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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web/workspace/glb-axis-naming.mjs
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web/workspace/glb-axis-naming.mjs
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// GLB 节点名 → 数控轴 的识别规则，以及由旋转轴世界坐标推导的 TRT 标定候选。
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// 抽成纯函数模块，便于被分析器（TypeScript）和 Node 单测（test_glb_axis_naming.mjs）共用。
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export const CNC_AXIS_LETTERS = Object.freeze(["X", "Y", "Z", "A", "B", "C", "U", "V", "W"]);
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// 主要运动部件词：轴字母与它相邻时可信度最高（直线部件在前、回转部件在后）。
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export const PRIMARY_WORDS = Object.freeze(["SLIDE", "CARRIAGE", "SADDLE", "TRUNNION", "TILT", "TABLE", "FRAME", "PLATTER", "RAM", "TOOL"]);
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// 轴字母后出现这些词只说明“和某个轴相关”，属于零件级线索，优先级最低。
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export const PART_WORDS = Object.freeze(["LINEAR", "ROTARY", "BEARING", "BEARINGS", "DRIVE", "GUIDE", "RAIL", "BOLT", "CASTING", "MOTOR", "SHAFT", "HOLDER", "HEAD", "SPINDLE", "COLUMN", "SCREW", "WAY", "WAYS", "PEDESTAL", "CRADLE", "PLINTH", "FOOT"]);
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// 不含轴字母的通用词：需要结合机型或同模型其它命名消歧。
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export const AMBIGUOUS_WORDS = Object.freeze([{ word: "TILT", kind: "tilt" }, { word: "TRUNNION", kind: "tilt" }, { word: "ROTARY", kind: "rotary" }, { word: "PLATTER", kind: "rotary" }]);
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const axisSet = new Set(CNC_AXIS_LETTERS);
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const rankOfPrimary = (word) => 2 + PRIMARY_WORDS.indexOf(word) * 0.1;
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/**
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* 把 GLB 节点名归类为某个数控轴。
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* 规则优先级：JT_X 精确名 → 轴字母 + AXIS/JOINT → 轴字母 + 主要运动部件词 → 零件级线索 → 待消歧的通用词。
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* @returns {{axis: string, confidence: "high"|"medium"|"low", rank: number, reason: string, ambiguous?: "tilt"|"rotary"} | null}
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*/
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export function classifyAxisNodeName(name) {
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const normalized = String(name ?? "").trim().toUpperCase();
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if (!normalized) return null;
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const exact = normalized.match(/^JT[_-]?([XYZABCUVW])$/);
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if (exact && axisSet.has(exact[1])) return { axis: exact[1], confidence: "high", rank: 0, reason: "JT_ 轴名（精确）" };
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const tokens = normalized.split(/[^A-Z0-9]+/).filter(Boolean);
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const letters = tokens.filter((token) => token.length === 1 && axisSet.has(token));
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const words = tokens.filter((token) => token.length > 1);
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const partWord = words.find((word) => PART_WORDS.includes(word));
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if (letters.length === 1) {
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const axis = letters[0];
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// AXIS/JOINT 只算一次：b_axis 是关节本身，b_axis_bearing / b_axis_axis 是它的零件。
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const jointWords = words.filter((word) => word === "AXIS" || word === "JOINT").length;
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const hasJointWord = jointWords > 0;
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if (jointWords === 1 && !partWord) return { axis, confidence: "medium", rank: 1, reason: "轴字母 + AXIS/JOINT 命名" };
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const letterIndex = tokens.indexOf(letters[0]);
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const primaryIndex = tokens.findIndex((token) => PRIMARY_WORDS.includes(token));
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// 允许 moving_x_table / a_outer_table 这类“轴字母在部件词之前”的命名。
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if (!hasJointWord && primaryIndex > letterIndex) {
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const primary = tokens[primaryIndex];
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// 只有真正的零件词才算"附加层级"（y_saddle_casting 低于 y_saddle）；
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// direction / 序号之类的修饰词不降级（w_tool_direction 仍是 W 主节点）。
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const extras = tokens.slice(primaryIndex + 1).filter((token) => PART_WORDS.includes(token)).length;
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return { axis, confidence: "medium", rank: rankOfPrimary(primary) + Math.min(extras, 3) * 0.02, reason: `轴字母 + ${primary} 部件命名` };
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}
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if (partWord || hasJointWord) return { axis, confidence: "low", rank: 4, reason: "零件级轴名线索，需人工确认" };
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}
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const ambiguous = AMBIGUOUS_WORDS.find((item) => words.includes(item.word));
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if (ambiguous) {
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// 通用词 + 零件词（tilt_bearing、trunnion_pedestal）只是同轴零件，排序要低于 tilt_table 这类主轴节点。
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const rank = partWord ? 4 : 3 + AMBIGUOUS_WORDS.indexOf(ambiguous) * 0.1;
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return { axis: "C", confidence: "low", rank, reason: `通用${ambiguous.kind === "tilt" ? "倾转" : "回转"}部件命名，需结合机型判断`, ambiguous: ambiguous.kind };
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}
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return null;
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}
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/**
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* 由旋转轴节点的世界坐标推导原生 TRT 标定候选：
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* C 轴原点取 C 轴节点世界坐标，倾转偏置取倾转轴节点与之的差，
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* 并按运动学约束把沿倾转轴方向（该机型要求为 0）的分量归零。
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*/
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export function deriveTrtCalibration({ coordinates, profile, cWorldMm, tiltWorldMm }) {
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if (!profile || !["XYZAC", "XYZBC"].includes(coordinates)) return null;
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if (![cWorldMm, tiltWorldMm].every((value) => Array.isArray(value) && value.length === 3 && value.every((item) => Number.isFinite(item)))) return null;
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const offsetIndex = ["x", "y", "z"].indexOf(profile.forbiddenOffsetDirection);
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if (offsetIndex < 0) return null;
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const cOriginMm = cWorldMm.map((value) => Number(value.toFixed(6)));
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const tiltOffsetMm = tiltWorldMm.map((value, index) => Number((value - cWorldMm[index]).toFixed(6)));
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const zeroed = tiltOffsetMm[offsetIndex];
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tiltOffsetMm[offsetIndex] = 0;
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return {
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schema: "linuxcnc.trt-calibration-candidate/1",
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source: "axis-world-origin",
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cOriginMm,
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tiltOffsetMm,
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physicalZero: Object.fromEntries([...coordinates].map((axis) => [axis.toLowerCase(), 0])),
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...(Math.abs(zeroed) > 1e-6 ? { zeroedOffsetDirection: profile.forbiddenOffsetDirection, zeroedOffsetValueMm: zeroed } : {}),
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};
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}
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/**
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* 从节点描述里挑选每个数控轴的最佳绑定候选，并判定机型坐标。
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* 纯函数：不依赖 three.js，可被分析器和 Node 单测共用。
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*
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* @param {{name: string, path: string, depth: number, explicitAxis?: string | null}[]} descriptors
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* @param {{declaredCoordinates?: string | null, expectedCoordinates?: string | null, tiltAxis?: string | null, rotaryAxis?: string | null}} options
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*/
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export function selectAxisNodes(descriptors, options = {}) {
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const warnings = [];
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const items = [];
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for (const descriptor of descriptors) {
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const hint = descriptor.explicitAxis
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? { axis: descriptor.explicitAxis, confidence: "high", rank: -1, reason: "GLB 关节元数据" }
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: classifyAxisNodeName(descriptor.name);
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if (!hint || !axisSet.has(hint.axis)) continue;
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items.push({ path: descriptor.path, name: descriptor.name, depth: Number(descriptor.depth) || 0, hint, autoBind: false });
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}
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// 通用倾转/回转命名消歧：优先用调用方给的机型信息，其次用同模型里明确的轴字母。
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const explicitAxes = new Set(items.filter((item) => !item.hint.ambiguous).map((item) => item.hint.axis));
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const tiltAxis = options.tiltAxis ?? (explicitAxes.has("A") && !explicitAxes.has("B") ? "A" : explicitAxes.has("B") && !explicitAxes.has("A") ? "B" : null);
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const rotaryAxis = options.rotaryAxis ?? (explicitAxes.has("C") ? "C" : null);
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let unresolvedAmbiguous = 0;
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for (const item of items) {
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if (!item.hint.ambiguous) continue;
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const resolved = item.hint.ambiguous === "tilt" ? tiltAxis : rotaryAxis;
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// 无法消歧的候选不参与机型判定，也不自动绑定。
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if (!resolved) { unresolvedAmbiguous += 1; item.hint = { ...item.hint, rank: 9, reason: `${item.hint.reason}（缺少机型线索）` }; continue; }
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item.hint = { ...item.hint, axis: resolved, reason: `${item.hint.reason} → ${resolved}` };
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}
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if (unresolvedAmbiguous) warnings.push(`${unresolvedAmbiguous} 个通用倾转/回转节点缺少机型线索（可先选机型再导入）`);
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// 每个轴取最优候选；同级并列视为歧义，不自动绑定。
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const chosen = new Map();
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const byAxis = new Map();
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for (const item of items) { const list = byAxis.get(item.hint.axis) ?? []; list.push(item); byAxis.set(item.hint.axis, list); }
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for (const [axis, list] of byAxis) {
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list.sort((a, b) => a.hint.rank - b.hint.rank || a.depth - b.depth);
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const best = list[0];
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// 同名重复节点（CAD 导出常见）按深度取最上层；只有不同命名同分才算歧义。
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const tied = list.filter((item) => item.hint.rank === best.hint.rank && item.name !== best.name);
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if (tied.length > 1) { warnings.push(`轴 ${axis} 有 ${tied.length} 个同级候选（${tied.map((item) => item.name).join("、")}），未自动绑定；请手动选择唯一节点`); continue; }
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chosen.set(axis, best);
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for (const item of list) item.autoBind = item === best && best.hint.rank <= 3;
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}
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const declared = typeof options.declaredCoordinates === "string" && options.declaredCoordinates.length === 5 ? options.declaredCoordinates : null;
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const expected = typeof options.expectedCoordinates === "string" && options.expectedCoordinates.length === 5 ? options.expectedCoordinates : null;
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const primaryAxes = CNC_AXIS_LETTERS.filter((axis) => (chosen.get(axis)?.hint.rank ?? 9) <= 3);
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const declaredValid = declared ? [...declared].every((axis) => chosen.has(axis)) : false;
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const expectedValid = expected ? [...expected].every((axis) => chosen.has(axis)) : false;
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const suggestedCoordinates = declaredValid ? declared : expectedValid ? expected : primaryAxes.length === 5 ? primaryAxes.join("") : "UNKNOWN";
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if (declared && !declaredValid) warnings.push("GLB 声明的轴顺序与可用关节不一致，未采用该顺序");
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if (suggestedCoordinates === "UNKNOWN" && primaryAxes.length !== 5) warnings.push(`检测到 ${primaryAxes.length} 个主轴候选（${primaryAxes.join("") || "无"}）；需要五个轴才能自动绑定`);
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const bound = new Set(suggestedCoordinates === "UNKNOWN" ? [] : [...suggestedCoordinates]);
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const axes = CNC_AXIS_LETTERS.flatMap((axis) => {
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const best = chosen.get(axis);
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if (!best) return [];
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const autoBind = best.autoBind && bound.has(axis);
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return [{ axis, name: best.name, path: best.path, depth: best.depth, rank: best.hint.rank, confidence: best.hint.confidence, reason: best.reason ?? best.hint.reason, expectedKind: "XYZUVW".includes(axis) ? "linear" : "rotary", autoBind }];
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});
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const available = new Set(axes.filter((item) => item.autoBind).map((item) => item.axis));
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const missingAxes = suggestedCoordinates === "UNKNOWN" ? [] : [...suggestedCoordinates].filter((axis) => !available.has(axis));
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return { axes, suggestedCoordinates, missingAxes, warnings, unresolvedAmbiguous };
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}
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