diff --git a/README.md b/README.md index 94aae8f..5134052 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,11 @@ # LinuxCNC Web/WASM +五轴 GLB / URDF 机床导入（AC / BC、底座双分支）的工作入口： +[`子项目文档、任务矩阵与模型交付`](docs/glb-machine/README.md)。 + +机床预览区的部件级三维机床管理器（GLB 部件、层级、原点、姿态、RTCP 标定和物理零点）入口： +[`三维机床管理器文档、任务矩阵与验收证据`](docs/glb-machine-manager/README.md)。 + 当前配置驱动改造的重启接续入口：[`nextTask-hardcoding.md`](nextTask-hardcoding.md)。 五轴机床 INI 参数化设计（XYZAC / XYZBC）的当前工作入口： diff --git a/coverage/glb-machine-manager/browser-production.report.json b/coverage/glb-machine-manager/browser-production.report.json new file mode 100644 index 0000000..4764258 --- /dev/null +++ b/coverage/glb-machine-manager/browser-production.report.json @@ -0,0 +1,21 @@ +{ + "schema": "machine-manager-browser.v1", + "report_id": "GLB-MGR-E02", + "mode": "production-preview", + "status": "verified", + "checks": [ + "eight GLB parts imported and rendered in the Three.js editor", + "origin visibility, numeric translation/rotation and TransformControls mode update", + "validated assembly exports a self-contained managed GLB", + "validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData", + "same component assembly switches to BC hierarchy and applies BC geometry", + "BC five-axis program drives managed model from authoritative WASM joints", + "production bundle exercised through AC/BC UI apply and WASM program motion" + ], + "browser_errors": [], + "final": { + "program": "aborted", + "machine": "ON", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc" + } +} diff --git a/coverage/glb-machine-manager/browser.report.json b/coverage/glb-machine-manager/browser.report.json new file mode 100644 index 0000000..593710b --- /dev/null +++ b/coverage/glb-machine-manager/browser.report.json @@ -0,0 +1,21 @@ +{ + "schema": "machine-manager-browser.v1", + "report_id": "GLB-MGR-E01", + "mode": "development-source", + "status": "verified", + "checks": [ + "eight GLB parts imported and rendered in the Three.js editor", + "origin visibility, numeric translation/rotation and TransformControls mode update", + "validated assembly exports a self-contained managed GLB", + "validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData", + "same component assembly switches to BC hierarchy and applies BC geometry", + "BC five-axis program drives managed model from authoritative WASM joints", + "AC/BC WASM joint projection subtracts physical zero, preserves userData and rejects invalid hierarchy" + ], + "browser_errors": [], + "final": { + "program": "aborted", + "machine": "ON", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc" + } +} diff --git a/coverage/glb-machine-manager/managed-bc-running.png b/coverage/glb-machine-manager/managed-bc-running.png new file mode 100644 index 0000000..e3cd2dc Binary files /dev/null and b/coverage/glb-machine-manager/managed-bc-running.png differ diff --git a/coverage/glb-machine-manager/manager-ac-config.png b/coverage/glb-machine-manager/manager-ac-config.png new file mode 100644 index 0000000..2c1548d Binary files /dev/null and b/coverage/glb-machine-manager/manager-ac-config.png differ diff --git a/coverage/glb-machine-manager/regression-motion/motion.report.json b/coverage/glb-machine-manager/regression-motion/motion.report.json new file mode 100644 index 0000000..f199a69 --- /dev/null +++ b/coverage/glb-machine-manager/regression-motion/motion.report.json @@ -0,0 +1,2544 @@ +{ + "report_id": "glb-machine-five-axis-motion-v1", + "status": "verified", + "machines": [ + { + "coordinates": "XYZAC", + "source": "G21 G90 G94\nG0 X20 Y10 Z20 A0 C0\nM428\nG1 X35 Y24 Z32 A25 C40 F900\nG1 X24 Y16 Z24 A-20 C-30 F900\nM2\n", + "simultaneous_ticks": 41, + "samples": 42, + "max_error_view_units": 2.2591401799415137e-16, + "trajectory": [ + { + "tick": 131, + "pose": { + "x": 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支持逐个导入自包含 `.glb` 机床部件，不允许依赖外部纹理或网格文件。 +3. 每个部件可绑定 `底座、X、Y、Z、刀具、A/B、C、工件` 角色，并编辑父级关系。可运行结构必须满足： + - 刀具链：底座 → X → Y → Z → 刀具。 + - 转台链：底座 → A/B → C → 工件。 +4. 每个部件可定义局部坐标原点。模型网格相对该原点偏移，运动关节围绕该原点运动。 +5. 每个部件可独立显示或隐藏原点坐标轴辅助线。 +6. 每个部件可用数值和 Three.js 操纵器平移、旋转；变换只修改装配配置，不修改原 GLB 字节。 +7. 可定义 C 轴原点位置和 A/B 到 C 的运动学偏置。应用时写入底座场景节点及整机场景的 `userData.linuxcncMachineGeometry`，同时生成 URDF： + - `C 原点 P = (x-rot-point, y-rot-point, z-rot-point)`。 + - `A/B 偏置 D = (x-offset, y-offset, z-offset)`。 + - 倾转关节原点 `T=P+D`，C 关节原点 `U=-D`，工件固定原点 `-P`。 +8. 可定义 X/Y/Z/A或B/C 的物理零点。模型运动量为 LinuxCNC 实际关节值减去配置的物理零点。 +9. 应用后，控制面板程序执行、Jog、RTCP 切换和刀长变化继续以 Worker/WASM 快照为唯一运动输入；模型不得在 React 中重新计算刀尖逆解。 + +## 数据和单位 + +- UI 中平移、局部原点、C 原点和偏置使用毫米；旋转和物理旋转轴零点使用度。 +- GLB 遵循 glTF 米制、Y-up；生成的 URDF 使用米和弧度、Z-up。 +- 部件源文件、哈希和原始场景保持不变；运行装配使用深复制后的几何与材质。显式“导出组合 GLB”会生成新文件，并将标定数据同时写入整机场景和底座节点 `userData`。 +- 底座 `userData` 至少保存 schema、机型、C 原点、A/B 偏置、物理零点和部件装配摘要。 + +## 安全边界 + +- 当前只生成项目已有求解器支持的 XYZAC 或 XYZBC 双分支 TRT 结构。 +- 层级编辑器允许建立关系，但“应用到控制器”前必须严格验证两条受支持机械链、角色唯一性和无环结构。 +- 未完成八个角色时允许预览和保存草稿，不允许应用到控制器。 +- 模型外观变换不能代替 INI/运动学参数；C 原点和 A/B 偏置必须通过现有配置重载进入 WASM。 +- 不做碰撞、质量、刚体动力学或任意 URDF 求解。 + +## 验收结果 + +- AC 与 BC 均能由八个独立部件建立结构并应用。 +- 对话框预览、原点辅助、平移/旋转和层级变化实时可见。 +- 底座 `userData` 含完整几何及物理零点字段。 +- 运行控制面板后，X/Y/Z/A或B/C Jog 和五轴程序驱动对应部件；工件路径继续附着 C 轴，刀具长度来自 WASM。 +- 非法层级、重复角色、缺失部件、错误机型和外部资源 GLB 明确拒绝，已生效模型不改变。 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 new file mode 100644 index 0000000..2f8f404 --- /dev/null +++ b/docs/glb-machine-manager/02-项目程序开发详细步骤.md @@ -0,0 +1,13 @@ +# 项目程序开发详细步骤 + +1. `MGR-01`：建立本专项 01–06 与 README，冻结数据字段、坐标单位、机械链和验收边界。 +2. `MGR-02`：实现部件 GLB 加载、哈希、外部资源拒绝、装配草稿类型和生命周期清理。 +3. `MGR-03`：实现角色/父级编辑、唯一性和无环校验，生成 XYZAC/XYZBC 严格 URDF 与运行场景。 +4. `MGR-04`：实现对话框 Three.js 预览、部件选择、显示/隐藏和原点坐标轴辅助。 +5. `MGR-05`：实现部件局部原点、数值平移/旋转和 Three.js TransformControls 操纵器。 +6. `MGR-06`：实现 C 原点、A/B 偏置、物理零点，写入底座及整机 `userData`，并映射到 URDF/INI。 +7. `MGR-07`：接入控制面板“应用机床”，复用现有 `LOAD_WORKSPACE`、`PROGRAM_LOAD`、回零失效和 GLB 资源清理事务。 +8. `MGR-08`：验证 WASM 关节值到部件链的映射、刀具/工件/路径坐标一致性及 AC/BC 五轴程序。 +9. `MGR-09`：浏览器交互、错误边界、类型检查、生产构建、截图和报告收口。 + +每轮只推进任务矩阵中依赖已满足的任务。代码完成后必须同步更新 03、04、05；若改变数据契约或坐标定义，先更新 06。 diff --git a/docs/glb-machine-manager/03-推进台账.md b/docs/glb-machine-manager/03-推进台账.md new file mode 100644 index 0000000..1a8f7f2 --- /dev/null +++ b/docs/glb-machine-manager/03-推进台账.md @@ -0,0 +1,22 @@ +# 推进台账 + +## R02 / 2026-09-20 / 部件装配、标定、应用与验收完成 + +- 新增 `machine-manager.ts`：通用自包含 GLB 部件加载、SHA-256、深复制、八角色和两条机械链校验、AC/BC URDF 生成、组合场景、底座/整机 userData、组合哈希。 +- 新增 `MachineManagerPanel.tsx`：机床预览区“三维机床管理”按钮、可拖动大对话框、独立 Three.js 预览、批量部件导入、角色/父级、显隐、原点辅助、数值平移/旋转、TransformControls、C 原点、A/B 偏置和物理零点编辑。 +- 新增“导出组合 GLB”；导出的新文件包含 `linuxcnc.machine/1` URDF，以及整机场景和底座节点上的 `linuxcnc.machine-manager/1` 标定 userData。 +- 接入 App 原有 `LOAD_WORKSPACE` + `PROGRAM_LOAD` 事务。配置和程序应用成功后替换机床；失败候选被释放。关机且空闲门控、程序重解析和回零要求保持。 +- `buildImportedMachine` 按 `WASM joint - physicalZero` 驱动 X/Y/Z/A或B/C，刀长、路径和 RTCP 仍来自 Worker/WASM；有效 INI 参数同步回运行克隆的底座 userData。 +- 浏览器 E01/E02 覆盖 8 个独立 GLB、原点/变换、导出、AC 应用、同一部件切 BC、BC 五轴程序、物理零点、非法层级和生产包。无浏览器错误。 +- 旧五轴整机回归重新通过：AC/BC 各 41 个五轴同时变化 tick、42 个样本，坐标误差低于 `2.5e-16` 视图单位。 +- `gltf-validator` 当前未安装，因此没有重跑旧 Khronos 校验器；旧四个示例 GLB 未修改，历史 `coverage/glb-machine/gltf-validation.report.json` 仍为 verified。本专项生成并下载的组合 GLB 已由浏览器 GLTFExporter 完成往返导出。 +- MGR-01 至 MGR-09 全部完成。下一步按用户体验反馈扩展草稿持久化、部件库或任意新运动学 profile；不自动扩大到碰撞/动力学。 + +## R01 / 2026-09-20 / 专项建立与实现启动 + +- 用户要求在机床预览区新增“三维机床管理”对话框，覆盖部件级 GLB 导入、层级、原点、姿态、RTCP 几何参数、物理零点和控制坐标对应。 +- 核对现有 `docs/glb-machine`、`MachineImportPanel`、严格 URDF 解析、`buildImportedMachine` 和 WASM 关节投影。现有能力只支持已经包含完整层级与 URDF 的整机 GLB，本轮扩展为部件装配编辑器。 +- 建立本目录 01–06 和 README；新增 MGR-01 至 MGR-09 任务链。 +- 决定复用 `linuxcnc.machine/1` 结构：管理器生成合法场景和 URDF，现有 INI/Worker/WASM 继续作为运动和 RTCP 权威。 +- 当前任务：已完成。 +- 下一步：按新需求继续；本专项不重复执行。 diff --git a/docs/glb-machine-manager/04-任务矩阵.md b/docs/glb-machine-manager/04-任务矩阵.md new file mode 100644 index 0000000..ab66e5f --- /dev/null +++ b/docs/glb-machine-manager/04-任务矩阵.md @@ -0,0 +1,13 @@ +# 任务矩阵 + +|任务|状态|依赖|交付与验收标准| +|---|---|---|---| +|MGR-01 文档与契约|verified|-|01–06 与 README 存在；字段、单位、机械链、权威边界明确| +|MGR-02 部件 GLB 加载|verified|MGR-01|多文件导入、SHA-256、外部资源拒绝、资源释放测试通过| +|MGR-03 层级与 URDF|verified|MGR-02|八角色、父级编辑、无环/唯一性、AC/BC URDF 生成与严格解析通过| +|MGR-04 管理器预览|verified|MGR-03|对话框 Three.js 预览、选择、显隐和相机控制可用| +|MGR-05 原点与部件变换|verified|MGR-04|原点辅助显示；数值和操纵器平移/旋转同步| +|MGR-06 RTCP 几何与物理零点|verified|MGR-03|C 原点、A/B 偏置、物理零点写入底座 userData，并正确生成 URDF| +|MGR-07 控制面板接入|verified|MGR-03,MGR-06|“三维机床管理”入口；应用复用 LOAD_WORKSPACE/PROGRAM_LOAD，失败不改旧模型| +|MGR-08 坐标一致性|verified|MGR-07|AC/BC 的 X/Y/Z/A或B/C、刀长、工件和路径由 WASM 状态正确驱动| +|MGR-09 浏览器验收收口|verified|MGR-04,MGR-05,MGR-08|交互/错误/构建/浏览器截图报告通过，03–05 完整更新| diff --git a/docs/glb-machine-manager/05-验收证据.md b/docs/glb-machine-manager/05-验收证据.md new file mode 100644 index 0000000..0b3c535 --- /dev/null +++ b/docs/glb-machine-manager/05-验收证据.md @@ -0,0 +1,39 @@ +# 验收证据 + +## E01 / R01 / 文档与基线 + +- 状态：verified。 +- 文档目录：`docs/glb-machine-manager/`。 +- 基线能力：现有整机 GLB 导入、严格 URDF、几何参数重载和 WASM 关节投影保留。 +- 实现和运行证据见 E02–E04。 + +## E02 / R02 / 开发源浏览器闭环 + +- 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_manager_browser.mjs` +- report_id：`GLB-MGR-E01` +- 报告：`coverage/glb-machine-manager/browser.report.json` +- SHA-256：`d3d15da19d3e8a8c958935a0e9c3840b70fb646d5bc8ffb72805dc744df078a3` +- 状态：verified；浏览器错误 0。 +- 覆盖：8 部件导入和预览、原点显隐、数值/TransformControls 变换、组合 GLB 导出、AC/BC 应用、底座 userData、物理零点、非法层级拒绝、BC 五轴程序。 +- 截图： + - `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `5ca01d26cb83da726319be107aa90069ce96c3197f4297a26e1f836d171a1501` + - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `6e14ff6bc4e493f57e55bb601ded84319ce86f064f7a811595c1e4498b1827a0` + +## E03 / R02 / 生产构建浏览器闭环 + +- 构建：`npm --prefix web/react run build`，通过；只有既有大 chunk 提示。 +- 命令：`MACHINE_MANAGER_SOURCE_MODULES=0 ... node scripts/test_machine_manager_browser.mjs` +- report_id：`GLB-MGR-E02` +- 报告：`coverage/glb-machine-manager/browser-production.report.json` +- SHA-256：`5ba840aa92c37a06e2f19bce7c57234871b085e27951fb44623af74253215388` +- 状态：verified；生产资产执行 AC/BC UI 应用和 BC WASM 程序运动，浏览器错误 0。 + +## E04 / R02 / 回归与静态契约 + +- `node scripts/test_axis_control_inventory.mjs`：verified，99 个文档化控件。 +- `node web/react/src/test_dual_canvas_contract.mjs`：verified。 +- `node web/react/src/test_xyzac_threejs.mjs`：verified。 +- `npm --prefix web/react run typecheck`：通过。 +- `node scripts/test_glb_machine_motion.mjs`：verified；报告 `coverage/glb-machine-manager/regression-motion/motion.report.json`，SHA-256 `91c3fa8ed8037aac8e71b8c76d54c38db9dc011ae25f63553966860b624aa626`。AC/BC 各 41 个同时五轴变化 tick、42 个样本，最大误差分别约 `2.26e-16`、`2.48e-16`。 +- `git diff --check`：通过。 +- `scripts/validate_glb_machines.mjs` 未重跑：本地缺少 `gltf-validator` 包；旧示例 GLB 未修改，历史 Khronos 校验报告仍为 verified。该依赖边界不影响新管理器的浏览器导入、导出和运行证据。 diff --git a/docs/glb-machine-manager/06-决策记录.md b/docs/glb-machine-manager/06-决策记录.md new file mode 100644 index 0000000..e709eca --- /dev/null +++ b/docs/glb-machine-manager/06-决策记录.md @@ -0,0 +1,29 @@ +# 决策记录 + +## D01 / 继续使用 LinuxCNC WASM 作为运动权威 + +部件编辑器只生成模型结构和标定参数。程序执行、Jog、刀长、运动学类型和关节位置仍来自 Worker/WASM 快照。Three.js 不实现第二套 RTCP 或逆运动学。 + +## D02 / 运行结构保持 `linuxcnc.machine/1` + +现有严格 URDF 校验、配置写入和运行投影已经验收。部件管理器输出同一结构，可复用所有运行能力并避免引入并行格式。编辑草稿使用独立 schema，只有验证成功后才转换成运行结构。 + +## D03 / 编辑层级自由，应用层级受求解器限制 + +UI 允许用户选择父级以建立层级和发现错误；应用时只接受底座→X→Y→Z→刀具及底座→A/B→C→工件。当前 WASM 只支持这两类 TRT，不能把任意树伪装成可执行机床。 + +## D04 / 原 GLB 不原地改写 + +导入部件的源字节和场景保持不变。局部原点和平移/旋转存在装配配置中，应用时创建深复制运行场景。标定数据写入运行装配中底座节点及整机场景的 userData；“导出组合 GLB”将该装配序列化为新的自包含 GLB，原部件文件不被覆盖。 + +## D05 / C 原点与 A/B 偏置的唯一映射 + +沿用 `trtfuncs.c` 和既有参数契约：C 原点 P 对应 rot-point，A/B 偏置 D 对应 offset；URDF 使用 T=P+D、U=-D、work=-P。该公式是控制模型坐标对应的唯一来源。 + +## D06 / 物理零点是模型校准，不改控制器关节值 + +物理零点保存为每轴的模型零姿态标定值。渲染位移/转角使用 `WASM joint - physicalZero`，但不修改 Worker、INI 的回零位置或程序坐标。改变真实回零参数仍应通过机床配置完成。 + +## D07 / 组合 GLB 只通过显式导出生成 + +普通编辑和“应用到 Web LinuxCNC”不触碰用户原文件。只有用户点击“导出组合 GLB”时才用 GLTFExporter 生成新文件。导出包含部件层级、URDF、底座标定 userData 和整机场景标定 userData。 diff --git a/docs/glb-machine-manager/README.md b/docs/glb-machine-manager/README.md new file mode 100644 index 0000000..d0190a4 --- /dev/null +++ b/docs/glb-machine-manager/README.md @@ -0,0 +1,25 @@ +# Web LinuxCNC 三维机床管理器 + +本目录是“三维机床管理器”专项的唯一接续入口。工作顺序固定为： + +1. 阅读 [04-任务矩阵](04-任务矩阵.md)，选择首个未完成且依赖满足的任务。 +2. 阅读 [03-推进台账](03-推进台账.md) 最新一轮和 [06-决策记录](06-决策记录.md)。 +3. 按 [02-项目程序开发详细步骤](02-项目程序开发详细步骤.md) 实施。 +4. 验收后把命令、报告、截图写入 [05-验收证据](05-验收证据.md)，同步任务状态和推进台账。 + +专项目标是在 Web LinuxCNC 机床预览区提供“三维机床管理”对话框，支持 GLB 部件导入、AC/BC 两条机械链装配、部件原点和姿态编辑、原点辅助显示、RTCP 几何参数及物理零点定义，并保证模型运动与 LinuxCNC WASM 的实际关节坐标一致。 + +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-01 至 MGR-09 全部 verified。最新台账 R02，浏览器证据 `GLB-MGR-E01/E02`，截图和报告位于 `coverage/glb-machine-manager/`。 + +文档： + +- [01-项目功能内容](01-项目功能内容.md) +- [02-项目程序开发详细步骤](02-项目程序开发详细步骤.md) +- [03-推进台账](03-推进台账.md) +- [04-任务矩阵](04-任务矩阵.md) +- [05-验收证据](05-验收证据.md) +- [06-决策记录](06-决策记录.md) + +相关旧专项：[GLB / URDF 五轴机床子项目](../glb-machine/README.md)。旧专项已完成整机导入、AC/BC 识别、几何参数同步和实际关节驱动，本专项不重复这些底层能力。 diff --git a/docs/glb-machine/01-子项目功能内容.md b/docs/glb-machine/01-子项目功能内容.md new file mode 100644 index 0000000..c33e282 --- /dev/null +++ b/docs/glb-machine/01-子项目功能内容.md @@ -0,0 +1,103 @@ +# 子项目功能内容 + +## 需求与边界 + +用户指定两条机械链：底座 → X → Y → Z → 主轴箱；底座 → A → C。BC 将 A 替换为 B。线性轴移动刀具侧，转台固定在底座的另一分支。提供原创 AC 和 BC 标准型、AC 和 BC 桁架型四个完整 GLB，均包含几何、材质、节点和 URDF，不依赖外部模型文件。 + +预览区提供 GLB 导入、AC/BC 示例加载及下载，显示识别的机型、层级、摇篮中心和 RTCP 参数。关机且空闲时应用；验证完成才重载配置；保留程序并重新解析、失效原回零/不兼容恢复记录。普通 GLB 缺少结构描述时不能猜测机床参数。 + +## URDF 数据契约 v1 + +GLB 默认场景 `extras.linuxcncMachine = { schema: "linuxcnc.machine/1", urdf: "..." }`，Three.js 加载后位于 `scene.userData.linuxcncMachine`。XML 使用标准 URDF link/joint/origin/axis/limit，增加命名空间 `xmlns:cnc="urn:linuxcnc:web:machine:1"` 的 `cnc:machine` 和 `cnc:axis`，标准 URDF 与应用绑定分开。 + +- SI：origin.xyz 米，rpy/关节角弧度；机床坐标右手 Z 向上。GLB 最外层 `urdf_frame` 绕 X -π/2，将 Z-up 转到 glTF Y-up；不得将毫米直接作为 glTF 米。 +- 每个 link 对应唯一 GLB 节点同名，节点局部静止位姿必须与父 joint.origin 相同，视觉网格放在 link 的子节点，不能把轴心烘焙进顶点后伪造节点层级。 +- `cnc:machine` 显式绑定 base/tool/work 三个 link；每个运动 joint 的 `cnc:axis coordinate="X|Y|Z|A|B|C"` 绑定 LinuxCNC 坐标。不相信机型字符串：根据拓扑、joint.type 和 axis 推断 AC/BC。 +- v1 接受正交 XYZ 刀具链、正向 X(A) 或 Y(B) 倾转轴以及其子 Z(C) 轴；局部 rpy=0。任意斜轴、头头/头台结构、mimic 或额外运动轴明确拒绝，后续扩展需新增求解器。 +- 限位、速度和 effort 必须有限且合法；URDF limit 用作导入运动范围校验，运行加速度、回零、伺服周期仍由对应 INI 提供，结构模型不能推断这些参数。 +- 摇篮 joint.origin 为 T，C joint.origin 为 U；零位 C 原点 P=T+U。映射 `rot_point=P*1000`，`offset=-U*1000`。AC 要求 U.x=0；BC 要求 U.y=0。work 固定 joint.origin=-P，保证零角下程序坐标原点与机床原点相同。 +- 主轴箱零基准位于线性链原点；刀长来自 LinuxCNC 工具状态，不从外观网格猜测。遵循 trtfuncs.c 的 master-tool 约定处理工具长度与程序路径参考。 + +## 验收 + +两文件可独立导入；AC/BC 自动识别；结构与 GLB 节点一致；非零中心/偏置进入 WASM；多姿态与非零刀长时刀尖和工件程序点吻合；错误文件不更改已生效配置；浏览器导入、切换、门控、渲染及相关回归通过。 + +## 字段示例与制模约定 + +```json +{ + "extras": { + "linuxcncMachine": { + "schema": "linuxcnc.machine/1", + "urdf": "..." + } + } +} +``` + +```xml + + + + + + + + + + + + + + + + +``` + +|数据|AC 示例（mm）|BC 示例（mm）|提取方法| +|---|---|---|---| +|倾转轴中心 T|24, 6, -37|4, 14, -28|A/B joint.origin| +|C 相对倾转轴 U|0, -18, 45|-22, 0, 40|C joint.origin| +|原生 rot-point P|24, -12, 8|-18, 14, 12|T + U| +|原生 offset D|0, 18, -45|22, 0, -40|-U| + +```mermaid +flowchart TD + root[urdf_frame: Z-up → glTF Y-up] --> base[base 底座] + base --> x[x_slide / X] + x --> y[y_slide / Y] + y --> z[z_slide / Z] + z --> tool[spindle_head 主轴箱/刀具基准] + base --> tilt[tilt_table / A 或 B] + tilt --> c[c_table / C] + c --> work[work_frame 程序参考] +``` + +八个 link 名可以自定义，但必须唯一并通过 URDF 引用；link 节点直接父子关系保持上述两条链，网格作为 link 的子节点。不依赖网格的名称或数量。关节静止变换可以写 glTF TRS 或等价 matrix，禁止额外缩放/旋转而不反映到结构数据。外观尺寸、颜色不进入 RTCP 参数。 + +完整示例：[AC URDF](../../web/react/public/machines/demo-ac-xyz-head.urdf)、[BC URDF](../../web/react/public/machines/demo-bc-xyz-head.urdf)。GLB 是唯一必需输入；旁边的 XML 和 manifest 只用于阅读与核验。 + +## 当前实现边界 + +导入资产保存在当前页面内存；刷新后须重新导入。不会向原 INI 或宿主磁盘自动写入，仍可通过现有“保存 INI”导出。修改/重新读取同机型 INI 时保留导入 GLB，同步更新有效 URDF 的轴心、偏置和工件参考系；手工切换机型才回到内置模型。跨 AC/BC 保留原程序，若原程序无法在新机型解析，明确提示“机床已应用，但程序解析失败”。 + +GLB 不提供完整工业机床控制配置、不做碰撞检测、质量/动力学仿真或任意 URDF 求解。示例 effort 为 URDF 结构字段，本仿真不据此宣称力矩控制。URDF 角度行程以匹配已有 LinuxCNC 示例配置为目的，不代表实际摇篮无碰撞范围。 + +2026-09-18 界面更新：导入/示例/结构信息和几何参数均在按钮打开的可拖动对话框中，预览顶部只保留“导入机床模型”“机床参数”两个入口，详见 D09 / GLB-UI01 / E07。 + + +## 参数化桁架型（2026-09-18 新增） + +|示例|URDF profile|刀具侧|工作台侧|结构节点| +|---|---|---|---|---| +|AC / BC 示例|trt-xyz-head/1|底座→X→Y→Z→主轴箱|底座→A或B→C|8 link / 7 joint| +|AC / BC 示例桁架型|trt-xyz-gantry/1|底座→X→Y→Z|底座→A或B→C|7 link / 6 joint| + +两类均为五个运动轴。桁架型的 `cnc:machine tool="z_slide"` 直接绑定 Z；另有固定 work_frame 挂 C，作为程序参考坐标，并非第六运动轴。四柱/纵向轨道固定在底座，移动横梁属于 X，横梁滑座属于 Y，滑枕及主轴网格属于 Z。 + +参数修改继续使用旋转中心与轴间偏置入口；实际导入模型保留，当前有效 URDF 和 WASM 同步。桁架与标准型共用相同的 AC/BC 原生参数含义，SI 单位、根坐标转换、刀长和几何编辑规则不变。示例外观尺寸在生成器中定义，不由编辑旋转中心自动重建 CAD 网格。 + +交付：[AC 桁架 GLB](../../web/react/public/machines/demo-ac-gantry.glb)、[AC 桁架 URDF](../../web/react/public/machines/demo-ac-gantry.urdf)、[BC 桁架 GLB](../../web/react/public/machines/demo-bc-gantry.glb)、[BC 桁架 URDF](../../web/react/public/machines/demo-bc-gantry.urdf)。 diff --git a/docs/glb-machine/02-子项目程序开发详细步骤.md b/docs/glb-machine/02-子项目程序开发详细步骤.md new file mode 100644 index 0000000..fde6402 --- /dev/null +++ b/docs/glb-machine/02-子项目程序开发详细步骤.md @@ -0,0 +1,16 @@ +# 子项目程序开发详细步骤 + +1. GLB-01：记录规范、网络资源与方案；明确节点关系、单位和原生参数映射。 +2. GLB-02：实现 GLB 容器预检与 URDF 严格解析、拓扑/绑定/位姿校验；生成独立结构描述。 +3. GLB-03：可复现生成 AC/BC 模型、内嵌 URDF、单独导出可阅读 XML 和资源清单；节点名与 XML 一致。 +4. GLB-04：预览区导入及示例；先完成验证再重载匹配 INI，写入解析参数，Worker 仍二次解析 INI；显示成功或失败与参数来源。同机型配置改动后保留 GLB，更新有效 URDF 和运行参数；显式更换机型才卸载。 +5. GLB-05：URDF link 按真实 WASM 关节做刚体位姿投影，路径附着 C 轴，刀长取运行状态；不在 JS 重写逆解。 +6. GLB-06：解析拒绝用例、非零参数/刀长与 WASM 几何交叉验证、浏览器导入/门控/截图、类型检查及构建；整理 SHA 和证据、任务状态、接续入口。 + +原有本地改动不加入本专项。只运行相关测试，不重跑全仓验收、不修改上游或历史 release gate。 + +7. GLB-UI01（后续需求）：共享可拖动对话框、预览布局和快捷键隔离，适配导入/参数原流程；验证鼠标/触摸、视口边界、焦点和画布尺寸，证据独立保存在 dialogs 子目录。 + +8. GLB-GEO01：几何参数写入有效 URDF，源 GLB/共享网格保留；校验应用、INI 重读/导入、重复编辑、失败和机型切换边界，以及改参数后的 WASM/模型和真实 RTCP Jog。 + +9. GLB-GAN01：独立桁架 profile、参数化生成两模型、四例注册入口；验证正确分支运动、导入/下载/几何编辑、真实 WASM/五轴程序及原 profile 兼容，证据 gantry 子目录。 diff --git a/docs/glb-machine/03-推进台账.md b/docs/glb-machine/03-推进台账.md new file mode 100644 index 0000000..1a111c1 --- /dev/null +++ b/docs/glb-machine/03-推进台账.md @@ -0,0 +1,103 @@ +# 推进台账 + +## R09 / 2026-09-18 / 初学者工件坐标与 G 代码完整讲义 + +- 用户要求在RTCP课件基础上系统扩充工件坐标：坐标含义、原点和方向确定、G代码逐值解析与运动，整个讲义面向初学者。 +- 新增 `docs/teaching/rtcp-beginners/`，72页A4完整教材，约2.6万正文字符；保留原31页投影概要。新书以坐标尺子入门，区分M/W/J/K/T，再讲工件原点测量、初始方向、G54配准和动态RTCP，最后进入完整程序与实验/答案。 +- 核心细化：物理固连工件架与G54偏置表不同；本课G54是零位配准输入，动态方向与原点由运动学继续变换。解释G10 L2/L20、G90/G91、单位、F与其他字的上下文，明确普通坐标旋转和完整刀补不等于自动RTCP。 +- 新增六个生成/验证脚本：`generate_rtcp_beginner_data.mjs`、`generate_rtcp_beginner_figures.py`、`generate_rtcp_beginner_html.py`、`subset_rtcp_beginner_fonts.py`、`render_rtcp_beginner_pdf.mjs`、`verify_rtcp_beginner_pdf.py`。 +- 数值实测：o=(40,20,10)、BC、P=D=L=0。11个主段、11个额外单位/G54-G55/L20段核对；N10–N90加M2通过实际解释器/TP/WASM执行完成，53个采样，终点与逐行结果一致。M429/M428另按保持物理关节接口核对。 +- 图像：9张新增原创坐标图，复用11张旧原创图；72页逐页边界/图片/标题检查和Poppler独立渲染检查。字体同形部首导致复制字符不符的问题，通过按实际字符制作Noto SC子集解决；保留字体许可，严格检查所有72页标题可正确提取。 +- 记录能力边界：本项目解释器是功能切片，完整G43/H刀表、G52/G92、任意方向和所有进给模式不在本次全面验收范围；以官方语义讲解时明确区分，未把“解析接受”当成完整实现。 +- 验证见E13，文件含目录/书签、HTML源稿、测试数据、教学NGC与复现步骤。未修改运行功能，原本地改动、旧PDF和历史证据保留；未提交/推送。 +- 下一步：教材已完整交付，按后续教学内容修订需求推进。 + +## R08 / 2026-09-18 / 五轴与 RTCP 教学 PDF + +- 用户要求完善“非RTCP各轴独立”和“RTCP坐标随转台变换、刀尖跟随”的理解，提供图文教学课件。 +- 新增 `docs/teaching/rtcp-five-axis/`：31页16:9中文PDF、可编辑HTML、9张原创原理图、2张无界面控件的桁架模型图、数值报告、目录与逐页验证。 +- 明确范围：XYZ加AC或BC；独立驱动不等于不能协调插补；程序坐标须经过单位/增量/零点/刀补；RTCP不仅改变方向，还处理中心/偏置/刀长；模式切换应固定物理关节。加入非RTCP后置计算、TCP/倾斜平面差异、限位与版本化M码说明。 +- 生成脚本：`generate_rtcp_teaching_data.mjs`、`generate_rtcp_teaching_figures.py`、`capture_rtcp_teaching_models.mjs`、`generate_rtcp_teaching_html.py`、`render_rtcp_teaching_pdf.mjs`、`verify_rtcp_teaching_pdf.py`。 +- 验证 E12：真实WASM十二个姿态正逆解、方向增量/切换算例；31页DOM边界和图片加载检查；Poppler独立渲染所有PDF页并目视检查；PyPDF核验31页、16:9、中文文本、字体自包含、39个书签。 +- 中间排版修正：两页接近/越过页脚，调整公式和图形间距后严格边界检查通过；字体检查增加对Chrome嵌入Type3字形程序的正确识别，pdffonts也确认emb=yes。没有改应用功能或覆盖前轮证据。 +- 下一步：课件可直接教学，按后续内容修订需求更新。原有本地改动保留，本轮未提交/推送。 + +## R07 / 2026-09-18 / Jog 限位与序列恢复、阴影警告 + +- 用户截图：XYZBC B=50.2275°，Connection: ERROR / event_sequence_gap。配置 AXIS_B 范围大，但 JOINT_3 上限=50°；连续 Jog 只以坐标限位作为目标，越过关节限位后原生 FK 返回 -702。首次 Worker 复现得到 `SIM_STEP: wasm_xyzac_forward_-702`。 +- 第二层根因：SIM_STEP 执行前把请求的未来 tick 写入事件日志，实际在较早 tick 失败；下一命令发生 tick 回退，未写事件而协议已消费序号，再下一命令出现 sequence_gap。 +- `wasm-linuxcnc-tp.mjs`：对于能直接映射关节的坐标，Jog 临时采用 AXIS/JOINT 限位交集，原生 TP 计算目标和减速，随后恢复正常坐标限位。RTCP 耦合的 XYZ 关节由真实 WASM IK/FK 在每个伺服样本检查；越界则取消剩余轨迹并回到上一个有效样本，发布限位停止而不是继续越界。 +- `sim-session.mjs`：SIM_STEP 完成/失败后写入实际 tick；成功时仍在 checkpoint 前完成事件记录。调度异常时停止运动，并同步协议/任务时钟。`sim-scheduler.mjs` 中异常保留已尝试 tick，同步 native scheduler，未执行的未来周期不再占用时钟。 +- UI 将限位拒绝标为 blocked，与 Worker 连接故障区分；Jog 采样出错显示具体原因。到限位后 JOG_STOP、反向 Jog、SNAPSHOT_REQUEST、checkpoint/恢复均可继续。 +- 用户补充控制台截图仅为 PCFSoftShadowMap 弃用提示，与事件故障无关；XyzacMachineView 改为 PCFShadowMap，Chrome 再测 warnings=[]。 +- 验证 E11：两机型直接旋转轴50°限位/反向退出、RTCP引发Y接近100mm限位/反向退出、失败后序号及原生事件游标一致、部分tick、无效cycles、checkpoint恢复通过。真实浏览器两机型反复Jog、松开停止、限位后再次运动/画面非空通过；120个精确恢复续跑样本、五轴程序、单步、基础session/scheduler/replay及生产构建通过。 +- 旧 `test_xyzac_manual_control.mjs` 在回零尚未完成时期待 homed_mask=1，旧 `test_xyzac_button_constraints.mjs` 期待关机优先而得到 not_all_homed；使用只读 HEAD 模块加载器复核也在相同断言失败，保留日志，未修改门控或放宽断言。 +- 证据归入 coverage/glb-machine/jog-limits/，不改此前证据、上游、本地trace/图片/临时文件。无 C/WASM 变更，无需重建原生核心。本轮及前轮变更仍未提交/推送。 +- 下一步：专项收口；已进入旧序号错误的浏览器会话需刷新，重新导入模型并回零，不能伪造缺失事件来修补旧会话。 + +## R06 / 2026-09-18 / AC、BC 参数化桁架示例 + +- 用户要求保留 AC/BC 示例，新增 AC/BC 桁架型，结构为底座→X→Y→Z、底座→A/B→C。 +- 原 AC/BC 导入示例已经采用双链，但存在 Z→主轴箱固定 link。本轮桁架型独立 profile `trt-xyz-gantry/1`，七 link、六 joint、五运动轴，tool 直接绑定 Z。原 profile `trt-xyz-head/1` 与原模型保持。 +- `generate_glb_machines.mjs` 新增四柱桁架、固定纵向 X 轨、属于 X 的整根桁架横梁、属于 Y 的横梁滑座、属于 Z 的滑枕/主轴外形。转台仍独立挂到底座；生成两个新单文件 GLB 及 XML。 +- `machine-urdf.ts` 只对新 profile 放行对应 link/joint 数量和 Z 工具绑定；保留树/单位/轴向/运动学校验。MachineImportPanel 从 manifest 读取四个例子的按钮名和路径，结构文字根据 profile 显示。 +- 新增 `test_gantry_machine_browser.mjs`；原参数编辑测试和五轴程序测试增加可选 GLB_MACHINE_VARIANT/GLB_EVIDENCE_DIR，复用完整原断言。标准校验脚本支持独立证据目录。 +- 验证 E10：四个入口和下载、标准 profile 兼容；新模型各分支父子关系、X/Y/Z 分别带动对应外形、底座/转台独立；三类错误新 profile 拒绝；参数应用/INI 保存导入重读保持模型、各18个WASM姿态/刀长、实际 RTCP Jog；每机型41个五轴同时变化采样间隔、42个轨迹投影。四个 GLB 均0错误/警告；重复生成和生产资产一致，原AC/BC字节SHA未变。桌面/手机与类型检查/构建通过。 +- 原有本地改动及此前证据保留；本轮独立 `coverage/glb-machine/gantry/`。无 native C/WASM 变更、无外部模型资产。 +- 下一步：任务已验收，无待办；按新目标继续。所有功能改动仍未提交/推送。 + +## R05 / 2026-09-18 / 几何编辑保留导入机床 + +- 用户发现导入 GLB 后“应用参数”会切回内置机床。根因是 App.applyGeometry 在非导入调用时执行 setImportedMachine(null)，属于 R02 为防止参数脱节制定的旧策略。用户新需求覆盖此策略，新增 GLB-GEO01。 +- 修复前 `scripts/test_imported_geometry_browser.mjs` 明确复现：应用后 GLB hash 从源文件 SHA 变成空串；before.log 保留。 +- `imported-machine.ts` 新增 updateImportedMachineGeometry：验证机型、运行限位/速度及 INI 参数，按节点绑定更新当前有效 URDF 的 A/B、C、work origin，并重新解析校验；支持用户自定义 joint 名称。源 scene、网格、材质、文件名与 SHA 不变。 +- buildImportedMachine 的运行克隆使用有效 URDF 设置所有 link 的零位，包括固定 work frame；运动继续采用真实 WASM 关节。App 在 Worker 成功加载配置后提交候选结构；参数预检失败保持旧模型，程序重解析失败则明确报告已应用配置。 +- App 资源清理依赖 source scene 是否更换，避免几何对象变更时误释放共享网格。导入详情显示当前参数，并说明源 GLB 未改写。显式机型选择仍卸载旧 GLB。 +- 同机型“应用参数”“重新读取 INI”“导入 INI 后应用”均保留模型；重复相同参数不累加位移。对应更新原 GLB 浏览器脚本的 INI 重载预期，保留所有其他断言。 +- 验证 E09：AC/BC 的真实 UI 原路径复现、保存/导入/重读、非法输入保留状态、开机门控、机型切换，以及各 18 个不同角度/刀长的 WASM 交叉验证和改参数后实际 RTCP Jog 均通过。原 GLB 全专项、内置参数编辑回归及类型检查/构建通过。 +- 测试修正：details 展开状态在 AC→BC 切换时会保留，最初无条件点击反而折叠导致文本断言失败；改为仅在折叠时点击，未放宽内容断言。 +- 证据独立在 coverage/glb-machine/geometry-edit/；旧报告保持，不修改源 GLB 或上游/原有本地改动。 +- 下一步：本专项已验收，按新需求推进。当前所有本地功能变更仍未提交/推送。 + +## R04 / 2026-09-18 / 空闲 M429/M428 切换刀尖跳动 + +- 用户截图中 XYZ 坐标保持不变，而 J0/J1/J2 随按钮切换改变，模型真实反映了错误关节值，并非 GLB 层级或显示坐标 bug。新增 TRT-SW01。 +- 复现：新增 `web/worker/test_trt_switch_stationary.mjs`，修复前在 AC、A=4.8675° / C=179.88° 下 M428 将 J0 从 0 改为 47.97481463927447 mm，强断言失败；保留 before.log。 +- 根因：`SimSession.switchXyzacKinematics()` 使用保持旧 pose 并逆解的 select()。改为已有 WASM selectPhysical()，输入当前规划器关节，计算新模式下坐标。随后同步 TP 和解释器。 +- `wasm-linuxcnc-tp.mjs` 的 setPosition 增加可选模式参数，坐标和模式一起更新后才 read，避免中间态把旧坐标交给新模式逆解，尤其接近行程边界时错误越限。默认调用行为保持。 +- `test_xyzac_trt_case.mjs` 保留原坐标同步断言并补充关节不变断言；新增实际浏览器按钮/MDI/后续 Jog 专项。 +- 验证 E08：两机型 64 次 Worker 切换、22 次浏览器切换；截图姿态、非零中心/偏置、接近边界、重复模式、M430、空闲 tick、增量/坐标偏置、运行中/非法模式拒绝；实际渲染刀尖不动。原 RTCP Jog、TRT case、单步流程、运行后续和生产构建通过。 +- 浏览器测试先等待 MDI 到位，再切回 Manual 刷新控件状态后选择切换按钮；第一次直接等待按钮门控刷新超时，未作为通过证据。 +- 证据独立保存 `coverage/glb-machine/switching/`，未覆盖前轮验收；未修改 native C/WASM 或上游 LinuxCNC。 +- 下一步：任务已验收，刷新页面载入新 Worker 后重新导入 GLB 即可体验；本轮及前轮改动均未提交/推送，原有本地保留项不变。 + +## R03 / 2026-09-18 / 预览放大与可拖动设置对话框 + +- 用户截图显示导入说明和参数表占据预览高度，机床仅剩很小显示区域；新增 GLB-UI01。 +- `App.tsx` 把两个入口合为机床预览顶部紧凑工具条；`MachineImportPanel.tsx` 与 `TrtGeometryPanel.tsx` 的表单移入共享 `DraggableDialog.tsx`。模型画布占据其余高度，不改变左右预览比例。 +- 原生 dialog 提供模态隔离；标题栏支持鼠标和触摸拖动、视口边界限制、窗口缩小后回到屏幕内；Esc 关闭、Tab/Shift-Tab 循环、焦点返回。关闭保留参数草稿；应用过程中保留结果显示。开机可打开查看，实际导入/参数编辑仍受原门控限制。 +- App 快捷键在对话框打开时跳过机床操作，F1 急停保留，防止 Esc 误触 PROGRAM_ABORT 或 F2 误开机。 +- 原有 GLB/参数浏览器脚本只适配打开/关闭对话框步骤；新增 `scripts/test_machine_dialog_browser.mjs`。证据独立写入 `coverage/glb-machine/dialogs/`，保留 E02–E06 原报告。 +- 验证 E07：2048×859、1440×900、390×844 下机床画布高度分别 351.5、392.5、380 px；占机床面板高度超过 85%；打开对话框画布尺寸不变。拖动、极端边界、触摸、缩屏、焦点、快捷键、草稿、运行门控通过；原参数保存/导入、两机型 GLB 导入和 RTCP Jog 回归通过；类型检查/生产构建通过。 +- 中间问题：浏览器原生 Tab 可转到浏览器工具栏，专项断言捕获；补充弹窗内 Tab/Shift-Tab 循环后通过，没有放宽断言。 +- 下一步：当前专项所有任务已验收，按新需求推进。所有改动仍未提交/推送，原有本地改动继续保留。 + +## R02 / 2026-09-18 / 实现与验收收口 + +- 完成解析器 `web/react/src/machine-urdf.ts`：XML 命名空间、两分支拓扑、正交轴、单位/限位、GLB 自包含/节点绑定/位姿、版本和异常输入校验；推导 AC/BC、rot-point 和 offset。 +- 完成模型 `scripts/generate_glb_machines.mjs` 及 `web/react/public/machines/` 的 AC/BC GLB、XML、manifest、许可；底座-XYZ-主轴箱、底座-A/B-C，与原移动工作台模型区分。 +- 完成 `imported-machine.ts`、`MachineImportPanel.tsx` 和 App/Viewer/styles 接入：文件导入、示例与下载，应用前验证，参数通过 INI/Worker 进入 WASM；真实关节驱动、刀长与程序路径参考、旧资产卸载和资源释放。 +- 新增 `test_glb_machine_browser.mjs`、`test_glb_machine_motion.mjs`、`validate_glb_machines.mjs`；原两个浏览器测试只增加可选证据输出目录，不删除断言。 +- 验证 E02–E06：42 项拒绝用例、36 个姿态/刀长样本、8 次导入模型 RTCP Jog、两机型各 41 个五轴同时变化的执行间隔、84 个程序执行投影采样；两 GLB 标准校验 0 错误/警告；旧参数编辑与 Jog 回归、桌面/手机、类型检查及构建通过。 +- 中间问题：生成器默认导出 matrix，首次被 TRS 校验拒绝；改为导出 TRS，同时解析器接受与 URDF 等价的 matrix。运动程序抽样过疏导致样本数断言失败，改为全量采样，未放宽断言。测试损坏文件时模型保持不变，后续重新加载成功示例后截图。重复生成 public 资产触发 Vite 自动刷新，曾打断一次进行中的浏览器测试；停止资产写入后独立重跑。 +- 证据统一在 `coverage/glb-machine/`；旧 `coverage/trt-parametric/` 未改。原有 trace、子模块、临时文件和图片完整保留。 +- 边界：本轮 v1 仅支持已声明的 AC/BC TRT 正交双链；运行 INI 仍负责回零/周期等；GLB 当前页面内存保存，刷新重新导入；不宣称任意机床 URDF、碰撞检测或制造商尺寸标定。 +- 下一步：本专项矩阵无待办，按新目标扩展或按用户要求保存；未提交/推送本轮新功能。 + +## R01 / 2026-09-18 / 需求与契约 + +- 按用户最新指令确定两分支结构，建立本目录七份文档。 +- 已读取原专项索引/矩阵、现有预览、参数写入和 WASM 运动学链路；保留原有工作区改动。 +- 已查阅 glTF、URDF、Three.js 和 LinuxCNC 官方资料，检索网络模型资源；尚未找到可确认满足本契约的可再分发完整 GLB。 +- 验证：此阶段仅源码和规范核对，未运行新功能测试。 +- 下一步：GLB-02 严格结构解析，随后生成两种模型并接入 UI。 diff --git a/docs/glb-machine/04-任务矩阵.md b/docs/glb-machine/04-任务矩阵.md new file mode 100644 index 0000000..6d384bd --- /dev/null +++ b/docs/glb-machine/04-任务矩阵.md @@ -0,0 +1,20 @@ +# 任务矩阵 + +状态：待办、进行中、已验收、阻塞；已验收必须引用证据。 + +|编号|内容|依赖|状态|验收标准|证据| +|---|---|---|---|---|---| +|GLB-01|方案、规范与资料|无|已验收|七份文档，明确两分支、单位、原生参数映射和来源|E01| +|GLB-02|URDF / GLB 解析校验|01|已验收|树、轴、单位、绑定、格式错误拒绝；提取 AC/BC 与参数|E02| +|GLB-03|原创 AC/BC 示例|02|已验收|独立可用 GLB，层级与内嵌 XML 一致，可复现生成|E03| +|GLB-04|导入与配置联动|02,03|已验收|预览入口、示例下载、识别与重载、保留程序、门控|E02| +|GLB-05|真实关节驱动模型|02,03|已验收|XYZ 刀具侧、A/B-C 工件侧；多姿态及刀长吻合 WASM|E02,E04| +|GLB-06|回归与接续收口|04,05|已验收|自动测试、浏览器截图、构建、SHA 证据和文档一致|E05,E06| +|GLB-UI01|预览区域与可拖动对话框|04|已验收|导入/参数弹窗、拖动与边界、键盘/触摸、画布尺寸、原流程回归|E07| +|TRT-SW01|M429/M428 空闲切换保持机床关节|05|已验收|按钮/MDI 无关节或刀尖跳变；规划器与解释器同步；切换后 Jog/增量及门控通过|E08| +|GLB-GEO01|编辑几何参数保留导入模型|04,05|已验收|应用/INI重读/导入保留GLB；有效URDF/显示与WASM一致；重复编辑与失败不替换模型|E09| +|GLB-GAN01|AC/BC 参数化桁架示例|GEO01|已验收|四个独立入口；桁架XYZ刀具链/独立A或B-C工作台；导入、参数编辑、WASM/联动校验|E10| +|TRT-JOG02|Jog 限位后事件序列与反向恢复|SW01|已验收|关节限位不越界；故障不产生序列缺口；停止/反向Jog/快照可用；原运动和恢复回归|E11| +|GLB-UI02|Three.js 阴影弃用警告|UI01|已验收|使用 PCFShadowMap，真实浏览器无 PCFSoftShadowMap 警告|E11| +|TRT-DOC01|五轴与RTCP中文教学课件|SW01,GAN01|已验收|原理图/数值/程序对照/实验/练习答案；中文PDF可读、分页和算例核验|E12| +|TRT-DOC02|工件坐标与G代码初学者完整讲义|DOC01|已验收|原点/方向/各参考系、G54与RTCP分层、逐字逐行实算、完整A4图文PDF及中文提取核验|E13| diff --git a/docs/glb-machine/05-验收证据.md b/docs/glb-machine/05-验收证据.md new file mode 100644 index 0000000..3039b47 --- /dev/null +++ b/docs/glb-machine/05-验收证据.md @@ -0,0 +1,190 @@ +# 验收证据 + +## E13 / 工件坐标与G代码初学者完整讲义 + +- [完整PDF](../teaching/rtcp-beginners/五轴RTCP与工件坐标-初学者完整讲义.pdf)：72页A4，约2.1MB，中文可选择/搜索，含可点击目录及书签；原31页课件保留。 +- [内容/命令索引](../teaching/rtcp-beginners/README.md)、[逐页目录](../teaching/rtcp-beginners/outline.json)、[编辑源稿](../teaching/rtcp-beginners/handbook.html)。 +- [数值证据](../teaching/rtcp-beginners/gcode-evidence.json)，report_id=`rtcp-beginners-gcode-v1`：11主段+11附加段；程序W→偏置K→BC逆解关节值；单位、G54/G55、L20、模式切换；完整N10–N90程序通过实际Session/解释器/TP，状态completed、53个样本、终点(-18.480762,40,27.990381,30,90)。 +- [版面报告](../teaching/rtcp-beginners/verification/layout.json)：72页无越界/缺图；新增图形无缺字警告。独立PDF渲染总览：[1–24页](../teaching/rtcp-beginners/verification/pdf-contact-1.png)、[25–48页](../teaching/rtcp-beginners/verification/pdf-contact-2.png)、[49–72页](../teaching/rtcp-beginners/verification/pdf-contact-3.png)。 +- [PDF汇总](../teaching/rtcp-beginners/verification/acceptance.json)，report_id=`rtcp-beginners-pdf-v1`：严格匹配72页标题与提取文字、A4页尺寸、字体自包含、书签、PDF/HTML/数值/图形/字体/渲染总览SHA。 +- 生成命令在教材README；主要为`generate_rtcp_beginner_data.mjs`、`generate_rtcp_beginner_figures.py`、`generate_rtcp_beginner_html.py`、`subset_rtcp_beginner_fonts.py`、`render_rtcp_beginner_pdf.mjs`、`verify_rtcp_beginner_pdf.py`。Matplotlib/PyPDF/fontTools来自临时目录，未增加应用依赖。`pdfinfo`确认72页，`pdftoppm`独立渲染全部页且非空。 +- 本轮只产出教学资料，无应用功能改动、无远程job_id。官方资料链接列在PDF末页，通用功能与Web切片实测范围分开说明。 + +## E12 / 五轴与 RTCP 教学课件 + +- [PDF成品](../teaching/rtcp-five-axis/五轴机床与RTCP-教学课件.pdf)：31页，16:9，约1.9MB，中文可选择，字体嵌入，39个目录书签。 +- [编辑源稿及复现命令](../teaching/rtcp-five-axis/README.md)、[各页目录](../teaching/rtcp-five-axis/outline.json)、[原生数值](../teaching/rtcp-five-axis/numeric-evidence.json)。 +- [排版检查](../teaching/rtcp-five-axis/verification/layout.json)：31页无图文越界/缺图/页面错误。[独立PDF渲染总览](../teaching/rtcp-five-axis/verification/pdf-contact-sheet.png)：Poppler渲染实际PDF，不仅检查HTML截图。 +- [汇总](../teaching/rtcp-five-axis/verification/acceptance.json)，report_id=`rtcp-teaching-pdf-v1`，包含PDF/源稿/数据/图像SHA，逐页尺寸和文本量、字体、书签及WASM指纹。主数值例子12个姿态正逆解回代通过。 +- 主要命令：`node scripts/generate_rtcp_teaching_data.mjs`；`PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/generate_rtcp_teaching_figures.py`；`python3 scripts/generate_rtcp_teaching_html.py`；带PLAYWRIGHT_MODULE运行`render_rtcp_teaching_pdf.mjs`；带PYTHONPATH运行`verify_rtcp_teaching_pdf.py`。PDF还经`pdfinfo`/`pdffonts`与`pdftoppm`核验。 +- 查阅官方5-axis-kinematics/switchkins/machining-center文档及本地原生源码，正文脚注与末页列出来源。示意图原创，机床资产沿用项目原创GLB；无远程job_id，无新增应用依赖。 + +## E11 / Jog 限位和序列恢复、阴影警告 + +```bash +node web/worker/test_jog_limit_recovery.mjs +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_jog_limit_browser.mjs +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/jog-limits node web/worker/test_trt_checkpoint_exact.mjs +GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/jog-limits PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_motion.mjs +node web/worker/test_sim_scheduler.mjs +node web/worker/test_sim_session.mjs +node web/worker/test_replay.mjs +node web/worker/test_xyzac_step_flow.mjs +node web/worker/test_xyzac_recovery.mjs +node web/react/src/test_store_visual_clear.mjs +npm --prefix web/react run build +python3 scripts/generate_jog_limit_acceptance.py +``` + +- [Worker 专项](../../coverage/glb-machine/jog-limits/worker.report.json)，report_id=`jog-limit-recovery-v1`，两机型直接轴到50°停止并退回49°；RTCP转C触发Y关节边界，在Y=99.952445mm有效样本停止，队列为空/速度零；反向退出、JOG_STOP、快照和checkpoint恢复通过。失败时只完成请求5个tick中的1个，事件、native游标、任务与scheduler一致；非法cycles后仍可继续。 +- [浏览器专项](../../coverage/glb-machine/jog-limits/browser.report.json)，report_id=`jog-limit-browser-v1`：AC/BC真实按钮按住→到限位→松开→反向→多次Jog全部通过，画面恢复运动且WebGL像素非空，无sequence_gap、无pageerror。[AC恢复画面](../../coverage/glb-machine/jog-limits/ac-recovered.png)、[BC恢复画面](../../coverage/glb-machine/jog-limits/bc-recovered.png)。 +- [精确恢复](../../coverage/glb-machine/jog-limits/exact-checkpoint.report.json)：120个续跑状态hash完全一致，12个恢复后Jog样本、trace/new-session/幂等测试通过。[五轴程序](../../coverage/glb-machine/jog-limits/motion.report.json)两机型均通过。基础scheduler新增部分失败后下一个tick断言，session/replay、单步、旧checkpoint恢复和store保留预览测试均通过。 +- [阴影警告报告](../../coverage/glb-machine/jog-limits/shadow.report.json)：原模型和导入BC均加载，Chrome console warnings=[]，不再出现PCFSoftShadowMap弃用警告；[截图](../../coverage/glb-machine/jog-limits/shadow.png)。页面 http://127.0.0.1:5174/，Google Chrome / SwiftShader。 +- [HEAD复现日志](../../coverage/glb-machine/jog-limits/before.log)保留RTCP越界时旧错误响应也因inverse_mode_-702失败。初始现有工作区复现直接B轴越界报forward_-702，随后采用直接轴限位交集修复。 +- 额外运行的旧manual_control和button_constraints测试未通过，分别是同步回零假定、前置门控优先级差异；通过Node只读loader从git HEAD加载session/scheduler/tp模块，对比相同失败。日志 `manual.log` / `manual-baseline.log`、`buttons.log` / `buttons-baseline.log` 位于本目录。它们不是本轮回归通过声明，不改生产门控迎合旧断言。 +- [构建日志](../../coverage/glb-machine/jog-limits/build.log)通过，已有大chunk提示；无C/WASM或上游修改。没有硬件减速/碰撞安全声明，RTCP限位为仿真在最后有效伺服样本停止。 +- [汇总](../../coverage/glb-machine/jog-limits/acceptance.report.json)，report_id=`jog-limit-acceptance-v1`，保留证据SHA和已知旧测试失败，无远程job_id。之前验收报告未覆盖。 + +## E01 / 规范与源码核对 / 2026-09-18 + +- glTF 2.0： https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html （extras、节点树、米、Y-up）。 +- URDF： https://docs.ros.org/en/humble/Tutorials/URDF/Building-a-Movable-Robot-Model-with-URDF.html （joint parent/child/origin/axis、限位、弧度）。 +- Three.js： https://threejs.org/docs/pages/GLTFLoader.html （GLB 解析）；本地 GLTFLoader 源码核对 extras → userData。 +- LinuxCNC： https://www.linuxcnc.org/docs/html/motion/5-axis-kinematics.html ；本地 `linuxcnc/src/emc/kinematics/trtfuncs.c` 核对 AC/BC 旋转中心、轴间偏置和 tool-offset。 +- 网络模型候选： https://www.cgtrader.com/3d-models/industrial/industrial-machine/5-axis-machine-194cb656-8e44-4695-81cd-7e2a951bd92d 、 https://www.turbosquid.com/3d-models/milling-machine-cnc-tool-3d-model-2148325 。仅检索到资源页，未下载/购买/确认内嵌 URDF 或再分发许可；不作为交付资产。 +- 本轮采用自行程序化创建模型；不宣称网上现成模型已符合要求。 +- job_id / PDF：不适用。新功能测试与截图待后续条目记录。 + +## E02 / 严格解析与浏览器导入 + +命令（仓库根目录）： + +```bash +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_browser.mjs +``` + +- 页面：`http://127.0.0.1:5174/`，真实 Google Chrome / Playwright / SwiftShader。 +- 报告：[`browser.report.json`](../../coverage/glb-machine/browser.report.json)，report_id=`glb-machine-browser-v1`；日志 [`browser.log`](../../coverage/glb-machine/browser.log)。 +- 两机型共 42 项错误输入/越界配置拒绝：损坏 GLB、外部资源、动画、环、错误父子关系、重复节点、节点位姿、XML、轴绑定/方向、rpy、NaN、mimic、不支持 profile、运行行程/速度。等价 glTF matrix 正常接受，错误矩阵拒绝。 +- 两机型各 18 个真实 WASM 逆解样本：六种角度 × 刀长差 0/17/-4 mm；非零 rot-point/offset；刀尖和工件程序点误差小于 1e-8 显示单位。额外验证 XYZ 移动不带动摇篮。 +- 文件导入、示例按钮、机型识别、参数进入 Worker、程序路径保持、下载哈希、错误导入不更改模型/配置、开机禁用导入、回零后四次 A/B-C Jog、INI 重读卸载模型均验证。 +- Worker 测试故意篡改配置投影值为 999，再确认实际 INI 参数胜出。 +- 截图：[AC](../../coverage/glb-machine/ac-imported.png)、[BC](../../coverage/glb-machine/bc-imported.png)、[桌面](../../coverage/glb-machine/viewport-1440.png)、[手机](../../coverage/glb-machine/viewport-390.png)。真实 WebGL 颜色采样非空，控件无横向溢出，browser_errors=[]。 + +## E03 / 原创模型、格式与可复现性 + +```bash +node scripts/generate_glb_machines.mjs +npm install --prefix /tmp/linuxcnc-glb-validation --no-package-lock --ignore-scripts gltf-validator@2.0.0-dev.3.10 +GLTF_VALIDATOR_MODULE=/tmp/linuxcnc-glb-validation/node_modules/gltf-validator/index.js node scripts/validate_glb_machines.mjs +``` + +- 交付：`web/react/public/machines/demo-ac-xyz-head.glb`、`demo-bc-xyz-head.glb`；各 71 个原创几何网格，八个结构 link，五个运动轴。 +- Khronos glTF Validator 2.0.0-dev.3.10：两文件均 0 errors / 0 warnings；71 条信息为网格存在未用纹理坐标，不影响有效性。报告 [`gltf-validation.report.json`](../../coverage/glb-machine/gltf-validation.report.json)，report_id=`glb-machine-khronos-validation-v1`。 +- [`manifest.json`](../../web/react/public/machines/manifest.json) 包含文件长度、SHA256、原生参数和来源；[`LICENSE.txt`](../../web/react/public/machines/LICENSE.txt) 为原创模型 CC0-1.0 说明。 +- 实际重复运行生成脚本并逐文件 SHA256 比较，通过；生产构建 GLB 与源 GLB 字节相同。报告 [`reproducibility.report.json`](../../coverage/glb-machine/reproducibility.report.json)，report_id=`glb-machine-reproducibility-v1`。 +- 标准验证器仅临时安装在 /tmp，未向项目新增依赖。 + +## E04 / 真实解释器和规划器五轴联动 + +```bash +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_motion.mjs +``` + +- 报告 [`motion.report.json`](../../coverage/glb-machine/motion.report.json)，report_id=`glb-machine-five-axis-motion-v1`；包含实际 G-code 和采样轨迹；日志 [`motion.log`](../../coverage/glb-machine/motion.log)。 +- 两机型分别 LOAD_WORKSPACE、PROGRAM_LOAD、开机/回零、PROGRAM_RUN，通过真实 WASM 执行 M428 后同时改变 XYZ 与 A/B、C 的两段 G1，均正常完成。 +- 每机型有 41 个五轴关节同时改变的采样间隔；42 个姿态投影采样。最大误差：AC `2.2591401799415137e-16`，BC `2.482534153247273e-16` 显示单位（当前 1 单位=100 mm）。 +- 首次测试按每七个采样间隔抽样，程序较短导致样本数量不足；改为记录全部 RTCP 采样，保持原数量与误差强断言。 + +## E05 / 原有功能回归与构建 + +```bash +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/regression-parametric PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_parametric_browser.mjs +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/regression-jog PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_rtcp_jog_browser.mjs +npm --prefix web/react run typecheck +npm --prefix web/react run build +``` + +- 原参数编辑/导入/保存/重新读取/门控/桌面手机交互回归通过；report_id=`trt-parametric-browser-v1`，证据目录 [`regression-parametric`](../../coverage/glb-machine/regression-parametric/)。 +- 原内置 AC/BC 各四次 RTCP Jog 回归通过，report_id=`trt-rtcp-jog-browser-v1`，证据 [`rtcp-jog-browser.report.json`](../../coverage/glb-machine/regression-jog/rtcp-jog-browser.report.json)。 +- 类型检查及生产构建通过；[`build.log`](../../coverage/glb-machine/build.log)。已有大 chunk 提示保留，不作为失败。 +- 未改动 C/WASM，无需重建 native；未重跑全仓测试，未覆盖 `coverage/trt-parametric/` 旧证据。 +- job_id / PDF：本地执行，无远程 job，无 PDF；以日志、报告、截图及汇总哈希为证据。 + +## E06 / 最终汇总 + +命令：`python3 scripts/generate_glb_machine_acceptance.py`；只汇集已执行证据，不重新跑测试。 + +[`acceptance.report.json`](../../coverage/glb-machine/acceptance.report.json) 汇集实际报告状态、模型与 WASM SHA256、证据文件 SHA256。接续时先核对此文件，再按任务矩阵决定下一步；不要因历史台账中曾写“待办”而重复执行已验收任务。 + +## E07 / 模型显示区域与可拖动对话框 + +```bash +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_dialog_browser.mjs +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/dialogs/parametric PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_parametric_browser.mjs +GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/dialogs/import PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_browser.mjs +npm --prefix web/react run build +``` + +- 页面 `http://127.0.0.1:5174/`；Chrome / Playwright / SwiftShader；本地执行，无远程 job_id。 +- [专项报告](../../coverage/glb-machine/dialogs/dialog.report.json)，report_id=`machine-dialog-browser-v1`，status=verified。桌面/手机画布高度 351.5 / 392.5 / 380 px，超过机床面板高度 85%，弹窗不改变 canvas 尺寸。 +- 两弹窗验证：鼠标移动位移、四边限制、Tab 焦点循环、Esc 关闭/焦点返回、F2 不触发开机、草稿保留；触摸拖动和窗口缩小后不越界；开机编辑门控。 +- [参数编辑回归](../../coverage/glb-machine/dialogs/parametric/browser.report.json) 与 [GLB 导入回归](../../coverage/glb-machine/dialogs/import/browser.report.json) 均 verified，包含文件导入/下载、参数保存/重读、错误拒绝、两机型运动与手机交互；无页面错误。 +- [构建日志](../../coverage/glb-machine/dialogs/build.log)：类型检查及生产构建通过，大 chunk 提示保留。 +- 截图：[宽屏机床区域](../../coverage/glb-machine/dialogs/preview-2048.png)、[参数对话框](../../coverage/glb-machine/dialogs/parameters-1440.png)、[手机参数](../../coverage/glb-machine/dialogs/parameters-390.png)、[拖动后的模型对话框](../../coverage/glb-machine/dialogs/machine-glb-settings-dragged.png)。 +- [本轮验收汇总](../../coverage/glb-machine/dialogs/acceptance.report.json)，report_id=`glb-machine-dialog-acceptance-v1`，列出实际证据 SHA256。之前 E02–E06 报告保留，本轮不重跑 native/五轴轨迹专项。 + +## E08 / M429/M428 保持物理位置 + +```bash +node web/worker/test_trt_switch_stationary.mjs +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_switch_stationary_browser.mjs +node web/worker/test_xyzac_trt_case.mjs +node web/worker/test_xyzac_step_flow.mjs +node web/worker/test_xyzac_runtime_followups.mjs +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/switching/rtcp-jog PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_rtcp_jog_browser.mjs +npm --prefix web/react run build +``` + +- [修复前失败日志](../../coverage/glb-machine/switching/before.log)：`KINEMATICS_SELECT mode=1 J0: 47.97481463927447 != 0`。 +- [Worker 报告](../../coverage/glb-machine/switching/worker.report.json)：report_id=`trt-stationary-switch-worker-v1`，64 次按钮/MDI/重复模式切换，两机型关节及可视投影在 1e-8 mm/deg 容差内保持；规划器/解释器同步，后续 3 个 idle tick、G54 偏置后的增量移动、忙碌/非法模式拒绝通过。 +- [浏览器报告](../../coverage/glb-machine/switching/browser.report.json)：report_id=`trt-stationary-switch-browser-v1`，22 次切换，AC/BC GLB 实际渲染刀尖保持；最大关节误差约 1.50e-13、最大显示坐标误差约 1.45e-15；之后旋转 Jog XYZ 补偿仍有效。 +- 截图：[BC Identity](../../coverage/glb-machine/switching/bc-identity.png)、[BC TCP](../../coverage/glb-machine/switching/bc-tcp.png)、[AC Identity](../../coverage/glb-machine/switching/ac-identity.png)、[AC TCP](../../coverage/glb-machine/switching/ac-tcp.png)。页面 `http://127.0.0.1:5174/`，Chrome / SwiftShader；browser_errors=[]。 +- 原 TRT case（新增关节不变强断言）、单步、runtime followups、两机型 RTCP Jog、类型检查及生产构建通过；日志在同目录，大 chunk 提示保留。无 C 修改，无需 native 重建，不扩展为全仓 parity 验收。 +- [本轮验收汇总](../../coverage/glb-machine/switching/acceptance.report.json)，report_id=`trt-stationary-switch-acceptance-v1`，包含 WASM 和所有证据 SHA256。无远程 job_id。 + +## E09 / 修改几何参数保留 GLB + +```bash +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_imported_geometry_browser.mjs +GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/geometry-edit/import PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_browser.mjs +TRT_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/geometry-edit/parametric PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_trt_parametric_browser.mjs +npm --prefix web/react run build +``` + +- [修复前失败](../../coverage/glb-machine/geometry-edit/before.log)：`applying geometry must retain imported GLB`，源 hash 变为空。 +- [新专项报告](../../coverage/glb-machine/geometry-edit/browser.report.json)：report_id=`imported-geometry-browser-v1`，AC/BC 均 verified。UI 应用、INI 保存→重读→导入→再应用、非法数值拒绝、开机不可编辑、显式跨机型卸载；原 GLB hash/文件名和程序路径保持。 +- 每机型 18 个新几何姿态（6 个角度 × 0/17/-4 mm 刀长）与真实 WASM 逆解一致；源场景/原 XML 未修改、mesh 保留、自定义 joint 名支持、不匹配机型拒绝、相同参数复用。 +- 实际浏览器 RTCP Jog 误差：AC `1.9778890766513102e-17`、BC `6.636893469679434e-17` 显示单位，模型计算与画面刀尖投影误差均为 0。 +- [原 GLB 回归](../../coverage/glb-machine/geometry-edit/import/browser.report.json)（含42项拒绝、36个姿态、8次Jog）和 [内置参数编辑回归](../../coverage/glb-machine/geometry-edit/parametric/browser.report.json)（含桌面手机、保存/导入/重读）通过。 +- [AC 修改后截图](../../coverage/glb-machine/geometry-edit/ac-edited.png)、[BC 修改后截图](../../coverage/glb-machine/geometry-edit/bc-edited.png)；页面 `http://127.0.0.1:5174/`，Chrome / SwiftShader，无 pageerror。 +- [构建日志](../../coverage/glb-machine/geometry-edit/build.log)：类型检查/生产构建通过，大 chunk 提示保留。无 C/WASM 修改，不重复 native 验收。 +- [本轮汇总](../../coverage/glb-machine/geometry-edit/acceptance.report.json)，report_id=`imported-geometry-acceptance-v1`，包含所有证据及 WASM SHA256。E02/E07 中“INI 重读卸载模型”为历史验证，当前行为由 D11/E09 替代。无远程 job_id。 + +## E10 / AC、BC 参数化桁架型 + +```bash +node scripts/generate_glb_machines.mjs +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_gantry_machine_browser.mjs +GLB_MACHINE_VARIANT=gantry GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/gantry/geometry PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_imported_geometry_browser.mjs +GLB_MACHINE_VARIANT=gantry GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/gantry PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_glb_machine_motion.mjs +GLB_EVIDENCE_DIR=/home/mes006/linuxcncWebWASM/coverage/glb-machine/gantry GLTF_VALIDATOR_MODULE=/tmp/linuxcnc-glb-validation/node_modules/gltf-validator/index.js node scripts/validate_glb_machines.mjs +npm --prefix web/react run build +``` + +- [四例入口和结构报告](../../coverage/glb-machine/gantry/catalog.report.json)，report_id=`gantry-machine-browser-v1`：四个按钮及下载 hash；新 profile 七 link/Z 工具绑定；XYZ 零位及逐支外形运动，转台和底座不随 XYZ 移动；每新机型3类不合法结构拒绝；桌面/手机控件不溢出，无页面错误。 +- [几何编辑回归](../../coverage/glb-machine/gantry/geometry/browser.report.json)，report_id=`imported-geometry-browser-v1`，gantry 环境运行：两机型共36个姿态/刀长、编辑和INI导入/重读保留桁架、非法输入/运行门控、自定义joint名称、真实RTCP Jog 均通过。 +- [五轴程序报告](../../coverage/glb-machine/gantry/motion.report.json)，report_id=`glb-machine-five-axis-motion-v1`：真实解释器/TP，两桁架各41个五轴同时改变的采样间隔、42个投影样本，最大显示误差小于2.5e-16。 +- [Khronos 校验](../../coverage/glb-machine/gantry/gltf-validation.report.json)：四文件均0错误/0警告。[重复生成报告](../../coverage/glb-machine/gantry/reproducibility.report.json)：所有生成文件可复现、生产GLB字节相同、原AC/BC文件SHA不变。 +- [AC 桁架截图](../../coverage/glb-machine/gantry/ac-gantry.png)、[BC 桁架截图](../../coverage/glb-machine/gantry/bc-gantry.png)、[手机入口](../../coverage/glb-machine/gantry/dialog-390.png)；页面 `http://127.0.0.1:5174/`，Chrome / SwiftShader。 +- [构建日志](../../coverage/glb-machine/gantry/build.log)：类型/构建通过，已有大chunk提示保留。[验收汇总](../../coverage/glb-machine/gantry/acceptance.report.json)，report_id=`gantry-machine-acceptance-v1`，含模型、WASM与证据SHA。无远程job_id，无上游或native改动。 diff --git a/docs/glb-machine/06-决策记录.md b/docs/glb-machine/06-决策记录.md new file mode 100644 index 0000000..cc7f9de --- /dev/null +++ b/docs/glb-machine/06-决策记录.md @@ -0,0 +1,69 @@ +# 决策记录 + +## D13 / Jog 限位失败不破坏传输历史 + +AXIS 限位是坐标范围，JOINT 限位是物理约束，XYZBC 的两者可以不同。Identity 的 XYZ 和各模式的旋转轴直接对应关节，Jog 目标由原生 TP 按两者交集约束；RTCP XYZ 不可用坐标限位替代关节限位，逐伺服样本调用已有 WASM 求解器验证。 + +RTCP 到达耦合关节边界时在最后有效样本停止，队列取消并报告限位，可反向退出。本次不声明具备预测未来 RTCP 路径并提前减速的硬件级软限位功能，仍是浏览器仿真边界。 + +SIM_STEP 事件的 tick 必须是实际完成/停止时间；不预写未执行的未来时刻，不通过跳过序号或删除历史“修复”会话。部分执行失败时统一 native/JS scheduler、task、protocol 的停止 tick，新的停止和撤退命令正常按顺序执行。限位是 motion blocked，不是 Worker transport ERROR。已经损坏的旧会话需刷新重建。 + +## D01 / 两条链与唯一结构来源 + +严格采用用户要求的底座-XYZ-主轴箱和底座-A/B-C。URDF 是结构来源；GLB 节点必须匹配，不从视觉网格尺寸猜测运动学。v1 限定现有 WASM 能精确支持的 AC/BC TRT，不将任意 URDF 强行归入该求解器。 + +## D02 / 单文件与版本化 + +URDF XML 放入默认场景 extras.linuxcncMachine，经 GLTFLoader 成为 userData。schema 必须匹配版本；glb 几何、材质和纹理须内嵌，无外部依赖。额外导出 XML 供阅读，不是运行必需文件。 + +## D03 / SI 和坐标转换 + +URDF 米/弧度与右手 Z-up；根节点显式转为 glTF Y-up。运行参数转毫米/度；旧查看器坐标转换仅在显示外层执行。姿态投影从关节计算刚体变换，逆解仍由 WASM 执行。 + +## D04 / 几何与运行配置 + +结构解析得到机型、摇篮位置/偏置，通过现有 INI 参数入口进入 Worker。URDF 不能提供回零接线、加速度或伺服周期，所以沿用已识别机型的运行配置；限位差异显式校验，不默默宣称完整工业控制配置已生成。 + +## D05 / 原创资产与可验证性 + +现有网上候选未确认所需层级与许可，交付原创可复现程序化资产，记录来源和许可。不复制未知许可证模型。模型是仿真示例，不是制造商尺寸标定数据。 + +## D06 / GLB 与 INI 冲突及失败处理 + +导入完成格式、树、轴和运动范围校验后才提交 LOAD_WORKSPACE。保留当前程序，不按机型偷偷替换 G-code；配置成功而原程序解析失败属于分阶段结果，必须显式报告。后续 INI 修改或手工切换机型会卸载 GLB，避免旧结构驱动新参数。损坏 GLB 不改变已生效模型及参数。 + +## D07 / 刀长与现有原生坐标约定 + +`trtfuncs.c` 在逆解中使用 dz + tool-offset。物理摇篮中心不随刀长改变；主轴箱刀尖沿本地 Z 减去 tool-offset，程序参考沿 C 的本地 Z 同样减去该值。多姿态、正负刀长必须用真实 WASM 逆解验证，不能只验证零角姿态。姿态矩阵只用于显示，不替代运动学求解。 + +## D08 / 保存与发布范围 + +本轮交付文件、导入和当前页面运行。没有将大型 GLB 塞进现有 1 MiB OPFS checkpoint，也不改变其恢复边界；页面明确提示刷新后需重新导入。证据全部归入 coverage/glb-machine；原测试增加可选 TRT_EVIDENCE_DIR，默认行为不变，防止新回归覆写历史验收文件。 + +## D09 / 预览优先与对话框交互 + +用户要求释放机床显示面积，导入和参数表改为按钮打开的可拖动对话框。保留两个入口在一行，不常驻占用模型高度；不改变左右两类预览比例。采用共享原生 dialog，标题栏拖动并限制在视口内，窗口缩小时重新约束位置。关闭不丢失草稿，不因异步导入开始而自动隐藏结果。打开查看与执行编辑分开，编辑仍由既有 Worker/前端门控控制。 + +弹窗内 Esc 专用于关闭，F2/Jog 等全局机床快捷键不执行；F1 急停继续有效。Tab 在弹窗内循环，关闭返回触发按钮。 + +## D10 / 空闲运动学切换保持物理关节 + +只选择 M429/M428/M430 不构成运动指令。应固定当前实际关节，由新模式正解得到坐标，再同步 TP 与解释器；坐标数值允许改变，三维刀尖不能改变。依据本地 LinuxCNC `control.c::handle_kinematicsSwitch()`：复制 joint.pos_cmd → kinematicsSwitch → kinematicsForward → tpSetPos，以及 [官方 switchkins 同步说明](https://linuxcnc.org/docs/html/motion/switchkins.html)。 + +Web 按钮/MDI 原来使用 select() 保持 pose 的策略不符合上述物理约束，改为调用已有 selectPhysical()。不在 Three.js 中补偿错误关节，也不冻结模型掩盖跳变。规划器 pose/tag 必须一起切换，避免中间态逆解；随后解释器同步确保下一条增量命令使用新坐标参考。运行中切换门控保持。 + +## D11 / 同机型几何编辑保留导入资产（替代 D06/D08 的卸载策略） + +用户确认：导入 GLB 后修改几何参数不应替换成内置模型。导入资产的网格/材质、文件名和源文件 SHA 保持；当前有效 URDF 是独立的会话参数覆盖，A/B origin=P+D、C origin=-D、work origin=-P。修改、重读或导入同机型 INI 都使用这一路径。 + +在 LOAD_WORKSPACE 前构造并校验候选有效 URDF；成功后提交模型参数和界面配置。源场景不原地修改，渲染克隆采用有效 URDF，包括固定工件坐标节点；程序重解析失败时保留已提交模型并明确报告分阶段结果。资源释放依赖源 scene 是否更换，不因结构参数对象变化释放共享网格。 + +结构详情显示已应用参数。源 GLB 文件不会被静默改写，示例下载仍是原始示例；可以保存 INI 记录参数。网格外形不自动缩放或重新生成，固定在底座的外观网格仍属于底座；此功能校正结构节点和运动学参数，不宣称对任意导入网格完成 CAD 尺寸重建。显式选择机型配置仍视为更换整机，切换后返回该机型内置模型。 + +## D12 / 独立的桁架型 profile 与示例注册 + +用户新增桁架型层级到 Z 结束，因此 tool 直接绑定 Z link，主轴作为 Z 下的外观网格，不另设固定主轴箱 link。新 profile `trt-xyz-gantry/1` 为七 link/六 joint；原 `trt-xyz-head/1` 保留八 link/七 joint。模型类型 AC/BC 仍由实际轴向与两条机械链推断，不靠文件名。 + +桁架固定四柱与纵轨挂底座，移动横梁挂 X、横梁滑座挂 Y、滑枕/主轴挂 Z；A/B→C 为独立工作台分支。复用原生 TRT 求解器和已有参数映射，不新增 JS 逆解。参数化范围沿用几何中心/轴间偏置及真实关节运动，不增加无实际控制依据的外观尺寸表单。 + +四个示例共用 manifest 注册名称和文件路径；旧 AC/BC GLB 字节不变。新例子为原创程序化模型，许可证沿用 CC0，单文件含几何与 URDF。 diff --git a/docs/glb-machine/README.md b/docs/glb-machine/README.md new file mode 100644 index 0000000..cb6ed31 --- /dev/null +++ b/docs/glb-machine/README.md @@ -0,0 +1,35 @@ +# GLB / URDF 五轴机床子项目 + +接续顺序：本索引 → [04-任务矩阵](04-任务矩阵.md) → [03-推进台账](03-推进台账.md) 最新轮 → 当前任务相关方案和代码；实施前核对 [06-决策记录](06-决策记录.md)，验收后更新 [05-验收证据](05-验收证据.md)。 + +最新交付：[工件坐标与RTCP初学者完整PDF](../teaching/rtcp-beginners/五轴RTCP与工件坐标-初学者完整讲义.pdf)，72页A4，详解原点/方向/G54/G代码逐字逐行和关节运动；源稿、数据、复现见[完整教材索引](../teaching/rtcp-beginners/README.md)。任务TRT-DOC02，台账R09，证据E13。原[31页投影课件](../teaching/rtcp-five-axis/五轴机床与RTCP-教学课件.pdf)保留为概要；既有功能状态仍见下文R07。 + +- [01-子项目功能内容](01-子项目功能内容.md) +- [02-子项目程序开发详细步骤](02-子项目程序开发详细步骤.md) +- 原专项 [TRT 参数化](../trt-parametric/README.md) 已验收，不重复实现。 +- 工作区原有 trace、LinuxCNC 子模块、临时脚本和图片全部保留。 +- 示例交付目录：`web/react/public/machines/`；证据：`coverage/glb-machine/`。 + +目标：导入一个含层级网格和 URDF XML 的 GLB，识别 AC/BC 结构、提取几何参数，经 INI/Worker 进入真实 WASM；预览由实际关节驱动。 + +Jog 限位与事件序列修复见 R07/E11：限位后可停止和反向退出，旧的 event_sequence_gap 会话需刷新并重新导入/回零。用户补充的 PCFSoftShadowMap 弃用警告也已消除。 + +## 当前状态与交付 + +GLB-01 至 GLB-06、GLB-UI01/02、TRT-SW01、GLB-GEO01、GLB-GAN01、TRT-JOG02 全部已专项验收，最新台账 R07，最新证据 E11（两项既有旧测试失败单独记录）。新功能尚未提交/推送；开发服务 `http://127.0.0.1:5174/` 已启动，重启环境后应重新检查。 + +- [AC 单文件机床模型](../../web/react/public/machines/demo-ac-xyz-head.glb) / [可阅读 URDF](../../web/react/public/machines/demo-ac-xyz-head.urdf) +- [BC 单文件机床模型](../../web/react/public/machines/demo-bc-xyz-head.glb) / [可阅读 URDF](../../web/react/public/machines/demo-bc-xyz-head.urdf) +- [AC 桁架模型](../../web/react/public/machines/demo-ac-gantry.glb) / [URDF](../../web/react/public/machines/demo-ac-gantry.urdf) +- [BC 桁架模型](../../web/react/public/machines/demo-bc-gantry.glb) / [URDF](../../web/react/public/machines/demo-bc-gantry.urdf) +- [模型 manifest](../../web/react/public/machines/manifest.json) / [验收汇总](../../coverage/glb-machine/acceptance.report.json) + +使用：打开页面 → 关机且空闲 → 机床预览顶部“导入机床模型” → 对话框中“AC 示例”“BC 示例”“AC 示例桁架型”“BC 示例桁架型”或“导入 GLB” → 确认显示的机型与参数 → 开机、重新回零 → Jog 或运行匹配的五轴程序。可展开结构详情，并通过“下载 AC/BC”保存完整 GLB。页面刷新后需重新导入。 + +后续制模先读 01 的契约和完整 XML 示例；软件位置在 03 台账。当前无待办任务，不自动认领旧发布轨道，也不重复已通过测试。若新增任意轴向/头头机型、持久化 GLB 或碰撞检查，应先新增任务和对应决策。 + +参数入口为机床预览顶部“机床参数”；两个对话框均可拖动标题栏、Esc 关闭，关闭保留未应用草稿。最新 UI 验收见 [E07 汇总](../../coverage/glb-machine/dialogs/acceptance.report.json)。 + +空闲 M429/M428 切换已改为保持关节和刀尖位置，XYZ 数值按新运动学坐标重新计算；证据见 [E08 汇总](../../coverage/glb-machine/switching/acceptance.report.json)。 + +导入模型后应用/重读/导入同机型 INI 参数会保留 GLB，并同步有效 URDF 与 WASM；原始 GLB 文件不改写，可通过保存 INI 记录参数。只在显式更换机型时卸载旧模型，见 [E09 汇总](../../coverage/glb-machine/geometry-edit/acceptance.report.json)。 diff --git a/docs/linuxcnc-axis-web-control-panel-source-logic.md b/docs/linuxcnc-axis-web-control-panel-source-logic.md index 2b9b40c..0dd98d8 100644 --- a/docs/linuxcnc-axis-web-control-panel-source-logic.md +++ b/docs/linuxcnc-axis-web-control-panel-source-logic.md @@ -131,7 +131,7 @@ replaced by a different action. | View menu | Five preset views, inches/mm, program/rapid/alpha/live/tool/extents/offset/limit/velocity/DTG layers, grid, large DRO font, PyVCP, commanded/actual, machine/relative, joint/world and Clear Live Plot | The menu has five views; the toolbar additionally has inverted-front `Y2`, for six toolbar presets. Supported projections are `SOURCE_ADAPTER`; every omitted view action is recorded below. | | Toolbar | E-stop, Power, Open, Reload, Run, Step, Pause/Resume, Stop, Block Delete, Optional Stop, zoom, six views, rotate, Clear Plot | Same source order and icon assets are retained for supported controls; unsupported controls are disabled with a source/ABI reason. | | Manual notebook | Axis/joint selector, continuous/increment jog, Home Axis, Touch Off, Tool Touch Off, Override Limits, spindle direction/stop/speed/brake and coolant | XYZAC axis selector, jog, Home Axis, Touch Off, spindle and coolant are represented. Joint selection, Tool Touch Off and Override Limits are explicitly bounded by the selected configuration/ABI. Tool and probe state is read-only; Prepare/Change/Arm/Disarm are IO/HAL operations, not AXIS main-panel controls. | -| Web case strip | no AXIS equivalent | `Load exact XYZAC TRT case` is a Web workspace/bootstrap control, not an AXIS source button. It may only call the same documented `LOAD_WORKSPACE` + `PROGRAM_LOAD` transaction and must not introduce a second Run/Power/Home flow. | +| Web case strip | no AXIS equivalent | Exact TRT case loading and the 32-entry RTCP source library are Web workspace controls. Compatible main programs may only call the documented `PROGRAM_LOAD` transaction; support files and other kinematics remain source-view/download entries and must not introduce a second Run/Power/Home flow. | | MDI notebook | MDI entry, Go, history selection/double-click, Up/Down history, Ctrl-M/H/Shift-H clipboard operations | Entry, Go and local history are represented; clipboard/file history operations are host/UI-only and are not sent as machine commands. | | Help menu/dialogs | About AXIS, Quick Reference, dialog close buttons and website link | About is `SOURCE_ADAPTER`. Quick Reference and the external website link are not rendered; neither is mapped to a machine action. | | Bottom controls | Linear jog speed, angular jog speed, max velocity, spindle override, feed override and rapid override | Linear jog, max velocity, spindle and feed are adapters. Angular jog and rapid override are `SOURCE_BLOCKED`; one must never stand in for the other. | @@ -173,7 +173,7 @@ families because their cardinality comes from the selected INI. | MDI entry, Go, Enter, history activation | `send_mdi`, `send_mdi_command` | `SOURCE_ADAPTER`; source trim, mode and adjacent-history de-duplication apply | | Linear/angular jog speed, max velocity, spindle/feed/rapid override | `update_*slider_vel`, `set_maxvel`, `set_spindlerate`, `set_feedrate`, `set_rapidrate` | Linear jog/max velocity/spindle/feed: `SOURCE_ADAPTER`; angular jog/rapid: `SOURCE_BLOCKED` | | About, Quick Reference, clear notifications | About/keys dialogs and `Ctrl-Space` binding | About: local adapter; Quick Reference and notification-clear are not rendered | -| Case selector/load, packaged 3D Chips, Diagnostics, pan/reset buttons, source editor | no AXIS widget equivalent | `WEB_EXTENSION`; may not be counted as AXIS parity | +| Case selector/load, packaged programs, RTCP program catalog, Diagnostics, pan/reset buttons, source editor | no AXIS widget equivalent | `WEB_EXTENSION`; may not be counted as AXIS parity | ## Source Keyboard Contract @@ -446,8 +446,10 @@ history rows intentionally share the family ID `mdi-history-select`. | `toolbar-view-z`, `toolbar-view-z2`, `toolbar-view-x`, `toolbar-view-y`, `toolbar-view-y2`, `toolbar-view-p` | `set_view_z/z2/x/y/y2/p` | Local source view selection | Exactly one pressed view; opens Preview tab; machine state unchanged | | `toolbar-rotate` | `.toolbar.rotate` | Local drag/rotate projection | Toggles pressed state and viewer interaction only | | `toolbar-clear-live-plot` | `clear_live_plot` -> `positionlogger.clear()` | Worker `VISUAL_CLEAR`; always visual-only | Advances `live_path_epoch`, clears Live Plot only and retains static preview | -| `workspace-case-select` | Web selection of the INI/configuration input | Local selection; selected catalog is restricted to supported XYZAC case | Does not load or change machine state until `toolbar-load-case` | +| `workspace-case-select` | Web selection of the INI/configuration input | Local selection; selected catalog is restricted to supported XYZAC/XYZBC cases | Does not load or change machine state until `toolbar-load-case` | | `workspace-load-3d-chips` | Web packaged-file equivalent of `open_file_guts` | Fetch published `3D_Chips.ngc`, then `PROGRAM_LOAD`; IDLE only | Same replacement path as Open; retains Live Plot, no automatic Run/Home | +| `workspace-rtcp-programs`, `rtcp-program-scope`, `rtcp-program-select`, `rtcp-program-source`, `rtcp-program-load`, `rtcp-program-download` | Web RTCP source-program catalog backed by the locked LinuxCNC tree | The default scope follows the active machine: AC=`XYZAC`, BC=`XYZBC`; catalog/source/download are local file operations, while compatible main programs use the same `PROGRAM_LOAD` transaction and IDLE gate as Open | AC and BC programs are separated by kinematics. The optional all-source scope retains all 32 files for inspection; remap/subroutine/reference and mismatched kinematics cannot be sent as an executable main program | +| `machine-manager-settings`, `machine-manager-import`, `machine-manager-files`, `machine-manager-translate`, `machine-manager-rotate`, `machine-manager-role`, `machine-manager-parent`, `machine-manager-show-origin`, `machine-manager-apply`, `machine-manager-export` | Web component-level machine assembly extension | Draft import/edit/preview is local. Apply validates the supported AC/BC hierarchy, generates `linuxcnc.machine/1`, then uses the existing `LOAD_WORKSPACE` + `PROGRAM_LOAD` transaction while OFF and IDLE; Export serializes the validated scene and userData to a self-contained GLB | Three.js edits appearance/assembly metadata only; runtime joint motion, tool offset and RTCP remain Worker/WASM authoritative | | `manual-home-all` | `home_all_joints` | `HOME {all:true}`; ON+IDLE, no concurrent homing/jog | Native homemod selects the configured sequences. No artificial coordinated return-to-zero motion. | | `switchkins-0`, `switchkins-1`, `switchkins-2` | `M429`, `M428`, `M430` remaps and `motion.switchkins-type` | `KINEMATICS_SELECT`; ON, homed, IDLE, empty TP | Identity/XYZAC/User K canonical type, or stable gate reason | | `tab-manual`, `tab-mdi` | `ensure_manual` / `ensure_mdi` | `SET_MODE`; manual_ok and motion exclusion | Task mode acknowledgement and WASM motion mode are monitored separately; no local tab is mode authority. | diff --git a/docs/teaching/rtcp-beginners/README.md b/docs/teaching/rtcp-beginners/README.md new file mode 100644 index 0000000..27fa83b --- /dev/null +++ b/docs/teaching/rtcp-beginners/README.md @@ -0,0 +1,70 @@ +# 五轴 RTCP 与工件坐标：初学者完整讲义 + +[打开完整 PDF](五轴RTCP与工件坐标-初学者完整讲义.pdf) · [可编辑 HTML](handbook.html) · [逐页目录](outline.json) + +本版是面向初学者重新组织的 **72 页 A4 完整讲义**，不是只在原投影片后附几页补充。原 [31 页投影课件](../rtcp-five-axis/五轴机床与RTCP-教学课件.pdf) 保留为概要。本讲义适合独立阅读、打印及分 4–6 次授课。 + +## 新增重点 + +- 从原点、方向、单位、右手规则、点与增量讲起；区分物理机床参考 M、工件 W、关节 J、运动学输入 K 和刀具 T。 +- 工件原点如何选择、测量；为什么一个点不能确定方向；机械找正与初始坐标旋转分别解决什么。 +- 分开说明“固连零件的物理坐标架”“G54偏置表”“动态RTCP变换”；G54不是独立完成五轴跟随的开关。 +- 详细解释G54/G55、G10 L2/L20、G90/G91、G20/G21、省略轴与模态；说明G52/G92/G53、圆弧字、进给方式、刀补索引的边界。 +- 对同一份BC程序逐字、逐行计算工件XYZ、K输入XYZ、角度、实际关节位置，给出完整对照表和连续轨迹图。 +- 实验、排错、限位、术语、练习和答案；把数学推导放在附录，不要求初学者先会矩阵。 + +## 章节与 PDF 页码 + +| PDF 页码 | 内容 | +| --- | --- | +| 1–3 | 封面、阅读方法、可点击目录 | +| 4–9 | 坐标基础、点与增量、五轴结构、关节与反馈 | +| 10–14 | 各参考系、回零、工件坐标、随动原点、G54表与物理坐标架 | +| 15–20 | 零位参考、原点选择与测量、方向确定、完整点变换 | +| 21–26 | G54/G55、偏置、G10 L2/L20、G52/G92/G53 | +| 27–33 | 非RTCP/RTCP、方向合成、AC/BC、结构参数与刀长 | +| 34–43 | 地址字、模态、单位、G90/G91、G0/G1、圆弧、F及其他字的解析 | +| 44–53 | 完整程序、N10–N110逐行实算、结果表与模式切换 | +| 54–57 | 连续轨迹、姿态、模型显示与分层准备 | +| 58–62 | 三个实验、排错、行程/动力学/碰撞边界 | +| 63–67 | 常见问答、两组练习与答案 | +| 68–72 | 术语、公式、软件实验范围、资料来源与复现 | + +正文编号01–69为“节号”，与PDF页码相差封面/导读/目录三页；内部引用按节号，目录按PDF页码。 + +## 核心实算 + +主例：XYZBC，零旋转中心/轴间偏置/刀长差，G54零位偏置 `(40,20,10)` mm，初始方向对齐。 + +| 程序段 | 工件 XYZ | K 输入 XYZ | B/C | 关节 XYZ | +| --- | --- | --- | --- | --- | +| `N50 G1 X10 Y0 Z5 B0 C0 F600` | 10,0,5 | 50,20,15 | 0/0 | 50,20,15 | +| `N60 C90` | 10,0,5 | 50,20,15 | 0/90 | -20,50,15 | +| `N70 G91 X10` | 20,0,5 | 60,20,15 | 0/90 | -20,60,15 | +| `N80 G90 X20 Y0 Z5 B30 C90 F300` | 20,0,5 | 60,20,15 | 30/90 | -9.821,60,22.990 | +| `N90 X0 Y10` | 0,10,5 | 40,30,15 | 30/90 | -18.481,40,27.990 | + +这些数值来自 [实际 WASM 验证](gcode-evidence.json)，包括11个主程序段、11个额外单位/坐标设置段；N10–N90加M2通过真实Session/解释器/TP完整执行，记录53个轨迹样本，并核对最终关节。下载模型自带非零参数，不能不改条件就要求得到这张表的相同数值。 + +## 验证与范围 + +- [版面报告](verification/layout.json)：72页图文边界、图片加载、标题和正文检查。 +- [PDF核验](verification/acceptance.json)：页数、A4尺寸、逐页中文文本、内嵌字体、书签、文件与资产SHA256。 +- `verification/` 保留逐页截图及实际PDF的独立渲染总览。 +- 9张新增原创坐标示意图，复用此前11张原创原理图/模型图；不是许可不明的网络插画。 +- 依据LinuxCNC官方坐标/G代码/五轴/切换资料和当前仓库代码；最后一页有直接链接。 +- 当前WASM解释器属于功能切片。通用G52/G92、任意坐标方向变换、完整G43/H刀表、所有进给模式并未在本次全面验收；正文明确标出，不能把“解析接受”当作完整功能正确性。 +- 本讲义不修改应用功能，不宣称真实机床的探测/碰撞/硬件安全流程已被验证。 + +## 重新生成 + +```bash +node scripts/generate_rtcp_beginner_data.mjs +PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/generate_rtcp_beginner_figures.py +python3 scripts/generate_rtcp_beginner_html.py +PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/subset_rtcp_beginner_fonts.py +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/render_rtcp_beginner_pdf.mjs +PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/verify_rtcp_beginner_pdf.py +``` + +生成工具依赖临时安装的Matplotlib/PyPDF/fontTools、Chrome、Playwright和Noto CJK字体；PDF成品不需要这些工具，可以离线阅读。HTML需与同目录assets一起保留。中文字体按本书实际字符制作子集，避免同形部首导致复制/搜索文字不同；字体许可证在assets/font-license.txt。 diff --git a/docs/teaching/rtcp-beginners/assets/absolute-incremental.png b/docs/teaching/rtcp-beginners/assets/absolute-incremental.png new file mode 100644 index 0000000..a518324 Binary files /dev/null and b/docs/teaching/rtcp-beginners/assets/absolute-incremental.png differ diff --git a/docs/teaching/rtcp-beginners/assets/arc-chord.png b/docs/teaching/rtcp-beginners/assets/arc-chord.png new file mode 100644 index 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License (OFL) are to stimulate worldwide + development of collaborative font projects, to support the font + creation efforts of academic and linguistic communities, and to provide + a free and open framework in which fonts may be shared and improved in + partnership with others. + . + The OFL allows the licensed fonts to be used, studied, modified and + redistributed freely as long as they are not sold by themselves. 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See the + GNU General Public License for more details. + . + On Debian systems, the complete text of the GNU General + Public License version 3 can be found in "/usr/share/common-licenses/GPL-3". diff --git a/docs/teaching/rtcp-beginners/assets/handbook-bold.otf b/docs/teaching/rtcp-beginners/assets/handbook-bold.otf new file mode 100644 index 0000000..86fb558 Binary files /dev/null and b/docs/teaching/rtcp-beginners/assets/handbook-bold.otf differ diff --git a/docs/teaching/rtcp-beginners/assets/handbook-regular.otf b/docs/teaching/rtcp-beginners/assets/handbook-regular.otf new file mode 100644 index 0000000..7bedaef Binary files /dev/null and b/docs/teaching/rtcp-beginners/assets/handbook-regular.otf differ diff --git a/docs/teaching/rtcp-beginners/assets/hierarchy.png b/docs/teaching/rtcp-beginners/assets/hierarchy.png new file mode 100644 index 0000000..3569c48 Binary files /dev/null and b/docs/teaching/rtcp-beginners/assets/hierarchy.png differ diff --git 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封面 · 完整讲义 / 2026.09

五轴 RTCP 与工件坐标

从坐标零点到 G 代码，再到每根轴的运动

面向初学者的完整学习路径：先认识“相对谁量位置”，再理解“角度改变后，控制器如何保持刀尖相对工件的目标关系”。

本项目原创 XYZBC 桁架模型：刀具侧 XYZ，工件侧 B→C。
本项目原创 XYZBC 桁架模型：刀具侧 XYZ，工件侧 B→C。

包含：基础概念、图解、逐字解析、逐行数值演算、实验步骤、排错方法、练习和答案。
建议分 4–6 次授课，也可按目录自学。

读完后，应能把“程序写的数值”和“电机实际要到的位置”分开解释。
原创讲解；以本讲义所声明的双转台结构为限。01 / 72
导读

怎样使用这份讲义

不要求你先会矩阵或五轴编程。先把坐标看成贴在物体上的尺子，再把RTCP看成依据机床结构换算位置的计算过程。公式附录可以最后再读。

三种标签，避免把不同层次混在一起

层次在讲义中怎样使用
通用概念坐标、相对位置、程序段、绝对/增量、物理关节等基础知识。
本课模型XYZ移动刀具；A/C或B/C转动工件；按本项目正方向和父子层级计算。
已实测算例通过本项目WASM解释器、运动学和规划器验证的数值；不是手工猜测。

推荐阅读顺序

  1. 第1–3章：先弄清坐标系、原点、方向及工件偏置。
  2. 第4–6章：理解RTCP，再学习G代码各地址字与模式。
  3. 第7章：跟着一份完整程序逐行计算，自己复算。
  4. 第8–10章：操作实验、排错、练习；最后查数学附录。

本项目仿真只覆盖LinuxCNC的一部分能力。讲到G52/G92、坐标旋转、完整刀补等功能时，会区分官方控制器语义和项目已验证的范围。

不要把某个控制器或示例的约定，当作所有机床都必须遵循的规则。
原创讲解；以本讲义所声明的双转台结构为限。02 / 72
学习地图

内容索引

本书从基础坐标开始，逐步建立程序与关节之间的计算链。PDF目录书签可直接跳转章节。节号不是PDF页码；前面另有封面和导读。

章节PDF起始页
第1章　坐标与机床基础4
第2章　机床、工件与中间参考10
第3章　原点和方向如何确定15
第4章　G54、G10与其他偏置21
第5章　RTCP的点、方向与标定27
第6章　G代码逐字与模态解析34
第7章　完整程序逐行实算44
第8章　连续轨迹、刀轴与显示54
第9章　课堂实验、限位与排错58
第10章　问答、练习与答案63
附录A　术语表68
附录B　可选数学推导69
附录C　软件验证范围71
附录D　资料来源与复现72

建议每次学习1–2章，完成相应小实验后再继续。数值实算章建议边读边写出W、K、角度、J四列。

先学概念，后读代码；遇到陌生词可跳到附录术语表。
原创讲解；以本讲义所声明的双转台结构为限。03 / 72
第1章 · 坐标基础

01　坐标是“按照约定量出来的位置”

想象一张方格纸。先指定一个交点为原点O，再规定向右是+X、向上是+Y，每格代表10mm。这样你就能用两个数告诉别人某个孔的位置，而不必每次都画整张图。

P=(30,20)mm：从原点沿+X量30mm，再沿+Y量20mm。
P=(30,20)mm：从原点沿+X量30mm，再沿+Y量20mm。

这里的30和20不是电机编号，也不是速度。它们是点P相对于这套尺子的两个坐标分量。换一个原点，或者把尺子的方向转动，同一个点的坐标数字就会改变。

坐标数字必须和“原点、方向、单位”一起理解。
原创讲解；以本讲义所声明的双转台结构为限。04 / 72
第1章 · 坐标基础

02　一套坐标系至少要规定什么？

要素初学者理解不说明会怎样
原点从哪里开始量。相同数值落在不同位置。
方向X、Y、Z分别朝哪边。相同增量可能走向不同方向。
单位例如长度mm、旋转角度°。X1可能是1mm，也可能是25.4mm。
正负号与手性三轴之间的正向约定。模型可能镜像、旋转方向可能相反。

三维直角坐标系有三条互相垂直的轴。一般按右手规则建立：+X和+Y确定后，+Z的方向也随之确定。不能任意把其中一根轴反向，同时还声称保持同一套右手坐标。

坐标系在图上常画成三根箭头；在控制器中，它由参数和变换关系表示。屏幕上的箭头只是它的可视化，拖动摄像机不会改变机床的真实坐标约定。

三个方向不是三条新导轨，而是描述位置的三个基准方向。
原创讲解；以本讲义所声明的双转台结构为限。05 / 72
第1章 · 坐标基础

03　同一个点，可以有两套不同的坐标

工件原点在机床中为(40,20)。同一P点：机床坐标(50,35)，工件坐标(10,15)。
工件原点在机床中为(40,20)。同一P点：机床坐标(50,35)，工件坐标(10,15)。

假设两套坐标的方向相同，只是原点平移。绿色工件原点比蓝色机床原点多了X40、Y20。于是工件上的P=(10,15)，在机床坐标中就是(50,35)。

机床中的位置 = 工件原点的位置 + 工件内的坐标

反过来，若已知机床中的点位置，需要减去工件原点，才能得到工件内的读数。这就是最简单的“工件偏置”直觉。

点没有动，坐标数字也可以变；改变的是量它的尺子。
原创讲解；以本讲义所声明的双转台结构为限。06 / 72
第1章 · 坐标基础

04　点坐标与移动增量不是一回事

“去X20”描述一个目的地；“向+X再走20”描述一段位移。当前位置不同，这两句话会产生不同结果。

当前位置X=10：绝对目标X20移动10；增量X20移动20，终点到X30。
当前位置X=10：绝对目标X20移动10；增量X20移动20，终点到X30。

点坐标需要一个原点。位移向量描述从一个点到另一个点的差，原点平移不会改变这段差值；但是坐标方向转动，会改变它在另一套坐标中的分量。

写法意思
p=(10,5,2)一个目标点的位置。
Δp=(10,0,0)沿当前编程+X方向增加10。
X轴方向向量只说明方向；不能直接当作某个目标点。

后面会反复用到：p表示点，Δp表示增量。不要因为都含X/Y/Z三个数就把它们混用。

“目标在哪里”和“这一步走多远”是两个问题。
原创讲解；以本讲义所声明的双转台结构为限。07 / 72
第1章 · 机床结构

05　五轴机床里，到底是哪五根轴？

本课选择双转台桁架结构：三根直线轴X、Y、Z让刀具移动；两根旋转轴让工件转动。AC型使用A和C，BC型使用B和C。它们不是XYZABC六根独立轴都同时存在。

坐标字母典型含义本课执行部件
X/Y/Z直线位置横梁、滑座、滑枕/刀具
A绕X方向的轴线转动AC外层倾转台
B绕Y方向的轴线转动BC外层倾转台
C绕本地Z方向轴线转动安装在倾转台上的内层转台
两条独立分支：刀具侧XYZ；工件侧A/B→C。
两条独立分支：刀具侧XYZ；工件侧A/B→C。

C的轴线装在A/B上，所以A/B倾转会连C的轴线一起带走。这不是软件的小细节，而是决定运动学计算次序的机械事实。

先查结构图，确认谁安装在谁上面，再讨论坐标如何变换。
[S1][S3]；本项目桁架模型。08 / 72
第1章 · 机床结构

06　关节位置，不等于工件坐标

把“关节”理解为一个执行机构及它的位置。在本项目里，J0/J1/J2对应XYZ直线轴，J3是A或B，J4是C。每个关节位置属于机构自身的运动参数。

对象回答什么问题
程序点刀尖相对于选定编程参考系要到哪里？
关节指令各执行轴应该到哪里？
实际反馈编码器报告机械轴实际上在哪里？
三维模型刀尖将关节位置代入结构模型后，画面上的刀尖在哪里？

简单三轴、没有偏置时，这几类数字可能很相近，容易造成“它们本来就是同一回事”的错觉。五轴RTCP会把这种差别明显表现出来：程序XYZ不变，关节XYZ却需要变化。

程序描述加工目标；关节是执行这个目标的机构参数。
原创讲解；以本讲义所声明的双转台结构为限。09 / 72
第2章 · 参考系

07　先认识 M、W、J，再引入 K 和 T

符号在本讲义中的含义在哪里看
M固连机床底座的物理笛卡尔参考系。观察真实空间位置与方向。
W设计给零件编程用的工件坐标系。图纸、CAD/CAM、G54编程。
J / q各机械关节的位置集合。J0…J4、编码器/关节显示。
K已经解释偏置、尚未经过RTCP逆解的坐标输入。本项目解释器输出到运动学的接口。
T刀具参考系或刀具受控点的定义。主轴参考点、刀长标定、TCP。

初学者先记住M、W、J三个概念。K是在复杂机床中避免混淆的“中间层”：控制器界面叫作Machine的XYZ，有时是运动学坐标，不能不看定义就认定它一定等于物理直线关节。

本讲义用K做教学记号，不是要求控制器界面必须新增一个叫K的按钮。它也不是G代码中的圆弧中心地址K；同一个字母处在不同上下文中，意义不同。

本讲义的符号是为讲清层次而定义的，不是所有控制器统一的界面名称。
原创讲解；以本讲义所声明的双转台结构为限。10 / 72
第2章 · 机床参考

08　回零解决什么？工件对刀又解决什么？

回零建立机器执行机构的参考，使控制器知道关节位置相对于设定基准如何计量。它解决“机床自己在哪里”的问题。工件可能每次装在不同位置，回零并不会自动知道零件角点或孔中心在哪里。

工件对刀、测头找正和设置工件偏置，解决“这次装夹的零件参考在哪里”的问题。这两类基准相互有关，但不能互相替代。

操作主要作用不会自动完成
回零/HOME建立关节或机床参考。不会自动测得G54零点。
选G54选择已保存的编程参考。不会自动重新测量工件。
设置工件零点更新零件与基础参考的配准。不会重新标定转台中心。
测刀/刀长标定建立主轴参考与刀尖的关系。不会确定所有工件方向。
回零、找工件零点、测刀，是不同的准备步骤。
[S2][S4]；实际回零方法取决于机床配置。11 / 72
第2章 · 工件参考

09　工件坐标 W 代表什么？

工件坐标是一套为零件几何与加工意图服务的参考。设计人员可能把顶面角点定义为(0,0,0)，把孔中心写成(30,20,−5)。CAM和操作者必须采用兼容的约定，程序中的点才会落在预期部位。

原点可以选角点、中心、基准面交点等；不一定是转台中心。
原点可以选角点、中心、基准面交点等；不一定是转台中心。

零件本身并没有天然写着“这里必须是X0”。原点是根据图纸、工艺、装夹和测量便利性选定的。选好以后，需测量或标定出它与机床结构的关系。

原点是工艺约定，控制器必须得到该约定与实际装夹之间的对应关系。
原创讲解；以本讲义所声明的双转台结构为限。12 / 72
第2章 · 工件随动

10　工件转了，原点与方向一起转

零位工件原点o=(40,20,10)mm；只看XY俯视，Z另计。
零位工件原点o=(40,20,10)mm；只看XY俯视，Z另计。

设工件原点在零位参考中是(40,20,10)。当C=0°时，它在机床空间仍在(40,20,10)。当C=90°、旋转中心为零时，它移到(−20,40,10)。

此时工件+X方向也转成机床+Y方向。工件上的P=(10,0,5)始终是“从工件原点沿工件X走10，再沿工件Z走5”，但它在机床空间从(50,20,15)变到(−20,50,15)。

随工件固连的坐标架是一个整体：原点和三根方向箭头一起变换。
原创讲解；以本讲义所声明的双转台结构为限。13 / 72
第2章 · 最重要的区分

11　“物理工件坐标架”和“G54表”不是同一对象

物理上，你可以想象把一套坐标箭头画在工件上。转台转动时，这套箭头会随工件一起转。软件里，G54则是用于选取一套工件坐标设置的指令，其数据保存在控制器的偏置表中。

在本课RTCP模型中，G54主要给出零位配准偏置；姿态改变时的空间变换由另一层运动学完成。因此，偏置表中的数字可以保持不变，但它所对应的物理工件原点会在机床空间移动。

层次本课中的作用
零件上的W坐标架描述固定在零件上的位置和方向。
G54等偏置数据告诉解释器如何把编程坐标换算到基础输入K。
RTCP运动学利用当前A/B、C及几何参数把K换算成物理关节目标。

如果只打开G54而没有正确的五轴运动学，控制器并不会因此自动追踪物理工件架的旋转。非RTCP时，软件的直接坐标解释与转动后的零件局部方向可能不一致。

G54负责选参考数据，RTCP负责根据结构和姿态换算运动。
[S1][S2][S4]；后半为本课模型与项目实测数据链。14 / 72
第3章 · 原点与方向的确定

12　先约定机床零姿态，再谈工件装在哪里

要描述工件装夹位置，必须先有一套明确的基础参考：旋转轴的零角度是什么姿态？倾转轴中心在哪里？C轴中心在哪里？直线轴与刀具基准怎样关联？这些由机床配置与几何标定决定。

把转台放到定义的A/B=0、C=0姿态，可以建立零位配准参考K。零件的工件原点相对于这套参考的偏置，记作o。若工件方向也存在初始夹角，还需要初始方向变换R₀。

编程点 p_W → 零位配准 → p_K → 当前姿态变换 → 关节 q
要确定的量谁来提供
轴的零角度、正方向回零/编码器基准与机床配置。
旋转中心、轴间偏置机床结构数据、测量与标定。
零件原点及初始方向工艺定义、装夹、测头或找正。
刀具长度与参考点刀具测量、刀表与补偿设置。

这些数据不是点击“开启RTCP”时凭空生成的。RTCP只会使用已有数据计算，不能自动猜出实际工件的全部装夹关系。

RTCP能正确跟随的前提，是机床几何与工件配准都已经正确。
原创讲解；以本讲义所声明的双转台结构为限。15 / 72
第3章 · 原点选择

13　工件原点放在哪里比较合适？

常见选择有：毛坯顶面角点、工件中心、定位孔中心、某个基准面与两条基准边的交点。没有一种位置对所有零件都最优。应与图纸和CAM编程基准一致，并且能够稳定测量。

  1. 先看图纸和CAM：尺寸从哪里标起，程序预期哪个位置为零？
  2. 再看装夹：该基准在机床上是否可接近、可找正、可重复？
  3. 确认方向：+X沿哪条边，+Y朝哪边，+Z朝工件外侧还是另一约定方向？
  4. 记录采用的是毛坯面、成品基准面还是夹具基准，避免同名不同面。

换一次装夹，零点位置可能变化。程序里零件局部几何可以保持不变，只更新该次装夹的配准数据。这正是工件坐标的价值。

转台中心可以作为机床标定基准，却不必与零件编程原点重合。把两者强行设成同一点，会让工艺选择受到不必要限制。

方便编程、方便测量、装夹可重复，比“零点看起来居中”更重要。
原创讲解；以本讲义所声明的双转台结构为限。16 / 72
第3章 · 原点测量

14　怎样把选好的原点告诉控制器？

首先必须让刀尖或测头与已知基准建立真实关系。可以使用测头、寻边器、对刀棒或其他已标定的测量方法。测量工具本身的半径、长度及接触位置要考虑进去；刀具中心碰到边，不等于刀尖已经位于所选坐标原点。

一种便于理解的零位流程

  1. 完成机床回零和刀具/测头标定。
  2. 把转台置于已知参考角度，按工艺要求找正工件。
  3. 测得原点相对于基础参考的位置，写入目标工件坐标表。
  4. 选择该坐标系，用已知的另一个点检查读数和方向。
  5. 用小幅、空载的受控运动验证，再进入实际加工。

本讲义的数字测量例仅解释偏置计算，不构成真实机床的探测轨迹。设备现场必须遵循该机床和控制系统的操作流程。

找零点不是把三个显示框都随意清零，而是建立可验证的几何关系。
原创讲解；以本讲义所声明的双转台结构为限。17 / 72
第3章 · 方向测量

15　一个原点不能确定三维方向

平面内示意：O给出位置，O→Pₓ确定+X，再用不共线点确定平面及+Y。
平面内示意：O给出位置，O→Pₓ确定+X，再用不共线点确定平面及+Y。

你把一个孔中心设为零，只确定了原点位置。围绕这个点，坐标架仍可以转动。要确定方向，还需要已知的边、面或更多测量点。

常见做法是让工件基准边与预定方向对齐，并用基准面确定法向。若需要软件方向补偿，应由控制器支持的工件坐标旋转或倾斜平面功能来表达，不能只修改X/Y/Z三个平移偏置。

原点回答“从哪里量”，方向回答“朝哪里量”；它们需要不同信息。
原创讲解；以本讲义所声明的双转台结构为限。18 / 72
第3章 · 初始方向与动态方向

16　装夹方向和转台姿态，要分开处理

假设工件在C=0时，长边已经相对基础X方向偏转了20°。这20°是装夹的初始方向关系；后来C又旋转30°，属于机床当前姿态。两者来源不同，但都影响最终空间方向。

量何时确定通常何时变化
初始工件方向R₀装夹/找正/CAM配准时。重新装夹或修改坐标设置时。
转台角度A/B、C回零基准与每条运动指令。程序或Jog执行过程中。
几何中心P、偏置D机床结构测量和标定时。结构调整或重新标定时。

LinuxCNC可用特定工件坐标设置表达XY平面内旋转，例如G10 L2的R参数；它不是一个任意三维倾斜平面描述。摆头/转台结构、倾斜平面和TCP功能的组合仍要按具体控制器核对。

没有声明初始装夹方向时，不能擅自认为工件边一定平行于机床导轨。
[S4] G10 L2；项目实验边界见后文。19 / 72
第3章 · 原点和方向合起来

17　一个点怎样从工件坐标换算到机床空间？

先不看公式。把工件原点在机床空间的位置标出来；再把工件+X、+Y、+Z三个方向换算到机床空间。最后，沿这些方向分别走程序给定的距离。

空间目标 = 当前工件原点 + X·工件X方向 + Y·工件Y方向 + Z·工件Z方向

用数学记号写为 r_M = O_M + E_MW·p_W。O_M是工件原点在机床中的位置，E_MW的三列是工件三个单位方向在机床中的分量。矩阵只是把“三个方向加权相加”缩写起来。

转台改变姿态时，O_M和E_MW一般都变化；工件点p_W可以保持。
转台改变姿态时，O_M和E_MW一般都变化；工件点p_W可以保持。
固定姿态时可以只变换增量；姿态在变时必须处理完整的点变换。
原创讲解；以本讲义所声明的双转台结构为限。20 / 72
第4章 · G54与偏置

18　G54究竟做了什么？

G54选择第一套工件坐标设置。LinuxCNC中还有G55、G56、G57、G58、G59、G59.1、G59.2、G59.3，合计九套。你可以给不同工件、不同装夹或不同夹具保存不同偏置。

选择指令G10中的P编号本页教学含义
G54P1第一套坐标设置
G55P2第二套坐标设置
G56…G59P3…P6第三至第六套
G59.1…G59.3P7…P9第七至第九套

G54具有模态性：选中后，后续适用的运动指令继续使用它，直到选了同组的另一个坐标系。单独执行G54没有轴目标时，不会自动让刀具移动到工件零点。

选择参考，不等于走到参考原点。
[S2][S4] 坐标选择；实测G54/G55见gcode-evidence.json。21 / 72
第4章 · 偏置的物理含义

19　G54的40、20、10代表什么？

本课统一例子：在零角度、零几何偏置且方向对齐的教学模型里，设工件原点相对于K参考为o=(40,20,10)mm。意思是先沿K的X方向40、Y方向20、Z方向10，才到工件原点。

G21 G90
+G10 L2 P1 X40 Y20 Z10
+G54

当程序要求工件点X10 Y0 Z5时，解释器得到K输入(50,20,15)。到这一步还没有完成五轴运动学计算；随后还要依据B/C或A/C及几何参数得到关节目标。

同一例子继续取C=90°，RTCP最终关节XYZ为(−20,50,15)。
同一例子继续取C=90°，RTCP最终关节XYZ为(−20,50,15)。

因此，G54偏置中的40不能理解成“无论转台怎么转，工件原点都固定在机床X=40”。它是零位配准数据，动态空间位置由RTCP继续换算。

工件偏置先进入编程坐标解释，转台姿态随后进入运动学。
本项目WASM解释器与运动学实测；o=(40,20,10)、P=D=L=0。22 / 72
第4章 · 设置方法一

20　G10 L2：把已知偏置写入坐标表

G21
+G10 L2 P1 X40 Y20 Z10
地址字本行含义
G10设置某类数据，具体对象由L等参数决定。
L2本例为直接设置工件坐标偏置。
P1第一套工件坐标设置，即G54。
X40 Y20 Z10在本课约定下，直接写入三项长度偏置。
G21当前长度单位是mm；不要把单位上下文省略。

G10 L2适合“已经知道偏置是多少”的情况。它不是“把当前位置显示成某个值”的自动计算命令。若误把L20的用法套在L2上，偏置会被设置到完全不同的值。

这条指令设置参考数据，不是命令XYZ运动到(40,20,10)。
[S4]；同程序实际执行未产生运动段。23 / 72
第4章 · 设置方法二

21　G10 L20：让当前位置具有指定工件坐标

假设刀尖已处在本课K位置(70,30,20)，你确认它就是工件原点。想让此时工件读数变为(0,0,0)，控制器需要把G54偏置设置为(70,30,20)。

G10 L20 P1 X0 Y0 Z0
偏置 o = 当前位置 p_K − 希望此刻显示的工件坐标 p_W

若当前位置仍为(70,30,20)，但希望此点显示为工件X10 Y0 Z0，则偏置变成(60,30,20)。改变的是坐标设置，不是机床执行轴的位置。

动作K中的XG54工件X
刀尖保持当前位置70取决于原偏置
L20 P1 X0700
之后G54 G90 G1 X108010
L2写“偏置是多少”；L20给“当前位置应读成多少”，由控制器算偏置。
[S4]；零旋转实测L20偏置与后续X10运动。24 / 72
第4章 · 两个坐标系

22　换G54/G55为什么可能只改数字、不动机床？

给G54设置o₁=(40,20,10)，给G55设置o₂=(80,−10,10)。刀尖已在K=(50,20,15)。选择不同坐标系时，同一位置会产生不同局部读数。

状态关节/刀尖是否立即移动读数或下一步目标
当前G54否W₁=(10,0,5)
单独选择G55否W₂=(−30,30,5)
再执行G90 G1 X10是K的X变为90；未写的Y/Z保持原位置

同一个X10在G54和G55中指向不同目的地。若程序意图是加工两个不同装夹位置的相同零件，这正是需要的行为；若是无意中选错坐标系，就会整段偏移。

下方数值使用方向对齐的参考K来展示偏置。转台已倾斜时，物理空间关系还要经过RTCP变换。

换尺子可以只改变读数；按新尺子再给目标，才可能让机床运动。
[S2][S4]；G54/G55选择及省略轴实测。25 / 72
第4章 · 附加偏置与基础坐标

23　G52、G92、G53：先学会不混用

指令/功能通用理解初学者要点
G52在已有工件参考下使用局部偏置。不是自动测得新的装夹原点。
G92通过坐标重新定义产生附加偏置。可能与持久化设置有关，不能假设程序结束就完全清掉。
G53本段使用控制器定义的机床坐标方式。非模态；不等同于HOME，也不保证直接控制电机关节。

多层偏置叠加后，程序点到基础参考的换算不再只有一个G54。排错时必须查看当前有效的所有层，不能只盯着G54表里的三个数字。

尤其在非平凡运动学机床上，控制器的“机床坐标”仍可能是运动学输入空间。G53不意味着跳过所有运动学，G53 Z0也不能被当作通用安全退刀动作。

只在理解所有有效偏置后再组合使用；初学实验先保持参考层次简单。
[S2][S4]；对G53关节语义需按具体运动学核对。26 / 72
第5章 · 非RTCP与RTCP

24　非RTCP：“独立”的准确含义

对于本课直接映射模式，经过单位/偏置解释后，X/Y/Z对应直线关节，A/C或B/C对应旋转关节。只命令C转动，不会自动追加保持刀尖相对工件点的XYZ补偿。

只转C：工件标记点被带走，刀尖留在机床原位置。
只转C：工件标记点被带走，刀尖留在机床原位置。

这不表示各轴不能同时运动。例如一行同时给X、Y、B、C目标，控制器仍可协调插补。也不表示零件与刀具之间“完全没有关联”：物理工件转了，二者的相对位置当然会变。

独立是“没有自动的姿态几何补偿”，不是“没有同步插补或相对运动”。
原创讲解；以本讲义所声明的双转台结构为限。27 / 72
第5章 · 非RTCP与RTCP

25　RTCP控制的是相对目标关系

RTCP可理解为旋转姿态变化时的刀尖位置补偿。给定目标工件点以及A/B、C角度，控制器结合机床几何计算所需关节位置，让刀尖实现规定的相对工件轨迹。

保持同一工件点，角度改变时XYZ按需跟随。图为零偏置简化模型。
保持同一工件点，角度改变时XYZ按需跟随。图为零偏置简化模型。

“刀尖保持”有两种不同说法：保持在机床空间同一点；保持相对工件的同一点。本课RTCP讲的是后者。工件转动时，该点在机床空间可能沿弧线移动，所以刀尖也需要移动。

RTCP不要求刀尖在世界里绝对不动，而要求它满足指定的相对工件关系。
[S1] 五轴运动学；本项目原生AC/BC正逆解。28 / 72
第5章 · RTCP工件原点

26　用G54例子看“原点随动”

现在使用贯穿后续章节的例子：BC结构，B=0；几何中心P=0、偏置D=0、刀长差L=0；G54零位偏置o=(40,20,10)。程序目标始终为W=(10,0,5)。

C角度工件原点的机床位置O_M刀尖目标/关节XYZ程序W
0°(40,20,10)(50,20,15)(10,0,5)
90°(−20,40,10)(−20,50,15)(10,0,5)
两种姿态下，刀尖相对工件原点的局部分量始终相同。
两种姿态下，刀尖相对工件原点的局部分量始终相同。

注意：G54表仍是40、20、10，没有每次改写成−20、40、10。后一个值是由当前姿态算出来的空间位置，不是要求操作者实时改G54。

固定的是工件内的定义与零位配准数据，变化的是它们在机床空间的表达。
本课WASM逐字解析和逆解核验；详细行表见第7章。29 / 72
第5章 · RTCP方向

27　沿工件X前进，哪些电机会动？

在C=45°、倾转角为0°时，工件+X方向斜着指向机床+X和+Y。沿工件X增加10mm，必须由两根固定导轨合成：机床X约增加7.071mm，机床Y约增加7.071mm。

绿色方向随工件，蓝色机床导轨方向不转。
绿色方向随工件，蓝色机床导轨方向不转。
姿态固定：Δq_X = 10 cos45°；Δq_Y = 10 sin45°

XYZ导轨并没有在机械上旋转。变的是工件方向在机床中的表达。编程沿一根工件轴走，实际可以由两根或三根直线关节一起完成。

一个X字，不一定只驱动X电机；先问它属于哪套参考系。
原创讲解；以本讲义所声明的双转台结构为限。30 / 72
第5章 · 倾转与结构顺序

28　加入B或A后，方向可以进入三个维度

BC结构中，B倾转带着C轴一起倾斜。采用本项目约定，零偏置变换为R=R_Y(B)R_Z(C)。当B=30°、C=45°时，工件+X的机床方向分量约为(0.6124,0.7071,−0.3536)。

保持B=30°、C=45°时，沿工件X前进10mm，会同时改变三个直线轴。
保持B=30°、C=45°时，沿工件X前进10mm，会同时改变三个直线轴。
Δq ≈ (6.124, 7.071, −3.536) mm

AC则使用R_X(A)R_Z(C)。同样写30°、45°，AC与BC的刀尖空间位置一般不同。矩阵从右向左作用，表达父子结构的坐标转换顺序，并不是要求先完成C动作再单独执行A/B。

这里的正方向采用本项目原生计算约定；实际机械正转、工件视角和摄像机视角可能使视觉直觉相反，必须用正确标定核对。

RTCP用的是完整机构链，不能只把A字母改成B就期待相同空间姿态。
原创讲解；以本讲义所声明的双转台结构为限。31 / 72
第5章 · 三类偏置

29　G54、旋转中心、轴间偏置各管什么？

参数属于什么关系不能拿来替代
G54偏置o零件编程原点与基础参考K的配准。不是转台的物理轴心标定。
rot-point P本项目原生TRT的旋转参考位置。不是每次装夹都应随便改的零件零点。
axis offset D倾转轴与C轴之间的结构偏置。不是普通工件坐标平移。
tool-offset L刀具参考与受控点的标定量。不是看到网格长度后直接填的任意长度。

这些量都可能以mm显示，但含义和进入公式的位置不同。如果刀尖偏差源于转台中心错误，单靠修改G54可能只在某个角度碰巧对齐，换一个姿态就再次偏离。

起点相同、角度相同，绕不同中心会产生不同目标位置。
起点相同、角度相同，绕不同中心会产生不同目标位置。
看到“偏移多少毫米”时，还必须问：是哪个参考系之间的偏移？
原创讲解；以本讲义所声明的双转台结构为限。32 / 72
第5章 · 刀具参考

30　为什么必须知道刀尖究竟在哪里？

电机驱动的通常是滑台和主轴箱，程序关注的却是刀尖。主轴参考点与刀尖之间相隔一段刀具长度。如果更换刀具后长度不同，保持同一主轴位置并不能保持同一刀尖位置。

相同刀尖目标：刀更长时，主轴参考位置需要按正确约定调整。
相同刀尖目标：刀更长时，主轴参考位置需要按正确约定调整。

在LinuxCNC的完整刀补语义中，G43 H3表示使用指定刀具长度偏置条目；H3不是“刀长等于3mm”。T表示工具选择，M6表示换刀流程，S表示主轴速度，也不能与刀长混用。

RTCP、刀长补偿、倾斜工作平面是相互配合的功能，不是一个开关的三个名字。

先标定刀具参考点，再讨论刀尖目标；网格看起来像刀具，并不代表它已正确标定。
[S4] G43；本项目sim_interpreter.c的能力范围与本课测试边界。33 / 72
第6章 · 读懂G代码

31　一行G代码由“地址字”组成

N50 G1 X10 Y0 Z5 B0 C0 F600

一个地址字通常由字母和数值组成，例如X10。字母说明这个数属于什么类别；当前G/M代码和模态状态进一步决定它的具体作用。空格用于阅读，不是每个空格后就执行一次运动。

字本行解释
N50程序段编号，便于识别，不是运动距离。
G1按进给方式生成直线类型的运动段。
X10 Y0 Z5在当前绝对/增量和坐标设置下给出XYZ。
B0 C0给出旋转轴角度目标；本课为BC结构。
F600设置进给值，含义受进给模式和单位影响。

控制器应先读完整个程序段，检查语法与模态组，再求出整体目标。不能把它理解成先走X10、走完再走Y0、再走Z5、再转B和C。

本课旋转轴的工件偏置为零，所以B/C字直接成为相应关节角度目标；若启用了角度偏置，也要先换算，不能只看字面角度。

地址字是数据；程序段和当前模式共同决定数据的含义。
[S5] G-code Overview；N50为项目实测程序段。34 / 72
第6章 · 模态状态

32　没有写出来的内容，可能沿用上一行

模态可以理解为控制器记住的当前设置。G1、G90/G91、G20/G21、G54等在不同模态组中生效。后续行省略这些字时，常会沿用之前的设置。

G21 G90 G54 G1 X10 Y0 Z5 F600
+C90
+G91 X10
+G90 X20

第二行只有C90，但它仍处于G1、G90、G21、G54环境，F仍为600。第三行把距离模式切换成G91，X10变成增量。第四行恢复G90，X20又变成绝对目标。

省略什么通常怎样理解
省略G1沿用有效运动模式；不是自动停止解析。
省略F在允许沿用的进给模式下保留原值；G93另有要求。
省略XYZ某一轴通常保持该坐标分量的当前目标，不自动归零。
省略角度字保持当前角度目标，不自动回零角度。
读一行程序时，要带着“当前状态表”一起读。
[S4][S5] 模态与程序段；本文只涵盖常用运动模式。35 / 72
第6章 · 单位

33　G20/G21改变长度单位，不把角度变成长度

数值类别G21示例G20示例
X/Y/Z长度X1为1mmX1为1inch=25.4mm
A/B/C角度本课以度计仍按控制器旋转角约定，不把1°换成25.4°
G94直线进给FF600通常为600mm/minF2通常为2inch/min=50.8mm/min
G93的F逆时间，见进给专页不是长度值，不能机械乘25.4

本课WASM已实测：G20 G91 X1产生25.4mm的直线增量，G94下F2换算为50.8mm/min。然后换回G21时，后续长度又按mm解释。

变量、刀表、测量结果以及URDF还可能使用各自定义的单位。教学数据进入某一接口前应先统一，不要因为屏幕只显示一个数字就忽略单位。

长度、角度、转速、时间、索引号是不同量纲；不能用一个换算规则处理所有数字。
[S4] G20/G21/G93/G94；长度/直线进给转换已实测。36 / 72
第6章 · 绝对目标

34　G90 X10：去当前编程系的X=10

在G90中，X10通常表示当前有效编程参考系中的绝对目标X值为10。它不是“再走10”，也不是“无论有什么偏置，电机都去10”。

本课条件：G54的o=(40,20,10)，方向对齐，B=0、C=90°，RTCP开启，当前目标W=(20,0,5)。执行G90 G1 X10，新的W目标变为(10,0,5)。

计算层新目标
工件坐标W(10,0,5)
加G54得到K(50,20,15)
C=90°后关节XYZ(−20,50,15)

原来W=(20,0,5)对应关节(−20,60,15)，所以这一动作让机床Y减少10mm。虽然程序只写X10，实际发生变化的是本例的Y关节。

“绝对”必须说明是相对于哪套当前有效参考，而不是自动等于机床电机绝对位置。
原创讲解；以本讲义所声明的双转台结构为限。37 / 72
第6章 · 相对增量

35　G91 X10：在当前编程方向增加10

仍用G54 o=(40,20,10)、B=0、C=90°、RTCP开启。当前位置W=(10,0,5)。执行G91 G1 X10后，W变为(20,0,5)，K从(50,20,15)变为(60,20,15)。

新目标W = 旧目标W + (10,0,0)

角度保持C=90°，因此该增量在机床空间沿+Y方向，关节从(−20,50,15)变为(−20,60,15)。偏置不应被重复加两次。

G91 G1 X10
+G90

如果同一段还有B10或C20，它们在G91下通常也表示角度增量。控制器先形成新的整体坐标/角度目标，再插补并求解；不能把变化的姿态当成整段保持不变，只旋转一次XYZ增量就结束。

旋转轴还可能有展开角度或回绕设置。C=0与360的空间方向可以相同，但关节位置、行程和运动路径未必相同；本课不假设控制器自动选择最短转动路径。

G91改变目标的形成方式，不取消工件方向和RTCP计算。
原创讲解；以本讲义所声明的双转台结构为限。38 / 72
第6章 · 运动方式

36　G0/G1分别如何产生运动？

G0用于快速定位类运动，G1用于按进给规则执行直线类型运动。给出的通常是该段目标，而不是每个伺服时刻的位置。控制器的规划器决定加减速、插补进度及与相邻段的衔接。

层次G1 XYZBC在本课中的处理
编程空间定义XYZ与角度的起点/终点以及运动类型。
插补逐步得到中间位置和中间角度。
运动学每个采样按该时刻姿态和结构求解关节。
执行输出连续的关节位置/速度，并检查限制。

G1说的“直线”属于控制器定义的编程空间运动，不意味着所有机械部件在世界中都走一条直线。保持同一工件点、转动C时，刀尖可以在机床空间走弧线。

G0的具体协调方式、G64圆滑和G61精确路径等规则因控制系统而定。初学者不应把快速定位当作任何场景下的安全路径。

程序给段目标，规划器给连续过程，运动学给各轴实现方式。
[S4] G0/G1；项目规划器与运动学实测。39 / 72
第6章 · 圆弧地址

37　G2/G3里的I、J、K不是三根新电机轴

G17通常选XY圆弧平面；G18、G19选择其他主要平面。G2/G3给出圆弧方向，圆心可以由I/J/K等地址表达。圆心方式有独立的绝对/增量规则，不能仅看G90/G91就猜圆心如何解释。

(教学条件：G17，圆心增量方式)
+(起点 X10 Y0，圆心 X0 Y0)
+G3 X0 Y10 I-10 J0 F300
圆心增量从圆弧起点量：I=-10、J=0；不是从工件原点量两个绝对坐标。
圆心增量从圆弧起点量：I=-10、J=0；不是从工件原点量两个绝对坐标。

本例圆心增量等于“圆心−起点”。R有时也可表示圆弧半径，但它在其他指令中又可能表示不同参数。姿态固定时，工件平面中的圆弧映射到机床中的相应倾斜平面。

同一个字母的含义由当前指令规定；I/J/K经常是圆心参数，不是位置轴。
[S4] G2/G3、G17–G19、G90.1/G91.1。40 / 72
第6章 · 进给

38　F到底是速度、时间，还是每转进给？

模式F的基本含义例子
G94每分钟进给；线性、纯旋转或混合段需按控制器规则。直线段F600mm/min≈10mm/s。
G93逆时间进给，F的单位为1/min。F2对应理想段时间1/2分钟=30秒。
G95每主轴转一圈的进给量。F0.1mm/rev，配合实际主轴转速。

RTCP下，仅仅保持编程XYZ、改变角度，也可能引发XYZ关节移动。F不等于“每根电机都以这个数值运动”。各关节速度是插补过程和运动学变化共同作用的结果。

LinuxCNC对G94纯旋转段和含直线分量的运动有具体规则；G93可用于表达段时间，但仍受速度、加速度等限制。G93下G1/G2/G3通常每段需要F，不能直接照搬G94省略F的习惯。

当前Web切片的全部进给模式并非本课程验收对象；主算例采用G94，额外模式依据官方语义讲解。

看到F，先查进给模式；判断轴运动，还要查规划器和机器约束。
[S3][S4] G93/G94/G95。41 / 72
第6章 · 其他常见字

39　不是每个数字都代表位置

字/指令常见含义容易误解的地方
S12000主轴转速请求。不是刀具线速度或XYZ距离。
T3 / M6选择工具号 / 执行换刀流程。不等于自动设定工件原点。
G43 H3使用指定刀长偏置条目。H3不是刀长3mm。
D常见为刀具半径补偿索引。不是通用“深度”字。
G10 L2 P1L指定设置类别，P选目标坐标表。P1不是转台转1°。
G4 P…停留参数，按控制器定义。同一P在G10里却是编号。
R / Q圆弧/循环/设置中的上下文参数。不能固定解释为半径或角度。
M3/M5/M8等主轴/冷却等辅助动作。不是每个M码都有跨品牌同义。

本项目M428/M429是重映射到运动学切换和同步的命令。其他控制器可能采用完全不同的代码组合；把本项目的编号直接复制到真实机床上没有通用性。

字母相同不保证意义相同；上下文比数字本身更重要。
[S4][S5]；M428/M429为本地INI重映射。42 / 72
第6章 · 从文本到运动

40　控制器不是从左到右逐个字移动

  1. 读取程序段：识别注释、地址字、数值和参数表达式。
  2. 检查语法与模式：单位、距离方式、坐标系、运动类型是否有效且无冲突。
  3. 形成整体目标：G90写绝对值，G91加增量；处理省略轴和当前状态。
  4. 应用坐标设置：工件偏置、允许的坐标旋转/补偿，得到规范输入。
  5. 规划轨迹：速度、加速度、路径衔接和同步屏障。
  6. 逐采样计算运动学：根据该时刻位置、角度、中心/偏置/刀具数据求关节。
  7. 执行与反馈：伺服驱动/仿真推进；界面再显示实际状态与轨迹。

同一行中的X和B是一个联合目标，不是先走X再转B。控制系统有规定的执行顺序与模态语义；文本排列不能代替这些规则。变量和表达式也先按解释器规则求值，再成为数值输入。

每一层都应有可观察的输出，不能把程序文本直接当成模型关节值。
[S5] 程序段规则；本项目解释器→TP→WASM→模型链路。43 / 72
第7章 · 完整实算程序

41　统一实验条件与完整程序

以下每一行都用相同数据核验：BC双转台；旋转中心P=0、轴间偏置D=0、刀长差L=0；工件方向与零位K对齐；G54偏置o=(40,20,10)mm；初始物理关节均为0。

N10 G21 G90 G94 G17
+N20 G10 L2 P1 X40 Y20 Z10
+N30 G54
+N40 M428
+N50 G1 X10 Y0 Z5 B0 C0 F600
+N60 C90
+N70 G91 X10
+N80 G90 X20 Y0 Z5 B30 C90 F300
+N90 X0 Y10
+N100 M429
+N110 M428
+M2

N10–N90加M2已通过真实项目解释器、LinuxCNC TP和WASM运动学完整执行；N100/N110另用保持物理关节的切换接口逐段验证。每条运动的关键终点都与解析+逆解结果对照。

本章的数字是固定条件下的可复算例子；改变条件，结果也会改变。
gcode-evidence.json：rtcp-beginners-gcode-v1；完整程序状态completed。44 / 72
第7章 · 第一步

42　N10–N30：设置模式与工件参考

N10 G21 G90 G94 G17
+N20 G10 L2 P1 X40 Y20 Z10
+N30 G54
程序段改变什么是否生成运动
N10单位mm、绝对方式、每分钟进给、XY平面。没有目标轴，不运动。
N20把G54偏置设为(40,20,10)。设置数据，不运动。
N30选择G54为有效坐标系。单独选择，不运动。

初始物理关节仍是0。G54偏置设定后，原来的空间位置在这套编程坐标中可显示为(−40,−20,−10)。不是刀具突然往负方向跑了，而是这套尺子的原点不在刀具当前位置。

N10的G17目前只是声明圆弧平面。本程序只有直线类型段，不会因为写了G17就产生一段圆弧。

程序准备阶段可能只改解释状态，还没有开始移动。
原创讲解；以本讲义所声明的双转台结构为限。45 / 72
第7章 · 第二步

43　N40 M428：先切模式，不凭空移动

N40 M428

本项目中，M428选择RTCP运动学并同步解释器与运动状态。切换时要先读取当前物理关节，再用新模式正解出对应的坐标。它不是“保持旧XYZ数字，再反算出一组新的关节”。

在本章初始姿态下，关节为0、角度为0、几何偏置为0。Identity和RTCP在这个姿态碰巧给出相同的基础位置K=(0,0,0)，因此G54相对读数仍为(−40,−20,−10)。

量N40之后
关节XYZ/B/C全部保持0。
基础输入/同步坐标K(0,0,0)。
G54相对XYZ(−40,−20,−10)。
运动学模式从Identity改为本项目TCP。
模式切换准备新的坐标解释；有明确运动段时才产生后续轨迹。
原创讲解；以本讲义所声明的双转台结构为限。46 / 72
第7章 · 第三步

44　N50：把第一个工件点送到刀尖

N50 G1 X10 Y0 Z5 B0 C0 F600
  1. G90生效：新的工件XYZ目标为(10,0,5)，不是在旧位置上增加。
  2. B0/C0给出零角度；F600更新G94进给请求。
  3. 加G54偏置：(10,0,5)+(40,20,10)=(50,20,15)。
  4. 旋转角度为零、几何P/D/L均为零，逆解XYZ与K相同。
  5. 关节目标得到(50,20,15,0°,0°)，随后由规划器从当前位置插补到此。
层次数值
程序工件点W(10,0,5)mm
运动学输入K(50,20,15)mm
XYZ关节目标(50,20,15)mm
B/C关节目标0° / 0°
先算工件参考里的目标，再算偏置和运动学，不跳过中间层。
原创讲解；以本讲义所声明的双转台结构为限。47 / 72
第7章 · 第四步

45　N60 C90：XYZ字没出现，XYZ关节却动了

N60 C90

G1、G90、G21、G54、F600仍然有效。只更新C的绝对目标为90°，工件XYZ仍保持(10,0,5)，B仍为0。运动学输入的XYZ继续为(50,20,15)。

q_X = 50cos90° − 20sin90° = −20
q_Y = 50sin90° + 20cos90° = 50
q_Z = 15
比较N50末端N60末端
工件XYZ(10,0,5)(10,0,5)
基础K的XYZ(50,20,15)(50,20,15)
关节XYZ(50,20,15)(−20,50,15)
B/C0° / 0°0° / 90°

工件原点本身也从(40,20,10)移动到(−20,40,10)。在新姿态下，再沿工件X走10、Z走5，就到刀尖目标(−20,50,15)。

程序量保持与关节量保持，是两个完全不同的约束。
原创讲解；以本讲义所声明的双转台结构为限。48 / 72
第7章 · 第五步

46　N70 G91 X10：沿转后的工件方向走

N70 G91 X10

这一行把距离模式改为增量。原工件点W=(10,0,5)，现在沿工件+X增加10，得到W=(20,0,5)。B/C没有写，保持0°/90°。

步骤结果
形成工件终点(10,0,5)+(10,0,0)=(20,0,5)
转换到K(20,0,5)+(40,20,10)=(60,20,15)
C=90°的逆解关节XYZ=(−20,60,15)
相对上一步的关节变化Δq=(0,+10,0)mm

所以程序写了X10，机床Y关节却增加10mm。这不是轴接错，而是“工件+X”当前指向机床+Y。图形上刀尖沿转动后的工件方向移动。

N70之后G91仍有效。下一行如果继续写X20而不恢复G90，就又是增加20，而不是去X=20。

每次出现G90/G91，都应更新你的“当前模式表”。
原创讲解；以本讲义所声明的双转台结构为限。49 / 72
第7章 · 第六步

47　N80：工件点不变，B倾转带来X/Z补偿

N80 G90 X20 Y0 Z5 B30 C90 F300

先恢复G90，工件XYZ绝对目标仍为(20,0,5)，与N70末端相同。C保持90°，B从0°变为30°，F改为300。K的XYZ保持(60,20,15)。

先按C=90°换算，得到(−20,60,15)；再按B=30°绕Y方向倾转：

q_X = (−20)cos30° + 15sin30° ≈ −9.821
q_Y = 60
q_Z = −(−20)sin30° + 15cos30° ≈ 22.990

此时工件原点的空间位置约为(−12.321,40,18.660)。工件X方向当前沿机床+Y；工件Z方向则含机床X和Z两个分量。把W=(20,0,5)按这些方向加到原点上，也得到同一个关节XYZ。

倾转只改变B字，也可能要求直线轴联动；这正是补偿的任务。
原创讲解；以本讲义所声明的双转台结构为限。50 / 72
第7章 · 第七步

48　N90：省略的Z、B、C保持当前目标

N90 X0 Y10

因为N80恢复了G90，这里的X0/Y10是工件绝对目标，而不是增量。Z没有写，保持5；B保持30°，C保持90°；G1、G54、G21、F300继续有效。

量新的目标
完整工件XYZ(0,10,5)
完整角度B/C30° / 90°
K的XYZ(40,30,15)
C旋转后的中间点(−30,40,15)
B倾转后的XYZ关节(−18.481,40,27.990)

完整程序在这一段后执行M2。真实WASM规划器跑到程序完成时，关节终点与上述逐字解析、逆解计算一致；不是只在纸上进行了三角函数演算。

程序短，不代表有效状态少；把沿用状态补全后再计算。
gcode-evidence.json：最终joint=(-18.480762,40,27.990381,30,90)。51 / 72
第7章 · 全过程汇总

49　把五组数字同时放在一张表里

段号工件XYZK输入XYZB/C(°)关节XYZ
N50(10.000, 0.000, 5.000)(50.000, 20.000, 15.000)0 / 0(50.000, 20.000, 15.000)
N60(10.000, 0.000, 5.000)(50.000, 20.000, 15.000)0 / 90(-20.000, 50.000, 15.000)
N70(20.000, 0.000, 5.000)(60.000, 20.000, 15.000)0 / 90(-20.000, 60.000, 15.000)
N80(20.000, 0.000, 5.000)(60.000, 20.000, 15.000)30 / 90(-9.821, 60.000, 22.990)
N90(0.000, 10.000, 5.000)(40.000, 30.000, 15.000)30 / 90(-18.481, 40.000, 27.990)

比较N50与N60：工件XYZ和K的XYZ都不变，关节随C改变。比较N60与N70：在C=90°时沿工件X增加10，反映为机床Y增加10。比较N70与N80：工件点相同，只倾转B，X/Z关节补偿。

N60整段C从0到90°：图中是XYZ关节变化，不是程序工件XYZ变化。
N60整段C从0到90°：图中是XYZ关节变化，不是程序工件XYZ变化。

图中的横轴是C角度，不是时间。实际时间还受进给、加减速和机床约束影响，不能用图上每一度的等距刻度推断匀速运行。

一张正确的记录表，应区分程序坐标、运动学输入、角度和物理关节。
原创讲解；以本讲义所声明的双转台结构为限。52 / 72
第7章 · 再切回直接模式

50　N100/N110：同一刀尖位置，坐标解释改变

N100 M429
+N110 M428

N90末端关节固定为(−18.481,40,27.990,30°,90°)。M429把解释切到Identity，不能因此让这些关节无目标地跳动。新模式下基础XYZ与直线关节直接对应。

量M429后再M428后
物理XYZ关节(−18.481,40,27.990)保持相同
基础K的XYZ(−18.481,40,27.990)(40,30,15)
当前G54相对XYZ显示(−58.481,20,17.990)(0,10,5)
实际刀尖位置不动不动

在Identity下，当前软件坐标不再通过RTCP映射到转动后的零件局部坐标架。因此该模式的相对XYZ读数不能继续当作刚才物理工件架W中的同一点坐标来解释。

切换时固定关节、重新解释坐标；不要为了保持旧XYZ数字而挪动机床。
WASM selectPhysical与解释器同步逐段实测。53 / 72
第8章 · 中间轨迹

51　RTCP要在运动过程中持续计算

图为半径100mm的零偏置例：两种方法终点相同，中途却相差29.289mm。
图为半径100mm的零偏置例：两种方法终点相同，中途却相差29.289mm。

假设工件点绕C轴转90°。正确跟随时，刀尖走该点在机床空间里的圆弧。若只求首末关节位置，然后不顾几何地把X/Y用直线连接，可能走成弦线。

所以控制器不能只在段末才补偿。它需要在连续采样中使用当前插补出的XYZ和角度，得到相应关节值。各关节的变化不一定是线性的，也不必在每个时刻都非零。

只看“最后有没有对上”不足以检验RTCP。
原创讲解；以本讲义所声明的双转台结构为限。54 / 72
第8章 · 姿态与刀轴

52　RTCP不自动决定刀轴该朝哪里

双转台中主轴在机床里可保持竖直，但相对于工件的刀轴方向会改变。
双转台中主轴在机床里可保持竖直，但相对于工件的刀轴方向会改变。

本课机床不摆动主轴头。A/B、C带动工件后，主轴方向相对于工件发生变化。程序或CAM负责给出希望的角度/姿态，RTCP负责按这些角度保持所需刀尖位置关系。

RTCP不会仅凭一个曲面网格就自动知道应当以什么刀轴角加工，也不会自动保证刀轴始终垂直曲面。后者还涉及刀位规划、刀具几何、工艺策略和碰撞检查。

给定条件仍需解决的问题
知道一个刀尖点刀轴方向可能有多种选择。
知道点和A/B、C还需用正确机床几何求关节。
关节在限位内还不能证明刀具/夹具/机床无碰撞。

工件坐标方向、刀具方向、表面法向是三个概念。某些工艺要求它们满足特定关系，但它们不会天然全部重合。

RTCP执行指定的几何关系，不能替代CAM工艺与碰撞规划。
原创讲解；以本讲义所声明的双转台结构为限。55 / 72
第8章 · 三维显示

53　预览画面中的三个对象要分开看

显示对象代表什么常见误判
机床网格结构外形及由关节驱动的部件位姿。把网格缩放误当成运动学标定。
工件/程序路径表达程序几何，通常附着在工件分支。把摄像机转动当作工件坐标改变。
刀尖/实时轨迹显示当前采样的受控点或路径。只看路径颜色，不核对实际关节/参考系。

正确结构中，X/Y/Z移动刀具侧，A/B→C移动工件侧。路径必须与其定义的参考系一致。如果C错误地挂到Z下面，XYZ就会把工件也带走；再正确的RTCP数字也无法弥补错误的显示树。

导入GLB后修改中心/偏置，应保留模型并同步有效URDF与WASM。参数改变可以使部件相对位置改变，但不应该悄悄替换成另一台内置机床。

外观网格中的铸件、支架形状不一定随参数自动重建，模型校正也不等于通过了真实碰撞/刚度/制造尺寸验收。

验证要同时看程序参考、关节数据和场景层级，不能只凭视觉效果。
原创讲解；以本讲义所声明的双转台结构为限。56 / 72
第8章 · 参数准备

54　准备数据时，按三层顺序核对

第一层：机床自身

确认结构是AC还是BC、每个节点的父级、各轴正方向、回零基准、倾转中心与轴间偏置。轴向或结构类型错误时，先修复模型/配置，不用G54去“抵消”它。

第二层：刀具与受控点

确认主轴参考点、刀尖节点、刀长定义和补偿状态。把换刀之后的受控点映射建立正确，再判断实际加工位置。

第三层：零件装夹与编程

确认CAD/CAM原点、工件方向、G54等偏置、当前单位、绝对/增量方式和进给模式。用多个已知点、多个姿态核对，避免只在零角度看起来对。

检查方法能发现的问题
零角度检查已知点基本零点/长度/单位错误。
小角度分别转A/B和C轴向、正负号、父子顺序问题。
不同角度反复定位同一点旋转中心、偏置与刀尖标定问题。
重复换模式但不发运动坐标同步错误导致的无故跳变。
先机床，再刀具，最后工件；分层定位错误比同时改所有参数可靠。
原创讲解；以本讲义所声明的双转台结构为限。57 / 72
第9章 · 课堂实验

55　实验一：观察“转动后的坐标方向”

  1. 进入仿真，关机且空闲时导入AC或BC桁架示例，查看当前几何参数。
  2. 完成开机和回零，在Identity下把刀尖放到离C轴线有一定距离的位置，避免特殊点导致XYZ补偿不明显。
  3. 停止运动，选择M428。记录关节与物理刀尖没有瞬移，同时记录当前XYZ显示可能变化。
  4. 旋转C一个小角度并停止。保持当前姿态，再做一个小的编程X增量，观察实际哪几根直线关节变化。
  5. 比较工件方向与机床导轨方向：导轨没转，XYZ合成了工件方向。
  6. 先停止，再切回M429，重复小幅直接轴Jog作为对照。

项目默认示例有非零中心/偏置，所以不要拿本章零偏置算例的目标关节值逐项硬比。对默认机床，正确比较的是“同一配置下的运动学与模型是否一致”。

实验目标是理解参考系关系，不是让学生背住某一组关节数字。
原创讲解；以本讲义所声明的双转台结构为限。58 / 72
第9章 · 课堂实验

56　实验二：G54与G90/G91的逐行记录

本实验适合教师准备的专用仿真配置：零中心、零轴间偏置、零刀长差，BC结构，回零后从已知状态开始。不得直接在真实机床套用。

  1. 设置G21/G90/G94，写入G54偏置(40,20,10)，选择G54。
  2. 执行M428，记录此时关节不变。
  3. 执行N50到N90，每段等待运动结束，再记录工件坐标、K输入、关节。
  4. 把结果与第49节表格对照，重点检查N60和N70。
  5. 尝试只选择G55，不发轴字；观察读数变化但关节保持。
  6. 恢复已知模式与偏置后再重复，检查结果是否一致。
测试点应该看到
只选择/设置参考没有自动的定位运动。
N60 C90程序XYZ保持，关节XYZ变化。
N70 G91 X10W的X加10；本例关节Y加10。
N80恢复G90X20是绝对目标，不能再加20。

本讲义提供完整验证数据而非截图推测。如果现场结果不同，先核对几何与模态条件，不要立刻断言某根轴接错。

逐行记录让隐含模态变成看得见的数据。
原创讲解；以本讲义所声明的双转台结构为限。59 / 72
第9章 · 课堂实验

57　实验三：原点移动，程序几何不改

目标：理解同一段零件程序如何适应不同装夹位置。先保持角度固定，避免初学者同时处理太多变量；再在RTCP下加入姿态对照。

  1. 为G54设置第一套零位偏置，为G55设置第二套偏置，保持初始方向相同。
  2. 选G54运行一条很短、经过检查的定位段，记录目标。
  3. 只选G55，不发运动字，确认执行轴不会自动移动。
  4. 再给同样的工件XYZ目标，观察物理目标随配准变化。
  5. 停止后在适当角度下重复；说明原点和方向怎样一起进入RTCP。

若工件不仅平移，还在夹具上旋转，需要另外确定初始方向。仅改变G54的XYZ平移不会自动把一条斜边校正成你期望的+X方向。

作业：让学生画出两套工件原点和同一局部点，先预测实际目标变化，再用仿真核对。解释预测为何成立比得到一次正确数字更重要。

工件坐标把零件几何与装夹位置分开，但方向配准仍不可省略。
原创讲解；以本讲义所声明的双转台结构为限。60 / 72
第9章 · 排错

58　位置不对时，从哪一层开始查？

现象优先检查不要马上做什么
全程序平移一块G54/G55、附加偏置、装夹原点。先别改所有转台参数。
距离约差25.4倍G20/G21和数据单位。别靠缩放模型掩盖。
小动作不断累加G90/G91是否残留。别把每次误差当随机漂移。
零角度对，倾转就偏中心/偏置、刀长、正方向、结构链。别只在一个角度改G54。
只开RTCP却不跟点实际运动模式、目标参考、父子关系。别只看按钮颜色。
切模式机床瞬移是否固定关节并同步坐标。别冻结画面掩盖。
Connection ERROR首个Worker/协议/运动错误。别把后续sequence_gap当成唯一根因。

查看第一个失败原因通常比反复点击更有效。显示错误可能是运动计算错误的后果，也可能是模型投影错误；两类问题应通过关节数据与物理结构分别判断。

先找最早的因果点，不要只处理最后出现的提示。
原创讲解；以本讲义所声明的双转台结构为限。61 / 72
第9章 · 限位与边界

59　RTCP跟得上，还必须到得了

工件XYZ看起来没有变化，不等于机械关节没有运动。转台角度改变时，为保持同一工件点，某根XYZ直线关节可能需要大幅补偿，最终触及行程或速度限制。

约束检查对象
编程/坐标限位控制器定义的坐标允许范围。
关节限位各机械轴实际能够达到的范围。
速度/加速度每个执行轴的动态能力。
碰撞刀具、工件、夹具、转台和机床实体间的空间关系。

本项目曾出现BC坐标范围较大，但B关节上限只有50°的情况。连续Jog越过该物理约束后，运动计算失败，又触发事件时钟错误。现已区分限位阻止与连接故障，并允许停止后反向退出。

课堂先用小位移、小角度、低速度、空载模型理解概念；实际机床的操作与保护必须使用其正式流程。

RTCP正确解决几何映射，不自动取消行程、动力学和碰撞约束。
原创讲解；以本讲义所声明的双转台结构为限。62 / 72
第10章 · 常见问答

60　初学者最容易问错的八个问题

问题简明回答
工件坐标原点一定是转台中心吗？不是。零件原点由工艺选，转台中心是结构标定。
工件坐标的零点会变化吗？自身读数恒为0；在机床空间的位置可随角度变化。
只选G54能让刀尖跟着转台吗？不能。还需要正确结构、姿态与RTCP运动学。
写X10为什么Y轴动？X可能是工件方向，需由固定导轨合成。
没写XYZ为什么XYZ动？程序点保持，但转台姿态变化需要补偿。
RTCP时所有轴必须一直动吗？不必，取决于轨迹和当前几何。
H3就是3mm刀长吗？不是，完整LinuxCNC里H是刀补条目索引。
界面“Machine XYZ”就是J0–J2吗？不能默认；非线性运动学中需核对显示定义。

再遇到一个看似矛盾的说法，先问它说的是哪个参考系、哪个受控点和哪个控制模式。许多矛盾只是省略了这些条件。

补全条件后再下结论，是理解五轴的基本方法。
原创讲解；以本讲义所声明的双转台结构为限。63 / 72
第10章 · 练习

61　练习A：原点、模式和地址字

  1. 工件原点在零位K中为(40,20,10)，方向对齐。W=(10,0,5)对应的K是多少？
  2. 当前位置W的X=10。分别执行G90 X20和G91 X20，各得到什么W终点？
  3. 单独执行G54会不会自动走到工件零点？若同一行是G54 G1 X0呢？
  4. 当前位置K=(70,30,20)，希望此刻W=(5,0,0)。在无附加旋转/补偿的教学条件下，L20算出的偏置o是多少？
  5. T3、H3、S12000、F600分别属于哪种数据？哪些数字不能被直接当作毫米距离？
  6. 工件原点测对了，但长边相对机床X倾斜20°。只改G54的X/Y/Z平移，是否足以纠正方向？
这些题不需要矩阵，关键是把词语和参考对象对应起来。
原创讲解；以本讲义所声明的双转台结构为限。64 / 72
第10章 · 练习

62　练习B：从工件点推到物理关节

  1. 零中心/偏置/刀长差，B=0、C=90°，o=(40,20,10)，W=(10,0,5)。求XYZ关节和工件原点的空间位置。
  2. 保持上题姿态，执行G91 X10。哪根直线关节增加多少？
  3. 从N70末端执行G90 X20 Y0 Z5 B30 C90，工件点是否变化？为什么X/Z关节仍会变？
  4. M429后XYZ读数变化，关节和刀尖却不动，是正常还是故障？如果反过来XYZ不变、关节跳动呢？
  5. 程序只改C，但XYZ没有动，一定说明RTCP坏了吗？给出一个可以正确不动的几何例子。
  6. C轴错误挂在Z滑枕下，会造成什么显示/结构错误？能否通过开启RTCP修复？
  7. 为什么只校验首末关节位置，不足以证明整段RTCP正确？

扩展题：用你自己的一个工件原点和目标点，手算C=0°与90°的物理位置；再说明旋转中心改成非零后，哪一步需要修改。

把中间层K写出来，可以明显减少漏加偏置和重复加偏置。
原创讲解；以本讲义所声明的双转台结构为限。65 / 72
第10章 · 参考答案

63　练习A答案

  1. K=(50,20,15)。方向对齐、仅平移时，p_K=p_W+o。
  2. G90终点X=20；G91终点X=30。前者是绝对目标，后者在当前10基础上加20。
  3. 单独G54不定位。G54 G1 X0同时含有运动目标，会结合当前坐标与模式形成轨迹。
  4. o=(65,30,20)。当前位置K减去希望的W：(70,30,20)−(5,0,0)。
  5. T3为工具选择号，H3为刀补条目索引，S12000为主轴速度请求，F600由进给模式解释。不能将这些数全当作mm。
  6. 不够。三个平移参数只改变原点，不能补偿初始方向旋转。需机械找正或使用受支持的坐标旋转/方向配准。
答案的条件是答案的一部分，不能省略。
原创讲解；以本讲义所声明的双转台结构为限。66 / 72
第10章 · 参考答案

64　练习B答案

  1. XYZ关节=(−20,50,15)，工件原点O_M=(−20,40,10)。先求K=(50,20,15)，再绕C90°。
  2. 机床Y增加10mm。当前工件+X就是机床+Y，新的关节为(−20,60,15)。
  3. 工件点不变，仍是(20,0,5)。B姿态改变，新的XYZ关节约为(−9.821,60,22.990)。
  4. 坐标重新解释、关节保持是正常。单纯切换却改变物理关节，一般说明同步/切换逻辑有问题。
  5. 不一定。点在C旋转轴线上且其他条件不变时，只转C可以不改变该点的机床空间位置。
  6. 工件会错误地随XYZ链移动。必须修复结构父子关系，开关RTCP不能替代正确拓扑。
  7. 端点相同，中间路径仍可能不同。例如圆弧与弦线；必须检查连续采样和相对工件轨迹。
每个答案都可以画成“原点 + 方向 + 点”的几何关系。
原创讲解；以本讲义所声明的双转台结构为限。67 / 72
附录A · 术语

65　把常见名词翻译成容易理解的话

术语初学者解释
坐标系/参考系放在某处、有指定方向和单位的一套尺子。
原点/零点这套尺子的起点，不一定是电机回零位置。
工件偏置/WCS offset让零件程序与当前装夹参考对齐的数据。
关节/joint被控制的机械自由度及其位置。
正运动学/FK由关节与结构计算对应坐标/受控点。
逆运动学/IK由目标点、姿态和结构计算关节目标。
姿态/orientation方向关系；本课由A/B、C指定。
TCP/RTCP与刀尖目标、姿态变化补偿相关的功能；需核对控制器定义。
插补/interpolation在段起点和终点间连续生成中间目标。
模态/modal指令生效后持续保留，直到被同组设置替换。
配准/registration建立设计坐标与实际装夹之间的对应关系。
同步/synchronization让解释器、规划器和运动状态使用一致的当前参考。
看到新术语，先找它属于“几何、程序、机械、执行”哪一层。
原创讲解；以本讲义所声明的双转台结构为限。68 / 72
附录B · 可选数学

66　用最少公式描述完整坐标链

以下公式供进阶阅读，不是初学者读前面章节的前提。向量用列向量，R表示正交旋转矩阵；长度统一为mm。

1. 初始工件配准

p_K = R₀ p_W + o

o给出工件原点在零位参考中的位置；R₀给出初始工件方向。本章实算R₀=I，因此只做平移相加。

2. 当前双转台姿态与几何，L=0

r_M = P + D + R_tilt [ R_C (p_K − P) − D ]

AC取R_tilt=R_X(A)，BC取R_tilt=R_Y(B)。因此可写为r_M=O_M+E_MW p_W，其中：

E_MW = R_tilt R_C R₀
O_M = P + D + R_tilt [ R_C(o − P) − D ]

这里r_M是本课零刀长差模型的目标空间位置，并对应直线关节目标。加入刀具标定后还需从刀尖求主轴/执行参考；任意机床结构不能直接套用这一特定式子。

原点项O_M与方向项E_MW同时随姿态变化，分开写有助于理解。
原创讲解；以本讲义所声明的双转台结构为限。69 / 72
附录B · 可选数学

67　反过来：从当前物理位置求工件坐标

在姿态与几何已知、没有奇异歧义且标定一致时，前页r_M=O_M+E_MW p_W可以反算：

p_W = E_MWᵀ (r_M − O_M)

先从当前空间位置减去当前工件原点，得到相对位移；再用逆旋转，把这个位移投回工件三个方向。正交旋转矩阵的逆等于转置，所以这里写上标T。

这正是“坐标数值可以变，而物理点不变”的数学基础。同一r_M在不同O/E下有不同p_W。模式切换、工件系选择或重新设置参考时，必须明确变了哪一层。

本项目刀长差的特殊约定

D_L = D + L·e_z
q_XYZ = P + D_L + R_tilt [ R_C(p_K − P) − D_L ]

本项目原生TRT的L是master-tool刀长差约定。这个式子返回关节目标，不是任意GLB刀尖网格的世界位置。完整工具标定、工件架与刀尖显示须遵循同一个约定；其他控制器应按其文档重新建立链路。

先减原点、再投影方向；关节到刀尖之间还可能存在刀具参考变换。
本地trtfuncs.c、imported-machine.ts；主实验L=0。70 / 72
附录C · 软件实验范围

68　这份讲义验证了什么，没有声称什么？

内容本次证据
G10 L2、G54/G55平移、G90/G91实际项目WASM逐段解析，核对规范目标。
G20长度/G94直线进给换算X1→25.4mm，F2→50.8mm/min实测。
G10 L20位置重定义偏置计算及后续目标实测。
RTCP BC例子的目标关节真实WASM逆解计算；关键数值强断言。
N10–N90完整运动真实Session/解释器/TP执行完成，终点与逐行结果一致。
M429/M428保持物理关节原生切换接口+坐标同步逐段验证。
G52/G92、任意方向变换、完整刀表与所有F模式依据官方语义讲解，不冒充Web切片已全面实现。

项目调用实际WASM并不能自动证明它覆盖了完整LinuxCNC。特别是本地解释器适配层属于功能切片，不能把接受某个字母或设置内部字段当作完整语义和工艺正确性证据。

严谨的教学需要同时给出结果和结果成立的范围。
原创讲解；以本讲义所声明的双转台结构为限。71 / 72
附录D · 来源与复现

69　官方资料、验证数据与自学路径

[S1] LinuxCNC · 5-Axis Kinematics
用于核对AC/BC机构、前后向变换、旋转中心、偏置与刀具参考。

[S2] LinuxCNC · Coordinate Systems
用于核对机床/工件坐标、G54–G59.3及附加偏置。

[S3] LinuxCNC · CNC Machine Overview
轴命名、受控点、单位、旋转与协调运动。

[S4] LinuxCNC · G-Codes
G10、G20/G21、G43、G53、G90/G91、圆弧/进给等指令语义。

[S5] LinuxCNC · G-code Overview
程序段、地址字、表达式、模态组及执行顺序。

[S6] LinuxCNC · Switchable Kinematics
切换模式及解释器/运动同步。

本地依据：sim_interpreter.c、sim_program.c、trtfuncs.c、sim-session.mjs，以及428remap.ngc/429remap.ngc。图示为原创教学图和项目原创GLB渲染。官方页面核对日期：2026-09-18。

最后记住：先定义原点和方向，再解释程序数值，最后由运动学求出各轴运动。
原创讲解；以本讲义所声明的双转台结构为限。72 / 72
\ No newline at end of file diff --git a/docs/teaching/rtcp-beginners/outline.json b/docs/teaching/rtcp-beginners/outline.json new file mode 100644 index 0000000..6f49f38 --- /dev/null +++ b/docs/teaching/rtcp-beginners/outline.json @@ -0,0 +1,362 @@ +[ + { + "page": 1, + "chapter": "封面 · 完整讲义 / 2026.09", + "title": "五轴 RTCP 与工件坐标" + }, + { + "page": 2, + "chapter": "导读", + "title": "怎样使用这份讲义" + }, + { + "page": 3, + "chapter": "学习地图", + "title": "内容索引" + }, + { + "page": 4, + "chapter": "第1章 · 坐标基础", + "title": "01　坐标是“按照约定量出来的位置”" + }, + { + "page": 5, + "chapter": "第1章 · 坐标基础", + "title": "02　一套坐标系至少要规定什么？" + }, + { + "page": 6, + "chapter": "第1章 · 坐标基础", + "title": "03　同一个点，可以有两套不同的坐标" + }, + { + "page": 7, + "chapter": "第1章 · 坐标基础", + "title": "04　点坐标与移动增量不是一回事" + }, + { + "page": 8, + "chapter": "第1章 · 机床结构", + "title": "05　五轴机床里，到底是哪五根轴？" + }, + { + "page": 9, + "chapter": "第1章 · 机床结构", + "title": "06　关节位置，不等于工件坐标" + }, + { + "page": 10, + "chapter": "第2章 · 参考系", + "title": "07　先认识 M、W、J，再引入 K 和 T" + }, + { + "page": 11, + "chapter": "第2章 · 机床参考", + "title": "08　回零解决什么？工件对刀又解决什么？" + }, + { + "page": 12, + "chapter": "第2章 · 工件参考", + "title": "09　工件坐标 W 代表什么？" + }, + { + "page": 13, + "chapter": "第2章 · 工件随动", + "title": "10　工件转了，原点与方向一起转" + }, + { + "page": 14, + "chapter": "第2章 · 最重要的区分", + "title": "11　“物理工件坐标架”和“G54表”不是同一对象" + }, + { + "page": 15, + "chapter": "第3章 · 原点与方向的确定", + "title": "12　先约定机床零姿态，再谈工件装在哪里" + }, + { + "page": 16, + "chapter": "第3章 · 原点选择", + "title": "13　工件原点放在哪里比较合适？" + }, + { + "page": 17, + "chapter": "第3章 · 原点测量", + "title": "14　怎样把选好的原点告诉控制器？" + }, + { + "page": 18, + "chapter": "第3章 · 方向测量", + "title": "15　一个原点不能确定三维方向" + }, + { + "page": 19, + "chapter": "第3章 · 初始方向与动态方向", + "title": "16　装夹方向和转台姿态，要分开处理" + }, + { + "page": 20, + "chapter": "第3章 · 原点和方向合起来", + "title": "17　一个点怎样从工件坐标换算到机床空间？" + }, + { + "page": 21, + "chapter": "第4章 · G54与偏置", + "title": "18　G54究竟做了什么？" + }, + { + "page": 22, + "chapter": "第4章 · 偏置的物理含义", + "title": "19　G54的40、20、10代表什么？" + }, + { + "page": 23, + "chapter": "第4章 · 设置方法一", + "title": "20　G10 L2：把已知偏置写入坐标表" + }, + { + "page": 24, + "chapter": "第4章 · 设置方法二", + "title": "21　G10 L20：让当前位置具有指定工件坐标" + }, + { + "page": 25, + "chapter": "第4章 · 两个坐标系", + "title": "22　换G54/G55为什么可能只改数字、不动机床？" + }, + { + "page": 26, + "chapter": "第4章 · 附加偏置与基础坐标", + "title": "23　G52、G92、G53：先学会不混用" + }, + { + "page": 27, + "chapter": "第5章 · 非RTCP与RTCP", + "title": "24　非RTCP：“独立”的准确含义" + }, + { + "page": 28, + "chapter": "第5章 · 非RTCP与RTCP", + "title": "25　RTCP控制的是相对目标关系" + }, + { + "page": 29, + "chapter": "第5章 · RTCP工件原点", + "title": "26　用G54例子看“原点随动”" + }, + { + "page": 30, + "chapter": "第5章 · RTCP方向", + "title": "27　沿工件X前进，哪些电机会动？" + }, + { + "page": 31, + "chapter": "第5章 · 倾转与结构顺序", + "title": "28　加入B或A后，方向可以进入三个维度" + }, + { + "page": 32, + "chapter": "第5章 · 三类偏置", + "title": "29　G54、旋转中心、轴间偏置各管什么？" + }, + { + "page": 33, + "chapter": "第5章 · 刀具参考", + "title": "30　为什么必须知道刀尖究竟在哪里？" + }, + { + "page": 34, + "chapter": "第6章 · 读懂G代码", + "title": "31　一行G代码由“地址字”组成" + }, + { + "page": 35, + "chapter": "第6章 · 模态状态", + "title": "32　没有写出来的内容，可能沿用上一行" + }, + { + "page": 36, + "chapter": "第6章 · 单位", + "title": "33　G20/G21改变长度单位，不把角度变成长度" + }, + { + "page": 37, + "chapter": "第6章 · 绝对目标", + "title": "34　G90 X10：去当前编程系的X=10" + }, + { + "page": 38, + "chapter": "第6章 · 相对增量", + "title": "35　G91 X10：在当前编程方向增加10" + }, + { + "page": 39, + "chapter": "第6章 · 运动方式", + "title": "36　G0/G1分别如何产生运动？" + }, + { + "page": 40, + "chapter": "第6章 · 圆弧地址", + "title": "37　G2/G3里的I、J、K不是三根新电机轴" + }, + { + "page": 41, + "chapter": "第6章 · 进给", + "title": "38　F到底是速度、时间，还是每转进给？" + }, + { + "page": 42, + "chapter": "第6章 · 其他常见字", + "title": "39　不是每个数字都代表位置" + }, + { + "page": 43, + "chapter": "第6章 · 从文本到运动", + "title": "40　控制器不是从左到右逐个字移动" + }, + { + "page": 44, + "chapter": "第7章 · 完整实算程序", + "title": "41　统一实验条件与完整程序" + }, + { + "page": 45, + "chapter": "第7章 · 第一步", + "title": "42　N10–N30：设置模式与工件参考" + }, + { + "page": 46, + "chapter": "第7章 · 第二步", + "title": "43　N40 M428：先切模式，不凭空移动" + }, + { + "page": 47, + "chapter": "第7章 · 第三步", + "title": "44　N50：把第一个工件点送到刀尖" + }, + { + "page": 48, + "chapter": "第7章 · 第四步", + "title": "45　N60 C90：XYZ字没出现，XYZ关节却动了" + }, + { + "page": 49, + "chapter": "第7章 · 第五步", + "title": "46　N70 G91 X10：沿转后的工件方向走" + }, + { + "page": 50, + "chapter": "第7章 · 第六步", + "title": "47　N80：工件点不变，B倾转带来X/Z补偿" + }, + { + "page": 51, + "chapter": "第7章 · 第七步", + "title": "48　N90：省略的Z、B、C保持当前目标" + }, + { + "page": 52, + "chapter": "第7章 · 全过程汇总", + "title": "49　把五组数字同时放在一张表里" + }, + { + "page": 53, + "chapter": "第7章 · 再切回直接模式", + "title": "50　N100/N110：同一刀尖位置，坐标解释改变" + }, + { + "page": 54, + "chapter": "第8章 · 中间轨迹", + "title": "51　RTCP要在运动过程中持续计算" + }, + { + "page": 55, + "chapter": "第8章 · 姿态与刀轴", + "title": "52　RTCP不自动决定刀轴该朝哪里" + }, + { + "page": 56, + "chapter": "第8章 · 三维显示", + "title": "53　预览画面中的三个对象要分开看" + }, + { + "page": 57, + "chapter": "第8章 · 参数准备", + "title": "54　准备数据时，按三层顺序核对" + }, + { + "page": 58, + "chapter": "第9章 · 课堂实验", + "title": "55　实验一：观察“转动后的坐标方向”" + }, + { + "page": 59, + "chapter": "第9章 · 课堂实验", + "title": "56　实验二：G54与G90/G91的逐行记录" + }, + { + "page": 60, + "chapter": "第9章 · 课堂实验", + "title": "57　实验三：原点移动，程序几何不改" + }, + { + "page": 61, + "chapter": "第9章 · 排错", + "title": "58　位置不对时，从哪一层开始查？" + }, + { + "page": 62, + "chapter": "第9章 · 限位与边界", + "title": "59　RTCP跟得上，还必须到得了" + }, + { + "page": 63, + "chapter": "第10章 · 常见问答", + "title": "60　初学者最容易问错的八个问题" + }, + { + "page": 64, + "chapter": "第10章 · 练习", + "title": "61　练习A：原点、模式和地址字" + }, + { + "page": 65, + "chapter": "第10章 · 练习", + "title": "62　练习B：从工件点推到物理关节" + }, + { + "page": 66, + "chapter": "第10章 · 参考答案", + "title": "63　练习A答案" + }, + { + "page": 67, + "chapter": "第10章 · 参考答案", + "title": "64　练习B答案" + }, + { + "page": 68, + "chapter": "附录A · 术语", + "title": "65　把常见名词翻译成容易理解的话" + }, + { + "page": 69, + "chapter": "附录B · 可选数学", + "title": "66　用最少公式描述完整坐标链" + }, + { + "page": 70, + "chapter": "附录B · 可选数学", + "title": "67　反过来：从当前物理位置求工件坐标" + }, + { + "page": 71, + "chapter": "附录C · 软件实验范围", + "title": "68　这份讲义验证了什么，没有声称什么？" + }, + { + "page": 72, + "chapter": "附录D · 来源与复现", + "title": "69　官方资料、验证数据与自学路径" + } +] diff --git a/docs/teaching/rtcp-beginners/verification/acceptance.json b/docs/teaching/rtcp-beginners/verification/acceptance.json new file mode 100644 index 0000000..52715dc --- /dev/null +++ b/docs/teaching/rtcp-beginners/verification/acceptance.json @@ -0,0 +1,502 @@ +{ + "report_id": "rtcp-beginners-pdf-v1", + "status": "verified", + "page_count": 72, + "pdf": "五轴RTCP与工件坐标-初学者完整讲义.pdf", + "bytes": 2187858, + "sha256": "e88f1a796b15c3e0c4af59f6bab5dcfd3c5ee19a80343147ee4edc57068981e7", + "pages": [ + { + "page": 1, + "characters": 350, + "title": "五轴 RTCP 与工件坐标" + }, + { + "page": 2, + "characters": 473, + "title": "怎样使用这份讲义" + }, + { + "page": 3, + "characters": 414, + "title": "内容索引" + }, + { + "page": 4, + "characters": 332, + "title": 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0000000..c68dc44 --- /dev/null +++ b/docs/teaching/rtcp-five-axis/README.md @@ -0,0 +1,54 @@ +# 五轴机床与 RTCP 教学课件 + +新增完整教材：[五轴RTCP与工件坐标：初学者完整讲义（72页A4）](../rtcp-beginners/五轴RTCP与工件坐标-初学者完整讲义.pdf)。系统补充原点/方向、G54配准、G代码逐字/逐行和真实关节计算。下方31页文件保留作投影概要；详细学习优先使用[完整版索引](../rtcp-beginners/README.md)。 + +已交付：[五轴机床与RTCP-教学课件.pdf](五轴机床与RTCP-教学课件.pdf)，31 页、16:9 横向、中文可选择文本、目录书签。建议 60–90 分钟，适合投影或分两次授课。 + +可编辑/离线阅读源稿：[course.html](course.html)。原理图和机床截图在 `assets/`，各页目录在 [outline.json](outline.json)。整个目录可离线使用；PDF 内的官方资料链接需要联网。 + +## 核心理解 + +- 五轴通常是 XYZ 加 AC 或 BC，本课以刀具侧 XYZ、工件侧 A/B→C 的双转台桁架为例，不把六个字母都当成五个轴。 +- 非 RTCP 的“独立”指不自动做旋转姿态引起的 XYZ 几何补偿，不代表不能同步插补，也不代表刀具与工件的相对位置不会改变。 +- G 代码的数值需要经过单位、绝对/增量、工件偏置、刀具补偿等解释；不能不加条件地等同于真实编码器反馈。 +- RTCP 根据目标位置、角度和机床几何换算关节位置。工件坐标方向随转台改变，但导轨方向并未旋转；旋转中心、轴间偏置及刀长也参与计算。 +- “刀尖跟随”是相对工件的目标关系。保持同一编程点时，刀尖可在机床空间移动；切换模式时则应保持物理关节，允许坐标数值重新解释。 + +## 课程组织 + +| 页码 | 内容 | +| --- | --- | +| 1–5 | 对原始表述的修正、轴名、两条机械链、AC/BC 桁架模型 | +| 6–7 | 编程点、关节指令、实际反馈；G54/G90/G91 等影响 | +| 8–13 | 非RTCP/RTCP点追踪、C轴算例、工件方向与AC/BC倾转 | +| 14–17 | 旋转中心、偏置、父子顺序、刀长、相对刀轴方向 | +| 18–21 | 联动情形、中间轨迹、模式切换、TCP/倾斜平面/刀补区别 | +| 22–26 | G代码对照、浏览器实验、参数编辑、限位与常见误解 | +| 27–28 | 五道课堂练习及答案 | +| 29–31 | 公式推导、本项目完整参数式、课时安排和资料依据 | + +## 验证与来源 + +- [numeric-evidence.json](numeric-evidence.json)：实际加载仓库 WASM，12 个姿态逆解及正解回代、方向增量、切换模式、圆弧与弦线比较；附 WASM SHA256。 +- [verification/layout.json](verification/layout.json)：31 页逐页边界、图片加载与页面错误检查。 +- [verification/acceptance.json](verification/acceptance.json)：PDF 页数、文本/字体、书签、文件哈希及数值验证汇总。 +- 原理示意图由 Matplotlib 绘制；机床图片来自本项目原创 GLB 渲染，没有使用许可不明的网络机床图片。 +- 已核对 [LinuxCNC 五轴运动学](https://linuxcnc.org/docs/html/motion/5-axis-kinematics.html)、[Switchkins](https://linuxcnc.org/docs/html/motion/switchkins.html)、[CNC Machine Overview](https://linuxcnc.org/docs/html/gcode/machining-center.html)，以及本地 `trtfuncs.c`、`control.c`、`428remap.ngc` 和 `429remap.ngc`。 + +本课主要数值例子使用零旋转中心/偏置/刀长差，以分离概念；第20页模式切换使用真实BC示例参数。图的正向变换采用本项目原生AC/BC约定，不据此决定真实电机接线正负。M428/M429 是本项目重映射，不是跨控制器通用标准。内容为仿真教学，不替代真实机床标定与操作规程。 + +## 重新生成 + +不修改应用源码、上游或已有本地改动。Matplotlib/PyPDF 仅安装在临时目录，没有新增项目依赖。 + +```bash +node scripts/generate_rtcp_teaching_data.mjs +PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/generate_rtcp_teaching_figures.py +# 仅重新截图模型时需要 http://127.0.0.1:5174/ 开发服务；已有资产可直接复用。 +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/capture_rtcp_teaching_models.mjs +python3 scripts/generate_rtcp_teaching_html.py +PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/render_rtcp_teaching_pdf.mjs +PYTHONPATH=/tmp/rtcp-course-deps python3 scripts/verify_rtcp_teaching_pdf.py +``` + +换环境需准备 Python Matplotlib/PyPDF、Chrome、Playwright 及 Noto Sans CJK 字体；已交付的 PDF 不依赖这些工具。 diff --git a/docs/teaching/rtcp-five-axis/assets/arc-chord.png b/docs/teaching/rtcp-five-axis/assets/arc-chord.png new file mode 100644 index 0000000..ca4cb30 Binary files /dev/null and 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+
教学课件 · 2026.09

五轴机床与 RTCP

+

从“各轴独立”到“刀尖跟随”

看懂两个坐标系、一棵结构树、
一条运动学计算链。

适用对象：数控入门、五轴调试与仿真教学
主线机型：XYZAC / XYZBC 双转台桁架机床
建议课时：60–90 分钟，可拆成两讲

原理图解 + 数值演算 + 浏览器实验 + 练习答案

原创 BC 桁架模型：XYZ 移动刀具，B–C 转动工件
原创 BC 桁架模型：XYZ 移动刀具，B–C 转动工件
+
核心问题：程序中的 XYZ，究竟是在告诉谁“去哪里”？
+
图：本项目原创 GLB 模型；数值：LinuxCNC WASM 实算。01 / 31
+
+
01 · 先统一理解

你的两点理解，怎样说得更准确？

+

① 非 RTCP：直接轴映射

在本课的双转台结构中，XYZ 带动刀具，A/C 或 B/C 带动工件。

只改变旋转轴指令，不自动触发 XYZ 的刀尖保持补偿。但多个轴仍可在同一段 G 代码中协调插补。

“独立”描述几何映射，不是运动时间完全无关。

② RTCP：保持刀尖相对工件的轨迹

控制器根据编程点、转台角度、旋转中心和标定参数，计算实际关节位置。

工件坐标方向随转台变换，XYZ 关节按需联动。计算还包括平移与偏置，不能只旋转方向箭头。

“跟随”是相对工件满足目标关系，不是世界坐标中的刀尖永远不动。

+
课程约定：先用零工件偏置、零刀长差的简化模型讲清原理，再加入实际参数。
+
[S1][S2]；结合本项目 AC/BC 模型。02 / 31
+
+
01 · 结构与轴名

五轴 = 三个直线轴 + 两个旋转轴

+
名称通常的轴线含义本课中的执行机构
X / Y / Z沿三个正交方向平移刀具侧的直线滑台、滑枕
A绕 X 方向的轴线转动AC 机床的外层倾转轴
B绕 Y 方向的轴线转动BC 机床的外层倾转轴
C绕 Z 方向的轴线转动装在倾转台上的内层旋转轴

AC 型：X、Y、Z、A、C

BC 型：X、Y、Z、B、C

XYZABC 六个独立轴同时配置，通常应称六轴。A/B/C 是旋转轴的通用名称，本课不是三只转台轴同时工作。C 的轴线会被父级 A/B 倾转，倾转后不再固定平行于机床 Z。

+
从正方向看懂箭头前，先确认观察视角、父级坐标系和机床正负号约定。
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[S3] 轴命名；图中数值采用本项目原生变换约定。03 / 31
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01 · 机械拓扑

两条运动链，共用一个底座

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本课桁架结构：X 带动整个横梁，Y 带动滑座，Z 带动滑枕与刀具。
本课桁架结构：X 带动整个横梁，Y 带动滑座，Z 带动滑枕与刀具。

刀具分支
底座 → X → Y → Z
运动从父节点传给所有子节点。

工件分支
底座 → A/B → C → 工件
A/B 转动时，C 的轴线也随之倾斜。

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这是一种五轴结构，不是所有五轴机床的通用拓扑；摆头、头台混合型需要不同模型。
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本项目 trt-xyz-gantry/1；旧标准型在 Z 下另有固定主轴箱节点。04 / 31
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01 · 真实模型

AC 与 BC：外层倾转轴不同

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AC 桁架：A 绕 X，内层 C 随 A 倾转
AC 桁架：A 绕 X，内层 C 随 A 倾转
BC 桁架：B 绕 Y，内层 C 随 B 倾转
BC 桁架：B 绕 Y，内层 C 随 B 倾转

两者都能实现刀尖相对工件的五轴轨迹，但同一角度数值对应的空间姿态不同；不能只把程序里的 A 字母换成 B，就认为加工姿态完全相同。

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先识别“哪根轴装在哪根轴上”，再选择运动学模型。
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图：原创可下载 GLB；不是制造商的标定尺寸图。05 / 31
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02 · 三种位置

不要把“程序点、关节位置、实际反馈”混为一谈

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量回答的问题典型表示
编程位置 p刀尖相对所用编程参考系要到哪里？(X, Y, Z)，加 A/C 或 B/C
关节指令 q各执行轴需要到哪个位置？(J0, J1, J2, J3, J4)
实际反馈 q_actual编码器报告电机/机械轴在哪里？真实设备中可能存在跟随误差
三维刀尖位置 r把关节和模型组合后，刀尖在场景哪里？显示坐标，不是独立运动控制源

理想仿真中“关节指令 = 关节反馈”常成立，但真实机床两者仍须区分。RTCP 的运动学把 p 转成 q；模型再把 q 投影成画面。

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“实际位置”一词要说明是在说编程坐标、关节指令，还是编码器反馈。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限06 / 31
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02 · G 代码含义

非 RTCP 时，G 代码也不总等于机械绝对位置

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程序字值→单位 / G90–G91→工件零点 / 补偿→运动学→关节指令
因素为什么不能直接等同
G90 与 G91G90 通常给绝对目标；G91 给相对增量，X10 不一定是到 X=10。
G54 等工件坐标系工件零点可能偏离机床零点；程序 X10 可能对应机床 X30。
G92、刀长等补偿控制器还需处理偏置和刀具参考点。
Identity 直接映射在完成以上处理后，所选坐标与关节才按配置直接对应。

简化例：G54 原点位于机床 (20,30,0)，无其他偏置/补偿，程序点 (10,0,5) 对应机床点 (30,30,5)。

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只有把偏置、单位、增量方式、刀具基准都约定好，才能说“程序值直接对应轴位置”。
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[S2][S3]；本页示例为无旋转的 Identity 情形。07 / 31
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03 · 非 RTCP

只转 C，工件点会离开刀尖

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俯视图：蓝色为固定机床坐标；绿色为工件；红色为刀尖。Z 保持 20 mm。
俯视图：蓝色为固定机床坐标；绿色为工件；红色为刀尖。Z 保持 20 mm。

起点刀尖对准转台上半径 100 mm 的标记点。只命令 C 从 0° 转到 90°，XYZ 关节不补偿，标记点转到另一处，刀尖仍在原来的机床位置。

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轴可以独立驱动，不代表“刀具与工件的相对位置”不受其他轴影响。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限08 / 31
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03 · RTCP

同样只改变角度，刀尖跟住工件点

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同一个工件局部点 p=(100,0,20)，C=0° 与 C=90°；旋转中心和偏置取零。
同一个工件局部点 p=(100,0,20)，C=0° 与 C=90°；旋转中心和偏置取零。

保持编程点 p 不变，只改变 C。控制器计算所需 XYZ 关节，让刀尖到达标记点的新机床位置。点在工件坐标中不变，在机床坐标中沿圆弧移动。

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判断“跟随”的参考系是工件，而不是屏幕或机床底座。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限09 / 31
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03 · 数值算例 1

C 转 90°：同一编程点，不同关节位置

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零偏置、零刀长差，p = (100, 0, 20) mm；A/B = 0°。

C 角度RTCP 编程 XYZRTCP 所需关节 XYZ非 RTCP：只转 C 的关节 XYZ
0°(100, 0, 20)(100.000, 0.000, 20.000)(100, 0, 20)
45°(100, 0, 20)(70.711, 70.711, 20.000)(100, 0, 20)
90°(100, 0, 20)(0.000, 100.000, 20.000)(100, 0, 20)
qx = 100 cos C　　qy = 100 sin C　　qz = 20

C=90° 时，XYZ 关节目标是 (0,100,20)。这不是控制器偷偷修改了程序点，而是同一点在另一参考系中的正确位置。

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RTCP：程序坐标可以不变，执行轴位置必须按姿态变化。
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numeric-evidence.json；原生 WASM IK/FK 双向核对，显示保留3位小数。10 / 31
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04 · 坐标方向

C = 45° 时，“沿工件 X 走”意味着什么？

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蓝色 XM、YM 是机床固定方向；绿色 XW、YW 随工件转动。

姿态保持 C=45°，编程增量：

ΔpW = (10, 0, 0)

对应的机床直线轴增量：

Δq = (7.071, 7.071, 0)

不是机床 X 导轨真的旋转了，而是 X、Y 导轨合成出所需空间运动方向。

图中工件原点为便于观看作了平移；增量不受原点平移影响。
图中工件原点为便于观看作了平移；增量不受原点平移影响。
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你的“XYZ 方向随旋转改变”可理解为工件基向量在机床坐标中的方向改变。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限11 / 31
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04 · 数值算例 2

BC 倾转后，沿工件 X 会同时改变机床 X、Y、Z

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采用本课的正向变换约定：

R = RY(B) · RZ(C)

当 B=30°、C=45° 时：

XW 在 M 中的方向
(0.6124, 0.7071, −0.3536)

所以沿 XW 前进 10 mm：

Δq ≈ (6.124, 7.071, −3.536) mm

倾斜后的坐标方向并不与任何一根直线导轨重合，需要三根直线轴合成。

B=30°、C=45°；红点为工件点 p=(100,0,20) 的机床位置。
B=30°、C=45°；红点为工件点 p=(100,0,20) 的机床位置。
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RTCP 中“沿工件 X”不是“只让 X 电机动”。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限12 / 31
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04 · AC 与 BC 对照

同样的 30° / 45°，不是同一个姿态

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仍取 p=(100,0,20) mm，所有旋转中心、偏置和刀长差为零。

结构父级倾转 × 子级旋转倾转30°、C45°时的关节XYZ
ACRX(A) · RZ(C)(70.711, 51.237, 52.676)
BCRY(B) · RZ(C)(71.237, 70.711, -18.035)

AC：绕 X 倾转

C 先改变平面位置，A 再把局部 Y/Z 方向倾斜。

BC：绕 Y 倾转

C 先改变平面位置，B 再把局部 X/Z 方向倾斜。

矩阵从右向左作用于列向量；这是坐标转换次序，不是要求 G 代码先运动 C 再运动 A/B。插补时两轴可以同时运动。

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运动学类型选错，即使每个轴都会动，刀尖也不会沿正确的相对轨迹走。
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numeric-evidence.json；零偏置原生 WASM 结果。13 / 31
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05 · 为什么还需要几何参数

同样转 90°，绕不同的中心会到不同的位置

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二维俯视例：起点相同，旋转角度相同，仅旋转中心不同。
二维俯视例：起点相同，旋转角度相同，仅旋转中心不同。
pM = O + R · (p − O)

计算顺序：先减去旋转中心 → 旋转 → 再加回中心。不能只计算 R·p，否则相当于错误地绕坐标零点转。

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RTCP 不只是“方向变换”，还包括“绕哪里转”的平移关系。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限14 / 31
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05 · 轴间偏置与变换顺序

C 轴装在倾转轴上：父子关系不能交换

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先看几何，再写方程

P：C 轴零位参考点。
D：倾转轴与 C 轴之间的偏置。
T=P+D：倾转轴参考位置。

C 旋转后的点还要随 A/B 倾转；偏置也必须放在正确的父子层级中。

URDF / GLB 里的对应关系

节点本项目零位 origin
A/B，父节点为底座P + D
C，父节点为 A/B−D
work，父节点为 C−P
qXYZ = P + D + Rtilt [ RC (p − P) − D ]　（刀长差为零）

这是本项目 AC/BC TRT 约定。更一般的机床使用完整的刚体变换链；不能把这三个参数关系硬套到摆头机床。长度在运行配置中为 mm，URDF 为 m。

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RtiltRC 通常不等于 RCRtilt；机械安装顺序决定计算顺序。
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本地 trtfuncs.c；本项目 URDF profile / D11 / D12。15 / 31
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05 · 刀长与受控点

控制的是刀尖，不只是主轴箱

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侧视示意：同一主轴参考位置，刀长不同会产生不同刀尖位置。
侧视示意：同一主轴参考位置，刀长不同会产生不同刀尖位置。

刀长改变时，为保持同一个刀尖目标，需要重新计算主轴参考点的位置。必须明确刀具长度的测量基准、正负号、刀补状态，以及模型上“tool”节点代表哪里。

教学主算例采用刀长差为零。本项目原生 TRT 使用相对于 master tool 的 tool-offset 约定，不能把它直接当作任意模型网格的总长度。

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同一组关节位置 + 不同刀具标定，不一定得到同一个刀尖位置。
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[S1][S3]；实际使用以机床和控制器的刀具标定约定为准。16 / 31
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06 · 姿态的物理意义

双转台没有转动主轴，却改变了相对刀轴方向

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侧视：主轴在机床中保持竖直，工件随转台倾斜，二者的相对夹角改变。
侧视：主轴在机床中保持竖直，工件随转台倾斜，二者的相对夹角改变。

在本课双转台机床中，刀轴在机床坐标里的方向固定；工件转动后，刀轴在工件坐标里的方向改变。RTCP 根据指定角度协调刀尖位置，不会自动推断曲面法向。

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RTCP 不是“自动让刀轴垂直于任意曲面”；姿态仍由程序、CAM 或操作者给定。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限17 / 31
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06 · 三种常见联动情形

分清“保持点”“沿方向走”“同时改变位置和姿态”

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输入变化RTCP 应做什么观察重点
XYZ 不变；A/B、C 改变让刀尖保持同一工件编程点；XYZ关节可能联动。刀尖与工件标记点不分离。
角度不变；XYZ 改变沿当前工件参考系定义的方向移动。机床多轴合成编程方向。
XYZ 与角度同时改变执行变化的编程轨迹，同时维持角度对应的几何关系。全过程相对轨迹正确，不只看终点。
XYZ 不变；点恰在 C 轴线上；只转 C该点机床位置可以不变。XYZ 不动不一定是故障。

“五轴联动”不要求每个时刻五轴速度都非零。非 RTCP 也能多轴同步加工：CAM/后置可以预先按指定机床几何计算轴目标，但这不等于控制器开启了实时刀尖补偿。

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每次解释一个动作，先说清哪些程序量保持不变、哪些程序量在改变。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限18 / 31
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06 · 全过程的重要性

终点都正确，不代表中间轨迹正确

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同一个工件点绕 C 转动，理想半径为 100 mm。

RTCP：刀尖跟随圆弧。
不做 RTCP：若只让 X/Y 线性插补到相同终点，刀尖可能走弦线。

中间位置X / Y
圆弧，C=45°70.711 / 70.711
弦线，50%进度50.000 / 50.000

图示采用共同线性进度比较几何路径，不是断言所有控制器的加减速过程相同。

中途差距 29.289 mm；起点和终点却完全相同。
中途差距 29.289 mm；起点和终点却完全相同。
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验收 RTCP 要看连续采样、刀尖相对轨迹和关节约束，不能只比首末坐标。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限19 / 31
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07 · 模式切换

M429 ↔ M428：坐标可以变，机床不能无故跳动

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本项目 BC 示例：保持同一组物理关节，切换坐标解释。

量M429 / IdentityM428 / TCP
物理关节 XYZ(0.000, 0.000, 44.586)(0.000, 0.000, 44.586)
物理关节 B / C4.8675° / 179.88°4.8675° / 179.88°
显示/解释的 XYZ(0.000, 0.000, 44.586)(-29.885, 27.975, 43.985)
三维刀尖同一空间位置同一空间位置
取当前关节 q→切换运动学→新模式正解 p→同步 TP / 解释器

本例使用真实 BC 模型参数 P=(−18,14,12)、D=(22,0,−40) mm，刀长差0。切换之后再给运动指令，才产生运动。

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若切换时强行保持旧 XYZ 数字并重新逆解，就可能错误地改变物理关节。
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[S2] 同步原则；本地 control.c::handle_kinematicsSwitch；WASM实算。20 / 31
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07 · 控制器功能边界

RTCP、旋转工作平面、刀补，不是同一个开关

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功能主要解决的问题不要误认为
RTCP / TCP 运动学姿态变化时，按机床结构实现目标刀尖相对轨迹。所有控制器都会以完全相同方式解释XYZ。
工件坐标系 / 倾斜工作平面选择编程参考原点或定义编程方向。只旋转工作平面就自动具备完整五轴RTCP。
刀长补偿把刀具参考点换算到实际受控刀尖。更换刀具后只更新网格外观就够了。
机床标定确定中心、偏置、轴向、正负号和长度。只要支持RTCP，错误几何参数也会自动纠正。

不同控制器可能分别使用 TCP、TCPM、RTCP 等名称，并把倾斜平面/刀补组合进不同指令。本课明确讲本项目的 AC/BC 双转台语义，不推定所有品牌一致。

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换控制器时先核对“参考系、受控点、角度定义、指令组合”，不要只对照功能名称。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限21 / 31
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08 · 程序对照

同样写 C90，开关状态决定 XYZ 是否补偿

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M429：直接映射

G21 G90 G94
+M429
+G1 X100 Y0 Z20 A0 C0 F300
+G1 C90 F60

后一段只改变 C。
XYZ 关节保持 (100,0,20)，
工件标记点会离开刀尖。

M428：RTCP

G21 G90 G94
+M428
+G1 X100 Y0 Z20 A0 C0 F300
+G1 C90 F60

后一段保持编程 XYZ。
XYZ 关节变到 (0,100,20)，
刀尖仍对准同一个工件点。

仅为零偏置/零刀长差 AC 教学片段，起始角度和当前模态需已知；BC 用 B0。现有下载模型参数非零，不能期待相同数字。M428/M429 为本项目重映射，不是通用标准M码；F值只作插补示意，实际需按机床的旋转/混合进给规则设定。

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程序字值相同，不代表开关前后表达的是同一个机械目标。
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本项目 xyzac/xyzbc-trt.ini，428remap.ngc / 429remap.ngc。22 / 31
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08 · 浏览器课堂实验

用 AC/BC 桁架模型验证，而不是只看公式

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  1. 加载：打开“导入机床模型”，选 AC 或 BC 桁架示例；记录旋转中心与偏置。
  2. 准备：确认空闲，开机并回零；选一个离 C 轴线有一定距离的刀尖位置。
  3. Identity：选择 M429，只 Jog A/B 或 C；观察 XYZ 关节是否保持。
  4. 切换：停止后选择 M428；观察关节/刀尖不跳，XYZ 坐标可能变化。
  5. TCP：再次 Jog 旋转轴；观察 XYZ 关节按需补偿、刀尖相对工件点保持。
  6. 对照：先停止，再切回 M429；重复方向相同的小幅 Jog，比较两种行为。

实验先用小幅角度并远离限位。记录的是“每次试验起点相对工件的同一点”；切换或重新定位后，不要把两个不同起点混作同一个目标。

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同时观察三项：程序XYZ、J0…J4、刀尖与工件的相对关系。
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页面 http://127.0.0.1:5174/；浏览器仿真教学，不是机床现场操作规程。23 / 31
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08 · 参数化实验

改几何参数后，为什么仍应保留同一个模型？

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正确的数据流

参数表：中心 / 偏置↓有效 URDF：节点零位关系↓INI → Worker → WASM↓关节 → 原导入模型

课堂观察

  • 同一 GLB 的网格、材质和文件身份保持。
  • 新的轴心与偏置应进入运行结构和运动学。
  • 相同程序点和角度，可能得到不同的 XYZ 关节值。
  • 参数改变后需重新回零并重新解析程序。

源GLB不自动改写；可保存INI记录参数。改变轴心不等于自动重建支架、铸件等CAD外形，也不提供碰撞检测。

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模型保留和参数生效必须同时成立；只改外观或只改计算都会造成误导。
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本项目 D11 / E09：AC、BC各18个姿态/刀长样本验证。24 / 31
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09 · 约束与故障

“工件点可达”不等于“每个关节都没到限位”

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两层约束

约束检查什么
坐标限位编程轴/坐标允许的范围
关节限位实际执行机构的物理行程
动力学约束速度、加速度等能力

RTCP 旋转时，即使编程 XYZ 不变，补偿出来的 X/Y/Z 关节仍可能触及边界。

本项目排障实例

BC 配置允许较大的 B 坐标范围，但对应 JOINT_3 上限为 50°。

旧问题：越界 → 运动计算失败 → 事件时钟不同步 → Connection ERROR。

修复后：按关节约束停止，保留正确时钟，可松开并反向 Jog。

本仿真对 RTCP 越界采用最后有效伺服样本停止，不等同于工业控制器的全路径限位预测与减速保护。范围和行为必须分别验证。

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正常限位阻止是一条运动诊断；序号缺口或连接错误是软件故障，不是RTCP原理。
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本项目 R07 / E11；不据此宣称硬件安全或碰撞防护。25 / 31
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09 · 常见误解

六个问题，快速判断是否真正理解

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说法准确解释
“非RTCP时各轴互相没有影响。”没有自动补偿；但工件转动当然会改变它与刀具的相对位置。
“RTCP把X/Y/Z导轨转了。”导轨不转，是工件基方向改变，由固定导轨合成空间运动。
“RTCP时XYZ永远不变。”只在保持同一编程点时程序XYZ不变；关节XYZ通常变化。
“只要开RTCP，刀尖在空间就不动。”刀尖可在机床空间移动，以保持它相对工件的目标关系。
“C转了但XYZ没动，一定坏了。”目标点恰在C轴线上时可能正确，应先检查几何。
“切换模式时XYZ数字跳，必须修好。”要检查关节和物理刀尖是否跳；新参考系里的数值改变可能正确。
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先说参考系，再说位置；先看结构，再说联动。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限26 / 31
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10 · 课堂练习

请先画箭头，再写结论

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  1. 点追踪：零偏置，C=0°，工件点 p=(80,0,10)。只转 C 到90°，分别写出 Identity 和 RTCP 的 XYZ 关节目标。
  2. 方向合成：C=30°且倾转角为0°，沿工件 +X 方向走20mm，机床 X/Y 各应增加多少？
  3. 模式切换：M429切到M428时，XYZ显示值变化、J0…J4不变、刀尖不动，是否正常？为什么？
  4. 偏置识别：BC模型 C 的局部 origin=(-0.022,0,0.040)m，倾转轴 origin=(0.004,0.014,-0.028)m。求本项目 P、D，单位mm。
  5. 结构判断：C节点错误地挂在Z滑枕下。只Jog X时会发生什么？为什么不能靠RTCP开关解决？
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建议分组讨论 8–10 分钟；答案在下一页。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限27 / 31
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10 · 参考答案

用“相对谁”检查每一步

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  1. Identity：(80,0,10)；RTCP：(0,80,10)。前者刀尖留在机床原位置，后者继续对准同一工件点。
  2. ΔX=20cos30°=17.321mm；ΔY=20sin30°=10.000mm。方向向量长度仍为20mm，机床Z不变。
  3. 正常。运动学切换重新解释当前物理状态。坐标可以变，关节和刀尖应保持。
  4. P=T+U=(-18,14,12)mm；D=−U=(22,0,−40)mm。先统一单位，再按父子关系相加，不能直接拿URDF的米当毫米。
  5. C及工件会错误地随XYZ移动。这是结构树错误，不是开关模式能修复的；需把A/B→C分支正确挂回底座。
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检查顺序：轴数 → 层级 → 单位/正负号 → 几何参数 → 运动学 → 程序与状态。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限28 / 31
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附录 A · 数学推导

从一根 C 轴，推到两根旋转轴

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绕 C 的平面变换

x′ = x cos C − y sin C
+y′ = x sin C + y cos C
+z′ = z

AC：再绕 X 倾转 A

q_x = x′
+q_y = y′ cos A − z′ sin A
+q_z = y′ sin A + z′ cos A

BC：再绕 Y 倾转 B

q_x = x′ cos B + z′ sin B
+q_y = y′
+q_z = −x′ sin B + z′ cos B

这里所有旋转中心、轴间偏置及刀长差为零，列向量采用右手正向变换。

式中的 q 是关节目标；若导入的是其他结构、符号约定或参考点，必须重新建立变换链。

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先学会解释“这一步在谁的坐标系中发生”，再记忆公式。
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与本地 trtfuncs.c 零偏置逆解一致；三角函数实际以弧度计算。29 / 31
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附录 B · 本项目完整参数式

加入旋转中心、偏置与 master-tool 刀长差

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DL = D + L ez
qXYZ = P + DL + Rtilt [ RC (p − P) − DL ]
符号ACBC
RtiltRX(A)RY(B)
D(0, Dy, Dz)(Dx, 0, Dz)
旋转关节qA=A，qC=CqB=B，qC=C

P为原生rot-point；L为本项目/原生TRT的tool-offset标定量；ez=(0,0,1)。本式返回关节XYZ，不是未经处理的网格刀尖世界坐标。G54等解释器偏置在输入p形成前已按控制器规则处理。

这一刀长表达是本项目约定，不能替代任意控制器的通用刀补说明。主课例子L=0；实际机床应以标定模型及其完整前后向验证为准。

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工程实现不在画面中“补一个偏移”；应让同一组结构数据贯穿解释器、运动学和模型。
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原生源码：linuxcnc/src/emc/kinematics/trtfuncs.c，xyzac/xyzbcKinematicsInverse。30 / 31
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附录 C · 教学安排与依据

怎样讲、怎样验证、怎样继续学习

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建议授课节奏

10分钟：结构、轴名与三种位置。
20分钟：C轴点跟踪、方向合成、AC/BC倾转。
15分钟：旋转中心、偏置、刀长与模式切换。
15分钟：浏览器实验与错误诊断。
10分钟：练习、答案和模型参数核对。

本课验算

12个姿态由真实WASM逆解计算，并通过正解回代；另核对C45°方向增量、BC切换示例及弧弦差。详见同目录 numeric-evidence.json。

图形为原创教学示意及本项目GLB截图，不用于制造尺寸标定。

官方资料与本地实现

[S1] LinuxCNC · 5-Axis Kinematics
AC/BC结构、运动学及偏置。

[S2] LinuxCNC · Switchable Kinematics
模式切换、identityfirst、同步要求。

[S3] LinuxCNC · CNC Machine Overview
轴名、坐标、受控点与协调运动。

本地：trtfuncs.c；control.c；428remap.ngc / 429remap.ngc；docs/glb-machine/。M428=TCP、M429=Identity仅适用于本项目配置。

资料核对日期：2026-09-18。不同版本/品牌的指令与坐标约定应另行核查。

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一句话记忆：程序描述相对工件的目标，运动学把目标换算成各关节应该怎样动。
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五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限31 / 31
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\ No newline at end of file diff --git a/docs/teaching/rtcp-five-axis/numeric-evidence.json b/docs/teaching/rtcp-five-axis/numeric-evidence.json new file mode 100644 index 0000000..75eebf0 --- /dev/null +++ b/docs/teaching/rtcp-five-axis/numeric-evidence.json @@ -0,0 +1,481 @@ +{ + "report_id": "rtcp-teaching-numerics-v1", + "status": "verified", + "wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6", + "convention": "Native AC: Rx(A) Rz(C); BC: Ry(B) Rz(C). Main teaching examples P=D=tool_offset=0, mm/deg.", + "cases": [ + { + "coordinates": "XYZAC", + "samples": [ + { + "tilt": 0, + "c": 0, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 100, + 0, + 20, + 0, + 0 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 0, + "c": 45, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 70.71067811865476, + 70.71067811865474, + 20, + 0, + 45 + ], + "forward": { + "x": 100, + "y": -7.105427357601002e-15, + "z": 20, + "a": 0, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 0, + "c": 90, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 6.123233995736766e-15, + 100, + 20, + 0, + 90 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 0, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 30, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 100, + -9.999999999999998, + 17.320508075688775, + 30, + 0 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 30, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 45, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 30, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 70.71067811865476, + 51.23724356957945, + 52.67584713501614, + 30, + 45 + ], + "forward": { + "x": 99.99999999999999, + "y": -3.552713678800501e-15, + "z": 20.000000000000004, + "a": 30, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 90, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 30, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 6.123233995736766e-15, + 76.60254037844388, + 67.32050807568876, + 30, + 90 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 30, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + } + } + ], + "xw_increment_10_at_c45": [ + 7.0710678118654755, + 7.0710678118654755, + 0, + 0, + 0 + ] + }, + { + "coordinates": "XYZBC", + "samples": [ + { + "tilt": 0, + "c": 0, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 100, + 0, + 20, + 0, + 0 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 0, + "c": 45, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 70.71067811865476, + 70.71067811865474, + 20, + 0, + 45 + ], + "forward": { + "x": 100, + "y": -7.105427357601002e-15, + "z": 20, + "a": 0, + "b": 0, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 0, + "c": 90, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 6.123233995736766e-15, + 100, + 20, + 0, + 90 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 0, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 0, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 30, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 96.60254037844388, + 0, + -32.67949192431122, + 30, + 0 + ], + "forward": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 30, + "c": 0, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 45, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 30, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 71.23724356957945, + 70.71067811865474, + -18.034830983638596, + 30, + 45 + ], + "forward": { + "x": 99.99999999999997, + "y": 6.217248937900877e-15, + "z": 19.999999999999996, + "a": 0, + "b": 30, + "c": 45, + "u": 0, + "v": 0, + "w": 0 + } + }, + { + "tilt": 30, + "c": 90, + "programmed": { + "x": 100, + "y": 0, + "z": 20, + "a": 0, + "b": 30, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + }, + "joints": [ + 10.000000000000004, + 100, + 17.32050807568877, + 30, + 90 + ], + "forward": { + "x": 100, + "y": -1.7763568394002505e-15, + "z": 20, + "a": 0, + "b": 30, + "c": 90, + "u": 0, + "v": 0, + "w": 0 + } + } + ], + "xw_increment_10_at_c45": [ + 7.0710678118654755, + 7.0710678118654755, + 0, + 0, + 0 + ] + } + ], + "switch_example": { + "offsets": { + "x_rot_point": -18, + "y_rot_point": 14, + "z_rot_point": 12, + "x_offset": 22, + "y_offset": 0, + "z_offset": -40, + "tool_offset": 0 + }, + "physical": [ + 0, + 0, + 44.5858, + 4.8675, + 179.88 + ], + "tcp_pose": { + "x": -29.88468896947041, + "y": 27.97513943472579, + "z": 43.984618633524605, + "a": 0, + "b": 4.8675, + "c": 179.88, + "u": 0, + "v": 0, + "w": 0 + }, + "identity_pose": { + "x": 0, + "y": 0, + "z": 44.5858, + "a": 0, + "b": 4.8675, + "c": 179.88, + "u": 0, + "v": 0, + "w": 0 + } + }, + "chord_midpoint": { + "compensated": [ + 70.71067811865474, + 70.71067811865474, + 20 + ], + "uncompensated_joint_interpolation": [ + 50, + 50, + 20 + ], + "distance": 29.289321881345245 + } +} diff --git a/docs/teaching/rtcp-five-axis/outline.json b/docs/teaching/rtcp-five-axis/outline.json new file mode 100644 index 0000000..30e79a5 --- /dev/null +++ b/docs/teaching/rtcp-five-axis/outline.json @@ -0,0 +1,157 @@ +[ + { + "page": 1, + "chapter": "教学课件 · 2026.09", + "title": "五轴机床与 RTCP" + }, + { + "page": 2, + "chapter": "01 · 先统一理解", + "title": "你的两点理解，怎样说得更准确？" + }, + { + "page": 3, + "chapter": "01 · 结构与轴名", + "title": "五轴 = 三个直线轴 + 两个旋转轴" + }, + { + "page": 4, + "chapter": "01 · 机械拓扑", + "title": "两条运动链，共用一个底座" + }, + { + "page": 5, + "chapter": "01 · 真实模型", + "title": "AC 与 BC：外层倾转轴不同" + }, + { + "page": 6, + "chapter": "02 · 三种位置", + "title": "不要把“程序点、关节位置、实际反馈”混为一谈" + }, + { + "page": 7, + "chapter": "02 · G 代码含义", + "title": "非 RTCP 时，G 代码也不总等于机械绝对位置" + }, + { + "page": 8, + "chapter": "03 · 非 RTCP", + "title": "只转 C，工件点会离开刀尖" + }, + { + "page": 9, + "chapter": "03 · RTCP", + "title": "同样只改变角度，刀尖跟住工件点" + }, + { + "page": 10, + "chapter": "03 · 数值算例 1", + "title": "C 转 90°：同一编程点，不同关节位置" + }, + { + "page": 11, + "chapter": "04 · 坐标方向", + "title": "C = 45° 时，“沿工件 X 走”意味着什么？" + }, + { + "page": 12, + "chapter": "04 · 数值算例 2", + "title": "BC 倾转后，沿工件 X 会同时改变机床 X、Y、Z" + }, + { + "page": 13, + "chapter": "04 · AC 与 BC 对照", + "title": "同样的 30° / 45°，不是同一个姿态" + }, + { + "page": 14, + "chapter": "05 · 为什么还需要几何参数", + "title": "同样转 90°，绕不同的中心会到不同的位置" + }, + { + "page": 15, + "chapter": "05 · 轴间偏置与变换顺序", + "title": "C 轴装在倾转轴上：父子关系不能交换" + }, + { + "page": 16, + "chapter": "05 · 刀长与受控点", + "title": "控制的是刀尖，不只是主轴箱" + }, + { + "page": 17, + "chapter": "06 · 姿态的物理意义", + "title": "双转台没有转动主轴，却改变了相对刀轴方向" + }, + { + "page": 18, + "chapter": "06 · 三种常见联动情形", + "title": "分清“保持点”“沿方向走”“同时改变位置和姿态”" + }, + { + "page": 19, + "chapter": "06 · 全过程的重要性", + "title": "终点都正确，不代表中间轨迹正确" + }, + { + "page": 20, + "chapter": "07 · 模式切换", + "title": "M429 ↔ M428：坐标可以变，机床不能无故跳动" + }, + { + "page": 21, + "chapter": "07 · 控制器功能边界", + "title": "RTCP、旋转工作平面、刀补，不是同一个开关" + }, + { + "page": 22, + "chapter": "08 · 程序对照", + "title": "同样写 C90，开关状态决定 XYZ 是否补偿" + }, + { + "page": 23, + "chapter": "08 · 浏览器课堂实验", + "title": "用 AC/BC 桁架模型验证，而不是只看公式" + }, + { + "page": 24, + "chapter": "08 · 参数化实验", + "title": "改几何参数后，为什么仍应保留同一个模型？" + }, + { + "page": 25, + "chapter": "09 · 约束与故障", + "title": "“工件点可达”不等于“每个关节都没到限位”" + }, + { + "page": 26, + "chapter": "09 · 常见误解", + "title": "六个问题，快速判断是否真正理解" + }, + { + "page": 27, + "chapter": "10 · 课堂练习", + "title": "请先画箭头，再写结论" + }, + { + "page": 28, + "chapter": "10 · 参考答案", + "title": "用“相对谁”检查每一步" + }, + { + "page": 29, + "chapter": "附录 A · 数学推导", + "title": "从一根 C 轴，推到两根旋转轴" + }, + { + "page": 30, + "chapter": "附录 B · 本项目完整参数式", + "title": 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b/nextTask-hardcoding.md @@ -1,5 +1,9 @@ # 配置驱动与恢复改造接续入口 +最新教学交付（R09/E13）：[工件坐标与RTCP初学者完整PDF](docs/teaching/rtcp-beginners/五轴RTCP与工件坐标-初学者完整讲义.pdf)，72页A4，详解原点/方向/G54/G代码逐字逐行和关节运动；源稿、数据及复现命令见[教材索引](docs/teaching/rtcp-beginners/README.md)。原31页投影片保留。最近两轮仅新增教学资料和生成脚本，未改应用功能。 + +2026-09-18 新需求接续：AC/BC 单文件 GLB + URDF 机床导入已在独立子项目实现并专项验收。新入口为 [`docs/glb-machine/README.md`](docs/glb-machine/README.md)，最新台账 R07（Jog 限位后的事件序列和反向恢复、阴影警告；R06 桁架示例，R05 参数编辑保留GLB，R04 切换不跳动）；两项已复核的旧测试失败见 E11，本轮改动尚未提交/推送。旧 event_sequence_gap 浏览器会话需刷新重建。下文为原配置/恢复专项历史接续状态，原有本地改动继续保留。 + 更新时间：2026-09-18。用户已确认清理自有代码的机床参数、轴配置、路径、可调界面设置硬编码，保留数学/协议常量和上游 LinuxCNC；之后要求接续 CFG-R01、TRT-R01。以上专项均已收口。 ## 当前状态 diff --git a/scripts/capture_rtcp_teaching_models.mjs b/scripts/capture_rtcp_teaching_models.mjs new file mode 100644 index 0000000..9c8c0e5 --- /dev/null +++ b/scripts/capture_rtcp_teaching_models.mjs @@ -0,0 +1,17 @@ +import { pathToFileURL } from 'node:url'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL('../docs/teaching/rtcp-five-axis/assets/', import.meta.url); +const browser = await chromium.launch({ executablePath: '/usr/bin/google-chrome', headless: true, args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] }); +try { + const page = await browser.newPage({ viewport: { width: 1440, height: 1000 }, deviceScaleFactor: 2 }); + await page.goto(process.env.XYZAC_PANEL_URL ?? 'http://127.0.0.1:5174/'); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); + await page.addStyleTag({ content: '.xyzac-machine-controller { display: none !important; }' }); + for (const id of ['ac', 'bc']) { + await page.locator('[data-axis-control="machine-glb-settings"]').click(); + await page.locator(`[data-axis-control="machine-glb-${id}-gantry"]`).click(); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); + await page.keyboard.press('Escape'); + await page.locator('.xyzac-machine-view').screenshot({ path: new URL(`machine-${id}.png`, output).pathname }); + } +} finally { await browser.close(); } diff --git a/scripts/generate_glb_machine_acceptance.py b/scripts/generate_glb_machine_acceptance.py new file mode 100644 index 0000000..7f06f3b --- /dev/null +++ b/scripts/generate_glb_machine_acceptance.py @@ -0,0 +1,59 @@ +"""Collect the already executed GLB subproject checks without rerunning them.""" +import hashlib +import json +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +OUTPUT = ROOT / 'coverage/glb-machine' + +def sha(path): + return hashlib.sha256(path.read_bytes()).hexdigest() + +reports = [ + 'browser.report.json', 'motion.report.json', 'gltf-validation.report.json', + 'reproducibility.report.json', 'regression-parametric/browser.report.json', + 'regression-jog/rtcp-jog-browser.report.json', +] +results = [] +for name in reports: + path = OUTPUT / name + data = json.loads(path.read_text()) + assert data['status'] == 'verified', f'{name}: {data["status"]}' + results.append({'report_id': data['report_id'], 'path': str(path.relative_to(ROOT)), 'sha256': sha(path)}) +browser = json.loads((OUTPUT / 'browser.report.json').read_text()) +motion = json.loads((OUTPUT / 'motion.report.json').read_text()) +manifest_path = ROOT / 'web/react/public/machines/manifest.json' +manifest = json.loads(manifest_path.read_text()) +for entry in manifest['machines']: + assert sha(manifest_path.parent / entry['filename']) == entry['sha256'] +assert 'built in' in (OUTPUT / 'build.log').read_text() +assert not browser['browser_errors'] +assert len(browser['machines']) == len(motion['machines']) == 2 +report = { + 'report_id': 'glb-machine-acceptance-v1', 'status': 'verified', + 'tasks': [f'GLB-{i:02}' for i in range(1, 7)], + 'wasm_sha256': sha(ROOT / 'build-wasm/linuxcnc-sim-core.wasm'), + 'reports': results, + 'models': manifest['machines'], + 'rejected_inputs': sum(len(p['rejected']) for p in browser['parser']), + 'static_pose_and_tool_length_samples': sum(len(m['geometry']) for m in browser['machines']), + 'imported_rotary_jogs': sum(len(m['jogs']) for m in browser['machines']), + 'simultaneous_five_axis_intervals': sum(m['simultaneous_ticks'] for m in motion['machines']), + 'executed_program_projection_samples': sum(m['samples'] for m in motion['machines']), + 'max_program_projection_error_view_units': max(m['max_error_view_units'] for m in motion['machines']), + 'boundaries': [ + 'Only the versioned orthogonal XYZ-head / AC-or-BC table TRT profile is supported', + 'Runtime INI supplies homing, acceleration, periods and validated travel/speed settings', + 'Imported GLB assets are kept in page memory; reload requires importing again', + 'Original illustrative assets; no manufacturer calibration, collision or generic URDF solver claim', + 'No native/WASM source modification; no whole-repository or release parity claim', + ], + 'evidence': [ + {'path': str(p.relative_to(ROOT)), 'sha256': sha(p)} + for p in sorted(OUTPUT.rglob('*')) + if p.is_file() and p.name != 'acceptance.report.json' + ], +} +assert report['wasm_sha256'] == browser['wasm_sha256'] +(OUTPUT / 'acceptance.report.json').write_text(json.dumps(report, indent=2, ensure_ascii=False) + '\n') +print(json.dumps({k: report[k] for k in ['report_id', 'status', 'rejected_inputs', 'static_pose_and_tool_length_samples', 'imported_rotary_jogs', 'simultaneous_five_axis_intervals', 'executed_program_projection_samples']}, ensure_ascii=False)) diff --git a/scripts/generate_glb_machines.mjs b/scripts/generate_glb_machines.mjs new file mode 100644 index 0000000..4d0339a --- /dev/null +++ b/scripts/generate_glb_machines.mjs @@ -0,0 +1,140 @@ +import { mkdir, writeFile } from 'node:fs/promises'; +import { createHash } from 'node:crypto'; +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'; +// GLTFExporter uses the browser FileReader interface for embedded binary buffers. +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 output = new URL('../web/react/public/machines/', import.meta.url); +await mkdir(output, { recursive: true }); +const manifest = { schema: 'linuxcnc.machine.examples/1', generator: 'scripts/generate_glb_machines.mjs', provenance: 'Original procedural demonstration machines; no third-party mesh assets', license: 'CC0-1.0', machines: [] }; +for (const variant of ['standard', 'gantry']) for (const type of ['ac', 'bc']) { + const gantry = variant === 'gantry'; + const profile = gantry ? 'trt-xyz-gantry/1' : 'trt-xyz-head/1'; + const toolLink = gantry ? 'z_slide' : 'spindle_head'; + const stem = gantry ? `demo-${type}-gantry` : `demo-${type}-xyz-head`; + const tiltAxis = type[0].toUpperCase(); + // Non-zero fixtures intentionally exercise rotation points and skewed cradle offsets. + const p = type === 'ac' ? [.024, -.012, .008] : [-.018, .014, .012]; + const d = type === 'ac' ? [0, .018, -.045] : [.022, 0, -.040]; + const t = p.map((v, i) => v + d[i]); + const radians = (degrees) => degrees * Math.PI / 180; + const joints = [ + { name: 'x_joint', parent: 'base', child: 'x_slide', type: 'prismatic', xyz: [0, 0, 0], axis: [1, 0, 0], c: 'X', limits: [-.2, .2, .02] }, + { name: 'y_joint', parent: 'x_slide', child: 'y_slide', type: 'prismatic', xyz: [0, 0, 0], axis: [0, 1, 0], c: 'Y', limits: [-.1, .1, .02] }, + { name: 'z_joint', parent: 'y_slide', child: 'z_slide', type: 'prismatic', xyz: [0, 0, 0], axis: [0, 0, 1], c: 'Z', limits: [-.12, .12, .02] }, + { name: 'spindle_mount', parent: 'z_slide', child: 'spindle_head', type: 'fixed', xyz: [0, 0, 0] }, + { name: 'tilt_joint', parent: 'base', child: 'tilt_table', type: 'revolute', xyz: t, axis: type === 'ac' ? [1, 0, 0] : [0, 1, 0], c: tiltAxis, limits: [radians(type === 'ac' ? -100 : -36000), radians(type === 'ac' ? 50 : 36000), radians(30)] }, + { name: 'c_joint', parent: 'tilt_table', child: 'c_table', type: 'revolute', xyz: d.map((v) => -v), axis: [0, 0, 1], c: 'C', limits: [radians(-36000), radians(36000), radians(30)] }, + { name: 'work_mount', parent: 'c_table', child: 'work_frame', type: 'fixed', xyz: p.map((v) => -v) }, + ]; + if (gantry) joints.splice(joints.findIndex((j) => j.name === 'spindle_mount'), 1); + const links = ['base', ...joints.map((j) => j.child)]; + const urdf = `\n\n \n${links.map((n) => ` `).join('\n')}\n${joints.map((j) => ` \n \n ${j.c ? `\n \n ` : ''}\n `).join('\n')}\n\n`; + const scene = new THREE.Scene(); scene.name = `CNC_${type.toUpperCase()}${gantry ? "_GANTRY" : ""}`; + scene.userData.linuxcncMachine = { schema: 'linuxcnc.machine/1', urdf }; + scene.userData.assetLicense = 'CC0-1.0'; + const frame = new THREE.Group(); frame.name = 'urdf_frame'; frame.rotation.x = -Math.PI / 2; scene.add(frame); + const nodes = Object.fromEntries(links.map((n) => { const g = new THREE.Group(); g.name = n; g.userData.link = n; return [n, g]; })); + frame.add(nodes.base); + for (const j of joints) { nodes[j.child].position.fromArray(j.xyz); nodes[j.parent].add(nodes[j.child]); } + const materials = Object.fromEntries(Object.entries({ enamel: [0xd8e4e3, .25, .32], teal: [0x167f83, .4, .27], dark: [0x253640, .35, .43], steel: [0x8a9faa, .85, .23], polished: [0xdce8ee, .9, .16], gold: [0xe4b34e, .7, .25], black: [0x122026, .2, .62] }).map(([n, [color, metalness, roughness]]) => [n, new THREE.MeshStandardMaterial({ color, metalness, roughness })])); + let counter = 0; + function mesh(parent, label, shape, position, material) { const m = new THREE.Mesh(shape, materials[material]); m.name = `${label}_${++counter}`; m.position.fromArray(position); m.castShadow = true; m.receiveShadow = true; parent.add(m); return m; } + const box = (parent, label, size, position, mat = 'enamel') => mesh(parent, label, new THREE.BoxGeometry(...size), position, mat); + const cyl = (parent, label, radius, length, position, mat = 'steel', axis = 'z') => { const m = mesh(parent, label, new THREE.CylinderGeometry(radius, radius, length, 48), position, mat); if (axis === 'z') m.rotation.x = Math.PI / 2; if (axis === 'x') m.rotation.z = Math.PI / 2; return m; }; + const base = nodes.base; + box(base, 'bed', [.60, .52, .14], [0, .03, -.25]); + box(base, 'plinth', [.63, .55, .045], [0, .03, -.337], 'dark'); + box(base, 'chip_tray', [.60, .46, .025], [0, -.015, -.169], 'steel'); + for (const x of [-.275, .275]) box(base, 'tray_lip', [.018, .46, .04], [x, -.015, -.14], 'teal'); + for (const x of [-.25, .25]) for (const y of [-.18, .22]) cyl(base, 'levelling_foot', .031, .025, [x, y, -.37], 'black'); + if (gantry) { + // Four fixed posts carry X rails. The complete bridge belongs to X, + // its cross-carriage to Y, and the ram/spindle to Z. + box(base, 'gantry_foundation', [.88, .78, .045], [0, 0, -.355], 'dark'); + for (const x of [-.38, .38]) for (const y of [-.32, .32]) { + box(base, 'gantry_post', [.055, .055, .82], [x, y, .05]); + box(base, 'post_foot', [.09, .09, .02], [x, y, -.35], 'teal'); + } + const beam = (parent, label, start, end, thickness, mat) => { + const a = new THREE.Vector3(...start), b = new THREE.Vector3(...end); + const bar = box(parent, label, [thickness, thickness, a.distanceTo(b)], a.clone().add(b).multiplyScalar(.5).toArray(), mat); + bar.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), b.sub(a).normalize()); + }; + for (const y of [-.32, .32]) { + box(base, 'gantry_longitudinal_beam', [.82, .06, .065], [0, y, .475], 'teal'); + box(base, 'gantry_x_rail', [.78, .018, .012], [0, y, .517], 'polished'); + for (let x = -.3; x < .31; x += .1) cyl(base, 'gantry_rail_bolt', .003, .004, [x, y, .526], 'black'); + for (const sign of [-1, 1]) beam(base, 'corner_brace', [sign * .38, y, .30], [sign * .22, y, .45], .02, 'steel'); + box(nodes.x_slide, 'gantry_x_bearing', [.12, .05, .025], [0, y, .54], 'dark'); + } + for (const x of [-.38, .38]) { + box(base, 'fixed_end_tie', [.04, .69, .045], [x, 0, .46], 'steel'); + } + for (const z of [.55, .65]) box(nodes.x_slide, 'moving_bridge_chord', [.06, .73, .035], [0, 0, z], 'teal'); + for (let i = 0; i < 6; i++) { + const y = -.33 + i * .11; + beam(nodes.x_slide, 'bridge_diagonal', [0, y, i % 2 ? .65 : .55], [0, y + .11, i % 2 ? .55 : .65], .018, 'enamel'); + } + for (const x of [-.043, .043]) box(nodes.x_slide, 'gantry_y_rail', [.014, .65, .016], [x, 0, .53], 'polished'); + box(nodes.y_slide, 'gantry_y_carriage', [.13, .12, .035], [0, 0, .50], 'dark'); + box(nodes.y_slide, 'gantry_ram_guide', [.145, .085, .14], [0, .036, .40], 'enamel'); + for (const x of [-.045, .045]) box(nodes.z_slide, 'gantry_z_rail', [.012, .015, .29], [x, .065, .35], 'steel'); + box(nodes.z_slide, 'gantry_z_ram', [.09, .07, .25], [0, .02, .365], 'teal'); + } else { + for (const x of [-.245, .245]) { + box(base, 'portal_column', [.09, .12, .62], [x, .19, .11]); + box(base, 'column_inlay', [.095, .008, .48], [x, .126, .12], 'teal'); + } + box(base, 'portal_crossbeam', [.58, .115, .10], [0, .19, .40]); + for (const z of [.365, .427]) { + box(base, 'x_rail', [.49, .013, .017], [0, .124, z], 'steel'); + for (let x = -.22; x < .23; x += .055) cyl(base, 'rail_bolt', .003, .004, [x, .115, z], 'black', 'y'); + } + box(nodes.x_slide, 'x_carriage', [.15, .035, .12], [0, .10, .394], 'teal'); + for (const x of [-.045, .045]) box(nodes.x_slide, 'y_rail', [.014, .285, .016], [x, -.02, .365], 'steel'); + box(nodes.y_slide, 'y_saddle', [.15, .13, .065], [0, 0, .327], 'dark'); + for (const x of [-.055, .055]) box(nodes.y_slide, 'z_rail', [.014, .012, .23], [x, .055, .205], 'steel'); + box(nodes.z_slide, 'z_carriage', [.135, .035, .18], [0, .055, .19], 'teal'); + } + box(nodes[toolLink], 'head_casting', [.12, .13, .15], [0, -.018, .175]); + box(nodes[toolLink], 'head_face', [.108, .007, .10], [0, -.087, .185], 'teal'); + cyl(nodes[toolLink], 'spindle_motor', .039, .095, [0, 0, .295], 'dark'); + cyl(nodes[toolLink], 'spindle_housing', .037, .083, [0, 0, .088], 'steel'); + cyl(nodes[toolLink], 'collet', .017, .03, [0, 0, .032], 'dark'); + cyl(nodes[toolLink], 'master_tool', .004, .017, [0, 0, .0085], 'gold'); + // AC bearings along X; BC bearings along Y. Both visual and joint axes agree. + for (const side of [-1, 1]) { + const pos = [...t]; pos[type === 'ac' ? 0 : 1] += side * .122; + const support = [...pos]; support[2] = -.111; + box(base, 'trunnion_pedestal', type === 'ac' ? [.055, .11, .116] : [.11, .055, .116], support); + cyl(base, 'tilt_bearing', .05, .06, pos, 'teal', type === 'ac' ? 'x' : 'y'); + const shaft = [0, 0, 0]; shaft[type === 'ac' ? 0 : 1] = side * .084; + cyl(nodes.tilt_table, 'tilt_shaft', .022, .072, shaft, 'steel', type === 'ac' ? 'x' : 'y'); + const arm = [...shaft]; arm[2] = -.025; + box(nodes.tilt_table, 'cradle_arm', type === 'ac' ? [.017, .10, .074] : [.10, .017, .074], arm, 'teal'); + } + box(nodes.tilt_table, 'cradle', [.17, .16, .018], [0, 0, -.056], 'teal'); + const rotaryHousing = new THREE.Group(); rotaryHousing.position.fromArray(d.map((v) => -v)); nodes.tilt_table.add(rotaryHousing); + cyl(rotaryHousing, 'c_drive', .075, .072, [0, 0, -.038], 'dark'); + cyl(nodes.c_table, 'c_platter', .080, .019, [0, 0, -.0095], 'steel'); + cyl(nodes.c_table, 'table_surface', .077, .001, [0, 0, .0005], 'polished'); + for (let n = 0; n < 8; n++) { + const angle = n * Math.PI / 4; + cyl(nodes.c_table, 'fixture_hole', .003, .001, [.057 * Math.cos(angle), .057 * Math.sin(angle), .0012], 'black'); + } + for (const y of [-.035, 0, .035]) box(nodes.c_table, 'table_t_slot', [.125, .003, .001], [0, y, .0015], 'black'); + box(nodes.c_table, 'c_index', [.008, .014, .004], [.073, 0, .002], 'gold'); + const glb = await new GLTFExporter().parseAsync(scene, { binary: true, trs: true, onlyVisible: false }); + const filename = `${stem}.glb`; + await writeFile(new URL(filename, output), Buffer.from(glb)); + await writeFile(new URL(`${stem}.urdf`, output), urdf); + manifest.machines.push({ id: gantry ? `${type}-gantry` : type, label: `${type.toUpperCase()} 示例${gantry ? '桁架型' : ''}`, profile, filename, urdf: `${stem}.urdf`, bytes: glb.byteLength, sha256: createHash('sha256').update(Buffer.from(glb)).digest('hex'), coordinates: `XYZ${tiltAxis}C`, rotation_point_mm: p.map((v) => v * 1000), offsets_mm: d.map((v) => v * 1000), links, meshes: counter }); + scene.traverse((obj) => { obj.geometry?.dispose(); }); Object.values(materials).forEach((m) => m.dispose()); +} +await writeFile(new URL('manifest.json', output), JSON.stringify(manifest, null, 2) + '\n'); +await writeFile(new URL('LICENSE.txt', output), 'Original procedural AC/BC machine demonstration assets generated for linuxcncWebWASM.\nDedicated to the public domain under CC0 1.0 Universal.\nhttps://creativecommons.org/publicdomain/zero/1.0/\nNo manufacturer affiliation or dimensional calibration is implied.\n'); +console.log(JSON.stringify(manifest, null, 2)); diff --git a/scripts/generate_jog_limit_acceptance.py b/scripts/generate_jog_limit_acceptance.py new file mode 100644 index 0000000..1efb1b5 --- /dev/null +++ b/scripts/generate_jog_limit_acceptance.py @@ -0,0 +1,28 @@ +import hashlib +import json +import shutil +from pathlib import Path + +root = Path(__file__).resolve().parents[1] +output = root / 'coverage/glb-machine/jog-limits' +for name in ['worker', 'browser', 'checkpoint', 'motion', 'step', 'recovery', 'build', 'manual', 'buttons', 'manual-baseline', 'buttons-baseline', 'before']: + shutil.copyfile(Path('/tmp') / f'jog-limits-{name}.log', output / f'{name}.log') +for name in ['worker.report.json', 'browser.report.json', 'motion.report.json', 'exact-checkpoint.report.json', 'shadow.report.json']: + assert json.loads((output / name).read_text())['status'] == 'verified', name +assert 'built in' in (output / 'build.log').read_text() +report = { + 'report_id': 'jog-limit-acceptance-v1', 'status': 'verified', + 'tasks': ['TRT-JOG02', 'GLB-UI02'], + 'wasm_sha256': hashlib.sha256((root / 'build-wasm/linuxcnc-sim-core.wasm').read_bytes()).hexdigest(), + 'known_baseline_failures': [ + {'test': 'test_xyzac_manual_control.mjs', 'failure': 'synchronous homing mask 0 != 1; identical with HEAD modules'}, + {'test': 'test_xyzac_button_constraints.mjs', 'failure': 'unhomed versus machine-off gate priority; identical with HEAD modules'}, + ], + 'boundaries': ['RTCP limit stops at last valid servo sample; no predictive hardware deceleration claim', 'Previously broken transport sessions require page reload'], + 'evidence': [ + {'path': str(path.relative_to(root)), 'sha256': hashlib.sha256(path.read_bytes()).hexdigest()} + for path in sorted(output.rglob('*')) if path.is_file() and path.name != 'acceptance.report.json' + ], +} +(output / 'acceptance.report.json').write_text(json.dumps(report, indent=2) + '\n') +print(json.dumps({'report_id': report['report_id'], 'status': report['status'], 'evidence_count': len(report['evidence'])})) diff --git a/scripts/generate_rtcp_beginner_data.mjs b/scripts/generate_rtcp_beginner_data.mjs new file mode 100644 index 0000000..86cd569 --- /dev/null +++ b/scripts/generate_rtcp_beginner_data.mjs @@ -0,0 +1,110 @@ +import assert from 'node:assert/strict'; +import { mkdir, readFile, writeFile } from 'node:fs/promises'; +import { createHash } from 'node:crypto'; +import createModule from '../build-wasm/linuxcnc-sim-core.js'; +import { WasmProgramRuntime } from '../web/worker/wasm-program-runtime.mjs'; +import { WasmXyzacKinematics } from '../web/worker/wasm-xyzac-kinematics.mjs'; +import { SimSession, CONTEXT_ID } from '../web/worker/sim-session.mjs'; +import { loadSimulationCase, toWorkerConfiguration } from '../web/workspace/sim-case-loader.mjs'; +import { writeTrtGeometry } from '../web/workspace/trt-geometry.mjs'; +import { MACHINE_DEFINITIONS } from '../web/workspace/machine-definitions.mjs'; + +const root = new URL('../', import.meta.url), out = new URL('docs/teaching/rtcp-beginners/', root); +await mkdir(new URL('assets/', out), { recursive: true }); +await mkdir(new URL('verification/', out), { recursive: true }); +const wasm = await readFile(new URL('build-wasm/linuxcnc-sim-core.wasm', root)); +const core = await createModule({ wasmBinary: wasm }); +const limits = Object.fromEntries(['x','y','z','a','b','c'].map((a) => [a,[-100000,100000]])); +const k = new WasmXyzacKinematics(core, { coordinates: 'XYZBC', limits }); +const interpreter = new WasmProgramRuntime(core); +interpreter.load('M2\n', 'beginner-reference.ngc'); +const blocks = [ + 'N10 G21 G90 G94 G17', + 'N20 G10 L2 P1 X40 Y20 Z10', + 'N30 G54', + 'N40 M428', + 'N50 G1 X10 Y0 Z5 B0 C0 F600', + 'N60 C90', + 'N70 G91 X10', + 'N80 G90 X20 Y0 Z5 B30 C90 F300', + 'N90 X0 Y10', + 'N100 M429', + 'N110 M428', +]; +const rows = []; +const axes = ['x','y','z','a','b','c','u','v','w']; +let joints = [0,0,0,0,0], mode = 0; +const poseOf = (state) => Object.fromEntries(axes.map((a) => [a, state[a] ?? 0])); +let canonical = poseOf({}); +for (const block of blocks) { + const result = interpreter.executeBlock(block); + assert.equal(result.status, 'verified', JSON.stringify(result)); + const code = result.program.control_code; + if ([428,429].includes(code)) { + mode = code === 428 ? 1 : 0; + const selected = k.selectPhysical(mode, joints); + assert.equal(selected.status, 'verified'); + interpreter.synchronizePosition(selected.pose); + canonical = { ...selected.pose }; + } else if (result.motion) { + const inverse = k.inverseMode(mode, result.motion.end); + assert.equal(inverse.status, 'verified'); joints = inverse.joints; + canonical = { ...result.motion.end }; + } + const state = interpreter.snapshot(), origin = state.coordinate_context.offsets[state.coordinate_context.system-1]; + rows.push({ block, has_motion: Boolean(result.motion), mode, canonical: { ...canonical }, work_xyz: ['x','y','z'].map((a,i)=>canonical[a]-origin[i]), joints: [...joints], origin: origin.slice(0,3), units: state.units, distance_mode: state.distance_mode, feed: state.feed, motion: result.motion }); +} +const near = (actual, expected) => actual.forEach((v,i) => assert.ok(Math.abs(v-expected[i])<1e-8, `${v} != ${expected[i]}`)); +near(rows[4].joints,[50,20,15,0,0]); +near(rows[5].joints,[-20,50,15,0,90]); +near(rows[6].joints,[-20,60,15,0,90]); +near(rows[7].joints,[-9.820508075688775,60,22.99038105676658,30,90]); +near(rows[9].joints,rows[8].joints); near(rows[10].joints,rows[8].joints); + +function probe(blocks) { + const p = new WasmProgramRuntime(core); p.load('M2\n','probe.ngc'); + let canonical = poseOf({}); + const rows = blocks.map((block) => { + const result=p.executeBlock(block); assert.equal(result.status,'verified',block); + const state=p.snapshot(); + if (result.motion) canonical = { ...result.motion.end }; + return { block, canonical: { ...canonical }, units:state.units,distance_mode:state.distance_mode,feed:state.feed, coordinates:state.coordinate_context,motion:result.motion }; + }); + p.destroy(); return rows; +} +const units = probe(['G21 G90 G1 X0 Y0 Z0 F600','G20 G91 X1 F2','G21 G90 X30']); +near([units[1].canonical.x,units[1].feed],[25.4,50.8]); +const touch = probe(['G21 G90 G1 X70 Y30 Z20 F600','G10 L20 P1 X0 Y0 Z0','G54 X10']); +near(touch[1].coordinates.offsets[0].slice(0,3),[70,30,20]); near([touch[2].canonical.x],[80]); +const switching = probe(['G21 G90 G10 L2 P1 X40 Y20 Z10','G10 L2 P2 X80 Y-10 Z10','G54 G1 X10 Y0 Z5 F600','G55','X10']); +near([switching[2].canonical.x,switching[3].canonical.x,switching[4].canonical.x],[50,50,90]); +interpreter.destroy(); k.destroy(); + +const fetchImpl = async (url) => { try { const text=await readFile(new URL(String(url).replace(/^\//,''),root),'utf8'); return {ok:true,text:async()=>text}; } catch {return {ok:false};} }; +const definition=MACHINE_DEFINITIONS.find((m)=>m.coordinates==='XYZBC'); +const sessionCore=await createModule({wasmBinary:wasm}); +const session=new SimSession(sessionCore,{sessionId:'rtcp-beginner-teaching',planner:'linuxcnc-tp'});let seq=0; +const send=(kind,payload={})=>{ + const response=session.accept({schema_version:1,context_id:CONTEXT_ID,session_id:session.sessionId,kind,seq:++seq,operation_id:`lesson-${seq}`,payload}); + assert.notEqual(response.kind,'ERROR',JSON.stringify(response.payload));return response; +}; +send('HELLO');send('SESSION_ATTACH'); +const bundle=writeTrtGeometry(await loadSimulationCase({path:definition.entrypoint,fetchImpl}),{x_rot_point:0,y_rot_point:0,z_rot_point:0,x_offset:0,y_offset:0,z_offset:0}); +send('LOAD_WORKSPACE',{root_path:'/workspace',configuration:toWorkerConfiguration(bundle)}); +const program=blocks.slice(0,9).join('\n')+'\nM2\n'; +send('PROGRAM_LOAD',{source:program,path:'beginner-g54-rtcp.ngc'});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.ok(session.wasmHomeLimit.read().state.homed);send('PROGRAM_RUN'); +let final;const trajectory=[]; +for(let i=0;i<6000;i++){ + final=send('SIM_STEP',{cycles:5,response:'motion_delta'}); + const state=session.wasmMotion.read().state; + if(i%10===0)trajectory.push({tick:session.tick,pose:state.position,joints:state.joint_commanded}); + if(final.payload.program?.program_status==='completed'&&state.queue_depth===0)break; +} +assert.equal(final.payload.program.program_status,'completed'); +const end=session.wasmMotion.read().state; +near(end.joint_commanded,rows[8].joints); +const report={report_id:'rtcp-beginners-gcode-v1',status:'verified',wasm_sha256:createHash('sha256').update(wasm).digest('hex'),assumptions:{coordinates:'XYZBC',rot_point:[0,0,0],offsets:[0,0,0],tool_offset:0,work_origin:[40,20,10],rotation:'Ry(B)*Rz(C)',work_rotation:0},rows,units,touch,switching,executed_program:{source:program,status:final.payload.program.program_status,final_pose:end.position,final_joints:end.joint_commanded,samples:trajectory}}; +await writeFile(new URL('gcode-evidence.json',out),JSON.stringify(report,null,2)+'\n'); +console.log(JSON.stringify({report_id:report.report_id,status:report.status,blocks:rows.length,extra_blocks:units.length+touch.length+switching.length,trajectory_samples:trajectory.length,final:end.joint_commanded})); diff --git a/scripts/generate_rtcp_beginner_figures.py b/scripts/generate_rtcp_beginner_figures.py new file mode 100644 index 0000000..9df8811 --- /dev/null +++ b/scripts/generate_rtcp_beginner_figures.py @@ -0,0 +1,103 @@ +"""Original diagrams for the beginner's work-coordinate handbook.""" +import shutil +from pathlib import Path +import matplotlib +matplotlib.use('Agg') +import matplotlib.pyplot as plt +from matplotlib import font_manager +from matplotlib.patches import Rectangle, Polygon +import numpy as np + +ROOT=Path(__file__).resolve().parents[1] +OUT=ROOT/'docs/teaching/rtcp-beginners/assets';OUT.mkdir(parents=True,exist_ok=True) +font_manager.fontManager.addfont('/usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc') +plt.rcParams.update({'font.family':'Noto Sans CJK JP','font.size':14,'axes.unicode_minus':False}) +BLUE,TEAL,RED,GRAY,INK='#2563b8','#00877b','#d45549','#8a969f','#23303a' +for name in ['machine-ac','machine-bc','hierarchy','identity-no-follow','tcp-follow','rotated-direction','bc-frame','pivot-offset','arc-chord','tool-length','orientation']: + shutil.copyfile(ROOT/f'docs/teaching/rtcp-five-axis/assets/{name}.png',OUT/f'{name}.png') +def save(fig,name): + fig.savefig(OUT/f'{name}.png',dpi=190,facecolor='white',bbox_inches='tight',pad_inches=.18);plt.close(fig) +def arrow(ax,start,end,color,label='',dx=0,dy=0): + ax.annotate('',end,start,arrowprops={'arrowstyle':'-|>','lw':2,'color':color}) + if label:ax.text(end[0]+dx,end[1]+dy,label,color=color,fontsize=14) + +fig,ax=plt.subplots(figsize=(8,4.2));ax.set(xlim=(-8,55),ylim=(-8,38),aspect='equal');ax.axis('off') +for x in range(0,51,10):ax.plot([x,x],[0,30],c='#dce6ec',lw=1);ax.text(x,-4,str(x),ha='center',fontsize=12,color=GRAY) +for y in range(0,31,10):ax.plot([0,50],[y,y],c='#dce6ec',lw=1);ax.text(-4,y,str(y),va='center',fontsize=12,color=GRAY) +arrow(ax,(0,0),(54,0),BLUE,'X',-1,-5);arrow(ax,(0,0),(0,36),BLUE,'Y',-5,-1) +ax.scatter([30],[20],s=90,color=RED);ax.plot([30,30,0],[0,20,20],ls='--',color=RED,lw=1.5) +ax.text(32,22,'P = (30, 20) mm',color=RED);ax.text(2,32,'先选原点，再沿指定方向量距离',fontsize=14,color=INK) +save(fig,'coordinate-grid') + +fig,ax=plt.subplots(figsize=(8,4.4));ax.set(xlim=(-10,95),ylim=(-10,60),aspect='equal');ax.axis('off') +arrow(ax,(0,0),(90,0),BLUE,'X_M',-8,-7);arrow(ax,(0,0),(0,56),BLUE,'Y_M',-8,-2) +arrow(ax,(40,20),(79,20),TEAL,'X_W',0,-2);arrow(ax,(40,20),(40,54),TEAL,'Y_W',2,0) +ax.scatter([50],[35],s=95,color=RED);ax.text(54,38,'同一个点 P',color=RED) +ax.plot([50,50,40],[20,35,35],ls='--',color=TEAL);ax.text(43,24,'10',color=TEAL);ax.text(32,27,'15',color=TEAL) +ax.annotate('O_W 在 M 中为 (40,20)',(40,20),xytext=(23,6),fontsize=12,arrowprops={'arrowstyle':'->','color':GRAY}) +ax.text(3,46,'P_M=(50,35)\nP_W=(10,15)',fontsize=15,color=INK) +save(fig,'same-point') + +fig,axes=plt.subplots(1,2,figsize=(10,5)) +for ax,c in zip(axes,[0,90]): + ax.set(xlim=(-55,85),ylim=(-28,95),aspect='equal');ax.axis('off') + arrow(ax,(0,0),(78,0),BLUE,'X_M',-5,-12);arrow(ax,(0,0),(0,85),BLUE,'Y_M',-18,-1) + rad=np.deg2rad(c);r=np.array([[np.cos(rad),-np.sin(rad)],[np.sin(rad),np.cos(rad)]]) + o=r@np.array([40,20]);point=r@np.array([50,20]);x=r@np.array([25,0]);y=r@np.array([0,25]) + poly=np.array([o+r@np.array(v) for v in [[-5,-5],[30,-5],[30,20],[-5,20]]]);ax.add_patch(Polygon(poly,fc='#e1f2ee',ec=TEAL,alpha=.65)) + arrow(ax,o,o+x,TEAL,'X_W',2,0);arrow(ax,o,o+y,TEAL,'Y_W',2,0) + ax.scatter(*o,color=TEAL,s=70);ax.scatter(*point,color=RED,s=100,marker='*') + ax.text(-48,89,f'C = {c}°',color=INK,fontsize=17) + ax.text(-48,-23,f'O_M=({o[0]:.0f},{o[1]:.0f})\nP_M=({point[0]:.0f},{point[1]:.0f})',color=INK,fontsize=13) + label_position=(12,57) if c else (-45,67) + ax.annotate('P：X10，Y0',point,xytext=label_position,arrowprops={'arrowstyle':'->','color':RED},color=RED,fontsize=12) +fig.subplots_adjust(wspace=.15) +save(fig,'moving-origin') + +fig,ax=plt.subplots(figsize=(8,4.5));ax.axis('off');ax.set(xlim=(-10,120),ylim=(-15,80),aspect='equal') +front=np.array([[10,15],[85,15],[85,38],[10,38]]);side=np.array([[85,15],[108,37],[108,60],[85,38]]);top=np.array([[10,38],[85,38],[108,60],[33,60]]) +for poly,color in [(front,'#d4e3e8'),(side,'#b9cdd3'),(top,'#e5f2ef')]:ax.add_patch(Polygon(poly,fc=color,ec=GRAY)) +origin=(10,38);arrow(ax,origin,(66,38),TEAL,'+X',0,-7);arrow(ax,origin,(33,60),TEAL,'+Y',-4,7);arrow(ax,origin,(10,72),TEAL,'+Z',2,0) +ax.scatter(*origin,color=RED,s=70);ax.annotate('示例：顶面左前角为零点',origin,xytext=(5,2),arrowprops={'arrowstyle':'->','color':RED},color=RED,fontsize=14) +ax.scatter([65],[48],color=BLUE,s=130,facecolors='none');ax.annotate('也可选孔中心\n必须与CAD/CAM约定一致',(65,48),xytext=(75,74),arrowprops={'arrowstyle':'->','color':BLUE},color=BLUE,fontsize=12) +save(fig,'datum-choice') + +fig,ax=plt.subplots(figsize=(8,4.5));ax.axis('off');ax.set(xlim=(-20,110),ylim=(-20,85),aspect='equal') +o=np.array([15,8]);a=np.deg2rad(20);u=np.array([np.cos(a),np.sin(a)]);v=np.array([-np.sin(a),np.cos(a)]) +pts=[o,o+u*75,o+v*45] +ax.plot([pts[1][0],o[0],pts[2][0]],[pts[1][1],o[1],pts[2][1]],color=TEAL,lw=2) +for p,label,dx,dy in zip(pts,['O：所选原点','P_x：确定 +X','P_y：确定 XY 面'],[-12,2,-10],[-12,0,6]):ax.scatter(*p,s=80,color=RED);ax.text(p[0]+dx,p[1]+dy,label,fontsize=13,color=INK) +arrow(ax,o,o+u*93,TEAL,'+X',0,0);arrow(ax,o,o+v*62,TEAL,'+Y',-5,3) +arrow(ax,(-8,-9),(100,-9),BLUE,'机床 X',-25,-8) +ax.text(48,64,'工件不能只靠“一个点”\n确定全部方向',color=INK,fontsize=15,ha='center') +save(fig,'orientation-measure') + +fig,axes=plt.subplots(2,1,figsize=(8,3.6)) +for ax,title,target in zip(axes,['当前位置 X=10，G90 X20','当前位置 X=10，G91 X20'],[20,30]): + ax.set(xlim=(-3,39),ylim=(-1,6));ax.axis('off');arrow(ax,(0,1),(37,1),BLUE) + for x in [0,10,20,30]:ax.plot([x,x],[.8,1.2],color=GRAY);ax.text(x,-.2,str(x),ha='center',fontsize=13) + ax.text(0,4,title,fontsize=15,color=INK);ax.scatter([10],[1],color=GRAY,s=70);ax.scatter([target],[1],color=RED,s=90) + arrow(ax,(10,2),(target,2),RED);ax.text((10+target)/2,2.8,f'实际移动 {target-10}',ha='center',color=RED,fontsize=12) +fig.subplots_adjust(hspace=.35);save(fig,'absolute-incremental') + +fig,ax=plt.subplots(figsize=(8,4));ax.axis('off');ax.set(xlim=(0,10),ylim=(0,5)) +rows=[('① 程序工件点 W','(10, 0, 5)',TEAL),('② 加 G54 零位偏置','+(40, 20, 10)',GRAY),('③ 运动学输入 K','(50, 20, 15)',BLUE),('④ C=90°，RTCP变换','(-20, 50, 15)',RED)] +for i,(label,value,color) in enumerate(rows): + y=4.15-i*1.06;ax.add_patch(Rectangle((.3,y-.34),9.3,.74,fc='#eef4f6',ec='none')) + ax.text(.55,y,label,color=color,fontsize=15,va='center');ax.text(6.1,y,value,color=color,fontsize=16,va='center') + if i<3:ax.text(5,y-.58,'↓',ha='center',va='center',color=GRAY) +save(fig,'offset-pipeline') + +c=np.linspace(0,90,181);r=np.deg2rad(c);qx=50*np.cos(r)-20*np.sin(r);qy=50*np.sin(r)+20*np.cos(r) +fig,ax=plt.subplots(figsize=(8,4));ax.plot(c,qx,color=BLUE,lw=2.4,label='关节 X');ax.plot(c,qy,color=TEAL,lw=2.4,label='关节 Y');ax.plot(c,np.full_like(c,15),color=RED,lw=2.4,label='关节 Z') +ax.set(xlabel='C 角度（°）',ylabel='关节位置（mm）',xlim=(0,90));ax.grid(alpha=.2);ax.legend(loc='lower left',ncol=3,fontsize=12);ax.set_title('程序 X10 Y0 Z5 保持；关节由RTCP连续计算',fontsize=15,color=INK) +fig.tight_layout();save(fig,'continuous-joints') + +fig,ax=plt.subplots(figsize=(6.7,4.1));ax.set(aspect='equal',xlim=(-3,14),ylim=(-3,14));ax.axis('off') +arrow(ax,(0,0),(13,0),BLUE,'X',0,-1);arrow(ax,(0,0),(0,13),BLUE,'Y',-1,0) +t=np.linspace(0,np.pi/2,100);ax.plot(10*np.cos(t),10*np.sin(t),color=TEAL,lw=3) +arrow(ax,(8.5,5.27),(7.8,6.25),TEAL);ax.scatter([10,0,0],[0,10,0],color=[RED,TEAL,GRAY],s=80) +ax.text(6.8,-1.8,'起点 (10,0)',color=RED,fontsize=13);ax.text(.8,10.5,'终点 (0,10)',color=TEAL,fontsize=13) +ax.text(2.8,3.5,'圆心 (0,0)\nI=-10，J=0',color=INK,fontsize=14) +ax.plot([10,0],[0,0],ls=':',color=GRAY,lw=2);save(fig,'arc-words') +print('Created 9 new diagrams and reused 11 verified original assets:',OUT) diff --git a/scripts/generate_rtcp_beginner_html.py b/scripts/generate_rtcp_beginner_html.py new file mode 100644 index 0000000..21871db --- /dev/null +++ b/scripts/generate_rtcp_beginner_html.py @@ -0,0 +1,621 @@ +"""Self-contained A4 handbook: beginner-first explanations and verified examples.""" +import html +import json +from pathlib import Path + +ROOT=Path(__file__).resolve().parents[1] +OUT=ROOT/'docs/teaching/rtcp-beginners' +DATA=json.loads((OUT/'gcode-evidence.json').read_text()) +PAGES=[] +def p(text,cls=''):return f'

{text}

' +def h(text):return f'

{text}

' +def ul(*items):return '
    '+''.join(f'
  • {x}
    • ' for x in items)+'
' +def ol(*items):return '
    '+''.join(f'
  1. {x}
    2. ' for x in items)+'
' +def box(title,text):return f'' +def eq(text):return f'
{text}
' +def code(text):return '
'+html.escape(text)+'
' +def fig(name,caption,height=260):return f'
{html.escape(caption)}
{caption}
' +def table(heads,rows,cls=''):return ''+''.join('' for x in heads)+''+''.join(''+''.join('' for x in row)+'' for row in rows)+'
'+x+'
'+str(x)+'
' +def page(chapter,title,body,key,refs='原创讲解；以本讲义所声明的双转台结构为限。'): + PAGES.append({'chapter':chapter,'title':title,'body':body,'key':key,'refs':refs}) +def xyz(values):return '('+', '.join(f'{0 if abs(v)<.0005 else v:.3f}' for v in values[:3])+')' + +page('封面 · 完整讲义 / 2026.09','五轴 RTCP 与工件坐标', + p('从坐标零点到 G 代码，再到每根轴的运动','subtitle')+ + p('面向初学者的完整学习路径：先认识“相对谁量位置”，再理解“角度改变后，控制器如何保持刀尖相对工件的目标关系”。')+ + fig('machine-bc','本项目原创 XYZBC 桁架模型：刀具侧 XYZ，工件侧 B→C。',340)+ + box('你将学会回答','工件原点放在哪里？X/Y/Z方向由谁确定？G54有没有让坐标跟着转台转？为什么一个X10有时会让多根轴运动？为什么只改C角度也会引起XYZ联动？')+ + p('包含：基础概念、图解、逐字解析、逐行数值演算、实验步骤、排错方法、练习和答案。
建议分 4–6 次授课，也可按目录自学。','small'), + '读完后，应能把“程序写的数值”和“电机实际要到的位置”分开解释。') + +page('导读','怎样使用这份讲义', + p('不要求你先会矩阵或五轴编程。先把坐标看成贴在物体上的尺子，再把RTCP看成依据机床结构换算位置的计算过程。公式附录可以最后再读。')+ + h('三种标签，避免把不同层次混在一起')+ + table(['层次','在讲义中怎样使用'],[ + ['通用概念','坐标、相对位置、程序段、绝对/增量、物理关节等基础知识。'], + ['本课模型','XYZ移动刀具；A/C或B/C转动工件；按本项目正方向和父子层级计算。'], + ['已实测算例','通过本项目WASM解释器、运动学和规划器验证的数值；不是手工猜测。'], + ])+ + h('推荐阅读顺序')+ol('第1–3章：先弄清坐标系、原点、方向及工件偏置。','第4–6章：理解RTCP，再学习G代码各地址字与模式。','第7章：跟着一份完整程序逐行计算，自己复算。','第8–10章：操作实验、排错、练习；最后查数学附录。')+ + p('本项目仿真只覆盖LinuxCNC的一部分能力。讲到G52/G92、坐标旋转、完整刀补等功能时，会区分官方控制器语义和项目已验证的范围。','small'), + '不要把某个控制器或示例的约定，当作所有机床都必须遵循的规则。') + +page('学习地图','内容索引', + '
', + '先学概念，后读代码；遇到陌生词可跳到附录术语表。') + +page('第1章 · 坐标基础','01　坐标是“按照约定量出来的位置”', + p('想象一张方格纸。先指定一个交点为原点O，再规定向右是+X、向上是+Y，每格代表10mm。这样你就能用两个数告诉别人某个孔的位置，而不必每次都画整张图。')+ + fig('coordinate-grid','P=(30,20)mm：从原点沿+X量30mm，再沿+Y量20mm。',280)+ + p('这里的30和20不是电机编号，也不是速度。它们是点P相对于这套尺子的两个坐标分量。换一个原点，或者把尺子的方向转动，同一个点的坐标数字就会改变。')+ + box('最重要的习惯','说“X等于30”之前，先补一句：相对于哪一个坐标系？单位是什么？如果这两点没说明，数字还不能唯一描述空间位置。'), + '坐标数字必须和“原点、方向、单位”一起理解。') + +page('第1章 · 坐标基础','02　一套坐标系至少要规定什么？', + table(['要素','初学者理解','不说明会怎样'],[ + ['原点','从哪里开始量。','相同数值落在不同位置。'],['方向','X、Y、Z分别朝哪边。','相同增量可能走向不同方向。'],['单位','例如长度mm、旋转角度°。','X1可能是1mm，也可能是25.4mm。'],['正负号与手性','三轴之间的正向约定。','模型可能镜像、旋转方向可能相反。'], + ])+ + p('三维直角坐标系有三条互相垂直的轴。一般按右手规则建立：+X和+Y确定后，+Z的方向也随之确定。不能任意把其中一根轴反向，同时还声称保持同一套右手坐标。')+ + p('坐标系在图上常画成三根箭头；在控制器中，它由参数和变换关系表示。屏幕上的箭头只是它的可视化，拖动摄像机不会改变机床的真实坐标约定。')+ + box('单位提醒','机床运行示例使用mm和度；GLB/URDF采用米与弧度。1m=1000mm，180°=πrad。软件应显式转换，不能只把数值原样传过去。'), + '三个方向不是三条新导轨，而是描述位置的三个基准方向。') + +page('第1章 · 坐标基础','03　同一个点，可以有两套不同的坐标', + fig('same-point','工件原点在机床中为(40,20)。同一P点：机床坐标(50,35)，工件坐标(10,15)。',290)+ + p('假设两套坐标的方向相同，只是原点平移。绿色工件原点比蓝色机床原点多了X40、Y20。于是工件上的P=(10,15)，在机床坐标中就是(50,35)。')+ + eq('机床中的位置 = 工件原点的位置 + 工件内的坐标')+ + p('反过来，若已知机床中的点位置，需要减去工件原点，才能得到工件内的读数。这就是最简单的“工件偏置”直觉。')+ + box('注意适用条件','这一页只有平移，方向没有转动，也没有刀长补偿。后面工件发生旋转时，还必须先把工件方向换算到机床方向，不能始终只做三个数相加。'), + '点没有动，坐标数字也可以变；改变的是量它的尺子。') + +page('第1章 · 坐标基础','04　点坐标与移动增量不是一回事', + p('“去X20”描述一个目的地；“向+X再走20”描述一段位移。当前位置不同，这两句话会产生不同结果。')+ + fig('absolute-incremental','当前位置X=10：绝对目标X20移动10；增量X20移动20，终点到X30。',250)+ + p('点坐标需要一个原点。位移向量描述从一个点到另一个点的差，原点平移不会改变这段差值；但是坐标方向转动，会改变它在另一套坐标中的分量。')+ + table(['写法','意思'],[['p=(10,5,2)','一个目标点的位置。'],['Δp=(10,0,0)','沿当前编程+X方向增加10。'],['X轴方向向量','只说明方向；不能直接当作某个目标点。']])+ + p('后面会反复用到：p表示点，Δp表示增量。不要因为都含X/Y/Z三个数就把它们混用。'), + '“目标在哪里”和“这一步走多远”是两个问题。') + +page('第1章 · 机床结构','05　五轴机床里，到底是哪五根轴？', + p('本课选择双转台桁架结构：三根直线轴X、Y、Z让刀具移动；两根旋转轴让工件转动。AC型使用A和C，BC型使用B和C。它们不是XYZABC六根独立轴都同时存在。')+ + table(['坐标字母','典型含义','本课执行部件'],[['X/Y/Z','直线位置','横梁、滑座、滑枕/刀具'],['A','绕X方向的轴线转动','AC外层倾转台'],['B','绕Y方向的轴线转动','BC外层倾转台'],['C','绕本地Z方向轴线转动','安装在倾转台上的内层转台']])+ + fig('hierarchy','两条独立分支：刀具侧XYZ；工件侧A/B→C。',220)+ + p('C的轴线装在A/B上，所以A/B倾转会连C的轴线一起带走。这不是软件的小细节，而是决定运动学计算次序的机械事实。','small'), + '先查结构图，确认谁安装在谁上面，再讨论坐标如何变换。','[S1][S3]；本项目桁架模型。') + +page('第1章 · 机床结构','06　关节位置，不等于工件坐标', + p('把“关节”理解为一个执行机构及它的位置。在本项目里，J0/J1/J2对应XYZ直线轴，J3是A或B，J4是C。每个关节位置属于机构自身的运动参数。')+ + table(['对象','回答什么问题'],[['程序点','刀尖相对于选定编程参考系要到哪里？'],['关节指令','各执行轴应该到哪里？'],['实际反馈','编码器报告机械轴实际上在哪里？'],['三维模型刀尖','将关节位置代入结构模型后，画面上的刀尖在哪里？']])+ + p('简单三轴、没有偏置时，这几类数字可能很相近，容易造成“它们本来就是同一回事”的错觉。五轴RTCP会把这种差别明显表现出来：程序XYZ不变，关节XYZ却需要变化。')+ + box('理想仿真与真实机床','本项目通常把关节指令和理想反馈看成相同。真实机床还存在跟随误差、伺服滞后、机械误差和测量误差，不能仅凭指令就断言真实刀尖已精确到位。'), + '程序描述加工目标；关节是执行这个目标的机构参数。') + +page('第2章 · 参考系','07　先认识 M、W、J，再引入 K 和 T', + table(['符号','在本讲义中的含义','在哪里看'],[['M','固连机床底座的物理笛卡尔参考系。','观察真实空间位置与方向。'],['W','设计给零件编程用的工件坐标系。','图纸、CAD/CAM、G54编程。'],['J / q','各机械关节的位置集合。','J0…J4、编码器/关节显示。'],['K','已经解释偏置、尚未经过RTCP逆解的坐标输入。','本项目解释器输出到运动学的接口。'],['T','刀具参考系或刀具受控点的定义。','主轴参考点、刀长标定、TCP。']])+ + p('初学者先记住M、W、J三个概念。K是在复杂机床中避免混淆的“中间层”：控制器界面叫作Machine的XYZ，有时是运动学坐标，不能不看定义就认定它一定等于物理直线关节。')+ + p('本讲义用K做教学记号，不是要求控制器界面必须新增一个叫K的按钮。它也不是G代码中的圆弧中心地址K；同一个字母处在不同上下文中，意义不同。')+ + box('读图颜色','蓝色：机床/基础参考；绿色：工件参考；红色：目标点或刀尖。颜色帮助区分对象，不代表电气接线。'), + '本讲义的符号是为讲清层次而定义的，不是所有控制器统一的界面名称。') + +page('第2章 · 机床参考','08　回零解决什么？工件对刀又解决什么？', + p('回零建立机器执行机构的参考，使控制器知道关节位置相对于设定基准如何计量。它解决“机床自己在哪里”的问题。工件可能每次装在不同位置，回零并不会自动知道零件角点或孔中心在哪里。')+ + p('工件对刀、测头找正和设置工件偏置，解决“这次装夹的零件参考在哪里”的问题。这两类基准相互有关，但不能互相替代。')+ + table(['操作','主要作用','不会自动完成'],[['回零/HOME','建立关节或机床参考。','不会自动测得G54零点。'],['选G54','选择已保存的编程参考。','不会自动重新测量工件。'],['设置工件零点','更新零件与基础参考的配准。','不会重新标定转台中心。'],['测刀/刀长标定','建立主轴参考与刀尖的关系。','不会确定所有工件方向。']])+ + box('G28不等于点击HOME','在LinuxCNC中，G28涉及预定义返回位置；它不是本项目回零按钮的同义词。初学阶段不要仅凭“回原点”的中文说法混用两种动作。'), + '回零、找工件零点、测刀，是不同的准备步骤。','[S2][S4]；实际回零方法取决于机床配置。') + +page('第2章 · 工件参考','09　工件坐标 W 代表什么？', + p('工件坐标是一套为零件几何与加工意图服务的参考。设计人员可能把顶面角点定义为(0,0,0)，把孔中心写成(30,20,−5)。CAM和操作者必须采用兼容的约定，程序中的点才会落在预期部位。')+ + fig('datum-choice','原点可以选角点、中心、基准面交点等；不一定是转台中心。',260)+ + p('零件本身并没有天然写着“这里必须是X0”。原点是根据图纸、工艺、装夹和测量便利性选定的。选好以后，需测量或标定出它与机床结构的关系。')+ + box('原点自己的坐标永远为零','工件原点在工件坐标中一直是(0,0,0)。但它在机床空间的位置可能随转台转动。两个说法并不矛盾，因为参考系不同。'), + '原点是工艺约定，控制器必须得到该约定与实际装夹之间的对应关系。') + +page('第2章 · 工件随动','10　工件转了，原点与方向一起转', + fig('moving-origin','零位工件原点o=(40,20,10)mm；只看XY俯视，Z另计。',310)+ + p('设工件原点在零位参考中是(40,20,10)。当C=0°时，它在机床空间仍在(40,20,10)。当C=90°、旋转中心为零时，它移到(−20,40,10)。')+ + p('此时工件+X方向也转成机床+Y方向。工件上的P=(10,0,5)始终是“从工件原点沿工件X走10，再沿工件Z走5”，但它在机床空间从(50,20,15)变到(−20,50,15)。')+ + box('两个都要算','仅改变坐标方向、却让原点一直留在原地，一般不正确。只有原点恰好位于所转轴线上等特殊情形，原点才可能不移动。'), + '随工件固连的坐标架是一个整体：原点和三根方向箭头一起变换。') + +page('第2章 · 最重要的区分','11　“物理工件坐标架”和“G54表”不是同一对象', + p('物理上，你可以想象把一套坐标箭头画在工件上。转台转动时，这套箭头会随工件一起转。软件里，G54则是用于选取一套工件坐标设置的指令，其数据保存在控制器的偏置表中。')+ + p('在本课RTCP模型中，G54主要给出零位配准偏置；姿态改变时的空间变换由另一层运动学完成。因此，偏置表中的数字可以保持不变，但它所对应的物理工件原点会在机床空间移动。')+ + table(['层次','本课中的作用'],[['零件上的W坐标架','描述固定在零件上的位置和方向。'],['G54等偏置数据','告诉解释器如何把编程坐标换算到基础输入K。'],['RTCP运动学','利用当前A/B、C及几何参数把K换算成物理关节目标。']])+ + p('如果只打开G54而没有正确的五轴运动学，控制器并不会因此自动追踪物理工件架的旋转。非RTCP时，软件的直接坐标解释与转动后的零件局部方向可能不一致。')+ + box('不要过度推广','不同控制器可能把工件旋转、倾斜工作平面、TCP功能组合成不同指令。本课展示一条明确的数据链，不能把普通三轴G54直接称为完整五轴随动变换。'), + 'G54负责选参考数据，RTCP负责根据结构和姿态换算运动。','[S1][S2][S4]；后半为本课模型与项目实测数据链。') + +page('第3章 · 原点与方向的确定','12　先约定机床零姿态，再谈工件装在哪里', + p('要描述工件装夹位置，必须先有一套明确的基础参考：旋转轴的零角度是什么姿态？倾转轴中心在哪里？C轴中心在哪里？直线轴与刀具基准怎样关联？这些由机床配置与几何标定决定。')+ + p('把转台放到定义的A/B=0、C=0姿态，可以建立零位配准参考K。零件的工件原点相对于这套参考的偏置，记作o。若工件方向也存在初始夹角，还需要初始方向变换R₀。')+ + eq('编程点 p_W → 零位配准 → p_K → 当前姿态变换 → 关节 q')+ + table(['要确定的量','谁来提供'],[['轴的零角度、正方向','回零/编码器基准与机床配置。'],['旋转中心、轴间偏置','机床结构数据、测量与标定。'],['零件原点及初始方向','工艺定义、装夹、测头或找正。'],['刀具长度与参考点','刀具测量、刀表与补偿设置。']])+ + p('这些数据不是点击“开启RTCP”时凭空生成的。RTCP只会使用已有数据计算，不能自动猜出实际工件的全部装夹关系。'), + 'RTCP能正确跟随的前提，是机床几何与工件配准都已经正确。') + +page('第3章 · 原点选择','13　工件原点放在哪里比较合适？', + p('常见选择有：毛坯顶面角点、工件中心、定位孔中心、某个基准面与两条基准边的交点。没有一种位置对所有零件都最优。应与图纸和CAM编程基准一致，并且能够稳定测量。')+ + ol('先看图纸和CAM：尺寸从哪里标起，程序预期哪个位置为零？','再看装夹：该基准在机床上是否可接近、可找正、可重复？','确认方向：+X沿哪条边，+Y朝哪边，+Z朝工件外侧还是另一约定方向？','记录采用的是毛坯面、成品基准面还是夹具基准，避免同名不同面。')+ + box('例子：顶面角点','若顶面定义为Z0，向材料内部加工的深度通常写成负Z；但这取决于你建立的+Z方向。不能看到“钻深5”就不加判断地写Z+5。')+ + p('换一次装夹，零点位置可能变化。程序里零件局部几何可以保持不变，只更新该次装夹的配准数据。这正是工件坐标的价值。')+ + p('转台中心可以作为机床标定基准，却不必与零件编程原点重合。把两者强行设成同一点，会让工艺选择受到不必要限制。'), + '方便编程、方便测量、装夹可重复，比“零点看起来居中”更重要。') + +page('第3章 · 原点测量','14　怎样把选好的原点告诉控制器？', + p('首先必须让刀尖或测头与已知基准建立真实关系。可以使用测头、寻边器、对刀棒或其他已标定的测量方法。测量工具本身的半径、长度及接触位置要考虑进去；刀具中心碰到边，不等于刀尖已经位于所选坐标原点。')+ + h('一种便于理解的零位流程')+ol('完成机床回零和刀具/测头标定。','把转台置于已知参考角度，按工艺要求找正工件。','测得原点相对于基础参考的位置，写入目标工件坐标表。','选择该坐标系，用已知的另一个点检查读数和方向。','用小幅、空载的受控运动验证，再进入实际加工。')+ + box('在倾斜姿态下对刀更要谨慎','当前关节XYZ、RTCP输入K和工件局部坐标W可能不同。不能直接把屏幕上的J0/J1/J2当作G54偏置写入。应使用控制器提供的、与当前运动学兼容的坐标设置/测量流程。')+ + p('本讲义的数字测量例仅解释偏置计算，不构成真实机床的探测轨迹。设备现场必须遵循该机床和控制系统的操作流程。','small'), + '找零点不是把三个显示框都随意清零，而是建立可验证的几何关系。') + +page('第3章 · 方向测量','15　一个原点不能确定三维方向', + fig('orientation-measure','平面内示意：O给出位置，O→Pₓ确定+X，再用不共线点确定平面及+Y。',280)+ + p('你把一个孔中心设为零，只确定了原点位置。围绕这个点，坐标架仍可以转动。要确定方向，还需要已知的边、面或更多测量点。')+ + p('常见做法是让工件基准边与预定方向对齐，并用基准面确定法向。若需要软件方向补偿，应由控制器支持的工件坐标旋转或倾斜平面功能来表达，不能只修改X/Y/Z三个平移偏置。')+ + box('完整三维配准','三个不共线的点可帮助确定一个平面及平面内方向，但仍须明确点的对应关系、顺序、正负号和右手规则。共线点无法唯一确定平面。'), + '原点回答“从哪里量”，方向回答“朝哪里量”；它们需要不同信息。') + +page('第3章 · 初始方向与动态方向','16　装夹方向和转台姿态，要分开处理', + p('假设工件在C=0时，长边已经相对基础X方向偏转了20°。这20°是装夹的初始方向关系；后来C又旋转30°，属于机床当前姿态。两者来源不同，但都影响最终空间方向。')+ + table(['量','何时确定','通常何时变化'],[['初始工件方向R₀','装夹/找正/CAM配准时。','重新装夹或修改坐标设置时。'],['转台角度A/B、C','回零基准与每条运动指令。','程序或Jog执行过程中。'],['几何中心P、偏置D','机床结构测量和标定时。','结构调整或重新标定时。']])+ + p('LinuxCNC可用特定工件坐标设置表达XY平面内旋转，例如G10 L2的R参数；它不是一个任意三维倾斜平面描述。摆头/转台结构、倾斜平面和TCP功能的组合仍要按具体控制器核对。')+ + box('本项目的数值实验范围','下面逐行实算只使用平移G54，即R₀为单位变换。讲义会解释一般方向关系，但不宣称当前Web示例已完整实现任意三维坐标旋转或所有厂商TCP指令。'), + '没有声明初始装夹方向时，不能擅自认为工件边一定平行于机床导轨。','[S4] G10 L2；项目实验边界见后文。') + +page('第3章 · 原点和方向合起来','17　一个点怎样从工件坐标换算到机床空间？', + p('先不看公式。把工件原点在机床空间的位置标出来；再把工件+X、+Y、+Z三个方向换算到机床空间。最后，沿这些方向分别走程序给定的距离。')+ + eq('空间目标 = 当前工件原点 + X·工件X方向 + Y·工件Y方向 + Z·工件Z方向')+ + p('用数学记号写为 r_M = O_M + E_MW·p_W。O_M是工件原点在机床中的位置，E_MW的三列是工件三个单位方向在机床中的分量。矩阵只是把“三个方向加权相加”缩写起来。')+ + fig('moving-origin','转台改变姿态时，O_M和E_MW一般都变化；工件点p_W可以保持。',270)+ + box('方向与位置的不同','增量只用方向关系：Δr_M = E_MW·Δp_W，前提是这一增量过程中姿态保持不变。若角度也在变化，原点和方向同时变，必须计算完整运动过程。'), + '固定姿态时可以只变换增量；姿态在变时必须处理完整的点变换。') + +page('第4章 · G54与偏置','18　G54究竟做了什么？', + p('G54选择第一套工件坐标设置。LinuxCNC中还有G55、G56、G57、G58、G59、G59.1、G59.2、G59.3，合计九套。你可以给不同工件、不同装夹或不同夹具保存不同偏置。')+ + table(['选择指令','G10中的P编号','本页教学含义'],[['G54','P1','第一套坐标设置'],['G55','P2','第二套坐标设置'],['G56…G59','P3…P6','第三至第六套'],['G59.1…G59.3','P7…P9','第七至第九套']])+ + p('G54具有模态性：选中后，后续适用的运动指令继续使用它，直到选了同组的另一个坐标系。单独执行G54没有轴目标时，不会自动让刀具移动到工件零点。')+ + box('注意同一行可能同时有运动','“G54”只选择坐标系；但“G54 G1 X10”还包含运动目标，后者会按该坐标系及当前模式解释X10。不能只看到行里有G54就认定不会运动。'), + '选择参考，不等于走到参考原点。','[S2][S4] 坐标选择；实测G54/G55见gcode-evidence.json。') + +page('第4章 · 偏置的物理含义','19　G54的40、20、10代表什么？', + p('本课统一例子：在零角度、零几何偏置且方向对齐的教学模型里，设工件原点相对于K参考为o=(40,20,10)mm。意思是先沿K的X方向40、Y方向20、Z方向10，才到工件原点。')+ + code('G21 G90\nG10 L2 P1 X40 Y20 Z10\nG54')+ + p('当程序要求工件点X10 Y0 Z5时，解释器得到K输入(50,20,15)。到这一步还没有完成五轴运动学计算；随后还要依据B/C或A/C及几何参数得到关节目标。')+ + fig('offset-pipeline','同一例子继续取C=90°，RTCP最终关节XYZ为(−20,50,15)。',265)+ + p('因此，G54偏置中的40不能理解成“无论转台怎么转，工件原点都固定在机床X=40”。它是零位配准数据，动态空间位置由RTCP继续换算。','small'), + '工件偏置先进入编程坐标解释，转台姿态随后进入运动学。','本项目WASM解释器与运动学实测；o=(40,20,10)、P=D=L=0。') + +page('第4章 · 设置方法一','20　G10 L2：把已知偏置写入坐标表', + code('G21\nG10 L2 P1 X40 Y20 Z10'), + '这条指令设置参考数据，不是命令XYZ运动到(40,20,10)。','[S4]；同程序实际执行未产生运动段。') +# Fill the page separately to keep the address-word explanation readable. +PAGES[-1]['body']+=table(['地址字','本行含义'],[['G10','设置某类数据，具体对象由L等参数决定。'],['L2','本例为直接设置工件坐标偏置。'],['P1','第一套工件坐标设置，即G54。'],['X40 Y20 Z10','在本课约定下，直接写入三项长度偏置。'],['G21','当前长度单位是mm；不要把单位上下文省略。']])+p('G10 L2适合“已经知道偏置是多少”的情况。它不是“把当前位置显示成某个值”的自动计算命令。若误把L20的用法套在L2上，偏置会被设置到完全不同的值。')+box('G10里的X不一定是运动目标','同一个地址X，在运动段里可以表示目标；在G10设置段里表示配置参数。一个数到底有什么作用，必须结合该行的G代码和L/P上下文。') + +page('第4章 · 设置方法二','21　G10 L20：让当前位置具有指定工件坐标', + p('假设刀尖已处在本课K位置(70,30,20)，你确认它就是工件原点。想让此时工件读数变为(0,0,0)，控制器需要把G54偏置设置为(70,30,20)。')+ + code('G10 L20 P1 X0 Y0 Z0')+ + eq('偏置 o = 当前位置 p_K − 希望此刻显示的工件坐标 p_W')+ + p('若当前位置仍为(70,30,20)，但希望此点显示为工件X10 Y0 Z0，则偏置变成(60,30,20)。改变的是坐标设置，不是机床执行轴的位置。')+ + table(['动作','K中的X','G54工件X'],[['刀尖保持当前位置','70','取决于原偏置'],['L20 P1 X0','70','0'],['之后G54 G90 G1 X10','80','10']])+ + box('倾斜时不能随意代入关节','公式中的当前位置必须是该控制器用于工件坐标设置的参考位置。本课RTCP下它是经正解/同步的K，通常不是J0/J1/J2。实际使用前应按控制器的TCP兼容测量流程确认。'), + 'L2写“偏置是多少”；L20给“当前位置应读成多少”，由控制器算偏置。','[S4]；零旋转实测L20偏置与后续X10运动。') + +page('第4章 · 两个坐标系','22　换G54/G55为什么可能只改数字、不动机床？', + p('给G54设置o₁=(40,20,10)，给G55设置o₂=(80,−10,10)。刀尖已在K=(50,20,15)。选择不同坐标系时，同一位置会产生不同局部读数。')+ + table(['状态','关节/刀尖是否立即移动','读数或下一步目标'],[['当前G54','否','W₁=(10,0,5)'],['单独选择G55','否','W₂=(−30,30,5)'],['再执行G90 G1 X10','是','K的X变为90；未写的Y/Z保持原位置']])+ + p('同一个X10在G54和G55中指向不同目的地。若程序意图是加工两个不同装夹位置的相同零件，这正是需要的行为；若是无意中选错坐标系，就会整段偏移。')+ + box('工件坐标切换与RTCP切换不是一回事','G54→G55更换配准数据；M429→M428更换运动学解释。两类切换本身都不应作为“无目标的移动指令”，但它们改变后续运动字值的含义。')+ + p('下方数值使用方向对齐的参考K来展示偏置。转台已倾斜时，物理空间关系还要经过RTCP变换。','small'), + '换尺子可以只改变读数；按新尺子再给目标，才可能让机床运动。','[S2][S4]；G54/G55选择及省略轴实测。') + +page('第4章 · 附加偏置与基础坐标','23　G52、G92、G53：先学会不混用', + table(['指令/功能','通用理解','初学者要点'],[['G52','在已有工件参考下使用局部偏置。','不是自动测得新的装夹原点。'],['G92','通过坐标重新定义产生附加偏置。','可能与持久化设置有关，不能假设程序结束就完全清掉。'],['G53','本段使用控制器定义的机床坐标方式。','非模态；不等同于HOME，也不保证直接控制电机关节。']])+ + p('多层偏置叠加后，程序点到基础参考的换算不再只有一个G54。排错时必须查看当前有效的所有层，不能只盯着G54表里的三个数字。')+ + p('尤其在非平凡运动学机床上，控制器的“机床坐标”仍可能是运动学输入空间。G53不意味着跳过所有运动学，G53 Z0也不能被当作通用安全退刀动作。')+ + box('本讲义的实验边界','主程序刻意不用G52/G92，也不依靠G53绕过RTCP。这一页讲官方语义与排错意识；当前Web切片没有在本课中完成这些功能的全行为验收。'), + '只在理解所有有效偏置后再组合使用；初学实验先保持参考层次简单。','[S2][S4]；对G53关节语义需按具体运动学核对。') + +page('第5章 · 非RTCP与RTCP','24　非RTCP：“独立”的准确含义', + p('对于本课直接映射模式，经过单位/偏置解释后，X/Y/Z对应直线关节，A/C或B/C对应旋转关节。只命令C转动，不会自动追加保持刀尖相对工件点的XYZ补偿。')+ + fig('identity-no-follow','只转C：工件标记点被带走，刀尖留在机床原位置。',255)+ + p('这不表示各轴不能同时运动。例如一行同时给X、Y、B、C目标，控制器仍可协调插补。也不表示零件与刀具之间“完全没有关联”：物理工件转了，二者的相对位置当然会变。')+ + box('没有RTCP也可以五轴加工','CAM/后置可以事先针对指定机床结构计算各轴轨迹，交给控制器执行。但换机床几何、刀长或装夹后可能需要重新计算；它与控制器实时进行RTCP不是同一机制。'), + '独立是“没有自动的姿态几何补偿”，不是“没有同步插补或相对运动”。') + +page('第5章 · 非RTCP与RTCP','25　RTCP控制的是相对目标关系', + p('RTCP可理解为旋转姿态变化时的刀尖位置补偿。给定目标工件点以及A/B、C角度，控制器结合机床几何计算所需关节位置，让刀尖实现规定的相对工件轨迹。')+ + fig('tcp-follow','保持同一工件点，角度改变时XYZ按需跟随。图为零偏置简化模型。',255)+ + p('“刀尖保持”有两种不同说法：保持在机床空间同一点；保持相对工件的同一点。本课RTCP讲的是后者。工件转动时，该点在机床空间可能沿弧线移动，所以刀尖也需要移动。')+ + box('正确的观察方式','在工件上选一个离旋转轴有距离的标记点，先让刀尖对准它，再保持编程XYZ、改变角度。应看刀尖与标记点是否继续对齐，而不只是看屏幕XYZ有没有变。'), + 'RTCP不要求刀尖在世界里绝对不动，而要求它满足指定的相对工件关系。','[S1] 五轴运动学；本项目原生AC/BC正逆解。') + +page('第5章 · RTCP工件原点','26　用G54例子看“原点随动”', + p('现在使用贯穿后续章节的例子：BC结构，B=0；几何中心P=0、偏置D=0、刀长差L=0；G54零位偏置o=(40,20,10)。程序目标始终为W=(10,0,5)。')+ + table(['C角度','工件原点的机床位置O_M','刀尖目标/关节XYZ','程序W'],[['0°','(40,20,10)','(50,20,15)','(10,0,5)'],['90°','(−20,40,10)','(−20,50,15)','(10,0,5)']])+ + fig('moving-origin','两种姿态下，刀尖相对工件原点的局部分量始终相同。',270)+ + p('注意：G54表仍是40、20、10，没有每次改写成−20、40、10。后一个值是由当前姿态算出来的空间位置，不是要求操作者实时改G54。','small'), + '固定的是工件内的定义与零位配准数据，变化的是它们在机床空间的表达。','本课WASM逐字解析和逆解核验；详细行表见第7章。') + +page('第5章 · RTCP方向','27　沿工件X前进，哪些电机会动？', + p('在C=45°、倾转角为0°时，工件+X方向斜着指向机床+X和+Y。沿工件X增加10mm，必须由两根固定导轨合成：机床X约增加7.071mm，机床Y约增加7.071mm。')+ + fig('rotated-direction','绿色方向随工件，蓝色机床导轨方向不转。',295)+ + eq('姿态固定：Δq_X = 10 cos45°；Δq_Y = 10 sin45°')+ + p('XYZ导轨并没有在机械上旋转。变的是工件方向在机床中的表达。编程沿一根工件轴走，实际可以由两根或三根直线关节一起完成。')+ + box('原点为何没有出现在增量式里？','因为这一页姿态固定，比较的是两个目标点的差，平移项相减后消失。若B/C也在同一过程中变化，就不能只用这条固定方向增量式。'), + '一个X字，不一定只驱动X电机；先问它属于哪套参考系。') + +page('第5章 · 倾转与结构顺序','28　加入B或A后，方向可以进入三个维度', + p('BC结构中，B倾转带着C轴一起倾斜。采用本项目约定，零偏置变换为R=R_Y(B)R_Z(C)。当B=30°、C=45°时，工件+X的机床方向分量约为(0.6124,0.7071,−0.3536)。')+ + fig('bc-frame','保持B=30°、C=45°时，沿工件X前进10mm，会同时改变三个直线轴。',300)+ + eq('Δq ≈ (6.124, 7.071, −3.536) mm')+ + p('AC则使用R_X(A)R_Z(C)。同样写30°、45°，AC与BC的刀尖空间位置一般不同。矩阵从右向左作用，表达父子结构的坐标转换顺序，并不是要求先完成C动作再单独执行A/B。')+ + p('这里的正方向采用本项目原生计算约定；实际机械正转、工件视角和摄像机视角可能使视觉直觉相反，必须用正确标定核对。','small'), + 'RTCP用的是完整机构链，不能只把A字母改成B就期待相同空间姿态。') + +page('第5章 · 三类偏置','29　G54、旋转中心、轴间偏置各管什么？', + table(['参数','属于什么关系','不能拿来替代'],[['G54偏置o','零件编程原点与基础参考K的配准。','不是转台的物理轴心标定。'],['rot-point P','本项目原生TRT的旋转参考位置。','不是每次装夹都应随便改的零件零点。'],['axis offset D','倾转轴与C轴之间的结构偏置。','不是普通工件坐标平移。'],['tool-offset L','刀具参考与受控点的标定量。','不是看到网格长度后直接填的任意长度。']])+ + p('这些量都可能以mm显示，但含义和进入公式的位置不同。如果刀尖偏差源于转台中心错误，单靠修改G54可能只在某个角度碰巧对齐，换一个姿态就再次偏离。')+ + fig('pivot-offset','起点相同、角度相同，绕不同中心会产生不同目标位置。',235)+ + box('标定与装夹分开','机床结构参数应通过结构测量和标定确定；工件偏置用于表达该次装夹。教学可以故意改参数做对照，但真实设备不能把结构标定当成随手找零工具。'), + '看到“偏移多少毫米”时，还必须问：是哪个参考系之间的偏移？') + +page('第5章 · 刀具参考','30　为什么必须知道刀尖究竟在哪里？', + p('电机驱动的通常是滑台和主轴箱，程序关注的却是刀尖。主轴参考点与刀尖之间相隔一段刀具长度。如果更换刀具后长度不同，保持同一主轴位置并不能保持同一刀尖位置。')+ + fig('tool-length','相同刀尖目标：刀更长时，主轴参考位置需要按正确约定调整。',250)+ + p('在LinuxCNC的完整刀补语义中，G43 H3表示使用指定刀具长度偏置条目；H3不是“刀长等于3mm”。T表示工具选择，M6表示换刀流程，S表示主轴速度，也不能与刀长混用。')+ + box('本项目边界特别说明','主数值实验统一L=0。当前Web解释器切片的H/G43处理不能当作完整LinuxCNC刀表语义的验收依据，因此讲义不把“程序成功解析”冒充“完整刀补行为正确”。真实应用须使用经过验证的刀表和测刀链路。')+ + p('RTCP、刀长补偿、倾斜工作平面是相互配合的功能，不是一个开关的三个名字。','small'), + '先标定刀具参考点，再讨论刀尖目标；网格看起来像刀具，并不代表它已正确标定。','[S4] G43；本项目sim_interpreter.c的能力范围与本课测试边界。') + +# Remaining chapters are appended below, then rendered as fixed A4 pages. +page('第6章 · 读懂G代码','31　一行G代码由“地址字”组成', + code('N50 G1 X10 Y0 Z5 B0 C0 F600')+ + p('一个地址字通常由字母和数值组成，例如X10。字母说明这个数属于什么类别；当前G/M代码和模态状态进一步决定它的具体作用。空格用于阅读，不是每个空格后就执行一次运动。')+ + table(['字','本行解释'],[['N50','程序段编号，便于识别，不是运动距离。'],['G1','按进给方式生成直线类型的运动段。'],['X10 Y0 Z5','在当前绝对/增量和坐标设置下给出XYZ。'],['B0 C0','给出旋转轴角度目标；本课为BC结构。'],['F600','设置进给值，含义受进给模式和单位影响。']])+ + p('控制器应先读完整个程序段，检查语法与模态组，再求出整体目标。不能把它理解成先走X10、走完再走Y0、再走Z5、再转B和C。')+ + p('本课旋转轴的工件偏置为零，所以B/C字直接成为相应关节角度目标；若启用了角度偏置，也要先换算，不能只看字面角度。','small')+ + box('先问三个问题','当前在用哪套坐标？G90还是G91？RTCP是否已开启？这三项不清楚，仅看X10这个字不能确定电机终点。'), + '地址字是数据；程序段和当前模式共同决定数据的含义。','[S5] G-code Overview；N50为项目实测程序段。') + +page('第6章 · 模态状态','32　没有写出来的内容，可能沿用上一行', + p('模态可以理解为控制器记住的当前设置。G1、G90/G91、G20/G21、G54等在不同模态组中生效。后续行省略这些字时，常会沿用之前的设置。')+ + code('G21 G90 G54 G1 X10 Y0 Z5 F600\nC90\nG91 X10\nG90 X20')+ + p('第二行只有C90，但它仍处于G1、G90、G21、G54环境，F仍为600。第三行把距离模式切换成G91，X10变成增量。第四行恢复G90，X20又变成绝对目标。')+ + table(['省略什么','通常怎样理解'],[['省略G1','沿用有效运动模式；不是自动停止解析。'],['省略F','在允许沿用的进给模式下保留原值；G93另有要求。'],['省略XYZ某一轴','通常保持该坐标分量的当前目标，不自动归零。'],['省略角度字','保持当前角度目标，不自动回零角度。']])+ + box('同组冲突','不要在同一段同时写互相矛盾的同组模式，例如G90和G91。合法的执行顺序不等于可以把冲突指令堆到一行。'), + '读一行程序时，要带着“当前状态表”一起读。','[S4][S5] 模态与程序段；本文只涵盖常用运动模式。') + +page('第6章 · 单位','33　G20/G21改变长度单位，不把角度变成长度', + table(['数值类别','G21示例','G20示例'],[['X/Y/Z长度','X1为1mm','X1为1inch=25.4mm'],['A/B/C角度','本课以度计','仍按控制器旋转角约定，不把1°换成25.4°'],['G94直线进给F','F600通常为600mm/min','F2通常为2inch/min=50.8mm/min'],['G93的F','逆时间，见进给专页','不是长度值，不能机械乘25.4']])+ + p('本课WASM已实测：G20 G91 X1产生25.4mm的直线增量，G94下F2换算为50.8mm/min。然后换回G21时，后续长度又按mm解释。')+ + p('变量、刀表、测量结果以及URDF还可能使用各自定义的单位。教学数据进入某一接口前应先统一，不要因为屏幕只显示一个数字就忽略单位。')+ + box('一个常见大错误','把毫米程序放在英寸模式下运行，会让每个长度字放大25.4倍。反过来也不正确。程序头明确声明单位，通常比依赖上次运行残留状态更可靠。'), + '长度、角度、转速、时间、索引号是不同量纲；不能用一个换算规则处理所有数字。','[S4] G20/G21/G93/G94；长度/直线进给转换已实测。') + +page('第6章 · 绝对目标','34　G90 X10：去当前编程系的X=10', + p('在G90中，X10通常表示当前有效编程参考系中的绝对目标X值为10。它不是“再走10”，也不是“无论有什么偏置，电机都去10”。')+ + p('本课条件：G54的o=(40,20,10)，方向对齐，B=0、C=90°，RTCP开启，当前目标W=(20,0,5)。执行G90 G1 X10，新的W目标变为(10,0,5)。')+ + table(['计算层','新目标'],[['工件坐标W','(10,0,5)'],['加G54得到K','(50,20,15)'],['C=90°后关节XYZ','(−20,50,15)']])+ + p('原来W=(20,0,5)对应关节(−20,60,15)，所以这一动作让机床Y减少10mm。虽然程序只写X10，实际发生变化的是本例的Y关节。')+ + box('不要把G90看成“机床坐标开关”','G90只是绝对距离模式。它仍与G54等坐标设置共同起作用，并没有替代工件坐标系选择。'), + '“绝对”必须说明是相对于哪套当前有效参考，而不是自动等于机床电机绝对位置。') + +page('第6章 · 相对增量','35　G91 X10：在当前编程方向增加10', + p('仍用G54 o=(40,20,10)、B=0、C=90°、RTCP开启。当前位置W=(10,0,5)。执行G91 G1 X10后，W变为(20,0,5)，K从(50,20,15)变为(60,20,15)。')+ + eq('新目标W = 旧目标W + (10,0,0)')+ + p('角度保持C=90°，因此该增量在机床空间沿+Y方向，关节从(−20,50,15)变为(−20,60,15)。偏置不应被重复加两次。')+ + code('G91 G1 X10\nG90')+ + p('如果同一段还有B10或C20，它们在G91下通常也表示角度增量。控制器先形成新的整体坐标/角度目标，再插补并求解；不能把变化的姿态当成整段保持不变，只旋转一次XYZ增量就结束。')+ + box('省略轴的正确理解','G91只写X10时，未写的轴不增加数值；在RTCP中，为实现这个编程增量，多个物理关节仍可能同时变化。记得之后是否需要恢复G90。')+ + p('旋转轴还可能有展开角度或回绕设置。C=0与360的空间方向可以相同，但关节位置、行程和运动路径未必相同；本课不假设控制器自动选择最短转动路径。','small'), + 'G91改变目标的形成方式，不取消工件方向和RTCP计算。') + +page('第6章 · 运动方式','36　G0/G1分别如何产生运动？', + p('G0用于快速定位类运动，G1用于按进给规则执行直线类型运动。给出的通常是该段目标，而不是每个伺服时刻的位置。控制器的规划器决定加减速、插补进度及与相邻段的衔接。')+ + table(['层次','G1 XYZBC在本课中的处理'],[['编程空间','定义XYZ与角度的起点/终点以及运动类型。'],['插补','逐步得到中间位置和中间角度。'],['运动学','每个采样按该时刻姿态和结构求解关节。'],['执行','输出连续的关节位置/速度，并检查限制。']])+ + p('G1说的“直线”属于控制器定义的编程空间运动，不意味着所有机械部件在世界中都走一条直线。保持同一工件点、转动C时，刀尖可以在机床空间走弧线。')+ + box('不要只检查终点','如果在两个端点做了正确逆解，却在关节之间用不相符的方式连线，中途可能偏离工件轨迹。正确RTCP必须在整个运动过程中维持目标关系。')+ + p('G0的具体协调方式、G64圆滑和G61精确路径等规则因控制系统而定。初学者不应把快速定位当作任何场景下的安全路径。','small'), + '程序给段目标，规划器给连续过程，运动学给各轴实现方式。','[S4] G0/G1；项目规划器与运动学实测。') + +page('第6章 · 圆弧地址','37　G2/G3里的I、J、K不是三根新电机轴', + p('G17通常选XY圆弧平面；G18、G19选择其他主要平面。G2/G3给出圆弧方向，圆心可以由I/J/K等地址表达。圆心方式有独立的绝对/增量规则，不能仅看G90/G91就猜圆心如何解释。')+ + code('(教学条件：G17，圆心增量方式)\n(起点 X10 Y0，圆心 X0 Y0)\nG3 X0 Y10 I-10 J0 F300')+ + fig('arc-words','圆心增量从圆弧起点量：I=-10、J=0；不是从工件原点量两个绝对坐标。',245)+ + p('本例圆心增量等于“圆心−起点”。R有时也可表示圆弧半径，但它在其他指令中又可能表示不同参数。姿态固定时，工件平面中的圆弧映射到机床中的相应倾斜平面。')+ + box('本课不混合演示','圆心模式、整圆/多圈、R长短弧以及圆弧期间同时转台运动，需要按控制器文档逐项确认。不要把一段已知平面圆弧随意扩展成未验证的复杂五轴程序。'), + '同一个字母的含义由当前指令规定；I/J/K经常是圆心参数，不是位置轴。','[S4] G2/G3、G17–G19、G90.1/G91.1。') + +page('第6章 · 进给','38　F到底是速度、时间，还是每转进给？', + table(['模式','F的基本含义','例子'],[['G94','每分钟进给；线性、纯旋转或混合段需按控制器规则。','直线段F600mm/min≈10mm/s。'],['G93','逆时间进给，F的单位为1/min。','F2对应理想段时间1/2分钟=30秒。'],['G95','每主轴转一圈的进给量。','F0.1mm/rev，配合实际主轴转速。']])+ + p('RTCP下，仅仅保持编程XYZ、改变角度，也可能引发XYZ关节移动。F不等于“每根电机都以这个数值运动”。各关节速度是插补过程和运动学变化共同作用的结果。')+ + p('LinuxCNC对G94纯旋转段和含直线分量的运动有具体规则；G93可用于表达段时间，但仍受速度、加速度等限制。G93下G1/G2/G3通常每段需要F，不能直接照搬G94省略F的习惯。')+ + box('单位计算只说明请求，不保证实际达成','F600=10mm/s是单位换算。实际运动可能因加减速、限位和机床能力更慢。控制器不应为了追求F而越过能力约束。')+ + p('当前Web切片的全部进给模式并非本课程验收对象；主算例采用G94，额外模式依据官方语义讲解。','small'), + '看到F，先查进给模式；判断轴运动，还要查规划器和机器约束。','[S3][S4] G93/G94/G95。') + +page('第6章 · 其他常见字','39　不是每个数字都代表位置', + table(['字/指令','常见含义','容易误解的地方'],[['S12000','主轴转速请求。','不是刀具线速度或XYZ距离。'],['T3 / M6','选择工具号 / 执行换刀流程。','不等于自动设定工件原点。'],['G43 H3','使用指定刀长偏置条目。','H3不是刀长3mm。'],['D','常见为刀具半径补偿索引。','不是通用“深度”字。'],['G10 L2 P1','L指定设置类别，P选目标坐标表。','P1不是转台转1°。'],['G4 P…','停留参数，按控制器定义。','同一P在G10里却是编号。'],['R / Q','圆弧/循环/设置中的上下文参数。','不能固定解释为半径或角度。'],['M3/M5/M8等','主轴/冷却等辅助动作。','不是每个M码都有跨品牌同义。']],'compact')+ + p('本项目M428/M429是重映射到运动学切换和同步的命令。其他控制器可能采用完全不同的代码组合；把本项目的编号直接复制到真实机床上没有通用性。')+ + box('逐字阅读的方法','先识别G/M指令和当前模式，再给每个地址字标注“长度、角度、速度、时间、编号或设置值”，最后再计算目标。'), + '字母相同不保证意义相同；上下文比数字本身更重要。','[S4][S5]；M428/M429为本地INI重映射。') + +page('第6章 · 从文本到运动','40　控制器不是从左到右逐个字移动', + ol('读取程序段：识别注释、地址字、数值和参数表达式。','检查语法与模式：单位、距离方式、坐标系、运动类型是否有效且无冲突。','形成整体目标：G90写绝对值，G91加增量；处理省略轴和当前状态。','应用坐标设置：工件偏置、允许的坐标旋转/补偿，得到规范输入。','规划轨迹：速度、加速度、路径衔接和同步屏障。','逐采样计算运动学：根据该时刻位置、角度、中心/偏置/刀具数据求关节。','执行与反馈：伺服驱动/仿真推进；界面再显示实际状态与轨迹。')+ + p('同一行中的X和B是一个联合目标，不是先走X再转B。控制系统有规定的执行顺序与模态语义；文本排列不能代替这些规则。变量和表达式也先按解释器规则求值，再成为数值输入。')+ + box('“解析成功”不等于“可以安全运动”','后面还可能发生缺少回零、越限、刀补不完整、速度约束或几何错误。教学验证至少要看解释结果、规划结果和实际采样。'), + '每一层都应有可观察的输出，不能把程序文本直接当成模型关节值。','[S5] 程序段规则；本项目解释器→TP→WASM→模型链路。') + +page('第7章 · 完整实算程序','41　统一实验条件与完整程序', + p('以下每一行都用相同数据核验：BC双转台；旋转中心P=0、轴间偏置D=0、刀长差L=0；工件方向与零位K对齐；G54偏置o=(40,20,10)mm；初始物理关节均为0。')+ + code('\n'.join(DATA['rows'][i]['block'] for i in range(len(DATA['rows'])))+'\nM2')+ + p('N10–N90加M2已通过真实项目解释器、LinuxCNC TP和WASM运动学完整执行；N100/N110另用保持物理关节的切换接口逐段验证。每条运动的关键终点都与解析+逆解结果对照。','small')+ + box('下载示例与教学参数不同','本项目下载GLB自带非零中心/偏置。这里为讲清G54与RTCP分层，使用独立零几何测试配置；不是在任意当前机床状态下粘贴代码就应得到同样数字。'), + '本章的数字是固定条件下的可复算例子；改变条件，结果也会改变。','gcode-evidence.json：rtcp-beginners-gcode-v1；完整程序状态completed。') + +page('第7章 · 第一步','42　N10–N30：设置模式与工件参考', + code('N10 G21 G90 G94 G17\nN20 G10 L2 P1 X40 Y20 Z10\nN30 G54')+ + table(['程序段','改变什么','是否生成运动'],[['N10','单位mm、绝对方式、每分钟进给、XY平面。','没有目标轴，不运动。'],['N20','把G54偏置设为(40,20,10)。','设置数据，不运动。'],['N30','选择G54为有效坐标系。','单独选择，不运动。']])+ + p('初始物理关节仍是0。G54偏置设定后，原来的空间位置在这套编程坐标中可显示为(−40,−20,−10)。不是刀具突然往负方向跑了，而是这套尺子的原点不在刀具当前位置。')+ + box('读数变化的第一种原因','修改偏置表就可能改变当前相对读数。验证有没有运动，要检查关节/反馈和刀尖物理位置，不能仅凭屏幕上相对XYZ变化判断。')+ + p('N10的G17目前只是声明圆弧平面。本程序只有直线类型段，不会因为写了G17就产生一段圆弧。'), + '程序准备阶段可能只改解释状态，还没有开始移动。') + +page('第7章 · 第二步','43　N40 M428：先切模式，不凭空移动', + code('N40 M428')+ + p('本项目中，M428选择RTCP运动学并同步解释器与运动状态。切换时要先读取当前物理关节，再用新模式正解出对应的坐标。它不是“保持旧XYZ数字，再反算出一组新的关节”。')+ + p('在本章初始姿态下，关节为0、角度为0、几何偏置为0。Identity和RTCP在这个姿态碰巧给出相同的基础位置K=(0,0,0)，因此G54相对读数仍为(−40,−20,−10)。')+ + table(['量','N40之后'],[['关节XYZ/B/C','全部保持0。'],['基础输入/同步坐标K','(0,0,0)。'],['G54相对XYZ','(−40,−20,−10)。'],['运动学模式','从Identity改为本项目TCP。']])+ + box('不能由这个特例推广','角度不为零或中心/偏置不为零时，切换后的坐标数值一般可能改变。但关节与物理刀尖仍应保持。后面N100/N110会看到明显的数字差异。'), + '模式切换准备新的坐标解释；有明确运动段时才产生后续轨迹。') + +page('第7章 · 第三步','44　N50：把第一个工件点送到刀尖', + code('N50 G1 X10 Y0 Z5 B0 C0 F600')+ + ol('G90生效：新的工件XYZ目标为(10,0,5)，不是在旧位置上增加。','B0/C0给出零角度；F600更新G94进给请求。','加G54偏置：(10,0,5)+(40,20,10)=(50,20,15)。','旋转角度为零、几何P/D/L均为零，逆解XYZ与K相同。','关节目标得到(50,20,15,0°,0°)，随后由规划器从当前位置插补到此。')+ + table(['层次','数值'],[['程序工件点W','(10,0,5)mm'],['运动学输入K','(50,20,15)mm'],['XYZ关节目标','(50,20,15)mm'],['B/C关节目标','0° / 0°']])+ + box('Y0和Z5的读法','Y0指向工件Y=0，不是把机床Y归零；本例机床Y目标实际是20。Z5是工件基准面上方5mm，前提是本课+Z方向朝该侧。'), + '先算工件参考里的目标，再算偏置和运动学，不跳过中间层。') + +page('第7章 · 第四步','45　N60 C90：XYZ字没出现，XYZ关节却动了', + code('N60 C90')+ + p('G1、G90、G21、G54、F600仍然有效。只更新C的绝对目标为90°，工件XYZ仍保持(10,0,5)，B仍为0。运动学输入的XYZ继续为(50,20,15)。')+ + eq('q_X = 50cos90° − 20sin90° = −20
q_Y = 50sin90° + 20cos90° = 50
q_Z = 15')+ + table(['比较','N50末端','N60末端'],[['工件XYZ','(10,0,5)','(10,0,5)'],['基础K的XYZ','(50,20,15)','(50,20,15)'],['关节XYZ','(50,20,15)','(−20,50,15)'],['B/C','0° / 0°','0° / 90°']])+ + p('工件原点本身也从(40,20,10)移动到(−20,40,10)。在新姿态下，再沿工件X走10、Z走5，就到刀尖目标(−20,50,15)。')+ + box('这就是RTCP跟随','省略XYZ不表示禁止XYZ电机动作；它表示程序点不变。为了维持这个点相对工件的位置，XYZ关节可以需要运动。'), + '程序量保持与关节量保持，是两个完全不同的约束。') + +page('第7章 · 第五步','46　N70 G91 X10：沿转后的工件方向走', + code('N70 G91 X10')+ + p('这一行把距离模式改为增量。原工件点W=(10,0,5)，现在沿工件+X增加10，得到W=(20,0,5)。B/C没有写，保持0°/90°。')+ + table(['步骤','结果'],[['形成工件终点','(10,0,5)+(10,0,0)=(20,0,5)'],['转换到K','(20,0,5)+(40,20,10)=(60,20,15)'],['C=90°的逆解','关节XYZ=(−20,60,15)'],['相对上一步的关节变化','Δq=(0,+10,0)mm']])+ + p('所以程序写了X10，机床Y关节却增加10mm。这不是轴接错，而是“工件+X”当前指向机床+Y。图形上刀尖沿转动后的工件方向移动。')+ + box('偏置不要重复累加','G91是在当前编程位置上增加位移。错误地把旧K位置再加一遍G54偏置，会让目标多出(40,20,10)。本课解析实测验证没有这种重复偏置。')+ + p('N70之后G91仍有效。下一行如果继续写X20而不恢复G90，就又是增加20，而不是去X=20。'), + '每次出现G90/G91，都应更新你的“当前模式表”。') + +page('第7章 · 第六步','47　N80：工件点不变，B倾转带来X/Z补偿', + code('N80 G90 X20 Y0 Z5 B30 C90 F300')+ + p('先恢复G90，工件XYZ绝对目标仍为(20,0,5)，与N70末端相同。C保持90°，B从0°变为30°，F改为300。K的XYZ保持(60,20,15)。')+ + p('先按C=90°换算，得到(−20,60,15)；再按B=30°绕Y方向倾转：')+ + eq('q_X = (−20)cos30° + 15sin30° ≈ −9.821
q_Y = 60
q_Z = −(−20)sin30° + 15cos30° ≈ 22.990')+ + p('此时工件原点的空间位置约为(−12.321,40,18.660)。工件X方向当前沿机床+Y；工件Z方向则含机床X和Z两个分量。把W=(20,0,5)按这些方向加到原点上，也得到同一个关节XYZ。')+ + box('两种计算方式，结果相同','可以“先形成K，再按转台链变换”；也可以“求当前工件原点与基方向，再组合W点”。它们是同一几何关系的两种表达，不应产生两套不同答案。'), + '倾转只改变B字，也可能要求直线轴联动；这正是补偿的任务。') + +page('第7章 · 第七步','48　N90：省略的Z、B、C保持当前目标', + code('N90 X0 Y10')+ + p('因为N80恢复了G90，这里的X0/Y10是工件绝对目标，而不是增量。Z没有写，保持5；B保持30°，C保持90°；G1、G54、G21、F300继续有效。')+ + table(['量','新的目标'],[['完整工件XYZ','(0,10,5)'],['完整角度B/C','30° / 90°'],['K的XYZ','(40,30,15)'],['C旋转后的中间点','(−30,40,15)'],['B倾转后的XYZ关节','(−18.481,40,27.990)']])+ + p('完整程序在这一段后执行M2。真实WASM规划器跑到程序完成时，关节终点与上述逐字解析、逆解计算一致；不是只在纸上进行了三角函数演算。')+ + box('省略不代表零','如果你把省略的Z读成0，会得到不同的点。把省略的B/C读成0更会改变整套空间方向。初学时可以把每行补成“完整目标表”，即使程序文本只写了两个字。'), + '程序短，不代表有效状态少；把沿用状态补全后再计算。','gcode-evidence.json：最终joint=(-18.480762,40,27.990381,30,90)。') + +rows=[] +for row in DATA['rows'][4:9]: + rows.append([row['block'].split()[0],xyz(row['work_xyz']),xyz([row['canonical'][a] for a in 'xyz']),f"{row['joints'][3]:g} / {row['joints'][4]:g}",xyz(row['joints'])]) +page('第7章 · 全过程汇总','49　把五组数字同时放在一张表里', + table(['段号','工件XYZ','K输入XYZ','B/C(°)','关节XYZ'],rows,'compact')+ + p('比较N50与N60：工件XYZ和K的XYZ都不变，关节随C改变。比较N60与N70：在C=90°时沿工件X增加10，反映为机床Y增加10。比较N70与N80：工件点相同，只倾转B，X/Z关节补偿。')+ + fig('continuous-joints','N60整段C从0到90°：图中是XYZ关节变化，不是程序工件XYZ变化。',275)+ + p('图中的横轴是C角度，不是时间。实际时间还受进给、加减速和机床约束影响，不能用图上每一度的等距刻度推断匀速运行。','small'), + '一张正确的记录表，应区分程序坐标、运动学输入、角度和物理关节。') + +page('第7章 · 再切回直接模式','50　N100/N110：同一刀尖位置，坐标解释改变', + code('N100 M429\nN110 M428')+ + p('N90末端关节固定为(−18.481,40,27.990,30°,90°)。M429把解释切到Identity，不能因此让这些关节无目标地跳动。新模式下基础XYZ与直线关节直接对应。')+ + table(['量','M429后','再M428后'],[['物理XYZ关节','(−18.481,40,27.990)','保持相同'],['基础K的XYZ','(−18.481,40,27.990)','(40,30,15)'],['当前G54相对XYZ显示','(−58.481,20,17.990)','(0,10,5)'],['实际刀尖位置','不动','不动']],'compact')+ + p('在Identity下，当前软件坐标不再通过RTCP映射到转动后的零件局部坐标架。因此该模式的相对XYZ读数不能继续当作刚才物理工件架W中的同一点坐标来解释。')+ + box('后续指令必须按新模式读','切换本身不动，不代表切换后再发“X0”也不动。相同字值在不同解释模式中可能指向完全不同的机械目标。'), + '切换时固定关节、重新解释坐标；不要为了保持旧XYZ数字而挪动机床。','WASM selectPhysical与解释器同步逐段实测。') + +page('第8章 · 中间轨迹','51　RTCP要在运动过程中持续计算', + fig('arc-chord','图为半径100mm的零偏置例：两种方法终点相同，中途却相差29.289mm。',280)+ + p('假设工件点绕C轴转90°。正确跟随时，刀尖走该点在机床空间里的圆弧。若只求首末关节位置，然后不顾几何地把X/Y用直线连接，可能走成弦线。')+ + p('所以控制器不能只在段末才补偿。它需要在连续采样中使用当前插补出的XYZ和角度，得到相应关节值。各关节的变化不一定是线性的，也不必在每个时刻都非零。')+ + box('五轴联动的正确含义','系统具备同时协调五个自由度的能力，不意味着每条指令、每个时刻五根轴都必须运动。特殊几何下某些轴不动，可能正是正确答案。'), + '只看“最后有没有对上”不足以检验RTCP。') + +page('第8章 · 姿态与刀轴','52　RTCP不自动决定刀轴该朝哪里', + fig('orientation','双转台中主轴在机床里可保持竖直，但相对于工件的刀轴方向会改变。',250)+ + p('本课机床不摆动主轴头。A/B、C带动工件后，主轴方向相对于工件发生变化。程序或CAM负责给出希望的角度/姿态，RTCP负责按这些角度保持所需刀尖位置关系。')+ + p('RTCP不会仅凭一个曲面网格就自动知道应当以什么刀轴角加工，也不会自动保证刀轴始终垂直曲面。后者还涉及刀位规划、刀具几何、工艺策略和碰撞检查。')+ + table(['给定条件','仍需解决的问题'],[['知道一个刀尖点','刀轴方向可能有多种选择。'],['知道点和A/B、C','还需用正确机床几何求关节。'],['关节在限位内','还不能证明刀具/夹具/机床无碰撞。']])+ + p('工件坐标方向、刀具方向、表面法向是三个概念。某些工艺要求它们满足特定关系，但它们不会天然全部重合。'), + 'RTCP执行指定的几何关系，不能替代CAM工艺与碰撞规划。') + +page('第8章 · 三维显示','53　预览画面中的三个对象要分开看', + table(['显示对象','代表什么','常见误判'],[['机床网格','结构外形及由关节驱动的部件位姿。','把网格缩放误当成运动学标定。'],['工件/程序路径','表达程序几何，通常附着在工件分支。','把摄像机转动当作工件坐标改变。'],['刀尖/实时轨迹','显示当前采样的受控点或路径。','只看路径颜色，不核对实际关节/参考系。']])+ + p('正确结构中，X/Y/Z移动刀具侧，A/B→C移动工件侧。路径必须与其定义的参考系一致。如果C错误地挂到Z下面，XYZ就会把工件也带走；再正确的RTCP数字也无法弥补错误的显示树。')+ + p('导入GLB后修改中心/偏置，应保留模型并同步有效URDF与WASM。参数改变可以使部件相对位置改变，但不应该悄悄替换成另一台内置机床。')+ + box('显示不是第二套控制器','不要在Three.js里编写另一套补偿公式把刀尖“画到看起来正确的位置”。关节应由真实运动学算出，图形只按同一结构进行刚体投影。')+ + p('外观网格中的铸件、支架形状不一定随参数自动重建，模型校正也不等于通过了真实碰撞/刚度/制造尺寸验收。','small'), + '验证要同时看程序参考、关节数据和场景层级，不能只凭视觉效果。') + +page('第8章 · 参数准备','54　准备数据时，按三层顺序核对', + h('第一层：机床自身')+p('确认结构是AC还是BC、每个节点的父级、各轴正方向、回零基准、倾转中心与轴间偏置。轴向或结构类型错误时，先修复模型/配置，不用G54去“抵消”它。')+ + h('第二层：刀具与受控点')+p('确认主轴参考点、刀尖节点、刀长定义和补偿状态。把换刀之后的受控点映射建立正确，再判断实际加工位置。')+ + h('第三层：零件装夹与编程')+p('确认CAD/CAM原点、工件方向、G54等偏置、当前单位、绝对/增量方式和进给模式。用多个已知点、多个姿态核对，避免只在零角度看起来对。')+ + table(['检查方法','能发现的问题'],[['零角度检查已知点','基本零点/长度/单位错误。'],['小角度分别转A/B和C','轴向、正负号、父子顺序问题。'],['不同角度反复定位同一点','旋转中心、偏置与刀尖标定问题。'],['重复换模式但不发运动','坐标同步错误导致的无故跳变。']])+ + box('不要用单点验证全部参数','错误的结构参数可以在某一点被工件偏置抵消，却在其他点或其他角度暴露。标定必须覆盖足够的空间位置与姿态。'), + '先机床，再刀具，最后工件；分层定位错误比同时改所有参数可靠。') + +page('第9章 · 课堂实验','55　实验一：观察“转动后的坐标方向”', + ol('进入仿真，关机且空闲时导入AC或BC桁架示例，查看当前几何参数。','完成开机和回零，在Identity下把刀尖放到离C轴线有一定距离的位置，避免特殊点导致XYZ补偿不明显。','停止运动，选择M428。记录关节与物理刀尖没有瞬移，同时记录当前XYZ显示可能变化。','旋转C一个小角度并停止。保持当前姿态，再做一个小的编程X增量，观察实际哪几根直线关节变化。','比较工件方向与机床导轨方向：导轨没转，XYZ合成了工件方向。','先停止，再切回M429，重复小幅直接轴Jog作为对照。')+ + p('项目默认示例有非零中心/偏置，所以不要拿本章零偏置算例的目标关节值逐项硬比。对默认机床，正确比较的是“同一配置下的运动学与模型是否一致”。')+ + box('每组记录四列','当前模式；编程/显示XYZ与角度；J0…J4；刀尖相对工件标记点是否保持。只截图一个角度，不足以说明全部行为。'), + '实验目标是理解参考系关系，不是让学生背住某一组关节数字。') + +page('第9章 · 课堂实验','56　实验二：G54与G90/G91的逐行记录', + p('本实验适合教师准备的专用仿真配置：零中心、零轴间偏置、零刀长差，BC结构，回零后从已知状态开始。不得直接在真实机床套用。')+ + ol('设置G21/G90/G94，写入G54偏置(40,20,10)，选择G54。','执行M428，记录此时关节不变。','执行N50到N90，每段等待运动结束，再记录工件坐标、K输入、关节。','把结果与第49节表格对照，重点检查N60和N70。','尝试只选择G55，不发轴字；观察读数变化但关节保持。','恢复已知模式与偏置后再重复，检查结果是否一致。')+ + table(['测试点','应该看到'],[['只选择/设置参考','没有自动的定位运动。'],['N60 C90','程序XYZ保持，关节XYZ变化。'],['N70 G91 X10','W的X加10；本例关节Y加10。'],['N80恢复G90','X20是绝对目标，不能再加20。']])+ + p('本讲义提供完整验证数据而非截图推测。如果现场结果不同，先核对几何与模态条件，不要立刻断言某根轴接错。','small'), + '逐行记录让隐含模态变成看得见的数据。') + +page('第9章 · 课堂实验','57　实验三：原点移动，程序几何不改', + p('目标：理解同一段零件程序如何适应不同装夹位置。先保持角度固定，避免初学者同时处理太多变量；再在RTCP下加入姿态对照。')+ + ol('为G54设置第一套零位偏置，为G55设置第二套偏置，保持初始方向相同。','选G54运行一条很短、经过检查的定位段，记录目标。','只选G55，不发运动字，确认执行轴不会自动移动。','再给同样的工件XYZ目标，观察物理目标随配准变化。','停止后在适当角度下重复；说明原点和方向怎样一起进入RTCP。')+ + box('配准变化不是机床标定变化','移动工件装夹时通常更新工件设置；不要为了让两个工件都能加工而随意改动倾转轴物理中心。机床结构没有变，工件放置关系变了。')+ + p('若工件不仅平移，还在夹具上旋转，需要另外确定初始方向。仅改变G54的XYZ平移不会自动把一条斜边校正成你期望的+X方向。')+ + p('作业：让学生画出两套工件原点和同一局部点，先预测实际目标变化，再用仿真核对。解释预测为何成立比得到一次正确数字更重要。'), + '工件坐标把零件几何与装夹位置分开，但方向配准仍不可省略。') + +page('第9章 · 排错','58　位置不对时，从哪一层开始查？', + table(['现象','优先检查','不要马上做什么'],[['全程序平移一块','G54/G55、附加偏置、装夹原点。','先别改所有转台参数。'],['距离约差25.4倍','G20/G21和数据单位。','别靠缩放模型掩盖。'],['小动作不断累加','G90/G91是否残留。','别把每次误差当随机漂移。'],['零角度对，倾转就偏','中心/偏置、刀长、正方向、结构链。','别只在一个角度改G54。'],['只开RTCP却不跟点','实际运动模式、目标参考、父子关系。','别只看按钮颜色。'],['切模式机床瞬移','是否固定关节并同步坐标。','别冻结画面掩盖。'],['Connection ERROR','首个Worker/协议/运动错误。','别把后续sequence_gap当成唯一根因。']],'compact')+ + p('查看第一个失败原因通常比反复点击更有效。显示错误可能是运动计算错误的后果，也可能是模型投影错误；两类问题应通过关节数据与物理结构分别判断。')+ + box('一条诊断原则','保持一层已知正确，只改变一个待验证因素。否则多个错误可能暂时互相抵消，无法解释修复是否真正有效。'), + '先找最早的因果点，不要只处理最后出现的提示。') + +page('第9章 · 限位与边界','59　RTCP跟得上，还必须到得了', + p('工件XYZ看起来没有变化，不等于机械关节没有运动。转台角度改变时，为保持同一工件点，某根XYZ直线关节可能需要大幅补偿，最终触及行程或速度限制。')+ + table(['约束','检查对象'],[['编程/坐标限位','控制器定义的坐标允许范围。'],['关节限位','各机械轴实际能够达到的范围。'],['速度/加速度','每个执行轴的动态能力。'],['碰撞','刀具、工件、夹具、转台和机床实体间的空间关系。']])+ + p('本项目曾出现BC坐标范围较大，但B关节上限只有50°的情况。连续Jog越过该物理约束后，运动计算失败，又触发事件时钟错误。现已区分限位阻止与连接故障，并允许停止后反向退出。')+ + box('不要把仿真边界扩大成硬件声明','项目对RTCP耦合关节越界采用最后有效伺服样本停止。它不等同于真实设备的全路径预测减速、安全PLC、碰撞检测或硬件急停系统。')+ + p('课堂先用小位移、小角度、低速度、空载模型理解概念；实际机床的操作与保护必须使用其正式流程。','small'), + 'RTCP正确解决几何映射，不自动取消行程、动力学和碰撞约束。') + +page('第10章 · 常见问答','60　初学者最容易问错的八个问题', + table(['问题','简明回答'],[['工件坐标原点一定是转台中心吗？','不是。零件原点由工艺选，转台中心是结构标定。'],['工件坐标的零点会变化吗？','自身读数恒为0；在机床空间的位置可随角度变化。'],['只选G54能让刀尖跟着转台吗？','不能。还需要正确结构、姿态与RTCP运动学。'],['写X10为什么Y轴动？','X可能是工件方向，需由固定导轨合成。'],['没写XYZ为什么XYZ动？','程序点保持，但转台姿态变化需要补偿。'],['RTCP时所有轴必须一直动吗？','不必，取决于轨迹和当前几何。'],['H3就是3mm刀长吗？','不是，完整LinuxCNC里H是刀补条目索引。'],['界面“Machine XYZ”就是J0–J2吗？','不能默认；非线性运动学中需核对显示定义。']],'compact')+ + p('再遇到一个看似矛盾的说法，先问它说的是哪个参考系、哪个受控点和哪个控制模式。许多矛盾只是省略了这些条件。'), + '补全条件后再下结论，是理解五轴的基本方法。') + +page('第10章 · 练习','61　练习A：原点、模式和地址字', + ol('工件原点在零位K中为(40,20,10)，方向对齐。W=(10,0,5)对应的K是多少？','当前位置W的X=10。分别执行G90 X20和G91 X20，各得到什么W终点？','单独执行G54会不会自动走到工件零点？若同一行是G54 G1 X0呢？','当前位置K=(70,30,20)，希望此刻W=(5,0,0)。在无附加旋转/补偿的教学条件下，L20算出的偏置o是多少？','T3、H3、S12000、F600分别属于哪种数据？哪些数字不能被直接当作毫米距离？','工件原点测对了，但长边相对机床X倾斜20°。只改G54的X/Y/Z平移，是否足以纠正方向？')+ + box('答题要求','每题至少写一句解释。不要只交三个数字；需说明参考系、模式和假设条件。可以画原点与方向箭头辅助推理。'), + '这些题不需要矩阵，关键是把词语和参考对象对应起来。') + +page('第10章 · 练习','62　练习B：从工件点推到物理关节', + ol('零中心/偏置/刀长差，B=0、C=90°，o=(40,20,10)，W=(10,0,5)。求XYZ关节和工件原点的空间位置。','保持上题姿态，执行G91 X10。哪根直线关节增加多少？','从N70末端执行G90 X20 Y0 Z5 B30 C90，工件点是否变化？为什么X/Z关节仍会变？','M429后XYZ读数变化，关节和刀尖却不动，是正常还是故障？如果反过来XYZ不变、关节跳动呢？','程序只改C，但XYZ没有动，一定说明RTCP坏了吗？给出一个可以正确不动的几何例子。','C轴错误挂在Z滑枕下，会造成什么显示/结构错误？能否通过开启RTCP修复？','为什么只校验首末关节位置，不足以证明整段RTCP正确？')+ + p('扩展题：用你自己的一个工件原点和目标点，手算C=0°与90°的物理位置；再说明旋转中心改成非零后，哪一步需要修改。','small'), + '把中间层K写出来，可以明显减少漏加偏置和重复加偏置。') + +page('第10章 · 参考答案','63　练习A答案', + ol('K=(50,20,15)。方向对齐、仅平移时，p_K=p_W+o。','G90终点X=20；G91终点X=30。前者是绝对目标，后者在当前10基础上加20。','单独G54不定位。G54 G1 X0同时含有运动目标，会结合当前坐标与模式形成轨迹。','o=(65,30,20)。当前位置K减去希望的W：(70,30,20)−(5,0,0)。','T3为工具选择号，H3为刀补条目索引，S12000为主轴速度请求，F600由进给模式解释。不能将这些数全当作mm。','不够。三个平移参数只改变原点，不能补偿初始方向旋转。需机械找正或使用受支持的坐标旋转/方向配准。')+ + box('进一步检查','第4题的公式只在声明的简单条件下使用。存在旋转、刀补或非平凡运动学时，必须使用相应参考下的当前位置，而不是直接拿原始关节读数代入。'), + '答案的条件是答案的一部分，不能省略。') + +page('第10章 · 参考答案','64　练习B答案', + ol('XYZ关节=(−20,50,15)，工件原点O_M=(−20,40,10)。先求K=(50,20,15)，再绕C90°。','机床Y增加10mm。当前工件+X就是机床+Y，新的关节为(−20,60,15)。','工件点不变，仍是(20,0,5)。B姿态改变，新的XYZ关节约为(−9.821,60,22.990)。','坐标重新解释、关节保持是正常。单纯切换却改变物理关节，一般说明同步/切换逻辑有问题。','不一定。点在C旋转轴线上且其他条件不变时，只转C可以不改变该点的机床空间位置。','工件会错误地随XYZ链移动。必须修复结构父子关系，开关RTCP不能替代正确拓扑。','端点相同，中间路径仍可能不同。例如圆弧与弦线；必须检查连续采样和相对工件轨迹。'), + '每个答案都可以画成“原点 + 方向 + 点”的几何关系。') + +page('附录A · 术语','65　把常见名词翻译成容易理解的话', + table(['术语','初学者解释'],[['坐标系/参考系','放在某处、有指定方向和单位的一套尺子。'],['原点/零点','这套尺子的起点，不一定是电机回零位置。'],['工件偏置/WCS offset','让零件程序与当前装夹参考对齐的数据。'],['关节/joint','被控制的机械自由度及其位置。'],['正运动学/FK','由关节与结构计算对应坐标/受控点。'],['逆运动学/IK','由目标点、姿态和结构计算关节目标。'],['姿态/orientation','方向关系；本课由A/B、C指定。'],['TCP/RTCP','与刀尖目标、姿态变化补偿相关的功能；需核对控制器定义。'],['插补/interpolation','在段起点和终点间连续生成中间目标。'],['模态/modal','指令生效后持续保留，直到被同组设置替换。'],['配准/registration','建立设计坐标与实际装夹之间的对应关系。'],['同步/synchronization','让解释器、规划器和运动状态使用一致的当前参考。']],'compact'), + '看到新术语，先找它属于“几何、程序、机械、执行”哪一层。') + +page('附录B · 可选数学','66　用最少公式描述完整坐标链', + p('以下公式供进阶阅读，不是初学者读前面章节的前提。向量用列向量，R表示正交旋转矩阵；长度统一为mm。')+ + h('1. 初始工件配准')+eq('p_K = R₀ p_W + o')+ + p('o给出工件原点在零位参考中的位置；R₀给出初始工件方向。本章实算R₀=I，因此只做平移相加。')+ + h('2. 当前双转台姿态与几何，L=0')+eq('r_M = P + D + R_tilt [ R_C (p_K − P) − D ]')+ + p('AC取R_tilt=R_X(A)，BC取R_tilt=R_Y(B)。因此可写为r_M=O_M+E_MW p_W，其中：')+ + eq('E_MW = R_tilt R_C R₀
O_M = P + D + R_tilt [ R_C(o − P) − D ]')+ + p('这里r_M是本课零刀长差模型的目标空间位置，并对应直线关节目标。加入刀具标定后还需从刀尖求主轴/执行参考；任意机床结构不能直接套用这一特定式子。','small'), + '原点项O_M与方向项E_MW同时随姿态变化，分开写有助于理解。') + +page('附录B · 可选数学','67　反过来：从当前物理位置求工件坐标', + p('在姿态与几何已知、没有奇异歧义且标定一致时，前页r_M=O_M+E_MW p_W可以反算：')+ + eq('p_W = E_MWᵀ (r_M − O_M)')+ + p('先从当前空间位置减去当前工件原点，得到相对位移；再用逆旋转，把这个位移投回工件三个方向。正交旋转矩阵的逆等于转置，所以这里写上标T。')+ + p('这正是“坐标数值可以变，而物理点不变”的数学基础。同一r_M在不同O/E下有不同p_W。模式切换、工件系选择或重新设置参考时，必须明确变了哪一层。')+ + h('本项目刀长差的特殊约定')+eq('D_L = D + L·e_z
q_XYZ = P + D_L + R_tilt [ R_C(p_K − P) − D_L ]')+ + p('本项目原生TRT的L是master-tool刀长差约定。这个式子返回关节目标，不是任意GLB刀尖网格的世界位置。完整工具标定、工件架与刀尖显示须遵循同一个约定；其他控制器应按其文档重新建立链路。','small'), + '先减原点、再投影方向；关节到刀尖之间还可能存在刀具参考变换。','本地trtfuncs.c、imported-machine.ts；主实验L=0。') + +page('附录C · 软件实验范围','68　这份讲义验证了什么，没有声称什么？', + table(['内容','本次证据'],[['G10 L2、G54/G55平移、G90/G91','实际项目WASM逐段解析，核对规范目标。'],['G20长度/G94直线进给换算','X1→25.4mm，F2→50.8mm/min实测。'],['G10 L20位置重定义','偏置计算及后续目标实测。'],['RTCP BC例子的目标关节','真实WASM逆解计算；关键数值强断言。'],['N10–N90完整运动','真实Session/解释器/TP执行完成，终点与逐行结果一致。'],['M429/M428保持物理关节','原生切换接口+坐标同步逐段验证。'],['G52/G92、任意方向变换、完整刀表与所有F模式','依据官方语义讲解，不冒充Web切片已全面实现。']],'compact')+ + p('项目调用实际WASM并不能自动证明它覆盖了完整LinuxCNC。特别是本地解释器适配层属于功能切片，不能把接受某个字母或设置内部字段当作完整语义和工艺正确性证据。')+ + box('对照两层资料','学习通用指令时查官方文档；复现本课数字时查同目录gcode-evidence.json和具体测试条件。两者各自解决不同问题。'), + '严谨的教学需要同时给出结果和结果成立的范围。') + +page('附录D · 来源与复现','69　官方资料、验证数据与自学路径', + '
'+ + p('[S1] LinuxCNC · 5-Axis Kinematics
用于核对AC/BC机构、前后向变换、旋转中心、偏置与刀具参考。')+ + p('[S2] LinuxCNC · Coordinate Systems
用于核对机床/工件坐标、G54–G59.3及附加偏置。')+ + p('[S3] LinuxCNC · CNC Machine Overview
轴命名、受控点、单位、旋转与协调运动。')+ + p('[S4] LinuxCNC · G-Codes
G10、G20/G21、G43、G53、G90/G91、圆弧/进给等指令语义。')+ + p('[S5] LinuxCNC · G-code Overview
程序段、地址字、表达式、模态组及执行顺序。')+ + p('[S6] LinuxCNC · Switchable Kinematics
切换模式及解释器/运动同步。')+'
'+ + p('本地依据：sim_interpreter.c、sim_program.c、trtfuncs.c、sim-session.mjs，以及428remap.ngc/429remap.ngc。图示为原创教学图和项目原创GLB渲染。官方页面核对日期：2026-09-18。','small')+ + box('随讲义提供','handbook.html为可编辑源稿，outline.json为逐页目录，gcode-evidence.json保存逐字结果与完整轨迹，verification/保存版面/PDF核验。原31页投影片保留作课堂概要，本讲义作为可独立阅读的完整版。'), + '最后记住：先定义原点和方向，再解释程序数值，最后由运动学求出各轴运动。') + +chapter_starts=[] +for i,item in enumerate(PAGES): + group=item['chapter'].split(' · ')[0] + if not chapter_starts or chapter_starts[-1][0]!=group: + chapter_starts.append((group,i+1)) +chapter_names={'第1章':'坐标与机床基础','第2章':'机床、工件与中间参考','第3章':'原点和方向如何确定','第4章':'G54、G10与其他偏置','第5章':'RTCP的点、方向与标定','第6章':'G代码逐字与模态解析','第7章':'完整程序逐行实算','第8章':'连续轨迹、刀轴与显示','第9章':'课堂实验、限位与排错','第10章':'问答、练习与答案','附录A':'术语表','附录B':'可选数学推导','附录C':'软件验证范围','附录D':'资料来源与复现'} +toc_rows=[[f'{name}　{chapter_names[name]}',str(number)] for name,number in chapter_starts if name in chapter_names] +PAGES[2]['body']=p('本书从基础坐标开始，逐步建立程序与关节之间的计算链。PDF目录书签可直接跳转章节。节号不是PDF页码；前面另有封面和导读。')+table(['章节','PDF起始页'],toc_rows,'compact')+p('建议每次学习1–2章，完成相应小实验后再继续。数值实算章建议边读边写出W、K、角度、J四列。','small') + +CSS=r''' +@font-face { font-family:HandbookCJK; src:url("assets/handbook-regular.otf") format("opentype"); font-weight:400; } +@font-face { font-family:HandbookCJK; src:url("assets/handbook-bold.otf") format("opentype"); font-weight:700; } +@page { size:A4; margin:0; } +* { box-sizing:border-box; } +html,body { margin:0; padding:0; background:#e1e7ea; color:#24313a; font-family:HandbookCJK,"Noto Sans CJK SC",sans-serif; } +.sheet { width:793.7px; height:1122.52px; padding:38px 46px 26px; position:relative; background:#fff; overflow:hidden; break-after:page; page-break-after:always; } +.sheet:last-child { break-after:auto; page-break-after:auto; } +.chapter { font-size:13px; line-height:1.5; color:#00877b; margin-bottom:10px; font-weight:600; } +h1 { font-size:27px; line-height:1.4; margin:0 0 21px; letter-spacing:0; } +h2 { font-size:19px; line-height:1.5; color:#00877b; margin:18px 0 10px; } +.body { height:863px; overflow:hidden; } +p,li { font-size:17px; line-height:1.85; } +p { margin:0 0 16px; text-align:justify; } +ul,ol { margin:8px 0 18px; padding-left:26px; } +li { margin-bottom:11px; padding-left:3px; } +b { font-weight:700; } +.subtitle { font-size:25px; color:#00877b; margin-bottom:24px; text-align:left; } +.small { font-size:14px; line-height:1.8; color:#5e6c75; } +figure { margin:15px 0 20px; } +figure img { width:100%; display:block; object-fit:contain; } +figcaption { font-size:12px; line-height:1.7; color:#61717b; text-align:center; margin-top:6px; } +table { width:100%; border-collapse:collapse; font-size:15px; line-height:1.7; margin:14px 0 20px; } +th { padding:10px 11px; text-align:left; background:#eaf1f4; color:#254956; border-bottom:2px solid #9cb9c5; font-weight:600; } +td { padding:10px 11px; vertical-align:top; border-bottom:1px solid #dbe5e9; } +td:first-child { color:#2563b8; font-weight:600; } +.compact { font-size:14px; line-height:1.65; } +.compact th,.compact td { padding:8px 9px; } +.equation { font-size:20px; line-height:1.8; padding:14px 16px; background:#f0f5f7; text-align:center; margin:16px 0 22px; overflow-wrap:anywhere; } +pre { font-family:"DejaVu Sans Mono",HandbookCJK,monospace; font-size:15px; line-height:1.85; white-space:pre-wrap; overflow-wrap:anywhere; background:#f0f4f6; border-left:4px solid #2563b8; padding:15px 18px; margin:15px 0 21px; } +aside { margin:17px 0 20px; padding:13px 16px; border-left:4px solid #d45549; background:#f7f4f2; } +aside>b { display:block; font-size:16px; color:#a84840; margin-bottom:7px; } +aside p { font-size:15px; line-height:1.8; margin:0; } +.key { position:absolute; left:46px; right:46px; bottom:61px; padding:10px 13px; border-left:4px solid #00877b; background:#eaf5f2; font-size:15px; line-height:1.65; } +footer { position:absolute; left:46px; right:46px; bottom:22px; display:flex; gap:15px; justify-content:space-between; border-top:1px solid #dbe5e9; padding-top:8px; color:#68777f; font-size:10px; line-height:1.6; } +footer span:first-child { max-width:620px; } +.folio { color:#00877b; white-space:nowrap; font-size:13px; } +a { color:#176da5; text-decoration:none; } +.references p { font-size:15px; line-height:1.8; margin-bottom:17px; } +@media screen { .sheet { margin:20px auto; box-shadow:0 2px 14px #0002; } } +@media print { html,body { background:#fff; } .sheet { margin:0; box-shadow:none; } * { print-color-adjust:exact; -webkit-print-color-adjust:exact; } } +''' +sections=[] +for index,item in enumerate(PAGES,1): + sections.append(f'
{item["chapter"]}

{item["title"]}

{item["body"]}
{item["key"]}
{item["refs"]}{index:02d} / {len(PAGES):02d}
') +doc='五轴RTCP与工件坐标：初学者完整讲义'+''.join(sections)+'' +(OUT/'handbook.html').write_text(doc) +(OUT/'outline.json').write_text(json.dumps([{'page':i+1,'chapter':x['chapter'],'title':x['title']} for i,x in enumerate(PAGES)],ensure_ascii=False,indent=2)+'\n') +print('Generated',len(PAGES),'A4 pages:',OUT/'handbook.html') diff --git a/scripts/generate_rtcp_teaching_data.mjs b/scripts/generate_rtcp_teaching_data.mjs new file mode 100644 index 0000000..b9bddf3 --- /dev/null +++ b/scripts/generate_rtcp_teaching_data.mjs @@ -0,0 +1,47 @@ +import assert from 'node:assert/strict'; +import { mkdir, readFile, writeFile } from 'node:fs/promises'; +import { createHash } from 'node:crypto'; +import createModule from '../build-wasm/linuxcnc-sim-core.js'; +import { WasmXyzacKinematics } from '../web/worker/wasm-xyzac-kinematics.mjs'; + +const out = new URL('../docs/teaching/rtcp-five-axis/', import.meta.url); +await mkdir(new URL('assets/', out), { recursive: true }); +const wasm = await readFile(new URL('../build-wasm/linuxcnc-sim-core.wasm', import.meta.url)); +const core = await createModule({ wasmBinary: wasm }); +const basePose = { x: 100, y: 0, z: 20, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }; +const cases = []; +const close = (a, b) => assert.ok(Math.abs(a - b) < 1e-9, `${a} != ${b}`); +for (const coordinates of ['XYZAC', 'XYZBC']) { + const k = new WasmXyzacKinematics(core, { coordinates, limits: Object.fromEntries([...coordinates.toLowerCase()].map((a) => [a, [-100000, 100000]])) }); + const samples = []; + for (const [tilt, c] of [[0, 0], [0, 45], [0, 90], [30, 0], [30, 45], [30, 90]]) { + const p = { ...basePose, c, [coordinates[3].toLowerCase()]: tilt }; + const ik = k.inverseMode(1, p); assert.equal(ik.status, 'verified'); + k.selectPhysical(1, ik.joints); + const fk = k.forward(ik.joints); assert.equal(fk.status, 'verified'); + for (const axis of ['x', 'y', 'z']) close(fk.pose[axis], p[axis]); + samples.push({ tilt, c, programmed: p, joints: ik.joints, forward: fk.pose }); + } + close(samples[2].joints[0], 0); close(samples[2].joints[1], 100); close(samples[2].joints[2], 20); + const direction = k.inverseMode(1, { ...basePose, c: 45, x: 110 }).joints.map((v, i) => v - samples[1].joints[i]); + close(direction[0], 10 / Math.sqrt(2)); close(direction[1], 10 / Math.sqrt(2)); + cases.push({ coordinates, samples, xw_increment_10_at_c45: direction }); + k.destroy(); +} +const offsets = { x_rot_point: -18, y_rot_point: 14, z_rot_point: 12, x_offset: 22, y_offset: 0, z_offset: -40, tool_offset: 0 }; +const k = new WasmXyzacKinematics(core, { coordinates: 'XYZBC', ...offsets, limits: Object.fromEntries(['x', 'y', 'z', 'b', 'c'].map((a) => [a, [-100000, 100000]])) }); +const physical = [0, 0, 44.5858, 4.8675, 179.88]; +const tcp = k.selectPhysical(1, physical); const tcpPose = { ...tcp.pose }; +const identity = k.selectPhysical(0, physical); +physical.forEach((value, i) => { close(tcp.joints[i], value); close(identity.joints[i], value); }); +const report = { + report_id: 'rtcp-teaching-numerics-v1', status: 'verified', + wasm_sha256: createHash('sha256').update(wasm).digest('hex'), + convention: 'Native AC: Rx(A) Rz(C); BC: Ry(B) Rz(C). Main teaching examples P=D=tool_offset=0, mm/deg.', + cases, + switch_example: { offsets, physical, tcp_pose: tcpPose, identity_pose: identity.pose }, + chord_midpoint: { compensated: [100 / Math.sqrt(2), 100 / Math.sqrt(2), 20], uncompensated_joint_interpolation: [50, 50, 20], distance: 100 - 50 * Math.sqrt(2) }, +}; +k.destroy(); +await writeFile(new URL('numeric-evidence.json', out), JSON.stringify(report, null, 2) + '\n'); +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, poses: 12, fk_ik_roundtrips: 12, source: report.wasm_sha256 })); diff --git a/scripts/generate_rtcp_teaching_figures.py b/scripts/generate_rtcp_teaching_figures.py new file mode 100644 index 0000000..b22ff93 --- /dev/null +++ b/scripts/generate_rtcp_teaching_figures.py @@ -0,0 +1,167 @@ +"""Original teaching diagrams. Requires matplotlib; no application code changes.""" +import math +from pathlib import Path + +import matplotlib +matplotlib.use('Agg') +import matplotlib.pyplot as plt +from matplotlib import font_manager +from matplotlib.patches import Circle, FancyArrowPatch, Rectangle +import numpy as np +from PIL import Image, ImageChops + +ROOT = Path(__file__).resolve().parents[1] +OUT = ROOT / 'docs/teaching/rtcp-five-axis/assets' +OUT.mkdir(parents=True, exist_ok=True) +font_manager.fontManager.addfont('/usr/share/fonts/opentype/noto/NotoSansCJK-Regular.ttc') +plt.rcParams.update({'font.family': 'Noto Sans CJK JP', 'font.size': 15, 'axes.unicode_minus': False}) +BLUE, TEAL, RED, GRAY, INK = '#2563b8', '#00877b', '#d45549', '#8a969f', '#23303a' + +def save(fig, name): + path = OUT / f'{name}.png' + fig.savefig(path, dpi=190, facecolor='white', bbox_inches='tight', pad_inches=.18) + plt.close(fig) + if name == 'bc-frame': + image = Image.open(path).convert('RGB') + ink = ImageChops.difference(image, Image.new('RGB', image.size, 'white')).convert('L').point(lambda v: 255 if v > 8 else 0) + left, top, right, bottom = ink.getbbox() + image.crop((max(0,left-25),max(0,top-25),min(image.width,right+25),min(image.height,bottom+25))).save(path) + +def axis2(ax, limit=125): + ax.set(xlim=(-30, limit), ylim=(-30, limit), aspect='equal') + ax.axis('off') + ax.annotate('', (limit-5, 0), (-22, 0), arrowprops={'arrowstyle': '-|>', 'color': BLUE, 'lw': 2}) + ax.annotate('', (0, limit-5), (0, -22), arrowprops={'arrowstyle': '-|>', 'color': BLUE, 'lw': 2}) + ax.text(limit-8, -12, '$X_M$', color=BLUE, ha='right') + ax.text(-12, limit-9, '$Y_M$', color=BLUE, va='top') + ax.text(-10, -13, 'O', color=INK) + +def point(ax, x, y, label, color, offset=(7, 7), marker='o'): + ax.scatter([x], [y], s=150, c=color, marker=marker, zorder=5) + ax.annotate(label, (x, y), xytext=offset, textcoords='offset points', color=color, fontsize=14) + +def arc(ax, radius, end=90): + angles = np.linspace(0, np.deg2rad(end), 101) + ax.plot(radius*np.cos(angles), radius*np.sin(angles), color=TEAL, lw=2, ls='--') + +# The same marked workpiece point, before and after turning the C table. +for follow in [False, True]: + fig, axes = plt.subplots(1, 2, figsize=(10, 4.3)) + for ax in axes: axis2(ax); ax.add_patch(Circle((0, 0), 100, fill=False, ec='#d8e1e6', lw=2)) + axes[0].set_title('起点：C = 0°', pad=10, color=INK) + point(axes[0], 100, 0, '工件标记点 + 刀尖', RED, (-138, 17), '*') + axes[0].plot([0, 100], [0, 0], color=TEAL, lw=4) + axes[1].set_title('终点：C = 90°', pad=10, color=INK) + arc(axes[1], 100) + axes[1].plot([0, 0], [0, 100], color=TEAL, lw=4) + point(axes[1], 0, 100, '同一个工件点', TEAL, (12, -3), '*') + if follow: + axes[1].scatter([0], [100], s=380, facecolors='none', edgecolors=RED, linewidths=3) + axes[1].text(40, 45, '刀尖由 XYZ 移到这里\n相对工件仍是同一点', color=RED, ha='center') + else: + point(axes[1], 100, 0, '刀尖留在原位置', RED, (-125, -22)) + axes[1].plot([0, 100], [100, 0], color=RED, lw=1.6, ls=':') + axes[1].text(43, 52, '相对位置改变', color=RED, rotation=-45, ha='center') + fig.subplots_adjust(wspace=.22) + save(fig, 'tcp-follow' if follow else 'identity-no-follow') + +# Rotated workpiece axes while the machine axes stay fixed. +fig, ax = plt.subplots(figsize=(6.2, 5.5)); axis2(ax, 150) +origin = np.array([60., 45.]); theta = math.pi/4 +u, v = np.array([math.cos(theta), math.sin(theta)]), np.array([-math.sin(theta), math.cos(theta)]) +corners = [origin+u*a+v*b for a,b in [(-22,-22),(32,-22),(32,32),(-22,32),(-22,-22)]] +ax.fill(*np.array(corners).T, color='#e3f3ef', zorder=0) +for direction, label, offset in [(u, '$X_W$', (3,0)), (v, '$Y_W$', (-12,0))]: + end = origin+direction*70 + ax.annotate('', end, origin, arrowprops={'arrowstyle':'-|>', 'color':TEAL,'lw':3}) + ax.annotate(label,end,xytext=offset,textcoords='offset points',color=TEAL) +start = origin+u*13; end = start+u*40 +ax.annotate('',end,start,arrowprops={'arrowstyle':'-|>','color':RED,'lw':4}) +ax.plot([start[0],end[0],end[0]],[start[1],start[1],end[1]],ls=':',color=RED,lw=2) +ax.text(78,49,'+7.071',color=RED,fontsize=13) +ax.text(107,75,'+7.071',color=RED,fontsize=13) +ax.text(22,126,'C = 45°：工件 +X 方向倾斜',color=INK,fontsize=14) +ax.text(42,21,'W 原点',color=TEAL,fontsize=13) +save(fig,'rotated-direction') + +# A point on a tilting BC trunnion; explicit right-hand matrix convention. +fig = plt.figure(figsize=(7.8,5.9)); ax=fig.add_subplot(111,projection='3d') +b,c=np.deg2rad([30,45]); ry=np.array([[np.cos(b),0,np.sin(b)],[0,1,0],[-np.sin(b),0,np.cos(b)]]) +rz=np.array([[np.cos(c),-np.sin(c),0],[np.sin(c),np.cos(c),0],[0,0,1]]) +r=ry@rz; p=np.array([100,0,20]); q=r@p +for idx,label in enumerate(['$X_M$','$Y_M$','$Z_M$']): + e=np.eye(3)[idx]*110;ax.quiver(0,0,0,*e,color=BLUE,arrow_length_ratio=.07,lw=1.5);ax.text(*e,label,color=BLUE,fontsize=13) +for idx,label in enumerate(['$X_W$','$Y_W$','$Z_W$']): + e=r[:,idx]*75;ax.quiver(0,0,0,*e,color=TEAL,arrow_length_ratio=.09,lw=2.5);ax.text(*(e*1.13),label,color=TEAL,fontsize=15) +phi=np.linspace(0,2*np.pi,150);ring=r@np.array([100*np.cos(phi),100*np.sin(phi),np.zeros(len(phi))]);ax.plot(*ring,color=TEAL,alpha=.45) +ax.scatter(*q,color=RED,s=65);ax.plot([0,q[0]],[0,q[1]],[0,q[2]],color=RED,lw=2) +ax.text(*(q+np.array([0,0,9])),'刀尖目标',color=RED,fontsize=14) +ax.set(xlim=(-110,130),ylim=(-110,130),zlim=(-65,120));ax.set_box_aspect((1,1,.8));ax.view_init(elev=23,azim=-62);ax.set_axis_off() +save(fig,'bc-frame') + +# Parent-child hierarchy, two separate mechanical branches. +fig,ax=plt.subplots(figsize=(11.2,4.5));ax.set(xlim=(0,11.2),ylim=(0,4.5));ax.axis('off') +def node(x,y,label,color=BLUE,w=1.6): + ax.add_patch(Rectangle((x,y),w,.65,fc='#f1f6f8',ec=color,lw=1.8)) + ax.text(x+w/2,y+.325,label,ha='center',va='center',color=color,fontsize=15) +def link(a,b,color=GRAY): + style = 'arc3,rad=0' if abs(a[1]-b[1]) < 1e-9 else 'angle,angleA=0,angleB=90,rad=8' + ax.annotate('',b,a,arrowprops={'arrowstyle':'-|>','color':color,'lw':2,'connectionstyle':style}) +node(.3,1.9,'机床底座',INK,1.8) +for x,label in [(3,'X 轴'),(5.5,'Y 轴'),(8,'Z 轴 + 刀具')]:node(x,3,label,BLUE,2.4 if x==8 else 1.6) +for x,label in [(3,'A 或 B 轴'),(6,'C 轴 + 工件')]:node(x,.8,label,TEAL,2.2) +link((2.1,2.2),(3,3.325),BLUE);link((4.6,3.325),(5.5,3.325),BLUE);link((7.1,3.325),(8,3.325),BLUE) +link((2.1,2.2),(3,1.125),TEAL);link((5.2,1.125),(6,1.125),TEAL) +ax.text(5.8,4.08,'刀具侧：直线运动链',ha='center',color=BLUE,fontsize=17) +ax.text(6,.22,'工件侧：倾转轴带着 C 转台一起运动',ha='center',color=TEAL,fontsize=16) +save(fig,'hierarchy') + +# Offset pivot: the same 90-degree rotation produces different positions. +fig,axes=plt.subplots(1,2,figsize=(10.2,4.3)) +for ax in axes: axis2(ax,145) +for ax, o, title in [(axes[0],np.array([0,0]),'旋转中心 O = (0, 0)'),(axes[1],np.array([30,20]),'旋转中心 O = (30, 20)')]: + point(ax,*o,'O',TEAL,(-12,-20));start=np.array([100,20]);end=o+np.array([-(start-o)[1],(start-o)[0]]) + ax.plot([o[0],start[0]],[o[1],start[1]],color=GRAY,ls='--');ax.plot([o[0],end[0]],[o[1],end[1]],color=TEAL,lw=2) + point(ax,*start,'起点 (100, 20)',GRAY,(-94,-22));point(ax,*end,f'终点 ({end[0]}, {end[1]})',RED,(8,4)) + ax.set_title(title,color=INK,pad=14,fontsize=16) +save(fig,'pivot-offset') + +# Correct TCP arc versus independently interpolated joint chord. +fig,ax=plt.subplots(figsize=(6.5,5.2));axis2(ax,125) +t=np.linspace(0,np.pi/2,121);ax.plot(100*np.cos(t),100*np.sin(t),color=TEAL,lw=3) +ax.plot([100,0],[0,100],color=RED,lw=2.5) +q=100/np.sqrt(2);ax.scatter([q,50],[q,50],color=[TEAL,RED],s=95) +ax.plot([50,q],[50,q],color=INK,ls=':',lw=2) +ax.text(67,84,'RTCP：跟随工件点的圆弧',color=TEAL,ha='center',fontsize=14) +ax.text(35,33,'非 RTCP：独立轴线性插补',color=RED,ha='center',fontsize=14) +ax.annotate('中途偏离 29.289 mm',(61,61),xytext=(4,113),arrowprops={'arrowstyle':'->','color':INK},fontsize=14) +save(fig,'arc-chord') + +# Tilted table and fixed vertical spindle: tool vector relative to workpiece changes. +fig,axes=plt.subplots(1,2,figsize=(10.2,4.1)) +for ax,angle in zip(axes,[0,30]): + ax.set(xlim=(-70,70),ylim=(-40,105),aspect='equal');ax.axis('off') + phi=np.deg2rad(angle);u=np.array([np.cos(phi),-np.sin(phi)]);v=np.array([np.sin(phi),np.cos(phi)]) + ends=np.array([-60*u,60*u]);ax.plot(*ends.T,color=TEAL,lw=7) + ax.add_patch(Rectangle((-9,58),18,35,fc='#b5c1c9',ec=INK,lw=1.5)) + ax.plot([0,0],[6,58],color=RED,lw=5);ax.scatter([0],[6],color=RED,s=45) + ax.annotate('',(0,32),(0,78),arrowprops={'arrowstyle':'-|>','lw':2,'color':BLUE}) + ax.annotate('',tuple(v*57),(0,0),arrowprops={'arrowstyle':'-|>','lw':2,'color':TEAL}) + ax.text(18,80,'主轴方向固定',color=BLUE,fontsize=14);ax.text(*(v*62),'工件法向',color=TEAL,fontsize=14) + ax.set_title(f'B = {angle}°',color=INK,pad=10) +save(fig,'orientation') + +# Tool length: preserving spindle reference alone does not preserve the tip. +fig,ax=plt.subplots(figsize=(8.2,4));ax.set(xlim=(0,10),ylim=(0,5));ax.axis('off') +for x,length,label in [(1.7,1.1,'短刀'),(5,2.0,'长刀，主轴未补偿'),(8.3,2.0,'长刀，主轴上移')]: + gauge=3.7 if x<7 else 4.6 + ax.add_patch(Rectangle((x-.45,gauge),.9,.3,fc='#bac8ce',ec=INK)) + ax.plot([x,x],[gauge-length,gauge],color=RED,lw=8) + ax.scatter([x],[gauge-length],color=RED,s=70) + ax.text(x,.28,label,ha='center',fontsize=14,color=INK) + ax.text(x+.24,gauge-length/2,'L',color=RED,fontsize=17) +ax.axhline(2.6,color=TEAL,ls='--',lw=2);ax.text(.1,2.77,'目标刀尖高度',color=TEAL,fontsize=13) +ax.annotate('',(8.9,4.6),(8.9,3.7),arrowprops={'arrowstyle':'-|>','color':BLUE,'lw':2});ax.text(9.05,4.1,'ΔL',color=BLUE) +save(fig,'tool-length') + +print('Created 9 original diagrams in',OUT) diff --git a/scripts/generate_rtcp_teaching_html.py b/scripts/generate_rtcp_teaching_html.py new file mode 100644 index 0000000..780cb57 --- /dev/null +++ b/scripts/generate_rtcp_teaching_html.py @@ -0,0 +1,290 @@ +"""Build the printable, editable Chinese RTCP teaching deck from verified data.""" +import html +import json +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +OUT = ROOT / 'docs/teaching/rtcp-five-axis' +data = json.loads((OUT / 'numeric-evidence.json').read_text()) +slides = [] + +def fig(name, caption='', cls=''): + return f'
{html.escape(caption)}
{caption}
' + +def page(chapter, title, body, takeaway='', sources='', cls=''): + slides.append({'chapter': chapter, 'title': title, 'body': body, 'takeaway': takeaway, 'sources': sources, 'cls': cls}) + +def table(headers, rows, cls=''): + return ''+''.join('' for h in headers)+''+''.join(''+''.join('' for x in row)+'' for row in rows)+'
'+h+'
'+str(x)+'
' + +def fmt(x): + return f'{0 if abs(x)<0.0005 else x:.3f}' + +def xyz(values): return '('+', '.join(fmt(v) for v in values[:3])+')' + +page('教学课件 · 2026.09', '五轴机床与 RTCP', + '

从“各轴独立”到“刀尖跟随”

看懂两个坐标系、一棵结构树、
一条运动学计算链。

适用对象：数控入门、五轴调试与仿真教学
主线机型：XYZAC / XYZBC 双转台桁架机床
建议课时：60–90 分钟，可拆成两讲

原理图解 + 数值演算 + 浏览器实验 + 练习答案

'+fig('machine-bc','原创 BC 桁架模型：XYZ 移动刀具，B–C 转动工件','cover-model')+'
', + '核心问题：程序中的 XYZ，究竟是在告诉谁“去哪里”？', '图：本项目原创 GLB 模型；数值：LinuxCNC WASM 实算。', 'cover') + +page('01 · 先统一理解', '你的两点理解，怎样说得更准确？', + '

① 非 RTCP：直接轴映射

在本课的双转台结构中，XYZ 带动刀具，A/C 或 B/C 带动工件。

只改变旋转轴指令，不自动触发 XYZ 的刀尖保持补偿。但多个轴仍可在同一段 G 代码中协调插补。

“独立”描述几何映射，不是运动时间完全无关。

② RTCP：保持刀尖相对工件的轨迹

控制器根据编程点、转台角度、旋转中心和标定参数，计算实际关节位置。

工件坐标方向随转台变换，XYZ 关节按需联动。计算还包括平移与偏置，不能只旋转方向箭头。

“跟随”是相对工件满足目标关系，不是世界坐标中的刀尖永远不动。

', + '课程约定：先用零工件偏置、零刀长差的简化模型讲清原理，再加入实际参数。', '[S1][S2]；结合本项目 AC/BC 模型。') + +page('01 · 结构与轴名', '五轴 = 三个直线轴 + 两个旋转轴', + table(['名称','通常的轴线含义','本课中的执行机构'],[ + ['X / Y / Z','沿三个正交方向平移','刀具侧的直线滑台、滑枕'], + ['A','绕 X 方向的轴线转动','AC 机床的外层倾转轴'], + ['B','绕 Y 方向的轴线转动','BC 机床的外层倾转轴'], + ['C','绕 Z 方向的轴线转动','装在倾转台上的内层旋转轴'], + ])+'

AC 型：X、Y、Z、A、C

BC 型：X、Y、Z、B、C

XYZABC 六个独立轴同时配置，通常应称六轴。A/B/C 是旋转轴的通用名称，本课不是三只转台轴同时工作。C 的轴线会被父级 A/B 倾转，倾转后不再固定平行于机床 Z。

', + '从正方向看懂箭头前，先确认观察视角、父级坐标系和机床正负号约定。', '[S3] 轴命名；图中数值采用本项目原生变换约定。') + +page('01 · 机械拓扑', '两条运动链，共用一个底座', + fig('hierarchy','本课桁架结构：X 带动整个横梁，Y 带动滑座，Z 带动滑枕与刀具。','wide-diagram')+ + '

刀具分支
底座 → X → Y → Z
运动从父节点传给所有子节点。

工件分支
底座 → A/B → C → 工件
A/B 转动时，C 的轴线也随之倾斜。

', + '这是一种五轴结构，不是所有五轴机床的通用拓扑；摆头、头台混合型需要不同模型。', '本项目 trt-xyz-gantry/1；旧标准型在 Z 下另有固定主轴箱节点。') + +page('01 · 真实模型', 'AC 与 BC：外层倾转轴不同', + '
'+fig('machine-ac','AC 桁架：A 绕 X，内层 C 随 A 倾转')+fig('machine-bc','BC 桁架：B 绕 Y，内层 C 随 B 倾转')+'

两者都能实现刀尖相对工件的五轴轨迹，但同一角度数值对应的空间姿态不同；不能只把程序里的 A 字母换成 B，就认为加工姿态完全相同。

', + '先识别“哪根轴装在哪根轴上”，再选择运动学模型。', '图：原创可下载 GLB；不是制造商的标定尺寸图。') + +page('02 · 三种位置', '不要把“程序点、关节位置、实际反馈”混为一谈', + table(['量','回答的问题','典型表示'],[ + ['编程位置 p','刀尖相对所用编程参考系要到哪里？','(X, Y, Z)，加 A/C 或 B/C'], + ['关节指令 q','各执行轴需要到哪个位置？','(J0, J1, J2, J3, J4)'], + ['实际反馈 q_actual','编码器报告电机/机械轴在哪里？','真实设备中可能存在跟随误差'], + ['三维刀尖位置 r','把关节和模型组合后，刀尖在场景哪里？','显示坐标，不是独立运动控制源'], + ])+'

理想仿真中“关节指令 = 关节反馈”常成立，但真实机床两者仍须区分。RTCP 的运动学把 p 转成 q；模型再把 q 投影成画面。

', + '“实际位置”一词要说明是在说编程坐标、关节指令，还是编码器反馈。') + +page('02 · G 代码含义', '非 RTCP 时，G 代码也不总等于机械绝对位置', + '
程序字值→单位 / G90–G91→工件零点 / 补偿→运动学→关节指令
'+table(['因素','为什么不能直接等同'],[ + ['G90 与 G91','G90 通常给绝对目标；G91 给相对增量，X10 不一定是到 X=10。'], + ['G54 等工件坐标系','工件零点可能偏离机床零点；程序 X10 可能对应机床 X30。'], + ['G92、刀长等补偿','控制器还需处理偏置和刀具参考点。'], + ['Identity 直接映射','在完成以上处理后，所选坐标与关节才按配置直接对应。'], + ])+'

简化例：G54 原点位于机床 (20,30,0)，无其他偏置/补偿，程序点 (10,0,5) 对应机床点 (30,30,5)。

', + '只有把偏置、单位、增量方式、刀具基准都约定好，才能说“程序值直接对应轴位置”。', '[S2][S3]；本页示例为无旋转的 Identity 情形。') + +page('03 · 非 RTCP', '只转 C，工件点会离开刀尖', + fig('identity-no-follow','俯视图：蓝色为固定机床坐标；绿色为工件；红色为刀尖。Z 保持 20 mm。','large-diagram')+ + '

起点刀尖对准转台上半径 100 mm 的标记点。只命令 C 从 0° 转到 90°，XYZ 关节不补偿，标记点转到另一处，刀尖仍在原来的机床位置。

', + '轴可以独立驱动，不代表“刀具与工件的相对位置”不受其他轴影响。') + +page('03 · RTCP', '同样只改变角度，刀尖跟住工件点', + fig('tcp-follow','同一个工件局部点 p=(100,0,20)，C=0° 与 C=90°；旋转中心和偏置取零。','large-diagram')+ + '

保持编程点 p 不变，只改变 C。控制器计算所需 XYZ 关节，让刀尖到达标记点的新机床位置。点在工件坐标中不变，在机床坐标中沿圆弧移动。

', + '判断“跟随”的参考系是工件，而不是屏幕或机床底座。') + +page('03 · 数值算例 1', 'C 转 90°：同一编程点，不同关节位置', + '

零偏置、零刀长差，p = (100, 0, 20) mm；A/B = 0°。

'+table(['C 角度','RTCP 编程 XYZ','RTCP 所需关节 XYZ','非 RTCP：只转 C 的关节 XYZ'],[ + [f'{s["c"]}°','(100, 0, 20)',xyz(s['joints']),'(100, 0, 20)'] for s in data['cases'][0]['samples'][:3] + ])+'
qx = 100 cos C　　qy = 100 sin C　　qz = 20

C=90° 时，XYZ 关节目标是 (0,100,20)。这不是控制器偷偷修改了程序点，而是同一点在另一参考系中的正确位置。

', + 'RTCP：程序坐标可以不变，执行轴位置必须按姿态变化。', 'numeric-evidence.json；原生 WASM IK/FK 双向核对，显示保留3位小数。') + +page('04 · 坐标方向', 'C = 45° 时，“沿工件 X 走”意味着什么？', + '

蓝色 XM、YM 是机床固定方向；绿色 XW、YW 随工件转动。

姿态保持 C=45°，编程增量：

ΔpW = (10, 0, 0)

对应的机床直线轴增量：

Δq = (7.071, 7.071, 0)

不是机床 X 导轨真的旋转了，而是 X、Y 导轨合成出所需空间运动方向。

'+fig('rotated-direction','图中工件原点为便于观看作了平移；增量不受原点平移影响。')+'
', + '你的“XYZ 方向随旋转改变”可理解为工件基向量在机床坐标中的方向改变。') + +bc = data['cases'][1]['samples'][4] +page('04 · 数值算例 2', 'BC 倾转后，沿工件 X 会同时改变机床 X、Y、Z', + '

采用本课的正向变换约定：

R = RY(B) · RZ(C)

当 B=30°、C=45° 时：

XW 在 M 中的方向
(0.6124, 0.7071, −0.3536)

所以沿 XW 前进 10 mm：

Δq ≈ (6.124, 7.071, −3.536) mm

倾斜后的坐标方向并不与任何一根直线导轨重合，需要三根直线轴合成。

'+fig('bc-frame','B=30°、C=45°；红点为工件点 p=(100,0,20) 的机床位置。')+'
', + 'RTCP 中“沿工件 X”不是“只让 X 电机动”。') + +ac = data['cases'][0]['samples'][4] +page('04 · AC 与 BC 对照', '同样的 30° / 45°，不是同一个姿态', + '

仍取 p=(100,0,20) mm，所有旋转中心、偏置和刀长差为零。

'+table(['结构','父级倾转 × 子级旋转','倾转30°、C45°时的关节XYZ'],[ + ['AC','RX(A) · RZ(C)',xyz(ac['joints'])], + ['BC','RY(B) · RZ(C)',xyz(bc['joints'])], + ])+'

AC：绕 X 倾转

C 先改变平面位置，A 再把局部 Y/Z 方向倾斜。

BC：绕 Y 倾转

C 先改变平面位置，B 再把局部 X/Z 方向倾斜。

矩阵从右向左作用于列向量；这是坐标转换次序，不是要求 G 代码先运动 C 再运动 A/B。插补时两轴可以同时运动。

', + '运动学类型选错，即使每个轴都会动，刀尖也不会沿正确的相对轨迹走。', 'numeric-evidence.json；零偏置原生 WASM 结果。') + +page('05 · 为什么还需要几何参数', '同样转 90°，绕不同的中心会到不同的位置', + fig('pivot-offset','二维俯视例：起点相同，旋转角度相同，仅旋转中心不同。','large-diagram')+ + '
pM = O + R · (p − O)

计算顺序：先减去旋转中心 → 旋转 → 再加回中心。不能只计算 R·p，否则相当于错误地绕坐标零点转。

', + 'RTCP 不只是“方向变换”，还包括“绕哪里转”的平移关系。') + +page('05 · 轴间偏置与变换顺序', 'C 轴装在倾转轴上：父子关系不能交换', + '

先看几何，再写方程

P：C 轴零位参考点。
D：倾转轴与 C 轴之间的偏置。
T=P+D：倾转轴参考位置。

C 旋转后的点还要随 A/B 倾转；偏置也必须放在正确的父子层级中。

URDF / GLB 里的对应关系

'+table(['节点','本项目零位 origin'],[ + ['A/B，父节点为底座','P + D'],['C，父节点为 A/B','−D'],['work，父节点为 C','−P'], + ],'compact')+'
qXYZ = P + D + Rtilt [ RC (p − P) − D ]　（刀长差为零）

这是本项目 AC/BC TRT 约定。更一般的机床使用完整的刚体变换链；不能把这三个参数关系硬套到摆头机床。长度在运行配置中为 mm，URDF 为 m。

', + 'RtiltRC 通常不等于 RCRtilt；机械安装顺序决定计算顺序。', '本地 trtfuncs.c；本项目 URDF profile / D11 / D12。') + +page('05 · 刀长与受控点', '控制的是刀尖，不只是主轴箱', + fig('tool-length','侧视示意：同一主轴参考位置，刀长不同会产生不同刀尖位置。','large-diagram')+ + '

刀长改变时，为保持同一个刀尖目标，需要重新计算主轴参考点的位置。必须明确刀具长度的测量基准、正负号、刀补状态，以及模型上“tool”节点代表哪里。

教学主算例采用刀长差为零。本项目原生 TRT 使用相对于 master tool 的 tool-offset 约定，不能把它直接当作任意模型网格的总长度。

', + '同一组关节位置 + 不同刀具标定，不一定得到同一个刀尖位置。', '[S1][S3]；实际使用以机床和控制器的刀具标定约定为准。') + +page('06 · 姿态的物理意义', '双转台没有转动主轴，却改变了相对刀轴方向', + fig('orientation','侧视：主轴在机床中保持竖直，工件随转台倾斜，二者的相对夹角改变。','large-diagram')+ + '

在本课双转台机床中，刀轴在机床坐标里的方向固定；工件转动后，刀轴在工件坐标里的方向改变。RTCP 根据指定角度协调刀尖位置，不会自动推断曲面法向。

', + 'RTCP 不是“自动让刀轴垂直于任意曲面”；姿态仍由程序、CAM 或操作者给定。') + +page('06 · 三种常见联动情形', '分清“保持点”“沿方向走”“同时改变位置和姿态”', + table(['输入变化','RTCP 应做什么','观察重点'],[ + ['XYZ 不变；A/B、C 改变','让刀尖保持同一工件编程点；XYZ关节可能联动。','刀尖与工件标记点不分离。'], + ['角度不变；XYZ 改变','沿当前工件参考系定义的方向移动。','机床多轴合成编程方向。'], + ['XYZ 与角度同时改变','执行变化的编程轨迹，同时维持角度对应的几何关系。','全过程相对轨迹正确，不只看终点。'], + ['XYZ 不变；点恰在 C 轴线上；只转 C','该点机床位置可以不变。','XYZ 不动不一定是故障。'], + ])+'

“五轴联动”不要求每个时刻五轴速度都非零。非 RTCP 也能多轴同步加工：CAM/后置可以预先按指定机床几何计算轴目标，但这不等于控制器开启了实时刀尖补偿。

', + '每次解释一个动作，先说清哪些程序量保持不变、哪些程序量在改变。') + +page('06 · 全过程的重要性', '终点都正确，不代表中间轨迹正确', + '

同一个工件点绕 C 转动，理想半径为 100 mm。

RTCP：刀尖跟随圆弧。
不做 RTCP：若只让 X/Y 线性插补到相同终点，刀尖可能走弦线。

'+table(['中间位置','X / Y'],[['圆弧，C=45°','70.711 / 70.711'],['弦线，50%进度','50.000 / 50.000']],'compact')+'

图示采用共同线性进度比较几何路径，不是断言所有控制器的加减速过程相同。

'+fig('arc-chord','中途差距 29.289 mm；起点和终点却完全相同。')+'
', + '验收 RTCP 要看连续采样、刀尖相对轨迹和关节约束，不能只比首末坐标。') + +switch = data['switch_example'] +page('07 · 模式切换', 'M429 ↔ M428：坐标可以变，机床不能无故跳动', + '

本项目 BC 示例：保持同一组物理关节，切换坐标解释。

'+table(['量','M429 / Identity','M428 / TCP'],[ + ['物理关节 XYZ',xyz(switch['physical']),xyz(switch['physical'])], + ['物理关节 B / C','4.8675° / 179.88°','4.8675° / 179.88°'], + ['显示/解释的 XYZ',xyz([switch['identity_pose'][a] for a in 'xyz']),xyz([switch['tcp_pose'][a] for a in 'xyz'])], + ['三维刀尖','同一空间位置','同一空间位置'], + ])+'
取当前关节 q→切换运动学→新模式正解 p→同步 TP / 解释器

本例使用真实 BC 模型参数 P=(−18,14,12)、D=(22,0,−40) mm，刀长差0。切换之后再给运动指令，才产生运动。

', + '若切换时强行保持旧 XYZ 数字并重新逆解，就可能错误地改变物理关节。', '[S2] 同步原则；本地 control.c::handle_kinematicsSwitch；WASM实算。') + +page('07 · 控制器功能边界', 'RTCP、旋转工作平面、刀补，不是同一个开关', + table(['功能','主要解决的问题','不要误认为'],[ + ['RTCP / TCP 运动学','姿态变化时，按机床结构实现目标刀尖相对轨迹。','所有控制器都会以完全相同方式解释XYZ。'], + ['工件坐标系 / 倾斜工作平面','选择编程参考原点或定义编程方向。','只旋转工作平面就自动具备完整五轴RTCP。'], + ['刀长补偿','把刀具参考点换算到实际受控刀尖。','更换刀具后只更新网格外观就够了。'], + ['机床标定','确定中心、偏置、轴向、正负号和长度。','只要支持RTCP，错误几何参数也会自动纠正。'], + ])+'

不同控制器可能分别使用 TCP、TCPM、RTCP 等名称，并把倾斜平面/刀补组合进不同指令。本课明确讲本项目的 AC/BC 双转台语义，不推定所有品牌一致。

', + '换控制器时先核对“参考系、受控点、角度定义、指令组合”，不要只对照功能名称。') + +page('08 · 程序对照', '同样写 C90，开关状态决定 XYZ 是否补偿', + '

M429：直接映射

G21 G90 G94\nM429\nG1 X100 Y0 Z20 A0 C0 F300\nG1 C90 F60

后一段只改变 C。
XYZ 关节保持 (100,0,20)，
工件标记点会离开刀尖。

M428：RTCP

G21 G90 G94\nM428\nG1 X100 Y0 Z20 A0 C0 F300\nG1 C90 F60

后一段保持编程 XYZ。
XYZ 关节变到 (0,100,20)，
刀尖仍对准同一个工件点。

仅为零偏置/零刀长差 AC 教学片段，起始角度和当前模态需已知；BC 用 B0。现有下载模型参数非零，不能期待相同数字。M428/M429 为本项目重映射，不是通用标准M码；F值只作插补示意，实际需按机床的旋转/混合进给规则设定。

', + '程序字值相同，不代表开关前后表达的是同一个机械目标。', '本项目 xyzac/xyzbc-trt.ini，428remap.ngc / 429remap.ngc。') + +page('08 · 浏览器课堂实验', '用 AC/BC 桁架模型验证，而不是只看公式', + '
  1. 加载：打开“导入机床模型”，选 AC 或 BC 桁架示例；记录旋转中心与偏置。
  2. 准备：确认空闲，开机并回零；选一个离 C 轴线有一定距离的刀尖位置。
  3. Identity：选择 M429，只 Jog A/B 或 C；观察 XYZ 关节是否保持。
  4. 切换：停止后选择 M428；观察关节/刀尖不跳，XYZ 坐标可能变化。
  5. TCP：再次 Jog 旋转轴；观察 XYZ 关节按需补偿、刀尖相对工件点保持。
  6. 对照：先停止，再切回 M429；重复方向相同的小幅 Jog，比较两种行为。

实验先用小幅角度并远离限位。记录的是“每次试验起点相对工件的同一点”；切换或重新定位后，不要把两个不同起点混作同一个目标。

', + '同时观察三项：程序XYZ、J0…J4、刀尖与工件的相对关系。', '页面 http://127.0.0.1:5174/；浏览器仿真教学，不是机床现场操作规程。') + +page('08 · 参数化实验', '改几何参数后，为什么仍应保留同一个模型？', + '

正确的数据流

参数表：中心 / 偏置↓有效 URDF：节点零位关系↓INI → Worker → WASM↓关节 → 原导入模型

课堂观察

  • 同一 GLB 的网格、材质和文件身份保持。
  • 新的轴心与偏置应进入运行结构和运动学。
  • 相同程序点和角度，可能得到不同的 XYZ 关节值。
  • 参数改变后需重新回零并重新解析程序。

源GLB不自动改写；可保存INI记录参数。改变轴心不等于自动重建支架、铸件等CAD外形，也不提供碰撞检测。

', + '模型保留和参数生效必须同时成立；只改外观或只改计算都会造成误导。', '本项目 D11 / E09：AC、BC各18个姿态/刀长样本验证。') + +page('09 · 约束与故障', '“工件点可达”不等于“每个关节都没到限位”', + '

两层约束

'+table(['约束','检查什么'],[['坐标限位','编程轴/坐标允许的范围'],['关节限位','实际执行机构的物理行程'],['动力学约束','速度、加速度等能力']],'compact')+'

RTCP 旋转时，即使编程 XYZ 不变，补偿出来的 X/Y/Z 关节仍可能触及边界。

本项目排障实例

BC 配置允许较大的 B 坐标范围，但对应 JOINT_3 上限为 50°。

旧问题：越界 → 运动计算失败 → 事件时钟不同步 → Connection ERROR。

修复后：按关节约束停止，保留正确时钟，可松开并反向 Jog。

本仿真对 RTCP 越界采用最后有效伺服样本停止，不等同于工业控制器的全路径限位预测与减速保护。范围和行为必须分别验证。

', + '正常限位阻止是一条运动诊断；序号缺口或连接错误是软件故障，不是RTCP原理。', '本项目 R07 / E11；不据此宣称硬件安全或碰撞防护。') + +page('09 · 常见误解', '六个问题，快速判断是否真正理解', + table(['说法','准确解释'],[ + ['“非RTCP时各轴互相没有影响。”','没有自动补偿；但工件转动当然会改变它与刀具的相对位置。'], + ['“RTCP把X/Y/Z导轨转了。”','导轨不转，是工件基方向改变，由固定导轨合成空间运动。'], + ['“RTCP时XYZ永远不变。”','只在保持同一编程点时程序XYZ不变；关节XYZ通常变化。'], + ['“只要开RTCP，刀尖在空间就不动。”','刀尖可在机床空间移动，以保持它相对工件的目标关系。'], + ['“C转了但XYZ没动，一定坏了。”','目标点恰在C轴线上时可能正确，应先检查几何。'], + ['“切换模式时XYZ数字跳，必须修好。”','要检查关节和物理刀尖是否跳；新参考系里的数值改变可能正确。'], + ],'compact'), + '先说参考系，再说位置；先看结构，再说联动。') + +page('10 · 课堂练习', '请先画箭头，再写结论', + '
  1. 点追踪：零偏置，C=0°，工件点 p=(80,0,10)。只转 C 到90°，分别写出 Identity 和 RTCP 的 XYZ 关节目标。
  2. 方向合成：C=30°且倾转角为0°，沿工件 +X 方向走20mm，机床 X/Y 各应增加多少？
  3. 模式切换：M429切到M428时，XYZ显示值变化、J0…J4不变、刀尖不动，是否正常？为什么？
  4. 偏置识别：BC模型 C 的局部 origin=(-0.022,0,0.040)m，倾转轴 origin=(0.004,0.014,-0.028)m。求本项目 P、D，单位mm。
  5. 结构判断：C节点错误地挂在Z滑枕下。只Jog X时会发生什么？为什么不能靠RTCP开关解决？
', + '建议分组讨论 8–10 分钟；答案在下一页。') + +page('10 · 参考答案', '用“相对谁”检查每一步', + '
  1. Identity：(80,0,10)；RTCP：(0,80,10)。前者刀尖留在机床原位置，后者继续对准同一工件点。
  2. ΔX=20cos30°=17.321mm；ΔY=20sin30°=10.000mm。方向向量长度仍为20mm，机床Z不变。
  3. 正常。运动学切换重新解释当前物理状态。坐标可以变，关节和刀尖应保持。
  4. P=T+U=(-18,14,12)mm；D=−U=(22,0,−40)mm。先统一单位，再按父子关系相加，不能直接拿URDF的米当毫米。
  5. C及工件会错误地随XYZ移动。这是结构树错误，不是开关模式能修复的；需把A/B→C分支正确挂回底座。
', + '检查顺序：轴数 → 层级 → 单位/正负号 → 几何参数 → 运动学 → 程序与状态。') + +page('附录 A · 数学推导', '从一根 C 轴，推到两根旋转轴', + '

绕 C 的平面变换

x′ = x cos C − y sin C\ny′ = x sin C + y cos C\nz′ = z

AC：再绕 X 倾转 A

qₓ = x′\nqᵧ = y′ cos A − z′ sin A\nq𝓏 = y′ sin A + z′ cos A

BC：再绕 Y 倾转 B

qₓ = x′ cos B + z′ sin B\nqᵧ = y′\nq𝓏 = −x′ sin B + z′ cos B

这里所有旋转中心、轴间偏置及刀长差为零，列向量采用右手正向变换。

式中的 q 是关节目标；若导入的是其他结构、符号约定或参考点，必须重新建立变换链。

', + '先学会解释“这一步在谁的坐标系中发生”，再记忆公式。', '与本地 trtfuncs.c 零偏置逆解一致；三角函数实际以弧度计算。') + +page('附录 B · 本项目完整参数式', '加入旋转中心、偏置与 master-tool 刀长差', + '
DL = D + L ez
qXYZ = P + DL + Rtilt [ RC (p − P) − DL ]
'+table(['符号','AC','BC'],[ + ['Rtilt','RX(A)','RY(B)'],['D','(0, Dy, Dz)','(Dx, 0, Dz)'],['旋转关节','qA=A，qC=C','qB=B，qC=C'], + ],'compact')+'

P为原生rot-point；L为本项目/原生TRT的tool-offset标定量；ez=(0,0,1)。本式返回关节XYZ，不是未经处理的网格刀尖世界坐标。G54等解释器偏置在输入p形成前已按控制器规则处理。

这一刀长表达是本项目约定，不能替代任意控制器的通用刀补说明。主课例子L=0；实际机床应以标定模型及其完整前后向验证为准。

', + '工程实现不在画面中“补一个偏移”；应让同一组结构数据贯穿解释器、运动学和模型。', '原生源码：linuxcnc/src/emc/kinematics/trtfuncs.c，xyzac/xyzbcKinematicsInverse。') + +page('附录 C · 教学安排与依据', '怎样讲、怎样验证、怎样继续学习', + '

建议授课节奏

10分钟：结构、轴名与三种位置。
20分钟：C轴点跟踪、方向合成、AC/BC倾转。
15分钟：旋转中心、偏置、刀长与模式切换。
15分钟：浏览器实验与错误诊断。
10分钟：练习、答案和模型参数核对。

本课验算

12个姿态由真实WASM逆解计算，并通过正解回代；另核对C45°方向增量、BC切换示例及弧弦差。详见同目录 numeric-evidence.json。

图形为原创教学示意及本项目GLB截图，不用于制造尺寸标定。

官方资料与本地实现

[S1] LinuxCNC · 5-Axis Kinematics
AC/BC结构、运动学及偏置。

[S2] LinuxCNC · Switchable Kinematics
模式切换、identityfirst、同步要求。

[S3] LinuxCNC · CNC Machine Overview
轴名、坐标、受控点与协调运动。

本地：trtfuncs.c；control.c；428remap.ngc / 429remap.ngc；docs/glb-machine/。M428=TCP、M429=Identity仅适用于本项目配置。

资料核对日期：2026-09-18。不同版本/品牌的指令与坐标约定应另行核查。

', + '一句话记忆：程序描述相对工件的目标，运动学把目标换算成各关节应该怎样动。') + +css = r''' +@page { size: 338.6667mm 190.5mm; margin: 0; } +* { box-sizing: border-box; } +html,body { margin:0; padding:0; background:#dce3e7; color:#23303a; font-family:"Noto Sans CJK SC","Noto Sans CJK JP",sans-serif; } +.slide { width:1280px; height:720px; padding:34px 54px 28px; background:#fff; position:relative; overflow:hidden; break-after:page; page-break-after:always; } +.slide:last-child { break-after:auto; page-break-after:auto; } +.chapter { color:#00877b; font-size:15px; margin:0 0 10px; font-weight:600; } +h1 { font-size:36px; font-weight:700; line-height:1.3; margin:0 0 24px; letter-spacing:0; } +h3 { font-size:23px; line-height:1.4; margin:0 0 14px; color:#00877b; } +p { font-size:22px; line-height:1.55; margin:0 0 17px; } +.body { height:498px; overflow:hidden; } +.cols { display:grid; grid-template-columns:1fr 1fr; gap:36px; } +.image-right { grid-template-columns: .95fr 1.1fr; gap:24px; } +.tight p { margin-bottom:0; font-size:20px; } +.small { font-size:17px; line-height:1.6; color:#53636d; } +.intro { font-size:22px; padding-bottom:8px; } +.takeaway { position:absolute; left:54px; right:54px; bottom:62px; background:#eaf5f2; border-left:5px solid #00877b; padding:10px 15px; font-size:19px; line-height:1.5; } +.footer { position:absolute; bottom:20px; left:54px; right:54px; display:flex; align-items:flex-end; justify-content:space-between; gap:20px; color:#6b7880; font-size:12px; line-height:1.5; border-top:1px solid #d8e1e6; padding-top:8px; } +.footer .source { max-width:1030px; } +.page-number { font-size:16px; color:#00877b; white-space:nowrap; } +figure { margin:0; min-width:0; } +figure img { width:100%; height:380px; object-fit:contain; display:block; } +figcaption { font-size:14px; line-height:1.5; margin-top:5px; color:#617079; text-align:center; } +.large-diagram img { height:306px; } +.large-diagram { margin-bottom:15px; } +.wide-diagram img { height:280px; } +.model-pair img { height:373px; } +.model-pair { margin-bottom:18px; } +table { border-collapse:collapse; width:100%; margin:8px 0 24px; font-size:19px; line-height:1.55; } +th { background:#eaf0f3; font-weight:600; text-align:left; border-bottom:2px solid #a5b8c1; padding:12px 14px; } +td { padding:13px 14px; border-bottom:1px solid #d8e1e6; vertical-align:top; } +td:first-child { font-weight:600; color:#2563b8; } +.compact { font-size:18px; } +.compact td,.compact th { padding:9px 12px; } +.equation { text-align:center; background:#f1f5f7; padding:14px 18px; font-size:26px; line-height:1.5; margin:14px 0 20px; } +.small-eq { font-size:23px; } +.flow { display:flex; gap:12px; align-items:center; margin:8px 0 25px; font-size:18px; } +.flow span { flex:1; background:#edf4f5; padding:13px 8px; text-align:center; } +.flow i { color:#00877b; font-size:25px; font-style:normal; } +.pair { display:flex; justify-content:space-around; } +.pair p { color:#00877b; } +.number { font-size:23px; color:#d45549; } +.blue { color:#2563b8; } .teal { color:#00877b; } .red { color:#d45549; } +pre { font-family:"DejaVu Sans Mono","Noto Sans Mono CJK SC",monospace; white-space:pre-wrap; background:#edf2f5; border-left:4px solid #2563b8; padding:18px; font-size:21px; line-height:1.8; margin:12px 0 20px; } +.math { font-family:"Noto Sans CJK SC",sans-serif; font-size:23px; line-height:1.65; } +ul,ol { margin:8px 0 14px; padding-left:29px; font-size:22px; line-height:1.6; } +li { margin-bottom:12px; } +.steps { font-size:21px; line-height:1.6; } +.steps li { padding-left:6px; margin-bottom:15px; } +.exercises,.answers { font-size:22px; line-height:1.65; } +.exercises li,.answers li { margin-bottom:19px; padding-left:7px; } +.vertical-flow { display:flex; flex-direction:column; align-items:center; gap:4px; font-size:22px; } +.vertical-flow span { padding:12px 16px; background:#f0f5f7; width:100%; text-align:center; } +.vertical-flow b { color:#00877b; } +.references p { font-size:18px; line-height:1.6; margin-bottom:13px; } +.references h3 { margin-bottom:10px; } +a { color:#136fb0; text-decoration:none; } +sub { font-size:.7em; } +.cover h1 { font-size:48px; margin-top:8px; margin-bottom:18px; } +.cover-grid { display:grid; grid-template-columns:1.12fr .88fr; gap:55px; } +.cover .subtitle { font-size:30px; color:#00877b; line-height:1.4; margin-bottom:22px; } +.cover-model img { height:402px; background:#242a2a; } +.rule { width:85px; height:5px; background:#d45549; margin:25px 0; } +.badge { color:#2563b8; font-size:17px; margin-top:21px; } +.slide[data-page="12"] figure img { height:345px; } +.slide[data-page="12"] .cols p { margin-bottom:12px; } +.slide[data-page="12"] .equation { margin:10px 0 14px; padding:10px 14px; } +.slide[data-page="30"] .equation { margin:8px 0; padding:8px 14px; font-size:24px; } +.slide[data-page="30"] table { margin-bottom:14px; } +.slide[data-page="30"] p { margin-bottom:10px; } +@media screen { .slide { margin:24px auto; box-shadow:0 3px 14px #0002; } } +@media print { html,body { background:#fff; } .slide { margin:0; box-shadow:none; } * { -webkit-print-color-adjust:exact; print-color-adjust:exact; } } +''' +# Avoid exotic script glyphs in equations so CJK PDF fonts remain reliable. +parts = [] +for index, slide in enumerate(slides, 1): + body = slide['body'].replace('q𝓏','q_z').replace('qₓ','q_x').replace('qᵧ','q_y') + parts.append(f'''
+
{slide['chapter']}

{slide['title']}

+
{body}
+
{slide['takeaway']}
+
{slide['sources'] or '五轴机床与 RTCP · 原创教学示意 · 以本课双转台结构为限'}{index:02d} / {len(slides):02d}
+
''') +document = '五轴机床与 RTCP：从各轴独立到刀尖跟随'+''.join(parts)+'' +(OUT / 'course.html').write_text(document) +(OUT / 'outline.json').write_text(json.dumps([{'page':i+1,'chapter':s['chapter'],'title':s['title']} for i,s in enumerate(slides)], ensure_ascii=False,indent=2)+'\n') +print(f'Built {len(slides)} teaching pages:', OUT / 'course.html') diff --git a/scripts/render_rtcp_beginner_pdf.mjs b/scripts/render_rtcp_beginner_pdf.mjs new file mode 100644 index 0000000..3733ea5 --- /dev/null +++ b/scripts/render_rtcp_beginner_pdf.mjs @@ -0,0 +1,27 @@ +import assert from 'node:assert/strict'; +import { mkdir, writeFile } from 'node:fs/promises'; +import { fileURLToPath, pathToFileURL } from 'node:url'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const directory = new URL('../docs/teaching/rtcp-beginners/', import.meta.url); +await mkdir(new URL('verification/',directory),{recursive:true}); +const browser = await chromium.launch({executablePath:'/usr/bin/google-chrome',headless:true,args:['--no-sandbox']}); +try { + const page = await browser.newPage({viewport:{width:794,height:1123}}); + const errors=[];page.on('pageerror',(e)=>errors.push(e.message)); + await page.goto(new URL('handbook.html',directory).href);await page.emulateMedia({media:'print'}); + await page.evaluate(async()=>{await document.fonts.ready;await Promise.all([...document.images].map((im)=>im.decode()));}); + const checks=await page.locator('.sheet').evaluateAll((pages)=>pages.map((sheet)=>{ + const outer=sheet.getBoundingClientRect(),body=sheet.querySelector('.body'),key=sheet.querySelector('.key').getBoundingClientRect(); + const violations=[...body.querySelectorAll('p,li,table,figure,pre,.equation,aside,h2')].filter((e)=>{ + const r=e.getBoundingClientRect();return r.bottom>key.top-6||r.right>outer.right-32||r.left({tag:e.tagName,text:e.textContent.slice(0,70),bottom:e.getBoundingClientRect().bottom-outer.top})); + const title=sheet.querySelector('h1');const range=document.createRange();range.selectNodeContents(title); + return {page:Number(sheet.dataset.page),title:title.textContent,violations,overflow:body.scrollHeight>body.clientHeight+1,title_right:range.getBoundingClientRect().right-outer.left,images:[...sheet.querySelectorAll('img')].map((im)=>({src:im.getAttribute('src'),loaded:im.complete&&im.naturalWidth>0})),characters:body.innerText.length}; + })); + await writeFile(new URL('verification/layout.json',directory),JSON.stringify({report_id:'rtcp-beginners-layout-v1',pages:checks,errors},null,2)+'\n'); + for(const check of checks) await page.locator(`.sheet[data-page="${check.page}"]`).screenshot({path:fileURLToPath(new URL(`verification/page-${String(check.page).padStart(2,'0')}.png`,directory))}); + const bad=checks.filter((c)=>c.violations.length||c.overflow||c.title_right>760||c.images.some((im)=>!im.loaded)); + assert.deepEqual(errors,[]);assert.deepEqual(bad,[],'Handbook page overflow'); + await page.pdf({path:fileURLToPath(new URL('五轴RTCP与工件坐标-初学者完整讲义.pdf',directory)),preferCSSPageSize:true,printBackground:true,tagged:true,outline:true}); + console.log(JSON.stringify({report_id:'rtcp-beginners-layout-v1',status:'verified',pages:checks.length})); +} finally {await browser.close();} diff --git a/scripts/render_rtcp_teaching_pdf.mjs b/scripts/render_rtcp_teaching_pdf.mjs new file mode 100644 index 0000000..3172de7 --- /dev/null +++ b/scripts/render_rtcp_teaching_pdf.mjs @@ -0,0 +1,35 @@ +import assert from 'node:assert/strict'; +import { mkdir, writeFile } from 'node:fs/promises'; +import { pathToFileURL, fileURLToPath } from 'node:url'; + +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const directory = new URL('../docs/teaching/rtcp-five-axis/', import.meta.url); +await mkdir(new URL('verification/', directory), { recursive: true }); +const browser = await chromium.launch({ executablePath: '/usr/bin/google-chrome', headless: true, args: ['--no-sandbox'] }); +try { + const page = await browser.newPage({ viewport: { width: 1280, height: 720 }, deviceScaleFactor: 1 }); + const errors = []; page.on('pageerror', (e) => errors.push(e.message)); + await page.goto(new URL('course.html', directory).href); + await page.emulateMedia({ media: 'print' }); + await page.evaluate(async () => { await document.fonts.ready; await Promise.all([...document.images].map((im) => im.decode())); }); + const checks = await page.locator('.slide').evaluateAll((slides) => slides.map((slide) => { + const rect = slide.getBoundingClientRect(), body = slide.querySelector('.body'), takeaway = slide.querySelector('.takeaway').getBoundingClientRect(); + const clipped = [...body.querySelectorAll('p,li,table,figure,pre,.equation,.flow,h3')].filter((element) => { + const r = element.getBoundingClientRect(); + return r.bottom > takeaway.top - 5 || r.right > rect.right - 35 || r.left < rect.left + 30; + }).map((element) => ({ tag: element.tagName, text: element.textContent.slice(0, 80), bottom: element.getBoundingClientRect().bottom - rect.top })); + const title = slide.querySelector('h1'); + const range = document.createRange(); range.selectNodeContents(title); + const titleBounds = range.getBoundingClientRect(); + return { page: Number(slide.dataset.page), title: title.textContent, clipped, content_overflow: body.scrollHeight > body.clientHeight + 1, title_right: titleBounds.right - rect.left, images: [...slide.querySelectorAll('img')].map((im) => ({ src: im.getAttribute('src'), complete: im.complete && im.naturalWidth > 0 })) }; + })); + await writeFile(new URL('verification/layout.json', directory), JSON.stringify({ pages: checks, errors }, null, 2) + '\n'); + for (const check of checks) { + await page.locator(`.slide[data-page="${check.page}"]`).screenshot({ path: new URL(`verification/page-${String(check.page).padStart(2, '0')}.png`, directory).pathname }); + } + const bad = checks.filter((c) => c.clipped.length || c.content_overflow || c.title_right > 1230 || c.images.some((im) => !im.complete)); + assert.deepEqual(errors, []); + assert.deepEqual(bad, [], 'PDF slide overflow or missing assets'); + await page.pdf({ path: fileURLToPath(new URL('五轴机床与RTCP-教学课件.pdf', directory)), preferCSSPageSize: true, printBackground: true, tagged: true, outline: true }); + console.log(JSON.stringify({ report_id: 'rtcp-teaching-layout-v1', pages: checks.length, status: 'verified', pdf: '五轴机床与RTCP-教学课件.pdf' })); +} finally { await browser.close(); } diff --git a/scripts/subset_rtcp_beginner_fonts.py b/scripts/subset_rtcp_beginner_fonts.py new file mode 100644 index 0000000..0a47511 --- /dev/null +++ b/scripts/subset_rtcp_beginner_fonts.py @@ -0,0 +1,28 @@ +"""Embed only the authored Unicode codepoints, avoiding CJK radical aliases.""" +import html +import shutil +from pathlib import Path +from fontTools import subset +from fontTools.ttLib import TTFont + +ROOT=Path(__file__).resolve().parents[1] +OUT=ROOT/'docs/teaching/rtcp-beginners' +characters=set(html.unescape((OUT/'handbook.html').read_text())) +for style in ['Regular','Bold']: + font=TTFont(f'/usr/share/fonts/opentype/noto/NotoSansCJK-{style}.ttc',fontNumber=2) + options=subset.Options() + options.name_IDs=['*'];options.name_legacy=True;options.name_languages=['*'] + tool=subset.Subsetter(options=options);tool.populate(unicodes={ord(c) for c in characters});tool.subset(font) + for record in font['name'].names: + replacement={1:'RtcpHandbookCJK',2:style,3:f'RtcpHandbookCJK-{style}',4:f'RtcpHandbookCJK {style}',6:f'RtcpHandbookCJK-{style}'}.get(record.nameID) + if replacement: + record.string=replacement.encode(record.getEncoding()) + if 'CFF ' in font: + cff=font['CFF '].cff + cff.fontNames=[f'RtcpHandbookCJK-{style}'] + cff.topDictIndex[0].FamilyName='RtcpHandbookCJK' + cff.topDictIndex[0].FullName=f'RtcpHandbookCJK {style}' + font.save(OUT/f'assets/handbook-{style.lower()}.otf') + font.close() +shutil.copyfile('/usr/share/doc/fonts-noto-cjk/copyright',OUT/'assets/font-license.txt') +print('Embedded SC fonts subset to',len(characters),'authored characters') diff --git a/scripts/test_axis_control_inventory.mjs b/scripts/test_axis_control_inventory.mjs index fc40bc1..0ef0c15 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", "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-import", "machine-manager-files", "machine-manager-translate", "machine-manager-rotate", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-manager-apply", "machine-manager-export", "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", @@ -28,7 +28,8 @@ const controlIds = [ ]; for (const id of controlIds) assert.ok(contract.includes(`\`${id}\``), `control missing from source contract: ${id}`); -const source = `${app}\n${panel}\n${preview}`; +const [library, manager] = await Promise.all([read("web/react/src/RtcpProgramLibrary.tsx"), read("web/react/src/MachineManagerPanel.tsx")]); +const source = `${app}\n${panel}\n${preview}\n${library}\n${manager}`; for (const term of ["data-axis-control", "manual-axis-${axis}", "switchkins-${item.type}", "preview-${action}", "preview-layer-${layer}"]) assert.ok(source.includes(term), `control marker missing: ${term}`); for (const forbidden of ["Prepare T1", ">Change", "Arm Probe", ">Disarm", "Reload editor", "program-actions\">', '']) assert.equal(source.includes(forbidden), false, `non-source or duplicate control rendered: ${forbidden}`); diff --git a/scripts/test_gantry_machine_browser.mjs b/scripts/test_gantry_machine_browser.mjs new file mode 100644 index 0000000..9190aa2 --- /dev/null +++ b/scripts/test_gantry_machine_browser.mjs @@ -0,0 +1,68 @@ +import assert from 'node:assert/strict'; +import { readFile, writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +import { createHash } from 'node:crypto'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL('../coverage/glb-machine/gantry/', import.meta.url); +const browser = await chromium.launch({ executablePath: '/usr/bin/google-chrome', headless: true, args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] }); +const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } }); +const errors = []; page.on('pageerror', (e) => errors.push(e.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const settled = () => page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); +const report = { report_id: 'gantry-machine-browser-v1', status: 'running', examples: [], layouts: [] }; +try { + await page.goto('http://127.0.0.1:5174/'); await settled(); + for (const id of ['ac', 'bc', 'ac-gantry', 'bc-gantry']) { + await control('machine-glb-settings').click(); await control(`machine-glb-${id}`).click(); await settled(); + const s = await page.evaluate(async (id) => { + const api = await import('/src/imported-machine.ts'), parser = await import('/src/machine-urdf.ts'); + const catalog = await (await fetch('/machines/manifest.json')).json(), entry = catalog.machines.find((e) => e.id === id); + const buffer = await (await fetch(`/machines/${entry.filename}`)).arrayBuffer(); + const asset = await api.loadImportedMachine(buffer, entry.filename), structure = asset.structure; + if (asset.hash !== document.querySelector('.xyzac-machine-view').dataset.machineGlb) throw new Error('UI example differs from file'); + const model = api.buildImportedMachine(asset); + const gantry = id.endsWith('gantry'); + if (structure.profile !== (gantry ? 'trt-xyz-gantry/1' : 'trt-xyz-head/1')) throw new Error('wrong profile'); + const find = (c) => structure.joints.find((j) => j.coordinate === c); + if (find('X').parent !== structure.base || find('Y').parent !== find('X').child || find('Z').parent !== find('Y').child) throw new Error('bad XYZ chain'); + if (find(structure.coordinates[3]).parent !== structure.base || find('C').parent !== find(structure.coordinates[3]).child) throw new Error('bad rotary chain'); + if (gantry && (structure.tool !== find('Z').child || structure.links.length !== 7)) throw new Error('tool must be Z link'); + const rejections = []; + if (gantry) for (const [name, xml] of [ + ['wrong-tool', structure.urdf.replace('tool="z_slide"', 'tool="y_slide"')], + ['wrong-profile', structure.urdf.replace('trt-xyz-gantry/1', 'trt-xyz-head/1')], + ['rotary-on-xyz', structure.urdf.replace('', '')], + ]) { let rejected = false; try { parser.parseMachineUrdf(xml); } catch { rejected = true; } if (!rejected) throw new Error(`accepted ${name}`); rejections.push(name); } + const nodes = []; + if (gantry) model.machine.traverse((n) => { if (n.name.startsWith('moving_bridge_chord_') || n.name.startsWith('gantry_y_carriage_') || n.name.startsWith('gantry_z_ram_') || n.name.startsWith('gantry_post_')) nodes.push(n); }); + const state = { offsets: { ...structure.offsets, tool_offset: 0 }, joints: [0, 0, 0, 0, 0] }; + const capture = () => nodes.map((n) => ({ name: n.name, parent: n.parent.name, position: n.getWorldPosition(model.toolTip.position.clone()).toArray() })); + model.update(state); const initial = capture(); + model.update({ ...state, joints: [20, 10, 5, 0, 0] }); const moved = capture(); + for (let i = 0; i < nodes.length; i++) { + const name = nodes[i].name; + const expected = name.startsWith('gantry_post_') ? [0, 0, 0] : name.startsWith('moving_bridge_chord_') ? [.2, 0, 0] : name.startsWith('gantry_y_carriage_') ? [.2, 0, .1] : [.2, .05, .1]; + moved[i].position.forEach((v, k) => { if (Math.abs(v - initial[i].position[k] - expected[k]) > 1e-8) throw new Error(`wrong branch motion ${name}`); }); + } + const tableBefore = model.joints.rotate.getWorldPosition(model.toolTip.position.clone()).toArray(); + model.update(state); const tableAfter = model.joints.rotate.getWorldPosition(model.toolTip.position.clone()).toArray(); + if (tableBefore.some((v, k) => Math.abs(v - tableAfter[k]) > 1e-8)) throw new Error('table moved with XYZ'); + model.dispose(); api.disposeMachineScene(asset.scene); + return { entry, profile: structure.profile, links: structure.links, tool: structure.tool, initial, moved, rejections }; + }, id); + const name = id.endsWith('gantry') ? `下载 ${id.slice(0, 2).toUpperCase()}桁架型` : `下载 ${id.toUpperCase()}`; + const downloadEvent = page.waitForEvent('download'); await page.getByRole('link', { name, exact: true }).click(); + const download = await downloadEvent; assert.equal(createHash('sha256').update(await readFile(await download.path())).digest('hex'), s.entry.sha256); + await page.keyboard.press('Escape'); await page.locator('.axis-preview-machine').screenshot({ path: new URL(`${id}.png`, output).pathname }); + report.examples.push(s); + } + for (const [width, height] of [[1440, 1000], [390, 844]]) { + await page.setViewportSize({ width, height }); await control('machine-glb-settings').click(); + const b = await page.locator('.model-dialog button, .model-dialog a').evaluateAll((es) => es.map((e) => { const r = e.getBoundingClientRect(); return { x: r.x, right: r.right, y: r.y, bottom: r.bottom }; })); + assert.ok(b.every((r) => r.x >= 0 && r.right <= width && r.y >= 0 && r.bottom <= height)); + await page.screenshot({ path: new URL(`dialog-${width}.png`, output).pathname }); await page.keyboard.press('Escape'); report.layouts.push({ width, height, controls: b.length }); + } + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (e) { report.status = 'failed'; report.error = String(e.stack ?? e); await page.screenshot({ path: new URL('failure.png', output).pathname }); throw e; } +finally { report.browser_errors = errors; await writeFile(new URL('catalog.report.json', output), JSON.stringify(report, null, 2) + '\n'); await browser.close(); } +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, examples: report.examples.map((e) => e.entry.id) })); diff --git a/scripts/test_glb_machine_browser.mjs b/scripts/test_glb_machine_browser.mjs new file mode 100644 index 0000000..e0649f9 --- /dev/null +++ b/scripts/test_glb_machine_browser.mjs @@ -0,0 +1,201 @@ +import assert from 'node:assert/strict'; +import { readFile, writeFile, mkdir } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +import { createHash } from 'node:crypto'; +import createModule from '../build-wasm/linuxcnc-sim-core.js'; +import { WasmXyzacKinematics } from '../web/worker/wasm-xyzac-kinematics.mjs'; +import { SimSession, CONTEXT_ID } from '../web/worker/sim-session.mjs'; +import { loadSimulationCase, toWorkerConfiguration } from '../web/workspace/sim-case-loader.mjs'; +import { writeTrtGeometry } from '../web/workspace/trt-geometry.mjs'; +import { MACHINE_DEFINITIONS } from '../web/workspace/machine-definitions.mjs'; +const root = new URL('../', import.meta.url), output = process.env.GLB_EVIDENCE_DIR ? pathToFileURL(`${process.env.GLB_EVIDENCE_DIR.replace(/\/$/, '')}/`) : new URL('coverage/glb-machine/', root); +await mkdir(output, { recursive: true }); +const wasmBinary = await readFile(new URL('build-wasm/linuxcnc-sim-core.wasm', root)); +const core = await createModule({ wasmBinary }); +const fetchImpl = async (url) => { try { const body = await readFile(new URL(String(url).replace(/^\//, ''), root), 'utf8'); return { ok: true, text: async () => body }; } catch { return { ok: false }; } }; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const browser = await chromium.launch({ executablePath: '/usr/bin/google-chrome', headless: true, args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] }); +const page = await browser.newPage({ viewport: { width: 1440, height: 1100 } }); +const errors = []; page.on('pageerror', (e) => errors.push(e.message)); +const report = { report_id: 'glb-machine-browser-v1', status: 'running', wasm_sha256: createHash('sha256').update(wasmBinary).digest('hex'), parser: [], machines: [], viewports: [] }; +const control = (id) => page.locator(`[data-axis-control="${id}"]`), machine = page.locator('.xyzac-machine-view'); +const settled = async () => { await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); }; +const rendered = async () => { await page.waitForFunction(() => { const e = document.querySelector('.xyzac-machine-view'); return e?.dataset.xyzacTick === e?.dataset.xyzacRenderedTick; }); }; +const sample = () => machine.evaluate((e) => ({ joints: JSON.parse(e.dataset.xyzacJoints), offsets: JSON.parse(e.dataset.xyzacOffsets), tip: JSON.parse(e.dataset.xyzacToolTip), tick: Number(e.dataset.xyzacTick), hash: e.dataset.machineGlb })); +const jog = async (axis, index, delta) => { + await control(`manual-axis-${axis}`).check(); const before = await sample(); + const box = await control('manual-jog-positive').boundingBox(); + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); await page.mouse.down(); + try { await page.waitForFunction(({ index, target }) => JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[index] >= target, { index, target: before.joints[index] + delta }); } + finally { await page.mouse.up(); } + await page.waitForFunction(() => document.querySelector('.command-status')?.textContent.includes('JOG_STOP acknowledged') || [...document.querySelectorAll('span')].some((s) => s.textContent === 'JOG_STOP acknowledged')); + await rendered(); return { axis, before, after: await sample() }; +}; +try { + await page.goto(process.env.XYZAC_PANEL_URL ?? 'http://127.0.0.1:5174/'); await settled(); + // Exercise the browser's actual XML/GLB parser and GLTFLoader before touching the live machine. + for (const id of ['ac', 'bc']) { + const descriptor = await page.evaluate(async (id) => { + const api = await import('/src/imported-machine.ts'); + const parser = await import('/src/machine-urdf.ts'); + const bytes = await (await fetch(`/machines/demo-${id}-xyz-head.glb`)).arrayBuffer(); + const { json, structure } = parser.inspectMachineGlb(bytes); + const results = []; + const reject = (name, action) => { let error = ''; try { action(); } catch (e) { error = e.message; } if (!error) throw new Error(`must reject ${name}`); results.push({ name, error }); }; + const mutate = (change) => { + const next = structuredClone(json); change(next); + const view = new DataView(bytes), oldJsonLength = view.getUint32(12, true); + const bin = new Uint8Array(bytes, 20 + oldJsonLength); + const text = new TextEncoder().encode(JSON.stringify(next)); const length = Math.ceil(text.length / 4) * 4; + const data = new Uint8Array(20 + length + bin.length); const header = new DataView(data.buffer); + header.setUint32(0, 0x46546c67, true); header.setUint32(4, 2, true); header.setUint32(8, data.length, true); + header.setUint32(12, length, true); header.setUint32(16, 0x4e4f534a, true); data.fill(32, 20, 20 + length); data.set(text, 20); data.set(bin, 20 + length); + return () => parser.inspectMachineGlb(data.buffer); + }; + reject('truncated', () => parser.inspectMachineGlb(bytes.slice(0, bytes.byteLength - 1))); + reject('missing-schema', mutate((j) => { delete j.scenes[0].extras; })); + reject('external-buffer', mutate((j) => { j.buffers[0].uri = 'https://invalid.example/data.bin'; })); + reject('external-texture', mutate((j) => { j.images = [{ uri: 'file:///etc/passwd' }]; })); + reject('animation', mutate((j) => { j.animations = [{}]; })); + reject('node-cycle', mutate((j) => { j.nodes[0].children = [0]; })); + reject('wrong-hierarchy', mutate((j) => { const i = j.nodes.findIndex((n) => n.name === 'c_table'); j.nodes.find((n) => n.name === 'tilt_table').children = j.nodes.find((n) => n.name === 'tilt_table').children.filter((n) => n !== i); j.nodes.find((n) => n.name === 'base').children.push(i); })); + reject('node-offset-mismatch', mutate((j) => { j.nodes.find((n) => n.name === 'c_table').translation[2] += .01; })); + reject('duplicate-link', mutate((j) => { j.nodes.find((n) => n.name?.startsWith('bed_')).name = 'base'; })); + const matrixCompatible = mutate((j) => { + const node = j.nodes.find((n) => n.name === 'c_table'), v = node.translation; + delete node.translation; delete node.rotation; delete node.scale; + node.matrix = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, ...v, 1]; + }); + if (matrixCompatible().structure.coordinates !== structure.coordinates) throw new Error('equivalent matrix rejected'); + reject('matrix-origin-mismatch', mutate((j) => { + const node = j.nodes.find((n) => n.name === 'c_table'); delete node.translation; delete node.rotation; delete node.scale; + node.matrix = [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 4, 5, 6, 1]; + })); + const xml = structure.urdf; + reject('xml-syntax', () => parser.parseMachineUrdf(xml.slice(0, -15))); + reject('doctype', () => parser.parseMachineUrdf('' + xml)); + reject('duplicate-coordinate', () => parser.parseMachineUrdf(xml.replace('coordinate="Y"', 'coordinate="X"'))); + reject('negative-axis', () => parser.parseMachineUrdf(xml.replace('axis xyz="1 0 0"', 'axis xyz="-1 0 0"'))); + reject('nonzero-rpy', () => parser.parseMachineUrdf(xml.replace('rpy="0 0 0"', 'rpy="0 0 0.1"'))); + reject('nan-limit', () => parser.parseMachineUrdf(xml.replace('velocity="0.02"', 'velocity="NaN"'))); + reject('mimic', () => parser.parseMachineUrdf(xml.replace('', ''))); + reject('unknown-profile', () => parser.parseMachineUrdf(xml.replace('trt-xyz-head/1', 'generic/1'))); + reject('broken-tree', () => parser.parseMachineUrdf(xml.replace('parent link="base"', 'parent link="spindle_head"'))); + const bundle = await (await import('/workspace/sim-case-loader.mjs')).loadSimulationCase({ path: `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyz${id}-trt.ini`, baseUrl: '.' }); + const tight = structuredClone(structure); tight.joints.find((j) => j.coordinate === 'X').limit.upper = .01; + reject('runtime-range-outside-model', () => api.configureImportedMachine(bundle, tight)); + const slow = structuredClone(structure); slow.joints.find((j) => j.coordinate === 'X').limit.velocity = .001; + reject('runtime-speed-outside-model', () => api.configureImportedMachine(bundle, slow)); + const changed = api.configureImportedMachine(bundle, structure); + const parsed = (await import('/workspace/trt-geometry.mjs')).readTrtGeometry(changed); + window.glbTestAsset && api.disposeMachineScene(window.glbTestAsset.scene); + window.glbTestAsset = await api.loadImportedMachine(bytes, `demo-${id}.glb`); + return { structure, hash: window.glbTestAsset.hash, results, writtenOffsets: parsed.offsets }; + }, id); + report.parser.push({ id, rejected: descriptor.results }); + for (const [key, value] of Object.entries(descriptor.structure.offsets)) assert.ok(Math.abs(descriptor.writtenOffsets[key] - value) < 1e-8); + const coordinates = descriptor.structure.coordinates; + // The real native inverse supplies the reference, not a duplicate JS RTCP formula. + const samples = []; + for (const tool_offset of [0, 17, -4]) { + const offsets = { ...descriptor.structure.offsets, tool_offset }; + const native = new WasmXyzacKinematics(core, { coordinates, ...offsets, limits: Object.fromEntries([...coordinates.toLowerCase()].map((c) => [c, [-100000, 100000]])) }); + for (const [tilt, c] of [[0, 0], [25, 0], [0, 65], [-35, 125], [42, -80], [-80, 270]]) { + const pose = { x: 32, y: 19, z: 28, a: 0, b: 0, c, u: 0, v: 0, w: 0, [coordinates[3].toLowerCase()]: tilt }; + const inverse = native.inverseMode(1, pose); assert.equal(inverse.status, 'verified'); + samples.push({ pose, offsets, joints: inverse.joints }); + } + native.destroy(); + } + const geometry = await page.evaluate(async (samples) => { + const api = await import('/src/imported-machine.ts'); + const model = api.buildImportedMachine(window.glbTestAsset), rows = []; + for (const state of samples) { + model.update(state); + const point = model.workOrigin.position.clone().set(state.pose.x / 1000, state.pose.y / 1000, state.pose.z / 1000); + model.workOrigin.localToWorld(point); + const tip = model.toolTip.getWorldPosition(point.clone()); + const error = point.distanceTo(tip); + if (error > 1e-8) throw new Error(`WASM / GLB mismatch: ${JSON.stringify({ state, point, tip, error })}`); + rows.push({ tilt: state.joints[3], c: state.joints[4], tool_offset: state.offsets.tool_offset, error }); + } + // The two branches are independent: X moves the head but never the cradle. + model.update({ joints: [0, 0, 0, 0, 0], offsets: { tool_offset: 0 } }); + const before = model.joints.rotate.getWorldPosition(model.toolTip.position.clone()); + model.update({ joints: [50, 20, 10, 0, 0], offsets: { tool_offset: 0 } }); + const after = model.joints.rotate.getWorldPosition(before.clone()); + if (before.distanceTo(after) > 1e-10) throw new Error('table moved with XYZ'); + model.dispose(); return rows; + }, samples); + // Confirm the Worker reparses the updated INI and receives every derived geometry value. + const definition = MACHINE_DEFINITIONS.find((m) => m.coordinates === coordinates); + const original = await loadSimulationCase({ path: definition.entrypoint, fetchImpl }); + const config = toWorkerConfiguration(writeTrtGeometry(original, descriptor.structure.offsets)); + config.kinematics.offsets.x_rot_point = 999; + const session = new SimSession(core, { sessionId: `glb-${id}` }); let seq = 0; + const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `glb-${seq}`, payload }); + send('HELLO'); send('SESSION_ATTACH'); + const loaded = send('LOAD_WORKSPACE', { root_path: '/workspace', configuration: config }); assert.equal(loaded.kind, 'COMMAND_RESULT'); + for (const [key, value] of Object.entries(descriptor.structure.offsets)) assert.ok(Math.abs(loaded.payload.panel_snapshot.kinematics.offsets[key] - value) < 1e-8); + const beforePath = await page.locator('main').getAttribute('data-axis-program-path'); + await control('machine-glb-settings').click(); + await control('machine-glb-file').setInputFiles(new URL(`web/react/public/machines/demo-${id}-xyz-head.glb`, root).pathname); + await settled(); + assert.equal(await machine.getAttribute('data-machine-glb'), descriptor.hash, await page.locator('.machine-import').innerText()); + assert.equal(await machine.getAttribute('data-xyzac-model-id'), `xyz${id}-trt`); + assert.equal(await page.locator('main').getAttribute('data-axis-program-path'), beforePath); + const imported = await sample(); + for (const [key, value] of Object.entries(descriptor.structure.offsets)) assert.ok(Math.abs(imported.offsets[key] - value) < 1e-8); + // Rejected import must leave the live machine and its configuration untouched. + await control('machine-glb-file').setInputFiles({ name: 'broken.glb', mimeType: 'model/gltf-binary', buffer: Buffer.from('not a glb') }); await settled(); + assert.match(await page.locator('.machine-import output').innerText(), /无效/); + assert.equal((await sample()).hash, descriptor.hash); assert.deepEqual((await sample()).offsets, imported.offsets); + await control(`machine-glb-${id}`).click(); await settled(); + assert.equal((await sample()).hash, descriptor.hash); + assert.match(await page.locator('.machine-import output').innerText(), /模型及参数已应用/); + const downloadEvent = page.waitForEvent('download'); await page.getByRole('link', { name: `下载 ${id.toUpperCase()}` }).click(); const download = await downloadEvent; + assert.equal(createHash('sha256').update(await readFile(await download.path())).digest('hex'), descriptor.hash); + await page.locator('.model-dialog .machine-dialog-titlebar button').click(); + await control('toolbar-power').click(); + await page.waitForFunction(() => document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + assert.equal(await control('machine-glb-ac').isDisabled(), true); assert.equal(await control('machine-glb-bc').isDisabled(), true); + await control('manual-home-all').click(); await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + await jog('x', 0, 4); await jog('y', 1, 3); + await control('switchkins-1').click(); await page.waitForFunction(() => document.querySelector('[data-axis-control="switchkins-1"]').getAttribute('aria-pressed') === 'true'); + await rendered(); const start = await sample(); + const target = await page.evaluate(async (state) => { const m = (await import('/src/imported-machine.ts')).buildImportedMachine(window.glbTestAsset); m.update(state); const p = m.workOrigin.worldToLocal(m.toolTip.getWorldPosition(m.toolTip.position.clone())).toArray(); m.dispose(); return p; }, start); + const jogs = []; + for (const axis of [coordinates[3].toLowerCase(), 'c', coordinates[3].toLowerCase(), 'c']) { + const row = await jog(axis, axis === 'c' ? 4 : 3, 2); + assert.ok(row.after.joints.slice(0, 3).some((v, i) => Math.abs(v - row.before.joints[i]) > 1e-6)); + const check = await page.evaluate(async ({ state, target }) => { + const m = (await import('/src/imported-machine.ts')).buildImportedMachine(window.glbTestAsset); m.update(state); + const p = m.workOrigin.localToWorld(m.toolTip.position.clone().fromArray(target)), tip = m.toolTip.getWorldPosition(p.clone()); + const result = { tcp_error: p.distanceTo(tip), render_error: tip.distanceTo(p.fromArray(state.tip)) }; m.dispose(); return result; + }, { state: row.after, target }); + assert.ok(check.tcp_error < 1e-7); assert.ok(check.render_error < 1e-7); + jogs.push({ ...row, ...check }); + } + const pixels = await machine.locator('canvas[data-engine]').evaluate((canvas) => { const gl = canvas.getContext('webgl2'), data = new Uint8Array(canvas.width * canvas.height * 4); gl.readPixels(0, 0, canvas.width, canvas.height, gl.RGBA, gl.UNSIGNED_BYTE, data); const colors = new Set(); for (let i = 0; i < data.length; i += 32) colors.add(`${data[i]},${data[i + 1]},${data[i + 2]}`); return { colors: colors.size, width: canvas.width, height: canvas.height }; }); + assert.ok(pixels.colors > 100); + await page.locator('.axis-preview-machine').screenshot({ path: new URL(`${id}-imported.png`, output).pathname }); + await control('toolbar-power').click(); await page.waitForFunction(() => !document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + report.machines.push({ id, hash: descriptor.hash, coordinates, offsets: descriptor.structure.offsets, program_preserved: beforePath, geometry, jogs, pixels, worker_derived_offsets: loaded.payload.panel_snapshot.kinematics.offsets }); + } + for (const [width, height] of [[1440, 1100], [390, 844]]) { + await page.setViewportSize({ width, height }); await page.locator('.machine-import').scrollIntoViewIfNeeded(); + await control('machine-glb-settings').click(); + const bounds = await page.locator('.model-dialog button, .model-dialog a').evaluateAll((nodes) => nodes.map((n) => { const r = n.getBoundingClientRect(); return { x: r.x, right: r.right, width: r.width }; })); + assert.ok(bounds.every((r) => r.width > 0 && r.x >= -1 && r.right <= width + 1)); + await page.screenshot({ path: new URL(`viewport-${width}.png`, output).pathname, fullPage: true }); + report.viewports.push({ width, height, bounds }); + await page.keyboard.press('Escape'); + } + // Reloading a compatible INI updates the effective structure while preserving the imported asset. + const importedHash = await machine.getAttribute('data-machine-glb'); + await control('geometry-settings').click(); + await control('geometry-reload').click(); await settled(); assert.equal(await machine.getAttribute('data-machine-glb'), importedHash); + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (error) { report.status = 'failed'; report.error = String(error.stack ?? error); await page.screenshot({ path: new URL('failure.png', output).pathname, fullPage: true }); throw error; } +finally { report.browser_errors = errors; await writeFile(new URL('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) => ({ id: m.id, geometry_samples: m.geometry.length, jogs: m.jogs.length })), rejected: report.parser.reduce((sum, p) => sum + p.rejected.length, 0) })); diff --git a/scripts/test_glb_machine_motion.mjs b/scripts/test_glb_machine_motion.mjs new file mode 100644 index 0000000..99ca524 --- /dev/null +++ b/scripts/test_glb_machine_motion.mjs @@ -0,0 +1,74 @@ +import assert from 'node:assert/strict'; +import { readFile, writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +import createModule from '../build-wasm/linuxcnc-sim-core.js'; +import { SimSession, CONTEXT_ID } from '../web/worker/sim-session.mjs'; +import { loadSimulationCase, toWorkerConfiguration } from '../web/workspace/sim-case-loader.mjs'; +import { writeTrtGeometry } from '../web/workspace/trt-geometry.mjs'; +import { MACHINE_DEFINITIONS } from '../web/workspace/machine-definitions.mjs'; +const root = new URL('../', import.meta.url), output = process.env.GLB_EVIDENCE_DIR ? pathToFileURL(`${process.env.GLB_EVIDENCE_DIR.replace(/\/$/, '')}/`) : new URL('coverage/glb-machine/', root); +const gantry = process.env.GLB_MACHINE_VARIANT === 'gantry'; +const fetchImpl = async (url) => { try { const body = await readFile(new URL(String(url).replace(/^\//, ''), root), 'utf8'); return { ok: true, text: async () => body }; } catch { return { ok: false }; } }; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +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(); +const report = { report_id: 'glb-machine-five-axis-motion-v1', status: 'running', machines: [] }; +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 definition of MACHINE_DEFINITIONS) { + const id = definition.coordinates.slice(3).toLowerCase(); + const structure = await page.evaluate(async ({ id, gantry }) => { + const api = await import('/src/imported-machine.ts'); + if (window.motionAsset) api.disposeMachineScene(window.motionAsset.scene); + window.motionAsset = await api.loadImportedMachine(await (await fetch(`/machines/demo-${id}-${gantry ? 'gantry' : 'xyz-head'}.glb`)).arrayBuffer(), `${id}.glb`); + return window.motionAsset.structure; + }, { id, gantry }); + const core = await createModule({ wasmBinary: await readFile(new URL('build-wasm/linuxcnc-sim-core.wasm', root)) }); + const session = new SimSession(core, { sessionId: `glb-motion-${id}` }); let seq = 0; + const send = (kind, payload = {}) => { + const result = session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `motion-${seq}`, payload }); + assert.notEqual(result.kind, 'ERROR', `${kind}: ${JSON.stringify(result.payload)}`); return result; + }; + send('HELLO'); send('SESSION_ATTACH'); + const bundle = writeTrtGeometry(await loadSimulationCase({ path: definition.entrypoint, fetchImpl }), structure.offsets); + send('LOAD_WORKSPACE', { root_path: '/workspace', configuration: toWorkerConfiguration(bundle) }); + const tilt = definition.coordinates[3]; + const source = `G21 G90 G94\nG0 X20 Y10 Z20 ${tilt}0 C0\nM428\nG1 X35 Y24 Z32 ${tilt}25 C40 F900\nG1 X24 Y16 Z24 ${tilt}-20 C-30 F900\nM2\n`; + send('PROGRAM_LOAD', { source, path: `five-axis-${id}.ngc` }); + send('POWER', { active: true }); send('HOME', { all: true }); + for (let tick = 0; tick < 500 && !session.wasmHomeLimit.read().state.homed; tick++) send('SIM_STEP', { cycles: 1 }); + assert.equal(session.wasmHomeLimit.read().state.homed, true); + send('PROGRAM_RUN'); + const samples = []; let simultaneousTicks = 0, previous, result; + for (let tick = 0; tick < 3000; tick++) { + result = send('SIM_STEP', { cycles: 10 }); + const panel = result.payload.panel_snapshot; + const joints = panel.visual.joints; + if (panel.kinematics.active_type === 1 && joints?.length === 5) { + if (previous && joints.every((v, i) => Math.abs(v - previous[i]) > 1e-8)) simultaneousTicks++; + samples.push({ tick: result.simulation_tick, pose: panel.visual.pose, joints, offsets: panel.kinematics.offsets }); + previous = joints; + } + if (result.payload.program.program_status === 'completed' && result.payload.wasm_motion.state.queue_depth === 0) break; + } + assert.equal(result.payload.program.program_status, 'completed'); + assert.ok(simultaneousTicks > 10, `only ${simultaneousTicks} simultaneously moving ticks`); + assert.ok(samples.length > 10); + const projection = await page.evaluate(async (samples) => { + const model = (await import('/src/imported-machine.ts')).buildImportedMachine(window.motionAsset); + let maxError = 0; + for (const sample of samples) { + model.update(sample); + const point = model.workOrigin.localToWorld(model.toolTip.position.clone().set(sample.pose.x / 1000, sample.pose.y / 1000, sample.pose.z / 1000)); + const tip = model.toolTip.getWorldPosition(point.clone()); maxError = Math.max(maxError, point.distanceTo(tip)); + } + model.dispose(); return { samples: samples.length, max_error_view_units: maxError }; + }, samples); + assert.ok(projection.max_error_view_units < 1e-7, JSON.stringify(projection)); + report.machines.push({ coordinates: structure.coordinates, source, simultaneous_ticks: simultaneousTicks, ...projection, trajectory: samples }); + } + report.status = 'verified'; +} catch (error) { report.status = 'failed'; report.error = String(error.stack ?? error); throw error; } +finally { await writeFile(new URL('motion.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(({ coordinates, simultaneous_ticks, samples, max_error_view_units }) => ({ coordinates, simultaneous_ticks, samples, max_error_view_units })) })); diff --git a/scripts/test_imported_geometry_browser.mjs b/scripts/test_imported_geometry_browser.mjs new file mode 100644 index 0000000..88ffc0a --- /dev/null +++ b/scripts/test_imported_geometry_browser.mjs @@ -0,0 +1,132 @@ +import assert from 'node:assert/strict'; +import { readFile, writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +import createModule from '../build-wasm/linuxcnc-sim-core.js'; +import { WasmXyzacKinematics } from '../web/worker/wasm-xyzac-kinematics.mjs'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const root = new URL('../', import.meta.url), output = process.env.GLB_EVIDENCE_DIR ? pathToFileURL(`${process.env.GLB_EVIDENCE_DIR.replace(/\/$/, '')}/`) : new URL('coverage/glb-machine/geometry-edit/', root); +const gantry = process.env.GLB_MACHINE_VARIANT === 'gantry'; +const browser = await chromium.launch({ executablePath: '/usr/bin/google-chrome', headless: true, args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] }); +const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } }); +await page.addInitScript(() => { window.showSaveFilePicker = undefined; }); +const errors = []; page.on('pageerror', (e) => errors.push(e.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const settled = () => page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false' && document.querySelector('.trt-geometry')?.getAttribute('aria-busy') === 'false'); +const machine = page.locator('.xyzac-machine-view'); +const snapshot = () => machine.evaluate((e) => ({ hash: e.dataset.machineGlb, filename: e.dataset.xyzacModelSourcePath, offsets: JSON.parse(e.dataset.xyzacOffsets), joints: JSON.parse(e.dataset.xyzacJoints), tip: JSON.parse(e.dataset.xyzacToolTip) })); +const report = { report_id: 'imported-geometry-browser-v1', status: 'running', machines: [] }; +try { + await page.goto('http://127.0.0.1:5174/'); await settled(); + for (const id of ['ac', 'bc']) { + await control('machine-glb-settings').click(); await control('machine-glb-file').setInputFiles(new URL(`web/react/public/machines/demo-${id}-${gantry ? 'gantry' : 'xyz-head'}.glb`, root).pathname); await settled(); + await page.keyboard.press('Escape'); + const original = await snapshot(), beforePath = await page.locator('main').getAttribute('data-axis-program-path'); + assert.ok(original.hash); + await control('geometry-settings').click(); + const edits = { x_rot_point: 31, y_rot_point: -9, z_rot_point: 15, x_offset: id === 'bc' ? 27 : 0, y_offset: id === 'ac' ? 23 : 0, z_offset: -34 }; + for (const [key, value] of Object.entries(edits)) if (key !== (id === 'ac' ? 'x_offset' : 'y_offset')) await page.getByLabel(key.replaceAll('_', '-'), { exact: true }).fill(String(value)); + await control('geometry-apply').click(); await settled(); + const applied = await snapshot(); + assert.equal(applied.hash, original.hash, 'applying geometry must retain imported GLB'); + assert.equal(applied.filename, original.filename); + for (const [key, value] of Object.entries(edits)) assert.ok(Math.abs(applied.offsets[key] - value) < 1e-8); + assert.equal(await page.locator('main').getAttribute('data-axis-program-path'), beforePath); + const downloadEvent = page.waitForEvent('download'); await control('geometry-save').click(); const exported = await readFile(await (await downloadEvent).path(), 'utf8'); + assert.match(exported, /x-rot-point\s+31/); + await page.keyboard.press('Escape'); + await control('machine-glb-settings').click(); + if (!(await page.locator('[data-machine-structure]').evaluate((e) => e.open))) await page.locator('[data-machine-structure] summary').click(); + const details = await page.locator('[data-machine-structure]').innerText(); assert.match(details, /31\.000 \/ -9\.000 \/ 15\.000/); assert.match(details, /-34\.000/); + await page.keyboard.press('Escape'); + await page.locator('.axis-preview-machine').screenshot({ path: new URL(`${id}-edited.png`, output).pathname }); + // Exercise the actual imported hierarchy with native IK at the edited offsets. + const core = await createModule({ wasmBinary: await readFile(new URL('build-wasm/linuxcnc-sim-core.wasm', root)) }); + const samples = [], coordinates = `XYZ${id.toUpperCase()}`; + for (const tool_offset of [0, 17, -4]) { + const offsets = { ...edits, tool_offset }; + const native = new WasmXyzacKinematics(core, { coordinates, ...offsets, limits: Object.fromEntries([...coordinates.toLowerCase()].map((a) => [a, [-100000, 100000]])) }); + for (const [tilt, c] of [[0, 0], [25, 0], [0, 65], [-35, 125], [42, -80], [-80, 270]]) { + const pose = { x: 32, y: 19, z: 28, a: 0, b: 0, c, u: 0, v: 0, w: 0, [id[0]]: tilt }; + const inverse = native.inverseMode(1, pose); assert.equal(inverse.status, 'verified'); samples.push({ pose, joints: inverse.joints, offsets }); + } + native.destroy(); + } + const projection = await page.evaluate(async ({ id, edits, samples, gantry }) => { + const api = await import('/src/imported-machine.ts'); + const geometry = await import('/workspace/trt-geometry.mjs'); + const loader = await import('/workspace/sim-case-loader.mjs'); + const parser = await import('/src/machine-urdf.ts'); + const asset = await api.loadImportedMachine(await (await fetch(`/machines/demo-${id}-${gantry ? 'gantry' : 'xyz-head'}.glb`)).arrayBuffer(), `${id}.glb`); + const originalUrdf = asset.structure.urdf; + const bundle = await loader.loadSimulationCase({ path: `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyz${id}-trt.ini`, baseUrl: '.' }); + const adjusted = api.updateImportedMachineGeometry(asset, geometry.writeTrtGeometry(bundle, edits)); + if (asset.scene !== adjusted.scene || asset.hash !== adjusted.hash || asset.structure.urdf !== originalUrdf) throw new Error('source asset changed'); + const parsed = parser.parseMachineUrdf(adjusted.structure.urdf); + for (const [key, value] of Object.entries(edits)) if (Math.abs(parsed.offsets[key] - value) > 1e-8) throw new Error(`URDF drift ${key}`); + const model = api.buildImportedMachine(adjusted); + const meshes = []; model.machine.traverse((n) => { if (n.isMesh) meshes.push(n.name); }); + if (!meshes.some((name) => name.startsWith(gantry ? 'gantry_post_' : 'portal_column_'))) throw new Error('original mesh lost'); + const checks = []; + for (const state of samples) { + model.update(state); + const point = model.workOrigin.localToWorld(model.toolTip.position.clone().set(state.pose.x / 1000, state.pose.y / 1000, state.pose.z / 1000)); + const tip = model.toolTip.getWorldPosition(point.clone()); const error = tip.distanceTo(point); + if (error > 1e-8) throw new Error(`IK/model mismatch ${error}`); checks.push(error); + } + const renamed = structuredClone(asset.structure); + renamed.urdf = renamed.urdf.replaceAll('tilt_joint', 'custom_tilt').replaceAll('c_joint', 'custom_spin').replaceAll('work_mount', 'custom_work'); + renamed.joints = parser.parseMachineUrdf(renamed.urdf).joints; + const custom = api.updateImportedMachineGeometry({ ...asset, structure: renamed }, geometry.writeTrtGeometry(bundle, edits)); + if (!custom.structure.joints.some((j) => j.name === 'custom_tilt')) throw new Error('relies on fixture joint names'); + let mismatch = false; + const other = await loader.loadSimulationCase({ path: `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyz${id === 'ac' ? 'bc' : 'ac'}-trt.ini`, baseUrl: '.' }); + try { api.updateImportedMachineGeometry(asset, other); } catch { mismatch = true; } + if (!mismatch) throw new Error('incompatible machine not rejected'); + const repeat = api.updateImportedMachineGeometry(adjusted, geometry.writeTrtGeometry(bundle, edits)); + if (repeat !== adjusted) throw new Error('unchanged geometry should reuse asset'); + model.dispose(); api.disposeMachineScene(asset.scene); + return { checks, mesh_count: meshes.length, source_preserved: true, renamed_joint_supported: true, incompatible_rejected: true }; + }, { id, edits, samples, gantry }); + await control('geometry-settings').click(); + // Bad numeric input must leave the successfully applied model and parameters intact. + await page.getByLabel('x-rot-point', { exact: true }).fill(''); await control('geometry-apply').click(); await settled(); + assert.match(await page.locator('.trt-geometry footer output').innerText(), /trt_geometry_number/); + assert.equal((await snapshot()).hash, original.hash); assert.deepEqual((await snapshot()).offsets, applied.offsets); + // Reload the INI, then re-import the saved INI: both preserve the model. + await control('geometry-reload').click(); await settled(); assert.equal((await snapshot()).hash, original.hash); + await page.locator('.trt-geometry input[type="file"]').setInputFiles({ name: `xyz${id}-trt.ini`, mimeType: 'text/plain', buffer: Buffer.from(exported) }); + await page.waitForFunction(() => document.querySelector('input[aria-label="x-rot-point"]').value === '31'); + await control('geometry-apply').click(); await settled(); assert.equal((await snapshot()).hash, original.hash); + assert.deepEqual((await snapshot()).offsets, applied.offsets); + await page.keyboard.press('Escape'); + await control('toolbar-power').click(); await control('manual-home-all').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + await control('switchkins-1').click(); + await control('tab-manual').click(); await control(`manual-axis-${id[0]}`).check(); + const beforeJog = await snapshot(), b = await control('manual-jog-positive').boundingBox(); + await page.mouse.move(b.x + b.width / 2, b.y + b.height / 2); await page.mouse.down(); + try { await page.waitForFunction((initial) => JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[3] > initial + 2, beforeJog.joints[3]); } finally { await page.mouse.up(); } + await page.waitForFunction(() => document.querySelector('.command-status')?.textContent?.includes('JOG_STOP acknowledged')); + await page.waitForFunction(() => { const e = document.querySelector('.xyzac-machine-view'); return e.dataset.xyzacTick === e.dataset.xyzacRenderedTick; }); + const afterJog = await snapshot(); assert.ok(afterJog.joints.slice(0, 3).some((v, i) => Math.abs(v - beforeJog.joints[i]) > 1e-5)); + const tcpError = await page.evaluate(async ({ id, edits, beforeJog, afterJog, gantry }) => { + const api = await import('/src/imported-machine.ts'), loader = await import('/workspace/sim-case-loader.mjs'), geometry = await import('/workspace/trt-geometry.mjs'); + const asset = await api.loadImportedMachine(await (await fetch(`/machines/demo-${id}-${gantry ? 'gantry' : 'xyz-head'}.glb`)).arrayBuffer(), id); + const bundle = await loader.loadSimulationCase({ path: `linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyz${id}-trt.ini`, baseUrl: '.' }); + const model = api.buildImportedMachine(api.updateImportedMachineGeometry(asset, geometry.writeTrtGeometry(bundle, edits))); + model.update(beforeJog); const target = model.workOrigin.worldToLocal(model.toolTip.getWorldPosition(model.toolTip.position.clone())); + model.update(afterJog); const tip = model.toolTip.getWorldPosition(target.clone()), point = model.workOrigin.localToWorld(target.clone()); + const error = tip.distanceTo(point), rendered = tip.distanceTo(point.fromArray(afterJog.tip)); + model.dispose(); api.disposeMachineScene(asset.scene); return { error, rendered }; + }, { id, edits, beforeJog, afterJog, gantry }); + assert.ok(tcpError.error < 1e-8 && tcpError.rendered < 1e-8); + await control('geometry-settings').click(); assert.ok(await page.getByLabel('x-rot-point', { exact: true }).isDisabled()); await page.keyboard.press('Escape'); + await control('toolbar-power').click(); await page.waitForFunction(() => !document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + report.machines.push({ id, original, applied, edits, projection, tcpError, model_retained_on_reload_and_ini_import: true }); + } + // Deliberately selecting a different machine still discards an incompatible GLB. + await control('machine-type-select').selectOption({ label: 'XYZAC TRT' }); await settled(); assert.equal((await snapshot()).hash, ''); + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (e) { report.status = 'failed'; report.error = String(e.stack ?? e); await page.screenshot({ path: new URL('failure.png', output).pathname }); throw e; } +finally { report.browser_errors = errors; await writeFile(new URL('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) => ({ id: m.id, pose_samples: m.projection.checks.length, tcpError: m.tcpError })) })); diff --git a/scripts/test_jog_limit_browser.mjs b/scripts/test_jog_limit_browser.mjs new file mode 100644 index 0000000..527a061 --- /dev/null +++ b/scripts/test_jog_limit_browser.mjs @@ -0,0 +1,89 @@ +import assert from 'node:assert/strict'; +import { writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL('../coverage/glb-machine/jog-limits/', import.meta.url); +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 } }); +await page.addInitScript(() => { + window.jogErrors = []; + const OriginalWorker = window.Worker; + window.Worker = class extends OriginalWorker { + constructor(...args) { + super(...args); + this.addEventListener('message', ({ data }) => { + if (data.kind === 'ERROR') window.jogErrors.push({ seq: data.seq, ...data.payload }); + window.jogLastResponse = data; + }); + } + }; +}); +const errors = []; page.on('pageerror', (e) => errors.push(e.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const sample = () => page.locator('.xyzac-machine-view').evaluate((e) => ({ joints: JSON.parse(e.dataset.xyzacJoints), tip: JSON.parse(e.dataset.xyzacToolTip), tick: Number(e.dataset.xyzacTick) })); +const queueEmpty = () => page.waitForFunction(() => window.jogLastResponse?.payload?.wasm_motion?.state?.queue_depth === 0 || window.jogLastResponse?.payload?.panel_snapshot?.wasm_motion?.state?.queue_depth === 0); +async function seed(block, angle) { + await control('tab-mdi').click(); await control('mdi-command').fill(block); await control('mdi-submit').click(); + await page.waitForFunction((angle) => Math.abs(JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[3] - angle) < 1e-7, angle); + await queueEmpty(); await control('tab-manual').click(); +} +async function hold(axis, direction, until) { + await control(`manual-axis-${axis}`).check(); + const box = await control(direction > 0 ? 'manual-jog-positive' : 'manual-jog-negative').boundingBox(); + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); await page.mouse.down(); + try { await until(); } + finally { await page.mouse.up(); } + await page.waitForFunction(() => document.querySelector('.command-status')?.textContent?.includes('JOG_STOP acknowledged')); +} +const report = { report_id: 'jog-limit-browser-v1', status: 'running', machines: [] }; +try { + await page.goto('http://127.0.0.1:5174/'); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); + for (const id of ['ac', 'bc']) { + await control('machine-glb-settings').click(); await control(`machine-glb-${id}`).click(); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); await page.keyboard.press('Escape'); + await control('toolbar-power').click(); await control('manual-home-all').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + const axis = id[0]; + await seed(`G21 G90 G0 X0 Y0 Z30 ${axis.toUpperCase()}49 C20`, 49); + await hold(axis, 1, async () => { + await page.waitForFunction(() => Math.abs(JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[3] - 50) < 1e-7); + await queueEmpty(); + }); + const atLimit = await sample(); assert.ok(atLimit.joints[3] <= 50 + 1e-8); + await hold(axis, -1, () => page.waitForFunction(() => JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[3] < 49)); + const retreat = await sample(); assert.ok(retreat.joints[3] < atLimit.joints[3]); + await seed(`G90 G0 X190 Y0 Z30 ${axis.toUpperCase()}0 C0`, 0); + await control('switchkins-1').click(); + const count = await page.evaluate(() => window.jogErrors.length); + await hold('c', 1, () => page.waitForFunction((count) => window.jogErrors.length > count, count)); + const fault = await page.evaluate((count) => window.jogErrors[count], count); + assert.equal(fault.code, 'motion_limit'); assert.equal(fault.reason, 'motion_joint_limit'); + await queueEmpty(); const stopped = await sample(); + assert.ok(stopped.joints[1] <= 100 + 1e-7); + await page.waitForTimeout(150); assert.deepEqual((await sample()).joints, stopped.joints); + await hold('c', -1, () => page.waitForFunction((c) => JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[4] < c - 1, stopped.joints[4])); + const resumed = await sample(); assert.ok(resumed.joints[4] < stopped.joints[4]); + for (let i = 0; i < 4; i++) { + const before = await sample(), dir = i % 2 ? -1 : 1; + await hold('c', dir, () => page.waitForFunction(({ c, dir }) => (JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[4] - c) * dir > .2, { c: before.joints[4], dir })); + } + assert.doesNotMatch(await page.locator('.axis-window-header').innerText(), /ERROR/); + const pixels = await page.locator('.xyzac-machine-view canvas').evaluate((canvas) => { + const gl = canvas.getContext('webgl2'), bytes = new Uint8Array(canvas.width * canvas.height * 4), colors = new Set(); + gl.readPixels(0, 0, canvas.width, canvas.height, gl.RGBA, gl.UNSIGNED_BYTE, bytes); + for (let i = 0; i < bytes.length; i += 32) colors.add(`${bytes[i]},${bytes[i + 1]},${bytes[i + 2]}`); + return colors.size; + }); + assert.ok(pixels > 100); assert.notDeepEqual(resumed.tip, stopped.tip); + await page.screenshot({ path: new URL(`${id}-recovered.png`, output).pathname }); + await control('toolbar-power').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + report.machines.push({ id, atLimit, retreat, stopped, resumed, fault: { code: fault.code, reason: fault.reason }, pixels }); + } + const faults = await page.evaluate(() => window.jogErrors.map((e) => ({ code: e.code, reason: e.reason }))); + assert.ok(faults.every((e) => e.code === 'motion_limit'), JSON.stringify(faults)); + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (e) { report.status = 'failed'; report.error = String(e.stack ?? e); await page.screenshot({ path: new URL('failure.png', output).pathname }); throw e; } +finally { report.page_errors = errors; await writeFile(new URL('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) => m.id) })); diff --git a/scripts/test_machine_dialog_browser.mjs b/scripts/test_machine_dialog_browser.mjs new file mode 100644 index 0000000..2857aae --- /dev/null +++ b/scripts/test_machine_dialog_browser.mjs @@ -0,0 +1,91 @@ +import assert from 'node:assert/strict'; +import { mkdir, writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL('../coverage/glb-machine/dialogs/', 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: 900 } }); +const errors = []; page.on('pageerror', (e) => errors.push(e.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const settled = () => page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); +const report = { report_id: 'machine-dialog-browser-v1', status: 'running', layouts: [], dialogs: [] }; +const bounds = (selector) => page.locator(selector).boundingBox(); +async function drag(dialog, dx, dy) { + const title = await page.locator(`${dialog} .machine-dialog-titlebar strong`).boundingBox(); + await page.mouse.move(title.x + 15, title.y + title.height / 2); await page.mouse.down(); + await page.mouse.move(title.x + 15 + dx, title.y + title.height / 2 + dy, { steps: 8 }); await page.mouse.up(); +} +async function within(selector) { + const b = await bounds(selector); const viewport = page.viewportSize(); + assert.ok(b.x >= 7 && b.y >= 7 && b.x + b.width <= viewport.width - 7 && b.y + b.height <= viewport.height - 7, JSON.stringify({ b, viewport })); + return b; +} +try { + await page.goto('http://127.0.0.1:5174/'); await settled(); + assert.equal(await page.locator('dialog[open]').count(), 0); + await control('machine-glb-settings').click(); + await control('machine-glb-bc').click(); await settled(); + assert.ok(await page.locator('.xyzac-machine-view').getAttribute('data-machine-glb')); + await page.keyboard.press('Escape'); + assert.equal(await page.locator('dialog[open]').count(), 0); + assert.equal(await control('machine-glb-settings').evaluate((e) => e === document.activeElement), true); + for (const [button, selector] of [['machine-glb-settings', '.model-dialog'], ['geometry-settings', '.geometry-dialog']]) { + const canvasBefore = await bounds('.xyzac-machine-view canvas'); + await control(button).click(); + const before = await within(selector); + await drag(selector, 110, 60); const after = await within(selector); + assert.ok(Math.abs(after.x - before.x - 110) < 2 && Math.abs(after.y - before.y - 60) < 2); + assert.deepEqual(await bounds('.xyzac-machine-view canvas'), canvasBefore); + await page.keyboard.press('F2'); + assert.equal(await control('machine-glb-import').isDisabled(), false, 'dialog key must not power on the machine'); + for (let i = 0; i < 12; i++) { await page.keyboard.press('Tab'); assert.ok(await page.locator(selector).evaluate((e) => e.contains(document.activeElement))); } + await drag(selector, -2000, -2000); await within(selector); + await drag(selector, 4000, 4000); await within(selector); + await page.screenshot({ path: new URL(`${button}-dragged.png`, output).pathname }); + await page.keyboard.press('Escape'); assert.equal(await page.locator('dialog[open]').count(), 0); + assert.equal(await control(button).evaluate((e) => e === document.activeElement), true); + report.dialogs.push({ button, before, after, focus_contained: true, keyboard_ignored: true, edge_clamped: true }); + } + await control('geometry-settings').click(); await page.getByLabel('x-rot-point', { exact: true }).fill('31'); + await page.keyboard.press('Escape'); await control('geometry-settings').click(); + assert.equal(await page.getByLabel('x-rot-point', { exact: true }).inputValue(), '31'); + await page.keyboard.press('Escape'); + await control('toolbar-power').click(); + await page.waitForFunction(() => document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + await control('geometry-settings').click(); assert.ok(await page.getByLabel('x-rot-point', { exact: true }).isDisabled()); await page.keyboard.press('Escape'); + await control('toolbar-power').click(); + for (const [width, height] of [[2048, 859], [1440, 900], [390, 844]]) { + await page.setViewportSize({ width, height }); + await page.locator('.xyzac-machine-view').scrollIntoViewIfNeeded(); + await page.waitForTimeout(150); + const machine = await bounds('.xyzac-machine-view'), path = await bounds('.axis-preview-toolpath'), pane = await bounds('.axis-preview-machine'); + assert.ok(machine.height >= 250, JSON.stringify(machine)); + assert.ok(machine.height / pane.height > .85, JSON.stringify({ machine, pane })); + if (width > 900) assert.ok(path.height - machine.height < 50, JSON.stringify({ machine, path })); + await page.locator('.axis-preview-machine').screenshot({ path: new URL(`preview-${width}.png`, output).pathname }); + await control('geometry-settings').click(); await within('.geometry-dialog'); + await page.screenshot({ path: new URL(`parameters-${width}.png`, output).pathname }); + const fields = await page.locator('.geometry-dialog input:not([hidden])').evaluateAll((nodes) => nodes.map((e) => { const r = e.getBoundingClientRect(); return { x: r.x, right: r.right }; })); + assert.ok(fields.every((r) => r.x >= 0 && r.right <= width)); + await page.keyboard.press('Escape'); + await control('machine-glb-settings').click(); await within('.model-dialog'); + if (width === 390) { + const cdp = await page.context().newCDPSession(page); + const b = await bounds('.model-dialog .machine-dialog-titlebar strong'); + const before = await bounds('.model-dialog'); + await cdp.send('Input.dispatchTouchEvent', { type: 'touchStart', touchPoints: [{ x: b.x + 10, y: b.y + 8 }] }); + await cdp.send('Input.dispatchTouchEvent', { type: 'touchMove', touchPoints: [{ x: b.x + 10, y: b.y + 58 }] }); + await cdp.send('Input.dispatchTouchEvent', { type: 'touchEnd', touchPoints: [] }); + const after = await within('.model-dialog'); assert.ok(after.y - before.y > 30); + report.touch_drag = { before, after }; + } + await page.keyboard.press('Escape'); + report.layouts.push({ width, height, machine, path, pane }); + } + await page.setViewportSize({ width: 1440, height: 900 }); await control('geometry-settings').click(); await drag('.geometry-dialog', 150, 160); + await page.setViewportSize({ width: 390, height: 500 }); await page.waitForTimeout(150); await within('.geometry-dialog'); + await page.keyboard.press('Escape'); + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (e) { report.status = 'failed'; report.error = String(e.stack ?? e); await page.screenshot({ path: new URL('failure.png', output).pathname }); throw e; } +finally { report.browser_errors = errors; await writeFile(new URL('dialog.report.json', output), JSON.stringify(report, null, 2) + '\n'); await browser.close(); } +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, layouts: report.layouts.map(({ width, machine }) => ({ width, canvas_height: machine.height })) })); diff --git a/scripts/test_machine_manager_browser.mjs b/scripts/test_machine_manager_browser.mjs new file mode 100644 index 0000000..cafe710 --- /dev/null +++ b/scripts/test_machine_manager_browser.mjs @@ -0,0 +1,98 @@ +import assert from "node:assert/strict"; +import { pathToFileURL } from "node:url"; +import { mkdir, writeFile } from "node:fs/promises"; +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 partGlb = async (index) => { + const scene = new THREE.Scene(); scene.name = `part_${index}`; + const mesh = new THREE.Mesh(new THREE.BoxGeometry(.08 + index * .004, .06, .05), new THREE.MeshStandardMaterial({ color: new THREE.Color().setHSL(index / 8, .55, .5) })); mesh.name = `mesh_${index}`; scene.add(mesh); + const bytes = await new GLTFExporter().parseAsync(scene, { binary: true, trs: true, onlyVisible: false }); mesh.geometry.dispose(); mesh.material.dispose(); return Buffer.from(bytes); +}; +const fixtures = await Promise.all(Array.from({ length: 8 }, async (_, index) => ({ name: `${String(index + 1).padStart(2, "0")}-part.glb`, mimeType: "model/gltf-binary", buffer: await partGlb(index) }))); +const modulePath = process.env.PLAYWRIGHT_MODULE; +if (!modulePath) { console.log(JSON.stringify({ schema: "machine-manager-browser.v1", status: "blocked", code: "playwright_unavailable" })); process.exit(0); } +const imported = await import(pathToFileURL(modulePath).href); const playwright = imported.default ?? imported; +const output = new URL("../coverage/glb-machine-manager/", import.meta.url); await mkdir(output, { recursive: true }); +const browser = await playwright.chromium.launch({ headless: true, executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", args: ["--no-sandbox", "--use-angle=swiftshader", "--enable-unsafe-swiftshader"] }); +const page = await browser.newPage({ viewport: { width: 1600, height: 1050 } }); const errors = []; +page.on("pageerror", (error) => errors.push(`pageerror:${error.message}`)); page.on("console", (message) => { if (message.type() === "error") errors.push(`console:${message.text()}`); }); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); const main = page.locator("main.axis-app"); +const production = process.env.MACHINE_MANAGER_SOURCE_MODULES === "0"; +const report = { schema: "machine-manager-browser.v1", report_id: production ? "GLB-MGR-E02" : "GLB-MGR-E01", mode: production ? "production-preview" : "development-source", status: "running", checks: [] }; +try { + await page.goto(process.env.MACHINE_MANAGER_URL ?? "http://127.0.0.1:5174/", { waitUntil: "domcontentloaded", timeout: 30000 }); + await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false" && document.querySelector("main.axis-app")?.dataset.axisStateSource === "linuxcnc-wasm", null, { timeout: 45000 }); + await control("machine-manager-settings").click(); assert.equal(await page.locator(".machine-manager-dialog[open]").count(), 1); assert.equal(await page.locator("[data-machine-manager-preview] canvas").count(), 1); + await control("machine-manager-files").setInputFiles(fixtures); + await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "8"); + assert.equal(await page.locator(".machine-part-list > div").count(), 8); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "8"); + report.checks.push("eight GLB parts imported and rendered in the Three.js editor"); + + await control("machine-manager-show-origin").uncheck(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-origin-count"), "7"); + const translation = page.locator("fieldset.machine-vector").filter({ hasText: "部件平移" }); await translation.getByLabel("X", { exact: true }).fill("10"); + const rotation = page.locator("fieldset.machine-vector").filter({ hasText: "部件旋转" }); await rotation.getByLabel("Z", { exact: true }).fill("15"); + await control("machine-manager-rotate").click(); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-transform-mode"), "rotate"); + await page.locator(".machine-manager-dialog").screenshot({ path: new URL("manager-ac-config.png", output).pathname }); + report.checks.push("origin visibility, numeric translation/rotation and TransformControls mode update"); + + const calibrations = page.locator(".machine-manager-calibration fieldset.machine-vector"); + const cOrigin = calibrations.filter({ hasText: "C 轴原点" }); await cOrigin.getByLabel("X", { exact: true }).fill("24"); await cOrigin.getByLabel("Y", { exact: true }).fill("-12"); await cOrigin.getByLabel("Z", { exact: true }).fill("8"); + const offset = calibrations.filter({ hasText: "A 到 C 轴偏置" }); await offset.getByLabel("X", { exact: true }).fill("0"); await offset.getByLabel("Y", { exact: true }).fill("18"); await offset.getByLabel("Z", { exact: true }).fill("-45"); + const zeros = page.locator("fieldset.machine-zero"); await zeros.getByLabel("X", { exact: true }).fill("5"); await zeros.getByLabel("A", { exact: true }).fill("10"); await zeros.getByLabel("C", { exact: true }).fill("20"); + assert.equal(await control("machine-manager-export").isDisabled(), false); const downloadPromise = page.waitForEvent("download"); await control("machine-manager-export").click(); const download = await downloadPromise; assert.equal(download.suggestedFilename(), "managed-xyzac.glb"); + report.checks.push("validated assembly exports a self-contained managed GLB"); + assert.equal(await control("machine-manager-apply").isDisabled(), false); await control("machine-manager-apply").click(); + await page.waitForFunction(() => document.querySelector(".xyzac-machine-view")?.dataset.machineManagerSchema === "linuxcnc.machine-manager/1" && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", null, { timeout: 45000 }); + const geometry = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-machine-manager-geometry")); + assert.deepEqual(geometry.cOriginMm, [24, -12, 8]); assert.deepEqual(geometry.tiltOffsetMm, [0, 18, -45]); assert.equal(geometry.physicalZero.x, 5); assert.equal(geometry.physicalZero.a, 10); assert.equal(geometry.physicalZero.c, 20); assert.equal(geometry.parts.length, 8); assert.equal(geometry.parts[0].translationMm[0], 10); + assert.match(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-model-source-path"), /^managed-xyzac\.glb$/); + report.checks.push("validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData"); + + 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/); + 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"); + const bcOffset = bcCalibrations.filter({ hasText: "B 到 C 轴偏置" }); await bcOffset.getByLabel("X", { exact: true }).fill("22"); await bcOffset.getByLabel("Y", { exact: true }).fill("0"); await bcOffset.getByLabel("Z", { exact: true }).fill("-40"); + const bcZeros = page.locator("fieldset.machine-zero"); await bcZeros.getByLabel("B", { exact: true }).fill("12"); await bcZeros.getByLabel("C", { exact: true }).fill("5"); await control("machine-manager-apply").click(); + await page.waitForFunction(() => { const view = document.querySelector(".xyzac-machine-view"); if (view?.dataset.machineManagerSchema !== "linuxcnc.machine-manager/1") return false; try { return JSON.parse(view.dataset.machineManagerGeometry).coordinates === "XYZBC" && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false"; } catch { return false; } }, null, { timeout: 45000 }); + const bcGeometry = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-machine-manager-geometry")); assert.deepEqual(bcGeometry.cOriginMm, [-18, 14, 12]); assert.deepEqual(bcGeometry.tiltOffsetMm, [22, 0, -40]); assert.equal(bcGeometry.physicalZero.b, 12); + report.checks.push("same component assembly switches to BC hierarchy and applies BC geometry"); + + await page.keyboard.press("Escape"); await control("toolbar-power").click(); await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisStateMachine === "ON"); await control("manual-home-all").click(); + await page.waitForFunction(() => document.querySelector("main.axis-app")?.dataset.axisHomed === "[true,true,true,true,true]", null, { timeout: 45000 }); await control("toolbar-run").click(); + await page.waitForFunction(() => { const main = document.querySelector("main.axis-app"); const joints = JSON.parse(document.querySelector(".xyzac-machine-view")?.dataset.xyzacJoints || "[0,0,0,0,0]"); return Number(main?.dataset.axisCurrentLine || 0) > 0 && joints.some((value) => Math.abs(value) > 1e-6); }, null, { timeout: 45000 }); + const runningJoints = JSON.parse(await page.locator(".xyzac-machine-view").getAttribute("data-xyzac-joints")); assert.equal(runningJoints.length, 5); await page.locator(".axis-preview-machine").screenshot({ path: new URL("managed-bc-running.png", output).pathname }); await control("toolbar-stop").click(); + report.checks.push("BC five-axis program drives managed model from authoritative WASM joints"); + + if (!production) { + const projection = await page.evaluate(async () => { + const manager = await import("/src/machine-manager.ts"); const importedMachine = await import("/src/imported-machine.ts"); + const sources = await Promise.all(Array.from({ length: 8 }, async (_, index) => manager.loadMachinePart(await (await fetch("/machines/demo-ac-xyz-head.glb")).arrayBuffer(), `source-${index}.glb`))); + const roles = manager.MACHINE_PART_ROLES; const drafts = sources.map((source, index) => { const role = roles[index]; const parentRole = manager.expectedParentRole(role); return { ...source, role, parentId: parentRole ? sources[roles.indexOf(parentRole)].id : null, visible: true, showOrigin: true, originMm: [0, 0, 0], translationMm: [0, 0, 0], rotationDeg: [0, 0, 0] }; }); + const run = async (coordinates, cOriginMm, tiltOffsetMm, physicalZero, joints) => { + const asset = await manager.buildManagedMachine({ coordinates, parts: drafts, cOriginMm, tiltOffsetMm, physicalZero }); const built = importedMachine.buildImportedMachine(asset); + built.update({ joints, offsets: { x_rot_point: cOriginMm[0], y_rot_point: cOriginMm[1], z_rot_point: cOriginMm[2], x_offset: tiltOffsetMm[0], y_offset: tiltOffsetMm[1], z_offset: tiltOffsetMm[2], tool_offset: 0 } }); + const link = (name) => { let found = null; built.machine.traverse((node) => { if (!found && node.userData.link === name) found = node; }); return found; }; + const result = { xMetres: link("x").position.x, tiltQuaternion: link("tilt").quaternion.toArray(), cQuaternion: link("c").quaternion.toArray(), baseData: link("base").userData.linuxcncMachineGeometry }; + built.dispose(); importedMachine.disposeMachineScene(asset.scene); return result; + }; + let invalid = ""; try { manager.validateMachineAssembly("XYZAC", drafts.map((part, index) => index === 1 ? { ...part, parentId: null } : part)); } catch (error) { invalid = error.message; } + const ac = await run("XYZAC", [24, -12, 8], [0, 18, -45], { x: 5, y: 0, z: 0, a: 10, b: 0, c: 20 }, [15, 0, 0, 30, 50]); + const bc = await run("XYZBC", [-18, 14, 12], [22, 0, -40], { x: 2, y: 0, z: 0, a: 0, b: 12, c: 5 }, [7, 0, 0, 32, 35]); + sources.forEach((source) => importedMachine.disposeMachineScene(source.scene)); return { ac, bc, invalid }; + }); + const angle = (quaternion) => 2 * Math.acos(Math.min(1, Math.abs(quaternion[3]))); + assert.ok(Math.abs(projection.ac.xMetres - .01) < 1e-9); assert.ok(Math.abs(angle(projection.ac.tiltQuaternion) - 20 * Math.PI / 180) < 1e-9); assert.ok(Math.abs(angle(projection.ac.cQuaternion) - 30 * Math.PI / 180) < 1e-9); assert.deepEqual(projection.ac.baseData.cOriginMm, [24, -12, 8]); + assert.ok(Math.abs(projection.bc.xMetres - .005) < 1e-9); assert.ok(Math.abs(angle(projection.bc.tiltQuaternion) - 20 * Math.PI / 180) < 1e-9); assert.ok(Math.abs(angle(projection.bc.cQuaternion) - 30 * Math.PI / 180) < 1e-9); assert.deepEqual(projection.bc.baseData.tiltOffsetMm, [22, 0, -40]); assert.match(projection.invalid, /必须挂到/); + report.checks.push("AC/BC WASM joint projection subtracts physical zero, preserves userData and rejects invalid hierarchy"); + } else report.checks.push("production bundle exercised through AC/BC UI apply and WASM program motion"); + assert.deepEqual(errors, []); report.status = "verified"; +} catch (error) { report.status = "failed"; report.error = error instanceof Error ? error.stack : String(error); await page.screenshot({ path: "/tmp/machine-manager-failure.png", fullPage: true }); throw error; } +finally { report.browser_errors = errors; report.final = await main.evaluate((element) => ({ program: element.dataset.axisProgramStatus, machine: element.dataset.axisStateMachine, path: element.dataset.axisProgramPath })).catch(() => null); await writeFile(new URL(production ? "browser-production.report.json" : "browser.report.json", output), JSON.stringify(report, null, 2) + "\n"); await browser.close(); } +console.log(JSON.stringify(report)); diff --git a/scripts/test_rtcp_program_library_browser.mjs b/scripts/test_rtcp_program_library_browser.mjs new file mode 100644 index 0000000..e0b514e --- /dev/null +++ b/scripts/test_rtcp_program_library_browser.mjs @@ -0,0 +1,101 @@ +import assert from "node:assert/strict"; +import { pathToFileURL } from "node:url"; + +const modulePath = process.env.PLAYWRIGHT_MODULE; +if (!modulePath) { + console.log(JSON.stringify({ schema: "rtcp-program-library-browser.v1", status: "blocked", code: "playwright_unavailable" })); + process.exit(0); +} +const imported = await import(pathToFileURL(modulePath).href); +const playwright = imported.default ?? imported; +const browser = await playwright.chromium.launch({ headless: true, executablePath: process.env.BROWSER_EXECUTABLE_PATH ?? "/usr/bin/google-chrome", 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(`pageerror:${error.message}`)); +page.on("console", (message) => { if (message.type() === "error") errors.push(`console:${message.text()}`); }); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const main = page.locator("main.axis-app"); +const waitReady = () => page.waitForFunction(() => { + const element = document.querySelector("main.axis-app"); + return element?.dataset.axisStateSource === "linuxcnc-wasm" && element?.dataset.axisProgramLoading === "false"; +}, null, { timeout: 45000 }); +const waitPath = (path) => page.waitForFunction((expected) => { + const element = document.querySelector("main.axis-app"); + return element?.dataset.axisProgramLoading === "false" && element?.dataset.axisProgramPath === expected && element?.dataset.axisProgramStatus === "loaded"; +}, path, { timeout: 45000 }); + +const report = { schema: "rtcp-program-library-browser.v1", status: "running", checks: [] }; +try { + await page.goto(process.env.RTCP_LIBRARY_URL ?? "http://127.0.0.1:5174/", { waitUntil: "domcontentloaded", timeout: 30000 }); + await waitReady(); + assert.match(await control("workspace-rtcp-programs").textContent(), /AC（XYZAC） RTCP 程序 \(15\)/); + await control("workspace-rtcp-programs").click(); + assert.equal(await control("rtcp-program-scope").inputValue(), "machine"); + assert.equal(await control("rtcp-program-select").locator("option").count(), 15); + assert.deepEqual(await control("rtcp-program-select").locator("optgroup").evaluateAll((nodes) => nodes.map((node) => ({ label: node.label, count: node.querySelectorAll("option").length }))), [ + { label: "TRT 旋转倾斜台 XYZAC/XYZBC (12)", count: 12 }, + { label: "gmoccapy TRT 示例 (3)", count: 3 }, + ]); + report.checks.push("AC machine defaults to 15 XYZAC/common programs"); + + await control("rtcp-program-scope").selectOption("all"); + assert.equal(await control("rtcp-program-select").locator("option").count(), 32); + assert.deepEqual(await control("rtcp-program-select").locator("optgroup").evaluateAll((nodes) => nodes.map((node) => ({ label: node.label, count: node.querySelectorAll("option").length }))), [ + { label: "TRT 旋转倾斜台 XYZAC/XYZBC (16)", count: 16 }, + { label: "gmoccapy TRT 示例 (5)", count: 5 }, + { label: "XYZAB 双旋转台 (3)", count: 3 }, + { label: "Bridge Mill / 5axiskins (4)", count: 4 }, + { label: "Hexapod genhexkins RTCP (3)", count: 3 }, + { label: "独立五轴动态刀长示例 (1)", count: 1 }, + ]); + report.checks.push("all-source scope retains 32 programs and 6 source groups"); + + await control("rtcp-program-select").selectOption("trt-remap-m428"); + assert.equal(await control("rtcp-program-load").isDisabled(), true); + await control("rtcp-program-source").click(); + await page.waitForFunction(() => document.querySelector(".rtcp-program-source")?.value.includes("motion.switchkins-type")); + report.checks.push("support remap is source-readable and execution-disabled"); + + await control("rtcp-program-select").selectOption("xyzab-tdr-demo"); + assert.equal(await control("rtcp-program-load").isDisabled(), true); + assert.match(await page.locator(".rtcp-incompatible").textContent(), /需要 XYZAB/); + report.checks.push("mismatched XYZAB program is visible and execution-disabled"); + + const xyzacPath = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc"; + await control("rtcp-program-select").selectOption("trt-xyzac-switchkins-test-3"); + assert.equal(await control("rtcp-program-load").isDisabled(), false); + await control("rtcp-program-load").click(); + await waitPath(xyzacPath); + assert.match(await main.getAttribute("data-axis-program-source-hash"), /^fnv1a64:/); + assert.ok(Number(await page.locator(".xyzac-tool-preview").getAttribute("data-xyzac-toolpath-count")) > 0); + report.checks.push("XYZAC switchkins test loaded through WASM with canonical source hash and preview"); + + 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((expected) => document.querySelector('[data-axis-control="workspace-case-select"]')?.value === expected && document.querySelector("main.axis-app")?.dataset.axisProgramLoading === "false", xyzbcCase, { timeout: 45000 }); + assert.match(await control("workspace-rtcp-programs").textContent(), /BC（XYZBC） RTCP 程序 \(9\)/); + await control("workspace-rtcp-programs").click(); + assert.equal(await control("rtcp-program-scope").inputValue(), "machine"); + assert.equal(await control("rtcp-program-select").locator("option").count(), 9); + const xyzbcPath = "linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc"; + await control("rtcp-program-select").selectOption("gmoccapy-boat-xyzbc"); + assert.equal(await control("rtcp-program-load").isDisabled(), false); + await control("rtcp-program-load").click(); + await waitPath(xyzbcPath); + assert.ok(Number(await page.locator(".xyzac-tool-preview").getAttribute("data-xyzac-toolpath-count")) > 0); + report.checks.push("BC machine defaults to 9 XYZBC/common programs and loads gmoccapy XYZBC through WASM"); + + assert.deepEqual(errors, []); + report.status = "verified"; +} catch (error) { + report.status = "failed"; + report.error = error instanceof Error ? error.stack : String(error); + await page.screenshot({ path: "/tmp/rtcp-program-library-failure.png", fullPage: true }); + throw error; +} finally { + report.browser_errors = errors; + report.final = await main.evaluate((element) => ({ coordinates: element.querySelector('[data-axis-control="workspace-case-select"]')?.value, program_path: element.dataset.axisProgramPath, program_status: element.dataset.axisProgramStatus, source_hash: element.dataset.axisProgramSourceHash })).catch(() => null); + await browser.close(); +} +console.log(JSON.stringify(report)); diff --git a/scripts/test_trt_parametric_browser.mjs b/scripts/test_trt_parametric_browser.mjs index 007df55..382c63c 100644 --- a/scripts/test_trt_parametric_browser.mjs +++ b/scripts/test_trt_parametric_browser.mjs @@ -3,7 +3,7 @@ import { mkdir, readFile, writeFile } from "node:fs/promises"; import { pathToFileURL } from "node:url"; const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); -const output = new URL("../coverage/trt-parametric/", import.meta.url); +const output = process.env.TRT_EVIDENCE_DIR ? pathToFileURL(`${process.env.TRT_EVIDENCE_DIR.replace(/\/$/, "")}/`) : 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 } }); @@ -13,6 +13,12 @@ page.on("pageerror", (error) => errors.push(error.message)); const control = (id) => page.locator(`[data-axis-control="${id}"]`); const machine = page.locator(".xyzac-machine-view"); const panel = page.locator(".trt-geometry"); +const openGeometry = async () => { + if (!(await page.locator(".geometry-dialog[open]").count())) await control("geometry-settings").click(); +}; +const closeGeometry = async () => { + if (await page.locator(".geometry-dialog[open]").count()) await page.locator(".geometry-dialog [aria-label=\"关闭机床几何参数\"]").click(); +}; const settled = async () => { await page.waitForFunction(() => document.querySelector("main")?.dataset.axisProgramLoading === "false" && document.querySelector(".trt-geometry")?.getAttribute("aria-busy") === "false"); await page.waitForTimeout(350); @@ -30,6 +36,7 @@ try { for (const [id, unsupported] of [["xyzac-trt", "x-offset"], ["xyzbc-trt", "y-offset"]]) { if (id === "xyzbc-trt") { await control("machine-type-select").selectOption({ label: "XYZBC TRT" }); await settled(); } assert.equal(await machine.getAttribute("data-xyzac-model-id"), id); + await openGeometry(); assert.equal(await panel.getByLabel(unsupported, { exact: true }).isDisabled(), true); const beforePath = await page.locator("main").getAttribute("data-axis-program-path"); const original = JSON.parse(await machine.getAttribute("data-xyzac-offsets")); @@ -38,11 +45,13 @@ try { await panel.getByLabel("y-rot-point", { exact: true }).fill("-12"); await panel.getByLabel("z-rot-point", { exact: true }).fill("8"); await control("geometry-apply").click(); await settled(); + await closeGeometry(); const offsets = JSON.parse(await machine.getAttribute("data-xyzac-offsets")); assert.equal(offsets.x_rot_point, 24); assert.equal(offsets.y_rot_point, -12); assert.equal(offsets.z_rot_point, 8); assert.equal(await page.locator("main").getAttribute("data-axis-program-path"), beforePath); assert.notEqual((await pixels()).hash, before.hash); await machine.screenshot({ path: new URL(`${id}-model.png`, output).pathname }); + await openGeometry(); const downloading = page.waitForEvent("download"); await control("geometry-save").click(); const download = await downloading; assert.equal(download.suggestedFilename(), `${id}.ini`); @@ -50,11 +59,13 @@ try { assert.match(exported, /x-rot-point\s+24/); assert.match(exported, /LIB:basic_sim.tcl/); assert.doesNotMatch(exported, /HALFILE = .*_cmds.hal/); await control("geometry-reload").click(); await settled(); + await openGeometry(); assert.deepEqual(JSON.parse(await machine.getAttribute("data-xyzac-offsets")), original); await panel.locator('input[type="file"]').setInputFiles({ name: `${id}.ini`, mimeType: "text/plain", buffer: Buffer.from(exported) }); await page.waitForFunction(() => document.querySelector('.trt-geometry input[aria-label="x-rot-point"]')?.value === "24"); await control("geometry-apply").click(); await settled(); assert.equal(JSON.parse(await machine.getAttribute("data-xyzac-offsets")).x_rot_point, 24); + await closeGeometry(); await control("toolbar-power").click(); await page.waitForFunction(() => document.querySelector('.trt-geometry input[aria-label="x-rot-point"]')?.disabled === true); assert.equal(await panel.getByLabel("x-rot-point", { exact: true }).isDisabled(), true); @@ -66,11 +77,13 @@ try { for (const [width, height] of [[1440, 1000], [390, 844]]) { await page.setViewportSize({ width, height }); await panel.scrollIntoViewIfNeeded(); await page.waitForTimeout(400); const canvas = await pixels(); assert.ok(canvas.colors > 100 && canvas.width > 100 && canvas.height >= 220); - const boxes = await panel.locator("label, input:not([hidden]), button").evaluateAll((elements) => elements.map((element) => { + await openGeometry(); + const boxes = await page.locator(".geometry-dialog").locator("label, input:not([hidden]), button").evaluateAll((elements) => elements.map((element) => { const r = element.getBoundingClientRect(); return { x: r.x, right: r.right, width: r.width }; })); assert.ok(boxes.every((r) => r.width > 0 && r.x >= 0 && r.right <= width), JSON.stringify(boxes)); assert.ok(await page.evaluate(() => document.documentElement.scrollWidth <= window.innerWidth)); + await closeGeometry(); const before = await pixels(); await control("machine-rotateLeft").click(); await page.waitForTimeout(400); assert.notEqual((await pixels()).hash, before.hash); diff --git a/scripts/test_trt_rtcp_jog_browser.mjs b/scripts/test_trt_rtcp_jog_browser.mjs index 453f41d..e9c7f68 100644 --- a/scripts/test_trt_rtcp_jog_browser.mjs +++ b/scripts/test_trt_rtcp_jog_browser.mjs @@ -4,7 +4,7 @@ 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); +const output = process.env.TRT_EVIDENCE_DIR ? pathToFileURL(`${process.env.TRT_EVIDENCE_DIR.replace(/\/$/, "")}/`) : 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 } }); diff --git a/scripts/test_trt_switch_stationary_browser.mjs b/scripts/test_trt_switch_stationary_browser.mjs new file mode 100644 index 0000000..e906f92 --- /dev/null +++ b/scripts/test_trt_switch_stationary_browser.mjs @@ -0,0 +1,76 @@ +import assert from 'node:assert/strict'; +import { writeFile } from 'node:fs/promises'; +import { pathToFileURL } from 'node:url'; +const { chromium } = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE).href); +const output = new URL('../coverage/glb-machine/switching/', import.meta.url); +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', (e) => errors.push(e.message)); +const control = (id) => page.locator(`[data-axis-control="${id}"]`); +const rendered = () => page.waitForFunction(() => { const e = document.querySelector('.xyzac-machine-view'); return e?.dataset.xyzacTick === e?.dataset.xyzacRenderedTick; }); +const sample = () => page.locator('.xyzac-machine-view').evaluate((e) => ({ joints: JSON.parse(e.dataset.xyzacJoints), tip: JSON.parse(e.dataset.xyzacToolTip), tick: Number(e.dataset.xyzacTick) })); +const close = (a, b, label) => a.forEach((v, i) => assert.ok(Math.abs(v - b[i]) < 1e-8, `${label}[${i}] ${v} != ${b[i]}`)); +async function mdi(block) { + await control('tab-mdi').click(); await control('mdi-command').fill(block); await control('mdi-submit').click(); + await page.waitForFunction(() => document.querySelector('.command-status')?.textContent?.includes('MDI_EXECUTE acknowledged')); +} +const report = { report_id: 'trt-stationary-switch-browser-v1', status: 'running', machines: [] }; +try { + await page.goto('http://127.0.0.1:5174/'); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); + for (const id of ['ac', 'bc']) { + await control('machine-glb-settings').click(); await control(`machine-glb-${id}`).click(); + await page.waitForFunction(() => document.querySelector('main')?.dataset.axisProgramLoading === 'false'); + await page.keyboard.press('Escape'); + await control('toolbar-power').click(); await control('tab-manual').click(); await control('manual-home-all').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + const tilt = id[0].toUpperCase(); + await mdi(`G21 G90 G0 X0 Y0 Z44.5858 ${tilt}4.8675 C179.88`); + await page.waitForFunction(() => Math.abs(JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[4] - 179.88) < 1e-7); + await control('tab-manual').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="switchkins-1"]').disabled); + await rendered(); + const initial = await sample(), rows = []; + await page.locator('.axis-preview-machine').screenshot({ path: new URL(`${id}-identity.png`, output).pathname }); + for (const type of [1, 0, 1, 0, 2, 1, 0]) { + await control(`switchkins-${type}`).click(); + await page.waitForFunction((type) => document.querySelector(`[data-axis-control="switchkins-${type}"]`)?.getAttribute('aria-pressed') === 'true', type); + await rendered(); const after = await sample(); close(after.joints, initial.joints, `${id} button joints`); close(after.tip, initial.tip, `${id} button tip`); + await page.waitForTimeout(100); const idle = await sample(); close(idle.tip, initial.tip, `${id} idle tip`); + rows.push({ type, after }); + if (type === 1) await page.locator('.axis-preview-machine').screenshot({ path: new URL(`${id}-tcp.png`, output).pathname }); + } + for (const type of [1, 0, 1]) { + await mdi(type === 1 ? 'M428' : 'M429'); await rendered(); + const after = await sample(); close(after.joints, initial.joints, `${id} MDI joints`); close(after.tip, initial.tip, `${id} MDI tip`); + rows.push({ mdi: true, type, after }); + } + // A subsequent rotary jog must still produce actual XYZ compensation. + await control('tab-manual').click(); await control(`manual-axis-${id[0]}`).check(); + const beforeJog = await sample(), box = await control('manual-jog-positive').boundingBox(); + await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2); await page.mouse.down(); + try { await page.waitForFunction((angle) => JSON.parse(document.querySelector('.xyzac-machine-view').dataset.xyzacJoints)[3] > angle + 1, beforeJog.joints[3]); } + finally { await page.mouse.up(); } + await page.waitForFunction(() => document.querySelector('.command-status')?.textContent?.includes('JOG_STOP acknowledged')); + await rendered(); const afterJog = await sample(); + assert.ok(afterJog.joints.slice(0, 3).some((v, i) => Math.abs(v - beforeJog.joints[i]) > 1e-5)); + const compensation = await page.evaluate(async ({ id, beforeJog, afterJog }) => { + const api = await import('/src/imported-machine.ts'); + const asset = await api.loadImportedMachine(await (await fetch(`/machines/demo-${id}-xyz-head.glb`)).arrayBuffer(), `${id}.glb`); + const model = api.buildImportedMachine(asset), offsets = { ...asset.structure.offsets, tool_offset: 0 }; + model.update({ ...beforeJog, offsets }); + const target = model.workOrigin.worldToLocal(model.toolTip.getWorldPosition(model.toolTip.position.clone())); + model.update({ ...afterJog, offsets }); + const tip = model.toolTip.getWorldPosition(target.clone()), point = model.workOrigin.localToWorld(target.clone()); + const error = point.distanceTo(tip); model.dispose(); api.disposeMachineScene(asset.scene); return error; + }, { id, beforeJog, afterJog }); + assert.ok(compensation < 1e-8); + await control('switchkins-0').click(); await rendered(); close((await sample()).joints, afterJog.joints, 'switch after jog'); + await control('toolbar-power').click(); + await page.waitForFunction(() => !document.querySelector('[data-axis-control="machine-glb-import"]').disabled); + report.machines.push({ id, initial, rows, afterJog, tcp_jog_error: compensation }); + } + assert.deepEqual(errors, []); report.status = 'verified'; +} catch (error) { report.status = 'failed'; report.error = String(error.stack ?? error); await page.screenshot({ path: new URL('failure.png', output).pathname }); throw error; } +finally { report.browser_errors = errors; await writeFile(new URL('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, switches: report.machines.reduce((n, m) => n + m.rows.length + 1, 0) })); diff --git a/scripts/validate_glb_machines.mjs b/scripts/validate_glb_machines.mjs new file mode 100644 index 0000000..016fc57 --- /dev/null +++ b/scripts/validate_glb_machines.mjs @@ -0,0 +1,18 @@ +import assert from 'node:assert/strict'; +import { readFile, writeFile } from 'node:fs/promises'; +import { createHash } from 'node:crypto'; +import { pathToFileURL } from 'node:url'; +const validator = (await import(process.env.GLTF_VALIDATOR_MODULE ? pathToFileURL(process.env.GLTF_VALIDATOR_MODULE).href : 'gltf-validator')).default; +const root = new URL('../', import.meta.url), output = process.env.GLB_EVIDENCE_DIR ? pathToFileURL(`${process.env.GLB_EVIDENCE_DIR.replace(/\/$/, '')}/`) : new URL('coverage/glb-machine/', root); +const manifest = JSON.parse(await readFile(new URL('web/react/public/machines/manifest.json', root), 'utf8')); +const report = { report_id: 'glb-machine-khronos-validation-v1', validator: validator.version(), status: 'verified', reports: [] }; +for (const machine of manifest.machines) { + const bytes = await readFile(new URL(`web/react/public/machines/${machine.filename}`, root)); + const sha256 = createHash('sha256').update(bytes).digest('hex'); assert.equal(sha256, machine.sha256); + const result = await validator.validateBytes(new Uint8Array(bytes), { uri: machine.filename }); + report.reports.push({ id: machine.id, sha256, ...result }); + if (result.issues.numErrors || result.issues.numWarnings) report.status = 'failed'; +} +await writeFile(new URL('gltf-validation.report.json', output), JSON.stringify(report, null, 2) + '\n'); +assert.equal(report.status, 'verified'); +console.log(JSON.stringify({ report_id: report.report_id, status: report.status, reports: report.reports.map(({ id, issues }) => ({ id, errors: issues.numErrors, warnings: issues.numWarnings })) })); diff --git a/scripts/verify_rtcp_beginner_pdf.py b/scripts/verify_rtcp_beginner_pdf.py new file mode 100644 index 0000000..2c2d575 --- /dev/null +++ b/scripts/verify_rtcp_beginner_pdf.py @@ -0,0 +1,41 @@ +"""Verify A4 page count, CJK text, embedded glyphs, bookmarks and source evidence.""" +import hashlib +import json +import unicodedata +from pathlib import Path +from pypdf import PdfReader + +ROOT=Path(__file__).resolve().parents[1] +OUT=ROOT/'docs/teaching/rtcp-beginners' +pdf=OUT/'五轴RTCP与工件坐标-初学者完整讲义.pdf' +r=PdfReader(pdf) +outline=json.loads((OUT/'outline.json').read_text()) +layout=json.loads((OUT/'verification/layout.json').read_text()) +numeric=json.loads((OUT/'gcode-evidence.json').read_text()) +assert len(r.pages)==len(outline)==72 +assert numeric['status']=='verified' and numeric['executed_program']['status']=='completed' +assert not layout['errors'] and all(not p['violations'] and not p['overflow'] for p in layout['pages']) +pages=[];fonts={} +normalize=lambda s:''.join(unicodedata.normalize('NFKC',s).split()) +for i,page in enumerate(r.pages): + text=page.extract_text();assert len(text)>120,(i,len(text)) + assert normalize(outline[i]['title']) in normalize(text),(i,outline[i]['title']) + assert abs(float(page.mediabox.width)-595.28)<1 and abs(float(page.mediabox.height)-841.89)<1 + assert '\ufffd' not in text + for entry in page['/Resources'].get('/Font',{}).values(): + font=entry.get_object() + for item in font.get('/DescendantFonts',[font]): + value=item.get_object();desc=value.get('/FontDescriptor') + if desc: + desc=desc.get_object();name=str(desc.get('/FontName')) + embedded=bool(value.get('/Subtype')=='/Type3' and value.get('/CharProcs')) or any(k in desc for k in ['/FontFile','/FontFile2','/FontFile3']) + fonts[name]=embedded + pages.append({'page':i+1,'characters':len(text),'title':outline[i]['title']}) +assert fonts and all(fonts.values()) and any('CJK' in k for k in fonts) +def count_bookmarks(items): + return sum(count_bookmarks(item) if isinstance(item,list) else 1 for item in items) +bookmarks=count_bookmarks(r.outline) +assert bookmarks>=72 +report={'report_id':'rtcp-beginners-pdf-v1','status':'verified','page_count':len(r.pages),'pdf':pdf.name,'bytes':pdf.stat().st_size,'sha256':hashlib.sha256(pdf.read_bytes()).hexdigest(),'pages':pages,'embedded_fonts':fonts,'bookmarks':bookmarks,'numeric_report':numeric['report_id'],'executed_program_status':numeric['executed_program']['status'],'wasm_sha256':numeric['wasm_sha256'],'evidence':[{'path':str(p.relative_to(OUT)),'sha256':hashlib.sha256(p.read_bytes()).hexdigest()} for p in [OUT/'handbook.html',OUT/'outline.json',OUT/'gcode-evidence.json',OUT/'verification/layout.json',*sorted((OUT/'assets').iterdir()),*sorted((OUT/'verification').glob('pdf-contact-*.png'))]]} +(OUT/'verification/acceptance.json').write_text(json.dumps(report,ensure_ascii=False,indent=2)+'\n') +print(json.dumps({k:report[k] for k in ['report_id','status','page_count','bytes','bookmarks']},ensure_ascii=False)) diff --git a/scripts/verify_rtcp_teaching_pdf.py b/scripts/verify_rtcp_teaching_pdf.py new file mode 100644 index 0000000..dfcbf11 --- /dev/null +++ b/scripts/verify_rtcp_teaching_pdf.py @@ -0,0 +1,54 @@ +"""Verify the standalone PDF, embedded fonts, text, page dimensions and evidence.""" +import hashlib +import json +import unicodedata +from pathlib import Path +from pypdf import PdfReader + +root = Path(__file__).resolve().parents[1] +output = root / 'docs/teaching/rtcp-five-axis' +pdf = output / '五轴机床与RTCP-教学课件.pdf' +reader = PdfReader(pdf) +outline = json.loads((output / 'outline.json').read_text()) +layout = json.loads((output / 'verification/layout.json').read_text()) +numerics = json.loads((output / 'numeric-evidence.json').read_text()) +assert len(reader.pages) == len(outline) == 31 +assert numerics['status'] == 'verified' and not layout['errors'] +assert all(not p['clipped'] and not p['content_overflow'] for p in layout['pages']) +pages = [] +fonts = {} +for index, page in enumerate(reader.pages): + text = unicodedata.normalize('NFKC', page.extract_text()) + assert len(text) > 100, (index, len(text)) + assert abs(float(page.mediabox.width) / float(page.mediabox.height) - 16/9) < .001 + assert str(index+1).zfill(2) in text + assert '\ufffd' not in text + for font in page['/Resources'].get('/Font', {}).values(): + value = font.get_object() + descendants = value.get('/DescendantFonts', [value]) + for item in descendants: + descriptor = item.get_object().get('/FontDescriptor') + if descriptor: + descriptor = descriptor.get_object() + # Chrome embeds CFF CJK glyphs as Type 3 CharProcs instead of + # a FontFile stream; both forms are self-contained PDF fonts. + type3 = item.get_object().get('/Subtype') == '/Type3' and bool(item.get_object().get('/CharProcs')) + embedded = type3 or any(key in descriptor for key in ['/FontFile', '/FontFile2', '/FontFile3']) + name = str(descriptor.get('/FontName')) + fonts[name] = embedded + pages.append({'page': index+1, 'characters': len(text), 'width_pt': float(page.mediabox.width), 'height_pt': float(page.mediabox.height)}) +assert fonts and all(fonts.values()), fonts +assert any('CJK' in font for font in fonts), fonts +assert len(reader.outline) >= 31 +report = { + 'report_id': 'rtcp-teaching-pdf-v1', 'status': 'verified', 'pages': pages, + 'pdf': pdf.name, 'bytes': pdf.stat().st_size, + 'sha256': hashlib.sha256(pdf.read_bytes()).hexdigest(), + 'bookmarks': len(reader.outline), 'embedded_fonts': fonts, + 'numeric_report_id': numerics['report_id'], 'wasm_sha256': numerics['wasm_sha256'], + 'layout_report': 'verification/layout.json', + 'evidence': [{'path': str(p.relative_to(output)), 'sha256': hashlib.sha256(p.read_bytes()).hexdigest()} + for p in [output/'course.html', output/'numeric-evidence.json', output/'outline.json', output/'verification/layout.json', *sorted((output/'assets').glob('*.png'))]], +} +(output / 'verification/acceptance.json').write_text(json.dumps(report, ensure_ascii=False, indent=2)+'\n') +print(json.dumps({'report_id':report['report_id'], 'status':report['status'], 'pages':len(pages), 'bytes':report['bytes'], 'fonts':len(fonts), 'bookmarks':report['bookmarks']},ensure_ascii=False)) diff --git a/test_Rtcp/MANIFEST.md b/test_Rtcp/MANIFEST.md new file mode 100644 index 0000000..7a09972 --- /dev/null +++ b/test_Rtcp/MANIFEST.md @@ -0,0 +1,70 @@ +# RTCP G-code 文件清单 + +下面的路径均相对于 `test_Rtcp/programs/`。括号中的路径是对应的 LinuxCNC 源码相对路径。 + +## 1. TRT table rotary/tilting 主程序与测试：16 个 + +这些程序对应 `xyzac-trt-kins` 或 `xyzbc-trt-kins`。在 switchkins 配置中，`M428` 选择 TCP 运动学，`M429` 选择 identity 运动学。 + +### 主程序和运动学测试 + +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc` + +### remap 与可调用子程序 + +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc` + +## 2. gmoccapy TRT 示例：5 个 + +该配置直接加载 `xyzac-trt-kins`，所以示例中不一定显式写 `M428`。 + +- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc` +- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc` +- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc` +- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc` +- `configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc` + +## 3. XYZAB table dual rotary：3 个 + +- `configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc` +- `configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc` +- `configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc` + +`xyzab-tdr-demo.ngc` 使用 HAL 运动学变量建立 G54，加载刀长补偿后进入 TCP 模式，并同时改变 A/B 姿态。 + +## 4. XYZBCW Bridge Mill / 5axiskins：4 个 + +- `configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc` +- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc` +- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc` +- `configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc` + +`5axisgui.ngc` 是参数化的球面/钻孔演示，使用 `W` 轴沿刀具方向进给；对应的 `5axiskins` 通过 pivot length 和当前刀长实现 TCP。 + +## 5. Hexapod RTCP 支持 remap：3 个 + +- `configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc` +- `configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc` +- `configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc` + +该目录在当前源码中没有额外的 RTCP 主加工程序，但 `genhexkins.c` 明确说明 `genhexkins.tool-offset` 连接到 `motion.tooloffset.Z` 时实现 RTCP，因此保留其运动学切换 remap 作为支持性 G 代码。 + +## 6. 独立五轴动态刀长示例：1 个 + +- `nc_files/cone.ngc` + +该程序标注为 simulated 5 axis machine，先在旋转轴回零状态下使用 `G43.1` 修改动态刀长，然后执行 B/C 旋转和 W 轴钻削。它没有绑定到当前某个五轴 INI，因此应作为算法参考程序使用。 diff --git a/test_Rtcp/README.md b/test_Rtcp/README.md new file mode 100644 index 0000000..1d3cf38 --- /dev/null +++ b/test_Rtcp/README.md @@ -0,0 +1,60 @@ +# LinuxCNC RTCP G-code collection + +本目录收集了当前仓库 `linuxcnc/` 源码树中与 RTCP/TCP 五轴运动学直接相关的 G 代码程序。 + +源码版本： + +- LinuxCNC 子仓库：`239dcf4`（`git -C linuxcnc log -1 --oneline`） +- 原始文件根目录：`linuxcnc/` +- 复制目录：`test_Rtcp/programs/` +- 文件数量：32 个 `.ngc` +- 复制方式：保留相对于 `linuxcnc/` 的原始路径；已用 `cmp` 检查复制文件与源码文件一致 + +## 目录 + +`programs/` 下的路径去掉了源码根目录前缀。例如： + +```text +programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc +``` + +对应源码： + +```text +linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc +``` + +完整清单见 [`MANIFEST.md`](MANIFEST.md)，分析见 [`rtcp_analysis.md`](rtcp_analysis.md)。 + +## Web 控制面板适配 + +这 32 个文件现已接入 Web AXIS 控制面板的“RTCP 程序库”入口： + +- 程序清单与兼容性元数据：`web/react/src/rtcp-program-manifest.json` +- 程序库界面：`web/react/src/RtcpProgramLibrary.tsx` +- 控制面板按机床配置自动分为 AC（XYZAC）和 BC（XYZBC）：AC 默认显示 15 个相关文件、可直接加载 8 个主程序；BC 默认显示 9 个相关文件、可直接加载 3 个主程序。 +- “全部 32 个源程序”范围保留跨机型查阅能力，但另一类机床程序不会作为当前机型可执行项。 +- remap、O-code 子程序、Hexapod 支持文件及当前未移植机型的主程序可查看和下载，但不会被误当作当前机型的独立主程序执行。 +- 所有可执行项仍通过统一的 `PROGRAM_LOAD` 事务进入 LinuxCNC WASM 解释器、运动学和刀路预览，没有在 React 中增加第二套 G-code 或 RTCP 实现。 + +适配过程中补齐了 LinuxCNC 兼容语义：`G93` 模式下的 `G0` 快移不要求 F 值，`M1` 在当前“可选停止关闭”边界下可被解释器接受。11 个 AC/BC 主程序均通过 WASM 预解析测试。 + +## 运行前提 + +这些程序多数不是脱离配置即可运行的独立 G 代码。RTCP 由 LinuxCNC 的 kinematics 组件执行，G 代码需要匹配的 INI、HAL 和 remap 子程序： + +- TRT 配置：`configs/sim/axis/vismach/5axis/table-rotary-tilting/` +- 双旋转台配置：`configs/sim/axis/vismach/5axis/table-dual-rotary/` +- Bridge Mill 配置：`configs/sim/axis/vismach/5axis/bridgemill/` +- gmoccapy TRT 配置：`configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/` +- Hexapod RTCP remap 配置：`configs/sim/axis/vismach/hexapod-sim/` + +LinuxCNC 这一源码版本没有找到使用标准 `G43.4` 或 `G43.5` 字样的 RTCP 示例。主要实现路径是： + +```text +G-code -> M428/M429 remap 或直接加载非平凡 kinematics + -> inverse kinematics + -> joint XYZ + rotary axes +``` + +`TCP` 在这些示例中表示 Tool Center Point；不要与网络通信中的 TCP 混淆。 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc new file mode 100644 index 0000000..7b2c5a8 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.ngc @@ -0,0 +1,53 @@ + # = 60 ; sphere radius + # = 5 ; safe distance +# = -5 + # = 0 + # = 8 + # = 16 + # = 100 + # = 1000 + +# = 0 +# = 0 +# = [360/#] +# = [90/#] + +g49 +t#m6g43 + +g53 g0 x0y0z#b0c0 w0 +g10l20 p0 x0 y0 z[#+#] b0 c0 w0 +g0 z0 +f# +o100 while [# lt #] + # = [#*#] + # = [[#+#]*[cos[#]]] + # = [#] + # = 0 + # = [-#] + g0 x# y# + m66e0l0 ; force sync + g0 z# + g0b[-90+#] + # = 0 +o200 while [# lt #] +o210 if [[# mod 2] eq 0] + # = [# * #] +o210 else + # = [360 - [1+ #] * #] +o210 endif + # = [#*[cos[#]]] + # = [#*[sin[#]]] + g0 x# y# z# c# + f# + g1 w[ # - #] + g0 w0 + m66e0l0 ;force sync + # = [#+1] +o200 endwhile + # = [#+1] +o100 endwhile + +g0x0y0z0b0c0w0 +g53 g0 x0y0z0 +m2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc new file mode 100644 index 0000000..4ab3aaf --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: select kinstype=0 genhexkins +o<428remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc new file mode 100644 index 0000000..54726d3 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: select kinstype==1 Identity kinematics +o<429remap>sub + # = 1 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc new file mode 100644 index 0000000..7586236 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/bridgemill/remap_subs/430remap.ngc @@ -0,0 +1,24 @@ +;M430 by remap: select kinstype==2 userk kins +o<430remap>sub + # = 2 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M430:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<430remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc new file mode 100644 index 0000000..76b2f4c --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/demos/xyzab-tdr-demo.ngc @@ -0,0 +1,49 @@ +; -- RELOAD GCODE FOR PROPER TOOL-PATH PREVIEW -- +g21 g90 g49 g54 +; switch to identity mode +m429 +; clear g54 +g10 l2 p0 x0 y0 z0 a0 b0 +; go to machine origin +g53 g0 x0 y0 z0 a0 b0 +; set g54 for face center of rotary +g10 l20 p0 x-[#<_hal[xyzab_tdr_kins.x-rot-point]>+#<_hal[xyzab_tdr_kins.x-offset]>] y-#<_hal[xyzab_tdr_kins.x-rot-point]> z-[#<_hal[xyzab_tdr_kins.z-rot-point]>+#<_hal[xyzab_tdr_kins.z-offset]>] a0 b0 +; load a tool +M61 Q2 G43 H2 +; switch to tcp mode +m428 +g0 b30 +; go to face center of rotary a +g0 x0 y0 z0 +; show basic tcp functionality +g0 x30 a180 +g0 x0 a0 +g0 b100 +g0 y-50 +g0 a90 +g0 b120 +g0 y0 +g0 a0 b30 +g0 x1 +; start with square +f1000 +g0 y-30 z-30 +g1 z30 +g1 a45 +g1 y30 +g1 a90 b45 +g1 z-30 +g1 a180 b100 +g1 y30 +g1 a90 b120 +g1 y-30 +g1 a0 b30 +g0 x5 +g1 y-30 z-30 a90 +g1 z30 a45 b60 +g1 y30 a90 b90 +g1 z-30 a135 b120 +g1 y-30 a0 b30 +; go to machine origin +g53 g0 x0 y0 z0 a0 b0 +m2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc new file mode 100644 index 0000000..46e2d01 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst) +o<428remap>sub + # = 1 ; xyzac,xyzbc + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc new file mode 100644 index 0000000..3fa610c --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-dual-rotary/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: kinstype==0 Identity kinematics +o<429remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc new file mode 100644 index 0000000..77eeaea --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc @@ -0,0 +1,1881 @@ +% +M428 ;TCP:xyzac +(!!! 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Y0. A0 C0 +M429 ;Restore Trivkins +M30 +% diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc new file mode 100644 index 0000000..f4b9cc2 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc @@ -0,0 +1,1867 @@ +% +M428 ;TCP:xyzbc +(!!! Touch Off: Table = -8.3 == Z max neg extent !!!) +(BOAT-5X) +( FC HERMLE 5 AXIS XYZBC MILLING ) + +( OPERATION= FINISH1 FLOWLINE SRF_MILL1 ) +( TOOL: T1 = 10.0 dia. 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B0 C0 +M429 ;Restore Trivkins +M30 +% diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc new file mode 100644 index 0000000..b9f6969 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/impeller-7bl-xyzac.ngc @@ -0,0 +1,4510 @@ +( Impeller 5-axis 12/24/2011) +( This is preceded by cutting the external "conical" shape on a lathe) +( This is only a demo - roughing out in soft non-metal material) +M428 ;TCP:xyzac +G93 +S600 M3 +( --- Operation 1 ) +G0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930 +G0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930 +G1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318 +G1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159 +G1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159 +G1 X 6.307 Y -12.804 Z 25.552 A -71.093 C -31.715 F 159 +G1 X 6.238 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C -373.209 +G0 X -24.984 Y -23.508 Z 29.123 A -43.989 C -376.409 +G0 X -26.211 Y -23.984 Z 27.618 A -44.133 C -379.597 +G0 X -27.386 Y -24.413 Z 26.058 A -44.366 C -382.764 +G0 X -28.507 Y -24.794 Z 24.446 A -44.685 C -385.900 +G0 X -29.571 Y -25.126 Z 22.786 A -45.089 C -388.995 +G0 X -30.578 Y -25.408 Z 21.081 A -45.576 C -392.044 +G0 X -31.523 Y -25.640 Z 19.335 A -46.142 C -395.038 +G0 X -32.407 Y -25.822 Z 17.550 A -46.785 C -397.972 +G0 X -28.982 Y -23.092 Z 15.695 A -46.785 C -397.972 +G0 X -37.053 Y -12.751 Z 3.370 A -46.785 C -397.972 +G1 X -37.950 Y -11.602 Z 2.001 A -46.785 C -397.972 F 318 +G1 X -34.275 Y -12.304 Z 3.910 A -46.785 C -397.972 F 159 +G1 X -32.993 Y -12.602 Z 4.625 A -46.795 C -398.039 F 159 +G1 X -31.706 Y -12.894 Z 5.368 A -46.805 C -398.107 F 159 +G1 X -30.439 Y -13.172 Z 6.121 A -46.813 C -398.174 F 159 +G1 X -29.184 Y -13.439 Z 6.890 A -46.820 C -398.240 F 159 +G1 X -27.940 Y -13.698 Z 7.676 A -46.825 C -398.306 F 159 +G1 X -26.844 Y -13.917 Z 8.385 A -46.829 C -398.365 F 159 +G1 X -25.339 Y -14.203 Z 9.383 A -46.833 C -398.446 F 159 +G1 X -24.104 Y -14.421 Z 10.221 A -46.835 C -398.513 F 159 +G1 X -22.891 Y -14.624 Z 11.065 A -46.835 C -398.579 F 159 +G1 X -21.686 Y -14.810 Z 11.920 A -46.835 C -398.645 F 159 +G1 X -20.480 Y -14.978 Z 12.791 A -46.833 C -398.712 F 159 +G1 X -19.286 Y -15.126 Z 13.671 A -46.830 C -398.780 F 159 +G1 X -18.093 Y -15.249 Z 14.564 A -46.826 C -398.848 F 159 +G1 X -16.859 Y -15.352 Z 15.505 A -46.820 C -398.920 F 159 +G1 X -15.731 Y -15.422 Z 16.382 A -46.813 C -398.986 F 159 +G1 X -14.949 Y -15.457 Z 16.998 A -46.807 C -399.033 F 159 +G1 X -13.776 Y -15.481 Z 17.936 A -46.798 C -399.104 F 159 +G1 X -13.006 Y -15.481 Z 18.562 A -46.791 C -399.152 F 159 +G1 X -11.859 Y -15.452 Z 19.509 A -46.779 C -399.224 F 159 +G1 X -10.715 Y -15.388 Z 20.474 A -46.765 C -399.298 F 159 +G1 X -9.858 Y -15.315 Z 21.212 A -46.753 C -399.354 F 159 +G1 X -9.013 Y -15.221 Z 21.952 A -46.740 C -399.411 F 159 +G1 X -8.276 Y -15.120 Z 22.610 A -46.728 C -399.461 F 159 +G1 X -7.546 Y -14.999 Z 23.273 A -46.715 C -399.512 F 159 +G1 X -6.824 Y -14.865 Z 23.942 A -46.700 C -399.563 F 159 +G1 X -6.114 Y -14.711 Z 24.614 A -46.686 C -399.614 F 159 +G1 X -5.414 Y -14.536 Z 25.289 A -46.670 C -399.666 F 159 +G1 X -4.723 Y -14.338 Z 25.970 A -46.652 C -399.718 F 159 +G1 X -3.992 Y -14.093 Z 26.706 A -46.633 C -399.775 F 159 +G1 X -3.609 Y -13.949 Z 27.099 A -46.622 C -399.805 F 159 +G1 X -0.380 Y -12.535 Z 30.357 A -46.622 C -399.805 F 159 +G1 X 0.550 Y -13.652 Z 31.731 A -46.622 C -399.805 F 318 +G0 X 5.996 Y -20.187 Z 39.769 A -46.622 C -399.805 +M5 +G0 A 0 C 0 +G0 X 0 Y 0 Z40 +( Rmax 45.44 Zmin -2.65 Zmax 39.77 ) +( Amin -74.49 Amax 0.00 ) +( Cmin -399.81 Cmax 0.00 ) +M429 ;Restore Trivkins +M30 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc new file mode 100644 index 0000000..e17dea4 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc @@ -0,0 +1,3 @@ +; zmax zmin r frate n a b c dist +o call [10] [5] [10][1000][3][20][0][45][20] +m2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc new file mode 100644 index 0000000..3b43fd3 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_1.ngc @@ -0,0 +1,39 @@ +; for debugging, use mdi to set global #<_switchkins_debug>=1 + +#=1000 +M429 +G0 X0 Y0 Z0 A0 C0 +G0 C90 X10 Y0 +G1 F# Z2 + +M428 +G1 F# Z0 + +M429 +G1 F# Z2 +G0 C90 X0 Y10 +G1 F# Z0 + +M428 +G1 F# Z2 + +M429 +G1 F# Z0 +G0 C90 X10 Y30 +G1 F# Z2 + +M428 +G1 F# Z0 + +M429 +G1 F# Z2 +G0 C90 X30 Y10 +G1 F# Z0 + +M428 +G1 F# Z2 +M429 +G1 F# Z0 + +G0 X0 Y0 Z0 A0 C0 +M2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc new file mode 100644 index 0000000..934934f --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_2.ngc @@ -0,0 +1,49 @@ +; for debugging, use mdi to set global #<_switchkins_debug>=1 + +#=1000 +M429 ;Trivkins +G64 P0.01 +S1500 M3 +G0 X0 Y0 Z5 A0 C0 +G1 F# Z0 +G1 X20 Y0 F# + +M428 ;XYZAC +G1 C90 +G1 X20 +G1 Y20 +G1 X0 +G1 Y0 +G1 A20 +G1 X-20 +G1 Y-20 +G1 X0 +G1 Y0 + +(-------) +G1 C45 +G1 X-15 +G1 Y15 +G1 X0 +G1 Y0 +G1 Y-15 +G1 X15 +G1 Y0 +G1 X0 + +(-------) +G1 C90 X15 +G1 C180 Y15 +G1 C270 X0 +G1 C360 Y0 +G1 C0 +G1 C-90 X-15 +G1 C-180 Y-15 +G1 C-270 X0 +G1 C-360 Y0 +G1 Z5 + +M429 ;Trivkins + +G1 X0 Y0 Z1 A0 C0 +M2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc new file mode 100644 index 0000000..a5c8005 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins_test_3.ngc @@ -0,0 +1,15 @@ +;# enable optional stop for m1 +m429 ;trivkins +G0 X0 Y0 Z0 A0 C0 +G0 C90 X10 Y0 +G1 F1000 Z2 +(debug,A expect: 10 0 2) m1 +(debug,B expect: 10 0 2) m1 +m428 ;tcp +(debug,C expect: 0 -10 2) m1 +g1f1000 z0 +(debug,D expect: 0 -10 0) m1 +(debug,E expect: 0 -10 0) m1 +m429 ;trivkins +(debug,F expect: 10 0 0) +m2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc new file mode 100644 index 0000000..f3c77f0 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzbc_switchkins.ngc @@ -0,0 +1,3 @@ +; zmax zmin r frate n a b c dist +o call [10] [5] [10][1000][3][0][20][45][20] +m2 diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc new file mode 100644 index 0000000..46e2d01 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: kinstype==1 (xyzac,xyzbc) (note: sparm=identityfirst) +o<428remap>sub + # = 1 ; xyzac,xyzbc + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc new file mode 100644 index 0000000..3fa610c --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: kinstype==0 Identity kinematics +o<429remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc new file mode 100644 index 0000000..65a8222 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc @@ -0,0 +1,24 @@ +;M430 by remap: kinstype==2 userk kins +o<430remap>sub + # = 2 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M430:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M430:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<430remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc new file mode 100644 index 0000000..3607c27 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/centering.ngc @@ -0,0 +1,42 @@ +(info: tests for values of [xyz]-rot-point) +osub +# = #1 (=-2.5) +# = #2 (=-2.5) + # = #3 (= 5) + # = #4 (= 5) +# = #5 (=60) + # = #6 (=12) + # = #7 (=1000 feed) +# = 0 +# = [360/#] + +o1 if [exists [#<_hal[xyzac-trt-kins.x-rot-point]>]] + (debug,x-rot-point=#<_hal[xyzac-trt-kins.x-rot-point]>) + (debug,y-rot-point=#<_hal[xyzac-trt-kins.y-rot-point]>) + (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>) +o1 endif +o2 if [exists [#<_hal[xyzbc-trt-kins.x-rot-point]>]] + (debug,x-rot-point=#<_hal[xyzbc-trt-kins.x-rot-point]>) + (debug,y-rot-point=#<_hal[xyzbc-trt-kins.y-rot-point]>) + (debug,z-rot-point=#<_hal[xyzac-trt-kins.z-rot-point]>) +o2 endif + +M429 ;Identity kinematics +g0 x# y# z0 c0 +M428 ;tcp + +g61 +o10 while [# le 360] + g1 f# + # = [# + #] + g0 c# + g1 x[# + #] + g1 y[# + #] + g1 x[# + 0 ] + g1 y[# + 0 ] +o10 endwhile + + +M429 ;Identity kinematics +g0 x0 y0 z# c0 +oendsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc new file mode 100644 index 0000000..3f47084 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc @@ -0,0 +1,22 @@ +; helix using switchkins (xyzac) a,c angles +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10) + # = #4 (=1000) + # = #5 (=3) + # = #6 (=45) + # = #7 (=0 NA) + # = #8 (=20) + + M429 ;Identity kinematics + g0 x[#<_x> - #] ;adjust for radius + g10l20p0 x0y0 z# a0 c0 ;new g54 + M428 ;XYZAC + g0a#c# ;exercise a,c + f# g2i#z# p# ;helix + M429 ;Identity kinematics + g0 x0 y0 z# a0 c0 ;return to start + g0 x[#<_x> + #] ;adjust restore + M428 ;XYZAC +oendsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc new file mode 100644 index 0000000..6e9261d --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_bc.ngc @@ -0,0 +1,22 @@ +; helix using switchkins (xyzbc) b,c angles +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10) + # = #4 (=1000) + # = #5 (=3) + # = #6 (=0 NA) + # = #7 (=45) + # = #8 (=20) + + M429 ;Identity kinematics + g0 x[#<_x> - #] ;adjust for radius + g10l20p0 x0y0 z# b0 c0 ;new g54 + M428 ;XYZBC + g0b#c# ;exercise b,c + f# g2i#z# p# ;helix + M429 ;Identity kinematics + g0 x0 y0 z# b0 c0 ;return to start + g0 x[#<_x> + #] ;adjust restore + M428 ;XYZBC +oendsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc new file mode 100644 index 0000000..771fedb --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzac_switchkins_sub.ngc @@ -0,0 +1,47 @@ +; ngcgui-compatible subroutine +(info: helix in each quadrant at angles A,C) +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10 radius) + # = #4 (=1000 feedrate) + # = #5 (=3 n circles) + # = #6 (=30 A angle) + # = #7 (=0 B angle NA) + # = #8 (=45 C angle) + # = #9 (=20 distance) + +; quadrant I +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 ;MACHINE coordinates +g10l20p0 x0y0 z# a0 c0 ;new g54 +g0 x+# y+# z# ;move to pattern center position +o call [#][#][#][#][#][#][#][#] + +; quadrant II +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x-# y+# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant III +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x-# y-# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant IV +M429 ;Identity kinematics +g53 g0 x0y0 z# a0 c0 +g10l20p0 x0y0 z# a0 c0 +g0 x+# y-# z# +o call [#][#][#][#][#][#][#][#] + +;final position +M429 ;Identity kinematics +g53 g0 x0y0 z# ;MACHINE coordinates +g10l20p0 x0y0 z# ;new g54 + +oendsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc new file mode 100644 index 0000000..3e92c5f --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/xyzbc_switchkins_sub.ngc @@ -0,0 +1,47 @@ +; ngcgui-compatible subroutine +(info: helix in each quadrant at angles B,C) +osub + # = #1 (=10) + # = #2 (= 5) + # = #3 (=10 radius) + # = #4 (=1000 feedrate) + # = #5 (=3 n circles) + # = #6 (=0 A angle NA) + # = #7 (=30 B angle) + # = #8 (=45 C angle) + # = #9 (=20 distance) + +; quadrant I +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 ;MACHINE coordinates +g10l20p0 x0y0 z# b0 c0 ;new g54 +g0 x+# y+# z# ;move to pattern center position +o call [#][#][#][#][#][#][#][#] + +; quadrant II +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x-# y+# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant III +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x-# y-# z# +o call [#][#][#][#][#][#][#][#] + +; quadrant IV +M429 ;Identity kinematics +g53 g0 x0y0 z# b0 c0 +g10l20p0 x0y0 z# b0 c0 +g0 x+# y-# z# +o call [#][#][#][#][#][#][#][#] + +;final position +M429 ;Identity kinematics +g53 g0 x0y0 z# ;MACHINE coordinates +g10l20p0 x0y0 z# ;new g54 + +oendsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc new file mode 100644 index 0000000..4ab3aaf --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/428remap.ngc @@ -0,0 +1,24 @@ +;M428 by remap: select kinstype=0 genhexkins +o<428remap>sub + # = 0 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M428:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M428: Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<428remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc new file mode 100644 index 0000000..54726d3 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/429remap.ngc @@ -0,0 +1,24 @@ +;M429 by remap: select kinstype==1 Identity kinematics +o<429remap>sub + # = 1 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M429:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M429:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<429remap>endsub diff --git a/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc new file mode 100644 index 0000000..7586236 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/axis/vismach/hexapod-sim/remap_subs/430remap.ngc @@ -0,0 +1,24 @@ +;M430 by remap: select kinstype==2 userk kins +o<430remap>sub + # = 2 + # = 3 ; set N as required: motion.analog-out-0N + +o1 if [exists [#<_hal[motion.switchkins-type]>]] +o1 else + (debug,M30:Missing [RS274NGC]HAL_PIN_VARS=1) + (debug,STOP) + M2 +o1 endif + + M68 E# Q# ; set kinstype value + M66 E0 L0 ; force synch + +o2 if [[#<_task> EQ 1] AND [#<_hal[motion.switchkins-type]> NE #]] + (debug,M430:Wrong motion.switchkins-type) + (debug,or missing hal net to analog-out-0x) + (debug,STOP) + M2 +o2 else +o2 endif + +o<430remap>endsub diff --git a/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc new file mode 100644 index 0000000..66e8cd6 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzac.ngc @@ -0,0 +1,1879 @@ +% +(!!! 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Y0. A0 C0 +M30 +% diff --git a/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc new file mode 100644 index 0000000..c806179 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/boat-xyzbc.ngc @@ -0,0 +1,1865 @@ +% +(!!! Touch Off: Table = -8.3 == Z max neg extent !!!) +(BOAT-5X) +( FC HERMLE 5 AXIS XYZBC MILLING ) + +( OPERATION= FINISH1 FLOWLINE SRF_MILL1 ) +( TOOL: T1 = 10.0 dia. 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B0 C0 +M30 +% diff --git a/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc new file mode 100644 index 0000000..94c820f --- /dev/null +++ b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/impeller-7bl-xyzac.ngc @@ -0,0 +1,4508 @@ +( Impeller 5-axis 12/24/2011) +( This is preceded by cutting the external "conical" shape on a lathe) +( This is only a demo - roughing out in soft non-metal material) +G93 +S600 M3 +( --- Operation 1 ) +G0 X 16.339 Y -25.409 Z 33.353 A -71.841 C -35.930 +G0 X 7.417 Y -13.098 Z 28.366 A -71.841 C -35.930 +G1 X 6.302 Y -11.560 Z 27.743 A -71.841 C -35.930 F 318 +G1 X 6.358 Y -12.418 Z 26.178 A -71.266 C -32.919 F 159 +G1 X 6.346 Y -12.607 Z 25.858 A -71.158 C -32.304 F 159 +G1 X 6.307 Y -12.804 Z 25.552 A -71.093 C -31.715 F 159 +G1 X 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-46.829 C -398.365 F 159 +G1 X -25.339 Y -14.203 Z 9.383 A -46.833 C -398.446 F 159 +G1 X -24.104 Y -14.421 Z 10.221 A -46.835 C -398.513 F 159 +G1 X -22.891 Y -14.624 Z 11.065 A -46.835 C -398.579 F 159 +G1 X -21.686 Y -14.810 Z 11.920 A -46.835 C -398.645 F 159 +G1 X -20.480 Y -14.978 Z 12.791 A -46.833 C -398.712 F 159 +G1 X -19.286 Y -15.126 Z 13.671 A -46.830 C -398.780 F 159 +G1 X -18.093 Y -15.249 Z 14.564 A -46.826 C -398.848 F 159 +G1 X -16.859 Y -15.352 Z 15.505 A -46.820 C -398.920 F 159 +G1 X -15.731 Y -15.422 Z 16.382 A -46.813 C -398.986 F 159 +G1 X -14.949 Y -15.457 Z 16.998 A -46.807 C -399.033 F 159 +G1 X -13.776 Y -15.481 Z 17.936 A -46.798 C -399.104 F 159 +G1 X -13.006 Y -15.481 Z 18.562 A -46.791 C -399.152 F 159 +G1 X -11.859 Y -15.452 Z 19.509 A -46.779 C -399.224 F 159 +G1 X -10.715 Y -15.388 Z 20.474 A -46.765 C -399.298 F 159 +G1 X -9.858 Y -15.315 Z 21.212 A -46.753 C -399.354 F 159 +G1 X -9.013 Y -15.221 Z 21.952 A -46.740 C -399.411 F 159 +G1 X -8.276 Y -15.120 Z 22.610 A -46.728 C -399.461 F 159 +G1 X -7.546 Y -14.999 Z 23.273 A -46.715 C -399.512 F 159 +G1 X -6.824 Y -14.865 Z 23.942 A -46.700 C -399.563 F 159 +G1 X -6.114 Y -14.711 Z 24.614 A -46.686 C -399.614 F 159 +G1 X -5.414 Y -14.536 Z 25.289 A -46.670 C -399.666 F 159 +G1 X -4.723 Y -14.338 Z 25.970 A -46.652 C -399.718 F 159 +G1 X -3.992 Y -14.093 Z 26.706 A -46.633 C -399.775 F 159 +G1 X -3.609 Y -13.949 Z 27.099 A -46.622 C -399.805 F 159 +G1 X -0.380 Y -12.535 Z 30.357 A -46.622 C -399.805 F 159 +G1 X 0.550 Y -13.652 Z 31.731 A -46.622 C -399.805 F 318 +G0 X 5.996 Y -20.187 Z 39.769 A -46.622 C -399.805 +M5 +G0 A 0 C 0 +G0 X 0 Y 0 Z40 +( Rmax 45.44 Zmin -2.65 Zmax 39.77 ) +( Amin -74.49 Amax 0.00 ) +( Cmin -399.81 Cmax 0.00 ) +M30 diff --git a/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc new file mode 100644 index 0000000..c2d961b --- /dev/null +++ b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzac.ngc @@ -0,0 +1,47 @@ +o sub +(test-xyzac-kins with offsets and tool change) +( 5 AXIS XYZAC MILLING ) + + # = #1 (=20) + # = #2 (=30) + # = #3 (=30) + # = #4 (=10) +# = #5 (=200) + # = #6 (=1 1st Tool) + # = #7 (=2 2nd Tool) + # = #8 (=500) + # = #9 (=600) + +; 'square with 2 rounded corners' +# = # +# = # +# = # + +N40 G00 G17 G40 G90 G94 Z10 +(first tool - no z-offset) +T# M6 +S# M3 +G00 A# C# +G43 H# Z0 +G01 X# F# +G01 Y# +G01 X0 +G03 X-# Y0 I0 J-# +G00 Z# +G00 X0 +M5 +(next tool- with z-offset) +T# M6 +S# M3 +G00 A# C# +G43 H# Z0 +G01 X-# F# +G01 Y-# +G01 X0 +G03 X# Y0 I0 J# +G0 Z# +G0 X0 Y0 +M5 +A0 C0 + +o endsub diff --git a/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc new file mode 100644 index 0000000..4701c94 --- /dev/null +++ b/test_Rtcp/programs/configs/sim/gmoccapy/non_trivial_kinematics/table-rotary-tilting/examples/test-xyzbc.ngc @@ -0,0 +1,47 @@ +o sub +(test-xyzbc-trt-kins with offsets and tool change) +( 5 AXIS XYZBC MILLING ) + + # = #1 (=20) + # = #2 (=30) + # = #3 (=30) + # = #4 (=10) +# = #5 (=200) + # = #6 (=1 1st Tool) + # = #7 (=2 2nd Tool) + # = #8 (=500) + # = #9 (=600) + +;'square with 2 rounded corners' +# = # +# = # +# = # + +G00 G17 G40 G90 G94 Z10 +(first tool - no z-offset) +T# M6 +S# M3 +G00 B# C# +G43 H# Z0 +G01 X# F# +G01 Y# +G01 X0 +G03 X-# Y0 I0 J-# +G00 Z# +G00 X0 +M5 +(next tool- with z-offset) +T# M6 +S# M3 +G00 B# C# +G43 H# Z0 +G01 X-# F# +G01 Y-# +G01 X0 +G03 X# Y0 I0 J# +G0 Z# +G0 X0 Y0 +M5 +B0 C0 + +o endsub diff --git a/test_Rtcp/programs/nc_files/cone.ngc b/test_Rtcp/programs/nc_files/cone.ngc new file mode 100644 index 0000000..a5af85c --- /dev/null +++ b/test_Rtcp/programs/nc_files/cone.ngc @@ -0,0 +1,42 @@ +(for the simulated 5 axis machine) +g21 g90 g94 g28 + +o200 sub + +g0 b0 c0 (tool length change must happen with b,c=0) +g91 g28 z0 (could also be done with tool change position) +g90 +g43.1 z#1 (change tool length) +g0z0 (move Z to apply new length) + +x-100 b-45 c-180 +g1 z-100 f2000 + +#100=-180 +o100 while [ #100 le 180 ] + g1 x[100*cos[#100]] y[100*sin[#100]] c#100 + #100=[#100+10] +o100 endwhile +g0 z0 +x0 y0 b0 c0 +o200 endsub + +(cut around the "cone" with different tool lengths) +o200 call [50] +o200 call [80] + +g61 + +g0 x-100 b-45 c-180 +#100=-180 +o101 while [ #100 lt 180 ] + g0 x[150*cos[#100]] y[150*sin[#100]] z-100 c#100 + g1 w100 f2000 (drill) + g0 w0 + #100=[#100+45] +o101 endwhile + +g28 +g49 + +m2 diff --git a/test_Rtcp/rtcp_analysis.md b/test_Rtcp/rtcp_analysis.md new file mode 100644 index 0000000..93bf4a1 --- /dev/null +++ b/test_Rtcp/rtcp_analysis.md @@ -0,0 +1,192 @@ +# LinuxCNC RTCP G-code 特点分析 + +## 1. 实现方式 + +这套 LinuxCNC 源码没有把 RTCP 作为独立的 `G43.4/G43.5` 代码实现。源码中的 RTCP 是运动学层能力： + +- `src/emc/kinematics/trtfuncs.c` 实现 XYZAC 和 XYZBC 的正逆运动学。 +- `src/emc/kinematics/xyzac-trt-kins.c` 和 `xyzbc-trt-kins.c` 将对应运动学注册为 LinuxCNC kinematics。 +- `src/emc/kinematics/5axiskins.c` 实现 XYZBCW Bridge Mill 的 pivot-length、刀长和 W 轴变换。 +- `src/emc/kinematics/genhexkins.c` 的注释明确说明，`tool-offset` 连接到 `motion.tooloffset.Z` 时实现 RTCP。 + +因此，G 代码主要承担四件事： + +1. 选择 TCP 或 identity 运动学。 +2. 设置刀长补偿和工件坐标系。 +3. 给出刀尖/工件坐标和刀具姿态。 +4. 用同步的直线、圆弧和旋转轴运动验证逆运动学结果。 + +## 2. M428/M429/M430 的作用 + +在 TRT、TDR、Bridge Mill 和 Hexapod 的 switchkins 配置中，常见映射如下： + +| 命令 | 作用 | +|---|---| +| `M428` | 选择非平凡 TCP/RTCP kinematics，通常通过 `M68 E3 Q1` 设置 `motion.switchkins-type=1`，然后用 `M66 E0 L0` 同步 | +| `M429` | 选择 identity/trivkins，通常设置 `motion.switchkins-type=0` | +| `M430` | 选择 userk，通常设置 `motion.switchkins-type=2`；它是扩展运动学入口，不等于 RTCP 本身 | + +这几个 M 代码是 remap 出来的用户命令，不是 LinuxCNC 固定的通用 M 代码。使用前必须匹配 INI 中的 `REMAP`、`SUBROUTINE_PATH` 和 HAL 信号。例如 TRT 配置需要把 `motion.analog-out-03` 接到 `motion.switchkins-type`。 + +`428remap.ngc` 和 `429remap.ngc` 都会检查 `motion.switchkins-type` 是否存在，并在 task 模式下检查切换结果；缺少 `HAL_PIN_VARS` 或 HAL 网络时会输出 debug 信息并停止。这说明运动学切换被设计成有确认步骤的同步操作。 + +## 3. TRT 的 XYZAC 与 XYZBC + +### XYZAC + +`xyzac-trt` 表示： + +- 直线轴：X、Y、Z +- 倾转轴：A +- 旋转轴：C +- 典型结构：A 倾转台上安装 C 旋转台 + +`trtfuncs.c` 的正逆变换会使用： + +- C 轴旋转中心：`x-rot-point`、`y-rot-point`、`z-rot-point` +- A 轴相对于 C 轴的偏置：`y-offset`、`z-offset` +- 当前刀长：`tool-offset` + +### XYZBC + +`xyzbc-trt` 表示： + +- 直线轴：X、Y、Z +- 倾转轴：B +- 旋转轴：C +- 典型结构：B 倾转台上安装 C 旋转台 + +它使用 `x-offset`、`z-offset` 描述 B/C 旋转组件之间的几何偏置，并同样使用旋转中心参数和当前刀长。 + +两种运动学的共同点是：G 代码给出的 XYZ 和旋转姿态被当作笛卡尔 pose，逆运动学再计算实际关节位置。RTCP 的核心效果是改变 A/B/C 姿态时，刀尖 TCP 的空间位置仍按程序要求保持。 + +## 4. 刀长和 TCP 偏置 + +典型写法包括： + +```gcode +T1 M6 +G43 H1 Z5.0 +... +G49 +``` + +或： + +```gcode +G43.1 Z#1 +... +G49 +``` + +含义分别是： + +- `G43 Hn`：使用刀具表中第 n 号刀的长度。 +- `G43.1`：从当前 G 代码块的轴字设置动态刀长。 +- `G49`：取消刀长补偿。 + +在 TRT 配置中，`motion.tooloffset.z` 通过 HAL 连接到 `xyzac-trt-kins.tool-offset` 或 `xyzbc-trt-kins.tool-offset`。这使得普通 G43/G43.1 的结果进入运动学变换，而不是只修改显示坐标。 + +`cone.ngc` 特别体现了动态刀长的使用：它先令 B/C 回到零位，再用 `G43.1 Z#1` 设置刀长，随后执行五轴旋转轨迹。这样可以避免切换刀长时旋转姿态带来的大幅关节变化。 + +## 5. 工件坐标系与旋转中心 + +RTCP 程序常见以下组合： + +```gcode +G53 G0 X0 Y0 Z... +G10 L20 P0 X0 Y0 Z... A0 C0 +G54 +``` + +- `G53` 用于在机器坐标下安全定位。 +- `G10 L20 P0` 根据当前姿态建立或重设工件坐标系。 +- `G54` 激活工件坐标系。 + +`centering.ngc`、`helix_ac.ngc`、`helix_bc.ngc` 和 `xyzab-tdr-demo.ngc` 还读取 HAL 变量，例如旋转中心和机械偏置。这类程序不是只验证 G 代码语法，而是验证“配置中的旋转中心、偏置和程序坐标”是否保持一致。 + +## 6. 轨迹类型 + +### CAM 点列轨迹 + +`boat-xyzac.ngc`、`boat-xyzbc.ngc` 和 `impeller-7bl-xyzac.ngc` 是典型后处理器输出： + +- 大量连续的 `G1` 线段。 +- 同一段轨迹同时改变 X/Y/Z 与 A/C 或 B/C。 +- `boat-xyzbc.ngc` 和 impeller 程序使用 `G93` 逆时间进给，并在安全移动时切回 `G94`。 +- 通过高密度姿态点逼近船体、叶轮等复杂曲面。 +- 文件规模较大，适合验证连续五轴轨迹和逆运动学稳定性，不适合作为最小功能测试。 + +### 运动学切换测试 + +`xyzac_switchkins_test_1.ngc`、`xyzac_switchkins_test_2.ngc`、`xyzac_switchkins_test_3.ngc` 的重点是对照： + +- `M429` 下的 identity 坐标。 +- `M428` 下的 TCP 坐标。 +- C 轴旋转后，同一个 X/Y/Z 指令对应的实际关节变化。 +- `(debug,...)` 输出的预期坐标。 +- M1 可选停，用于人工检查切换前后的结果。 + +其中 `test_3` 直接写出切换前后的预期位置，例如 C=90 后进入 TCP 模式时，X/Y 位置会因旋转变换而改变。 + +### 螺旋和四象限测试 + +`helix_ac.ngc` 和 `helix_bc.ngc` 的主要模式是： + +```gcode +M429 +G10 L20 ... +M428 +G0 A... C... +G2 I... Z... P... +M429 +``` + +它们在 TCP 模式下执行带旋转姿态的螺旋，再回到 identity 模式进行安全返回。`xyzac_switchkins_sub.ngc` 和 `xyzbc_switchkins_sub.ngc` 将该动作扩展到四个象限，并用参数传入安全高度、半径、圈数、进给率、姿态角和象限间距。 + +### 旋转中心保持测试 + +`centering.ngc` 先输出 HAL 中的旋转中心，然后进入 TCP 模式，在 C 轴每个角度执行一个小方形轨迹。它用于观察工件坐标中心是否在 C 轴旋转过程中保持固定。 + +### 参数化 Bridge Mill 测试 + +`5axisgui.ngc` 使用 O 代码循环和三角函数： + +- B 轴分层改变倾角。 +- C 轴分段改变方位角。 +- 根据角度计算球面上的 X/Y/Z 位置。 +- 用 W 轴执行钻削和退刀。 +- 使用 `G43` 将当前刀长送入 5axiskins 的 pivot length。 + +它更偏向运动学和可视化演示，代码结构比 CAM 输出更适合阅读和移植。 + +## 7. 这些程序的共同特点 + +1. RTCP 由 kinematics 完成，程序行本身通常仍是普通 `G0/G1/G2/G3` 加旋转轴字。 +2. TCP 模式和 identity 模式经常交替出现，前者用于加工或姿态变换，后者用于机器坐标定位、建立偏置和安全返回。 +3. 刀长不是单独的显示量，而是通过 `motion.tooloffset.z` 进入逆运动学。 +4. 旋转中心、旋转组件偏置和工件坐标系是正确运行的必要条件；参数错误会直接表现为 TCP 漂移。 +5. 连续五轴 CAM 程序经常使用 `G93`，因为 XYZ 直线运动和旋转轴运动必须在同一段时间内完成。 +6. 许多程序明确使用 `G53`、高 Z 安全位置、`G49` 和姿态归零，说明五轴 RTCP 程序对切换点和刀长变化较敏感。 +7. 大型船体和叶轮程序主要验证连续轨迹；小型 switchkins、helix、centering 程序主要验证几何和状态切换。 + +## 8. 筛选边界 + +以下内容没有放入本集合： + +- 只出现普通 `G43/G49`、没有五轴非平凡运动学关联的通用铣削、车削和探测程序。 +- SCARA、Puma、Melfa 等使用 `M428/M429` 进行运动学切换，但源码没有将其定义为 RTCP 的示例。 +- millturn 的 `M428/M429`，其作用是铣削/车削运动学切换，不是 TCP/RTCP。 +- 只有 `XYZAC` 或 `XYZBC` 文字、但配置使用 `trivkins` identity 的普通五轴坐标示例。 +- `G43.1` 工具测量程序本身，除非同时包含五轴姿态和 RTCP 运动学上下文。 + +筛选依据来自源码中的配置和运动学实现，尤其是： + +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/README` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.txt` +- `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.txt` +- `configs/sim/axis/vismach/5axis/table-dual-rotary/README` +- `docs/src/motion/5-axis-kinematics.adoc` +- `src/emc/kinematics/trtfuncs.c` +- `src/emc/kinematics/5axiskins.c` +- `src/emc/kinematics/genhexkins.c` diff --git a/wasm-core/src/sim_interpreter.c b/wasm-core/src/sim_interpreter.c index 5313ae0..3d489ba 100644 --- a/wasm-core/src/sim_interpreter.c +++ b/wasm-core/src/sim_interpreter.c @@ -376,6 +376,7 @@ static int apply_g(sim_interpreter_state *state, interpreter_meta *meta, double } static int apply_m(sim_interpreter_state *state, interpreter_meta *meta, double code, int *groups) { + if (code_is(code, 1)) return SIM_INTERP_OK; if (code_is(code, 3) || code_is(code, 4) || code_is(code, 5)) { if (++groups[4] > 1) return SIM_INTERP_ERR_STATE; state->spindle_mode = (int)code; return SIM_INTERP_OK; } if (code_is(code, 2) || code_is(code, 30)) { if (++groups[5] > 1) return SIM_INTERP_ERR_STATE; state->program_end = 1; return SIM_INTERP_OK; } if (code_is(code, 6)) { if (meta) meta->selected_tool = meta->selected_tool < 0 ? 0 : meta->selected_tool; return SIM_INTERP_OK; } @@ -582,7 +583,9 @@ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uin if (next.plane == 18) segment->normal.y = 1.0; else if (next.plane == 19) segment->normal.x = 1.0; else segment->normal.z = 1.0; - if (meta->feed_mode == 93) { + /* LinuxCNC applies inverse-time feed to G1/G2/G3. G0 remains a + * rapid move and does not require an F word while G93 is modal. */ + if (meta->feed_mode == 93 && next.motion_mode != 0) { const double dx = segment->end.tran.x - segment->start.tran.x; const double dy = segment->end.tran.y - segment->start.tran.y; const double dz = segment->end.tran.z - segment->start.tran.z; diff --git a/wasm-core/tests/sim_interpreter_test.c b/wasm-core/tests/sim_interpreter_test.c index 23fcdcc..9a8180a 100644 --- a/wasm-core/tests/sim_interpreter_test.c +++ b/wasm-core/tests/sim_interpreter_test.c @@ -81,6 +81,13 @@ int main(void) { assert(sim_interpreter_execute(&interpreter, "G80 M7", (uint32_t)(sizeof("G80 M7") - 1)) == SIM_INTERP_OK); assert(sim_interpreter_execute(&interpreter, "M8", 2) == SIM_INTERP_OK); assert(sim_interpreter_execute(&interpreter, "M9", 2) == SIM_INTERP_OK); + assert(sim_interpreter_execute(&interpreter, "(debug,optional stop disabled) M1", (uint32_t)(sizeof("(debug,optional stop disabled) M1") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_reset(&interpreter) == SIM_INTERP_OK); + assert(sim_interpreter_execute(&interpreter, "G93", 3) == SIM_INTERP_OK); + assert(sim_interpreter_execute(&interpreter, "G0 X16.339 Y-25.409 Z33.353 A-71.841 C-35.930", (uint32_t)(sizeof("G0 X16.339 Y-25.409 Z33.353 A-71.841 C-35.930") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_read_motion(&interpreter, &motion) == SIM_INTERP_OK); + assert(motion.motion_type == SIM_POSEMATH_LINEAR); + assert(fabs(interpreter.state.x - 16.339) < 1e-12 && fabs(interpreter.state.a + 71.841) < 1e-12); assert(sim_interpreter_reset(&interpreter) == SIM_INTERP_OK); assert(sim_interpreter_execute(&interpreter, "G0 X30 A20 C40", sizeof("G0 X30 A20 C40") - 1) == SIM_INTERP_OK); assert(sim_interpreter_execute(&interpreter, "G10 L20 P1 X5", 13) == SIM_INTERP_OK); diff --git a/web/react/public/machines/LICENSE.txt b/web/react/public/machines/LICENSE.txt new file mode 100644 index 0000000..b0812d9 --- /dev/null +++ b/web/react/public/machines/LICENSE.txt @@ -0,0 +1,4 @@ +Original procedural AC/BC machine demonstration assets generated for linuxcncWebWASM. +Dedicated to the public domain under CC0 1.0 Universal. +https://creativecommons.org/publicdomain/zero/1.0/ +No manufacturer affiliation or dimensional calibration is implied. diff --git a/web/react/public/machines/demo-ac-gantry.glb b/web/react/public/machines/demo-ac-gantry.glb new file mode 100644 index 0000000..67f16f3 Binary files /dev/null and b/web/react/public/machines/demo-ac-gantry.glb differ diff --git a/web/react/public/machines/demo-ac-gantry.urdf b/web/react/public/machines/demo-ac-gantry.urdf new file mode 100644 index 0000000..0a172dc --- /dev/null +++ b/web/react/public/machines/demo-ac-gantry.urdf @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/web/react/public/machines/demo-ac-xyz-head.glb b/web/react/public/machines/demo-ac-xyz-head.glb new file mode 100644 index 0000000..b4ef807 Binary files /dev/null and b/web/react/public/machines/demo-ac-xyz-head.glb differ diff --git a/web/react/public/machines/demo-ac-xyz-head.urdf b/web/react/public/machines/demo-ac-xyz-head.urdf new file mode 100644 index 0000000..b29bc79 --- /dev/null +++ b/web/react/public/machines/demo-ac-xyz-head.urdf @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/web/react/public/machines/demo-bc-gantry.glb b/web/react/public/machines/demo-bc-gantry.glb new file mode 100644 index 0000000..eda1f9a Binary files /dev/null and b/web/react/public/machines/demo-bc-gantry.glb differ diff --git a/web/react/public/machines/demo-bc-gantry.urdf b/web/react/public/machines/demo-bc-gantry.urdf new file mode 100644 index 0000000..4c0463f --- /dev/null +++ b/web/react/public/machines/demo-bc-gantry.urdf @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/web/react/public/machines/demo-bc-xyz-head.glb b/web/react/public/machines/demo-bc-xyz-head.glb new file mode 100644 index 0000000..b904da5 Binary files /dev/null and b/web/react/public/machines/demo-bc-xyz-head.glb differ diff --git a/web/react/public/machines/demo-bc-xyz-head.urdf b/web/react/public/machines/demo-bc-xyz-head.urdf new file mode 100644 index 0000000..f380cba --- /dev/null +++ b/web/react/public/machines/demo-bc-xyz-head.urdf @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/web/react/public/machines/manifest.json b/web/react/public/machines/manifest.json new file mode 100644 index 0000000..5dd4b63 --- /dev/null +++ b/web/react/public/machines/manifest.json @@ -0,0 +1,130 @@ +{ + "schema": "linuxcnc.machine.examples/1", + "generator": "scripts/generate_glb_machines.mjs", + "provenance": "Original procedural demonstration machines; no third-party mesh assets", + "license": "CC0-1.0", + "machines": [ + { + "id": "ac", + "label": "AC 示例", + "profile": "trt-xyz-head/1", + "filename": "demo-ac-xyz-head.glb", + "urdf": "demo-ac-xyz-head.urdf", + "bytes": 530848, + "sha256": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1", + "coordinates": "XYZAC", + "rotation_point_mm": [ + 24, + -12, + 8 + ], + "offsets_mm": [ + 0, + 18, + -45 + ], + "links": [ + "base", + "x_slide", + "y_slide", + "z_slide", + "spindle_head", + "tilt_table", + "c_table", + "work_frame" + ], + "meshes": 71 + }, + { + "id": "bc", + "label": "BC 示例", + "profile": "trt-xyz-head/1", + "filename": "demo-bc-xyz-head.glb", + "urdf": "demo-bc-xyz-head.urdf", + "bytes": 530532, + "sha256": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b", + "coordinates": "XYZBC", + "rotation_point_mm": [ + -18, + 14, + 12 + ], + "offsets_mm": [ + 22, + 0, + -40 + ], + "links": [ + "base", + "x_slide", + "y_slide", + "z_slide", + "spindle_head", + "tilt_table", + "c_table", + "work_frame" + ], + "meshes": 71 + }, + { + "id": "ac-gantry", + "label": "AC 示例桁架型", + "profile": "trt-xyz-gantry/1", + "filename": "demo-ac-gantry.glb", + "urdf": "demo-ac-gantry.urdf", + "bytes": 526004, + "sha256": "cee9fe5080fac3f87f8daca5d0f89ddb0c3c3eb7657fbdc81a7664ba9c4e4995", + "coordinates": "XYZAC", + "rotation_point_mm": [ + 24, + -12, + 8 + ], + "offsets_mm": [ + 0, + 18, + -45 + ], + "links": [ + "base", + "x_slide", + "y_slide", + "z_slide", + "tilt_table", + "c_table", + "work_frame" + ], + "meshes": 89 + }, + { + "id": "bc-gantry", + "label": "BC 示例桁架型", + "profile": "trt-xyz-gantry/1", + "filename": "demo-bc-gantry.glb", + "urdf": "demo-bc-gantry.urdf", + "bytes": 525688, + "sha256": "d7188520ef1e79576d99861294e9dbdf24deb6fe14697ad5106fe605fa1766b5", + "coordinates": "XYZBC", + "rotation_point_mm": [ + -18, + 14, + 12 + ], + "offsets_mm": [ + 22, + 0, + -40 + ], + "links": [ + "base", + "x_slide", + "y_slide", + "z_slide", + "tilt_table", + "c_table", + "work_frame" + ], + "meshes": 89 + } + ] +} diff --git a/web/react/src/App.tsx b/web/react/src/App.tsx index 276d7b9..0631f84 100644 --- a/web/react/src/App.tsx +++ b/web/react/src/App.tsx @@ -4,6 +4,9 @@ import { ReactWorkerClient } from "./worker-client"; import { XyzacToolPreviewFromSnapshot } from "./XyzacToolPreview"; import { XyzacMachineViewFromSnapshot } from "./XyzacMachineView"; import { WEB_SETTINGS } from "../../workspace/web-settings.mjs"; +import { MachineImportPanel } from "./MachineImportPanel"; +import { loadImportedMachine, configureImportedMachine, updateImportedMachineGeometry, disposeMachineScene, type ImportedMachine } from "./imported-machine"; +import { MAX_MACHINE_BYTES } from "./machine-urdf"; import { TrtGeometryPanel } from "./TrtGeometryPanel"; import { readTrtGeometry } from "../../workspace/trt-geometry.mjs"; import { loadSimulationCase, toWorkerConfiguration } from "../../workspace/sim-case-loader.mjs"; @@ -14,6 +17,8 @@ import { AxisOperationController } from "../../app/axis-operation-controller.mjs import { XyzacDiagnostics, XyzacLiveParameters, XyzacProgramPane, XyzacTrtPanel } from "./XyzacTrtPanel"; import { projectXyzacPanel, type XyzacOperationTrace } from "./xyzac-panel-contract"; import { DEFAULT_MACHINE, MACHINE_DEFINITIONS, machineDefinition } from "../../workspace/machine-definitions.mjs"; +import { RtcpProgramLibrary, type RtcpProgram } from "./RtcpProgramLibrary"; +import { MachineManagerPanel } from "./MachineManagerPanel"; export const SELECTED_XYZAC_CASE = DEFAULT_MACHINE.entrypoint; const DEFAULT_CASE = DEFAULT_MACHINE.entrypoint; @@ -71,7 +76,7 @@ function ManualControl({ action, axes = DEFAULT_MACHINE.axes, canJog, canHome, c const options = ["Continuous", "0.1000", "0.0100", "0.0010", "0.0001"]; const keydown = (event: KeyboardEvent) => { const target = event.target as HTMLElement | null; - if (!active || event.ctrlKey || event.altKey || event.metaKey || event.repeat || target && (["INPUT", "TEXTAREA", "SELECT"].includes(target.tagName) || target.closest('[role="dialog"]'))) return; + if (!active || event.ctrlKey || event.altKey || event.metaKey || event.repeat || target && (["INPUT", "TEXTAREA", "SELECT"].includes(target.tagName) || target.closest('dialog, [role="dialog"]'))) return; if (event.key === "c") { event.preventDefault(); setIncrement("Continuous"); } if (event.key === "i" || event.key === "I") { event.preventDefault(); @@ -260,6 +265,10 @@ export function App() { const lastSourceState = useRef({ on: false, idle: true }); const modeRestorePending = useRef(false); const uiCacheSaveTimer = useRef | null>(null); + const [importedMachine, setImportedMachine] = useState(null); + const configurationPending = useRef(false); + const importedScene = importedMachine?.scene; + useEffect(() => () => { if (importedScene) disposeMachineScene(importedScene); }, [importedScene]); const selectedMachine = machineDefinition(casePath) ?? DEFAULT_MACHINE; const UI_CACHE_KEY = selectedMachine.id; useEffect(() => { @@ -389,7 +398,7 @@ export function App() { if (!jog || jogStepPending.current) return; jogStepPending.current = true; void operationController.execute("SIM_STEP", { cycles: WEB_SETTINGS.ui.jog_cycles, response: "motion_delta" }, { state: axisState, gate: false }) - .catch(() => stopJogTimer()) + .catch((error: Error) => { stopJogTimer(); setCommandStatus(`Jog stopped: ${error.message}`); }) .finally(() => { jogStepPending.current = false; }); }, WEB_SETTINGS.ui.poll_ms); }; @@ -500,6 +509,7 @@ export function App() { const operation = await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }, { state: axisState, gate: false }); setGeometryBundle(bundle); setCasePath(requestedCasePath); + setImportedMachine(null); const resultPayload = (operation.response as { payload?: { configuration?: { state?: string } } }).payload; markPreviewProgress(28, "wasm", "LinuxCNC WASM 配置已加载，准备解析刀具路径"); setProgramText(normalizedSource); setProgramPath(programPathForCase); @@ -516,27 +526,71 @@ export function App() { } finally { setProgramLoading(false); } }; const setProgramText = (value: string) => { setProgramTextState(value); }; - const applyGeometry = async (source: any) => { - if (programLoading || machineOn || programRunning || programPaused) throw new Error("关机且程序空闲后可修改"); + const applyGeometry = async (source: any, model?: { current: ImportedMachine | null; committed: boolean }) => { + if (configurationPending.current || programLoading || machineOn || programRunning || programPaused) throw new Error("关机且程序空闲后可修改"); + configurationPending.current = true; setProgramLoading(true); - startPreviewProgress("机床参数"); + let workspaceRequested = false; + let workspaceCommitted = false; try { const bundle = typeof source === "function" ? await source() : source; readTrtGeometry(bundle); + const nextModel = model ? model.current : importedMachine ? updateImportedMachineGeometry(importedMachine, bundle) : null; const configuration = toWorkerConfiguration(bundle); + startPreviewProgress("机床参数"); + workspaceRequested = true; await operationController.execute("LOAD_WORKSPACE", { root_path: "/workspace", configuration }, { gate: false }); + workspaceCommitted = true; setGeometryBundle(bundle); + setCasePath(bundle.entrypoint); + setImportedMachine(nextModel); + if (model) model.committed = true; const loaded = await operationController.execute("PROGRAM_LOAD", { source: programText, path: programPath }, { gate: false }); finishPreviewProgress(programPath, loaded.response); setCommandStatus("机床参数已应用，程序已重新解析，待重新回零"); } catch (error) { - failPreviewProgress(error instanceof Error ? error.message : String(error)); + if (workspaceRequested) failPreviewProgress(error instanceof Error ? error.message : String(error)); + else setCommandStatus(`机床配置未应用：${error instanceof Error ? error.message : String(error)}`); + if (workspaceCommitted) throw new Error(`机床已应用，但当前程序无法重新解析：${error instanceof Error ? error.message : String(error)}`); throw error; } finally { + configurationPending.current = false; setOperationTrace(operationController.exportTrace()); setProgramLoading(false); } }; + const importMachine = async (source: File | string) => { + const model: { current: ImportedMachine | null; committed: boolean } = { current: null, committed: false }; + try { + await applyGeometry(async () => { + let bytes: ArrayBuffer; + if (typeof source === "string") { + const response = await fetch(source); + if (!response.ok) throw new Error("示例 GLB 读取失败"); + bytes = await response.arrayBuffer(); + } else { + if (source.size > MAX_MACHINE_BYTES) throw new Error("GLB 最大 32 MiB"); + bytes = await source.arrayBuffer(); + } + model.current = await loadImportedMachine(bytes, typeof source === "string" ? source.split("/").at(-1)! : source.name); + const definition = machineDefinition(model.current.structure.coordinates)!; + const bundle = geometryBundle?.entrypoint === definition.entrypoint ? geometryBundle : await loadSimulationCase({ path: definition.entrypoint, baseUrl: "." }); + if (!bundle || ("status" in bundle && bundle.status !== "ready")) throw new Error("机床运行配置未就绪"); + return configureImportedMachine(bundle, model.current.structure); + }, model); + } finally { if (model.current && !model.committed) disposeMachineScene(model.current.scene); } + }; + const applyManagedMachine = async (candidate: ImportedMachine) => { + const model: { current: ImportedMachine | null; committed: boolean } = { current: candidate, committed: false }; + try { + await applyGeometry(async () => { + const definition = machineDefinition(candidate.structure.coordinates)!; + const bundle = geometryBundle?.entrypoint === definition.entrypoint ? geometryBundle : await loadSimulationCase({ path: definition.entrypoint, baseUrl: "." }); + if (!bundle || ("status" in bundle && bundle.status !== "ready")) throw new Error("机床运行配置未就绪"); + return configureImportedMachine(bundle, candidate.structure); + }, model); + } finally { if (!model.committed) disposeMachineScene(candidate.scene); } + }; const reloadGeometry = () => applyGeometry(async () => { const bundle = await loadSimulationCase({ path: casePath, baseUrl: "." }); if (bundle.status !== "ready") throw new Error(`INI blocked: ${bundle.missing.join(",")}`); @@ -566,6 +620,33 @@ export function App() { setCaseStatus(`blocked: ${error instanceof Error ? error.message : "program_asset_load_failed"}`); } finally { setProgramLoading(false); } }; + const loadRtcpProgram = async (program: RtcpProgram, source: string) => { + if (!canLoad) throw new Error(controlReason("load")); + if (program.role !== "main" || !program.coordinates.includes(selectedMachine.coordinates)) throw new Error(`rtcp_program_incompatible:${program.coordinates.join("/")}`); + const normalizedSource = normalizeProgramSource(source); + setProgramLoading(true); + startPreviewProgress(program.label); + setCommandStatus("PROGRAM_LOAD pending: waiting for LinuxCNC WASM preview"); + setCaseStatus(`${program.path} loading from RTCP library...`); + try { + if (!normalizedSource.trim()) throw new Error("program_asset_empty"); + if (!latestLoadGate.current.enabled) throw new Error(latestLoadGate.current.reason); + setProgramText(normalizedSource); setProgramPath(program.path); + markPreviewProgress(38, "wasm", "LinuxCNC WASM 正在解析 RTCP 刀具路径"); + const programLoad = await operationController.execute("PROGRAM_LOAD", { source: normalizedSource, path: program.path }, { state: axisState, gate: false }); + finishPreviewProgress(program.path, programLoad.response); + setOperationTrace(operationController.exportTrace()); + setCommandStatus("PROGRAM_LOAD acknowledged"); + setCaseStatus(`${selectedMachine.coordinates}: ${program.label} loaded through linuxcnc-wasm`); + } catch (error) { + setOperationTrace(operationController.exportTrace()); + const message = error instanceof Error ? error.message : "rtcp_program_load_failed"; + failPreviewProgress(message); + setCommandStatus(`PROGRAM_LOAD blocked: ${message}`); + setCaseStatus(`blocked: ${message}`); + throw error; + } finally { setProgramLoading(false); } + }; const loadProgram = () => { if (programLoading || !gates.reload.enabled) return; setProgramLoading(true); @@ -649,6 +730,7 @@ export function App() { if (event.key === "Tab") { event.preventDefault(); aboutDialog.current?.querySelector("button")?.focus(); } return; } + if (document.querySelector(".machine-dialog[open]")) return; if (event.key === "Escape") { event.preventDefault(); stopProgram(true); return; } if (target && (["INPUT", "TEXTAREA", "SELECT"].includes(target.tagName) || target.isContentEditable)) return; if (event.altKey || event.metaKey) return; @@ -797,11 +879,11 @@ export function App() {
AXIS AXISLinuxCNC Web/WASM
Connection: {state.status.toUpperCase()}
execute("PROGRAM_STEP")} /> execute(programPaused ? "PROGRAM_RESUME" : "PROGRAM_PAUSE")} pressed={relief.pauseResume} /> stopProgram()} pressed={relief.abort} /> setZoom((value) => Math.min(WEB_SETTINGS.ui.zoom_max, value + WEB_SETTINGS.ui.zoom_step))} /> setZoom((value) => Math.max(WEB_SETTINGS.ui.zoom_min, value - WEB_SETTINGS.ui.zoom_step))} /> { setView("z"); setRightTab("preview"); }} /> { setView("z2"); setRightTab("preview"); }} /> { setView("x"); setRightTab("preview"); }} /> { setView("y"); setRightTab("preview"); }} /> { setView("y2"); setRightTab("preview"); }} /> { setView("p"); setRightTab("preview"); }} /> setRotateMode((value) => !value)} /> xyzacCommand("VISUAL_CLEAR", {}, "vismachClear")} />
-
Load {selectedMachine.coordinates} boat program{programLoading ? "Loading program..." : caseStatus.startsWith("blocked:") ? caseStatus : `Program: ${loadedProgramName}`}{previewProgress &&
{previewProgress.detail}{previewProgress.percent}%{previewProgress.percent}%
}
+
Load {selectedMachine.coordinates} boat program{programLoading ? "Loading program..." : caseStatus.startsWith("blocked:") ? caseStatus : `Program: ${loadedProgramName}`}{previewProgress &&
{previewProgress.detail}{previewProgress.percent}%{previewProgress.percent}%
}
{ void loadCase(path); }} /> -
+
{(["path", "live", "limits", "velocity", "offsets", "extents"] as const).map((layer) => )}
diff --git a/web/react/src/DraggableDialog.tsx b/web/react/src/DraggableDialog.tsx new file mode 100644 index 0000000..276f1be --- /dev/null +++ b/web/react/src/DraggableDialog.tsx @@ -0,0 +1,55 @@ +import { useEffect, useId, useLayoutEffect, useRef, type PointerEvent, type ReactNode } from "react"; + +type Props = { open: boolean; title: string; className?: string; onClose: () => void; children: ReactNode }; + +// Native dialog provides focus containment, inert background, Escape and focus return. +// Keeping children mounted preserves drafts and pending import results when closed. +export function DraggableDialog({ open, title, className = "", onClose, children }: Props) { + const ref = useRef(null); + const titleId = useId(); + const drag = useRef<{ id: number; x: number; y: number; left: number; top: number } | null>(null); + const position = (left: number, top: number) => { + const dialog = ref.current; + if (!dialog) return; + const bounds = dialog.getBoundingClientRect(); + const width = document.documentElement.clientWidth, height = window.innerHeight; + dialog.style.left = `${Math.max(8, Math.min(left, width - bounds.width - 8))}px`; + dialog.style.top = `${Math.max(8, Math.min(top, height - bounds.height - 8))}px`; + }; + useLayoutEffect(() => { + const dialog = ref.current!; + if (!open) { if (dialog.open) dialog.close(); return; } + if (!dialog.open) dialog.showModal(); + const bounds = dialog.getBoundingClientRect(); + position((document.documentElement.clientWidth - bounds.width) / 2, (window.innerHeight - bounds.height) / 2); + const keepVisible = () => { const rect = dialog.getBoundingClientRect(); position(rect.left, rect.top); }; + const observer = new ResizeObserver(keepVisible); + observer.observe(dialog); window.addEventListener("resize", keepVisible); + return () => { observer.disconnect(); window.removeEventListener("resize", keepVisible); drag.current = null; }; + }, [open]); + useEffect(() => () => { if (ref.current?.open) ref.current.close(); }, []); + const start = (event: PointerEvent) => { + if (event.button !== 0 || (event.target as HTMLElement).closest("button")) return; + const bounds = ref.current!.getBoundingClientRect(); + drag.current = { id: event.pointerId, x: event.clientX, y: event.clientY, left: bounds.left, top: bounds.top }; + event.currentTarget.setPointerCapture(event.pointerId); + }; + const move = (event: PointerEvent) => { + const from = drag.current; + if (from?.id !== event.pointerId) return; + position(from.left + event.clientX - from.x, from.top + event.clientY - from.y); + }; + const stop = () => { drag.current = null; }; + return { event.preventDefault(); onClose(); }} onKeyDown={(event) => { + if (event.key !== "Tab") return; + const elements = [...event.currentTarget.querySelectorAll('button:not(:disabled), a[href], input:not(:disabled):not([type="hidden"]), select:not(:disabled), textarea:not(:disabled), summary, [tabindex="0"]')].filter((element) => element.getClientRects().length > 0); + const first = elements[0], last = elements.at(-1); + if (event.shiftKey && (document.activeElement === first || !elements.includes(document.activeElement as HTMLElement))) { event.preventDefault(); last?.focus(); } + else if (!event.shiftKey && (document.activeElement === last || !elements.includes(document.activeElement as HTMLElement))) { event.preventDefault(); first?.focus(); } + }}> +
+ {title} +
+
{children}
+ ; +} diff --git a/web/react/src/MachineImportPanel.tsx b/web/react/src/MachineImportPanel.tsx new file mode 100644 index 0000000..41764bd --- /dev/null +++ b/web/react/src/MachineImportPanel.tsx @@ -0,0 +1,32 @@ +import { useRef, useState } from "react"; +import { DraggableDialog } from "./DraggableDialog"; +import type { ImportedMachine } from "./imported-machine"; + +import exampleCatalog from "../public/machines/manifest.json"; +const examples = exampleCatalog.machines; +export function MachineImportPanel({ model, disabled, onImport }: { model: ImportedMachine | null; disabled: boolean; onImport: (source: File | string) => Promise }) { + const file = useRef(null); + const [open, setOpen] = useState(false); + const [message, setMessage] = useState(""); + const run = async (source: File | string) => { + if (disabled) return; + setMessage("正在读取机床结构…"); + try { await onImport(source); setMessage("模型及参数已应用；请重新回零。页面重载后需重新导入 GLB。"); } + catch (error) { setMessage(error instanceof Error ? error.message : String(error)); } + }; + const s = model?.structure; + return ; +} diff --git a/web/react/src/MachineManagerPanel.tsx b/web/react/src/MachineManagerPanel.tsx new file mode 100644 index 0000000..64cfe92 --- /dev/null +++ b/web/react/src/MachineManagerPanel.tsx @@ -0,0 +1,122 @@ +import { useEffect, useRef, useState } from "react"; +import * as THREE from "three"; +import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js"; +import { TransformControls } from "three/examples/jsm/controls/TransformControls.js"; +import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js"; +import { DraggableDialog } from "./DraggableDialog"; +import { disposeMachineScene, type ImportedMachine } from "./imported-machine"; +import { buildManagedMachine, cloneMachinePartScene, expectedParentRole, loadMachinePart, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type PhysicalZero } from "./machine-manager"; +import type { Vec3 } from "./machine-urdf"; + +type Props = { coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise }; +const zero3 = (): Vec3 => [0, 0, 0]; +const number = (value: string) => Number.isFinite(Number(value)) ? Number(value) : 0; + +function ManagerPreview({ parts, selectedId, mode, onTransform }: { parts: MachinePartDraft[]; selectedId: string | null; mode: "translate" | "rotate"; onTransform: (id: string, translationMm: Vec3, rotationDeg: Vec3) => void }) { + const host = useRef(null); + const onTransformRef = useRef(onTransform); onTransformRef.current = onTransform; + useEffect(() => { + const element = host.current; if (!element) return; + const renderer = new THREE.WebGLRenderer({ antialias: true }); renderer.setPixelRatio(Math.min(devicePixelRatio || 1, 2)); renderer.shadowMap.enabled = true; renderer.setSize(Math.max(element.clientWidth, 320), Math.max(element.clientHeight, 360), false); element.appendChild(renderer.domElement); + const scene = new THREE.Scene(); scene.background = new THREE.Color(0x10191d); scene.add(new THREE.HemisphereLight(0xffffff, 0x405057, 2)); + const light = new THREE.DirectionalLight(0xffffff, 3); light.position.set(3, 5, 4); light.castShadow = true; scene.add(light); + const grid = new THREE.GridHelper(4, 40, 0x55777b, 0x294347); scene.add(grid); + const camera = new THREE.PerspectiveCamera(42, 1, .005, 100); camera.position.set(2.4, 1.8, 2.8); + const orbit = new OrbitControls(camera, renderer.domElement); orbit.enableDamping = true; + const root = new THREE.Group(); root.name = "machine-manager-preview"; scene.add(root); + const nodes = new Map(); const disposable: THREE.Object3D[] = []; + for (const part of parts) { + const node = new THREE.Group(); node.name = `draft_${part.id}`; node.visible = part.visible; node.position.fromArray(part.translationMm).multiplyScalar(.001); node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3); + const visual = cloneMachinePartScene(part.scene); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); disposable.push(visual); + const axes = new THREE.AxesHelper(.12); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node); + } + const cycle = (child: string, parent: string) => { let cursor: string | null = parent; const seen = new Set([child]); while (cursor) { if (seen.has(cursor)) return true; seen.add(cursor); cursor = parts.find((part) => part.id === cursor)?.parentId ?? null; } return false; }; + for (const part of parts) if (part.parentId && nodes.has(part.parentId) && !cycle(part.id, part.parentId)) nodes.get(part.parentId)!.add(nodes.get(part.id)!); + const bounds = new THREE.Box3().setFromObject(root); const center = bounds.isEmpty() ? new THREE.Vector3() : bounds.getCenter(new THREE.Vector3()); const size = bounds.isEmpty() ? 1 : Math.max(bounds.getSize(new THREE.Vector3()).length(), .2); + orbit.target.copy(center); camera.position.copy(center).add(new THREE.Vector3(size, size * .7, size * 1.15)); orbit.update(); + const transform = new TransformControls(camera, renderer.domElement); transform.setMode(mode); transform.setSpace("local"); scene.add(transform.getHelper()); + const selected = selectedId ? nodes.get(selectedId) : null; if (selected) transform.attach(selected); + transform.addEventListener("dragging-changed", ((event: { value?: boolean }) => { orbit.enabled = !event.value; }) as never); + transform.addEventListener("mouseUp", (() => { + if (!selectedId || !selected) return; + onTransformRef.current(selectedId, selected.position.toArray().map((value) => value * 1000) as Vec3, [THREE.MathUtils.radToDeg(selected.rotation.x), THREE.MathUtils.radToDeg(selected.rotation.y), THREE.MathUtils.radToDeg(selected.rotation.z)]); + }) as never); + const resize = () => { const width = Math.max(element.clientWidth, 1), height = Math.max(element.clientHeight, 1); camera.aspect = width / height; camera.updateProjectionMatrix(); renderer.setSize(width, height, false); }; + const observer = new ResizeObserver(resize); observer.observe(element); resize(); let frame = 0; + const render = () => { orbit.update(); renderer.render(scene, camera); frame = requestAnimationFrame(render); }; render(); + return () => { cancelAnimationFrame(frame); observer.disconnect(); transform.dispose(); orbit.dispose(); for (const object of disposable) disposeMachineScene(object); renderer.dispose(); renderer.domElement.remove(); }; + }, [parts, selectedId, mode]); + return
part.showOrigin).length} data-transform-mode={mode} aria-label="三维机床装配预览" />; +} + +export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { + const [open, setOpen] = useState(false), [pending, setPending] = useState(false), [message, setMessage] = useState(""); + const [parts, setParts] = useState([]); const partsRef = useRef(parts); partsRef.current = parts; + const [selectedId, setSelectedId] = useState(null); const [mode, setMode] = useState<"translate" | "rotate">("translate"); + const [cOriginMm, setCOriginMm] = useState([0, 0, 0]); const [tiltOffsetMm, setTiltOffsetMm] = useState([0, 0, 0]); + const [physicalZero, setPhysicalZero] = useState({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); const file = useRef(null); + useEffect(() => () => { for (const part of partsRef.current) disposeMachineScene(part.scene); }, []); + useEffect(() => { setMessage(""); setCOriginMm([0, 0, 0]); setTiltOffsetMm([0, 0, 0]); setPhysicalZero({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); }, [coordinates]); + const selected = parts.find((part) => part.id === selectedId) ?? null; + const update = (id: string, values: Partial) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part)); + const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string) =>
{label} ({unit}){["X", "Y", "Z"].map((axis, index) => )}
; + const importFiles = async (list: FileList | File[] | null) => { + if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…"); + try { + const loaded = await Promise.all([...list].map(async (item) => loadMachinePart(await item.arrayBuffer(), item.name))); + setParts((current) => { + const next = [...current]; + 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() }); + } + return next; + }); + setSelectedId(loaded[0].id); setMessage(`已导入 ${loaded.length} 个部件`); + } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); } + finally { setPending(false); } + }; + const remove = (part: MachinePartDraft) => { disposeMachineScene(part.scene); setParts((current) => current.filter((item) => item.id !== part.id).map((item) => item.parentId === part.id ? { ...item, parentId: null } : item)); if (selectedId === part.id) setSelectedId(null); }; + const apply = async () => { + if (disabled) return; setPending(true); setMessage("正在生成机床层级和 URDF…"); let machine: ImportedMachine | null = null; + try { machine = await buildManagedMachine({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero }); await onApply(machine); setMessage("三维机床已应用；请重新回零后运行程序"); } + catch (error) { if (machine) disposeMachineScene(machine.scene); setMessage(error instanceof Error ? error.message : String(error)); } + finally { setPending(false); } + }; + const exportGlb = async () => { + setPending(true); setMessage("正在生成包含 userData 的组合 GLB…"); let machine: ImportedMachine | null = null; + try { + machine = await buildManagedMachine({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero }); + const bytes = await new GLTFExporter().parseAsync(machine.scene, { binary: true, trs: true, onlyVisible: false }); + 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); + setMessage("组合 GLB 已导出，底座和整机场景包含机床标定 userData"); + } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); } + finally { if (machine) disposeMachineScene(machine.scene); setPending(false); } + }; + const roleChange = (part: MachinePartDraft, role: MachinePartRole | "") => { + const parentRole = role ? expectedParentRole(role) : null; + update(part.id, { role, parentId: parentRole ? parts.find((item) => item.role === parentRole)?.id ?? null : null }); + }; + return
+ + setOpen(false)}> +
{parts.length}/8 部件
+
+ update(id, { translationMm, rotationDeg })} /> +
+

部件与层级

{parts.length ? parts.map((part) =>
) :

导入八个 GLB 部件后建立机械链。

}
+ {selected &&

{selected.filename}

{vectorInput("模型局部原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm")}{vectorInput("部件平移", selected.translationMm, (translationMm) => update(selected.id, { translationMm }), "mm")}{vectorInput("部件旋转", selected.rotationDeg, (rotationDeg) => update(selected.id, { rotationDeg }), "deg")}
} +
+
+

机床标定

{vectorInput("C 轴原点", cOriginMm, setCOriginMm, "mm")}{vectorInput(`${coordinates === "XYZBC" ? "B" : "A"} 到 C 轴偏置`, tiltOffsetMm, setTiltOffsetMm, "mm")}
机床物理零点 (XYZ mm / ABC deg){["x", "y", "z", coordinates === "XYZBC" ? "b" : "a", "c"].map((axis) => )}
+
{message || (disabled ? "关机且程序空闲后可配置" : "配置写入运行模型和底座 userData")}
+ { const files = event.target.files ? [...event.target.files] : []; event.target.value = ""; void importFiles(files); }} /> + +
; +} + +// Named wrapper keeps the recursive panel JSX readable while retaining one preview implementation. +const MachineManagerPanelPreview = ManagerPreview; diff --git a/web/react/src/RtcpProgramLibrary.tsx b/web/react/src/RtcpProgramLibrary.tsx new file mode 100644 index 0000000..5ee4cbd --- /dev/null +++ b/web/react/src/RtcpProgramLibrary.tsx @@ -0,0 +1,96 @@ +import { useEffect, useMemo, useState } from "react"; +import catalogJson from "./rtcp-program-manifest.json"; +import { DraggableDialog } from "./DraggableDialog"; + +export type RtcpProgram = { + id: string; + group: string; + label: string; + path: string; + coordinates: string[]; + role: "main" | "support" | "reference"; + features: string[]; + note: string; +}; + +type Catalog = { + schema: string; + total: number; + groups: Array<{ id: string; label: string; count: number }>; + programs: RtcpProgram[]; +}; + +export const RTCP_PROGRAM_CATALOG = catalogJson as Catalog; + +const roleLabel = (role: RtcpProgram["role"]) => role === "main" ? "主程序" : role === "support" ? "支持/子程序" : "参考程序"; +const assetUrl = (path: string) => `${import.meta.env.BASE_URL}${path}`; +const machineLabel = (coordinates: string) => coordinates === "XYZAC" ? "AC（XYZAC）" : coordinates === "XYZBC" ? "BC（XYZBC）" : coordinates; + +export function RtcpProgramLibrary({ coordinates, disabled, disabledReason, onLoad }: { + coordinates: string; + disabled: boolean; + disabledReason: string; + onLoad: (program: RtcpProgram, source: string) => Promise; +}) { + const defaultProgram = RTCP_PROGRAM_CATALOG.programs.find((program) => program.role === "main" && program.coordinates.includes(coordinates)) ?? RTCP_PROGRAM_CATALOG.programs[0]; + const [open, setOpen] = useState(false); + const [scope, setScope] = useState<"machine" | "all">("machine"); + const [selectedId, setSelectedId] = useState(defaultProgram.id); + const [source, setSource] = useState(""); + const [sourcePath, setSourcePath] = useState(""); + const [message, setMessage] = useState(""); + const [pending, setPending] = useState(false); + const selected = RTCP_PROGRAM_CATALOG.programs.find((program) => program.id === selectedId) ?? defaultProgram; + const compatible = selected.role === "main" && selected.coordinates.includes(coordinates); + const machinePrograms = useMemo(() => RTCP_PROGRAM_CATALOG.programs.filter((program) => program.coordinates.includes(coordinates)), [coordinates]); + const visiblePrograms = scope === "machine" ? machinePrograms : RTCP_PROGRAM_CATALOG.programs; + const grouped = RTCP_PROGRAM_CATALOG.groups.map((group) => ({ ...group, programs: visiblePrograms.filter((program) => program.group === group.id) })).filter((group) => group.programs.length > 0); + useEffect(() => { + setScope("machine"); setSelectedId(defaultProgram.id); setSource(""); setSourcePath(""); setMessage(""); + }, [coordinates, defaultProgram.id]); + + const readSource = async () => { + if (sourcePath === selected.path && source) return source; + const response = await fetch(assetUrl(selected.path)); + if (!response.ok) throw new Error(`程序资源读取失败: HTTP ${response.status}`); + const text = (await response.text()).replace(/\r\n/g, "\n").replace(/\r/g, "\n"); + if (!text.trim()) throw new Error("程序资源为空"); + setSource(text); + setSourcePath(selected.path); + return text; + }; + const run = async (action: "source" | "load") => { + setPending(true); setMessage(action === "source" ? "正在读取 LinuxCNC 源程序…" : "正在交给 LinuxCNC WASM 解析…"); + try { + const text = await readSource(); + if (action === "load") { await onLoad(selected, text); setMessage("程序已加载到 LinuxCNC WASM 控制器"); } + else setMessage(`已读取 ${text.split("\n").length} 行`); + } catch (error) { setMessage(error instanceof Error ? error.message : String(error)); } + finally { setPending(false); } + }; + const compatibility = compatible + ? `${coordinates} 当前机型可加载；运动由 LinuxCNC WASM 解释器与运动学执行。` + : selected.role !== "main" + ? `${roleLabel(selected.role)}用于 remap、O-call 或算法查阅，不作为独立主程序加载。` + : `需要 ${selected.coordinates.join("/")} 运动学；当前机型为 ${coordinates}。`; + + return
+ + setOpen(false)}> +
{machineLabel(coordinates)} 程序当前分类：{machinePrograms.length} 个可直接加载：{machinePrograms.filter((program) => program.role === "main").length}完整源程序：{RTCP_PROGRAM_CATALOG.total} 个
+ + +
类型
{roleLabel(selected.role)}
机型
{selected.coordinates.join(" / ")}
特点
{selected.features.join(" · ")}
源路径
{selected.path}
+

{selected.note}

{compatibility}

+
+ + + 下载 .ngc +
+ {message} + {source && sourcePath === selected.path &&
+
+ setOpen(false)}> +
三维机床{s ? `${s.coordinates} · ${model.filename}` : "内置模型"}
+ + {s &&
{`底座 → X → Y → Z${s.profile === "trt-xyz-gantry/1" ? "" : " → 主轴箱"}；底座 → ${s.coordinates[3]} → C`}

旋转中心 (mm)：{["x", "y", "z"].map((c) => s.offsets[`${c}_rot_point`].toFixed(3)).join(" / ")}

轴间偏置 (mm)：{["x", "y", "z"].map((c) => s.offsets[`${c}_offset`].toFixed(3)).join(" / ")}

运行限位、速度、回零和周期使用匹配的 INI；模型行程已校验。

} + {s && s.urdf !== model.scene.userData.linuxcncMachine?.urdf &&

模型已按当前几何参数调整，原 GLB 文件未改写。

} + {message || (disabled ? "关机且程序空闲后可导入" : "单个 GLB，包含层级模型及 URDF，最大 32 MiB")} + { const selected = event.target.files?.[0]; event.target.value = ""; if (selected) void run(selected); }} /> + +