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b/coverage/glb-machine-manager/machine-type/saved-models/MILL700-xyzbc.glb new file mode 100644 index 0000000..9fb0510 Binary files /dev/null and b/coverage/glb-machine-manager/machine-type/saved-models/MILL700-xyzbc.glb differ diff --git a/coverage/glb-machine-manager/machine-type/saved-models/README.md b/coverage/glb-machine-manager/machine-type/saved-models/README.md new file mode 100644 index 0000000..da1a627 --- /dev/null +++ b/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。 diff --git a/coverage/glb-machine-manager/machine-type/test-xyzbc.glb b/coverage/glb-machine-manager/machine-type/test-xyzbc.glb new file mode 100644 index 0000000..c9ec27d Binary files /dev/null and b/coverage/glb-machine-manager/machine-type/test-xyzbc.glb differ diff --git a/coverage/glb-machine-manager/machine-type/workbench-regression.report.json b/coverage/glb-machine-manager/machine-type/workbench-regression.report.json new file mode 100644 index 0000000..bd37c9e --- /dev/null +++ b/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": [] +} diff --git a/docs/glb-machine-manager/01-项目功能内容.md b/docs/glb-machine-manager/01-项目功能内容.md index 89e7da6..9d11bd7 100644 --- a/docs/glb-machine-manager/01-项目功能内容.md +++ b/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。 diff --git a/docs/glb-machine-manager/02-项目程序开发详细步骤.md b/docs/glb-machine-manager/02-项目程序开发详细步骤.md index 42a1dd5..632eb0a 100644 --- a/docs/glb-machine-manager/02-项目程序开发详细步骤.md +++ b/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。 diff --git a/docs/glb-machine-manager/03-推进台账.md b/docs/glb-machine-manager/03-推进台账.md index 5b8eed1..191792f 100644 --- a/docs/glb-machine-manager/03-推进台账.md +++ b/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。 diff --git a/docs/glb-machine-manager/04-任务矩阵.md b/docs/glb-machine-manager/04-任务矩阵.md index 375305f..c55ba94 100644 --- a/docs/glb-machine-manager/04-任务矩阵.md +++ b/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| diff --git a/docs/glb-machine-manager/05-验收证据.md b/docs/glb-machine-manager/05-验收证据.md index 7cc9281..bfcb3b1 100644 --- a/docs/glb-machine-manager/05-验收证据.md +++ b/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`| diff --git a/docs/glb-machine-manager/06-决策记录.md b/docs/glb-machine-manager/06-决策记录.md index 45d14e8..a0f3f20 100644 --- a/docs/glb-machine-manager/06-决策记录.md +++ b/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。 diff --git a/docs/glb-machine-manager/07-单自由度JSON与实时驱动.md b/docs/glb-machine-manager/07-单自由度JSON与实时驱动.md index ddaf4dd..afda915 100644 --- a/docs/glb-machine-manager/07-单自由度JSON与实时驱动.md +++ b/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 diff --git a/docs/glb-machine-manager/README.md b/docs/glb-machine-manager/README.md index 29be793..88b9d72 100644 --- a/docs/glb-machine-manager/README.md +++ b/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： diff --git a/docs/linuxcnc-axis-web-control-panel-source-logic.md b/docs/linuxcnc-axis-web-control-panel-source-logic.md index 28a6c93..adb9420 100644 --- a/docs/linuxcnc-axis-web-control-panel-source-logic.md +++ b/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. diff --git a/scripts/test_axis_control_inventory.mjs b/scripts/test_axis_control_inventory.mjs index 38236b3..eef6fa0 100644 --- a/scripts/test_axis_control_inventory.mjs +++ b/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", diff --git a/scripts/test_machine_joint_dof_browser.mjs b/scripts/test_machine_joint_dof_browser.mjs index 3513eec..60a2cb5 100644 --- a/scripts/test_machine_joint_dof_browser.mjs +++ b/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 diff --git a/scripts/test_machine_manager_browser.mjs b/scripts/test_machine_manager_browser.mjs index 65a3fe6..9fe78be 100644 --- a/scripts/test_machine_manager_browser.mjs +++ b/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"); diff --git a/scripts/test_machine_manager_history.mjs b/scripts/test_machine_manager_history.mjs index 9e4de3c..3bc0762 100644 --- a/scripts/test_machine_manager_history.mjs +++ b/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']})); diff --git a/scripts/test_machine_manager_type.mjs b/scripts/test_machine_manager_type.mjs new file mode 100644 index 0000000..759c620 --- /dev/null +++ b/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)); diff --git a/web/react/src/MachineManagerPanel.tsx b/web/react/src/MachineManagerPanel.tsx index 60b9f79..b07312b 100644 --- a/web/react/src/MachineManagerPanel.tsx +++ b/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 }; 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 ; } -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({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); const [motionState, setMotionState] = useState>({}); 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) => ; const receiveMotionState = (state: Record) => { 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 } setOpen(false)}>
+
2 · 结构与关节 → 3 · 验证与标定 → 4 · 保存 GLB{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" : ""}
{parts.length} 个模型 · {bindings.filter((b) => coordinates.includes(b.dof.axis)).length}/5 轴已绑定{!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"}
{[...coordinates].map((axis) => { const binding = bindings.find((b) => b.dof.axis === axis); return ; })}
{([ ["fit", "整机适配"], ["selected", "定位选中"], ["front", "正视"], ["top", "俯视"] ] as const).map(([action, label]) => )}Z ↑ · X 红 / Y 绿 / Z 蓝
{open && } - {!parts.length &&
建立机床的数字装配

导入 GLB → 选择关节 → 绑定数控轴 → 验证运动

支持完整层级 · 单文件不超过 32 MiB
} + {!parts.length &&
建立机床的数字装配

选择机床类型 → 导入 GLB → 绑定关节 → 保存机床模型

支持完整层级 · 单文件不超过 32 MiB
}

左键旋转 · 滚轮缩放 · 右键平移 · 选中关节显示局部坐标系

{([ ["structure", "结构与关节"], ["motion", "运动验证"], ["calibration", "机床标定"] ] as const).map(([id, label], index) => )}
@@ -305,12 +316,12 @@ export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot } } {!selected &&

选择层级节点，配置其唯一自由度。

}
- +
{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 && }
-
{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。"}{message && }
+
{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。"}{message && }
{ const files = event.target.files ? [...event.target.files] : []; event.target.value = ""; void importFiles(files); }} /> diff --git a/web/react/src/machine-manager-history.ts b/web/react/src/machine-manager-history.ts index afb1865..2cd644f 100644 --- a/web/react/src/machine-manager-history.ts +++ b/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))), + })) }; +} diff --git a/web/react/src/styles.css b/web/react/src/styles.css index cb816f5..5feb344 100644 --- a/web/react/src/styles.css +++ b/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; } }