Select machine type in design dialog and save importable machine GLB

coverage/glb-machine-manager/machine-type/browser.report.json

@@ -0,0 +1,12 @@
+{
+  "report_id": "GLB-MGR-E15",
+  "url": "http://127.0.0.1:5180/",
+  "status": "verified",
+  "checks": [
+    "dialog selects BC while controller stays AC; switching drops incompatible tilt only; undo/redo restores type and bindings; saved GLB contains BC metadata",
+    "controller workspace changes do not change draft type; reopening saved machine restores type, calibration and hierarchy in one undoable transaction",
+    "applying BC design from AC controller changes controller type without altering design draft",
+    "controller import accepts saved BC GLB from AC workspace and automatically switches to BC with physical zero"
+  ],
+  "errors": []
+}

coverage/glb-machine-manager/machine-type/controls.report.json

@@ -0,0 +1 @@
+{"schema":"axis-control-inventory.v1","status":"verified","documented_controls":134,"duplicate_command_entries_removed":["machine_menu","view_menu","program_pane_load","tool_probe_commands"],"contract":"linuxcnc-axis-web-control-panel-source-logic.md"}

coverage/glb-machine-manager/machine-type/history.report.json

@@ -0,0 +1 @@
+{"report_id":"GLB-MGR-E14-HISTORY","status":"verified","checks":["undo/redo","duplicate edits ignored","new edit discards redo","30-entry bound","clear preserves draft","machine type change preserves general axes and clears incompatible tilt","undo restores type and bindings"]}

coverage/glb-machine-manager/machine-type/saved-models/README.md

@@ -0,0 +1,9 @@
+# 可导入的 MILL700 验收模型
+
+这两份 GLB 由三维机床管理器实际保存，均已通过控制面板“导入机床模型”、五轴程序与参数恢复验证。用于演示 AC/BC 文件识别和单自由度映射；由同一个 MILL700 几何资产生成，不代表两台实机的测量标定。
+
+- `MILL700-xyzac.glb`：XYZAC，主轴 JT1/JT2/JT3 → XYZ，工作台 JT1/JT2 → A/C。
+- `MILL700-xyzbc.glb`：XYZBC，主轴 JT1/JT2/JT3 → XYZ，工作台 JT1/JT2 → B/C。
+- 两者测试配置：Z 反向；物理零点 X=5、Z=7 mm，倾转轴=12°、C=9°；C 原点/倾转偏置为 0。
+- 使用时：控制面板关机且空闲 → 导入机床模型 → 导入 GLB → 选择文件；机型和关节参数从 GLB 自动读取。
+- 编辑时：三维机床管理 → 导入 GLB 部件 → 单独选择文件，恢复完整设计文档；根据需要核对并修改轴绑定和标定，再保存机床模型 GLB。

coverage/glb-machine-manager/machine-type/workbench-regression.report.json

@@ -0,0 +1,14 @@
+{
+  "report_id": "GLB-MGR-E14",
+  "status": "verified",
+  "url": "http://127.0.0.1:5180/",
+  "checks": [
+    "search expands real nested nodes; axis overview locates selection; binding undo/redo",
+    "empty input preserves last pose; repeated selection/input does not concatenate; single-axis step and reset",
+    "TRT forbidden offset blocks export before build; calibration undo/redo",
+    "view presets and selected fitting; deletion undo restores model with all axis bindings",
+    "failed batch import leaves existing assembly intact",
+    "live mode locks edits; desktop, short viewport and narrow viewport keep footer visible without overflow"
+  ],
+  "errors": []
+}

docs/glb-machine-manager/01-项目功能内容.md

@@ -54,3 +54,5 @@
 16. MGR-17：每个节点可配置一个 XYZABC 自由度、父坐标轴方向和正负向。配置以 `linuxcnc.joint-model/1` JSON 写入原 userData，包含层级、零姿态、轴索引、物理零点和 RTCP 标定。管理器实时跟随与正式机床共用驱动逻辑；详见 [07-单自由度JSON与实时驱动](07-单自由度JSON与实时驱动.md)。
 
 17. 工程工作台：独立滚动的结构/运动/标定页签，固定预览与底部操作区；层级搜索、轴定位、相机预设；30 步草稿撤销/重做；单轴步进；无效输入保持上一个有效值并禁止应用/导出。
+
+18. MGR-19：对话框第一步独立选择设计机床类型 XYZAC/XYZBC；控制面板切换不覆盖设计草稿。机型限制轴绑定、运动验证和标定。保存完整机床 GLB，供控制面板“导入机床模型”自动识别机型并使用。

docs/glb-machine-manager/02-项目程序开发详细步骤.md

@@ -19,3 +19,5 @@
 14. `MGR-17`：定义单自由度 JSON/Schema；收敛 UI 输入；增加单文件层级应用和 GLB 恢复；接入实际 WASM 关节位置；验证每轴、反向、物理零点、导出往返和锁定行为。
 
 15. `MGR-18`：工作区布局与层级导航；草稿历史/资源生命周期；数值错误状态和机型标定校验；重复选中输入回归；桌面/窄屏/矮屏及 AC/BC 实时驱动验收。
+
+16. `MGR-19`：把机型纳入草稿/撤销历史；添加首步机型选择；切换清理不适用倾转绑定；完整模型打开恢复机型；下载前调用控制面板读取器校验；验证从 AC 工作区导入 BC GLB 自动切换及 MILL700 两机型保存/运动闭环。

docs/glb-machine-manager/03-推进台账.md

@@ -103,3 +103,11 @@
 - E14 工作台浏览器验收通过：搜索、总览定位、撤销/重做、错误输入、标定校验、视图、删除恢复、导入失败保护、实时锁定和 1440/1154/720 视口无溢出。
 
 - 最终 AC/BC 完整回归分别通过，各 8 个动态 tick；线上 E14 工作台回归通过。已发布 `a7233bc`，资源 `index-nddrUCCV.js`。
+
+## R13 / 2026-09-21 / 对话框选择机床类型与保存整机
+
+- 设计机型从外部控制面板属性改为草稿字段，标题、轴总览、绑定选项、标定与运动输入统一使用所选设计类型。顶部按选择类型→配置结构→验证标定→保存 GLB 引导。
+- AC/BC 切换只清理不适用的 A/B 轴绑定，保留模型层级、XYZ/C 和标定，并提示重新配置、核对；整个切换可撤销/重做。外部工作区切换不再改写草稿。
+- 打开已保存完整机床作为单一文档事务，自动恢复文件中的机型、关节、层级、物理零点、RTCP 参数；原草稿可撤销恢复。普通 GLB 部件导入仍为追加。
+- 保存入口改为“保存机床模型 GLB”，使用 `inspectMachineGlb` 和 32 MiB 限制校验结果，确保标准导入器可读取；成功消息提示去控制面板“导入机床模型”加载。
+- E15 针对跨机型闭环测试通过：在 AC 控制器下设计 BC、切换撤销、保存、重新打开、控制面板标准导入自动识别 BC。MILL700 两机型实测通过，分别 8 个同时五轴运动 tick、浏览器 warning/error=0。保存两份完整 GLB 验收示例；MGR-19 verified。

docs/glb-machine-manager/04-任务矩阵.md

@@ -21,3 +21,4 @@
 
 |MGR-17 单自由度与运行轴映射|verified|MGR-16|每节点固定或唯一 XYZABC 自由度；单值编辑；JSON 保存到场景/底座；单 GLB 完整应用；导出往返与 AC/BC 实时轴映射验收|
 |MGR-18 工程化工作台体验|verified|MGR-17|层级搜索与定位、绑定总览、撤销/重做、输入校验、步骤页签、视图预设、单轴步进、实时跟随锁定、响应式布局和失败导入保护通过|
+|MGR-19 对话框机型与保存整机|verified|MGR-18|先在对话框选择设计机型；绑定/标定受机型约束；草稿独立/可撤销；保存完整 GLB 可由控制面板导入并自动切换机型|

docs/glb-machine-manager/05-验收证据.md

@@ -139,3 +139,19 @@
 
 - 最终回归：`workbench/xyzac-regression.report.json`、`xyzbc-regression.report.json` 均 verified，各 8 个运动 tick，含模型 JSON/GLB 往返、轴符号、零点、实时跟随和五轴运动。输入框选中切换使用绘制前同步，重复填值不会拼接。
 - 线上 `https://49.232.250.35:58015/` 已发布功能代码 `a7233bc`，资源 `assets/index-nddrUCCV.js`；E14 工作台完整回归 verified，浏览器错误 0。发布证据：`workbench/cloud.report.json`、`workbench/deployment.report.json`。
+
+## E15 / R13 / 对话框机型与保存整机
+
+- `node scripts/test_machine_manager_type.mjs`：GLB-MGR-E15 verified；在 AC 控制面板下设计 BC、机型切换/撤销/重做、工作区不覆盖草稿、完整机床打开恢复、直接应用及标准 GLB 导入自动切换为 BC。
+- `JOINT_TEST_OUTPUT=.../coverage/glb-machine-manager/machine-type/mill700 SAVE_MACHINE_MODELS=.../coverage/glb-machine-manager/machine-type/saved-models node scripts/test_machine_joint_dof_browser.mjs`：MILL700 AC/BC 各 8 个动态 tick，验证 GLB 保存/重开/导入、标定、轴映射、单自由度及实时跟随，浏览器错误 0。
+- 八部件生产回归、工作台布局/撤销/搜索回归、类型检查、构建、机型历史、控件契约 134 项和双画布检查通过。
+- 保存入口下载前用 `inspectMachineGlb` 校验完整 GLB；所有测试机型通过标准“导入机床模型”。
+
+|文件（相对 coverage/glb-machine-manager/machine-type）|SHA-256|
+|---|---|
+|`browser.report.json`|`222c43f2ef36d28f31171773efe2cbe49eff383e766c5086f18bac5bae62047a`|
+|`dialog-type.png`|`c24f8b3fd445cf5e886b8189e13e0830e6fecf341e57499e7cf73528fd803b9d`|
+|`controller-import.png`|`071f8d9a9ac4ac85fe64bfcd51f1fb605112515eb4aaa0e00ceacd539347d67b`|
+|`mill700/browser.report.json`|`05fb403ef854aba37c1ab64e0334a843d4839a6c2ce559031d25589a68346f3a`|
+|`saved-models/MILL700-xyzac.glb`|`25ba366a6550c3a613a63623b8e25216d5a3a6dd2781b69481d80d0bb87033e4`|
+|`saved-models/MILL700-xyzbc.glb`|`3b87cb8504815c13127608c513eacb3536e1be1c10f9a58fcd59920939fbe0c1`|

docs/glb-machine-manager/06-决策记录.md

@@ -63,3 +63,7 @@ GLB 树节点 ID 使用导入时的子节点索引路径，不使用可能重复
 ## D16 / 草稿可撤销、错误输入不执行
 
 草稿历史只保存配置快照并共享源模型资源，上限 30 步；只有已脱离当前草稿和历史的资产才释放。关闭窗口保留会话草稿，完整持久保存使用导出 GLB，界面明确显示未应用/已应用/已导出状态。非法或空数值只存在于输入框，不驱动模型，不隐式归零；校验状态独立于操作消息显示。实时跟随时配置只读，数据不可用时保持最后姿态且允许退出。
+
+## D17 / 设计类型属于机床文档
+
+机型保存在 MachineDraft，控制面板当前类型只用于首次创建时的默认值和实时数据匹配。后续面板切换不得覆盖草稿。切换设计类型不自动把 A 轴重新命名为 B：保留通用轴及模型，清除不兼容绑定，提示重新配置，并允许撤销。标定保留并按新机型验证，不静默丢弃。完整机床 GLB 打开为一次替换事务，自动恢复文件机型，原草稿可撤销。保存 GLB 必须先通过标准导入器格式/机型校验；JSON 是辅助参数文件，完整可导入交付物为 GLB。

docs/glb-machine-manager/07-单自由度JSON与实时驱动.md

@@ -4,13 +4,13 @@
 
 ## 对话框
 
-1. 选中层级节点，设置“唯一自由度”：X/Y/Z 是平移，A/B/C 是旋转；固定零件选择“固定（无自由度）”。每个运动节点只有一个自由度，每个数控轴只能绑定一个节点。
+1. 首先在对话框顶部选择设计机床类型 XYZAC/XYZBC（独立于当前控制面板），然后导入模型。选中层级节点，设置“唯一自由度”：X/Y/Z 是平移，A/B/C 是旋转；固定零件选择“固定（无自由度）”。每个运动节点只有一个自由度，每个数控轴只能绑定一个节点。
 2. 设置父级坐标系中的 X/Y/Z 运动方向和正负向。AC 模型可用 XYZAC，BC 模型可用 XYZBC；另一倾转轴禁用。
 3. 当前节点只有一个“位移/转角”可编辑数值，单位 mm/deg。固定节点不能编辑；已导入的局部位置、姿态作为零姿态保留。旧版六分量自由编辑和自由操纵器已被单自由度输入替代（MGR-17）。
 4. 层级运动测试与节点输入共用对应轴值，所有输入均为相对物理零点的运动量，不写数控系统。配置 JSON 和 GLB 保存零姿态、自由度和标定，不将临时测试姿态烘焙进去。
 5. “跟随数控系统实时关节位置”使用当前机型的有效 WASM 快照，锁定手动关节输入。控制面板正式模型始终由 WASM 实际关节位置驱动。
 6. 绑定齐五个轴后可应用机床、导出 GLB；单个已有层级的 GLB 也可应用。可单独导出 JSON。未完成绑定的 JSON 是草稿，控制器读取时必须通过完整性校验。
-7. 重新导入本工具导出的 GLB 到管理器，可恢复层级、自由度、正负向、C 原点、倾转轴偏置和物理零点。GLB 机型必须与当前工作区相同。
+7. 重新导入本工具导出的 GLB 到管理器，可恢复层级、自由度、正负向、C 原点、倾转轴偏置和物理零点。完整机床 GLB 单独打开时，自动恢复文件机型，原设计草稿可撤销恢复；控制面板“导入机床模型”自动切换到 GLB 指定机型。
 
 ## 字段契约
 

docs/glb-machine-manager/README.md

@@ -11,7 +11,7 @@
 
 现有整机 GLB + 内嵌 URDF 导入能力继续保留。新管理器生成与现有 `linuxcnc.machine/1` 相同的严格结构，再通过已有配置、Worker、WASM 和 Three.js 投影链运行。
 
-当前状态：MGR-17、MGR-18 已 verified；MGR-01 至 MGR-16 已完成历史验收，MILL700 实测覆盖照明、Z-up、132 节点树、拖放、节点原点、关节局部坐标系、节点相对父级平移旋转、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R12，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09/E10/E12/E13/E14` 位于 `coverage/glb-machine-manager/`。
+当前状态：MGR-19 对话框选择机型/整机保存已 verified；MGR-17、MGR-18 已 verified；MGR-01 至 MGR-16 已完成历史验收，MILL700 实测覆盖照明、Z-up、132 节点树、拖放、节点原点、关节局部坐标系、节点相对父级平移旋转、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R13，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09/E10/E12/E13/E14/E15` 位于 `coverage/glb-machine-manager/`。
 
 文档：
 

docs/linuxcnc-axis-web-control-panel-source-logic.md

@@ -1079,3 +1079,7 @@ silently reproduced in the browser.
 ### MGR-18 machine manager workbench controls
 
 `machine-manager-undo`, `machine-manager-redo`, `machine-manager-draft-state`, `machine-tree-search`, `machine-tree-expand`, `machine-tree-collapse`, `machine-manager-validation`, `machine-manager-tab-structure`, `machine-manager-tab-motion`, `machine-manager-tab-calibration`, `machine-view-fit`, `machine-view-selected`, `machine-view-front`, `machine-view-top`, `machine-joint-step-minus`, `machine-joint-step-plus`, `machine-joint-reset`: bounded draft history, searchable hierarchy, axis binding overview, explicit validation, view presets, single-joint step jog and responsive workbench layout.
+
+### MGR-19 document machine type
+
+`machine-manager-type`, `machine-manager-type-note`: select XYZAC/XYZBC inside the design dialog before configuring structure. Design type belongs to undoable draft state and is independent of the live controller. Saving validates the GLB through the standard importer; loading a full machine restores type, bindings and calibration, and the control panel switches workspace to match the imported model.

scripts/test_axis_control_inventory.mjs

@@ -13,7 +13,7 @@ const [contract, app, panel, preview] = await Promise.all([
 const controlIds = [
   "menu-file", "menu-file-edit-tool-data", "menu-file-quit", "menu-help", "menu-help-about", "about-close",
   "toolbar-estop", "toolbar-power", "toolbar-open", "toolbar-load-case", "toolbar-reload", "toolbar-run", "toolbar-step", "toolbar-pause-resume", "toolbar-stop", "toolbar-block-delete", "toolbar-optional-pause", "toolbar-zoom-in", "toolbar-zoom-out", "toolbar-view-z", "toolbar-view-z2", "toolbar-view-x", "toolbar-view-y", "toolbar-view-y2", "toolbar-view-p", "toolbar-rotate", "toolbar-clear-live-plot",
-  "workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-joint-direction", "machine-joint-sign", "machine-joint-value", "machine-joint-step-minus", "machine-joint-step-plus", "machine-joint-reset", "machine-joint-follow-live", "machine-joint-live-state", "machine-manager-export-json", "machine-manager-undo", "machine-manager-redo", "machine-manager-draft-state", "machine-tree-search", "machine-tree-expand", "machine-tree-collapse", "machine-manager-validation", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "machine-manager-tab-structure", "machine-manager-tab-motion", "machine-manager-tab-calibration", "machine-view-fit", "machine-view-selected", "machine-view-front", "machine-view-top", "manual-home-all", "manual-home-joint-select",
+  "workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-type", "machine-manager-type-note", "machine-manager-import", "machine-manager-files", "machine-manager-delete", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-joint-direction", "machine-joint-sign", "machine-joint-value", "machine-joint-step-minus", "machine-joint-step-plus", "machine-joint-reset", "machine-joint-follow-live", "machine-joint-live-state", "machine-manager-export-json", "machine-manager-undo", "machine-manager-redo", "machine-manager-draft-state", "machine-tree-search", "machine-tree-expand", "machine-tree-collapse", "machine-manager-validation", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "machine-manager-tab-structure", "machine-manager-tab-motion", "machine-manager-tab-calibration", "machine-view-fit", "machine-view-selected", "machine-view-front", "machine-view-top", "manual-home-all", "manual-home-joint-select",
   "switchkins-0", "switchkins-1", "switchkins-2",
   "tab-manual", "tab-mdi", "tab-diagnostics", "tab-preview", "tab-dro",
   "manual-axis-x", "manual-axis-y", "manual-axis-z", "manual-axis-a", "manual-axis-c",

scripts/test_machine_joint_dof_browser.mjs

@@ -4,7 +4,7 @@ import { pathToFileURL } from "node:url";
 import * as THREE from "../web/react/node_modules/three/build/three.module.js";
 const pw = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE ?? "/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js"));
 const browser = await (pw.default ?? pw).chromium.launch({ headless: true, executablePath: "/usr/bin/google-chrome", args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] });
-const output = new URL("../coverage/glb-machine-manager/joint-dof/", import.meta.url); await mkdir(output, { recursive: true });
+const output = process.env.JOINT_TEST_OUTPUT ? pathToFileURL(process.env.JOINT_TEST_OUTPUT.replace(/\/?$/, "/")) : new URL("../coverage/glb-machine-manager/joint-dof/", import.meta.url); await mkdir(output, { recursive: true });
 const bytes = await readFile(new URL("../MILL700-U_1.glb", import.meta.url));
 const report = { report_id: "GLB-MGR-E13", status: "running", url: process.env.MACHINE_MANAGER_URL ?? "http://127.0.0.1:5180/", machines: [], browser_errors: [] };
 const near = (a, b, label) => { assert.equal(a.length, b.length, label); a.forEach((v, i) => assert.ok(Math.abs(v - b[i]) < 2e-6, `${label} ${i}: ${v} vs ${b[i]}`)); };
@@ -17,8 +17,8 @@ try {
     const preview = page.locator("[data-machine-manager-preview]");
     const idle = () => page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false" && document.querySelector("main.axis-app")?.dataset.axisStateSource === "linuxcnc-wasm", null, { timeout: 60000 });
     await page.goto(report.url); await idle();
-    if (coordinates === "XYZBC") { await c("workspace-case-select").selectOption("linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"); await idle(); }
-    await c("machine-manager-settings").click(); await c("machine-manager-files").setInputFiles({ name: "MILL700-U_1.glb", mimeType: "model/gltf-binary", buffer: bytes });
+
+    await c("machine-manager-settings").click(); await c("machine-manager-type").selectOption(coordinates); assert.match(await c("workspace-case-select").inputValue(), /xyzac-trt.ini/); await c("machine-manager-files").setInputFiles({ name: "MILL700-U_1.glb", mimeType: "model/gltf-binary", buffer: bytes });
     await page.waitForFunction(() => document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132);
     assert.equal(await c("machine-joint-value").isDisabled(), true);
     assert.equal(await c("machine-manager-apply").isDisabled(), true);
@@ -52,6 +52,7 @@ try {
     assert.equal(json.schema, "linuxcnc.joint-model/1"); assert.equal(json.coordinates, coordinates); assert.deepEqual(Object.keys(json.axisMap).sort(), [...coordinates].sort()); assert.equal(json.nodes.filter((n) => n.joint).length, 5); assert.ok(json.nodes.every((n) => n.joint === null || n.joint.dof === 1));
     assert.equal(json.nodes.find((n) => n.id === json.axisMap.Z).joint.sign, -1);
     const glbDownload = page.waitForEvent("download"); await c("machine-manager-export").click(); const glb = await readFile(await (await glbDownload).path());
+    if (process.env.SAVE_MACHINE_MODELS) { await mkdir(process.env.SAVE_MACHINE_MODELS, { recursive: true }); await writeFile(`${process.env.SAVE_MACHINE_MODELS}/MILL700-${coordinates.toLowerCase()}.glb`, glb); }
     const gltf = JSON.parse(glb.toString("utf8", 20, 20 + glb.readUInt32LE(12)));
     assert.deepEqual(gltf.scenes[0].extras.linuxcncJointModel, json);
     const bed = gltf.nodes.find((n) => n.name === "MILL700-A底座"); assert.deepEqual(bed.extras.linuxcncJointModel, json); assert.ok(bed.extras.linuxcncMachineGeometry);
@@ -64,6 +65,7 @@ try {
     await page.keyboard.press("Escape"); await c("machine-glb-settings").click(); await c("machine-glb-file").setInputFiles({ name: `managed-${coordinates.toLowerCase()}.glb`, mimeType: "model/gltf-binary", buffer: glb });
     await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.machineJointState, null, { timeout: 60000 }); await idle(); await page.keyboard.press("Escape");
     console.log(`${coordinates}: standard GLB importer verified`);
+    assert.match(await c("workspace-case-select").inputValue(), new RegExp(`${coordinates.toLowerCase()}-trt.ini`));
     // Apply directly from the restored one-file hierarchy as well.
     await c("machine-manager-settings").click(); await c("machine-manager-apply").click(); await idle(); assert.match(await page.locator(".machine-manager-footer").textContent(), /已应用/); await page.keyboard.press("Escape");
     const program = `M428

scripts/test_machine_manager_browser.mjs

@@ -64,7 +64,7 @@ try {
   await page.keyboard.press("Escape");
   const xyzbcCase = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini"; await control("workspace-case-select").selectOption(xyzbcCase);
   await page.waitForFunction((path) => document.querySelector('[data-axis-control="workspace-case-select"]')?.value === path && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", xyzbcCase, { timeout: 45000 });
-  await control("machine-manager-settings").click(); assert.match(await page.locator(".machine-manager-dialog .machine-dialog-titlebar").textContent(), /XYZBC/);
+  await control("machine-manager-settings").click(); assert.match(await page.locator(".machine-manager-dialog .machine-dialog-titlebar").textContent(), /XYZAC/); await control("machine-manager-type").selectOption("XYZBC");
   await control("machine-manager-tab-structure").click(); await selectRoot(5); await control("machine-tree-axis-role").selectOption("B");
   await control("machine-manager-tab-calibration").click();
   const bcCalibrations = page.locator(".machine-manager-calibration fieldset.machine-vector"); const bcOrigin = bcCalibrations.filter({ hasText: "C 轴原点" }); await bcOrigin.getByLabel("X", { exact: true }).fill("-18"); await bcOrigin.getByLabel("Y", { exact: true }).fill("14"); await bcOrigin.getByLabel("Z", { exact: true }).fill("12");

scripts/test_machine_manager_history.mjs

@@ -1,6 +1,6 @@
 import assert from 'node:assert/strict';
-import { machineDraftHistory } from '../web/react/src/machine-manager-history.ts';
-const draft = { parts: [], cOriginMm:[0,0,0], tiltOffsetMm:[0,0,0], physicalZero:{x:0,y:0,z:0,a:0,b:0,c:0} };
+import { machineDraftHistory, changeMachineType } from '../web/react/src/machine-manager-history.ts';
+const draft = { coordinates:"XYZAC", parts: [], cOriginMm:[0,0,0], tiltOffsetMm:[0,0,0], physicalZero:{x:0,y:0,z:0,a:0,b:0,c:0} };
 let state = { current:draft, past:[], future:[] };
 const edit = (n) => ({ type:'edit', change:(d) => ({...d, cOriginMm:[n,0,0]}) });
 state = machineDraftHistory(state, edit(1)); state = machineDraftHistory(state,edit(1)); assert.equal(state.past.length,1);
@@ -9,4 +9,8 @@ state = machineDraftHistory(state,{type:'redo'}); assert.equal(state.current.cOr
 state = machineDraftHistory(state,{type:'undo'}); state = machineDraftHistory(state,edit(2)); assert.equal(state.future.length,0);
 for(let i=3;i<45;i++) state=machineDraftHistory(state,edit(i)); assert.equal(state.past.length,30);
 const current=state.current; state=machineDraftHistory(state,{type:'clear'}); assert.equal(state.current,current); assert.equal(state.past.length,0);
-console.log(JSON.stringify({report_id:'GLB-MGR-E14-HISTORY',status:'verified',checks:['undo/redo','duplicate edits ignored','new edit discards redo','30-entry bound','clear preserves draft']}));
+
+const ac = { ...draft, parts: [{ id:"p", showOrigin:true, nodeJoints:{ a:{axis:"A",direction:"x",sign:1}, c:{axis:"C",direction:"z",sign:-1}, x:{axis:"X",direction:"x",sign:1} } }] };
+const bc = changeMachineType(ac,"XYZBC"); assert.equal(bc.coordinates,"XYZBC"); assert.equal(bc.parts[0].nodeJoints.a,undefined); assert.deepEqual(bc.parts[0].nodeJoints.c,ac.parts[0].nodeJoints.c); assert.equal(ac.parts[0].nodeJoints.a.axis,"A");
+let types={current:ac,past:[],future:[]};types=machineDraftHistory(types,{type:"edit",change:d=>changeMachineType(d,"XYZBC")});types=machineDraftHistory(types,{type:"undo"});assert.equal(types.current,ac);
+console.log(JSON.stringify({report_id:'GLB-MGR-E14-HISTORY',status:'verified',checks:['undo/redo','duplicate edits ignored','new edit discards redo','30-entry bound','clear preserves draft','machine type change preserves general axes and clears incompatible tilt','undo restores type and bindings']}));

scripts/test_machine_manager_type.mjs

@@ -0,0 +1,51 @@
+import assert from 'node:assert/strict';
+import { readFile, writeFile, mkdir } from 'node:fs/promises';
+import { pathToFileURL } from 'node:url';
+import * as THREE from '../web/react/node_modules/three/build/three.module.js';
+import { GLTFExporter } from '../web/react/node_modules/three/examples/jsm/exporters/GLTFExporter.js';
+globalThis.FileReader = class { readAsArrayBuffer(blob) { blob.arrayBuffer().then((result) => { this.result = result; this.onloadend?.(); }); } readAsDataURL(blob) { blob.arrayBuffer().then((result) => { this.result = `data:${blob.type};base64,${Buffer.from(result).toString('base64')}`; this.onloadend?.(); }); } };
+const scene = new THREE.Scene();scene.name='test-machine';
+const add = (name,parent) => { const n=new THREE.Mesh(new THREE.BoxGeometry(.04,.04,.04),new THREE.MeshStandardMaterial({color:0x75aab2}));n.name=name;n.position.set(.1,.1,.1);parent.add(n);return n; };
+const x=add('joint-X',scene), y=add('joint-Y',x);add('joint-Z',y);const tilt=add('joint-tilt',scene);add('joint-C',tilt);
+const bytes=Buffer.from(await new GLTFExporter().parseAsync(scene,{binary:true,trs:true}));
+const pw=await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE ?? '/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js'));
+const browser=await (pw.default??pw).chromium.launch({headless:true,executablePath:'/usr/bin/google-chrome',args:['--no-sandbox','--use-angle=swiftshader','--enable-unsafe-swiftshader']});
+const page=await browser.newPage({viewport:{width:1440,height:900}});const c=id=>page.locator(`[data-axis-control="${id}"]`);
+const output=new URL('../coverage/glb-machine-manager/machine-type/',import.meta.url);await mkdir(output,{recursive:true});
+const report={report_id:'GLB-MGR-E15',url:process.env.MACHINE_MANAGER_URL??'http://127.0.0.1:5180/',status:'running',checks:[],errors:[]};
+page.on('pageerror',e=>report.errors.push(e.message));page.on('console',m=>{if(['error','warning'].includes(m.type()))report.errors.push(m.text());});
+const idle=()=>page.waitForFunction(()=>document.querySelector('main.axis-app')?.dataset.axisProgramLoading==='false'&&document.querySelector('main.axis-app')?.dataset.axisStateSource==='linuxcnc-wasm');
+const choose=async(name)=>{await c('machine-manager-tab-structure').click();await c('machine-tree-search').fill(name);await c('machine-tree-node').filter({has:page.locator('span').filter({hasText:new RegExp(`^${name}$`)})}).first().click();};
+try{
+ await page.goto(report.url);await idle();await c('machine-manager-settings').click();
+ assert.equal(await c('machine-manager-type').inputValue(),'XYZAC');
+ await c('machine-manager-type').selectOption('XYZBC');
+ assert.match(await c('workspace-case-select').inputValue(),/xyzac-trt/);
+ await c('machine-manager-files').setInputFiles({name:'machine.glb',mimeType:'model/gltf-binary',buffer:bytes});
+ for(const [axis,name] of [['X','joint-X'],['Y','joint-Y'],['Z','joint-Z'],['B','joint-tilt'],['C','joint-C']]){await choose(name);await c('machine-tree-axis-role').selectOption(axis);}
+ assert.equal(await c('machine-manager-export').isEnabled(),true);
+ await c('machine-manager-type').selectOption('XYZAC');await choose('joint-tilt');assert.equal(await c('machine-tree-axis-role').inputValue(),'');assert.equal(await c('machine-manager-export').isDisabled(),true);assert.match(await c('machine-manager-validation').textContent(),/A/);
+ await c('machine-manager-undo').click();assert.equal(await c('machine-manager-type').inputValue(),'XYZBC');assert.equal(await c('machine-tree-axis-role').inputValue(),'B');
+ await c('machine-manager-redo').click();assert.equal(await c('machine-manager-type').inputValue(),'XYZAC');await c('machine-manager-undo').click();
+ await c('machine-manager-tab-calibration').click();await page.locator('fieldset.machine-zero').getByLabel('B',{exact:true}).fill('12');
+ const promise=page.waitForEvent('download');await c('machine-manager-export').click();const download=await promise;assert.equal(download.suggestedFilename(),'managed-xyzbc.glb');const saved=await readFile(await download.path());await writeFile(new URL('test-xyzbc.glb',output),saved);
+ const json=JSON.parse(saved.toString('utf8',20,20+saved.readUInt32LE(12)));assert.equal(json.scenes[0].extras.linuxcncJointModel.coordinates,'XYZBC');assert.equal(json.scenes[0].extras.linuxcncJointModel.calibration.physicalZero.b,12);assert.deepEqual(json.scenes[0].extras.linuxcncJointModel.controller.axisOrder,[...'XYZBC']);
+ report.checks.push('dialog selects BC while controller stays AC; switching drops incompatible tilt only; undo/redo restores type and bindings; saved GLB contains BC metadata');
+ await page.keyboard.press('Escape');await c('workspace-case-select').selectOption('linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini');await idle();await c('workspace-case-select').selectOption('linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini');await idle();
+ await c('machine-manager-settings').click();assert.equal(await c('machine-manager-type').inputValue(),'XYZBC');await c('machine-manager-type').selectOption('XYZAC');
+ await c('machine-manager-files').setInputFiles({name:'managed-xyzbc.glb',mimeType:'model/gltf-binary',buffer:saved});await page.waitForFunction(()=>document.querySelector('[data-axis-control="machine-manager-type"]')?.value==='XYZBC');
+ assert.equal(await page.locator('[data-machine-manager-preview]').getAttribute('data-machine-manager-part-count'),'1');await choose('joint-tilt');assert.equal(await c('machine-tree-axis-role').inputValue(),'B');
+ await c('machine-manager-tab-calibration').click();assert.equal(await page.locator('fieldset.machine-zero').getByLabel('B',{exact:true}).inputValue(),'12');
+ await c('machine-manager-undo').click();assert.equal(await c('machine-manager-type').inputValue(),'XYZAC');await c('machine-manager-redo').click();assert.equal(await c('machine-manager-type').inputValue(),'XYZBC');
+ report.checks.push('controller workspace changes do not change draft type; reopening saved machine restores type, calibration and hierarchy in one undoable transaction');
+ await page.screenshot({path:new URL('dialog-type.png',output).pathname});
+ await c('machine-manager-apply').click();await page.waitForFunction(()=>document.querySelector('[data-axis-control="workspace-case-select"]')?.value.includes('xyzbc-trt'));await idle();assert.equal(await c('machine-manager-type').inputValue(),'XYZBC');
+ await page.keyboard.press('Escape');await c('workspace-case-select').selectOption('linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini');await idle();await c('machine-manager-settings').click();
+ report.checks.push('applying BC design from AC controller changes controller type without altering design draft');
+ await page.keyboard.press('Escape');await c('machine-glb-settings').click();await c('machine-glb-file').setInputFiles({name:'managed-xyzbc.glb',mimeType:'model/gltf-binary',buffer:saved});
+ await page.waitForFunction(()=>document.querySelector('.xyzac-machine-view')?.dataset.machineJointState&&document.querySelector('[data-axis-control="workspace-case-select"]')?.value.includes('xyzbc-trt'));await idle();
+ const geometry=JSON.parse(await page.locator('.xyzac-machine-view').getAttribute('data-machine-manager-geometry'));assert.equal(geometry.coordinates,'XYZBC');assert.equal(geometry.physicalZero.b,12);
+ await page.keyboard.press('Escape');await page.screenshot({path:new URL('controller-import.png',output).pathname});
+ report.checks.push('controller import accepts saved BC GLB from AC workspace and automatically switches to BC with physical zero');assert.deepEqual(report.errors,[]);report.status='verified';
+}catch(e){report.status='failed';report.error=e.stack;await page.screenshot({path:new URL('failure.png',output).pathname}).catch(()=>{});throw e;}finally{await writeFile(new URL('browser.report.json',output),JSON.stringify(report,null,2)+'\n');await browser.close();}
+console.log(JSON.stringify(report));

web/react/src/MachineManagerPanel.tsx

@@ -8,9 +8,9 @@ import { disposeMachineScene, type ImportedMachine } from "./imported-machine";
 import { configureMachinePartScene, draftNodeDof, makeJointAssembly, reparentMachineNode, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
 import { driveJoint, jointZero, defaultDof, isLinear, type JointDof, type CncAxis } from "./machine-joints";
 import { projectXyzacVisual, type XyzacVisualSource } from "./xyzac-visual-adapter";
-import { useMachineDraft, draftFingerprint } from "./machine-manager-history";
+import { useMachineDraft, draftFingerprint, changeMachineType } from "./machine-manager-history";
 import { MachineNumberInput } from "./MachineManagerInputs";
-import type { Vec3 } from "./machine-urdf";
+import { inspectMachineGlb, MAX_MACHINE_BYTES, type Vec3 } from "./machine-urdf";
 
 type Props = { snapshot?: XyzacVisualSource | null; coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise<void> };
 type TestPose = { x: number; y: number; z: number; a: number; b: number; c: number };
@@ -146,10 +146,10 @@ function TreeNode({ part, node, selected, onSelect, onDrop, extra, query, expans
   </li>;
 }
 
-export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }: Props) {
+export function MachineManagerPanel({ coordinates: controllerCoordinates, disabled, onApply, snapshot }: Props) {
   const [open, setOpen] = useState(false), [pending, setPending] = useState(false), [message, setMessage] = useState("");
-  const { history, draft, edit, undo, redo, clearHistory } = useMachineDraft();
-  const { parts, cOriginMm, tiltOffsetMm, physicalZero } = draft;
+  const { history, draft, edit, undo, redo } = useMachineDraft(controllerCoordinates);
+  const { coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero } = draft;
   const setParts = (change: (current: MachinePartDraft[]) => MachinePartDraft[]) => edit((current) => ({ ...current, parts: change(current.parts) }));
   const setCOriginMm = (value: Vec3) => edit((current) => ({ ...current, cOriginMm: value }));
   const setTiltOffsetMm = (value: Vec3) => edit((current) => ({ ...current, tiltOffsetMm: value }));
@@ -174,7 +174,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
   useEffect(() => () => { retainedScenes.current.forEach(disposeMachineScene); }, []);
   const [testPose, setTestPose] = useState<TestPose>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 });
   const [motionState, setMotionState] = useState<Record<string, MotionTransform>>({}); const motionStateHash = useRef("");
-  useEffect(() => { setMessage(""); setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); setFollowLive(false); clearHistory(); }, [coordinates, clearHistory]);
+  useEffect(() => { setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); setFollowLive(false); }, [coordinates]);
   useEffect(() => { if (selectedId && !parts.some((part) => part.id === selectedId)) { setSelectedId(parts[0]?.id ?? null); setSelectedNodePath("scene"); } }, [parts, selectedId]);
   const selected = parts.find((part) => part.id === selectedId) ?? null;
   const trees = useMemo(() => new Map(parts.map((part) => [part.id, machinePartTree(part)])), [parts]);
@@ -190,22 +190,25 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
       const loaded = results.flatMap((result) => result.status === "fulfilled" ? [result.value] : []);
       const failure = results.find((result) => result.status === "rejected");
       if (failure?.status === "rejected") { loaded.forEach((source) => disposeMachineScene(source.scene)); throw failure.reason; }
-      if (loaded.some((source) => source.restoredModel && source.restoredModel.coordinates !== coordinates)) {
+      const restoredSources = loaded.filter((source) => source.restoredModel);
+      const restored = restoredSources[0]?.restoredModel;
+      // A saved machine is opened as one document, not appended to another
+      // machine. Raw component imports continue to append to this draft.
+      if (restored && loaded.length !== 1) {
         loaded.forEach((source) => disposeMachineScene(source.scene));
-        throw new Error(`导入机型不同，请先切换到 ${loaded.find((source) => source.restoredModel?.coordinates !== coordinates && source.restoredModel)?.restoredModel?.coordinates}`);
+        throw new Error("完整机床 GLB 请单独打开；普通部件可批量导入");
       }
-      const restored = loaded.find((source) => source.restoredModel)?.restoredModel;
       edit((draft) => {
-        const next = [...draft.parts];
+        const next = restored ? [] : [...draft.parts];
         for (const source of loaded) {
           const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? "";
           const parentRole = role ? expectedParentRole(role) : null;
           const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null;
           next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeTransforms: {}, nodeJoints: source.restoredJoints ?? {}, nodeRoles: source.restoredRoles ?? {} });
         }
-        return { ...draft, parts: next, ...(restored ? { cOriginMm: restored.calibration.cOriginMm, tiltOffsetMm: restored.calibration.tiltOffsetMm, physicalZero: restored.calibration.physicalZero as PhysicalZero } : {}) };
+        return { ...draft, parts: next, ...(restored ? { coordinates: restored.coordinates, cOriginMm: restored.calibration.cOriginMm, tiltOffsetMm: restored.calibration.tiltOffsetMm, physicalZero: restored.calibration.physicalZero as PhysicalZero } : {}) };
       });
-      setTab("structure"); setQuery(""); setSelectedId(loaded[0].id); setSelectedNodePath("scene"); setMessage(restored ? `已恢复 ${restored.coordinates} 关节配置和物理零点` : `已导入 ${loaded.length} 个部件`);
+      setTab("structure"); setQuery(""); setSelectedId(loaded[0].id); setSelectedNodePath("scene"); setMessage(restored ? `已打开 ${restored.coordinates} 完整机床，恢复层级、关节和标定；原草稿可撤销恢复` : `已导入 ${loaded.length} 个部件`);
     } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
     finally { setPending(false); }
   };
@@ -243,9 +246,12 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
       const exportScene = new THREE.Scene(); exportScene.name = machine.scene.name; exportScene.userData = machine.scene.userData;
       for (const child of machine.scene.children) exportScene.add(child.clone(true));
       const bytes = await new GLTFExporter().parseAsync(exportScene, { binary: true, trs: true, onlyVisible: false });
+      if (!(bytes instanceof ArrayBuffer) || bytes.byteLength > MAX_MACHINE_BYTES) throw new Error("保存文件超过控制面板支持的 32 MiB，请减小模型后重试");
+      const saved = inspectMachineGlb(bytes);
+      if (saved.structure.coordinates !== coordinates) throw new Error("保存模型的机型与当前配置不一致");
       const url = URL.createObjectURL(new Blob([bytes as ArrayBuffer], { type: "model/gltf-binary" }));
       const link = document.createElement("a"); link.href = url; link.download = machine.filename; link.click(); setTimeout(() => URL.revokeObjectURL(url), 1000);
-      setExported(signature); setMessage("组合 GLB 已导出，底座和整机场景包含机床标定 userData");
+      setExported(signature); setMessage(`已保存 managed-${coordinates.toLowerCase()}.glb，可在控制面板“导入机床模型”中加载，自动识别 ${coordinates} 和轴配置`);
     } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
     finally { if (machine) disposeMachineScene(machine.scene); setPending(false); }
   };
@@ -275,7 +281,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
   const exportJson = () => {
     if (!validation.model || pending || invalidFields.length) return;
     const url = URL.createObjectURL(new Blob([JSON.stringify(validation.model, null, 2)], { type: "application/json" }));
-    const a = document.createElement("a"); a.href = url; a.download = `machine-joints-${coordinates.toLowerCase()}.json`; a.click(); setTimeout(() => URL.revokeObjectURL(url), 1000); setMessage("关节 JSON 已导出；恢复完整模型请使用组合 GLB");
+    const a = document.createElement("a"); a.href = url; a.download = `machine-joints-${coordinates.toLowerCase()}.json`; a.click(); setTimeout(() => URL.revokeObjectURL(url), 1000); setMessage("关节 JSON 已导出；恢复完整模型请使用“保存机床模型 GLB”");
   };
   const poseInput = (axis: keyof TestPose, unit: string) => <label key={axis}>{axis.toUpperCase()}<MachineNumberInput fieldId={`test-${axis}`} control={`machine-test-${axis}`} onValidity={validity} disabled={pending || followLive || !bindings.some((b) => b.dof.axis.toLowerCase() === axis)} value={effectivePose[axis]} onChange={(value) => setTestPose((pose) => ({ ...pose, [axis]: value }))} /><small>{unit}</small></label>;
   const receiveMotionState = (state: Record<string, MotionTransform>) => { const hash = JSON.stringify(state); if (hash !== motionStateHash.current) { motionStateHash.current = hash; setMotionState(state); } };
@@ -286,12 +292,17 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
     <button type="button" data-axis-control="machine-manager-settings" aria-haspopup="dialog" onClick={() => setOpen(true)}>三维机床管理</button>
     <DraggableDialog open={open} title={`三维机床管理 · ${coordinates}`} className="machine-manager-dialog" onClose={() => setOpen(false)}>
       <div className="machine-manager-workbench" aria-busy={pending}>
+      <div className="machine-type-step"><label><strong>1 · 机床类型</strong><select data-axis-control="machine-manager-type" aria-label="设计机床类型" value={coordinates} disabled={pending || followLive} onChange={(event) => {
+        const next = event.target.value as "XYZAC" | "XYZBC";
+        edit((draft) => changeMachineType(draft, next)); setTab("structure");
+        setMessage(`设计机型已选择 ${next}；保留模型层级和 XYZ/C 绑定，请重新配置 ${next[3]} 轴并核对标定。可撤销恢复。`);
+      }}><option value="XYZAC">XYZAC · A/C 五轴转台</option><option value="XYZBC">XYZBC · B/C 五轴转台</option></select></label><div><span>2 · 结构与关节 → 3 · 验证与标定 → 4 · 保存 GLB</span><small data-axis-control="machine-manager-type-note">{coordinates === "XYZAC" ? "A 绕 X 倾转，C 绕 Z 回转" : "B 绕 Y 倾转，C 绕 Z 回转"} · 控制面板当前 {controllerCoordinates}{coordinates !== controllerCoordinates ? "；应用或导入模型时切换" : ""}</small></div></div>
       <div className="machine-manager-toolbar"><button type="button" data-axis-control="machine-manager-import" disabled={pending || followLive} onClick={() => file.current?.click()}>导入 GLB 部件</button><button type="button" data-axis-control="machine-manager-undo" disabled={!history.past.length || pending || followLive} onClick={() => changeHistory("undo")}>撤销</button><button type="button" data-axis-control="machine-manager-redo" disabled={!history.future.length || pending || followLive} onClick={() => changeHistory("redo")}>重做</button><span>{parts.length} 个模型 · {bindings.filter((b) => coordinates.includes(b.dof.axis)).length}/5 轴已绑定</span><span className="machine-save-state" data-axis-control="machine-manager-draft-state">{!parts.length ? "新建机床" : applied === signature ? "已应用当前配置" : exported === signature ? "已导出 · 尚未应用" : "配置尚未应用"}</span></div>
       <div className="machine-axis-overview" aria-label="数控轴绑定总览">{[...coordinates].map((axis) => { const binding = bindings.find((b) => b.dof.axis === axis); return <button type="button" key={axis} data-axis-control={`machine-axis-locate-${axis.toLowerCase()}`} className={binding ? "bound" : "missing"} onClick={() => moveToBinding(axis)} title={binding ? `${binding.name} · 父级 ${binding.dof.direction.toUpperCase()} ${binding.dof.sign > 0 ? "+" : "−"}` : `待绑定 ${axis} 轴`}><strong>{axis}</strong><span>{binding?.name ?? "待绑定"}</span><small>{binding ? `${binding.dof.sign > 0 ? "+" : "−"}${binding.dof.direction.toUpperCase()}` : "选择节点"}</small></button>; })}</div>
       <div className="machine-manager-layout">
         <section className="machine-preview-area" aria-label="机床三维预览"><div className="machine-preview-tools">{([ ["fit", "整机适配"], ["selected", "定位选中"], ["front", "正视"], ["top", "俯视"] ] as const).map(([action, label]) => <button key={action} type="button" data-axis-control={`machine-view-${action}`} disabled={!parts.length || (action === "selected" && !selected)} onClick={() => setCommand((current) => ({ action, serial: current.serial + 1 }))}>{label}</button>)}<small>Z ↑ · X 红 / Y 绿 / Z 蓝</small></div>
         {open && <MachineManagerPanelPreview command={command} coordinates={coordinates} parts={parts} selectedId={selectedId} selectedNodePath={selectedNodePath} testPose={effectivePose} onMotionState={receiveMotionState} />}
-        {!parts.length && <div className="machine-preview-empty"><strong>建立机床的数字装配</strong><p>导入 GLB → 选择关节 → 绑定数控轴 → 验证运动</p><button type="button" disabled={pending} onClick={() => file.current?.click()}>导入机床或部件</button><small>支持完整层级 · 单文件不超过 32 MiB</small></div>}
+        {!parts.length && <div className="machine-preview-empty"><strong>建立机床的数字装配</strong><p>选择机床类型 → 导入 GLB → 绑定关节 → 保存机床模型</p><button type="button" disabled={pending} onClick={() => file.current?.click()}>导入机床或部件</button><small>支持完整层级 · 单文件不超过 32 MiB</small></div>}
         <p className="machine-preview-hint">左键旋转 · 滚轮缩放 · 右键平移 · 选中关节显示局部坐标系</p></section>
         <div className="machine-manager-editor">
           <div className="machine-editor-tabs" role="tablist" aria-label="机床配置步骤">{([ ["structure", "结构与关节"], ["motion", "运动验证"], ["calibration", "机床标定"] ] as const).map(([id, label], index) => <button id={`machine-tab-${id}`} role="tab" aria-selected={tab === id} aria-controls={`machine-panel-${id}`} tabIndex={tab === id ? 0 : -1} data-axis-control={`machine-manager-tab-${id}`} key={id} type="button" onClick={() => setTab(id)} onKeyDown={(event) => { const ids: EditorTab[] = ["structure", "motion", "calibration"]; const next = event.key === "ArrowRight" ? ids[(index + 1) % 3] : event.key === "ArrowLeft" ? ids[(index + 2) % 3] : event.key === "Home" ? ids[0] : event.key === "End" ? ids[2] : null; if (next) { event.preventDefault(); setTab(next); document.getElementById(`machine-tab-${next}`)?.focus(); } }}>{label}</button>)}</div>
@@ -305,12 +316,12 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }
           </section>}
           {!selected && <p className="machine-selection-empty">选择层级节点，配置其唯一自由度。</p>}
           </div>
-      <section id="machine-panel-motion" role="tabpanel" aria-labelledby="machine-tab-motion" hidden={tab !== "motion"} className="machine-motion-test"><label><input data-axis-control="machine-joint-follow-live" type="checkbox" checked={followLive} disabled={pending || (!liveReady && !followLive)} onChange={(event) => setFollowLive(event.target.checked)} />跟随数控系统实时关节位置</label><output data-axis-control="machine-joint-live-state">{followLive ? liveReady ? `WASM tick ${visual.tick}` : "实时数据暂不可用，已保持最后姿态；可取消跟随" : "手动验证（相对物理零点）"}</output><header><h3>层级运动测试</h3><button type="button" data-axis-control="machine-test-reset" disabled={pending || followLive} onClick={() => setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 })}>复位</button></header><div>{(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}</div><p>这些输入仅验证模型运动，不向数控系统发送运动命令。</p><details><summary>诊断数据</summary><output data-axis-control="machine-test-state">{JSON.stringify(effectivePose)}</output></details></section>
+      <section id="machine-panel-motion" role="tabpanel" aria-labelledby="machine-tab-motion" hidden={tab !== "motion"} className="machine-motion-test"><label><input data-axis-control="machine-joint-follow-live" type="checkbox" checked={followLive} disabled={pending || (!liveReady && !followLive)} onChange={(event) => setFollowLive(event.target.checked)} />跟随数控系统实时关节位置</label><output data-axis-control="machine-joint-live-state">{followLive ? liveReady ? `WASM tick ${visual.tick}` : "实时数据暂不可用，已保持最后姿态；可取消跟随" : coordinates !== controllerCoordinates ? `设计机型 ${coordinates} 与控制面板 ${controllerCoordinates} 不同；应用或导入后可实时跟随` : "手动验证（相对物理零点）"}</output><header><h3>层级运动测试</h3><button type="button" data-axis-control="machine-test-reset" disabled={pending || followLive} onClick={() => setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 })}>复位</button></header><div>{(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}</div><p>这些输入仅验证模型运动，不向数控系统发送运动命令。</p><details><summary>诊断数据</summary><output data-axis-control="machine-test-state">{JSON.stringify(effectivePose)}</output></details></section>
       <section id="machine-panel-calibration" role="tabpanel" aria-labelledby="machine-tab-calibration" hidden={tab !== "calibration"} className="machine-manager-calibration"><h3>机床标定</h3>{vectorInput("C 轴原点", cOriginMm, setCOriginMm, "mm")}{vectorInput(`${coordinates === "XYZBC" ? "B" : "A"} 到 C 轴偏置`, tiltOffsetMm, setTiltOffsetMm, "mm")}<fieldset className="machine-vector machine-zero"><legend>机床物理零点 (XYZ mm / ABC deg)</legend>{["x", "y", "z", coordinates === "XYZBC" ? "b" : "a", "c"].map((axis) => <label key={axis}>{axis.toUpperCase()}<MachineNumberInput fieldId={`zero-${axis}`} onValidity={validity} disabled={pending || followLive} value={physicalZero[axis as keyof PhysicalZero]} onChange={(value) => setPhysicalZero({ ...physicalZero, [axis]: value })} /></label>)}</fieldset></section>
         </div>
       </div>
       <div className={`machine-validation ${blockingReason ? "needs-attention" : "ready"}`} data-axis-control="machine-manager-validation" role="status">{blockingReason ? `配置检查：${blockingReason}` : "配置检查通过 · 五轴绑定完整"}{disabled && !blockingReason && " · 关机且程序空闲后可应用"}{followLive && " · 实时跟随中，配置编辑已锁定"}{invalidFields.length > 0 && <button type="button" onClick={() => { const id = invalidFields[0]; setTab(id.startsWith("joint-") ? "structure" : id.startsWith("test-") ? "motion" : "calibration"); requestAnimationFrame(() => document.querySelector<HTMLInputElement>('.machine-manager-dialog input[aria-invalid="true"]')?.focus()); }}>定位无效输入</button>}</div>
-      <footer className="machine-manager-footer"><button type="button" data-axis-control="machine-manager-apply" disabled={disabled || pending || followLive || Boolean(blockingReason)} title={disabled ? "关机且程序空闲后可应用" : undefined} onClick={() => void apply()}>应用到 Web LinuxCNC</button><button type="button" data-axis-control="machine-manager-export" disabled={pending || followLive || Boolean(blockingReason)} onClick={() => void exportGlb()}>导出组合 GLB</button><button type="button" data-axis-control="machine-manager-export-json" disabled={!validation.model || pending || invalidFields.length > 0} onClick={exportJson}>导出关节 JSON</button><output role="status" aria-live="polite">{message || "关闭对话框保留本次草稿；导出组合 GLB 可保存并在下次导入恢复。"}</output>{message && <button type="button" aria-label="清除操作消息" onClick={() => setMessage("")}>×</button>}</footer>
+      <footer className="machine-manager-footer"><button type="button" data-axis-control="machine-manager-apply" disabled={disabled || pending || followLive || Boolean(blockingReason)} title={disabled ? "关机且程序空闲后可应用" : undefined} onClick={() => void apply()}>应用到 Web LinuxCNC</button><button type="button" data-axis-control="machine-manager-export" disabled={pending || followLive || Boolean(blockingReason)} onClick={() => void exportGlb()}>保存机床模型 GLB</button><button type="button" data-axis-control="machine-manager-export-json" disabled={!validation.model || pending || invalidFields.length > 0} onClick={exportJson}>导出关节 JSON</button><output role="status" aria-live="polite">{message || "关闭对话框保留本次草稿；保存机床模型 GLB 后，可在控制面板“导入机床模型”中使用。"}</output>{message && <button type="button" aria-label="清除操作消息" onClick={() => setMessage("")}>×</button>}</footer>
       </div>
       <input ref={file} data-axis-control="machine-manager-files" hidden multiple type="file" accept=".glb,model/gltf-binary" onChange={(event) => { const files = event.target.files ? [...event.target.files] : []; event.target.value = ""; void importFiles(files); }} />
     </DraggableDialog>

web/react/src/machine-manager-history.ts

@@ -2,10 +2,10 @@ import { useCallback, useReducer } from "react";
 import type { MachinePartDraft, PhysicalZero } from "./machine-manager";
 import type { Vec3 } from "./machine-urdf";
 
-export type MachineDraft = { parts: MachinePartDraft[]; cOriginMm: Vec3; tiltOffsetMm: Vec3; physicalZero: PhysicalZero };
+export type MachineDraft = { coordinates: "XYZAC" | "XYZBC"; parts: MachinePartDraft[]; cOriginMm: Vec3; tiltOffsetMm: Vec3; physicalZero: PhysicalZero };
 type History = { current: MachineDraft; past: MachineDraft[]; future: MachineDraft[] };
 type Action = { type: "edit"; change: (draft: MachineDraft) => MachineDraft } | { type: "undo" | "redo" | "clear" };
-const initial: MachineDraft = { parts: [], cOriginMm: [0, 0, 0], tiltOffsetMm: [0, 0, 0], physicalZero: { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 } };
+const initial: MachineDraft = { coordinates: "XYZAC", parts: [], cOriginMm: [0, 0, 0], tiltOffsetMm: [0, 0, 0], physicalZero: { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 } };
 export function machineDraftHistory(state: History, action: Action): History {
   if (action.type === "clear") return { current: state.current, past: [], future: [] };
   if (action.type === "undo") { const current = state.past.at(-1); return current ? { current, past: state.past.slice(0, -1), future: [state.current, ...state.future] } : state; }
@@ -15,11 +15,20 @@ export function machineDraftHistory(state: History, action: Action): History {
   if (current === state.current || (draftFingerprint(current) === draftFingerprint(state.current) && current.parts.every((part, i) => part.showOrigin === state.current.parts[i]?.showOrigin))) return state;
   return { current, past: [...state.past, state.current].slice(-30), future: [] };
 }
-export function useMachineDraft() {
-  const [history, dispatch] = useReducer(machineDraftHistory, { current: initial, past: [], future: [] });
+export function useMachineDraft(coordinates: MachineDraft["coordinates"] = "XYZAC") {
+  const [history, dispatch] = useReducer(machineDraftHistory, { current: { ...initial, coordinates }, past: [], future: [] });
   const edit = useCallback((change: (draft: MachineDraft) => MachineDraft) => dispatch({ type: "edit", change }), []);
   return { history, draft: history.current, edit, undo: () => dispatch({ type: "undo" }), redo: () => dispatch({ type: "redo" }), clearHistory: useCallback(() => dispatch({ type: "clear" }), []) };
 }
 export function draftFingerprint(draft: MachineDraft) {
   return JSON.stringify({ ...draft, parts: draft.parts.map(({ id, filename, hash, role, parentId, visible, originMm, translationMm, rotationDeg, nodeParents, nodeRoles, nodeTransforms, nodeJoints }) => ({ id, filename, hash, role, parentId, visible, originMm, translationMm, rotationDeg, nodeParents, nodeRoles, nodeTransforms, nodeJoints })) });
 }
+
+// A different tilt axis requires an explicit new binding: never relabel a physical
+// A joint as B or copy its axis direction/calibration silently.
+export function changeMachineType(draft: MachineDraft, coordinates: MachineDraft["coordinates"]): MachineDraft {
+  if (draft.coordinates === coordinates) return draft;
+  return { ...draft, coordinates, parts: draft.parts.map((part) => ({ ...part,
+    nodeJoints: Object.fromEntries(Object.entries(part.nodeJoints ?? {}).filter(([, joint]) => coordinates.includes(joint.axis))),
+  })) };
+}

web/react/src/styles.css

@@ -510,3 +510,10 @@ output { font: 12px ui-monospace, monospace; text-align: right; }
 .machine-joint-step { display: flex; align-items: center; flex-wrap: wrap; gap: 6px; margin: 8px 0; }
 .machine-joint-step > label { display: flex; align-items: center; gap: 6px; }
 .machine-joint-step button { padding: 5px 9px; border: 1px solid #9babad; border-radius: 3px; background: #fff; }
+.machine-type-step { display: flex; flex: 0 0 auto; align-items: center; gap: 18px; flex-wrap: wrap; padding: 8px 10px; background: #e1efed; border: 1px solid #90b4ad; border-radius: 5px; }
+.machine-type-step > label { display: flex; align-items: center; gap: 10px; }
+.machine-type-step strong { color: #27585d; white-space: nowrap; }
+.machine-type-step select { min-height: 32px; max-width: 100%; }
+.machine-type-step > div { display: flex; flex-direction: column; gap: 4px; font-size: 12px; }
+.machine-type-step small { color: #536467; }
+@media(max-width:850px) { .machine-type-step { gap: 5px; padding: 6px; } .machine-type-step > div > span { display: none; } }