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+1,30 @@ # 推进台账 +## R05 / 2026-09-18 / 仓库保存 + +- 用户授权：保存到 `https://gitea.meswork.com/wangdequan/linuxcncWebWASM.git` 的 `main` 分支。 +- 保存内容：TRT-UI01 黄色预览路径、TRT-JOG01 M428 Jog 模式保持修复、对应测试、文档、报告和截图。 +- 检查：已获取远程 main；提交前差异格式检查通过。功能验证沿用 E05/E06，本轮没有新增功能修改。 +- 原有大体积 tick trace、linuxcnc 子模块本地改动、临时脚本和用户图片保留在本地。 +- 推送完成以远程 main 与本地 HEAD 的提交 ID 一致为准；下一开发任务仍为 TRT-R01。 + +## R04 / 2026-09-17 / M428 旋转轴 Jog 刀尖跟随 + +- 用户问题：选中 M428 后 Jog 调整 A/C，机床预览没有持续体现刀尖跟随。 +- 根因：`WasmLinuxcncTp.abort()` 在 JOG_STOP 时把 `activeTag` 清零，而 switchkins 仍保持 M428。首轮 Jog 有补偿，松开时关节解跳回 identity，后续 Jog 丢失补偿。另有 Jog ID 与历史程序行 ID 复用的模式映射风险。 +- 改动：`web/worker/wasm-linuxcnc-tp.mjs` 停止只清理队列映射，保留当前坐标系；成功加入 Jog 时记录该段的当前模式，覆盖历史同 ID 条目。正逆解继续使用 WASM，无 Three.js/JS 补偿公式。 +- 测试：新增 `web/react/src/test_trt_rtcp_jog.mjs`、`scripts/test_trt_rtcp_jog_browser.mjs`；更新 `test_xyzac_runtime_followups.mjs` 等待真实 homing 完成后再测试运行/关机。 +- 验证：修复前专项在 `a-released` 明确失败（mode 0 != 1）；修复后两机型均通过。检查连续/增量/反向/重复 Jog、松开无跳变、无效输入、重复停止、程序停止和关机保持、M429 对照及同 ID 段复用。浏览器真实按钮操作 A-C-A-C、B-C-B-C 均通过，快照与实际渲染刀尖一致。详见 E06。 +- 产物：`coverage/trt-parametric/rtcp-jog.report.json`、`rtcp-jog-browser.report.json`、两机型截图。 +- 下一步：TRT-R01；本轮未扩展到既有 checkpoint 全状态精度修复。 + +## R03 / 2026-09-17 / 机床预览路径颜色 + +- 用户要求：Preview 中工作台上的白色刀具预览路径改为黄色。 +- 改动：`web/react/src/XyzacMachineView.tsx` 的普通预览路径材质由 `0xdce7e8` 改为 `0xffff00`，两种 TRT 机型共用。 +- 验证：E05；对应任务 TRT-UI01。 +- 下一步：仍按 TRT-R01 接续。 + ## R02 / 2026-09-17 / 仓库保存 - 用户授权：将本轮成果保存到 `https://gitea.meswork.com/wangdequan/linuxcncWebWASM.git`。 diff --git a/docs/trt-parametric/04-任务矩阵.md b/docs/trt-parametric/04-任务矩阵.md index 95b7a42..0d4c870 100644 --- a/docs/trt-parametric/04-任务矩阵.md +++ b/docs/trt-parametric/04-任务矩阵.md @@ -11,3 +11,5 @@ | TRT-P05 | 参数编辑及文件流程 | P03,P04 | 已验收 | 分组布局、应用/重新读取/导入/保存、保留程序、错误反馈 | E03 | | TRT-P06 | 回归及证据收口 | P03,P04,P05 | 已验收 | 专项、相关回归、构建、桌面/移动交互截图和像素检查通过；既有恢复偏差独立登记 | E02,E03,E04 | | TRT-R01 | 既有 checkpoint 恢复状态精度 | P06 | 待办 | 定位 HAL tick 与 TP queue/progress 恢复差异；将恢复测试的相等性变为有效断言，再验证固定 tick 连续与恢复轨迹 | E04：遗留项 | +| TRT-UI01 | 机床预览路径改为黄色 | P04 | 已验收 | 工作台普通刀具预览路径使用黄色材质 | E05 | +| TRT-JOG01 | M428 旋转轴 Jog 刀尖跟随 | P03,P04 | 已验收 | A/B/C 连续和增量 Jog 使用 RTCP 补偿；松开、重复 Jog 不丢失模式；WASM 与机床模型刀尖位置一致；M429 对照 | E06 | diff --git a/docs/trt-parametric/05-验收证据.md b/docs/trt-parametric/05-验收证据.md index 92beb18..6a4afcf 100644 --- a/docs/trt-parametric/05-验收证据.md +++ b/docs/trt-parametric/05-验收证据.md @@ -56,3 +56,22 @@ PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwrigh | `node web/worker/test_xyzac_recovery.mjs` | 退出 0，但其内部输出恢复前后 HAL tick / TP progress / queue 状态不同，`endpoint_at_checkpoint_equal=false`；登记 TRT-R01，不能声称恢复完全等价 | 本次未重跑全仓历史发布 gate、全部浏览器矩阵或官方 native 对照。专项测试验证浏览器仿真，不是实际机床控制验收。 + +## E05 机床预览路径颜色 + +- 材质检查：`XyzacMachineView.tsx` 普通预览路径使用 `0xffff00`（黄色）。 +- 命令：`node web/react/src/test_xyzac_threejs.mjs`、`npm --prefix web/react run typecheck`。 +- 结果：模型回归及 TypeScript 检查通过。 + +## E06 M428 Jog RTCP 修复 + +- 修复前：`node web/react/src/test_trt_rtcp_jog.mjs` 在 A 连续 Jog 松开时报 `a-released: RTCP motion mode must remain active`，实际模式 0、期望 1。 +- 修复后同命令通过；[WASM 测试报告](../../coverage/trt-parametric/rtcp-jog.report.json)，report_id=`trt-rtcp-jog-v1`。 +- 两机型各 77 个检查点，使用非零 INI 旋转中心。覆盖 A/B/C 连续、负方向增量、重复 Jog、停止、非法值/越界拒绝、PROGRAM_ABORT、关机保持及 M429 不补偿对照；另验证历史程序行 ID 与 Jog ID 复用不污染运动学模式。 +- 编程 TCP 的 XYZ 不变，机器 XYZ 关节随角度改变；模型上同一编程点与刀尖的最大距离：XYZAC `4.48e-16`、XYZBC `4.45e-16` 场景单位。停止前后关节无跳变，motion_trace 和完整面板快照都检查。 +- 浏览器命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_rtcp_jog_browser.mjs`。 +- 页面 `http://127.0.0.1:5174/`，实际操作开机、回零、X/Y 离开旋转中心、选择 M428、连续按住/松开 A-C-A-C 与 B-C-B-C；两个机型均保持 XYZ 补偿，渲染刀尖与 Worker 关节一致，pageerror 为零。 +- [浏览器报告](../../coverage/trt-parametric/rtcp-jog-browser.report.json)，report_id=`trt-rtcp-jog-browser-v1`；截图：[XYZAC](../../coverage/trt-parametric/rtcp-jog-xyzac.png)、[XYZBC](../../coverage/trt-parametric/rtcp-jog-xyzbc.png)。 +- 回归通过：`node web/react/src/test_trt_parametric.mjs`、`node web/worker/test_xyzac_trt_case.mjs`、`node web/worker/test_xyzac_program_replace.mjs`、`node web/worker/test_xyzac_runtime_followups.mjs`、`node web/worker/test_boat_trt_programs.mjs`、`npm --prefix web/react run build`。构建保留既有大 chunk 提示。 +- `runtime_followups` 初次失败因未等待 HOME 完成便启动程序；现等待 WASM homed，并断言 PROGRAM_LOAD/RUN 成功后再验收。 +- job_id / PDF：不适用；使用原有 WASM，无核心 ABI 变更。本轮不声称修复 TRT-R01。 diff --git a/docs/trt-parametric/06-决策记录.md b/docs/trt-parametric/06-决策记录.md index ff40bb0..9b20913 100644 --- a/docs/trt-parametric/06-决策记录.md +++ b/docs/trt-parametric/06-决策记录.md @@ -31,3 +31,9 @@ XYZAC 不支持 x-offset，XYZBC 不支持 y-offset。六项都可见，但不 ## D08 / 2026-09-17 / 异步界面状态 机型选择在 Worker 成功载入后提交；重新读取期间锁定主界面加载动作。参数应用成功但当前程序解析失败时，保留已生效参数并显示程序解析错误，旧路径已清理；不声称整笔操作回滚成功。 + +## D09 / 2026-09-17 / Jog 停止保持坐标系 + +JOG_STOP/abort 停止运动不能隐式执行 M429。保留停止姿态对应的运动学模式，只清理待执行段和历史 ID 映射；重新初始化使用原有 reset 路径。Jog 的 native tag 是段 ID，与运动学模式不同，必须关联本段入队时的当前模式，不能沿用同编号的历史程序行。 + +RTCP 的判据为：旋转 Jog 时刀尖在工件坐标中的 XYZ 不变，机器 XYZ 按 WASM 逆解联动；Three.js 用相同关节投影。若刀尖恰好在 C 旋转轴上，单独转 C 可没有 XYZ 位移，这属于正确几何行为；验收特意先移动 X/Y 离开旋转中心。 diff --git a/docs/trt-parametric/README.md b/docs/trt-parametric/README.md index a6430fc..90b708d 100644 --- a/docs/trt-parametric/README.md +++ b/docs/trt-parametric/README.md @@ -11,7 +11,7 @@ 每轮必须记录实际改动、命令、结果和下一任务。未运行的检查不能记为通过；历史通过任务仅在相关代码改变时回归。此目录是本专项接续入口，历史仿真/发布轨道仍保留原有指针，不据此扩大发布范围。 -当前状态：`TRT-P01` 至 `TRT-P06` 已验收。下一项为矩阵中的 `TRT-R01`，属于既有恢复精度问题，不影响本专项参数应用流程。实现不依赖聊天记录。用户文字提及 Image #1，但本轮未收到可读取的图片资源，布局按现有结构预览实现。 +当前状态：`TRT-P01` 至 `TRT-P06`、`TRT-UI01`、`TRT-JOG01` 已验收。最新修复为 M428 下停止 Jog 后保留 RTCP，避免随后 A/B/C Jog 丢失 XYZ 补偿。下一项为矩阵中的 `TRT-R01`，属于既有恢复精度问题，不影响本专项参数应用流程。实现不依赖聊天记录。用户文字提及 Image #1，但本轮未收到可读取的图片资源，布局按现有结构预览实现。 本地体验地址：`http://127.0.0.1:5174/`。启动命令：`npm --prefix web/react run dev -- --port 5174 --strictPort`；该端口被占用时选择其他端口。 diff --git a/scripts/test_trt_rtcp_jog_browser.mjs b/scripts/test_trt_rtcp_jog_browser.mjs new file mode 100644 index 0000000..453f41d --- /dev/null +++ b/scripts/test_trt_rtcp_jog_browser.mjs @@ -0,0 +1,86 @@ +import assert from "node:assert/strict"; +import { mkdir, writeFile } from "node:fs/promises"; +import { pathToFileURL } from "node:url"; +import { buildXyzacMachine, buildXyzbcMachine } from "../web/react/src/xyzac-machine-model.ts"; + +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL("../coverage/trt-parametric/", import.meta.url); +await mkdir(output, { recursive: true }); +const browser = await chromium.launch({ executablePath: "/usr/bin/google-chrome", headless: true, args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] }); +const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } }); +const errors = []; page.on("pageerror", (error) => errors.push(error.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const machine = page.locator(".xyzac-machine-view"); +const report = { report_id: "trt-rtcp-jog-browser-v1", status: "running", machines: [] }; +const sample = () => machine.evaluate((element) => ({ + joints: JSON.parse(element.dataset.xyzacJoints), offsets: JSON.parse(element.dataset.xyzacOffsets), + tick: Number(element.dataset.xyzacTick), rendered_tick: Number(element.dataset.xyzacRenderedTick), tool_tip: JSON.parse(element.dataset.xyzacToolTip), +})); +const rendered = () => page.waitForFunction(() => { + const e = document.querySelector(".xyzac-machine-view"); return e && e.dataset.xyzacTick === e.dataset.xyzacRenderedTick; +}); +const jog = async (axis, delta, index) => { + await control(`manual-axis-${axis}`).check(); + const before = await sample(); + const button = await control("manual-jog-positive").boundingBox(); + await page.mouse.move(button.x + button.width / 2, button.y + button.height / 2); await page.mouse.down(); + await page.waitForFunction(({ index, initial, delta }) => { + const e = document.querySelector(".xyzac-machine-view"); + return JSON.parse(e.dataset.xyzacJoints)[index] >= initial + delta; + }, { index, initial: before.joints[index], delta }); + await rendered(); const moving = await sample(); + await page.mouse.up(); + await page.waitForFunction(() => document.querySelector(".command-status")?.textContent?.includes("JOG_STOP acknowledged") || [...document.querySelectorAll("span")].some((s) => s.textContent === "JOG_STOP acknowledged")); + await rendered(); + return { axis, before, moving, stopped: await sample() }; +}; +try { + await page.goto(process.env.XYZAC_PANEL_URL ?? "http://127.0.0.1:5174/"); + await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false"); + for (const coordinates of ["XYZAC", "XYZBC"]) { + if (coordinates === "XYZBC") { + await control("toolbar-power").click(); + await page.waitForFunction(() => !document.querySelector('.trt-geometry input[aria-label="x-rot-point"]').disabled); + await control("machine-type-select").selectOption({ label: "XYZBC TRT" }); + await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.xyzacModelId === "xyzbc-trt" && document.querySelector("main")?.dataset.axisProgramLoading === "false"); + } + await control("toolbar-power").click(); await control("manual-home-all").click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + // Move off the rotary centre before enabling TCP, to make C compensation visible. + await jog("x", 4, 0); await jog("y", 3, 1); + await control("switchkins-1").click(); + await page.waitForFunction(() => document.querySelector('[data-axis-control="switchkins-1"]').getAttribute("aria-pressed") === "true"); + await rendered(); + const initial = await sample(); + const model = coordinates === "XYZAC" ? buildXyzacMachine() : buildXyzbcMachine(); + model.update(initial); model.machine.updateMatrixWorld(true); + const target = model.workOrigin.worldToLocal(model.toolTip.getWorldPosition(model.workOrigin.position.clone())); + const rows = []; + for (const axis of [coordinates[3].toLowerCase(), "c", coordinates[3].toLowerCase(), "c"]) { + const row = await jog(axis, 2, axis === "c" ? 4 : 3); + assert.equal(await control("switchkins-1").getAttribute("aria-pressed"), "true"); + assert.ok(row.stopped.joints.slice(0, 3).some((v, i) => Math.abs(v - row.before.joints[i]) > 1e-5), `${coordinates} ${axis}: missing visible XYZ compensation`); + for (const phase of ["moving", "stopped"]) { + const state = row[phase]; model.update(state); model.machine.updateMatrixWorld(true); + const point = model.workOrigin.localToWorld(target.clone()); + const tip = model.toolTip.getWorldPosition(target.clone()); + state.tcp_error = tip.distanceTo(point); + assert.ok(state.tcp_error < 1e-7, `${coordinates} ${axis} ${phase}: ${state.tcp_error}`); + if (phase === "stopped") state.tool_tip.forEach((v, i) => assert.ok(Math.abs(v - tip.toArray()[i]) < 1e-7, "rendered tool tip must match the Worker joints")); + } + rows.push(row); + } + await page.screenshot({ path: new URL(`rtcp-jog-${coordinates.toLowerCase()}.png`, output).pathname, fullPage: true }); + model.dispose(); report.machines.push({ coordinates, rows }); + } + assert.deepEqual(errors, []); report.status = "verified"; +} catch (error) { + report.status = "failed"; report.error = String(error.stack ?? error); + await page.screenshot({ path: new URL("rtcp-jog-failure.png", output).pathname, fullPage: true }); + throw error; +} finally { + report.browser_errors = errors; + await writeFile(new URL("rtcp-jog-browser.report.json", output), JSON.stringify(report, null, 2) + "\n"); + await browser.close(); +} +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, machines: report.machines.map((m) => ({ coordinates: m.coordinates, jogs: m.rows.length, max_tcp_error: Math.max(...m.rows.flatMap((r) => [r.moving.tcp_error, r.stopped.tcp_error])) })), browser_errors: errors })); diff --git a/web/react/src/XyzacMachineView.tsx b/web/react/src/XyzacMachineView.tsx index 90682e2..c3a5f65 100644 --- a/web/react/src/XyzacMachineView.tsx +++ b/web/react/src/XyzacMachineView.tsx @@ -136,7 +136,7 @@ export function XyzacMachineView({ visual, toolpath, view = "p", zoom = 1, rotat // workpiece path together with the physical table. const pathGroup = new THREE.Group(); pathGroup.name = "xyzac-toolpath"; assembly.joints.rotate.add(pathGroup); const liveGroup = new THREE.Group(); liveGroup.name = "xyzac-live-toolpath"; assembly.joints.rotate.add(liveGroup); - const pathMaterials = [0xdce7e8, 0xff9a55, 0x5c9d9a].map((color) => new THREE.LineBasicMaterial({ color })); + const pathMaterials = [0xffff00, 0xff9a55, 0x5c9d9a].map((color) => new THREE.LineBasicMaterial({ color })); const clearLines = (group: THREE.Group) => { group.children.forEach((child) => (child as THREE.Line).geometry.dispose()); group.clear(); }; const limits = new THREE.Box3Helper(new THREE.Box3(), 0xdd7566); scene.add(limits); const offsets = new THREE.AxesHelper(.8); scene.add(offsets); diff --git a/web/react/src/test_trt_rtcp_jog.mjs b/web/react/src/test_trt_rtcp_jog.mjs new file mode 100644 index 0000000..359ac76 --- /dev/null +++ b/web/react/src/test_trt_rtcp_jog.mjs @@ -0,0 +1,123 @@ +import assert from "node:assert/strict"; +import { readFile, mkdir, writeFile } from "node:fs/promises"; +import * as THREE from "three"; +import createModule from "../../../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../../workspace/sim-case-loader.mjs"; +import { writeTrtGeometry } from "../../workspace/trt-geometry.mjs"; +import { MACHINE_DEFINITIONS } from "../../workspace/machine-definitions.mjs"; +import { SimSession, CONTEXT_ID } from "../../worker/sim-session.mjs"; +import { fnv1a64 } from "../../worker/replay.mjs"; +import { buildXyzacMachine, buildXyzbcMachine } from "./xyzac-machine-model.ts"; + +const root = new URL("../../../", import.meta.url); +const fetchImpl = async (url) => { + try { const source = await readFile(new URL(String(url).replace(/^\//, ""), root), "utf8"); return { ok: true, text: async () => source }; } + catch { return { ok: false }; } +}; +const wasmBinary = await readFile(new URL("build-wasm/linuxcnc-sim-core.wasm", root)); +const close = (actual, expected, message) => assert.ok(Math.abs(actual - expected) < 1e-7, `${message}: ${actual} != ${expected}`); +const rows = []; +for (const machine of MACHINE_DEFINITIONS) { + const raw = await loadSimulationCase({ path: machine.entrypoint, fetchImpl }); + const bundle = writeTrtGeometry(raw, { x_rot_point: 9, y_rot_point: -7, z_rot_point: 13 }); + const core = await createModule({ wasmBinary }); + const session = new SimSession(core, { sessionId: `rtcp-jog-${machine.id}` }); let seq = 0; + const send = (kind, payload = {}, expectedKind = null) => { + const result = session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `jog-${seq}`, payload }); + if (expectedKind) assert.equal(result.kind, expectedKind); + else assert.notEqual(result.kind, "ERROR", `${kind}: ${JSON.stringify(result.payload)}`); + return result; + }; + send("HELLO"); send("SESSION_ATTACH"); + send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); + send("POWER", { active: true }); send("HOME", { all: true }); + for (let i = 0; i < 500 && !session.wasmHomeLimit.read().state.homed; i++) send("SIM_STEP", { cycles: 1 }); + assert.equal(session.wasmHomeLimit.read().state.homed, true); + const drain = () => { + for (let i = 0; i < 5000 && session.wasmMotion.read().state.queue_depth > 0; i++) send("SIM_STEP", { cycles: 1 }); + assert.equal(session.wasmMotion.read().state.queue_depth, 0); + }; + send("SET_MODE", { mode: "MDI" }); + send("MDI_EXECUTE", { block: "G21 G90 G1 X12 Y8 Z6 F600" }); drain(); + send("MDI_EXECUTE", { block: "M428" }); + send("SET_MODE", { mode: "MANUAL" }); + const model = machine.coordinates === "XYZAC" ? buildXyzacMachine() : buildXyzbcMachine(); + const start = session.wasmMotion.read().state; + const target = { ...start.position }; + const samples = []; + const check = (phase, snapshot = null) => { + const state = session.wasmMotion.read().state; + assert.equal(session.xyzacKinematics.activeMode, 1, phase); + assert.equal(state.active_tag, 1, `${phase}: RTCP motion mode must remain active`); + for (const axis of ["x", "y", "z"]) close(state.position[axis], target[axis], `${phase}: programmed TCP ${axis}`); + const joints = state.joint_commanded; + const offsets = session.xyzacKinematics.snapshot().offsets; + model.update({ joints, offsets }); model.machine.updateMatrixWorld(true); + const point = model.workOrigin.localToWorld(new THREE.Vector3(target.x * .01, target.z * .01, target.y * .01)); + const tip = model.toolTip.getWorldPosition(new THREE.Vector3()); + const error = tip.distanceTo(point); + assert.ok(error < 1e-7, `${phase}: machine model TCP error ${error}`); + if (snapshot?.visual?.joints) snapshot.visual.joints.forEach((v, i) => close(v, joints[i], `${phase}: visual joint ${i}`)); + if (snapshot?.visual?.motion_trace) for (const sample of snapshot.visual.motion_trace) { + model.update({ joints: sample.joints, offsets }); model.machine.updateMatrixWorld(true); + const samplePoint = model.workOrigin.localToWorld(new THREE.Vector3(target.x * .01, target.z * .01, target.y * .01)); + close(model.toolTip.getWorldPosition(new THREE.Vector3()).distanceTo(samplePoint), 0, `${phase}: live motion trace TCP`); + } + samples.push({ phase, tick: session.tick, pose: state.position, joints, error }); + return state; + }; + check("M428"); + for (const axis of [machine.axes[3], "c", machine.axes[3], "c"]) { + const before = session.wasmMotion.read().state; + send("JOG_START", { axis, direction: 1, continuous: true, increment: null }); + for (let i = 0; i < 15; i++) { + const result = send("SIM_STEP", { cycles: 1 }); + check(`${axis}-continuous-${i}`, result.payload.panel_snapshot); + } + const moving = session.wasmMotion.read().state; + assert.ok(moving.position[axis] > before.position[axis]); + assert.ok(moving.joint_commanded.slice(0, 3).some((v, i) => Math.abs(v - before.joint_commanded[i]) > 1e-5), `${axis}: XYZ compensation missing`); + const stopped = send("JOG_STOP"); + const after = check(`${axis}-released`, stopped.payload.panel_snapshot); + after.joint_commanded.forEach((v, i) => close(v, moving.joint_commanded[i], `${axis}: no release jump`)); + send("SIM_STEP", { cycles: 1 }); check(`${axis}-idle`); + const incrementalStart = session.wasmMotion.read().state.position[axis]; + send("JOG_START", { axis, direction: -1, increment: 1 }); drain(); + close(check(`${axis}-increment`).position[axis], incrementalStart - 1, `${axis}: incremental endpoint`); + } + const beforeInvalid = session.wasmMotion.read().state; + send("JOG_START", { axis: machine.axes[3], direction: 1, increment: 100000 }, "ERROR"); + send("JOG_START", { axis: "c", direction: 1, increment: "invalid" }, "ERROR"); + assert.deepEqual(check("invalid-jog-retains-rtcp").joint_commanded, beforeInvalid.joint_commanded); + send("JOG_STOP"); check("repeated-stop"); + const beforeAbort = session.wasmMotion.read().state.joint_commanded; + send("PROGRAM_ABORT"); + assert.deepEqual(check("abort-retains-rtcp").joint_commanded, beforeAbort); + const poweredOff = send("POWER", { active: false }); + assert.deepEqual(check("power-off-retains-rtcp", poweredOff.payload.panel_snapshot).joint_commanded, beforeAbort); + send("POWER", { active: true }); + send("KINEMATICS_SELECT", { type: 0 }); + const identityBefore = session.wasmMotion.read().state.joint_commanded; + send("JOG_START", { axis: machine.axes[3], direction: 1, increment: 2 }); drain(); + const identityAfter = session.wasmMotion.read().state.joint_commanded; + identityAfter.slice(0, 3).forEach((v, i) => close(v, identityBefore[i], "M429 XYZ uncompensated")); + send("JOG_STOP"); assert.equal(session.wasmMotion.read().state.active_tag, 0); + // A completed program line and a later jog may share the native TP ID. + const reusedId = 400000; + const collisionStart = session.wasmMotion.read().state.position; + assert.equal(session.wasmMotion.enqueue({ end: { ...collisionStart, x: collisionStart.x + .1 }, source_line: reusedId, kinematics_mode: 0, motion_type: 1, velocity: 10 }).status, "verified"); + drain(); send("KINEMATICS_SELECT", { type: 1 }); + assert.equal(session.wasmMotion.jog(5, 1, 2, reusedId).status, "verified"); + for (let i = 0; i < 5000 && session.wasmMotion.read().state.queue_depth > 0; i++) { + send("SIM_STEP", { cycles: 1 }); + assert.equal(session.wasmMotion.read().state.active_tag, 1, "jog must replace the completed line's mode mapping"); + } + assert.equal(session.wasmMotion.read().state.queue_depth, 0); + send("JOG_STOP"); assert.equal(session.wasmMotion.read().state.active_tag, 1); + model.dispose(); + rows.push({ machine: machine.id, samples, identity_before: identityBefore, identity_after: identityAfter, reused_segment_id: "verified" }); +} +const report = { report_id: "trt-rtcp-jog-v1", status: "verified", rows }; +const dir = new URL("coverage/trt-parametric/", root); await mkdir(dir, { recursive: true }); +await writeFile(new URL("rtcp-jog.report.json", dir), JSON.stringify({ ...report, state_hash: fnv1a64(report) }, null, 2) + "\n"); +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, rows: rows.map((r) => ({ machine: r.machine, samples: r.samples.length, max_tcp_error: Math.max(...r.samples.map((s) => s.error)) })) })); diff --git a/web/worker/test_xyzac_runtime_followups.mjs b/web/worker/test_xyzac_runtime_followups.mjs index 15b9db9..d2192ad 100644 --- a/web/worker/test_xyzac_runtime_followups.mjs +++ b/web/worker/test_xyzac_runtime_followups.mjs @@ -31,9 +31,11 @@ assert.equal(blocked.payload.code, "axis_gate"); assert.equal(blocked.payload.reason, "xyzac_machine_off"); assert.equal(blocked.payload.message_key, "xyzac_machine_off"); first.send("POWER", { active: true }); -first.send("HOME", { all: true }); -first.send("PROGRAM_LOAD", { source: PROGRAM, path: "followups.ngc" }); -first.send("PROGRAM_RUN"); +assert.equal(first.send("HOME", { all: true }).kind, "COMMAND_RESULT"); +for (let tick = 0; tick < 500 && !first.session.wasmHomeLimit.read().state.homed; tick++) first.send("SIM_STEP", { cycles: 1 }); +assert.equal(first.session.wasmHomeLimit.read().state.homed, true); +assert.equal(first.send("PROGRAM_LOAD", { source: PROGRAM, path: "followups.ngc" }).kind, "COMMAND_RESULT"); +assert.equal(first.send("PROGRAM_RUN").kind, "COMMAND_RESULT"); const compact = first.send("SIM_STEP", { cycles: 1, response: "motion_delta" }); assert.equal(compact.payload.snapshot_mode, "motion_delta"); assert.equal(compact.payload.panel_snapshot, undefined); diff --git a/web/worker/wasm-linuxcnc-tp.mjs b/web/worker/wasm-linuxcnc-tp.mjs index 7745cfd..3bea4c5 100644 --- a/web/worker/wasm-linuxcnc-tp.mjs +++ b/web/worker/wasm-linuxcnc-tp.mjs @@ -95,7 +95,15 @@ export class WasmLinuxcncTp { setVelocityScale(value) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_velocity_scale", "number", ["number", "number"], [this.planner, Number(value)]); if (result !== 0) throw new Error(`linuxcnc_tp_velocity_scale_${result}`); return this.read(); } setJogScale(value) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_jog_scale", "number", ["number", "number"], [this.planner, Number(value)]); if (result !== 0) throw new Error(`linuxcnc_tp_jog_scale_${result}`); return this.read(); } setAxisLimit(axis, minimum, maximum) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_axis_limit", "number", ["number", "number", "number", "number"], [this.planner, Number(axis), Number(minimum), Number(maximum)]); if (result !== 0) throw new Error(`linuxcnc_tp_axis_limit_${result}`); return this.read(); } - jog(axis, direction, increment, tag = 0) { if (!this.available) return { status: "blocked", code: "linuxcnc_tp_unavailable" }; const result = call(this.core, "sim_linuxcnc_tp_jog", "number", ["number", "number", "number", "number", "number"], [this.planner, Number(axis), Number(direction), Number(increment), Number(tag)]); return result === 0 ? { status: "verified", command: "JOG_START" } : { status: "error", code: `linuxcnc_tp_jog_${result}` }; } + jog(axis, direction, increment, tag = 0) { + if (!this.available) return { status: "blocked", code: "linuxcnc_tp_unavailable" }; + const result = call(this.core, "sim_linuxcnc_tp_jog", "number", ["number", "number", "number", "number", "number"], [this.planner, Number(axis), Number(direction), Number(increment), Number(tag)]); + if (result !== 0) return { status: "error", code: `linuxcnc_tp_jog_${result}` }; + // The native jog tag is a segment ID, not a kinematics mode. Replace any + // earlier program-line mapping with this jog's current coordinate frame. + if (Number(tag) > 0) this.segmentTags.set(Number(tag), this.activeTag); + return { status: "verified", command: "JOG_START" }; + } jogVelocity(axis) { if (!this.available) return 0; const index = { x: 0, y: 1, z: 2, a: 3, b: 4, c: 5, u: 6, v: 7, w: 8 }[String(axis).toLowerCase()]; return index === undefined ? 0 : Number(call(this.core, "sim_linuxcnc_tp_jog_velocity", "number", ["number", "number"], [this.planner, index])); } setPaused(value) { this.controls.paused = Boolean(value); if (this.available) call(this.core, "sim_linuxcnc_tp_set_paused", "number", ["number", "number"], [this.planner, this.controls.paused ? 1 : 0]); return this.read(); } stepLine() { @@ -214,7 +222,13 @@ export class WasmLinuxcncTp { } reset() { if (this.available) call(this.core, "sim_linuxcnc_tp_reset", "number", ["number"], [this.planner]); this.controls.paused = false; this.activeTag = 0; this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3; return this.read(); } - abort() { if (this.available) call(this.core, "sim_linuxcnc_tp_abort", "number", ["number"], [this.planner]); this.activeTag = 0; this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3; return this.read(); } + abort() { + if (this.available) call(this.core, "sim_linuxcnc_tp_abort", "number", ["number"], [this.planner]); + // Stopping motion is not M429: keep the coordinate frame of the stopped + // pose, so its WASM inverse and the next jog retain RTCP compensation. + this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3; + return this.read(); + } exportState() { const current = this.read(); const segments = [];