis/db_demo/db_ran.ini","linuxcnc/configs/sim/axis/db_demo/db_ran.py","linuxcnc/configs/sim/axis/external_offsets/M111","linuxcnc/configs/sim/axis/external_offsets/README","linuxcnc/configs/sim/axis/external_offsets/README_es","linuxcnc/configs/sim/axis/external_offsets/circles.ngc","linuxcnc/configs/sim/axis/external_offsets/dyn_demo.ngc","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.halscope","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.txt","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets_es.txt","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets_panel.hal","linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets_panel.xml","linuxcnc/configs/sim/axis/external_offsets/eoffset.tbl","linuxcnc/configs/sim/axis/external_offsets/eoffsets.hal","linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini","linuxcnc/configs/sim/axis/external_offsets/eoffsets.ngc","linuxcnc/configs/sim/axis/external_offsets/eoffsets.txt","linuxcnc/configs/sim/axis/external_offsets/eoffsets_es.txt","linuxcnc/configs/sim/axis/external_offsets/eoffsets_monitor.tcl","linuxcnc/configs/sim/axis/external_offsets/eoffsets_panel.hal","linuxcnc/configs/sim/axis/external_offsets/eoffsets_panel.xml","linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini","linuxcnc/configs/sim/axis/external_offsets/jwp_z.ngc","linuxcnc/configs/sim/axis/external_offsets/jwp_z.txt","linuxcnc/configs/sim/axis/external_offsets/jwp_z_es.txt","linuxcnc/configs/sim/axis/external_offsets/jwp_z_panel.hal","linuxcnc/configs/sim/axis/external_offsets/jwp_z_panel.xml","linuxcnc/configs/sim/axis/external_offsets/opa.hal","linuxcnc/configs/sim/axis/external_offsets/opa.ini","linuxcnc/configs/sim/axis/external_offsets/opa.txt","linuxcnc/configs/sim/axis/external_offsets/opa_demo.ngc","linuxcnc/configs/sim/axis/external_offsets/opa_es.txt","linuxcnc/configs/sim/axis/external_offsets/opa_panel.hal","linuxcnc/configs/sim/axis/external_offsets/opa_panel.xml","linuxcnc/configs/sim/axis/external_offsets/queuebuster.ngc","linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini","linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal","linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini","linuxcnc/configs/sim/axis/extrajoints/1extrajoint.txt","linuxcnc/configs/sim/axis/extrajoints/2extrajoints.hal","linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini","linuxcnc/configs/sim/axis/extrajoints/2extrajoints.txt","linuxcnc/configs/sim/axis/extrajoints/M144","linuxcnc/configs/sim/axis/extrajoints/README","linuxcnc/configs/sim/axis/extrajoints/README_es","linuxcnc/configs/sim/axis/extrajoints/extrajoints.halshow","linuxcnc/configs/sim/axis/extrajoints/extrajoints.tcl","linuxcnc/configs/sim/axis/foam/axis_foam.ini","linuxcnc/configs/sim/axis/foam/foam.ngc","linuxcnc/configs/sim/axis/gantry/README","linuxcnc/configs/sim/axis/gantry/README_es","linuxcnc/configs/sim/axis/gant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ib/var_show.tcl","linuxcnc/lib/hallib/wheeljogpins.tcl","linuxcnc/lib/hallib/xhc-hb04-layout1.cfg","linuxcnc/lib/hallib/xhc-hb04-layout2.cfg","linuxcnc/lib/hallib/xhc-hb04.tcl","linuxcnc/lib/python/.gitignore","linuxcnc/lib/python/bitfile.py","linuxcnc/lib/python/bwidget.py","linuxcnc/lib/python/gladevcp/READ_ME","linuxcnc/lib/python/gladevcp/__init__.py","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen.glade","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen.py","linuxcnc/lib/python/gladevcp/builtin-panels/versa-probe/versa_probe_screen2.glade","linuxcnc/lib/python/gladevcp/calculator.glade","linuxcnc/lib/python/gladevcp/calculatorwidget.py","linuxcnc/lib/python/gladevcp/combi_dro.py","linuxcnc/lib/python/gladevcp/core.py","linuxcnc/lib/python/gladevcp/drowidget.py","linuxcnc/lib/python/gladevcp/gladebuilder.py","linuxcnc/lib/python/gladevcp/gladevcp-test.glade","linuxcnc/lib/python/gladevcp/gladevcp-test.hal","linuxcnc/lib/python/gladevcp/gtk_action.py","linuxcnc/lib/python/gladevcp/gtksourceview.xml","linuxcnc/lib/python/gladevcp/hal_actions.py","linuxcnc/lib/python/gladevcp/hal_bar.py","linuxcnc/lib/python/gladevcp/hal_dial.py","linuxcnc/lib/python/gladevcp/hal_filechooser.py","linuxcnc/lib/python/gladevcp/hal_graph.py","linuxcnc/lib/python/gladevcp/hal_gremlin.py","linuxcnc/lib/python/gladevcp/hal_gremlin_plus.py","linuxcnc/lib/python/gladevcp/hal_lightbutton.py","linuxcnc/lib/python/gladevcp/hal_mdihistory.py","linuxcnc/lib/python/gladevcp/hal_meter.py","linuxcnc/lib/python/gladevcp/hal_pyngcgui.py","linuxcnc/lib/python/gladevcp/hal_python.xml","linuxcnc/lib/python/gladevcp/hal_pythonplugin.py","linuxcnc/lib/python/gladevcp/hal_sourceview.py","linuxcnc/lib/python/gladevcp/hal_widgets.py","linuxcnc/lib/python/gladevcp/iconview.py","linuxcnc/lib/python/gladevcp/jogwheel.py","linuxcnc/lib/python/gladevcp/led.py","linuxcnc/lib/python/gladevcp/macro_widget.py","linuxcnc/lib/python/gladevcp/makepins.py","linuxcnc/lib/python/gladevcp/offsetpage.glade","linuxcnc/lib/python/gladevcp/offsetpage_widget.py","linuxcnc/lib/python/gladevcp/offsetwidget.py","linuxcnc/lib/python/gladevcp/overridewidget.py","linuxcnc/lib/python/gladevcp/persistence.py","linuxcnc/lib/python/gladevcp/pi.png","linuxcnc/lib/python/gladevcp/speedcontrol.py","linuxcnc/lib/python/gladevcp/state_label.py","linuxcnc/lib/python/gladevcp/status_label.py","linuxcnc/lib/python/gladevcp/tooledit_gtk.glade","linuxcnc/lib/python/gladevcp/tooledit_widget.py","linuxcnc/lib/python/gladevcp/widget-gladevcp-calc.png","linuxcnc/lib/python/gladevcp/xembed.py","linuxcnc/lib/python/gladevcp_makepins.py","linuxcnc/lib/python/glnav.py","linuxcnc/lib/python/gremlin_view.py","linuxcnc/lib/python/hal.py","linuxcnc/lib/python/hal_glib.py","linuxcnc/lib/python/hershey.py","linuxcnc/lib/python/linux_event.py","linuxcnc/lib/python/linuxcnc_util.py","linuxcnc/lib/python/multifilebuilder.py","linuxcnc/lib/python/nf.py.in","linuxcnc/lib/python/plasmac/block.py","linuxcnc/lib/python/plasmac/bolt_circle.py","linuxcnc/lib/python/plasmac/circle.py","linuxcnc/lib/python/plasmac/ellipse.py","linuxcnc/lib/python/plasmac/gusset.py","linuxcnc/lib/python/plasmac/line.py","linuxcnc/lib/python/plasmac/polygon.py","linuxcnc/lib/python/plasmac/rectangle.py","linuxcnc/lib/python/plasmac/run_from_line.py","linuxcnc/lib/python/plasmac/sector.py","linuxcnc/lib/python/plasmac/slot.py","linuxcnc/lib/python/plasmac/star.py","linuxcnc/lib/python/plasmac/triangle.py","linuxcnc/lib/python/popupkeyboard.py","linuxcnc/lib/python/propertywindow.py","linuxcnc/lib/python/pyhal.py","linuxcnc/lib/python/pyngcgui.py","linuxcnc/lib/python/pyvcp_widgets.py","linuxcnc/lib/python/qtvcp/README.txt","linuxcnc/lib/python/qtvcp/__init__.py","linuxcnc/lib/python/qtvcp/core.py","linuxcnc/lib/python/qtvcp/designer/README.txt","linuxcnc/lib/python/qtvcp/designer/install_script","linuxcnc/lib/python/qtvcp/lib/__init__.py","linuxcnc/lib/python/qtvcp/lib/audio_player.py","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.py","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.txt","linuxcnc/lib/python/qtvcp/lib/auto_height/auto_height.ui","linuxcnc/lib/python/qtvcp/lib/auto_height/images/auto_height.png","linuxcnc/lib/python/qtvcp/lib/aux_program_loader.py","linuxcnc/lib/python/qtvcp/lib/colored_formatter.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/__init__.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/facing_help.txt","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_circle_help.txt","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge.py","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge.ui","linuxcnc/lib/python/qtvcp/lib/gcode_utility/hole_enlarge_help.html","linuxcnc/lib/python/qtvcp/lib/gcodes.py","linux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dgets_plugin.py","linuxcnc/lib/python/qtvcp/qt_action.py","linuxcnc/lib/python/qtvcp/qt_istat.py","linuxcnc/lib/python/qtvcp/qt_makegui.py","linuxcnc/lib/python/qtvcp/qt_makepins.py","linuxcnc/lib/python/qtvcp/qt_pstat.py","linuxcnc/lib/python/qtvcp/qt_tstat.py","linuxcnc/lib/python/qtvcp/qtvcp_handler.py","linuxcnc/lib/python/qtvcp/test1.ui","linuxcnc/lib/python/qtvcp/widgets/__init__.py","linuxcnc/lib/python/qtvcp/widgets/action_button.py","linuxcnc/lib/python/qtvcp/widgets/action_button_round.py","linuxcnc/lib/python/qtvcp/widgets/action_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/adjustment_bar.py","linuxcnc/lib/python/qtvcp/widgets/axis_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/bar.py","linuxcnc/lib/python/qtvcp/widgets/basic_probe.py","linuxcnc/lib/python/qtvcp/widgets/calculator.py","linuxcnc/lib/python/qtvcp/widgets/camview_widget.py","linuxcnc/lib/python/qtvcp/widgets/container_widgets.py","linuxcnc/lib/python/qtvcp/widgets/detach_tabs.py","linuxcnc/lib/python/qtvcp/widgets/dialogMixin.py","linuxcnc/lib/python/qtvcp/widgets/dialog_widget.py","linuxcnc/lib/python/qtvcp/widgets/dro_widget.py","linuxcnc/lib/python/qtvcp/widgets/entry_widget.py","linuxcnc/lib/python/qtvcp/widgets/fake_status.py","linuxcnc/lib/python/qtvcp/widgets/file_manager.py","linuxcnc/lib/python/qtvcp/widgets/gcode_editor.py","linuxcnc/lib/python/qtvcp/widgets/gcode_graphics.py","linuxcnc/lib/python/qtvcp/widgets/geditor.py","linuxcnc/lib/python/qtvcp/widgets/general_hal_input.py","linuxcnc/lib/python/qtvcp/widgets/general_hal_output.py","linuxcnc/lib/python/qtvcp/widgets/hal_label.py","linuxcnc/lib/python/qtvcp/widgets/hal_selectionbox.py","linuxcnc/lib/python/qtvcp/widgets/image_switcher.py","linuxcnc/lib/python/qtvcp/widgets/jog_increments.py","linuxcnc/lib/python/qtvcp/widgets/joypad.py","linuxcnc/lib/python/qtvcp/widgets/led_widget.py","linuxcnc/lib/python/qtvcp/widgets/machine_log.py","linuxcnc/lib/python/qtvcp/widgets/macro_widget.py","linuxcnc/lib/python/qtvcp/widgets/mdi_history.py","linuxcnc/lib/python/qtvcp/widgets/mdi_line.py","linuxcnc/lib/python/qtvcp/widgets/mdi_touchy.py","linuxcnc/lib/python/qtvcp/widgets/nurbs_editor.py","linuxcnc/lib/python/qtvcp/widgets/offset_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/origin_offsetview.py","linuxcnc/lib/python/qtvcp/widgets/overlay_widget.py","linuxcnc/lib/python/qtvcp/widgets/probe_routines.py","linuxcnc/lib/python/qtvcp/widgets/probe_subprog.py","linuxcnc/lib/python/qtvcp/widgets/qtvcp_icons.py","linuxcnc/lib/python/qtvcp/widgets/radio_axis_selector.py","linuxcnc/lib/python/qtvcp/widgets/richtext_selector.py","linuxcnc/lib/python/qtvcp/widgets/round_gauge.py","linuxcnc/lib/python/qtvcp/widgets/round_progress.py","linuxcnc/lib/python/qtvcp/widgets/runFromLine_dialog.py","linuxcnc/lib/python/qtvcp/widgets/screen_options.py","linuxcnc/lib/python/qtvcp/widgets/simple_widgets.py","linuxcnc/lib/python/qtvcp/widgets/state_label.py","linuxcnc/lib/python/qtvcp/widgets/state_led.py","linuxcnc/lib/python/qtvcp/widgets/status_label.py","linuxcnc/lib/python/qtvcp/widgets/status_slider.py","linuxcnc/lib/python/qtvcp/widgets/status_stacked.py","linuxcnc/lib/python/qtvcp/widgets/stylesheeteditor.py","linuxcnc/lib/python/qtvcp/widgets/system_tool_button.py","linuxcnc/lib/python/qtvcp/widgets/tab_widget.py","linuxcnc/lib/python/qtvcp/widgets/tool_offsetview.py","linuxcnc/lib/python/qtvcp/widgets/touchEntry.py","linuxcnc/lib/python/qtvcp/widgets/versa_probe.py","linuxcnc/lib/python/qtvcp/widgets/virtualkeyboard.py","linuxcnc/lib/python/qtvcp/widgets/web_widget.py","linuxcnc/lib/python/qtvcp/widgets/widget_baseclass.py","linuxcnc/lib/python/qtvcp/widgets/widget_icons/actionbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/axistoolbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/basicprobe.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/calculator.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/checkbox.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dial.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dialogbuttonbox.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/doublescale.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/dro_label.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/filemanager.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/focusoverlay.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gauge.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gcodeeditor.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/gcodegraphics.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/generalhalinput.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/generalhaloutput.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/hallabel.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/jogincrements.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/lcdnumber.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/lcnc_led.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/led.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/linuxcnc-wizard.gif","linuxcnc/lib/python/qtvcp/widgets/widget_icons/mdihistory.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/mdiline.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/originoffsetview.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/progress.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/pushbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/radioaxisselector.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/radiobutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/screenoptions.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/slider.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statusadjustmentbar.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statuslabel.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/statusslider.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/systemtoolbutton.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/tabwidget.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/textedit.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/tooloffsetview.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/versaprobe.png","linuxcnc/lib/python/qtvcp/widgets/widget_icons/widgetswitcher.png","linuxcnc/lib/python/qtvcp/widgets/widget_switcher.py","linuxcnc/lib/python/qtvcp/widgets/xembed.py","linuxcnc/lib/python/raster.py","linuxcnc/lib/python/rs274/OpenGLTk.py","linuxcnc/lib/python/rs274/__init__.py","linuxcnc/lib/python/rs274/author.py","linuxcnc/lib/python/rs274/glcanon.py","linuxcnc/lib/python/rs274/interpret.py","linuxcnc/lib/python/rs274/options.py","linuxcnc/lib/python/tooldb.py","linuxcnc/lib/python/vcpparse.py","linuxcnc/lib/python/vismach.py","linuxcnc/linuxcnc.gif"]); export const SIM_HAL_COMPONENTS = Object.freeze(["abs","abs_s32","abs_s64","and2","anglejog","axistest","bin2gray","biquad","bitslice","bitwise","bldc","blend","carousel","charge_pump","clarke2","clarke3","clarkeinv","comp","constant","conv_bit_float","conv_bit_s32","conv_bit_s64","conv_bit_u32","conv_bit_u64","conv_float_s32","conv_float_s64","conv_float_u32","conv_float_u64","conv_s32_bit","conv_s32_float","conv_s32_s64","conv_s32_u32","conv_s32_u64","conv_s64_bit","conv_s64_float","conv_s64_s32","conv_s64_u32","conv_s64_u64","conv_u32_bit","conv_u32_float","conv_u32_s32","conv_u32_s64","conv_u32_u64","conv_u64_bit","conv_u64_float","conv_u64_s32","conv_u64_s64","conv_u64_u32","corexy_by_hal","dbounce","ddt","deadzone","demux","differential","div2","edge","eoffset_per_angle","estop_latch","feedcomp","filter_kalman","flipflop","gantry","gearchange","gray2bin","histobins","homecomp","hypot","ilowpass","integ","invert","joyhandle","knob2float","laserpower","latencybins","led_dim","limit1","limit2","limit3","limit_axis","lincurve","logic","lowpass","lut5","maj3","match8","matrixkins","max31855","mesa_pktgyro_test","message","millturn","minmax","moveoff","mult2","multiclick","multiswitch","mux16","mux2","mux4","mux8","near","not","offset","ohmic","oneshot","or2","orient","plasmac","raster","reset","safety_latch","sample_hold","scale","scaled_s32_sums","select8","sim_axis_hardware","sim_home_switch","sim_matrix_kb","sim_parport","sim_spindle","simple_tp","sphereprobe","spindle","spindle_monitor","steptest","sum2","thc","thcud","threadtest","time","timedelay","timedelta","tof","toggle","toggle2nist","ton","tp","tpcomp","tristate_bit","tristate_float","updown","userkins","wcomp","xhc_hb04_util","xor2","xyzab_tdr_kins"]); -export const SIM_CASE_CATALOG_META = Object.freeze({"sim_root":"linuxcnc/configs/sim","case_count":235,"file_count":2000,"catalog_sha256":"ac762b8b27b4b7988c0c8c532c6299a0957a69538ccb42bc65f78593b8ab4815"}); +export const SIM_CASE_CATALOG_META = Object.freeze({"sim_root":"linuxcnc/configs/sim","case_count":236,"file_count":2006,"catalog_sha256":"3c35f4b6df095ea0c4d3fcaacab1b5eee08274e451e0229b9668ca6107ef0167"}); diff --git a/web/workspace/sim-case-loader.mjs b/web/workspace/sim-case-loader.mjs index 4631936..b13530b 100644 --- a/web/workspace/sim-case-loader.mjs +++ b/web/workspace/sim-case-loader.mjs @@ -5,17 +5,18 @@ import { isOptionalSourceKey } from "./linuxcnc-source-semantics.mjs"; export const SIMULATION_CASE_SCHEMA = "simulation-case-bundle.v1"; const RESOURCE_KEYS = new Set([ - "HAL", "HALFILE", "TOOLTABLE", "TOOL_TABLE", "VARFILE", "PARAMETER_FILE", "OPEN_FILE", + "HAL", "HALFILE", "POSTGUI_HALFILE", "TOOLTABLE", "TOOL_TABLE", "VARFILE", "PARAMETER_FILE", "OPEN_FILE", "PROGRAM", "PROGRAMS", "PYTHON", "PYTHONFILE", "VCP", "VCPFILE", "CLPFILE", - "CLASSICLADDER", "INTRO_GRAPHIC", + "PYVCP", "NGCGUI_SUBFILE", "INTRO_GRAPHIC", "SUBROUTINE_PATH", "REMAP", ]); const MANIFEST = new Set(SIM_FILE_INDEX); -const PRELOADED_HAL_COMPONENTS = Object.freeze(["corexykins", "lineardeltakins", "motmod", "pid", "rotarydeltakins", "stepgen", "trivkins", "tpmod", "homemod"]); +const PRELOADED_HAL_COMPONENTS = Object.freeze(["corexykins", "lineardeltakins", "motmod", "pid", "rotarydeltakins", "stepgen", "trivkins", "xyzac-trt-kins", "xyzbc-trt-kins", "tpmod", "homemod"]); const CASE_KINEMATICS = Object.freeze({ "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini": Object.freeze({ type: "corexy", path_mode: "kins" }), "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini": Object.freeze({ type: "corexy", path_mode: "hal" }), "linuxcnc/configs/sim/axis/ldelta.ini": Object.freeze({ type: "lineardelta", path_mode: "kins" }), "linuxcnc/configs/sim/axis/rdelta.ini": Object.freeze({ type: "rotarydelta", path_mode: "kins" }), + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini": Object.freeze({ type: "xyzac-trt", path_mode: "wasm", coordinates: "XYZAC", joint_count: 5, max_linear_velocity: 35, switchkins: { 0: "identity", 1: "xyzac", 2: "userk" }, offsets: { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 0 } }), }); const RUNTIME_FIXTURES = Object.freeze({ "linuxcnc/configs/sim/axis/minimal_xyz.ini": Object.freeze({ @@ -42,6 +43,12 @@ const RUNTIME_FIXTURES = Object.freeze({ with: "HALFILE = xz_both_auto_cmds.hal", reason: "LinuxCNC basic_sim.tcl generated XZ BOTH AUTO HAL command fixture", }), + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini": Object.freeze({ + generated_hal: "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-headless_cmds.hal", + replace: "HALFILE = LIB:basic_sim.tcl", + with: "HALFILE = xyzac-trt-headless_cmds.hal", + reason: "LinuxCNC basic_sim.tcl generated XYZAC HAL command fixture", + }), }); function clone(value) { return structuredClone(value); } @@ -82,6 +89,10 @@ function candidates(source, raw, key = null, section = null) { const libraryPath = normalize(`linuxcnc/lib/hallib/${name}`); return libraryPath ? [libraryPath] : []; } + if (["NGCGUI_SUBFILE", "REMAP"].includes(String(key).toUpperCase())) { + const subroutine = normalize(`${dirname(source)}/remap_subs/${first}`); + if (subroutine) return [subroutine]; + } if (["HAL", "HALFILE"].includes(String(key).toUpperCase()) && !first.includes("/") && !first.startsWith("linuxcnc/")) { const halCandidates = [normalize(`${dirname(source)}/${first}`), `linuxcnc/lib/hallib/${first}`].filter(Boolean); const indexed = halCandidates.filter(inManifest); @@ -128,6 +139,16 @@ function resourceReferences(source, content) { const line = rawLine.split("#", 1)[0].trim(); const sectionMatch = line.match(/^\[([^\]]+)\]$/); if (sectionMatch) { section = sectionMatch[1].trim(); continue; } + if (section === "RS274NGC" && /^SUBROUTINE_PATH\s*=\s*/i.test(line)) { + const directory = normalize(`${dirname(source)}/${line.split("=", 2)[1].trim()}`); + for (const candidate of SIM_FILE_INDEX.filter((path) => directory && path.startsWith(`${directory}/`) && path.endsWith(".ngc"))) references.push({ path: candidate, key: "SUBROUTINE_PATH", section, source }); + continue; + } + if (section === "RS274NGC" && /^REMAP\s*=\s*/i.test(line)) { + const name = /ngc=([^\s]+)/i.exec(line)?.[1]; + if (name) { const candidate = normalize(`${dirname(source)}/remap_subs/${name}.ngc`); if (candidate) references.push({ path: candidate, key: "REMAP", section, source }); } + continue; + } const assignment = line.match(/^([^=:#]+?)\s*(?:=|:)\s*(.*)$/); if (assignment && RESOURCE_KEYS.has(assignment[1].trim().toUpperCase())) { const key = assignment[1].trim().toUpperCase(); @@ -236,6 +257,7 @@ export function toWorkerConfiguration(bundle) { optional_missing: clone(bundle.optional_missing ?? []), runtime_fixtures: clone(bundle.runtime_fixtures ?? []), ...(bundle.entrypoint === "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini" ? { home_limits: { z: [-240, 100] } } : {}), + ...(bundle.entrypoint === "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" ? { home_limits: { joint_count: 5, kinematics_type: 2, coordinates: "XYZAC", x: [-200, 200], y: [-100, 100], z: [-120, 120], a: [-100, 50], c: [-36000, 36000] } } : {}), ...(CASE_KINEMATICS[bundle.entrypoint] ? { kinematics: clone(CASE_KINEMATICS[bundle.entrypoint]) } : {}), }; } diff --git a/web/workspace/xyzac-trt-case-contract.mjs b/web/workspace/xyzac-trt-case-contract.mjs new file mode 100644 index 0000000..84d7da5 --- /dev/null +++ b/web/workspace/xyzac-trt-case-contract.mjs @@ -0,0 +1,165 @@ +export const XYZAC_TRT_CASE_CONTRACT = Object.freeze({ + "authority": "linuxcnc-wasm-worker", + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811", + "status": "indexed" + }, + "commands": [ + "MDI_EXECUTE", + "PROGRAM_LOAD", + "PROGRAM_RUN", + "PROGRAM_PAUSE", + "PROGRAM_RESUME", + "PROGRAM_ABORT", + "JOG_START", + "JOG_STOP", + "HOME", + "KINEMATICS_SELECT", + "SNAPSHOT_REQUEST" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "js_authority": 0, + "report_sha256": "817531c109c341ccda78b085d2613f35379a716a98f54c9561a118f995b6cd5e", + "resources": [ + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "role": "case-entrypoint", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.xml", + "role": "PYVCP", + "sha256": "84efa01584693ab8f4a9c0730e341a9dbe87d9341472081ee80d59a0bfb90941", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "role": "POSTGUI_HALFILE", + "sha256": "55e969c22ca9054a818dbedc8ec50bed768d9ab3d8c4bfdfcfc78e912e9271c4", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.tbl", + "role": "TOOL_TABLE", + "sha256": "41cf3c92574be99ecd6ed45e1869158b184620419d5d95a41649d25f15e141ff", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac.var", + "role": "PARAMETER_FILE", + "sha256": "163bbf80485fe2fe12700c1acb4b05eff774df68176d17e4eef5de8a7024c1ae", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "role": "OPEN_FILE", + "sha256": "5afc03d5c1b692edd4154a6d37e5f94d74936a7bd5e82dc9c022f7bc21c7dc17", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "role": "REMAP:M428", + "sha256": "a0aee1d6b481a979849a17c0a23aa7524f52cbd875c92cbde3b73bf36f91d17b", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc", + "role": "REMAP:M429", + "sha256": "160479860b84e55ace49ffceb9594285ee90c521ba5eef916ef47ac8a6b3349d", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc", + "role": "REMAP:M430", + "sha256": "41090461a936a63432252d42f277c925f9aa5a0faf0497933910c3b051fcfe4f", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc", + "role": "NGCGUI_SUBFILE", + "sha256": "833bf21b8ed0ce600dcf5819234320d85348d906bbba390b62f3704836ea254d", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc", + "role": "NGCGUI_SUBFILE", + "sha256": "58cf585aa10480a80fe8ac8f2eab5e877adca51b4b3518b337eab476de01b11c", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc", + "role": "RTCP-SUBROUTINE", + "sha256": "06cb755e33dc35d9a179b3c48e4203c8469632ab248d94379b10f2538dd0b54a", + "status": "resolved" + }, + { + "path": "linuxcnc/lib/hallib/basic_sim.tcl", + "role": "HALFILE:LIB:basic_sim.tcl", + "sha256": "d9851b0a8861e6d66de745a8ae230d4b38b65c34f8b05bdb6705792d2d4050be", + "status": "resolved" + }, + { + "path": "linuxcnc/linuxcnc.gif", + "role": "INTRO_GRAPHIC", + "sha256": "6c6da4afc3ecdc1b812dd6878318da0120996bd6889b4dd2ddb480b905d9f4b1", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc", + "role": "DEMO_PROGRAM", + "sha256": "4d4769cbbb47ad7bf82c12bb1545c3854addebebe4642a3f50c8ccf5c560bcda", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc", + "role": "DEMO_PROGRAM", + "sha256": "f46a1f485ca85e4e9900b7a9b4f59fed7fc9d7cf27a403e15841b933ab98f0bf", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc", + "role": "DEMO_PROGRAM", + "sha256": "e90f0b4b6c43809da94a8170ee1029b5afc3e1bbe9bf2ae66298a8baefad013c", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc", + "role": "DEMO_PROGRAM", + "sha256": "3cdffc0481c1d6b0a0a67151a06448c686d4109249ed73438d5ff4e72b9e7267", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc", + "role": "DEMO_PROGRAM", + "sha256": "a0b05e672e7f8b5d9c8f42ac3fd16320f68a67926ae1413d361d60cc508d953f", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc", + "role": "DEMO_PROGRAM", + "sha256": "0e7e3c2fe554f888d3f5ef055390a7153ffa7f9eeedaac116f78832ff7a31cc1", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc", + "role": "DEMO_PROGRAM", + "sha256": "75db56e24242b68e32a9a7f1943fe240c5f518cc1866ee823ea158f9f87ce9fe", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc", + "role": "REMAP_SUBROUTINE", + "sha256": "2b8b36bf78d9227bd061083f883c72c7b0b205a8fe6d0a9407203b5375fe89fa", + "status": "resolved" + }, + { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc", + "role": "REMAP_SUBROUTINE", + "sha256": "7265e848d0e123f439208caa88afccdf2803f34770042c778a8797a25d44537a", + "status": "resolved" + } + ], + "schema": "xyzac-trt-case-contract.v1" +}); diff --git a/web/workspace/xyzac-trt-case-loader.mjs b/web/workspace/xyzac-trt-case-loader.mjs new file mode 100644 index 0000000..f1d6eca --- /dev/null +++ b/web/workspace/xyzac-trt-case-loader.mjs @@ -0,0 +1,127 @@ +import { fnv1a64 } from "../worker/replay.mjs"; +import { WorkspaceRuntime } from "./runtime.mjs"; +import { parseIni } from "./ini-parser.mjs"; +import { ConfigurationStartupStateMachine } from "./configuration-startup.mjs"; +import { loadSimulationCase, toWorkerConfiguration } from "./sim-case-loader.mjs"; + +export const XYZAC_TRT_CASE_LOADER_SCHEMA = "xyzac-trt-case-loader.v1"; +export const XYZAC_TRT_CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +export const XYZAC_TRT_STARTUP_STATES = Object.freeze(["TASK_NEW", "CONFIG_RESOLVED", "HAL_READY", "RUNTIME_READY", "TASK_READY"]); + +const CASE_DIR = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting"; +const REQUIRED_RESOURCES = Object.freeze([ + [XYZAC_TRT_CASE, "case_entrypoint"], + [`${CASE_DIR}/xyzac-trt.xml`, "pyvcp"], + [`${CASE_DIR}/switchkins_postgui.hal`, "postgui_hal"], + [`${CASE_DIR}/xyzac-trt.tbl`, "tool_table"], + [`${CASE_DIR}/xyzac.var`, "parameter_file"], + [`${CASE_DIR}/demos/xyzac_switchkins.ngc`, "open_file"], + [`${CASE_DIR}/remap_subs/428remap.ngc`, "remap_m428"], + [`${CASE_DIR}/remap_subs/429remap.ngc`, "remap_m429"], + [`${CASE_DIR}/remap_subs/430remap.ngc`, "remap_m430"], + [`${CASE_DIR}/remap_subs/xyzac_switchkins_sub.ngc`, "ngcgui_subfile"], + [`${CASE_DIR}/remap_subs/centering.ngc`, "ngcgui_subfile"], + [`${CASE_DIR}/remap_subs/helix_ac.ngc`, "rtcp_subroutine"], + ["linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py", "vismach_source"], + ["linuxcnc/lib/hallib/basic_sim.tcl", "hal_library"], + ["linuxcnc/linuxcnc.gif", "intro_graphic"], +]); +const REQUIRED_SECTIONS = Object.freeze(["DISPLAY", "TASK", "HAL", "RS274NGC", "KINS", "TRAJ", "EMCIO"]); + +function clone(value) { return structuredClone(value); } + +async function readExact(fetchImpl, baseUrl, path) { + try { + const response = await fetchImpl(`${String(baseUrl ?? "").replace(/\/$/, "")}/${path}`.replace(/^\//, "/")); + if (!response?.ok) return null; + return await response.text(); + } catch { return null; } +} + +function resourceRows(files) { + return REQUIRED_RESOURCES.map(([path, role]) => { + const content = files[path]; + return { + path, + role, + status: typeof content === "string" ? "resolved" : "BLOCKED_RESOURCE", + bytes: typeof content === "string" ? new TextEncoder().encode(content).byteLength : null, + data_hash: typeof content === "string" ? fnv1a64(content) : null, + }; + }); +} + +function xyzacSections(parsed) { + const sections = Object.keys(parsed.sections ?? {}).map((name) => name.toUpperCase()); + return Object.fromEntries(REQUIRED_SECTIONS.map((name) => [name, sections.includes(name)])); +} + +function startupProjection(startup, exactResources, sections) { + const generic = startup; + const resolved = exactResources.every((row) => row.status === "resolved"); + const requiredSections = Object.values(sections).every(Boolean); + const state = generic.state === "TASK_READY" && resolved && requiredSections ? "TASK_READY" : generic.state === "BLOCKED" ? "BLOCKED" : "RUNTIME_READY"; + const transitions = [{ from: null, to: "TASK_NEW" }]; + if (generic.state !== "BLOCKED") { + transitions.push({ from: "TASK_NEW", to: "CONFIG_RESOLVED" }); + transitions.push({ from: "CONFIG_RESOLVED", to: "HAL_READY" }); + transitions.push({ from: "HAL_READY", to: "RUNTIME_READY" }); + if (state === "TASK_READY") transitions.push({ from: "RUNTIME_READY", to: "TASK_READY" }); + } else transitions.push({ from: "TASK_NEW", to: "BLOCKED" }); + return { + schema: "xyzac-trt-startup.v1", + state, + status: state === "TASK_READY" ? "ready" : "blocked", + transitions, + generic_state: generic.state, + generic_status: generic.status, + diagnostics: generic.diagnostics, + hal: generic.hal, + exact_resources: exactResources, + required_sections: sections, + state_hash: fnv1a64({ state, transitions, diagnostics: generic.diagnostics, exact_resources: exactResources, required_sections: sections }), + }; +} + +export async function loadXyzacTrtCase({ fetchImpl = globalThis.fetch, baseUrl = "", core = null, task = null } = {}) { + if (typeof fetchImpl !== "function") throw new Error("xyzac_case_fetch_required"); + const bundle = await loadSimulationCase({ path: XYZAC_TRT_CASE, fetchImpl, baseUrl }); + const files = { ...bundle.files }; + for (const [path] of REQUIRED_RESOURCES) if (!(path in files)) { + const content = await readExact(fetchImpl, baseUrl, path); + if (content !== null) files[path] = content; + } + const exact = resourceRows(files); + const caseText = files[XYZAC_TRT_CASE]; + const workspace = new WorkspaceRuntime({ files }); + let parsed = null; + let startup = null; + let parsedError = null; + try { + parsed = parseIni({ workspace, entrypoint: XYZAC_TRT_CASE }); + const machine = new ConfigurationStartupStateMachine({ workspace, entrypoint: XYZAC_TRT_CASE, core, task, halManifest: bundle.halManifest ?? [] }); + startup = startupProjection(machine.run(), exact, xyzacSections(parsed)); + } catch (error) { + parsedError = { code: error?.code ?? "xyzac_startup_exception", message: String(error?.message ?? error) }; + } + const sections = parsed ? xyzacSections(parsed) : Object.fromEntries(REQUIRED_SECTIONS.map((name) => [name, false])); + const missing = exact.filter((row) => row.status !== "resolved").map((row) => row.path); + const unsigned = { + schema: XYZAC_TRT_CASE_LOADER_SCHEMA, + case: XYZAC_TRT_CASE, + case_hash: typeof caseText === "string" ? fnv1a64(caseText) : null, + bundle_status: bundle.status, + bundle_hash: bundle.state_hash, + fetched: [...new Set(bundle.fetched ?? [])].sort(), + missing: [...new Set([...(bundle.missing ?? []), ...missing])].sort(), + exact_resources: exact, + required_sections: sections, + ini: parsed ? { state_hash: parsed.state_hash, graph: parsed.graph, includes: parsed.includes } : null, + startup, + parsed_error: parsedError, + machine: { coordinates: "XYZAC", joint_count: 5, rotary_units: "degrees", kinematics: "xyzac-trt", switchkins: { 0: "identity", 1: "xyzac", 2: "userk" } }, + }; + return { ...clone(unsigned), status: startup?.status === "ready" && missing.length === 0 ? "ready" : "blocked", state_hash: fnv1a64(unsigned), worker_configuration: toWorkerConfiguration({ ...bundle, files, missing: unsigned.missing, status: unsigned.missing.length ? "blocked" : "ready" }) }; +} + +export { REQUIRED_RESOURCES, REQUIRED_SECTIONS }; diff --git a/web/workspace/xyzac-trt-source-slices.mjs b/web/workspace/xyzac-trt-source-slices.mjs new file mode 100644 index 0000000..cae7c61 --- /dev/null +++ b/web/workspace/xyzac-trt-source-slices.mjs @@ -0,0 +1,1996 @@ +export const XYZAC_TRT_SOURCE_SLICES = Object.freeze({ + "authority": { + "authority_owner": "linuxcnc-wasm-worker", + "existing_audit": { + "open_boundaries": [ + "T1_FULL_CANONICAL_CALLBACKS", + "T2_FULL_WASM_PREVIEW", + "T3_NON_SELECTED_MOTION_AUTHORITY", + "T4_HAL_IO_TOOL_PROBE_CANONICAL_STATE", + "T5_FULL_MATRIX" + ], + "path": "coverage/wasm-only-source-audit.report.json", + "status": "blocked" + }, + "js_authority": 0 + }, + "axis_controls": { + "keyboard_bindings": [ + { + "binding": "Alt-v", + "control_id": "AXIS-KEY-ALT_V", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "2242-2243", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "Button-1", + "control_id": "AXIS-KEY-BUTTON_1", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": null, + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "ButtonRelease-1", + "control_id": "AXIS-KEY-BUTTONRELEASE_1", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": null, + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "Configure", + "control_id": "AXIS-KEY-CONFIGURE", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "2234-2234", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "Control-Tab", + "control_id": "AXIS-KEY-CONTROL_TAB", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1989-1989", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "Key-Escape", + "control_id": "AXIS-KEY-KEY_ESCAPE", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1551-1607", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "Key-Return", + "control_id": "AXIS-KEY-KEY_RETURN", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1550-2245", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "greater", + "control_id": "AXIS-KEY-GREATER", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1406-1406", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "less", + "control_id": "AXIS-KEY-LESS", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1405-1405", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + }, + { + "binding": "semicolon", + "control_id": "AXIS-KEY-SEMICOLON", + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "1430-1430", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "bind" + } + } + ], + "keyboard_count": 10, + "menu_count": 80, + "menus": [ + { + "control_id": "AXIS-MENU-FILE-_OPEN...", + "label_source": "\"_Open...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "58-58", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-RECENT__FILES", + "label_source": "\"Recent _Files\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "62-62", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_EDIT...", + "label_source": "\"_Edit...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "66-66", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_RELOAD", + "label_source": "\"_Reload\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "71-71", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_SAVE_G-CODE_AS...", + "label_source": "\"_Save G-code as...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "76-76", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_PROPERTIES...", + "label_source": "\"_Properties...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "80-80", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-EDIT__TOOL_DATA...", + "label_source": "\"Edit _tool data...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "86-86", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-RELOAD_TOOL__DATA", + "label_source": "\"Reload tool _data\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "90-90", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_LADDER_EDITOR...", + "label_source": "\"_Ladder Editor...\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "96-96", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-FILE-_QUIT", + "label_source": "\"_Quit\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "102-102", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-TOGGLE__EMERGENCY_STOP", + "label_source": "\"Toggle _Emergency Stop\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "108-108", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-TOGGLE__MACHINE_POWER", + "label_source": "\"Toggle _Machine Power\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "113-113", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-_RUN_PROGRAM", + "label_source": "\"_Run program\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "120-120", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-RU_N_FROM_SELECTED_LINE", + "label_source": "\"Ru_n from selected line\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "124-124", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-S_TEP", + "label_source": "\"S_tep\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "129-129", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-_PAUSE", + "label_source": "\"_Pause\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "134-134", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-RE_SUME", + "label_source": "\"Re_sume\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "139-139", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-STOP", + "label_source": "\"Stop\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "144-144", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-STOP_AT_M_1", + "label_source": "\"Stop at M_1\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "149-149", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-SKIP_LINES_WITH__/", + "label_source": "\"Skip lines with '_/'\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "154-154", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAR_MDI_H_ISTORY", + "label_source": "\"Clear MDI h_istory\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "161-161", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-COPY_FROM_MDI_HIST_ORY", + "label_source": "\"Copy from MDI hist_ory\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "165-165", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-PASTE_TO_MDI_HISTOR_Y", + "label_source": "\"Paste to MDI histor_y\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "169-169", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-_CALIBRATION", + "label_source": "\"_Calibration\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "175-175", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-SHOW__HAL_CONFIGURATION", + "label_source": "\"Show _Hal Configuration\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "179-179", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-H_AL_METER", + "label_source": "\"H_al Meter\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "183-183", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-HA_L_SCOPE", + "label_source": "\"Ha_l Scope\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "187-187", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-SHO_W_LINUXCNC_STATUS", + "label_source": "\"Sho_w LinuxCNC Status\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "191-191", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-SET__DEBUG_LEVEL", + "label_source": "\"Set _Debug Level\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "195-195", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-HOMIN_G", + "label_source": "\"Homin_g\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "201-201", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-_UNHOMING", + "label_source": "\"_Unhoming\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "205-205", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-_ZERO_COORDINATE_SYSTEM", + "label_source": "\"_Zero coordinate system\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "209-209", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P1__G5_4", + "label_source": "\"P1 G5_4\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "213-213", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P2__G5_5", + "label_source": "\"P2 G5_5\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "217-217", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P3__G5_6", + "label_source": "\"P3 G5_6\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "221-221", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P4__G5_7", + "label_source": "\"P4 G5_7\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "225-225", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P5__G5_8", + "label_source": "\"P5 G5_8\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "229-229", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P6__G5_9", + "label_source": "\"P6 G5_9\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "233-233", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P7__G59._1", + "label_source": "\"P7 G59._1\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "237-237", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P8__G59._2", + "label_source": "\"P8 G59._2\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "241-241", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-P9__G59._3", + "label_source": "\"P9 G59._3\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "245-245", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-CLEAROFFSET-_G92", + "label_source": "\"_G92\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "249-249", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-TOOL_TOUCH_OFF_TO_WOR_KPIECE", + "label_source": "\"Tool touch off to wor_kpiece\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "257-257", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-MACHINE-TOOL_TOUCH_OFF_TO__FIXTURE", + "label_source": "\"Tool touch off to _fixture\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "263-263", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-_TOP_VIEW", + "label_source": "\"_Top view\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "271-271", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-_ROTATED_TOP_VIEW", + "label_source": "\"_Rotated Top view\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "278-278", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-_SIDE_VIEW", + "label_source": "\"_Side view\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "285-285", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-_FRONT_VIEW", + "label_source": "\"_Front view\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "292-292", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-_PERSPECTIVE_VIEW", + "label_source": "\"_Perspective view\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "299-299", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-DISPLAY__INCHES", + "label_source": "\"Display _Inches\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "308-308", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-DISPLAY__MM", + "label_source": "\"Display _MM\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "315-315", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-S_HOW_PROGRAM", + "label_source": "\"S_how program\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "322-322", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-SHOW_PROGRAM_R_APIDS", + "label_source": "\"Show program r_apids\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "327-327", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "symbol": "setup_menu_accel" + } + }, + { + "control_id": "AXIS-MENU-VIEW-ALPHA-_BLEND_PROGRAM", + "label_source": "\"Alpha-_blend program\"]", + "slice_id": "AXIS-XYZAC-SHELL-MENU", + "source": { + "lines": "332-332", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + 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+ "path": "linuxcnc/share/axis/tcl/axis.tcl", + "sha256": "c9f0b4dc686717b37565f85fb0ab8cc8ded9cfa0028cc0aaaccdbcf808c4c524", + "symbol": "setup_menu_accel" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-MENU-*" + ], + "wasm_commands": [ + "WORKER_COMMAND" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "axis_state", + "state_hash", + "command_result" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "axis-toolbar", + "error_cases": [ + "SOURCE_BLOCKED: native handler matrix not runtime compared" + ], + "gates": [ + "task_ready", + "mode", + "fault" + ], + "inputs": [ + "toolbar click" + ], + "native_commands": [ + "estop_clicked/task_run/task_pause/task_stop" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "checkpoint/reconcile" + ], + "slice_id": "AXIS-XYZAC-TOOLBAR", + "source": { + "lines": "490-1775", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "sha256": "c9f0b4dc686717b37565f85fb0ab8cc8ded9cfa0028cc0aaaccdbcf808c4c524", + "symbol": ".toolbar.machine_estop" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-TOOLBAR-*" + ], + "wasm_commands": [ + "ESTOP", + "PROGRAM_RUN", + "PROGRAM_PAUSE", + "PROGRAM_ABORT" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "authoritative snapshot", + "gate reason" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "axis-keyboard", + "error_cases": [ + "SOURCE_BLOCKED: keyboard Worker evidence pending" + ], + "gates": [ + "focus/input protection", + "manual mode" + ], + "inputs": [ + "keyboard binding" + ], + "native_commands": [ + "jog/task/mode binding" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "pending operation reconcile" + ], + "slice_id": "AXIS-XYZAC-KEYBOARD", + "source": { + "lines": "20-2245", + "path": "linuxcnc/share/axis/tcl/axis.tcl", + "sha256": "c9f0b4dc686717b37565f85fb0ab8cc8ded9cfa0028cc0aaaccdbcf808c4c524", + "symbol": "bind" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-KEY-*" + ], + "wasm_commands": [ + "JOG_START", + "JOG_STOP", + "PROGRAM_RUN", + "PROGRAM_ABORT" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "program", + "canonical trajectory", + "task.interp_state", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "program-mdi", + "error_cases": [ + "SOURCE_BLOCKED: exact case WASM execution not proven" + ], + "gates": [ + "task_idle", + "file_loaded", + "mode_mdi/auto", + "no_fault" + ], + "inputs": [ + "program/MDI text" + ], + "native_commands": [ + "commands.send_mdi_command", + "commands.task_run" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "checkpoint/replay/no-duplicate-side-effect" + ], + "slice_id": "AXIS-XYZAC-PROGRAM-MDI", + "source": { + "lines": "2255-2454", + "path": "linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", + "sha256": "328c038a1e8fefd952e53c8e398e3fa98b04602351c44318edd1b044e8f63ffa", + "symbol": "send_mdi_command" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-PROGRAM", + "AXIS-MDI" + ], + "wasm_commands": [ + "PROGRAM_LOAD", + "PROGRAM_RUN", + "MDI_EXECUTE", + "PROGRAM_PAUSE", + "PROGRAM_RESUME", + "PROGRAM_ABORT" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "motion.axes", + "motion.joints", + "home_limit", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "manual-motion", + "error_cases": [ + "SOURCE_BLOCKED: exact XYZAC Worker comparison pending" + ], + "gates": [ + "manual_ok", + "axis_enabled", + "homing_allowed", + "limit/fault" + ], + "inputs": [ + "axis/joint/direction/velocity" + ], + "native_commands": [ + "jog_on", + "jog_off", + "home_joint", + "home_all_joints" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "pause/resume/abort" + ], + "slice_id": "AXIS-XYZAC-JOG-HOME", + "source": { + "lines": "2670-3323", + "path": "linuxcnc/src/emc/usr_intf/axis/scripts/axis.py", + "sha256": "328c038a1e8fefd952e53c8e398e3fa98b04602351c44318edd1b044e8f63ffa", + "symbol": "jog_on" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-JOG", + "AXIS-HOME" + ], + "wasm_commands": [ + "JOG_START", + "JOG_STOP", + "HOME" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "wasm canonical trajectory", + "visual.pose", + "motion.joints" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "preview-vismach", + "error_cases": [ + "SOURCE_BLOCKED: JS preview forbidden; exact case evidence pending" + ], + "gates": [ + "program_parse_ok", + "canonical_source_present" + ], + "inputs": [ + "parsed program", + "canonical events" + ], + "native_commands": [ + "canon/gremlin/vismach" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "clear visual only; no motion mutation" + ], + "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL", + "source": { + "lines": "426-426", + "path": "linuxcnc/lib/python/rs274/glcanon.py", + "sha256": "0dfb20f1fdc05289894f3aa638357d98e1063fbd53329c723c777399ec7b33b7", + "symbol": "GlCanon" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-PREVIEW", + "AXIS-VISMACH" + ], + "wasm_commands": [ + "PROGRAM_LOAD", + "SNAPSHOT_REQUEST" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "motion.switchkins-type", + "kinstype_is_0/1/2", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "pyvcp-hal", + "error_cases": [ + "BLOCKED_HAL: native HAL load not proven in WASM case" + ], + "gates": [ + "interp_idle", + "HAL_PIN_VARS", + "switchkins_net_present" + ], + "inputs": [ + "PyVCP button/HAL net" + ], + "native_commands": [ + "halui.mdi-command-00/01/02" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "ledger reconcile/no duplicate M-code" + ], + "slice_id": "AXIS-XYZAC-PYVCP-SWITCHKINS", + "source": { + "lines": null, + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "sha256": "55e969c22ca9054a818dbedc8ec50bed768d9ab3d8c4bfdfcfc78e912e9271c4", + "symbol": "type0-button/type1-button/type2-button" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-RTCP-TYPE-0", + "AXIS-RTCP-TYPE-1", + "AXIS-RTCP-TYPE-2" + ], + "wasm_commands": [ + "MDI_EXECUTE:M429", + "MDI_EXECUTE:M428", + "MDI_EXECUTE:M430" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "kinematics.active_type", + "motion.switchkins-type", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "switchkins-rtcp", + "error_cases": [ + "BLOCKED_STARTUP: native kins startup did not reach verified state" + ], + "gates": [ + "interp_idle", + "HAL_PIN_VARS", + "switchkins_net", + "finite_offsets" + ], + "inputs": [ + "MDI/G-code M428/M429/M430", + "motion.switchkins-type" + ], + "native_commands": [ + "M68 E3 Q{0,1,2}", + "M66 E0 L0" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "checkpoint/reconcile; no blind retry" + ], + "slice_id": "AXIS-XYZAC-M428-M429-M430", + "source": { + "lines": null, + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc", + "sha256": "a0aee1d6b481a979849a17c0a23aa7524f52cbd875c92cbde3b73bf36f91d17b", + "symbol": "428remap/429remap/430remap" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-RTCP-M428", + "AXIS-RTCP-M429", + "AXIS-RTCP-M430" + ], + "wasm_commands": [ + "MDI_EXECUTE", + "KINEMATICS_SELECT" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "pose", + "joints", + "limits", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "kinematics", + "error_cases": [ + "SOURCE_BLOCKED: exact XYZAC native/WASM trace unavailable" + ], + "gates": [ + "active_type", + "five_joint_mapping", + "finite_offsets", + "limits" + ], + "inputs": [ + "five joints", + "A/C degrees", + "tool/axis offsets" + ], + "native_commands": [ + "kinematicsForward", + "kinematicsInverse" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "checkpoint pose/joint/hash recovery" + ], + "slice_id": "AXIS-XYZAC-KINEMATICS", + "source": { + "lines": "151-195", + "path": "linuxcnc/src/emc/kinematics/trtfuncs.c", + "sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd", + "symbol": "xyzacKinematicsForward" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-XYZAC-POSE" + ], + "wasm_commands": [ + "KINEMATICS_FORWARD", + "KINEMATICS_INVERSE" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "task", + "program", + "planner", + "motion", + "simulation_tick", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "task-tp-motion", + "error_cases": [ + "SOURCE_BLOCKED: no exact case Worker trace attached" + ], + "gates": [ + "ESTOP/OFF/ON/HOME/IDLE/RUNNING/PAUSED/limit/fault" + ], + "inputs": [ + "task/interpreter/TP input" + ], + "native_commands": [ + "task cycle", + "TP queue", + "motion control" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "checkpoint/replay/reconcile" + ], + "slice_id": "AXIS-XYZAC-TASK-TP-MOTION", + "source": { + "lines": "2-2125", + "path": "linuxcnc/src/emc/motion/control.c", + "sha256": "fa1b14689e2e4493c02d0939f982278366d4c1888da62e172cec030904c82c50", + "symbol": "control" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-STATE" + ], + "wasm_commands": [ + "SIM_STEP", + "PROGRAM_RUN", + "PROGRAM_PAUSE", + "PROGRAM_RESUME", + "PROGRAM_ABORT" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + }, + { + "authoritative_outputs": [ + "error", + "ledger", + "checkpoint", + "recovery endpoint", + "state_hash" + ], + "authority": "linuxcnc-wasm-worker", + "boundary_cases": [ + "fixed logical tick and finite values required" + ], + "domain": "error-recovery", + "error_cases": [ + "SOURCE_BLOCKED: exact case crash/restart evidence pending" + ], + "gates": [ + "operation_id", + "seq", + "ack/result/commit" + ], + "inputs": [ + "command result/error" + ], + "native_commands": [ + "command dispatch/abort" + ], + "normal_cases": [ + "not executed: SRC-00 inventory scope" + ], + "recovery_cases": [ + "reconcile before retry" + ], + "slice_id": "AXIS-XYZAC-ERROR-RECOVERY", + "source": { + "lines": "2-1910", + "path": "linuxcnc/src/emc/motion/command.c", + "sha256": "9d138ed5780a11ed037aa238781f4bfb4960a73ee23c0b0abf0724db068b3e3f", + "symbol": "command" + }, + "status": "SOURCE_MAPPED", + "ui_controls": [ + "AXIS-DIAGNOSTICS", + "AXIS-RECOVERY" + ], + "wasm_commands": [ + "COMMAND_RESULT", + "ERROR", + "CHECKPOINT", + "RECOVER" + ], + "wasm_evidence": [ + { + "authority": "wasm", + "path": "web/worker/test_panel_snapshot_projection.mjs", + "status": "verified" + }, + { + "authority": "wasm", + "path": "web/worker/test_wasm_motion_authority.mjs", + "status": "verified" + } + ] + } + ], + "state_contract": [ + { + "slice_id": "AXIS-XYZAC-TASK-TP-MOTION", + "state": "task.state" + }, + { + "slice_id": "AXIS-XYZAC-TASK-TP-MOTION", + "state": "task.mode" + }, + { + "slice_id": "AXIS-XYZAC-PROGRAM-MDI", + "state": "task.interp_state" + }, + { + "slice_id": "AXIS-XYZAC-PROGRAM-MDI", + "state": "program.current_line" + }, + { + "slice_id": "AXIS-XYZAC-KINEMATICS", + "state": "motion.joints" + }, + { + "slice_id": "AXIS-XYZAC-M428-M429-M430", + "state": "kinematics.active_type" + }, + { + "slice_id": "AXIS-XYZAC-PYVCP-SWITCHKINS", + "state": "motion.switchkins-type" + }, + { + "slice_id": "AXIS-XYZAC-KINEMATICS", + "state": "pose" + }, + { + "slice_id": "AXIS-XYZAC-ERROR-RECOVERY", + "state": "state_hash" + } + ], + "visual_contract": [ + { + "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL", + "visual": "canonical_toolpath" + }, + { + "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL", + "visual": "wasm_pose" + }, + { + "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL", + "visual": "wasm_joints" + }, + { + "slice_id": "AXIS-XYZAC-PREVIEW-VISUAL", + "visual": "vismach_clear" + } + ] +});