diff --git a/coverage/glb-machine-manager/managed-bc-running.png b/coverage/glb-machine-manager/managed-bc-running.png index b48ff61..e3cd2dc 100644 Binary files a/coverage/glb-machine-manager/managed-bc-running.png 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 index 62e822c..092d18b 100644 Binary files a/coverage/glb-machine-manager/manager-ac-config.png and b/coverage/glb-machine-manager/manager-ac-config.png differ diff --git a/coverage/glb-machine-manager/mill700/browser.report.json b/coverage/glb-machine-manager/mill700/browser.report.json index e07ad32..8607f9c 100644 --- a/coverage/glb-machine-manager/mill700/browser.report.json +++ b/coverage/glb-machine-manager/mill700/browser.report.json @@ -9,7 +9,9 @@ }, "checks": [ "existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins", - "metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review" + "axis inputs drive bound MILL700 hierarchy nodes without recreating WebGL", + "metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review", + "imported model can be deleted and its tree is removed" ], "hierarchy": { "root": "MILL700-U_1", @@ -19,5 +21,306 @@ "materials": 126, "metallic": 110 }, + "motion": { + "input": { + "x": 10, + "y": 20, + "z": 30, + "a": 15, + "c": 45 + }, + "baseline": { + "base": { + "local": [ + 0, + 0, + 0 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + 0, + 0, + 0 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "x": { + "local": [ + 0.4726388454437256, + 1.681300401687622, + -0.9978671073913574 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8768789768218994, + 0.34002411365509033, + 1.488389492034912 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "y": { + "local": [ + -0.003969311714172363, + -0.20427599549293518, + 0.40563321113586426 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8808482885360718, + 0.13574811816215515, + 1.8940227031707764 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "z": { + "local": [ + -0.02080368995666504, + -0.9040489196777344, + 0.3689253330230713 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.9016519784927368, + -0.7683008015155792, + 2.2629480361938477 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "tilt": { + "local": [ + 0.49799561500549316, + 1.1399997472763062, + -1.6030043363571167 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8515222072601318, + -0.20127654075622559, + 0.8832522630691528 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "c": { + "local": [ + -0.00008916854858398438, + -0.6340826749801636, + -0.08644759654998779 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8516113758087158, + -0.8353592157363892, + 0.796804666519165 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + } + }, + "driven": { + "base": { + "local": [ + 0, + 0, + 0 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + 0, + 0, + 0 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "x": { + "local": [ + 0.4826388454437256, + 1.681300401687622, + -0.9978671073913574 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8668789768218994, + 0.34002411365509033, + 1.488389492034912 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "y": { + "local": [ + -0.003969311714172363, + -0.1842759954929352, + 0.40563321113586426 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8708482885360718, + 0.15574811816215514, + 1.8940227031707764 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "z": { + "local": [ + -0.02080368995666504, + -0.9040489196777344, + 0.3989253330230713 + ], + "localQuaternion": [ + 0, + 0, + 0, + 1 + ], + "world": [ + -1.8916519784927368, + -0.7483008015155792, + 2.292948036193848 + ], + "worldQuaternion": [ + 0, + 0, + 0, + 1 + ] + }, + "tilt": { + "local": [ + 0.49799561500549316, + 1.1399997472763062, + -1.6030043363571167 + ], + "localQuaternion": [ + 0.13052619222005157, + 0, + 0, + 0.9914448613738104 + ], + "world": [ + -1.8515222072601318, + -0.20127654075622559, + 0.8832522630691528 + ], + "worldQuaternion": [ + 0.1305261922200516, + 0, + 0, + 0.9914448613738103 + ] + }, + "c": { + "local": [ + -0.00008916854858398438, + -0.6340826749801636, + -0.08644759654998779 + ], + "localQuaternion": [ + 0, + 0, + 0.3826834323650898, + 0.9238795325112867 + ], + "world": [ + -1.8516113758087158, + -0.791379088131547, + 0.6356376244864839 + ], + "worldQuaternion": [ + 0.1205904774487396, + -0.04995021125231482, + 0.3794095225512604, + 0.9159756150367535 + ] + } + } + }, "browser_errors": [] } diff --git a/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png b/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png index 783f383..1b02d70 100644 Binary files a/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png and b/coverage/glb-machine-manager/mill700/mill700-studio-lighting.png differ diff --git a/docs/glb-machine-manager/01-项目功能内容.md b/docs/glb-machine-manager/01-项目功能内容.md index 3b3a66a..d04a75a 100644 --- a/docs/glb-machine-manager/01-项目功能内容.md +++ b/docs/glb-machine-manager/01-项目功能内容.md @@ -22,6 +22,8 @@ 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。 10. 导入 GLB 后，若模型已有 `Object3D.children` 层级，右侧必须按原结构显示为树。树节点名称可拖放：GLB 根节点之间管理部件装配父级，同一 GLB 内部节点之间管理内部父级；循环和跨 GLB 内部节点拖放必须拒绝。 11. 选择任意树节点时，显示其相对父节点的局部原点 XYZ 坐标。层级和原点读取自解析后的 GLB，导入过程不修改源场景；拖放结果保存为草稿覆盖。 +12. 导入的整机或部件可删除；删除后释放其 GLB 几何、材质和纹理，移除树及预览引用。 +13. 树节点可绑定 X/Y/Z/A或B/C 轴角色。层级运动测试输入 XYZ 毫米值和旋转轴角度后，按节点实际父子关系施加局部位移/旋转，并输出各绑定节点的局部位置、世界位置和四元数，用于验证子节点是否正确跟随父节点。 ## 数据和单位 diff --git a/docs/glb-machine-manager/02-项目程序开发详细步骤.md b/docs/glb-machine-manager/02-项目程序开发详细步骤.md index 8d785cd..916180e 100644 --- a/docs/glb-machine-manager/02-项目程序开发详细步骤.md +++ b/docs/glb-machine-manager/02-项目程序开发详细步骤.md @@ -10,5 +10,6 @@ 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。 10. `MGR-12`：按 GLB 原始 `Object3D.children` 显示树，支持根部件和内部节点拖放，选择节点显示父级局部原点；用 MILL700 六层结构验收。 +11. `MGR-14`：新增导入模型删除、树节点轴绑定和 XYZ/ABC 层级运动测试，输出局部/世界变换；MILL700 主轴链与工作台链验收。 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 index 98470fc..becd40d 100644 --- a/docs/glb-machine-manager/03-推进台账.md +++ b/docs/glb-machine-manager/03-推进台账.md @@ -34,6 +34,15 @@ - 发布 `render-state`、实际 pixel ratio、buffer size 和 GPU 上限诊断；context lost 后停止动画循环，避免重复 framebuffer 错误刷屏。 - 模拟页面 `1154x220`、DPR 3：CSS `656x655`、drawing buffer `984x982`、GPU 上限 `8192`，控制台警告/错误 0。MILL700 层级树及 AC/BC 生产回归通过。MGR-13 verified。 +## R07 / 2026-09-20 / 删除与层级运动验证 + +- 新增“删除导入模型”，删除后释放源场景资源、移除装配引用、树节点和预览。 +- 任意 GLB 根/内部树节点可绑定 base、X、Y、Z、tool、A/B、C、work 角色；角色徽标显示在树节点上。同一角色唯一绑定。 +- 新增层级运动测试输入：XYZ 为 mm，A/B/C 为 deg。预览恢复节点导入基准后施加输入，发布测试姿态及每个角色的 local/world position、local/world quaternion。 +- MILL700 实测：主轴 JT1/JT2/JT3 绑定 XYZ，输入 10/20/30 mm 后局部坐标分别增加 0.01/0.02/0.03 m；工作台 JT1/JT2 绑定 A/C，输入 15°/45° 后局部旋转严格变化 15°/45°，C 世界坐标随 A 父级变化。 +- 删除 MILL700 后 part-count=0、树节点=0。整个运动测试期间 WebGL context generation 始终为 1，没有因输入或树操作重建 renderer。 +- 生产 8 部件 AC/BC 应用、导出和程序运动回归通过，warning/error=0。MGR-14 verified。 + ## 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。 diff --git a/docs/glb-machine-manager/04-任务矩阵.md b/docs/glb-machine-manager/04-任务矩阵.md index 44abfc1..9142f0d 100644 --- a/docs/glb-machine-manager/04-任务矩阵.md +++ b/docs/glb-machine-manager/04-任务矩阵.md @@ -15,3 +15,4 @@ |MGR-11 Z-up 机床坐标|verified|MGR-04,MGR-05|`camera.up=(0,0,1)`，机床 Z 竖直、XY 地面；导入模型信息和原始变换不修改| |MGR-12 GLB 层级树管理|verified|MGR-02,MGR-04|原始层级按 tree 显示；根/内部节点拖放、循环拒绝、节点原点坐标和 MILL700 深层结构验收通过| |MGR-13 WebGL 资源稳定性|verified|MGR-10,MGR-12|禁用超限 MSAA；drawing buffer 按 GPU 上限和像素预算缩放；零尺寸/context lost 不连续绘制；短视口 DPR3 无警告| +|MGR-14 层级运动验证|verified|MGR-12,MGR-13|模型删除；树节点轴绑定；XYZ mm、A/B/C deg 输入驱动局部层级；local/world 变换和 MILL700 父子联动验收| diff --git a/docs/glb-machine-manager/05-验收证据.md b/docs/glb-machine-manager/05-验收证据.md index 058b9fe..522ba05 100644 --- a/docs/glb-machine-manager/05-验收证据.md +++ b/docs/glb-machine-manager/05-验收证据.md @@ -16,7 +16,7 @@ - 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 `6e53968722744d8fc4dc753d83ee8bad3c6c3ce0d41c34d64214b5586faf2dc5` + - `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `5920cce68e8eba3adffdefaab2d475de7e49b62515a9453e76fb994e168e6ce0` - `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `2a28290ff58b3a0d3250ee5ebb1bc636a2cc8b8f62828b41764435501f97d385` ## E03 / R02 / 生产构建浏览器闭环 @@ -43,10 +43,10 @@ - 状态：verified。 - 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_manager_mill700_browser.mjs` - 模型：`MILL700-U_1.glb`，9,418,852 bytes，SHA-256 `bf37130681cc6462412e52744519516e8ade2a3212dd69153c0b1b3e415bcf66`。 -- report_id：`GLB-MGR-E05`；报告 SHA-256 `7c479b36396abc6f7466ed8b54cc83216dd72c30ba11fa0c667e6491d47c2171`。 +- report_id：`GLB-MGR-E05`；报告 SHA-256 `11327a756a019ff933759fdf95da5a0e461dcf6987d0fa030d777fe82c96c807`。 - 结构：132 节点、126 网格、深度 6、126 材质，其中 110 个 `metalness >= 0.9`。 - 检查：已有内部层级完整保留；管理器使用 `studio-pmrem`、sRGB 输出、ACES、曝光 `1.45` 和多向补光；浏览器错误为 0。 -- 截图：`coverage/glb-machine-manager/mill700/mill700-studio-lighting.png`，SHA-256 `289255511eccce697ec0c6f002a44588475e9042fa12f23646ea02c4c63a3b60`。 +- 截图：`coverage/glb-machine-manager/mill700/mill700-studio-lighting.png`，SHA-256 `ad1e2a36a5db765a13ba3ce633c9cc0e146867c87397cd284988d2496d950344`。 ## E06 / R04 / Z-up 坐标 @@ -70,3 +70,12 @@ - 修复后：管理器 CSS `656x655`，drawing buffer `984x982`，`MAX_RENDERBUFFER_SIZE=8192`，MSAA=false，控制台 warning/error=0。 - renderer 诊断字段：`machine-manager-webgl-antialias=false`、`render-state=ready`、动态 `pixel-ratio/buffer-size/max-buffer`。 - MILL700 132 节点树选择/拖放通过；生产 AC/BC 管理器闭环通过，浏览器错误 0。 + +## E09 / R07 / MILL700 层级运动验证 + +- 状态：verified。 +- 绑定：`主轴-JT1→X`、`主轴-JT2→Y`、`主轴-JT3→Z`、`工作台-JT1→A`、`工作台-JT2→C`。 +- 输入：X=10 mm、Y=20 mm、Z=30 mm、A=15°、C=45°。 +- 结果：XYZ 局部增量依次为 0.01/0.02/0.03 m；A/C 局部旋转增量为 15°/45°；C 世界位置和世界四元数受 A 父节点影响，证明层级联动有效。 +- 生命周期：输入和树操作期间 `context-generation=1`；warning/error=0。删除后部件数和树节点数均为 0。 +- 完整变换样本保存在 `coverage/glb-machine-manager/mill700/browser.report.json` 的 `motion.baseline/driven`。 diff --git a/docs/glb-machine-manager/06-决策记录.md b/docs/glb-machine-manager/06-决策记录.md index d81147e..5eec28b 100644 --- a/docs/glb-machine-manager/06-决策记录.md +++ b/docs/glb-machine-manager/06-决策记录.md @@ -43,3 +43,7 @@ GLB 树节点 ID 使用导入时的子节点索引路径，不使用可能重复 ## D11 / 管理器优先保证 framebuffer 可创建 管理器不依赖 MSAA；高 DPI 清晰度由受限 DPR 提供。drawing buffer 必须同时满足 GPU 维度上限和 4096² 像素预算，不能把异常 DOM 尺寸直接传给 WebGL。零尺寸和 context lost 视为暂停状态，不继续调用 render 产生重复错误。 + +## D12 / 轴值驱动是层级诊断 + +管理器的 XYZ/ABC 输入只驱动树中显式绑定的草稿节点，用于验证父子层级和轴向；它不发送 LinuxCNC 运动命令，也不替代 Worker/WASM。正式加工仍由控制面板程序、TP 和运动学驱动。诊断输出同时保留 local/world 变换以区分节点自身运动和父级继承运动。 diff --git a/docs/glb-machine-manager/README.md b/docs/glb-machine-manager/README.md index 18664a6..53026b1 100644 --- a/docs/glb-machine-manager/README.md +++ b/docs/glb-machine-manager/README.md @@ -11,7 +11,7 @@ 现有整机 GLB + 内嵌 URDF 导入能力继续保留。新管理器生成与现有 `linuxcnc.machine/1` 相同的严格结构，再通过已有配置、Worker、WASM 和 Three.js 投影链运行。 -当前状态：MGR-01 至 MGR-13 全部 verified，MILL700 实测覆盖照明、Z-up、132 节点层级树、拖放、节点原点和 WebGL 资源降级。最新台账 R06，浏览器证据 `GLB-MGR-E01/E02/E05/E07/E08`，截图和报告位于 `coverage/glb-machine-manager/`。 +当前状态：MGR-01 至 MGR-14 全部 verified，MILL700 实测覆盖照明、Z-up、132 节点树、拖放、节点原点、模型删除、轴绑定、XYZ/AC 层级运动和 WebGL 资源降级。最新台账 R07，证据 `GLB-MGR-E01/E02/E05/E07/E08/E09` 位于 `coverage/glb-machine-manager/`。 文档： diff --git a/docs/linuxcnc-axis-web-control-panel-source-logic.md b/docs/linuxcnc-axis-web-control-panel-source-logic.md index d1b6b0f..b701bfe 100644 --- a/docs/linuxcnc-axis-web-control-panel-source-logic.md +++ b/docs/linuxcnc-axis-web-control-panel-source-logic.md @@ -449,7 +449,7 @@ history rows intentionally share the family ID `mdi-history-select`. | `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-tree-node`, `machine-tree-origin`, `machine-manager-apply`, `machine-manager-export` | Web component-level machine assembly extension | GLB `Object3D.children` render as a tree; selecting a node shows its parent-relative origin, and dragging tree names records validated parent overrides without changing the imported source scene. Apply validates the supported AC/BC hierarchy, generates `linuxcnc.machine/1`, then uses `LOAD_WORKSPACE` + `PROGRAM_LOAD` while OFF and IDLE | Three.js edits draft assembly metadata only; runtime joint motion, tool offset and RTCP remain Worker/WASM authoritative | +| `machine-manager-settings`, `machine-manager-import`, `machine-manager-files`, `machine-manager-delete`, `machine-manager-translate`, `machine-manager-rotate`, `machine-manager-role`, `machine-manager-parent`, `machine-manager-show-origin`, `machine-tree-node`, `machine-tree-origin`, `machine-tree-axis-role`, `machine-test-x`, `machine-test-y`, `machine-test-z`, `machine-test-a`, `machine-test-b`, `machine-test-c`, `machine-test-reset`, `machine-test-state`, `machine-manager-apply`, `machine-manager-export` | Web component-level machine assembly extension | GLB `Object3D.children` render as a tree; selecting a node shows its parent-relative origin, dragging records parent overrides, and axis-test inputs drive bound nodes through their actual parent hierarchy without changing the source scene. Imported roots can be deleted. Apply validates AC/BC and then uses `LOAD_WORKSPACE` + `PROGRAM_LOAD` while OFF and IDLE | Axis-test motion is a local hierarchy diagnostic; production task 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/scripts/test_axis_control_inventory.mjs b/scripts/test_axis_control_inventory.mjs index 5772ea3..f4987fa 100644 --- a/scripts/test_axis_control_inventory.mjs +++ b/scripts/test_axis_control_inventory.mjs @@ -13,7 +13,7 @@ const [contract, app, panel, preview] = await Promise.all([ const controlIds = [ "menu-file", "menu-file-edit-tool-data", "menu-file-quit", "menu-help", "menu-help-about", "about-close", "toolbar-estop", "toolbar-power", "toolbar-open", "toolbar-load-case", "toolbar-reload", "toolbar-run", "toolbar-step", "toolbar-pause-resume", "toolbar-stop", "toolbar-block-delete", "toolbar-optional-pause", "toolbar-zoom-in", "toolbar-zoom-out", "toolbar-view-z", "toolbar-view-z2", "toolbar-view-x", "toolbar-view-y", "toolbar-view-y2", "toolbar-view-p", "toolbar-rotate", "toolbar-clear-live-plot", - "workspace-case-select", "workspace-load-3d-chips", "workspace-rtcp-programs", "rtcp-program-scope", "rtcp-program-select", "rtcp-program-source", "rtcp-program-load", "rtcp-program-download", "machine-manager-settings", "machine-manager-import", "machine-manager-files", "machine-manager-translate", "machine-manager-rotate", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-manager-apply", "machine-manager-export", "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-delete", "machine-manager-translate", "machine-manager-rotate", "machine-manager-role", "machine-manager-parent", "machine-manager-show-origin", "machine-tree-node", "machine-tree-origin", "machine-tree-axis-role", "machine-test-x", "machine-test-y", "machine-test-z", "machine-test-a", "machine-test-b", "machine-test-c", "machine-test-reset", "machine-test-state", "machine-manager-apply", "machine-manager-export", "manual-home-all", "manual-home-joint-select", "switchkins-0", "switchkins-1", "switchkins-2", "tab-manual", "tab-mdi", "tab-diagnostics", "tab-preview", "tab-dro", "manual-axis-x", "manual-axis-y", "manual-axis-z", "manual-axis-a", "manual-axis-c", diff --git a/scripts/test_machine_manager_mill700_browser.mjs b/scripts/test_machine_manager_mill700_browser.mjs index 1b4a08f..e5a2470 100644 --- a/scripts/test_machine_manager_mill700_browser.mjs +++ b/scripts/test_machine_manager_mill700_browser.mjs @@ -30,7 +30,13 @@ try { const source = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-门1-JT1" }).first(), target = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A底座" }).first(); const sourceItem = source.locator("xpath=ancestor::li[1]"), targetItem = target.locator("xpath=ancestor::li[1]"), sourcePath = await sourceItem.getAttribute("data-machine-tree-path"), targetPath = await targetItem.getAttribute("data-machine-tree-path"), partId = await sourceItem.getAttribute("data-machine-tree-part"); await target.evaluate((element, payload) => { const transfer = new DataTransfer(); transfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: payload.partId, path: payload.sourcePath })); element.dispatchEvent(new DragEvent("drop", { bubbles: true, cancelable: true, dataTransfer: transfer })); }, { partId, sourcePath }); await page.waitForFunction(({ sourcePath, targetPath }) => document.querySelector(`[data-machine-tree-path="${sourcePath}"]`)?.getAttribute("data-machine-tree-parent") === targetPath, { sourcePath, targetPath }, { timeout: 60000 }); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1"); report.hierarchy = hierarchy; report.checks.push("existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins"); const preview = page.locator("[data-machine-manager-preview]"); assert.equal(await preview.getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await preview.getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await preview.getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await preview.getAttribute("data-machine-manager-camera-up"), "0,0,1"); assert.equal(await preview.getAttribute("data-machine-manager-model-transform"), "none-on-import"); assert.equal(await preview.getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await preview.getAttribute("data-machine-manager-render-state"), "ready"); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); const [bufferWidth, bufferHeight] = (await preview.getAttribute("data-machine-manager-buffer-size")).split("x").map(Number), maxBuffer = Number(await preview.getAttribute("data-machine-manager-max-buffer")); assert.ok(bufferWidth > 0 && bufferHeight > 0 && bufferWidth <= maxBuffer && bufferHeight <= maxBuffer); + const bind = async (name, role) => { const node = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: name }).first(); await node.dispatchEvent("click"); await control("machine-tree-axis-role").selectOption(role); }; + await bind("MILL700-A-主轴-JT1", "x"); await bind("MILL700-A-主轴-JT2", "y"); await bind("MILL700-A-主轴-JT3", "z"); await bind("MILL700-A-工作台-JT1", "tilt"); await bind("MILL700-A-工作台-JT2", "c"); await page.waitForFunction(() => { try { const roles = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRoleTransforms ?? "{}"); return ["x", "y", "z", "tilt", "c"].every((role) => roles[role]); } catch { return false; } }); + const baseline = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")); await control("machine-test-x").fill("10"); await control("machine-test-y").fill("20"); await control("machine-test-z").fill("30"); await control("machine-test-a").fill("15"); await control("machine-test-c").fill("45"); await page.waitForFunction(() => JSON.parse(document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerTestPose ?? "{}").c === 45); + const driven = JSON.parse(await preview.getAttribute("data-machine-manager-role-transforms")), quaternionAngle = (left, right) => 2 * Math.acos(Math.min(1, Math.abs(left.reduce((sum, value, index) => sum + value * right[index], 0)))); + assert.ok(Math.abs(driven.x.local[0] - baseline.x.local[0] - .01) < 1e-9); assert.ok(Math.abs(driven.y.local[1] - baseline.y.local[1] - .02) < 1e-9); assert.ok(Math.abs(driven.z.local[2] - baseline.z.local[2] - .03) < 1e-9); assert.ok(Math.abs(quaternionAngle(driven.tilt.localQuaternion, baseline.tilt.localQuaternion) - 15 * Math.PI / 180) < 1e-7); assert.ok(Math.abs(quaternionAngle(driven.c.localQuaternion, baseline.c.localQuaternion) - 45 * Math.PI / 180) < 1e-7); assert.ok(driven.c.world.some((value, index) => Math.abs(value - baseline.c.world[index]) > 1e-6)); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); report.motion = { input: { x: 10, y: 20, z: 30, a: 15, c: 45 }, baseline, driven }; report.checks.push("axis inputs drive bound MILL700 hierarchy nodes without recreating WebGL"); report.checks.push("metallic MILL700 surfaces rendered with studio PMREM lighting; screenshot captured for visual review"); assert.deepEqual(errors, []); report.status = "verified"; + await control("machine-manager-delete").click(); await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "0" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length === 0); report.checks.push("imported model can be deleted and its tree is removed"); } catch (error) { report.status = "failed"; report.error = error instanceof Error ? error.stack : String(error); await page.screenshot({ path: new URL("failure.png", output).pathname, timeout: 5000 }).catch(() => undefined); 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)); diff --git a/web/react/src/MachineManagerPanel.tsx b/web/react/src/MachineManagerPanel.tsx index 414c885..4ec9866 100644 --- a/web/react/src/MachineManagerPanel.tsx +++ b/web/react/src/MachineManagerPanel.tsx @@ -6,25 +6,27 @@ import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js"; import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js"; import { DraggableDialog } from "./DraggableDialog"; import { disposeMachineScene, type ImportedMachine } from "./imported-machine"; -import { applyMachineNodeParents, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager"; +import { applyMachineNodeParents, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, machineSceneNode, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager"; import type { Vec3 } from "./machine-urdf"; type Props = { coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise }; +type TestPose = { x: number; y: number; z: number; a: number; b: number; c: number }; 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 }) { - type PreviewHost = HTMLDivElement & { machineManagerSync?: (parts: MachinePartDraft[], selectedId: string | null, mode: "translate" | "rotate") => void }; +function ManagerPreview({ coordinates, parts, selectedId, mode, testPose, onTransform }: { coordinates: "XYZAC" | "XYZBC"; parts: MachinePartDraft[]; selectedId: string | null; mode: "translate" | "rotate"; testPose: TestPose; onTransform: (id: string, translationMm: Vec3, rotationDeg: Vec3) => void }) { + type PreviewHost = HTMLDivElement & { machineManagerSync?: (parts: MachinePartDraft[], selectedId: string | null, mode: "translate" | "rotate", testPose: TestPose, coordinates: "XYZAC" | "XYZBC") => void }; const host = useRef(null); - const stateRef = useRef({ parts, selectedId, mode }); stateRef.current = { parts, selectedId, mode }; + const stateRef = useRef({ parts, selectedId, mode, testPose, coordinates }); stateRef.current = { parts, selectedId, mode, testPose, coordinates }; const onTransformRef = useRef(onTransform); onTransformRef.current = onTransform; - useEffect(() => { host.current?.machineManagerSync?.(parts, selectedId, mode); }, [parts, selectedId, mode]); + const [fault, setFault] = useState(""); + useEffect(() => { host.current?.machineManagerSync?.(parts, selectedId, mode, testPose, coordinates); }, [parts, selectedId, mode, testPose, coordinates]); useEffect(() => { const element = host.current; if (!element) return; // Large industrial GLBs can exceed small-GPU multisample renderbuffer // limits when DevTools or display scaling changes the drawing-buffer size. const renderer = new THREE.WebGLRenderer({ antialias: false, alpha: false, depth: true, stencil: false, powerPreference: "high-performance" }); - renderer.outputColorSpace = THREE.SRGBColorSpace; renderer.toneMapping = THREE.ACESFilmicToneMapping; renderer.toneMappingExposure = 1.45; renderer.shadowMap.enabled = true; renderer.shadowMap.type = THREE.PCFShadowMap; element.appendChild(renderer.domElement); + renderer.outputColorSpace = THREE.SRGBColorSpace; renderer.toneMapping = THREE.ACESFilmicToneMapping; renderer.toneMappingExposure = 1.45; renderer.shadowMap.enabled = false; element.appendChild(renderer.domElement); const gl = renderer.getContext(), viewportLimit = gl.getParameter(gl.MAX_VIEWPORT_DIMS) as Int32Array; const maxDimension = Math.max(1, Math.floor(Math.min(Number(gl.getParameter(gl.MAX_RENDERBUFFER_SIZE) || 4096), Number(gl.getParameter(gl.MAX_TEXTURE_SIZE) || 4096), Number(viewportLimit?.[0] || 4096), Number(viewportLimit?.[1] || 4096)) * .9)); const maxPixels = Math.min(maxDimension * maxDimension, 4096 * 4096); @@ -39,23 +41,26 @@ function ManagerPreview({ parts, selectedId, mode, onTransform }: { parts: Machi const camera = new THREE.PerspectiveCamera(42, 1, .005, 100); camera.up.set(0, 0, 1); camera.position.set(2.4, -2.8, 1.8); const orbit = new OrbitControls(camera, renderer.domElement); orbit.enableDamping = true; const root = new THREE.Group(); root.name = "machine-manager-preview"; scene.add(root); - let nodes = new Map(), helpers: THREE.AxesHelper[] = [], selectedObject: THREE.Group | null = null, selectedPartId: string | null = null, lastParts: MachinePartDraft[] | null = null, fitSignature = ""; + type RoleNode = { object: THREE.Object3D; position: THREE.Vector3; quaternion: THREE.Quaternion }; + let nodes = new Map(), roleNodes = new Map(), helpers: THREE.AxesHelper[] = [], selectedObject: THREE.Group | null = null, selectedPartId: string | null = null, lastParts: MachinePartDraft[] | null = null, fitSignature = "", dirty = true; const transform = new TransformControls(camera, renderer.domElement); transform.setMode(mode); transform.setSpace("local"); scene.add(transform.getHelper()); transform.addEventListener("dragging-changed", ((event: { value?: boolean }) => { orbit.enabled = !event.value; }) as never); transform.addEventListener("objectChange", (() => { if (!selectedPartId || !selectedObject) return; onTransformRef.current(selectedPartId, selectedObject.position.toArray().map((value) => value * 1000) as Vec3, [THREE.MathUtils.radToDeg(selectedObject.rotation.x), THREE.MathUtils.radToDeg(selectedObject.rotation.y), THREE.MathUtils.radToDeg(selectedObject.rotation.z)]); }) as never); - element.machineManagerSync = (nextParts, nextSelectedId, nextMode) => { + element.machineManagerSync = (nextParts, nextSelectedId, nextMode, nextPose, nextCoordinates) => { transform.setMode(nextMode); if (nextParts !== lastParts) { - transform.detach(); root.clear(); helpers.forEach((helper) => helper.dispose()); helpers = []; nodes = new Map(); + transform.detach(); root.clear(); helpers.forEach((helper) => helper.dispose()); helpers = []; nodes = new Map(); roleNodes = new Map(); for (const part of nextParts) { 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); // Clone transforms/hierarchy only. Geometry, materials, textures and // source-node transforms remain untouched on the imported GLB. - const visual = part.scene.clone(true); applyMachineNodeParents(visual, part.nodeParents); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); + const visual = part.scene.clone(true), internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: machineSceneNode(visual, path), role })); applyMachineNodeParents(visual, part.nodeParents); visual.position.fromArray(part.originMm).multiplyScalar(-.001); node.add(visual); const axes = new THREE.AxesHelper(.12); helpers.push(axes); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node); + if (part.role) roleNodes.set(part.role, { object: node, position: node.position.clone(), quaternion: node.quaternion.clone() }); + for (const binding of internalRoles) if (binding.object && binding.role) roleNodes.set(binding.role, { object: binding.object, position: binding.object.position.clone(), quaternion: binding.object.quaternion.clone() }); } 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 = nextParts.find((part) => part.id === cursor)?.parentId ?? null; } return false; }; for (const part of nextParts) if (part.parentId && nodes.has(part.parentId) && !cycle(part.id, part.parentId)) nodes.get(part.parentId)!.add(nodes.get(part.id)!); @@ -67,9 +72,13 @@ function ManagerPreview({ parts, selectedId, mode, onTransform }: { parts: Machi lastParts = nextParts; } selectedPartId = nextSelectedId; selectedObject = nextSelectedId ? nodes.get(nextSelectedId) ?? null : null; transform.detach(); if (selectedObject) transform.attach(selectedObject); - element.dataset.machineManagerContextGeneration = "1"; + for (const binding of roleNodes.values()) { binding.object.position.copy(binding.position); binding.object.quaternion.copy(binding.quaternion); } + const translate = (role: MachinePartRole, axis: "x" | "y" | "z", value: number) => { const binding = roleNodes.get(role); if (binding) binding.object.position[axis] += value / 1000; }; + const rotate = (role: MachinePartRole, axis: THREE.Vector3, degrees: number) => { const binding = roleNodes.get(role); if (binding) binding.object.quaternion.copy(binding.quaternion).multiply(new THREE.Quaternion().setFromAxisAngle(axis, THREE.MathUtils.degToRad(degrees))); }; + translate("x", "x", nextPose.x); translate("y", "y", nextPose.y); translate("z", "z", nextPose.z); rotate("tilt", nextCoordinates === "XYZBC" ? new THREE.Vector3(0, 1, 0) : new THREE.Vector3(1, 0, 0), nextCoordinates === "XYZBC" ? nextPose.b : nextPose.a); rotate("c", new THREE.Vector3(0, 0, 1), nextPose.c); + root.updateMatrixWorld(true); element.dataset.machineManagerRoleTransforms = JSON.stringify(Object.fromEntries([...roleNodes].map(([role, binding]) => [role, { local: binding.object.position.toArray(), localQuaternion: binding.object.quaternion.toArray(), world: binding.object.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: binding.object.getWorldQuaternion(new THREE.Quaternion()).toArray() }]))); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true; }; - element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.mode); + element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.mode, stateRef.current.testPose, stateRef.current.coordinates); let renderable = false, contextLost = false; const resize = () => { const width = element.clientWidth, height = element.clientHeight; @@ -81,21 +90,23 @@ function ManagerPreview({ parts, selectedId, mode, onTransform }: { parts: Machi renderable = renderer.domElement.width > 0 && renderer.domElement.height > 0 && renderer.domElement.width <= maxDimension && renderer.domElement.height <= maxDimension; element.dataset.machineManagerPixelRatio = pixelRatio.toFixed(3); element.dataset.machineManagerBufferSize = `${renderer.domElement.width}x${renderer.domElement.height}`; element.dataset.machineManagerRenderState = renderable ? "ready" : "suspended-limit"; }; - const contextLostHandler = (event: Event) => { event.preventDefault(); contextLost = true; renderable = false; element.dataset.machineManagerRenderState = "context-lost"; }; + const contextLostHandler = (event: Event) => { event.preventDefault(); contextLost = true; renderable = false; element.dataset.machineManagerRenderState = "context-lost"; setFault("WebGL 上下文已丢失，请关闭并重新打开三维机床管理器"); }; renderer.domElement.addEventListener("webglcontextlost", contextLostHandler); const observer = new ResizeObserver(resize); observer.observe(element); resize(); let frame = 0; - const render = () => { if (!contextLost && renderable) { orbit.update(); renderer.render(scene, camera); element.dataset.machineManagerRendered = "true"; } frame = contextLost ? 0 : requestAnimationFrame(render); }; render(); + orbit.addEventListener("change", () => { dirty = true; }); transform.addEventListener("change", () => { dirty = true; }); + const render = () => { if (!contextLost && renderable && (dirty || orbit.update())) { renderer.render(scene, camera); element.dataset.machineManagerRendered = "true"; dirty = false; } frame = contextLost ? 0 : requestAnimationFrame(render); }; render(); return () => { if (frame) cancelAnimationFrame(frame); observer.disconnect(); delete element.machineManagerSync; renderer.domElement.removeEventListener("webglcontextlost", contextLostHandler); transform.dispose(); orbit.dispose(); helpers.forEach((helper) => helper.dispose()); environment.dispose(); renderer.dispose(); renderer.domElement.remove(); }; }, []); - return
part.showOrigin).length} data-transform-mode={mode} aria-label="三维机床装配预览，机床 Z 轴朝上" />; + return
part.showOrigin).length} data-transform-mode={mode} aria-label="三维机床装配预览，机床 Z 轴朝上" />{fault && {fault}}
; } function TreeNode({ part, node, selected, onSelect, onDrop, extra }: { part: MachinePartDraft; node: MachineTreeNode; selected: string; onSelect: (partId: string, path: string) => void; onDrop: (source: { partId: string; path: string }, target: { partId: string; path: string }) => void; extra?: React.ReactNode }) { const key = `${part.id}:${node.path}`; const [expanded, setExpanded] = useState(node.path === "scene"); const hasChildren = node.children.length > 0 || Boolean(extra); + const binding = node.path === "scene" ? part.role : part.nodeRoles?.[node.path]; return
  • -
    +
    {hasChildren && }
    • ; } @@ -106,6 +117,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { const [selectedId, setSelectedId] = useState(null); const [selectedNodePath, setSelectedNodePath] = useState("scene"); 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); + const [testPose, setTestPose] = useState({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); 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; @@ -124,7 +136,7 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? ""; const parentRole = role ? expectedParentRole(role) : null; const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null; - next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {} }); + next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeRoles: {} }); } return next; }); @@ -169,18 +181,33 @@ export function MachineManagerPanel({ coordinates, disabled, onApply }: Props) { const parentRole = role ? expectedParentRole(role) : null; update(part.id, { role, parentId: parentRole ? parts.find((item) => item.role === parentRole)?.id ?? null : null }); }; + const selectedBinding = selected ? selectedNodePath === "scene" ? selected.role : selected.nodeRoles?.[selectedNodePath] ?? "" : ""; + const assignTreeRole = (role: MachinePartRole | "") => { + if (!selected) return; + setParts((current) => current.map((part) => { + const nodeRoles = Object.fromEntries(Object.entries(part.nodeRoles ?? {}).filter(([, value]) => !role || value !== role)); + let partRole = role && part.role === role ? "" : part.role; + if (part.id === selected.id) { + if (selectedNodePath === "scene") partRole = role; + else { delete nodeRoles[selectedNodePath]; if (role) nodeRoles[selectedNodePath] = role; } + } + return { ...part, role: partRole, nodeRoles } as MachinePartDraft; + })); + }; + const poseInput = (axis: keyof TestPose, unit: string) => ; const renderPartTree = (part: MachinePartDraft): React.ReactNode => child.parentId === part.id).map(renderPartTree)} />; return
    setOpen(false)}>
    {parts.length}/8 部件
    - update(id, { translationMm, rotationDeg })} /> + {open && update(id, { translationMm, rotationDeg })} />}

    部件与层级

    {parts.length ?
      {parts.filter((part) => !part.parentId).map(renderPartTree)}
    :

    导入机床或部件后显示 GLB 内部层级。

    }
    - {selected &&

    {selected.filename}

    {selectedTreeNode &&
    {selectedTreeNode.name}相对父节点原点 (mm)X {selectedTreeNode.originMm[0].toFixed(3)}　Y {selectedTreeNode.originMm[1].toFixed(3)}　Z {selectedTreeNode.originMm[2].toFixed(3)}
    }
    {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")}
    } + {selected &&

    {selected.filename}

    {selectedTreeNode &&
    {selectedTreeNode.name}相对父节点原点 (mm)X {selectedTreeNode.originMm[0].toFixed(3)}　Y {selectedTreeNode.originMm[1].toFixed(3)}　Z {selectedTreeNode.originMm[2].toFixed(3)}
    }
    {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")}
    }
    +

    层级运动测试

    {(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}
    {JSON.stringify(testPose)}

    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); }} /> diff --git a/web/react/src/machine-manager.ts b/web/react/src/machine-manager.ts index acf3603..d82cba4 100644 --- a/web/react/src/machine-manager.ts +++ b/web/react/src/machine-manager.ts @@ -14,6 +14,7 @@ export type MachinePartDraft = MachinePartSource & { translationMm: Vec3; rotationDeg: Vec3; nodeParents: Record; + nodeRoles: Record; }; export type MachineTreeNode = { path: string; name: string; type: "group" | "mesh"; originMm: Vec3; children: MachineTreeNode[] }; export type PhysicalZero = { x: number; y: number; z: number; a: number; b: number; c: number }; @@ -23,7 +24,7 @@ export type ManagedMachineGeometry = { cOriginMm: Vec3; tiltOffsetMm: Vec3; physicalZero: PhysicalZero; - parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record }>; + parts: Array<{ id: string; filename: string; hash: string; role: MachinePartRole; parentId: string | null; originMm: Vec3; translationMm: Vec3; rotationDeg: Vec3; visible: boolean; nodeParents: Record; nodeRoles: Record }>; }; export const MACHINE_PART_ROLES: MachinePartRole[] = ["base", "x", "y", "z", "tool", "tilt", "c", "work"]; @@ -145,7 +146,7 @@ export async function buildManagedMachine(input: { coordinates: "XYZAC" | "XYZBC const structure: MachineStructure = parseMachineUrdf(urdf); const metadata: ManagedMachineGeometry = { schema: "linuxcnc.machine-manager/1", coordinates: input.coordinates, cOriginMm: [...input.cOriginMm], tiltOffsetMm: [...input.tiltOffsetMm], physicalZero: { ...input.physicalZero }, - parts: MACHINE_PART_ROLES.map((role) => { const part = byRole.get(role)!; return { id: part.id, filename: part.filename, hash: part.hash, role, parentId: part.parentId, originMm: [...part.originMm], translationMm: [...part.translationMm], rotationDeg: [...part.rotationDeg], visible: part.visible, nodeParents: { ...(part.nodeParents ?? {}) } }; }), + parts: MACHINE_PART_ROLES.map((role) => { const part = byRole.get(role)!; return { id: part.id, filename: part.filename, hash: part.hash, role, parentId: part.parentId, originMm: [...part.originMm], translationMm: [...part.translationMm], rotationDeg: [...part.rotationDeg], visible: part.visible, nodeParents: { ...(part.nodeParents ?? {}) }, nodeRoles: { ...(part.nodeRoles ?? {}) } }; }), }; const scene = new THREE.Group(); scene.name = `Managed_${input.coordinates}`; scene.userData.linuxcncMachine = { schema: "linuxcnc.machine/1", urdf }; diff --git a/web/react/src/styles.css b/web/react/src/styles.css index 6e7b12a..7b47b6a 100644 --- a/web/react/src/styles.css +++ b/web/react/src/styles.css @@ -362,8 +362,10 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .machine-manager-toolbar { margin-bottom: 10px; } .machine-manager-toolbar button[aria-pressed="true"] { background: #27585d; color: #fff; } .machine-manager-layout { display: grid; grid-template-columns: minmax(380px, 1.35fr) minmax(330px, .9fr); gap: 12px; min-height: 430px; } -.machine-manager-preview { min-width: 0; min-height: 430px; border: 1px solid #52666a; background: #263438; overflow: hidden; } +.machine-manager-preview-shell { position: relative; min-width: 0; min-height: 430px; } +.machine-manager-preview { width: 100%; height: 100%; min-width: 0; min-height: 430px; border: 1px solid #52666a; background: #263438; overflow: hidden; } .machine-manager-preview canvas { display: block; width: 100%; height: 100%; } +.machine-manager-webgl-fault { position: absolute; inset: 12px; display: grid; place-items: center; padding: 16px; background: #fff0e8ed; color: #7b231b; border: 1px solid #a94a3e; text-align: center; } .machine-manager-editor { display: grid; grid-template-rows: minmax(120px, .7fr) minmax(260px, 1.3fr); min-height: 0; gap: 8px; } .machine-part-list, .machine-part-editor, .machine-manager-calibration { border: 1px solid #9babad; background: #f6f9f8; padding: 8px; min-height: 0; overflow: auto; } .machine-part-list h3, .machine-part-editor h3, .machine-manager-calibration h3 { margin: 0 0 7px; font-size: 13px; } @@ -373,18 +375,21 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .machine-tree-row { display: grid; grid-template-columns: 22px minmax(0, 1fr); align-items: center; } .machine-tree-toggle { width: 22px; height: 25px; padding: 0; border: 0; background: transparent; color: #315d61; cursor: pointer; } .machine-tree-toggle:disabled { color: #829092; cursor: default; } -.machine-tree [data-axis-control="machine-tree-node"] { display: grid; grid-template-columns: minmax(110px, 1fr) auto; align-items: center; gap: 4px; width: 100%; min-height: 25px; padding: 2px 5px; border: 1px solid transparent; background: transparent; text-align: left; cursor: grab; } +.machine-tree [data-axis-control="machine-tree-node"] { display: grid; grid-template-columns: minmax(110px, 1fr) auto auto; align-items: center; gap: 4px; width: 100%; min-height: 25px; padding: 2px 5px; border: 1px solid transparent; background: transparent; text-align: left; cursor: grab; } .machine-tree [data-axis-control="machine-tree-node"]:hover { background: #e4efed; border-color: #9db4b5; } .machine-tree [data-axis-control="machine-tree-node"].selected { background: #cfe5e2; border-color: #27585d; } .machine-tree [data-axis-control="machine-tree-node"]:active { cursor: grabbing; } .machine-tree [data-axis-control="machine-tree-node"] > span:first-child { min-width: 0; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; } .machine-tree [data-axis-control="machine-tree-node"] small { color: #66787b; font: 10px ui-monospace, monospace; white-space: nowrap; } +.machine-tree [data-axis-control="machine-tree-node"] em { padding: 1px 4px; background: #2c6669; color: #fff; font-size: 9px; font-style: normal; } .machine-tree .mesh { color: #397a80; } .machine-tree-origin { display: grid; grid-template-columns: minmax(0, 1fr) auto; gap: 4px 10px; padding: 7px; margin-bottom: 8px; border: 1px solid #9db4b5; background: #e8f2f0; } .machine-tree-origin strong { overflow: hidden; text-overflow: ellipsis; white-space: nowrap; } .machine-tree-origin span { color: #536467; } .machine-tree-origin output { grid-column: 1 / -1; text-align: left; } .machine-part-editor > label { display: grid; grid-template-columns: 82px minmax(0, 1fr); align-items: center; gap: 8px; margin: 6px 0; } +.machine-part-editor > header, .machine-motion-test > header { display: flex; align-items: center; justify-content: space-between; gap: 8px; } +.machine-part-editor > header button { color: #8b2d24; } .machine-part-editor select { height: 30px; min-width: 0; } .machine-part-flags { display: flex; gap: 16px; margin: 8px 0; } .machine-vector { display: flex; flex-wrap: wrap; gap: 6px; margin: 8px 0; padding: 6px; } @@ -396,8 +401,16 @@ output { font: 12px ui-monospace, monospace; text-align: right; } .machine-manager-footer { margin-top: 10px; } .machine-manager-footer button { min-height: 32px; } .machine-manager-footer output { flex: 1 1 320px; text-align: left; } +.machine-motion-test { margin-top: 10px; padding: 8px; border: 1px solid #779092; background: #eaf2f1; } +.machine-motion-test h3 { margin: 0; font-size: 13px; } +.machine-motion-test > div { display: grid; grid-template-columns: repeat(5, minmax(88px, 1fr)); gap: 8px; margin-top: 8px; } +.machine-motion-test label { display: grid; grid-template-columns: 16px minmax(0, 1fr) auto; align-items: center; gap: 4px; } +.machine-motion-test input { width: 100%; min-width: 0; height: 28px; } +.machine-motion-test small { color: #536467; } +.machine-motion-test output { display: block; margin-top: 6px; text-align: left; } @media (max-width: 850px) { .machine-manager-layout { grid-template-columns: 1fr; } .machine-manager-preview { min-height: 360px; } .machine-manager-calibration { grid-template-columns: 1fr; } + .machine-motion-test > div { grid-template-columns: repeat(2, minmax(0, 1fr)); } }