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2 Commits
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1076bfa5e0
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|---|---|---|---|
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| 8aab531b02 |
@@ -1,5 +1,11 @@
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# LinuxCNC Web/WASM
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五轴 GLB / URDF 机床导入（AC / BC、底座双分支）的工作入口：
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[`子项目文档、任务矩阵与模型交付`](docs/glb-machine/README.md)。
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机床预览区的部件级三维机床管理器（GLB 部件、层级、原点、姿态、RTCP 标定和物理零点）入口：
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[`三维机床管理器文档、任务矩阵与验收证据`](docs/glb-machine-manager/README.md)。
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当前配置驱动改造的重启接续入口：[`nextTask-hardcoding.md`](nextTask-hardcoding.md)。
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五轴机床 INI 参数化设计（XYZAC / XYZBC）的当前工作入口：
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21
coverage/glb-machine-manager/browser-production.report.json
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21
coverage/glb-machine-manager/browser-production.report.json
Normal file
@@ -0,0 +1,21 @@
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{
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"schema": "machine-manager-browser.v1",
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"report_id": "GLB-MGR-E02",
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"mode": "production-preview",
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"status": "verified",
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"checks": [
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"eight GLB parts imported and rendered in the Three.js editor",
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"origin visibility, numeric translation/rotation and TransformControls mode update",
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"validated assembly exports a self-contained managed GLB",
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"validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData",
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"same component assembly switches to BC hierarchy and applies BC geometry",
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"BC five-axis program drives managed model from authoritative WASM joints",
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"production bundle exercised through AC/BC UI apply and WASM program motion"
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],
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"browser_errors": [],
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"final": {
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"program": "aborted",
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"machine": "ON",
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc"
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}
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}
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21
coverage/glb-machine-manager/browser.report.json
Normal file
21
coverage/glb-machine-manager/browser.report.json
Normal file
@@ -0,0 +1,21 @@
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{
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"schema": "machine-manager-browser.v1",
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"report_id": "GLB-MGR-E01",
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"mode": "development-source",
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"status": "verified",
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"checks": [
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"eight GLB parts imported and rendered in the Three.js editor",
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"origin visibility, numeric translation/rotation and TransformControls mode update",
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"validated assembly exports a self-contained managed GLB",
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"validated hierarchy applied through LOAD_WORKSPACE with geometry and physical zero in userData",
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"same component assembly switches to BC hierarchy and applies BC geometry",
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"BC five-axis program drives managed model from authoritative WASM joints",
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"AC/BC WASM joint projection subtracts physical zero, preserves userData and rejects invalid hierarchy"
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],
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"browser_errors": [],
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"final": {
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"program": "aborted",
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"machine": "ON",
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"path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzbc.ngc"
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}
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}
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BIN
coverage/glb-machine-manager/managed-bc-running.png
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BIN
coverage/glb-machine-manager/managed-bc-running.png
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BIN
coverage/glb-machine-manager/manager-ac-config.png
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BIN
coverage/glb-machine-manager/manager-ac-config.png
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Binary file not shown.
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After Width: | Height: | Size: 88 KiB |
2544
coverage/glb-machine-manager/regression-motion/motion.report.json
Normal file
2544
coverage/glb-machine-manager/regression-motion/motion.report.json
Normal file
File diff suppressed because it is too large
Load Diff
BIN
coverage/glb-machine/ac-imported.png
Normal file
BIN
coverage/glb-machine/ac-imported.png
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After Width: | Height: | Size: 59 KiB |
212
coverage/glb-machine/acceptance.report.json
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212
coverage/glb-machine/acceptance.report.json
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@@ -0,0 +1,212 @@
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{
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"report_id": "glb-machine-acceptance-v1",
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"status": "verified",
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"tasks": [
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"GLB-01",
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"GLB-02",
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"GLB-03",
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"GLB-04",
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"GLB-05",
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"GLB-06"
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],
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"wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6",
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||||
"reports": [
|
||||
{
|
||||
"report_id": "glb-machine-browser-v1",
|
||||
"path": "coverage/glb-machine/browser.report.json",
|
||||
"sha256": "5386309453c8b595b70a3f7c4285a57caa5affc986272915bd083a0b8a920308"
|
||||
},
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||||
{
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||||
"report_id": "glb-machine-five-axis-motion-v1",
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||||
"path": "coverage/glb-machine/motion.report.json",
|
||||
"sha256": "91c3fa8ed8037aac8e71b8c76d54c38db9dc011ae25f63553966860b624aa626"
|
||||
},
|
||||
{
|
||||
"report_id": "glb-machine-khronos-validation-v1",
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||||
"path": "coverage/glb-machine/gltf-validation.report.json",
|
||||
"sha256": "4eba70b5ab5597d36bd0ade01920e80ad41453c0f34a29ad0bd8e2b199825adc"
|
||||
},
|
||||
{
|
||||
"report_id": "glb-machine-reproducibility-v1",
|
||||
"path": "coverage/glb-machine/reproducibility.report.json",
|
||||
"sha256": "bce59c1ac891da57a417a99a2e5350e659aeb2cecdf8f29e30af1f83bb6cf5a2"
|
||||
},
|
||||
{
|
||||
"report_id": "trt-parametric-browser-v1",
|
||||
"path": "coverage/glb-machine/regression-parametric/browser.report.json",
|
||||
"sha256": "3a61994a249419528692a23a9a73d3af8c47477eaad9d5e3134f7e365d2279e8"
|
||||
},
|
||||
{
|
||||
"report_id": "trt-rtcp-jog-browser-v1",
|
||||
"path": "coverage/glb-machine/regression-jog/rtcp-jog-browser.report.json",
|
||||
"sha256": "f79f137e061d33e665817170c52eb33189608e2bbed8d182854a8b39d9353e47"
|
||||
}
|
||||
],
|
||||
"models": [
|
||||
{
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||||
"id": "ac",
|
||||
"filename": "demo-ac-xyz-head.glb",
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||||
"urdf": "demo-ac-xyz-head.urdf",
|
||||
"bytes": 530848,
|
||||
"sha256": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1",
|
||||
"coordinates": "XYZAC",
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||||
"rotation_point_mm": [
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24,
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-12,
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8
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||||
],
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"offsets_mm": [
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0,
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18,
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-45
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||||
],
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||||
"links": [
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"base",
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"x_slide",
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"y_slide",
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"z_slide",
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"spindle_head",
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||||
"tilt_table",
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"c_table",
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"work_frame"
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||||
],
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"meshes": 71
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},
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||||
{
|
||||
"id": "bc",
|
||||
"filename": "demo-bc-xyz-head.glb",
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||||
"urdf": "demo-bc-xyz-head.urdf",
|
||||
"bytes": 530532,
|
||||
"sha256": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b",
|
||||
"coordinates": "XYZBC",
|
||||
"rotation_point_mm": [
|
||||
-18,
|
||||
14,
|
||||
12
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||||
],
|
||||
"offsets_mm": [
|
||||
22,
|
||||
0,
|
||||
-40
|
||||
],
|
||||
"links": [
|
||||
"base",
|
||||
"x_slide",
|
||||
"y_slide",
|
||||
"z_slide",
|
||||
"spindle_head",
|
||||
"tilt_table",
|
||||
"c_table",
|
||||
"work_frame"
|
||||
],
|
||||
"meshes": 71
|
||||
}
|
||||
],
|
||||
"rejected_inputs": 42,
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"static_pose_and_tool_length_samples": 36,
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"imported_rotary_jogs": 8,
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"simultaneous_five_axis_intervals": 82,
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||||
"executed_program_projection_samples": 84,
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||||
"max_program_projection_error_view_units": 2.482534153247273e-16,
|
||||
"boundaries": [
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||||
"Only the versioned orthogonal XYZ-head / AC-or-BC table TRT profile is supported",
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"Runtime INI supplies homing, acceleration, periods and validated travel/speed settings",
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"Imported GLB assets are kept in page memory; reload requires importing again",
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"Original illustrative assets; no manufacturer calibration, collision or generic URDF solver claim",
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"No native/WASM source modification; no whole-repository or release parity claim"
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||||
],
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||||
"evidence": [
|
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{
|
||||
"path": "coverage/glb-machine/ac-imported.png",
|
||||
"sha256": "8e1e67a7ad7275d8697944b74f77bb111be9ef22d5cccab5961a0d472225dc96"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/bc-imported.png",
|
||||
"sha256": "b7257f6aba3b513bb6c1494aaf9a1879f977884094fdc55cdf46150c25c65470"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/browser.log",
|
||||
"sha256": "f8308922ef1d78fc82ab21081a16b8c369808e662c1ac85ceef03558c2706410"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/browser.report.json",
|
||||
"sha256": "5386309453c8b595b70a3f7c4285a57caa5affc986272915bd083a0b8a920308"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/build.log",
|
||||
"sha256": "61535b778ec1ab991507ca2454c1e11ddadedbe3f921b530ddc6f13bd7207073"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/generation.log",
|
||||
"sha256": "a9222f10610e68cfda0e59a759c1fffa5a743e01f079f086bc743b260796afdd"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/gltf-validation.log",
|
||||
"sha256": "5bc225291eb5fceeface7225db1ef98833c3bcc258ce03e16dbe32d1170d9649"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/gltf-validation.report.json",
|
||||
"sha256": "4eba70b5ab5597d36bd0ade01920e80ad41453c0f34a29ad0bd8e2b199825adc"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/motion.log",
|
||||
"sha256": "57ed59ba66d43ff00784733a3ddb7a0c3936c33aae0e03ab3c4fd4c2eacca361"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/motion.report.json",
|
||||
"sha256": "91c3fa8ed8037aac8e71b8c76d54c38db9dc011ae25f63553966860b624aa626"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-jog/rtcp-jog-browser.report.json",
|
||||
"sha256": "f79f137e061d33e665817170c52eb33189608e2bbed8d182854a8b39d9353e47"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-jog/rtcp-jog-xyzac.png",
|
||||
"sha256": "d528ae818b88650b0786273c8a57e7997d4a1a0484bf2dd13597cc2de3807f9f"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-jog/rtcp-jog-xyzbc.png",
|
||||
"sha256": "6be23d67f0a92259b717feb828f3c63bac4fa725e2a852c51ba83918b5aeee1a"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-jog.log",
|
||||
"sha256": "b12b994ebfd6a7dac5b079ec4781af0559f6ec623cd1548b3b9d78b50ef4f962"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric/browser.report.json",
|
||||
"sha256": "3a61994a249419528692a23a9a73d3af8c47477eaad9d5e3134f7e365d2279e8"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric/layout-1440.png",
|
||||
"sha256": "12f92632fa3c367e4a64a963e2246f10b58f574468b2429a5c1dd51e303ac6a3"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric/layout-390.png",
|
||||
"sha256": "e17530ed4a069b06820f11036c20a1643f064fa8d3f48de7ddd1cd6fdecfc939"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric/xyzac-trt-model.png",
|
||||
"sha256": "170a4c61a183cc0bf589a361d3b14a0c0f11d401eec85e8d0ec0e0c8174b0072"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric/xyzbc-trt-model.png",
|
||||
"sha256": "9ef3b87c169568ecd47ff2ad76209017f41f2c84deca45e421168c42cc6efb8d"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/regression-parametric.log",
|
||||
"sha256": "5a2d232459aeb6c054fe255d3354cdf5a71268e81dea50a0602ee761445823fa"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/reproducibility.report.json",
|
||||
"sha256": "bce59c1ac891da57a417a99a2e5350e659aeb2cecdf8f29e30af1f83bb6cf5a2"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/viewport-1440.png",
|
||||
"sha256": "89814a506f727b45d80e7109c6370e86d784d16e2a5c9e69f3a3681eb3590c06"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/viewport-390.png",
|
||||
"sha256": "7ef7acd38fc1e383c8dc32bb606b8b91e91449e5c05fc9d5b5c489a9fe7eeb74"
|
||||
}
|
||||
]
|
||||
}
|
||||
BIN
coverage/glb-machine/bc-imported.png
Normal file
BIN
coverage/glb-machine/bc-imported.png
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Binary file not shown.
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After Width: | Height: | Size: 60 KiB |
972
coverage/glb-machine/browser.report.json
Normal file
972
coverage/glb-machine/browser.report.json
Normal file
@@ -0,0 +1,972 @@
|
||||
{
|
||||
"report_id": "glb-machine-browser-v1",
|
||||
"status": "verified",
|
||||
"wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6",
|
||||
"parser": [
|
||||
{
|
||||
"id": "ac",
|
||||
"rejected": [
|
||||
{
|
||||
"name": "truncated",
|
||||
"error": "机床模型无效：GLB 头部或长度错误"
|
||||
},
|
||||
{
|
||||
"name": "missing-schema",
|
||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
|
||||
},
|
||||
{
|
||||
"name": "external-buffer",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "external-texture",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
|
||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
|
||||
{
|
||||
"name": "node-cycle",
|
||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
|
||||
},
|
||||
{
|
||||
"name": "wrong-hierarchy",
|
||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
|
||||
},
|
||||
{
|
||||
"name": "node-offset-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
|
||||
{
|
||||
"name": "unknown-profile",
|
||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "bc",
|
||||
"rejected": [
|
||||
{
|
||||
"name": "truncated",
|
||||
"error": "机床模型无效：GLB 头部或长度错误"
|
||||
},
|
||||
{
|
||||
"name": "missing-schema",
|
||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
|
||||
},
|
||||
{
|
||||
"name": "external-buffer",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "external-texture",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
|
||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
|
||||
{
|
||||
"name": "node-cycle",
|
||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
|
||||
},
|
||||
{
|
||||
"name": "wrong-hierarchy",
|
||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
|
||||
},
|
||||
{
|
||||
"name": "node-offset-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
|
||||
{
|
||||
"name": "unknown-profile",
|
||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"machines": [
|
||||
{
|
||||
"id": "ac",
|
||||
"hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1",
|
||||
"coordinates": "XYZAC",
|
||||
"offsets": {
|
||||
"x_rot_point": 24,
|
||||
"x_offset": 0,
|
||||
"y_rot_point": -12,
|
||||
"y_offset": 18,
|
||||
"z_rot_point": 8,
|
||||
"z_offset": -45
|
||||
},
|
||||
"program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
|
||||
"geometry": [
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": 0,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": 0,
|
||||
"error": 1.2412670766236366e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": 0,
|
||||
"error": 1.1933397187179203e-16
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
|
||||
"tool_offset": 0,
|
||||
"error": 2.1599919653272043e-16
|
||||
},
|
||||
{
|
||||
"tilt": 42,
|
||||
"c": -80,
|
||||
"tool_offset": 0,
|
||||
"error": 2.486410087150353e-16
|
||||
},
|
||||
{
|
||||
"tilt": -80,
|
||||
"c": 270,
|
||||
"tool_offset": 0,
|
||||
"error": 1.709648974837069e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": 17,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": 17,
|
||||
"error": 1.3472894910096233e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": 17,
|
||||
"error": 1.1354490689426183e-16
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
|
||||
"tool_offset": 17,
|
||||
"error": 2.036065864674698e-16
|
||||
},
|
||||
{
|
||||
"tilt": 42,
|
||||
"c": -80,
|
||||
"tool_offset": 17,
|
||||
"error": 2.482534153247273e-16
|
||||
},
|
||||
{
|
||||
"tilt": -80,
|
||||
"c": 270,
|
||||
"tool_offset": 17,
|
||||
"error": 1.3877787807814457e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": -4,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": -4,
|
||||
"error": 1.2412670766236366e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": -4,
|
||||
"error": 9.508199615517185e-17
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
|
||||
"tool_offset": -4,
|
||||
"error": 1.9141791241147513e-16
|
||||
},
|
||||
{
|
||||
"tilt": 42,
|
||||
"c": -80,
|
||||
"tool_offset": -4,
|
||||
"error": 2.2591401799415137e-16
|
||||
},
|
||||
{
|
||||
"tilt": -80,
|
||||
"c": 270,
|
||||
"tool_offset": -4,
|
||||
"error": 1.1857187100668868e-16
|
||||
}
|
||||
],
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
"offsets": {
|
||||
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|
||||
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|
||||
"z_rot_point": 8,
|
||||
"x_offset": 0,
|
||||
"y_offset": 18,
|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
"tick": 54,
|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"x_offset": 0,
|
||||
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|
||||
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|
||||
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|
||||
},
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
],
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||||
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|
||||
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|
||||
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|
||||
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|
||||
"x_offset": 0,
|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
"tip": [
|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
"axis": "a",
|
||||
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|
||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
],
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
{
|
||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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106
coverage/glb-machine/dialogs/acceptance.report.json
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"sha256": "484c683de962a67a3816653568b1abe15930ad060b7778435d8a8c178e7c88d2"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/parametric/layout-390.png",
|
||||
"sha256": "a8e4f79db95aeae82c08d7bbd41db017d96eb863fac20b0de6df455a7ee07a25"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/parametric/xyzac-trt-model.png",
|
||||
"sha256": "6b0f89a3d9f7345a2ac12ff1beb82115e6f957b9b3f0f61766d62f47b8f072fb"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/parametric/xyzbc-trt-model.png",
|
||||
"sha256": "38ed4ba88c7e72d6f30705ef48732ca3d0d9152ee6f17ce8cb8bc86ad3dcfce6"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/parametric.log",
|
||||
"sha256": "6aa0af350b31f8b04e220da964cc0eb62357ef0dddb51390152d5ca0b93a7cf7"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/preview-1440.png",
|
||||
"sha256": "09cdf18a7348a045e153ff7c741ed98cc7eb8a0b492f7c4b4d5953ac3c92b8cb"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/preview-2048.png",
|
||||
"sha256": "ca653f12dafb7b198c58ad3d42bb9531d921adf00fa0fc9dd73cb51d18e42a6e"
|
||||
},
|
||||
{
|
||||
"path": "coverage/glb-machine/dialogs/preview-390.png",
|
||||
"sha256": "cf4c4565feaf947cb84dad0d5e3c229d069c5301fed374011cfaf8f388ac72b3"
|
||||
}
|
||||
]
|
||||
}
|
||||
125
coverage/glb-machine/dialogs/dialog.report.json
Normal file
125
coverage/glb-machine/dialogs/dialog.report.json
Normal file
@@ -0,0 +1,125 @@
|
||||
{
|
||||
"report_id": "machine-dialog-browser-v1",
|
||||
"status": "verified",
|
||||
"layouts": [
|
||||
{
|
||||
"width": 2048,
|
||||
"height": 859,
|
||||
"machine": {
|
||||
"x": 1358.171875,
|
||||
"y": 489.5,
|
||||
"width": 679.828125,
|
||||
"height": 351.5
|
||||
},
|
||||
"path": {
|
||||
"x": 674.34375,
|
||||
"y": 449.5,
|
||||
"width": 679.828125,
|
||||
"height": 391.5
|
||||
},
|
||||
"pane": {
|
||||
"x": 1358.171875,
|
||||
"y": 449.5,
|
||||
"width": 679.828125,
|
||||
"height": 391.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"width": 1440,
|
||||
"height": 900,
|
||||
"machine": {
|
||||
"x": 955.578125,
|
||||
"y": 489.5,
|
||||
"width": 474.421875,
|
||||
"height": 392.5
|
||||
},
|
||||
"path": {
|
||||
"x": 477.15625,
|
||||
"y": 449.5,
|
||||
"width": 474.421875,
|
||||
"height": 432.5
|
||||
},
|
||||
"pane": {
|
||||
"x": 955.578125,
|
||||
"y": 449.5,
|
||||
"width": 474.421875,
|
||||
"height": 432.5
|
||||
}
|
||||
},
|
||||
{
|
||||
"width": 390,
|
||||
"height": 844,
|
||||
"machine": {
|
||||
"x": 10,
|
||||
"y": 231.5,
|
||||
"width": 370,
|
||||
"height": 380
|
||||
},
|
||||
"path": {
|
||||
"x": 10,
|
||||
"y": -172.5,
|
||||
"width": 370,
|
||||
"height": 360
|
||||
},
|
||||
"pane": {
|
||||
"x": 10,
|
||||
"y": 191.5,
|
||||
"width": 370,
|
||||
"height": 420
|
||||
}
|
||||
}
|
||||
],
|
||||
"dialogs": [
|
||||
{
|
||||
"button": "machine-glb-settings",
|
||||
"before": {
|
||||
"x": 430,
|
||||
"y": 357.296875,
|
||||
"width": 580,
|
||||
"height": 185.40625
|
||||
},
|
||||
"after": {
|
||||
"x": 540,
|
||||
"y": 417.296875,
|
||||
"width": 580,
|
||||
"height": 185.40625
|
||||
},
|
||||
"focus_contained": true,
|
||||
"keyboard_ignored": true,
|
||||
"edge_clamped": true
|
||||
},
|
||||
{
|
||||
"button": "geometry-settings",
|
||||
"before": {
|
||||
"x": 430,
|
||||
"y": 300.25,
|
||||
"width": 580,
|
||||
"height": 299.5
|
||||
},
|
||||
"after": {
|
||||
"x": 540,
|
||||
"y": 360.25,
|
||||
"width": 580,
|
||||
"height": 299.5
|
||||
},
|
||||
"focus_contained": true,
|
||||
"keyboard_ignored": true,
|
||||
"edge_clamped": true
|
||||
}
|
||||
],
|
||||
"touch_drag": {
|
||||
"before": {
|
||||
"x": 8,
|
||||
"y": 329.296875,
|
||||
"width": 374,
|
||||
"height": 185.40625
|
||||
},
|
||||
"after": {
|
||||
"x": 8,
|
||||
"y": 379.296875,
|
||||
"width": 374,
|
||||
"height": 185.40625
|
||||
}
|
||||
},
|
||||
"browser_errors": []
|
||||
}
|
||||
BIN
coverage/glb-machine/dialogs/geometry-settings-dragged.png
Normal file
BIN
coverage/glb-machine/dialogs/geometry-settings-dragged.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 198 KiB |
BIN
coverage/glb-machine/dialogs/import/ac-imported.png
Normal file
BIN
coverage/glb-machine/dialogs/import/ac-imported.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 56 KiB |
BIN
coverage/glb-machine/dialogs/import/bc-imported.png
Normal file
BIN
coverage/glb-machine/dialogs/import/bc-imported.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 57 KiB |
982
coverage/glb-machine/dialogs/import/browser.report.json
Normal file
982
coverage/glb-machine/dialogs/import/browser.report.json
Normal file
@@ -0,0 +1,982 @@
|
||||
{
|
||||
"report_id": "glb-machine-browser-v1",
|
||||
"status": "verified",
|
||||
"wasm_sha256": "aa0f5d551e42859eef3b37aee9079f09ae04e668819da4e62aee2b74522e8bc6",
|
||||
"parser": [
|
||||
{
|
||||
"id": "ac",
|
||||
"rejected": [
|
||||
{
|
||||
"name": "truncated",
|
||||
"error": "机床模型无效：GLB 头部或长度错误"
|
||||
},
|
||||
{
|
||||
"name": "missing-schema",
|
||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
|
||||
},
|
||||
{
|
||||
"name": "external-buffer",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "external-texture",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
|
||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
|
||||
{
|
||||
"name": "node-cycle",
|
||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
|
||||
},
|
||||
{
|
||||
"name": "wrong-hierarchy",
|
||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
|
||||
},
|
||||
{
|
||||
"name": "node-offset-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
|
||||
{
|
||||
"name": "unknown-profile",
|
||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "bc",
|
||||
"rejected": [
|
||||
{
|
||||
"name": "truncated",
|
||||
"error": "机床模型无效：GLB 头部或长度错误"
|
||||
},
|
||||
{
|
||||
"name": "missing-schema",
|
||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
|
||||
},
|
||||
{
|
||||
"name": "external-buffer",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "external-texture",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
|
||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
|
||||
{
|
||||
"name": "node-cycle",
|
||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
|
||||
},
|
||||
{
|
||||
"name": "wrong-hierarchy",
|
||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
|
||||
},
|
||||
{
|
||||
"name": "node-offset-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
|
||||
{
|
||||
"name": "unknown-profile",
|
||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"machines": [
|
||||
{
|
||||
"id": "ac",
|
||||
"hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1",
|
||||
"coordinates": "XYZAC",
|
||||
"offsets": {
|
||||
"x_rot_point": 24,
|
||||
"x_offset": 0,
|
||||
"y_rot_point": -12,
|
||||
"y_offset": 18,
|
||||
"z_rot_point": 8,
|
||||
"z_offset": -45
|
||||
},
|
||||
"program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
|
||||
"geometry": [
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": 0,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": 0,
|
||||
"error": 1.2412670766236366e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": 0,
|
||||
"error": 1.1933397187179203e-16
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
|
||||
"tool_offset": 0,
|
||||
"error": 2.1599919653272043e-16
|
||||
},
|
||||
{
|
||||
"tilt": 42,
|
||||
"c": -80,
|
||||
"tool_offset": 0,
|
||||
"error": 2.486410087150353e-16
|
||||
},
|
||||
{
|
||||
"tilt": -80,
|
||||
"c": 270,
|
||||
"tool_offset": 0,
|
||||
"error": 1.709648974837069e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": 17,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": 17,
|
||||
"error": 1.3472894910096233e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": 17,
|
||||
"error": 1.1354490689426183e-16
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
|
||||
"tool_offset": 17,
|
||||
"error": 2.036065864674698e-16
|
||||
},
|
||||
{
|
||||
"tilt": 42,
|
||||
"c": -80,
|
||||
"tool_offset": 17,
|
||||
"error": 2.482534153247273e-16
|
||||
},
|
||||
{
|
||||
"tilt": -80,
|
||||
"c": 270,
|
||||
"tool_offset": 17,
|
||||
"error": 1.3877787807814457e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 0,
|
||||
"tool_offset": -4,
|
||||
"error": 6.206335383118183e-17
|
||||
},
|
||||
{
|
||||
"tilt": 25,
|
||||
"c": 0,
|
||||
"tool_offset": -4,
|
||||
"error": 1.2412670766236366e-16
|
||||
},
|
||||
{
|
||||
"tilt": 0,
|
||||
"c": 65,
|
||||
"tool_offset": -4,
|
||||
"error": 9.508199615517185e-17
|
||||
},
|
||||
{
|
||||
"tilt": -35,
|
||||
"c": 125,
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Load Diff
19
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3.2959746043559335e-17,
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2.3263411494723067e-16,
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1.716587549445839e-16,
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1.3877787807814457e-16,
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3.925231146709438e-17,
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7.473417450352271e-17,
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3.7367087251761353e-17,
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1.979582157258511e-16,
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1.6711069443220838e-16,
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6.206335383118183e-17,
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2.7755575615628914e-17,
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6.369057972232327e-17,
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2.0816681711721685e-17,
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3.194906681775283e-16,
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6.206335383118183e-17,
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5.551115123125783e-17
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],
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||||
"mesh_count": 72,
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||||
"source_preserved": true,
|
||||
"renamed_joint_supported": true,
|
||||
"incompatible_rejected": true
|
||||
},
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||||
"tcpError": {
|
||||
"error": 1.9778890766513102e-17,
|
||||
"rendered": 0
|
||||
},
|
||||
"model_retained_on_reload_and_ini_import": true
|
||||
},
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||||
{
|
||||
"id": "bc",
|
||||
"original": {
|
||||
"hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b",
|
||||
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||||
"offsets": {
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||||
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||||
"y_rot_point": 14,
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"y_offset": 0,
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"z_offset": -40,
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"applied": {
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"hash": "394c7cf3c8b246e1fc88e74301d9447f4e0892381ffa4fe1f86653a678efe95b",
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"offsets": {
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"y_rot_point": -9,
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"edits": {
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"x_rot_point": 31,
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"model_retained_on_reload_and_ini_import": true
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}
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"browser_errors": []
|
||||
}
|
||||
BIN
coverage/glb-machine/geometry-edit/import/ac-imported.png
Normal file
BIN
coverage/glb-machine/geometry-edit/import/ac-imported.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 57 KiB |
BIN
coverage/glb-machine/geometry-edit/import/bc-imported.png
Normal file
BIN
coverage/glb-machine/geometry-edit/import/bc-imported.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 57 KiB |
982
coverage/glb-machine/geometry-edit/import/browser.report.json
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982
coverage/glb-machine/geometry-edit/import/browser.report.json
Normal file
@@ -0,0 +1,982 @@
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||||
{
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||||
"report_id": "glb-machine-browser-v1",
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||||
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||||
{
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||||
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||||
},
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||||
{
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||||
"name": "missing-schema",
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||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
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||||
},
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||||
{
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||||
"name": "external-buffer",
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||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
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||||
},
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||||
{
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||||
"name": "external-texture",
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||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
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||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
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||||
{
|
||||
"name": "node-cycle",
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||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
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||||
},
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||||
{
|
||||
"name": "wrong-hierarchy",
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||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
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||||
},
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||||
{
|
||||
"name": "node-offset-mismatch",
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||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
|
||||
{
|
||||
"name": "unknown-profile",
|
||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "bc",
|
||||
"rejected": [
|
||||
{
|
||||
"name": "truncated",
|
||||
"error": "机床模型无效：GLB 头部或长度错误"
|
||||
},
|
||||
{
|
||||
"name": "missing-schema",
|
||||
"error": "机床模型无效：缺少 linuxcnc.machine/1 内嵌 URDF"
|
||||
},
|
||||
{
|
||||
"name": "external-buffer",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "external-texture",
|
||||
"error": "机床模型无效：GLB 必须自包含，禁止外部 buffer/图片"
|
||||
},
|
||||
{
|
||||
"name": "animation",
|
||||
"error": "机床模型无效：运动节点不能由动画、蒙皮或压缩扩展驱动"
|
||||
},
|
||||
{
|
||||
"name": "node-cycle",
|
||||
"error": "机床模型无效：GLB 节点环、重复父节点或索引无效"
|
||||
},
|
||||
{
|
||||
"name": "wrong-hierarchy",
|
||||
"error": "机床模型无效：GLB 层级与 URDF 不同：c_table"
|
||||
},
|
||||
{
|
||||
"name": "node-offset-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 零位与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-link",
|
||||
"error": "机床模型无效：GLB link base 缺失或重名"
|
||||
},
|
||||
{
|
||||
"name": "matrix-origin-mismatch",
|
||||
"error": "机床模型无效：GLB 节点 c_table 矩阵与 URDF 不同"
|
||||
},
|
||||
{
|
||||
"name": "xml-syntax",
|
||||
"error": "机床模型无效：URDF XML 语法错误"
|
||||
},
|
||||
{
|
||||
"name": "doctype",
|
||||
"error": "机床模型无效：URDF 长度或 XML 声明不支持"
|
||||
},
|
||||
{
|
||||
"name": "duplicate-coordinate",
|
||||
"error": "机床模型无效：需要 XYZAC 或 XYZBC 五个唯一运动轴"
|
||||
},
|
||||
{
|
||||
"name": "negative-axis",
|
||||
"error": "机床模型无效：要求底座 → X → Y → Z 正交刀具链，零位 origin=0"
|
||||
},
|
||||
{
|
||||
"name": "nonzero-rpy",
|
||||
"error": "机床模型无效：v1 不支持旋转的关节零位 rpy"
|
||||
},
|
||||
{
|
||||
"name": "nan-limit",
|
||||
"error": "机床模型无效：需要有限数值"
|
||||
},
|
||||
{
|
||||
"name": "mimic",
|
||||
"error": "机床模型无效：不支持 mimic"
|
||||
},
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||||
{
|
||||
"name": "unknown-profile",
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||||
"error": "机床模型无效：不支持的运动学 profile"
|
||||
},
|
||||
{
|
||||
"name": "broken-tree",
|
||||
"error": "机床模型无效：存在断开的结构或环"
|
||||
},
|
||||
{
|
||||
"name": "runtime-range-outside-model",
|
||||
"error": "X：INI 行程超出 URDF，先调整运行配置"
|
||||
},
|
||||
{
|
||||
"name": "runtime-speed-outside-model",
|
||||
"error": "X：INI 速度超出 URDF"
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"machines": [
|
||||
{
|
||||
"id": "ac",
|
||||
"hash": "93698435206864ae42cdd2121be570538e977e32c6a3a99095a93dd1518f8da1",
|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
"z_rot_point": 8,
|
||||
"z_offset": -45
|
||||
},
|
||||
"program_preserved": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/boat-xyzac.ngc",
|
||||
"geometry": [
|
||||
{
|
||||
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"error": 6.206335383118183e-17
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},
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{
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||||
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||||
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||||
},
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||||
{
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||||
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||||
"c": 65,
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||||
"error": 1.1933397187179203e-16
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},
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{
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||||
"c": 125,
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"error": 2.1599919653272043e-16
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},
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{
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"c": -80,
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"error": 2.486410087150353e-16
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},
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{
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{
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{
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||||
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||||
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||||
{
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||||
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||||
{
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||||
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"error": 2.036065864674698e-16
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||||
},
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||||
{
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|
||||
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||||
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|
||||
"error": 2.482534153247273e-16
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||||
},
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{
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||||
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{
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||||
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||||
{
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||||
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||||
{
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||||
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||||
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||||
},
|
||||
{
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||||
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|
||||
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||||
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|
||||
"error": 2.2591401799415137e-16
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||||
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{
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||||
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||||
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||||
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||||
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"tip": [
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||||
],
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||||
"tick": 59,
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||||
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||||
131
coverage/glb-machine/jog-limits/exact-checkpoint.report.json
Normal file
131
coverage/glb-machine/jog-limits/exact-checkpoint.report.json
Normal file
@@ -0,0 +1,131 @@
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||||
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||||
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2544
coverage/glb-machine/jog-limits/motion.report.json
Normal file
2544
coverage/glb-machine/jog-limits/motion.report.json
Normal file
File diff suppressed because it is too large
Load Diff
BIN
coverage/glb-machine/jog-limits/shadow.png
Normal file
BIN
coverage/glb-machine/jog-limits/shadow.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
5
coverage/glb-machine/jog-limits/shadow.report.json
Normal file
5
coverage/glb-machine/jog-limits/shadow.report.json
Normal file
@@ -0,0 +1,5 @@
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||||
{
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||||
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||||
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||||
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||||
60
coverage/glb-machine/jog-limits/worker.report.json
Normal file
60
coverage/glb-machine/jog-limits/worker.report.json
Normal file
@@ -0,0 +1,60 @@
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2544
coverage/glb-machine/motion.report.json
Normal file
2544
coverage/glb-machine/motion.report.json
Normal file
File diff suppressed because it is too large
Load Diff
657
coverage/glb-machine/regression-jog/rtcp-jog-browser.report.json
Normal file
657
coverage/glb-machine/regression-jog/rtcp-jog-browser.report.json
Normal file
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"tick": 478,
|
||||
"rendered_tick": 478,
|
||||
"tool_tip": [
|
||||
0,
|
||||
1.4030576116078717,
|
||||
0
|
||||
],
|
||||
"tcp_error": 2.1942709178604383e-17
|
||||
}
|
||||
},
|
||||
{
|
||||
"axis": "c",
|
||||
"before": {
|
||||
"joints": [
|
||||
7.685161197488696,
|
||||
4.340960088317411,
|
||||
-9.694238839212831,
|
||||
21.299999999999883,
|
||||
11.699999999999944
|
||||
],
|
||||
"offsets": {
|
||||
"x_rot_point": 0,
|
||||
"y_rot_point": 0,
|
||||
"z_rot_point": 0,
|
||||
"x_offset": -20,
|
||||
"y_offset": 0,
|
||||
"z_offset": -15,
|
||||
"tool_offset": 0
|
||||
},
|
||||
"tick": 478,
|
||||
"rendered_tick": 478,
|
||||
"tool_tip": [
|
||||
0,
|
||||
1.4030576116078717,
|
||||
0
|
||||
]
|
||||
},
|
||||
"moving": {
|
||||
"joints": [
|
||||
6.765551237557826,
|
||||
5.050031321132119,
|
||||
-9.335697898169764,
|
||||
21.299999999999883,
|
||||
23.699999999999882
|
||||
],
|
||||
"offsets": {
|
||||
"x_rot_point": 0,
|
||||
"y_rot_point": 0,
|
||||
"z_rot_point": 0,
|
||||
"x_offset": -20,
|
||||
"y_offset": 0,
|
||||
"z_offset": -15,
|
||||
"tool_offset": 0
|
||||
},
|
||||
"tick": 528,
|
||||
"rendered_tick": 522,
|
||||
"tool_tip": [
|
||||
0,
|
||||
1.4060719741862095,
|
||||
0
|
||||
],
|
||||
"tcp_error": 2.237726045655905e-16
|
||||
},
|
||||
"stopped": {
|
||||
"joints": [
|
||||
6.641467483723151,
|
||||
5.123681632413464,
|
||||
-9.287319664128686,
|
||||
21.299999999999883,
|
||||
25.19999999999985
|
||||
],
|
||||
"offsets": {
|
||||
"x_rot_point": 0,
|
||||
"y_rot_point": 0,
|
||||
"z_rot_point": 0,
|
||||
"x_offset": -20,
|
||||
"y_offset": 0,
|
||||
"z_offset": -15,
|
||||
"tool_offset": 0
|
||||
},
|
||||
"tick": 538,
|
||||
"rendered_tick": 538,
|
||||
"tool_tip": [
|
||||
0,
|
||||
1.4071268033587132,
|
||||
0
|
||||
],
|
||||
"tcp_error": 4.163336342344337e-17
|
||||
}
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"browser_errors": []
|
||||
}
|
||||
BIN
coverage/glb-machine/switching/rtcp-jog/rtcp-jog-xyzac.png
Normal file
BIN
coverage/glb-machine/switching/rtcp-jog/rtcp-jog-xyzac.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 321 KiB |
BIN
coverage/glb-machine/switching/rtcp-jog/rtcp-jog-xyzbc.png
Normal file
BIN
coverage/glb-machine/switching/rtcp-jog/rtcp-jog-xyzbc.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 316 KiB |
2622
coverage/glb-machine/switching/worker.report.json
Normal file
2622
coverage/glb-machine/switching/worker.report.json
Normal file
File diff suppressed because it is too large
Load Diff
BIN
coverage/glb-machine/viewport-1440.png
Normal file
BIN
coverage/glb-machine/viewport-1440.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 334 KiB |
BIN
coverage/glb-machine/viewport-390.png
Normal file
BIN
coverage/glb-machine/viewport-390.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 222 KiB |
45
docs/glb-machine-manager/01-项目功能内容.md
Normal file
45
docs/glb-machine-manager/01-项目功能内容.md
Normal file
@@ -0,0 +1,45 @@
|
||||
# 项目功能内容
|
||||
|
||||
## 目标
|
||||
|
||||
在 Web LinuxCNC 控制面板的机床预览区增加“三维机床管理”按钮。对话框内完成机床部件装配和坐标标定，最终生成可由现有 XYZAC/XYZBC TRT 运行链使用的机床模型。
|
||||
|
||||
## 功能范围
|
||||
|
||||
1. 对话框包含独立的 Three.js 三维预览，实时显示正在配置的机床。
|
||||
2. 支持逐个导入自包含 `.glb` 机床部件，不允许依赖外部纹理或网格文件。
|
||||
3. 每个部件可绑定 `底座、X、Y、Z、刀具、A/B、C、工件` 角色，并编辑父级关系。可运行结构必须满足：
|
||||
- 刀具链：底座 → X → Y → Z → 刀具。
|
||||
- 转台链：底座 → A/B → C → 工件。
|
||||
4. 每个部件可定义局部坐标原点。模型网格相对该原点偏移，运动关节围绕该原点运动。
|
||||
5. 每个部件可独立显示或隐藏原点坐标轴辅助线。
|
||||
6. 每个部件可用数值和 Three.js 操纵器平移、旋转；变换只修改装配配置，不修改原 GLB 字节。
|
||||
7. 可定义 C 轴原点位置和 A/B 到 C 的运动学偏置。应用时写入底座场景节点及整机场景的 `userData.linuxcncMachineGeometry`，同时生成 URDF：
|
||||
- `C 原点 P = (x-rot-point, y-rot-point, z-rot-point)`。
|
||||
- `A/B 偏置 D = (x-offset, y-offset, z-offset)`。
|
||||
- 倾转关节原点 `T=P+D`，C 关节原点 `U=-D`，工件固定原点 `-P`。
|
||||
8. 可定义 X/Y/Z/A或B/C 的物理零点。模型运动量为 LinuxCNC 实际关节值减去配置的物理零点。
|
||||
9. 应用后，控制面板程序执行、Jog、RTCP 切换和刀长变化继续以 Worker/WASM 快照为唯一运动输入；模型不得在 React 中重新计算刀尖逆解。
|
||||
|
||||
## 数据和单位
|
||||
|
||||
- UI 中平移、局部原点、C 原点和偏置使用毫米；旋转和物理旋转轴零点使用度。
|
||||
- GLB 遵循 glTF 米制、Y-up；生成的 URDF 使用米和弧度、Z-up。
|
||||
- 部件源文件、哈希和原始场景保持不变；运行装配使用深复制后的几何与材质。显式“导出组合 GLB”会生成新文件，并将标定数据同时写入整机场景和底座节点 `userData`。
|
||||
- 底座 `userData` 至少保存 schema、机型、C 原点、A/B 偏置、物理零点和部件装配摘要。
|
||||
|
||||
## 安全边界
|
||||
|
||||
- 当前只生成项目已有求解器支持的 XYZAC 或 XYZBC 双分支 TRT 结构。
|
||||
- 层级编辑器允许建立关系，但“应用到控制器”前必须严格验证两条受支持机械链、角色唯一性和无环结构。
|
||||
- 未完成八个角色时允许预览和保存草稿，不允许应用到控制器。
|
||||
- 模型外观变换不能代替 INI/运动学参数；C 原点和 A/B 偏置必须通过现有配置重载进入 WASM。
|
||||
- 不做碰撞、质量、刚体动力学或任意 URDF 求解。
|
||||
|
||||
## 验收结果
|
||||
|
||||
- AC 与 BC 均能由八个独立部件建立结构并应用。
|
||||
- 对话框预览、原点辅助、平移/旋转和层级变化实时可见。
|
||||
- 底座 `userData` 含完整几何及物理零点字段。
|
||||
- 运行控制面板后，X/Y/Z/A或B/C Jog 和五轴程序驱动对应部件；工件路径继续附着 C 轴，刀具长度来自 WASM。
|
||||
- 非法层级、重复角色、缺失部件、错误机型和外部资源 GLB 明确拒绝，已生效模型不改变。
|
||||
13
docs/glb-machine-manager/02-项目程序开发详细步骤.md
Normal file
13
docs/glb-machine-manager/02-项目程序开发详细步骤.md
Normal file
@@ -0,0 +1,13 @@
|
||||
# 项目程序开发详细步骤
|
||||
|
||||
1. `MGR-01`：建立本专项 01–06 与 README，冻结数据字段、坐标单位、机械链和验收边界。
|
||||
2. `MGR-02`：实现部件 GLB 加载、哈希、外部资源拒绝、装配草稿类型和生命周期清理。
|
||||
3. `MGR-03`：实现角色/父级编辑、唯一性和无环校验，生成 XYZAC/XYZBC 严格 URDF 与运行场景。
|
||||
4. `MGR-04`：实现对话框 Three.js 预览、部件选择、显示/隐藏和原点坐标轴辅助。
|
||||
5. `MGR-05`：实现部件局部原点、数值平移/旋转和 Three.js TransformControls 操纵器。
|
||||
6. `MGR-06`：实现 C 原点、A/B 偏置、物理零点，写入底座及整机 `userData`，并映射到 URDF/INI。
|
||||
7. `MGR-07`：接入控制面板“应用机床”，复用现有 `LOAD_WORKSPACE`、`PROGRAM_LOAD`、回零失效和 GLB 资源清理事务。
|
||||
8. `MGR-08`：验证 WASM 关节值到部件链的映射、刀具/工件/路径坐标一致性及 AC/BC 五轴程序。
|
||||
9. `MGR-09`：浏览器交互、错误边界、类型检查、生产构建、截图和报告收口。
|
||||
|
||||
每轮只推进任务矩阵中依赖已满足的任务。代码完成后必须同步更新 03、04、05；若改变数据契约或坐标定义，先更新 06。
|
||||
22
docs/glb-machine-manager/03-推进台账.md
Normal file
22
docs/glb-machine-manager/03-推进台账.md
Normal file
@@ -0,0 +1,22 @@
|
||||
# 推进台账
|
||||
|
||||
## R02 / 2026-09-20 / 部件装配、标定、应用与验收完成
|
||||
|
||||
- 新增 `machine-manager.ts`：通用自包含 GLB 部件加载、SHA-256、深复制、八角色和两条机械链校验、AC/BC URDF 生成、组合场景、底座/整机 userData、组合哈希。
|
||||
- 新增 `MachineManagerPanel.tsx`：机床预览区“三维机床管理”按钮、可拖动大对话框、独立 Three.js 预览、批量部件导入、角色/父级、显隐、原点辅助、数值平移/旋转、TransformControls、C 原点、A/B 偏置和物理零点编辑。
|
||||
- 新增“导出组合 GLB”；导出的新文件包含 `linuxcnc.machine/1` URDF，以及整机场景和底座节点上的 `linuxcnc.machine-manager/1` 标定 userData。
|
||||
- 接入 App 原有 `LOAD_WORKSPACE` + `PROGRAM_LOAD` 事务。配置和程序应用成功后替换机床；失败候选被释放。关机且空闲门控、程序重解析和回零要求保持。
|
||||
- `buildImportedMachine` 按 `WASM joint - physicalZero` 驱动 X/Y/Z/A或B/C，刀长、路径和 RTCP 仍来自 Worker/WASM；有效 INI 参数同步回运行克隆的底座 userData。
|
||||
- 浏览器 E01/E02 覆盖 8 个独立 GLB、原点/变换、导出、AC 应用、同一部件切 BC、BC 五轴程序、物理零点、非法层级和生产包。无浏览器错误。
|
||||
- 旧五轴整机回归重新通过：AC/BC 各 41 个五轴同时变化 tick、42 个样本，坐标误差低于 `2.5e-16` 视图单位。
|
||||
- `gltf-validator` 当前未安装，因此没有重跑旧 Khronos 校验器；旧四个示例 GLB 未修改，历史 `coverage/glb-machine/gltf-validation.report.json` 仍为 verified。本专项生成并下载的组合 GLB 已由浏览器 GLTFExporter 完成往返导出。
|
||||
- MGR-01 至 MGR-09 全部完成。下一步按用户体验反馈扩展草稿持久化、部件库或任意新运动学 profile；不自动扩大到碰撞/动力学。
|
||||
|
||||
## R01 / 2026-09-20 / 专项建立与实现启动
|
||||
|
||||
- 用户要求在机床预览区新增“三维机床管理”对话框，覆盖部件级 GLB 导入、层级、原点、姿态、RTCP 几何参数、物理零点和控制坐标对应。
|
||||
- 核对现有 `docs/glb-machine`、`MachineImportPanel`、严格 URDF 解析、`buildImportedMachine` 和 WASM 关节投影。现有能力只支持已经包含完整层级与 URDF 的整机 GLB，本轮扩展为部件装配编辑器。
|
||||
- 建立本目录 01–06 和 README；新增 MGR-01 至 MGR-09 任务链。
|
||||
- 决定复用 `linuxcnc.machine/1` 结构：管理器生成合法场景和 URDF，现有 INI/Worker/WASM 继续作为运动和 RTCP 权威。
|
||||
- 当前任务：已完成。
|
||||
- 下一步：按新需求继续；本专项不重复执行。
|
||||
13
docs/glb-machine-manager/04-任务矩阵.md
Normal file
13
docs/glb-machine-manager/04-任务矩阵.md
Normal file
@@ -0,0 +1,13 @@
|
||||
# 任务矩阵
|
||||
|
||||
|任务|状态|依赖|交付与验收标准|
|
||||
|---|---|---|---|
|
||||
|MGR-01 文档与契约|verified|-|01–06 与 README 存在；字段、单位、机械链、权威边界明确|
|
||||
|MGR-02 部件 GLB 加载|verified|MGR-01|多文件导入、SHA-256、外部资源拒绝、资源释放测试通过|
|
||||
|MGR-03 层级与 URDF|verified|MGR-02|八角色、父级编辑、无环/唯一性、AC/BC URDF 生成与严格解析通过|
|
||||
|MGR-04 管理器预览|verified|MGR-03|对话框 Three.js 预览、选择、显隐和相机控制可用|
|
||||
|MGR-05 原点与部件变换|verified|MGR-04|原点辅助显示；数值和操纵器平移/旋转同步|
|
||||
|MGR-06 RTCP 几何与物理零点|verified|MGR-03|C 原点、A/B 偏置、物理零点写入底座 userData，并正确生成 URDF|
|
||||
|MGR-07 控制面板接入|verified|MGR-03,MGR-06|“三维机床管理”入口；应用复用 LOAD_WORKSPACE/PROGRAM_LOAD，失败不改旧模型|
|
||||
|MGR-08 坐标一致性|verified|MGR-07|AC/BC 的 X/Y/Z/A或B/C、刀长、工件和路径由 WASM 状态正确驱动|
|
||||
|MGR-09 浏览器验收收口|verified|MGR-04,MGR-05,MGR-08|交互/错误/构建/浏览器截图报告通过，03–05 完整更新|
|
||||
39
docs/glb-machine-manager/05-验收证据.md
Normal file
39
docs/glb-machine-manager/05-验收证据.md
Normal file
@@ -0,0 +1,39 @@
|
||||
# 验收证据
|
||||
|
||||
## E01 / R01 / 文档与基线
|
||||
|
||||
- 状态：verified。
|
||||
- 文档目录：`docs/glb-machine-manager/`。
|
||||
- 基线能力：现有整机 GLB 导入、严格 URDF、几何参数重载和 WASM 关节投影保留。
|
||||
- 实现和运行证据见 E02–E04。
|
||||
|
||||
## E02 / R02 / 开发源浏览器闭环
|
||||
|
||||
- 命令：`PLAYWRIGHT_MODULE=/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.mjs node scripts/test_machine_manager_browser.mjs`
|
||||
- report_id：`GLB-MGR-E01`
|
||||
- 报告：`coverage/glb-machine-manager/browser.report.json`
|
||||
- SHA-256：`d3d15da19d3e8a8c958935a0e9c3840b70fb646d5bc8ffb72805dc744df078a3`
|
||||
- 状态：verified；浏览器错误 0。
|
||||
- 覆盖：8 部件导入和预览、原点显隐、数值/TransformControls 变换、组合 GLB 导出、AC/BC 应用、底座 userData、物理零点、非法层级拒绝、BC 五轴程序。
|
||||
- 截图：
|
||||
- `coverage/glb-machine-manager/manager-ac-config.png`，SHA-256 `5ca01d26cb83da726319be107aa90069ce96c3197f4297a26e1f836d171a1501`
|
||||
- `coverage/glb-machine-manager/managed-bc-running.png`，SHA-256 `6e14ff6bc4e493f57e55bb601ded84319ce86f064f7a811595c1e4498b1827a0`
|
||||
|
||||
## E03 / R02 / 生产构建浏览器闭环
|
||||
|
||||
- 构建：`npm --prefix web/react run build`，通过；只有既有大 chunk 提示。
|
||||
- 命令：`MACHINE_MANAGER_SOURCE_MODULES=0 ... node scripts/test_machine_manager_browser.mjs`
|
||||
- report_id：`GLB-MGR-E02`
|
||||
- 报告：`coverage/glb-machine-manager/browser-production.report.json`
|
||||
- SHA-256：`5ba840aa92c37a06e2f19bce7c57234871b085e27951fb44623af74253215388`
|
||||
- 状态：verified；生产资产执行 AC/BC UI 应用和 BC WASM 程序运动，浏览器错误 0。
|
||||
|
||||
## E04 / R02 / 回归与静态契约
|
||||
|
||||
- `node scripts/test_axis_control_inventory.mjs`：verified，99 个文档化控件。
|
||||
- `node web/react/src/test_dual_canvas_contract.mjs`：verified。
|
||||
- `node web/react/src/test_xyzac_threejs.mjs`：verified。
|
||||
- `npm --prefix web/react run typecheck`：通过。
|
||||
- `node scripts/test_glb_machine_motion.mjs`：verified；报告 `coverage/glb-machine-manager/regression-motion/motion.report.json`，SHA-256 `91c3fa8ed8037aac8e71b8c76d54c38db9dc011ae25f63553966860b624aa626`。AC/BC 各 41 个同时五轴变化 tick、42 个样本，最大误差分别约 `2.26e-16`、`2.48e-16`。
|
||||
- `git diff --check`：通过。
|
||||
- `scripts/validate_glb_machines.mjs` 未重跑：本地缺少 `gltf-validator` 包；旧示例 GLB 未修改，历史 Khronos 校验报告仍为 verified。该依赖边界不影响新管理器的浏览器导入、导出和运行证据。
|
||||
29
docs/glb-machine-manager/06-决策记录.md
Normal file
29
docs/glb-machine-manager/06-决策记录.md
Normal file
@@ -0,0 +1,29 @@
|
||||
# 决策记录
|
||||
|
||||
## D01 / 继续使用 LinuxCNC WASM 作为运动权威
|
||||
|
||||
部件编辑器只生成模型结构和标定参数。程序执行、Jog、刀长、运动学类型和关节位置仍来自 Worker/WASM 快照。Three.js 不实现第二套 RTCP 或逆运动学。
|
||||
|
||||
## D02 / 运行结构保持 `linuxcnc.machine/1`
|
||||
|
||||
现有严格 URDF 校验、配置写入和运行投影已经验收。部件管理器输出同一结构，可复用所有运行能力并避免引入并行格式。编辑草稿使用独立 schema，只有验证成功后才转换成运行结构。
|
||||
|
||||
## D03 / 编辑层级自由，应用层级受求解器限制
|
||||
|
||||
UI 允许用户选择父级以建立层级和发现错误；应用时只接受底座→X→Y→Z→刀具及底座→A/B→C→工件。当前 WASM 只支持这两类 TRT，不能把任意树伪装成可执行机床。
|
||||
|
||||
## D04 / 原 GLB 不原地改写
|
||||
|
||||
导入部件的源字节和场景保持不变。局部原点和平移/旋转存在装配配置中，应用时创建深复制运行场景。标定数据写入运行装配中底座节点及整机场景的 userData；“导出组合 GLB”将该装配序列化为新的自包含 GLB，原部件文件不被覆盖。
|
||||
|
||||
## D05 / C 原点与 A/B 偏置的唯一映射
|
||||
|
||||
沿用 `trtfuncs.c` 和既有参数契约：C 原点 P 对应 rot-point，A/B 偏置 D 对应 offset；URDF 使用 T=P+D、U=-D、work=-P。该公式是控制模型坐标对应的唯一来源。
|
||||
|
||||
## D06 / 物理零点是模型校准，不改控制器关节值
|
||||
|
||||
物理零点保存为每轴的模型零姿态标定值。渲染位移/转角使用 `WASM joint - physicalZero`，但不修改 Worker、INI 的回零位置或程序坐标。改变真实回零参数仍应通过机床配置完成。
|
||||
|
||||
## D07 / 组合 GLB 只通过显式导出生成
|
||||
|
||||
普通编辑和“应用到 Web LinuxCNC”不触碰用户原文件。只有用户点击“导出组合 GLB”时才用 GLTFExporter 生成新文件。导出包含部件层级、URDF、底座标定 userData 和整机场景标定 userData。
|
||||
25
docs/glb-machine-manager/README.md
Normal file
25
docs/glb-machine-manager/README.md
Normal file
@@ -0,0 +1,25 @@
|
||||
# Web LinuxCNC 三维机床管理器
|
||||
|
||||
本目录是“三维机床管理器”专项的唯一接续入口。工作顺序固定为：
|
||||
|
||||
1. 阅读 [04-任务矩阵](04-任务矩阵.md)，选择首个未完成且依赖满足的任务。
|
||||
2. 阅读 [03-推进台账](03-推进台账.md) 最新一轮和 [06-决策记录](06-决策记录.md)。
|
||||
3. 按 [02-项目程序开发详细步骤](02-项目程序开发详细步骤.md) 实施。
|
||||
4. 验收后把命令、报告、截图写入 [05-验收证据](05-验收证据.md)，同步任务状态和推进台账。
|
||||
|
||||
专项目标是在 Web LinuxCNC 机床预览区提供“三维机床管理”对话框，支持 GLB 部件导入、AC/BC 两条机械链装配、部件原点和姿态编辑、原点辅助显示、RTCP 几何参数及物理零点定义，并保证模型运动与 LinuxCNC WASM 的实际关节坐标一致。
|
||||
|
||||
现有整机 GLB + 内嵌 URDF 导入能力继续保留。新管理器生成与现有 `linuxcnc.machine/1` 相同的严格结构，再通过已有配置、Worker、WASM 和 Three.js 投影链运行。
|
||||
|
||||
当前状态：MGR-01 至 MGR-09 全部 verified，功能提交为 `8aab531`。最新台账 R02，浏览器证据 `GLB-MGR-E01/E02`，截图和报告位于 `coverage/glb-machine-manager/`。
|
||||
|
||||
文档：
|
||||
|
||||
- [01-项目功能内容](01-项目功能内容.md)
|
||||
- [02-项目程序开发详细步骤](02-项目程序开发详细步骤.md)
|
||||
- [03-推进台账](03-推进台账.md)
|
||||
- [04-任务矩阵](04-任务矩阵.md)
|
||||
- [05-验收证据](05-验收证据.md)
|
||||
- [06-决策记录](06-决策记录.md)
|
||||
|
||||
相关旧专项：[GLB / URDF 五轴机床子项目](../glb-machine/README.md)。旧专项已完成整机导入、AC/BC 识别、几何参数同步和实际关节驱动，本专项不重复这些底层能力。
|
||||
103
docs/glb-machine/01-子项目功能内容.md
Normal file
103
docs/glb-machine/01-子项目功能内容.md
Normal file
@@ -0,0 +1,103 @@
|
||||
# 子项目功能内容
|
||||
|
||||
## 需求与边界
|
||||
|
||||
用户指定两条机械链：底座 → X → Y → Z → 主轴箱；底座 → A → C。BC 将 A 替换为 B。线性轴移动刀具侧，转台固定在底座的另一分支。提供原创 AC 和 BC 标准型、AC 和 BC 桁架型四个完整 GLB，均包含几何、材质、节点和 URDF，不依赖外部模型文件。
|
||||
|
||||
预览区提供 GLB 导入、AC/BC 示例加载及下载，显示识别的机型、层级、摇篮中心和 RTCP 参数。关机且空闲时应用；验证完成才重载配置；保留程序并重新解析、失效原回零/不兼容恢复记录。普通 GLB 缺少结构描述时不能猜测机床参数。
|
||||
|
||||
## URDF 数据契约 v1
|
||||
|
||||
GLB 默认场景 `extras.linuxcncMachine = { schema: "linuxcnc.machine/1", urdf: "<robot ...>...</robot>" }`，Three.js 加载后位于 `scene.userData.linuxcncMachine`。XML 使用标准 URDF link/joint/origin/axis/limit，增加命名空间 `xmlns:cnc="urn:linuxcnc:web:machine:1"` 的 `cnc:machine` 和 `cnc:axis`，标准 URDF 与应用绑定分开。
|
||||
|
||||
- SI：origin.xyz 米，rpy/关节角弧度；机床坐标右手 Z 向上。GLB 最外层 `urdf_frame` 绕 X -π/2，将 Z-up 转到 glTF Y-up；不得将毫米直接作为 glTF 米。
|
||||
- 每个 link 对应唯一 GLB 节点同名，节点局部静止位姿必须与父 joint.origin 相同，视觉网格放在 link 的子节点，不能把轴心烘焙进顶点后伪造节点层级。
|
||||
- `cnc:machine` 显式绑定 base/tool/work 三个 link；每个运动 joint 的 `cnc:axis coordinate="X|Y|Z|A|B|C"` 绑定 LinuxCNC 坐标。不相信机型字符串：根据拓扑、joint.type 和 axis 推断 AC/BC。
|
||||
- v1 接受正交 XYZ 刀具链、正向 X(A) 或 Y(B) 倾转轴以及其子 Z(C) 轴；局部 rpy=0。任意斜轴、头头/头台结构、mimic 或额外运动轴明确拒绝，后续扩展需新增求解器。
|
||||
- 限位、速度和 effort 必须有限且合法；URDF limit 用作导入运动范围校验，运行加速度、回零、伺服周期仍由对应 INI 提供，结构模型不能推断这些参数。
|
||||
- 摇篮 joint.origin 为 T，C joint.origin 为 U；零位 C 原点 P=T+U。映射 `rot_point=P*1000`，`offset=-U*1000`。AC 要求 U.x=0；BC 要求 U.y=0。work 固定 joint.origin=-P，保证零角下程序坐标原点与机床原点相同。
|
||||
- 主轴箱零基准位于线性链原点；刀长来自 LinuxCNC 工具状态，不从外观网格猜测。遵循 trtfuncs.c 的 master-tool 约定处理工具长度与程序路径参考。
|
||||
|
||||
## 验收
|
||||
|
||||
两文件可独立导入；AC/BC 自动识别；结构与 GLB 节点一致；非零中心/偏置进入 WASM；多姿态与非零刀长时刀尖和工件程序点吻合；错误文件不更改已生效配置；浏览器导入、切换、门控、渲染及相关回归通过。
|
||||
|
||||
## 字段示例与制模约定
|
||||
|
||||
```json
|
||||
{
|
||||
"extras": {
|
||||
"linuxcncMachine": {
|
||||
"schema": "linuxcnc.machine/1",
|
||||
"urdf": "<?xml version=\"1.0\"?><robot ...>...</robot>"
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
```xml
|
||||
<robot name="demo_ac_xyz_head" xmlns:cnc="urn:linuxcnc:web:machine:1">
|
||||
<cnc:machine profile="trt-xyz-head/1"
|
||||
base="base" tool="spindle_head" work="work_frame"/>
|
||||
<!-- 标准 link 定义省略；完整可用 XML 见交付的 .urdf -->
|
||||
<joint name="tilt_joint" type="revolute">
|
||||
<parent link="base"/><child link="tilt_table"/>
|
||||
<origin xyz="0.024 0.006 -0.037" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/><cnc:axis coordinate="A"/>
|
||||
<limit lower="-1.7453292519943295" upper="0.8726646259971648"
|
||||
velocity="0.5235987755982988" effort="1000"/>
|
||||
</joint>
|
||||
<joint name="c_joint" type="revolute">
|
||||
<parent link="tilt_table"/><child link="c_table"/>
|
||||
<origin xyz="0 -0.018 0.045" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/><cnc:axis coordinate="C"/>
|
||||
<limit lower="-628.3185307179587" upper="628.3185307179587"
|
||||
velocity="0.5235987755982988" effort="1000"/>
|
||||
</joint>
|
||||
</robot>
|
||||
```
|
||||
|
||||
|数据|AC 示例（mm）|BC 示例（mm）|提取方法|
|
||||
|---|---|---|---|
|
||||
|倾转轴中心 T|24, 6, -37|4, 14, -28|A/B joint.origin|
|
||||
|C 相对倾转轴 U|0, -18, 45|-22, 0, 40|C joint.origin|
|
||||
|原生 rot-point P|24, -12, 8|-18, 14, 12|T + U|
|
||||
|原生 offset D|0, 18, -45|22, 0, -40|-U|
|
||||
|
||||
```mermaid
|
||||
flowchart TD
|
||||
root[urdf_frame: Z-up → glTF Y-up] --> base[base 底座]
|
||||
base --> x[x_slide / X]
|
||||
x --> y[y_slide / Y]
|
||||
y --> z[z_slide / Z]
|
||||
z --> tool[spindle_head 主轴箱/刀具基准]
|
||||
base --> tilt[tilt_table / A 或 B]
|
||||
tilt --> c[c_table / C]
|
||||
c --> work[work_frame 程序参考]
|
||||
```
|
||||
|
||||
八个 link 名可以自定义，但必须唯一并通过 URDF 引用；link 节点直接父子关系保持上述两条链，网格作为 link 的子节点。不依赖网格的名称或数量。关节静止变换可以写 glTF TRS 或等价 matrix，禁止额外缩放/旋转而不反映到结构数据。外观尺寸、颜色不进入 RTCP 参数。
|
||||
|
||||
完整示例：[AC URDF](../../web/react/public/machines/demo-ac-xyz-head.urdf)、[BC URDF](../../web/react/public/machines/demo-bc-xyz-head.urdf)。GLB 是唯一必需输入；旁边的 XML 和 manifest 只用于阅读与核验。
|
||||
|
||||
## 当前实现边界
|
||||
|
||||
导入资产保存在当前页面内存；刷新后须重新导入。不会向原 INI 或宿主磁盘自动写入，仍可通过现有“保存 INI”导出。修改/重新读取同机型 INI 时保留导入 GLB，同步更新有效 URDF 的轴心、偏置和工件参考系；手工切换机型才回到内置模型。跨 AC/BC 保留原程序，若原程序无法在新机型解析，明确提示“机床已应用，但程序解析失败”。
|
||||
|
||||
GLB 不提供完整工业机床控制配置、不做碰撞检测、质量/动力学仿真或任意 URDF 求解。示例 effort 为 URDF 结构字段，本仿真不据此宣称力矩控制。URDF 角度行程以匹配已有 LinuxCNC 示例配置为目的，不代表实际摇篮无碰撞范围。
|
||||
|
||||
2026-09-18 界面更新：导入/示例/结构信息和几何参数均在按钮打开的可拖动对话框中，预览顶部只保留“导入机床模型”“机床参数”两个入口，详见 D09 / GLB-UI01 / E07。
|
||||
|
||||
|
||||
## 参数化桁架型（2026-09-18 新增）
|
||||
|
||||
|示例|URDF profile|刀具侧|工作台侧|结构节点|
|
||||
|---|---|---|---|---|
|
||||
|AC / BC 示例|trt-xyz-head/1|底座→X→Y→Z→主轴箱|底座→A或B→C|8 link / 7 joint|
|
||||
|AC / BC 示例桁架型|trt-xyz-gantry/1|底座→X→Y→Z|底座→A或B→C|7 link / 6 joint|
|
||||
|
||||
两类均为五个运动轴。桁架型的 `cnc:machine tool="z_slide"` 直接绑定 Z；另有固定 work_frame 挂 C，作为程序参考坐标，并非第六运动轴。四柱/纵向轨道固定在底座，移动横梁属于 X，横梁滑座属于 Y，滑枕及主轴网格属于 Z。
|
||||
|
||||
参数修改继续使用旋转中心与轴间偏置入口；实际导入模型保留，当前有效 URDF 和 WASM 同步。桁架与标准型共用相同的 AC/BC 原生参数含义，SI 单位、根坐标转换、刀长和几何编辑规则不变。示例外观尺寸在生成器中定义，不由编辑旋转中心自动重建 CAD 网格。
|
||||
|
||||
交付：[AC 桁架 GLB](../../web/react/public/machines/demo-ac-gantry.glb)、[AC 桁架 URDF](../../web/react/public/machines/demo-ac-gantry.urdf)、[BC 桁架 GLB](../../web/react/public/machines/demo-bc-gantry.glb)、[BC 桁架 URDF](../../web/react/public/machines/demo-bc-gantry.urdf)。
|
||||
16
docs/glb-machine/02-子项目程序开发详细步骤.md
Normal file
16
docs/glb-machine/02-子项目程序开发详细步骤.md
Normal file
@@ -0,0 +1,16 @@
|
||||
# 子项目程序开发详细步骤
|
||||
|
||||
1. GLB-01：记录规范、网络资源与方案；明确节点关系、单位和原生参数映射。
|
||||
2. GLB-02：实现 GLB 容器预检与 URDF 严格解析、拓扑/绑定/位姿校验；生成独立结构描述。
|
||||
3. GLB-03：可复现生成 AC/BC 模型、内嵌 URDF、单独导出可阅读 XML 和资源清单；节点名与 XML 一致。
|
||||
4. GLB-04：预览区导入及示例；先完成验证再重载匹配 INI，写入解析参数，Worker 仍二次解析 INI；显示成功或失败与参数来源。同机型配置改动后保留 GLB，更新有效 URDF 和运行参数；显式更换机型才卸载。
|
||||
5. GLB-05：URDF link 按真实 WASM 关节做刚体位姿投影，路径附着 C 轴，刀长取运行状态；不在 JS 重写逆解。
|
||||
6. GLB-06：解析拒绝用例、非零参数/刀长与 WASM 几何交叉验证、浏览器导入/门控/截图、类型检查及构建；整理 SHA 和证据、任务状态、接续入口。
|
||||
|
||||
原有本地改动不加入本专项。只运行相关测试，不重跑全仓验收、不修改上游或历史 release gate。
|
||||
|
||||
7. GLB-UI01（后续需求）：共享可拖动对话框、预览布局和快捷键隔离，适配导入/参数原流程；验证鼠标/触摸、视口边界、焦点和画布尺寸，证据独立保存在 dialogs 子目录。
|
||||
|
||||
8. GLB-GEO01：几何参数写入有效 URDF，源 GLB/共享网格保留；校验应用、INI 重读/导入、重复编辑、失败和机型切换边界，以及改参数后的 WASM/模型和真实 RTCP Jog。
|
||||
|
||||
9. GLB-GAN01：独立桁架 profile、参数化生成两模型、四例注册入口；验证正确分支运动、导入/下载/几何编辑、真实 WASM/五轴程序及原 profile 兼容，证据 gantry 子目录。
|
||||
103
docs/glb-machine/03-推进台账.md
Normal file
103
docs/glb-machine/03-推进台账.md
Normal file
@@ -0,0 +1,103 @@
|
||||
# 推进台账
|
||||
|
||||
## R09 / 2026-09-18 / 初学者工件坐标与 G 代码完整讲义
|
||||
|
||||
- 用户要求在RTCP课件基础上系统扩充工件坐标：坐标含义、原点和方向确定、G代码逐值解析与运动，整个讲义面向初学者。
|
||||
- 新增 `docs/teaching/rtcp-beginners/`，72页A4完整教材，约2.6万正文字符；保留原31页投影概要。新书以坐标尺子入门，区分M/W/J/K/T，再讲工件原点测量、初始方向、G54配准和动态RTCP，最后进入完整程序与实验/答案。
|
||||
- 核心细化：物理固连工件架与G54偏置表不同；本课G54是零位配准输入，动态方向与原点由运动学继续变换。解释G10 L2/L20、G90/G91、单位、F与其他字的上下文，明确普通坐标旋转和完整刀补不等于自动RTCP。
|
||||
- 新增六个生成/验证脚本：`generate_rtcp_beginner_data.mjs`、`generate_rtcp_beginner_figures.py`、`generate_rtcp_beginner_html.py`、`subset_rtcp_beginner_fonts.py`、`render_rtcp_beginner_pdf.mjs`、`verify_rtcp_beginner_pdf.py`。
|
||||
- 数值实测：o=(40,20,10)、BC、P=D=L=0。11个主段、11个额外单位/G54-G55/L20段核对；N10–N90加M2通过实际解释器/TP/WASM执行完成，53个采样，终点与逐行结果一致。M429/M428另按保持物理关节接口核对。
|
||||
- 图像：9张新增原创坐标图，复用11张旧原创图；72页逐页边界/图片/标题检查和Poppler独立渲染检查。字体同形部首导致复制字符不符的问题，通过按实际字符制作Noto SC子集解决；保留字体许可，严格检查所有72页标题可正确提取。
|
||||
- 记录能力边界：本项目解释器是功能切片，完整G43/H刀表、G52/G92、任意方向和所有进给模式不在本次全面验收范围；以官方语义讲解时明确区分，未把“解析接受”当成完整实现。
|
||||
- 验证见E13，文件含目录/书签、HTML源稿、测试数据、教学NGC与复现步骤。未修改运行功能，原本地改动、旧PDF和历史证据保留；未提交/推送。
|
||||
- 下一步：教材已完整交付，按后续教学内容修订需求推进。
|
||||
|
||||
## R08 / 2026-09-18 / 五轴与 RTCP 教学 PDF
|
||||
|
||||
- 用户要求完善“非RTCP各轴独立”和“RTCP坐标随转台变换、刀尖跟随”的理解，提供图文教学课件。
|
||||
- 新增 `docs/teaching/rtcp-five-axis/`：31页16:9中文PDF、可编辑HTML、9张原创原理图、2张无界面控件的桁架模型图、数值报告、目录与逐页验证。
|
||||
- 明确范围：XYZ加AC或BC；独立驱动不等于不能协调插补；程序坐标须经过单位/增量/零点/刀补；RTCP不仅改变方向，还处理中心/偏置/刀长；模式切换应固定物理关节。加入非RTCP后置计算、TCP/倾斜平面差异、限位与版本化M码说明。
|
||||
- 生成脚本：`generate_rtcp_teaching_data.mjs`、`generate_rtcp_teaching_figures.py`、`capture_rtcp_teaching_models.mjs`、`generate_rtcp_teaching_html.py`、`render_rtcp_teaching_pdf.mjs`、`verify_rtcp_teaching_pdf.py`。
|
||||
- 验证 E12：真实WASM十二个姿态正逆解、方向增量/切换算例；31页DOM边界和图片加载检查；Poppler独立渲染所有PDF页并目视检查；PyPDF核验31页、16:9、中文文本、字体自包含、39个书签。
|
||||
- 中间排版修正：两页接近/越过页脚，调整公式和图形间距后严格边界检查通过；字体检查增加对Chrome嵌入Type3字形程序的正确识别，pdffonts也确认emb=yes。没有改应用功能或覆盖前轮证据。
|
||||
- 下一步：课件可直接教学，按后续内容修订需求更新。原有本地改动保留，本轮未提交/推送。
|
||||
|
||||
## R07 / 2026-09-18 / Jog 限位与序列恢复、阴影警告
|
||||
|
||||
- 用户截图：XYZBC B=50.2275°，Connection: ERROR / event_sequence_gap。配置 AXIS_B 范围大，但 JOINT_3 上限=50°；连续 Jog 只以坐标限位作为目标，越过关节限位后原生 FK 返回 -702。首次 Worker 复现得到 `SIM_STEP: wasm_xyzac_forward_-702`。
|
||||
- 第二层根因：SIM_STEP 执行前把请求的未来 tick 写入事件日志，实际在较早 tick 失败；下一命令发生 tick 回退，未写事件而协议已消费序号，再下一命令出现 sequence_gap。
|
||||
- `wasm-linuxcnc-tp.mjs`：对于能直接映射关节的坐标，Jog 临时采用 AXIS/JOINT 限位交集，原生 TP 计算目标和减速，随后恢复正常坐标限位。RTCP 耦合的 XYZ 关节由真实 WASM IK/FK 在每个伺服样本检查；越界则取消剩余轨迹并回到上一个有效样本，发布限位停止而不是继续越界。
|
||||
- `sim-session.mjs`：SIM_STEP 完成/失败后写入实际 tick；成功时仍在 checkpoint 前完成事件记录。调度异常时停止运动，并同步协议/任务时钟。`sim-scheduler.mjs` 中异常保留已尝试 tick，同步 native scheduler，未执行的未来周期不再占用时钟。
|
||||
- UI 将限位拒绝标为 blocked，与 Worker 连接故障区分；Jog 采样出错显示具体原因。到限位后 JOG_STOP、反向 Jog、SNAPSHOT_REQUEST、checkpoint/恢复均可继续。
|
||||
- 用户补充控制台截图仅为 PCFSoftShadowMap 弃用提示，与事件故障无关；XyzacMachineView 改为 PCFShadowMap，Chrome 再测 warnings=[]。
|
||||
- 验证 E11：两机型直接旋转轴50°限位/反向退出、RTCP引发Y接近100mm限位/反向退出、失败后序号及原生事件游标一致、部分tick、无效cycles、checkpoint恢复通过。真实浏览器两机型反复Jog、松开停止、限位后再次运动/画面非空通过；120个精确恢复续跑样本、五轴程序、单步、基础session/scheduler/replay及生产构建通过。
|
||||
- 旧 `test_xyzac_manual_control.mjs` 在回零尚未完成时期待 homed_mask=1，旧 `test_xyzac_button_constraints.mjs` 期待关机优先而得到 not_all_homed；使用只读 HEAD 模块加载器复核也在相同断言失败，保留日志，未修改门控或放宽断言。
|
||||
- 证据归入 coverage/glb-machine/jog-limits/，不改此前证据、上游、本地trace/图片/临时文件。无 C/WASM 变更，无需重建原生核心。本轮及前轮变更仍未提交/推送。
|
||||
- 下一步：专项收口；已进入旧序号错误的浏览器会话需刷新，重新导入模型并回零，不能伪造缺失事件来修补旧会话。
|
||||
|
||||
## R06 / 2026-09-18 / AC、BC 参数化桁架示例
|
||||
|
||||
- 用户要求保留 AC/BC 示例，新增 AC/BC 桁架型，结构为底座→X→Y→Z、底座→A/B→C。
|
||||
- 原 AC/BC 导入示例已经采用双链，但存在 Z→主轴箱固定 link。本轮桁架型独立 profile `trt-xyz-gantry/1`，七 link、六 joint、五运动轴，tool 直接绑定 Z。原 profile `trt-xyz-head/1` 与原模型保持。
|
||||
- `generate_glb_machines.mjs` 新增四柱桁架、固定纵向 X 轨、属于 X 的整根桁架横梁、属于 Y 的横梁滑座、属于 Z 的滑枕/主轴外形。转台仍独立挂到底座；生成两个新单文件 GLB 及 XML。
|
||||
- `machine-urdf.ts` 只对新 profile 放行对应 link/joint 数量和 Z 工具绑定；保留树/单位/轴向/运动学校验。MachineImportPanel 从 manifest 读取四个例子的按钮名和路径，结构文字根据 profile 显示。
|
||||
- 新增 `test_gantry_machine_browser.mjs`；原参数编辑测试和五轴程序测试增加可选 GLB_MACHINE_VARIANT/GLB_EVIDENCE_DIR，复用完整原断言。标准校验脚本支持独立证据目录。
|
||||
- 验证 E10：四个入口和下载、标准 profile 兼容；新模型各分支父子关系、X/Y/Z 分别带动对应外形、底座/转台独立；三类错误新 profile 拒绝；参数应用/INI 保存导入重读保持模型、各18个WASM姿态/刀长、实际 RTCP Jog；每机型41个五轴同时变化采样间隔、42个轨迹投影。四个 GLB 均0错误/警告；重复生成和生产资产一致，原AC/BC字节SHA未变。桌面/手机与类型检查/构建通过。
|
||||
- 原有本地改动及此前证据保留；本轮独立 `coverage/glb-machine/gantry/`。无 native C/WASM 变更、无外部模型资产。
|
||||
- 下一步：任务已验收，无待办；按新目标继续。所有功能改动仍未提交/推送。
|
||||
|
||||
## R05 / 2026-09-18 / 几何编辑保留导入机床
|
||||
|
||||
- 用户发现导入 GLB 后“应用参数”会切回内置机床。根因是 App.applyGeometry 在非导入调用时执行 setImportedMachine(null)，属于 R02 为防止参数脱节制定的旧策略。用户新需求覆盖此策略，新增 GLB-GEO01。
|
||||
- 修复前 `scripts/test_imported_geometry_browser.mjs` 明确复现：应用后 GLB hash 从源文件 SHA 变成空串；before.log 保留。
|
||||
- `imported-machine.ts` 新增 updateImportedMachineGeometry：验证机型、运行限位/速度及 INI 参数，按节点绑定更新当前有效 URDF 的 A/B、C、work origin，并重新解析校验；支持用户自定义 joint 名称。源 scene、网格、材质、文件名与 SHA 不变。
|
||||
- buildImportedMachine 的运行克隆使用有效 URDF 设置所有 link 的零位，包括固定 work frame；运动继续采用真实 WASM 关节。App 在 Worker 成功加载配置后提交候选结构；参数预检失败保持旧模型，程序重解析失败则明确报告已应用配置。
|
||||
- App 资源清理依赖 source scene 是否更换，避免几何对象变更时误释放共享网格。导入详情显示当前参数，并说明源 GLB 未改写。显式机型选择仍卸载旧 GLB。
|
||||
- 同机型“应用参数”“重新读取 INI”“导入 INI 后应用”均保留模型；重复相同参数不累加位移。对应更新原 GLB 浏览器脚本的 INI 重载预期，保留所有其他断言。
|
||||
- 验证 E09：AC/BC 的真实 UI 原路径复现、保存/导入/重读、非法输入保留状态、开机门控、机型切换，以及各 18 个不同角度/刀长的 WASM 交叉验证和改参数后实际 RTCP Jog 均通过。原 GLB 全专项、内置参数编辑回归及类型检查/构建通过。
|
||||
- 测试修正：details 展开状态在 AC→BC 切换时会保留，最初无条件点击反而折叠导致文本断言失败；改为仅在折叠时点击，未放宽内容断言。
|
||||
- 证据独立在 coverage/glb-machine/geometry-edit/；旧报告保持，不修改源 GLB 或上游/原有本地改动。
|
||||
- 下一步：本专项已验收，按新需求推进。当前所有本地功能变更仍未提交/推送。
|
||||
|
||||
## R04 / 2026-09-18 / 空闲 M429/M428 切换刀尖跳动
|
||||
|
||||
- 用户截图中 XYZ 坐标保持不变，而 J0/J1/J2 随按钮切换改变，模型真实反映了错误关节值，并非 GLB 层级或显示坐标 bug。新增 TRT-SW01。
|
||||
- 复现：新增 `web/worker/test_trt_switch_stationary.mjs`，修复前在 AC、A=4.8675° / C=179.88° 下 M428 将 J0 从 0 改为 47.97481463927447 mm，强断言失败；保留 before.log。
|
||||
- 根因：`SimSession.switchXyzacKinematics()` 使用保持旧 pose 并逆解的 select()。改为已有 WASM selectPhysical()，输入当前规划器关节，计算新模式下坐标。随后同步 TP 和解释器。
|
||||
- `wasm-linuxcnc-tp.mjs` 的 setPosition 增加可选模式参数，坐标和模式一起更新后才 read，避免中间态把旧坐标交给新模式逆解，尤其接近行程边界时错误越限。默认调用行为保持。
|
||||
- `test_xyzac_trt_case.mjs` 保留原坐标同步断言并补充关节不变断言；新增实际浏览器按钮/MDI/后续 Jog 专项。
|
||||
- 验证 E08：两机型 64 次 Worker 切换、22 次浏览器切换；截图姿态、非零中心/偏置、接近边界、重复模式、M430、空闲 tick、增量/坐标偏置、运行中/非法模式拒绝；实际渲染刀尖不动。原 RTCP Jog、TRT case、单步流程、运行后续和生产构建通过。
|
||||
- 浏览器测试先等待 MDI 到位，再切回 Manual 刷新控件状态后选择切换按钮；第一次直接等待按钮门控刷新超时，未作为通过证据。
|
||||
- 证据独立保存 `coverage/glb-machine/switching/`，未覆盖前轮验收；未修改 native C/WASM 或上游 LinuxCNC。
|
||||
- 下一步：任务已验收，刷新页面载入新 Worker 后重新导入 GLB 即可体验；本轮及前轮改动均未提交/推送，原有本地保留项不变。
|
||||
|
||||
## R03 / 2026-09-18 / 预览放大与可拖动设置对话框
|
||||
|
||||
- 用户截图显示导入说明和参数表占据预览高度，机床仅剩很小显示区域；新增 GLB-UI01。
|
||||
- `App.tsx` 把两个入口合为机床预览顶部紧凑工具条；`MachineImportPanel.tsx` 与 `TrtGeometryPanel.tsx` 的表单移入共享 `DraggableDialog.tsx`。模型画布占据其余高度，不改变左右预览比例。
|
||||
- 原生 dialog 提供模态隔离；标题栏支持鼠标和触摸拖动、视口边界限制、窗口缩小后回到屏幕内；Esc 关闭、Tab/Shift-Tab 循环、焦点返回。关闭保留参数草稿；应用过程中保留结果显示。开机可打开查看，实际导入/参数编辑仍受原门控限制。
|
||||
- App 快捷键在对话框打开时跳过机床操作，F1 急停保留，防止 Esc 误触 PROGRAM_ABORT 或 F2 误开机。
|
||||
- 原有 GLB/参数浏览器脚本只适配打开/关闭对话框步骤；新增 `scripts/test_machine_dialog_browser.mjs`。证据独立写入 `coverage/glb-machine/dialogs/`，保留 E02–E06 原报告。
|
||||
- 验证 E07：2048×859、1440×900、390×844 下机床画布高度分别 351.5、392.5、380 px；占机床面板高度超过 85%；打开对话框画布尺寸不变。拖动、极端边界、触摸、缩屏、焦点、快捷键、草稿、运行门控通过；原参数保存/导入、两机型 GLB 导入和 RTCP Jog 回归通过；类型检查/生产构建通过。
|
||||
- 中间问题：浏览器原生 Tab 可转到浏览器工具栏，专项断言捕获；补充弹窗内 Tab/Shift-Tab 循环后通过，没有放宽断言。
|
||||
- 下一步：当前专项所有任务已验收，按新需求推进。所有改动仍未提交/推送，原有本地改动继续保留。
|
||||
|
||||
## R02 / 2026-09-18 / 实现与验收收口
|
||||
|
||||
- 完成解析器 `web/react/src/machine-urdf.ts`：XML 命名空间、两分支拓扑、正交轴、单位/限位、GLB 自包含/节点绑定/位姿、版本和异常输入校验；推导 AC/BC、rot-point 和 offset。
|
||||
- 完成模型 `scripts/generate_glb_machines.mjs` 及 `web/react/public/machines/` 的 AC/BC GLB、XML、manifest、许可；底座-XYZ-主轴箱、底座-A/B-C，与原移动工作台模型区分。
|
||||
- 完成 `imported-machine.ts`、`MachineImportPanel.tsx` 和 App/Viewer/styles 接入：文件导入、示例与下载，应用前验证，参数通过 INI/Worker 进入 WASM；真实关节驱动、刀长与程序路径参考、旧资产卸载和资源释放。
|
||||
- 新增 `test_glb_machine_browser.mjs`、`test_glb_machine_motion.mjs`、`validate_glb_machines.mjs`；原两个浏览器测试只增加可选证据输出目录，不删除断言。
|
||||
- 验证 E02–E06：42 项拒绝用例、36 个姿态/刀长样本、8 次导入模型 RTCP Jog、两机型各 41 个五轴同时变化的执行间隔、84 个程序执行投影采样；两 GLB 标准校验 0 错误/警告；旧参数编辑与 Jog 回归、桌面/手机、类型检查及构建通过。
|
||||
- 中间问题：生成器默认导出 matrix，首次被 TRS 校验拒绝；改为导出 TRS，同时解析器接受与 URDF 等价的 matrix。运动程序抽样过疏导致样本数断言失败，改为全量采样，未放宽断言。测试损坏文件时模型保持不变，后续重新加载成功示例后截图。重复生成 public 资产触发 Vite 自动刷新，曾打断一次进行中的浏览器测试；停止资产写入后独立重跑。
|
||||
- 证据统一在 `coverage/glb-machine/`；旧 `coverage/trt-parametric/` 未改。原有 trace、子模块、临时文件和图片完整保留。
|
||||
- 边界：本轮 v1 仅支持已声明的 AC/BC TRT 正交双链；运行 INI 仍负责回零/周期等；GLB 当前页面内存保存，刷新重新导入；不宣称任意机床 URDF、碰撞检测或制造商尺寸标定。
|
||||
- 下一步：本专项矩阵无待办，按新目标扩展或按用户要求保存；未提交/推送本轮新功能。
|
||||
|
||||
## R01 / 2026-09-18 / 需求与契约
|
||||
|
||||
- 按用户最新指令确定两分支结构，建立本目录七份文档。
|
||||
- 已读取原专项索引/矩阵、现有预览、参数写入和 WASM 运动学链路；保留原有工作区改动。
|
||||
- 已查阅 glTF、URDF、Three.js 和 LinuxCNC 官方资料，检索网络模型资源；尚未找到可确认满足本契约的可再分发完整 GLB。
|
||||
- 验证：此阶段仅源码和规范核对，未运行新功能测试。
|
||||
- 下一步：GLB-02 严格结构解析，随后生成两种模型并接入 UI。
|
||||
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Reference in New Issue
Block a user