Add AC/BC RTCP programs and 3D machine manager
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122
web/react/src/MachineManagerPanel.tsx
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122
web/react/src/MachineManagerPanel.tsx
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import { useEffect, useRef, useState } from "react";
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import * as THREE from "three";
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import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
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import { TransformControls } from "three/examples/jsm/controls/TransformControls.js";
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import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js";
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import { DraggableDialog } from "./DraggableDialog";
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import { disposeMachineScene, type ImportedMachine } from "./imported-machine";
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import { buildManagedMachine, cloneMachinePartScene, expectedParentRole, loadMachinePart, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type PhysicalZero } from "./machine-manager";
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import type { Vec3 } from "./machine-urdf";
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type Props = { coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise<void> };
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const zero3 = (): Vec3 => [0, 0, 0];
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const number = (value: string) => Number.isFinite(Number(value)) ? Number(value) : 0;
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function ManagerPreview({ parts, selectedId, mode, onTransform }: { parts: MachinePartDraft[]; selectedId: string | null; mode: "translate" | "rotate"; onTransform: (id: string, translationMm: Vec3, rotationDeg: Vec3) => void }) {
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const host = useRef<HTMLDivElement>(null);
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const onTransformRef = useRef(onTransform); onTransformRef.current = onTransform;
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useEffect(() => {
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const element = host.current; if (!element) return;
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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);
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const scene = new THREE.Scene(); scene.background = new THREE.Color(0x10191d); scene.add(new THREE.HemisphereLight(0xffffff, 0x405057, 2));
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const light = new THREE.DirectionalLight(0xffffff, 3); light.position.set(3, 5, 4); light.castShadow = true; scene.add(light);
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const grid = new THREE.GridHelper(4, 40, 0x55777b, 0x294347); scene.add(grid);
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const camera = new THREE.PerspectiveCamera(42, 1, .005, 100); camera.position.set(2.4, 1.8, 2.8);
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const orbit = new OrbitControls(camera, renderer.domElement); orbit.enableDamping = true;
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const root = new THREE.Group(); root.name = "machine-manager-preview"; scene.add(root);
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const nodes = new Map<string, THREE.Group>(); const disposable: THREE.Object3D[] = [];
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for (const part of parts) {
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const node = new THREE.Group(); node.name = `draft_${part.id}`; node.visible = part.visible; node.position.fromArray(part.translationMm).multiplyScalar(.001); node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
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const visual = cloneMachinePartScene(part.scene); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); disposable.push(visual);
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const axes = new THREE.AxesHelper(.12); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node);
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}
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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; };
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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)!);
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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);
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orbit.target.copy(center); camera.position.copy(center).add(new THREE.Vector3(size, size * .7, size * 1.15)); orbit.update();
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const transform = new TransformControls(camera, renderer.domElement); transform.setMode(mode); transform.setSpace("local"); scene.add(transform.getHelper());
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const selected = selectedId ? nodes.get(selectedId) : null; if (selected) transform.attach(selected);
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transform.addEventListener("dragging-changed", ((event: { value?: boolean }) => { orbit.enabled = !event.value; }) as never);
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transform.addEventListener("mouseUp", (() => {
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if (!selectedId || !selected) return;
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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)]);
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}) as never);
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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); };
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const observer = new ResizeObserver(resize); observer.observe(element); resize(); let frame = 0;
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const render = () => { orbit.update(); renderer.render(scene, camera); frame = requestAnimationFrame(render); }; render();
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return () => { cancelAnimationFrame(frame); observer.disconnect(); transform.dispose(); orbit.dispose(); for (const object of disposable) disposeMachineScene(object); renderer.dispose(); renderer.domElement.remove(); };
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}, [parts, selectedId, mode]);
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return <div ref={host} className="machine-manager-preview" data-machine-manager-preview data-machine-manager-part-count={parts.length} data-machine-manager-origin-count={parts.filter((part) => part.showOrigin).length} data-transform-mode={mode} aria-label="三维机床装配预览" />;
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}
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export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) {
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const [open, setOpen] = useState(false), [pending, setPending] = useState(false), [message, setMessage] = useState("");
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const [parts, setParts] = useState<MachinePartDraft[]>([]); const partsRef = useRef(parts); partsRef.current = parts;
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const [selectedId, setSelectedId] = useState<string | null>(null); const [mode, setMode] = useState<"translate" | "rotate">("translate");
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const [cOriginMm, setCOriginMm] = useState<Vec3>([0, 0, 0]); const [tiltOffsetMm, setTiltOffsetMm] = useState<Vec3>([0, 0, 0]);
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const [physicalZero, setPhysicalZero] = useState<PhysicalZero>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); const file = useRef<HTMLInputElement>(null);
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useEffect(() => () => { for (const part of partsRef.current) disposeMachineScene(part.scene); }, []);
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useEffect(() => { setMessage(""); setCOriginMm([0, 0, 0]); setTiltOffsetMm([0, 0, 0]); setPhysicalZero({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); }, [coordinates]);
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const selected = parts.find((part) => part.id === selectedId) ?? null;
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const update = (id: string, values: Partial<MachinePartDraft>) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part));
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const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string) => <fieldset className="machine-vector"><legend>{label} ({unit})</legend>{["X", "Y", "Z"].map((axis, index) => <label key={axis}>{axis}<input type="number" step="any" value={value[index]} onChange={(event) => { const next = [...value] as Vec3; next[index] = number(event.target.value); set(next); }} /></label>)}</fieldset>;
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const importFiles = async (list: FileList | File[] | null) => {
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if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…");
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try {
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const loaded = await Promise.all([...list].map(async (item) => loadMachinePart(await item.arrayBuffer(), item.name)));
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setParts((current) => {
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const next = [...current];
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for (const source of loaded) {
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const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? "";
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const parentRole = role ? expectedParentRole(role) : null;
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const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null;
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next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3() });
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}
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return next;
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});
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setSelectedId(loaded[0].id); setMessage(`已导入 ${loaded.length} 个部件`);
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} catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
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finally { setPending(false); }
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};
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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); };
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const apply = async () => {
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if (disabled) return; setPending(true); setMessage("正在生成机床层级和 URDF…"); let machine: ImportedMachine | null = null;
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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"); }
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catch (error) { if (machine) disposeMachineScene(machine.scene); setMessage(error instanceof Error ? error.message : String(error)); }
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finally { setPending(false); }
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};
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const exportGlb = async () => {
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setPending(true); setMessage("正在生成包含 userData 的组合 GLB…"); let machine: ImportedMachine | null = null;
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try {
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machine = await buildManagedMachine({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero });
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const bytes = await new GLTFExporter().parseAsync(machine.scene, { binary: true, trs: true, onlyVisible: false });
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const url = URL.createObjectURL(new Blob([bytes as ArrayBuffer], { type: "model/gltf-binary" }));
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const link = document.createElement("a"); link.href = url; link.download = machine.filename; link.click(); setTimeout(() => URL.revokeObjectURL(url), 1000);
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setMessage("组合 GLB 已导出，底座和整机场景包含机床标定 userData");
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} catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
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finally { if (machine) disposeMachineScene(machine.scene); setPending(false); }
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};
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const roleChange = (part: MachinePartDraft, role: MachinePartRole | "") => {
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const parentRole = role ? expectedParentRole(role) : null;
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update(part.id, { role, parentId: parentRole ? parts.find((item) => item.role === parentRole)?.id ?? null : null });
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};
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return <section className="machine-manager" aria-label="三维机床管理">
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<button type="button" data-axis-control="machine-manager-settings" aria-haspopup="dialog" onClick={() => setOpen(true)}>三维机床管理</button>
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<DraggableDialog open={open} title={`三维机床管理 · ${coordinates}`} className="machine-manager-dialog" onClose={() => setOpen(false)}>
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<div className="machine-manager-toolbar"><button type="button" data-axis-control="machine-manager-import" disabled={pending} onClick={() => file.current?.click()}>导入 GLB 部件</button><button type="button" data-axis-control="machine-manager-translate" aria-pressed={mode === "translate"} onClick={() => setMode("translate")}>平移部件</button><button type="button" data-axis-control="machine-manager-rotate" aria-pressed={mode === "rotate"} onClick={() => setMode("rotate")}>旋转部件</button><span>{parts.length}/8 部件</span></div>
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<div className="machine-manager-layout">
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<MachineManagerPanelPreview parts={parts} selectedId={selectedId} mode={mode} onTransform={(id, translationMm, rotationDeg) => update(id, { translationMm, rotationDeg })} />
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<div className="machine-manager-editor">
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<section className="machine-part-list"><h3>部件与层级</h3>{parts.length ? parts.map((part) => <div key={part.id} className={part.id === selectedId ? "selected" : ""}><button type="button" onClick={() => setSelectedId(part.id)}>{part.role ? roleLabel(part.role, coordinates) : "未分配"}<small>{part.filename}</small></button><button type="button" aria-label={`删除 ${part.filename}`} onClick={() => remove(part)}>×</button></div>) : <p>导入八个 GLB 部件后建立机械链。</p>}</section>
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{selected && <section className="machine-part-editor"><h3>{selected.filename}</h3><label>机床角色<select data-axis-control="machine-manager-role" value={selected.role} onChange={(event) => roleChange(selected, event.target.value as MachinePartRole | "")}><option value="">未分配</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>父部件<select data-axis-control="machine-manager-parent" value={selected.parentId ?? ""} onChange={(event) => update(selected.id, { parentId: event.target.value || null })}><option value="">无</option>{parts.filter((part) => part.id !== selected.id).map((part) => <option key={part.id} value={part.id}>{part.role ? roleLabel(part.role, coordinates) : part.filename}</option>)}</select></label><div className="machine-part-flags"><label><input type="checkbox" checked={selected.visible} onChange={(event) => update(selected.id, { visible: event.target.checked })} />显示模型</label><label><input data-axis-control="machine-manager-show-origin" type="checkbox" checked={selected.showOrigin} onChange={(event) => update(selected.id, { showOrigin: event.target.checked })} />显示坐标原点</label></div>{vectorInput("模型局部原点", selected.originMm, (originMm) => update(selected.id, { originMm }), "mm")}{vectorInput("部件平移", selected.translationMm, (translationMm) => update(selected.id, { translationMm }), "mm")}{vectorInput("部件旋转", selected.rotationDeg, (rotationDeg) => update(selected.id, { rotationDeg }), "deg")}</section>}
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</div>
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</div>
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<section className="machine-manager-calibration"><h3>机床标定</h3>{vectorInput("C 轴原点", cOriginMm, setCOriginMm, "mm")}{vectorInput(`${coordinates === "XYZBC" ? "B" : "A"} 到 C 轴偏置`, tiltOffsetMm, setTiltOffsetMm, "mm")}<fieldset className="machine-vector machine-zero"><legend>机床物理零点 (XYZ mm / ABC deg)</legend>{["x", "y", "z", coordinates === "XYZBC" ? "b" : "a", "c"].map((axis) => <label key={axis}>{axis.toUpperCase()}<input type="number" step="any" value={physicalZero[axis as keyof PhysicalZero]} onChange={(event) => setPhysicalZero({ ...physicalZero, [axis]: number(event.target.value) })} /></label>)}</fieldset></section>
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<footer className="machine-manager-footer"><button type="button" data-axis-control="machine-manager-apply" disabled={disabled || pending || parts.length !== 8} title={disabled ? "关机且程序空闲后可应用" : undefined} onClick={() => void apply()}>应用到 Web LinuxCNC</button><button type="button" data-axis-control="machine-manager-export" disabled={pending || parts.length !== 8} onClick={() => void exportGlb()}>导出组合 GLB</button><output role="status">{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")}</output></footer>
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<input ref={file} data-axis-control="machine-manager-files" hidden multiple type="file" accept=".glb,model/gltf-binary" onChange={(event) => { const files = event.target.files ? [...event.target.files] : []; event.target.value = ""; void importFiles(files); }} />
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</DraggableDialog>
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</section>;
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}
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// Named wrapper keeps the recursive panel JSX readable while retaining one preview implementation.
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const MachineManagerPanelPreview = ManagerPreview;
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