按关节槽位驱动 13 个五轴案例的三维模型
关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性， 重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位 （max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存 GLB 与既有测试不受影响。 13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建， 可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个 关节，槽位数与运行目录的 joint_count 逐条一致。 新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键： 坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换 案例时自动装载对应模型，失败时保留内置模型并显式提示。 消除前端五关节截断：visual 适配器的 joints 改为数组并新增 jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的 machine id 查找机型。 管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部 可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径 不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的 限位保持 null 而不编造。 修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（ DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下 第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。 验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0； typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、 双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。 证据在 coverage/glb-machine-manager/physical-drive/。 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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docs/user-manual/local-run-demo.mjs
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121
docs/user-manual/local-run-demo.mjs
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// 最小演示：打开本地发布站点 → 上电 → HOME ALL → 载入并执行程序。
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// 默认在桌面开可见窗口执行，逐步打印中文说明，方便人工观察。
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//
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// 运行：
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// DISPLAY=:1 PLAYWRIGHT_MODULE=/path/to/playwright/index.mjs \
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// node docs/user-manual/local-run-demo.mjs
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//
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// 环境变量：DEMO_URL（默认 http://127.0.0.1:5174/）、DEMO_PACE_MS（每步停留，默认 2500）、
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// DEMO_RUN_HOLD_MS（程序运行观察时长，默认 45000）、CHROME_PATH。
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import { dirname, resolve } from "node:path";
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import { fileURLToPath } from "node:url";
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const here = dirname(fileURLToPath(import.meta.url));
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const baseUrl = process.env.DEMO_URL ?? "http://127.0.0.1:5174/";
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const chromePath = process.env.CHROME_PATH ?? "/usr/bin/google-chrome";
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const pace = Number(process.env.DEMO_PACE_MS ?? 2500);
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const runHold = Number(process.env.DEMO_RUN_HOLD_MS ?? 45000);
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const shotDir = resolve(here, "local-walkthrough");
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const { chromium } = await import(process.env.PLAYWRIGHT_MODULE);
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const browser = await chromium.launch({
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executablePath: chromePath,
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headless: false,
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args: ["--no-sandbox", "--start-maximized", "--disable-infobars", "--enable-unsafe-swiftshader"],
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});
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const page = await browser.newPage({ viewport: null });
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await page.bringToFront().catch(() => {});
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const wait = (ms) => page.waitForTimeout(ms);
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const status = async () => (await page.locator(".machine-status").innerText()).replace(/\s+/g, " ").trim();
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const command = async () => (await page.locator(".command-status").innerText()).trim();
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const axes = async () => page.locator(".xyzac-position-grid output").allInnerTexts();
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const shot = (name) => page.screenshot({ path: resolve(shotDir, name) });
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const say = (step, message) => console.log(`\n[${step}] ${message}`);
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const detail = async () => {
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const text = await status();
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return `${text.match(/Task state (\S+)/)?.[1]} / ${text.match(/Interpreter (\S+)/)?.[1]} / ${text.match(/Machine sequence (NOT HOMED|HOMED)/)?.[1]}`;
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};
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const waitFor = async (check, timeout, label) => {
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const deadline = Date.now() + timeout;
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let last = "";
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while (Date.now() < deadline) {
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last = await check();
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if (last) return last;
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await wait(400);
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}
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throw new Error(`${label} 超时（最后：${last || "无"}）`);
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};
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const waitStatus = (pattern, timeout = 60000) => waitFor(async () => {
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const text = await status();
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return pattern.test(text) ? text : null;
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}, timeout, `等待 ${pattern}`);
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const waitCase = () => waitFor(async () => ((await page.locator(".case-status").innerText()).trim().startsWith("Program:") ? "ok" : null), 120000, "程序装载");
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say(1, `打开网站 ${baseUrl}`);
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await page.goto(baseUrl, { waitUntil: "load", timeout: 60000 });
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await page.waitForSelector('[data-axis-control="workspace-case-select"]', { timeout: 60000 });
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await waitCase();
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await waitStatus(/STATE_/, 60000);
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await wait(2000);
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console.log(` 连接：${(await page.locator(".connection-state").innerText()).trim()}｜当前程序：${(await page.locator(".case-status").innerText()).trim()}｜状态：${await detail()}`);
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await shot("demo-1-opened.png");
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say(2, "机床尚未上电，确认运动操作被门控挡住");
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const jogButton = page.locator('[data-axis-control="manual-jog-positive"]');
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console.log(` Jog 按钮：${(await jogButton.isDisabled()) ? `禁用（${await jogButton.getAttribute("title")}）` : "可用"}｜任务模式：${(await status()).match(/Task mode (\S+)/)?.[1]}`);
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await wait(pace);
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say(3, "急停复位，然后上电");
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const estop = page.locator('[data-axis-control="toolbar-estop"]');
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if ((await estop.getAttribute("aria-label"))?.includes("Cancel")) { await estop.click(); await wait(1500); }
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await page.locator('[data-axis-control="toolbar-power"]').click();
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const powered = await waitStatus(/STATE_ON|STATE_IDLE/, 40000);
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console.log(` 上电完成：${powered.match(/Task state (\S+)/)?.[1]}｜反馈：${await command()}`);
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await shot("demo-2-powered.png");
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await wait(pace);
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say(4, "HOME ALL 全部关节回零");
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await page.locator('[data-axis-control="manual-home-all"]').click();
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await waitStatus(/Machine sequence HOMED/, 60000);
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await wait(1500);
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console.log(` 回零完成：${await detail()}｜轴位：${(await axes()).join(" / ")}`);
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await shot("demo-3-homed.png");
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await wait(pace);
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say(5, "载入 XYZAC 船体程序");
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await page.locator('[data-axis-control="workspace-load-boat"]').click();
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await waitCase();
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await wait(3000);
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console.log(` 程序：${(await page.locator(".case-status").innerText()).trim()}｜反馈：${await command()}`);
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await shot("demo-4-program-loaded.png");
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await wait(pace);
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say(6, "执行程序，观察解释器与轴运动");
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await page.locator('[data-axis-control="toolbar-run"]').click();
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await waitStatus(/STATE_RUNNING|INTERP_READING|INTERP_WAITING/, 60000);
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console.log(` 运行中：${await detail()}`);
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const samples = [];
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const holdUntil = Date.now() + runHold;
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let index = 0;
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while (Date.now() < holdUntil) {
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await wait(3000);
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const current = await axes();
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samples.push(current.slice(0, 5).join(" / "));
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index += 1;
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console.log(` +${String(index * 3).padStart(2)}s ${current.slice(0, 5).join(" ")}`);
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if (index % 3 === 0) await shot(`demo-5-running-${index / 3}.png`);
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}
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console.log(` 轴运动采样（X / Y / Z / A / C）：\n ${samples.join("\n ")}`);
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await shot("demo-6-running-final.png");
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say(7, "停止程序");
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if (await page.locator('[data-axis-control="toolbar-stop"]').isEnabled()) await page.locator('[data-axis-control="toolbar-stop"]').click();
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await wait(3000);
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console.log(` 已停止：${await detail()}｜反馈：${await command()}`);
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await shot("demo-7-stopped.png");
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console.log("\n演示结束，窗口保持 20 秒后关闭。");
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await wait(20000);
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await browser.close();
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