255 lines
16 KiB
Markdown
255 lines
16 KiB
Markdown
# XYZAC TRT 面板按钮对标测试报告
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## 结论
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本报告针对当前选定案例
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`linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini`，
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按 LinuxCNC AXIS 的命令、门控、状态和错误语义执行了一轮完整面板验收。
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`selected_case_status: VERIFIED_WITH_SCOPE_GAPS`
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`release_status: STOP_RELEASE`
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这表示已执行并通过选定 XYZAC 案例的 WASM/Worker 控制闭环，但不宣称整个 LinuxCNC 或所有 AXIS 配置已经数值完全对标。
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本项目铁律：所有 G-code、运动、门控、I/O、HAL、刀具和状态业务不得由 JavaScript 模拟；React/Three 只做用户输入与显示投影。
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## 对标输入
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| 作用 | LinuxCNC 原始输入 | Web/WASM 输入 |
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| --- | --- | --- |
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| AXIS 菜单、快捷键、状态轮询 | `linuxcnc/src/emc/usr_intf/axis/scripts/axis.py`、`linuxcnc/share/axis/tcl/axis.tcl` | `web/react/src/App.tsx`、`web/app/axis-contract.mjs` |
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| 程序/暂停/恢复/停止 | `axis.py:task_run/task_step/task_pause/task_resume/task_stop` | `PROGRAM_RUN/STEP/PAUSE/RESUME/ABORT` -> `SimTask` + LinuxCNC source TP |
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| JOG/HOME | `axis.py:jog_on/jog_off/home_all_joints/home_joint` | `JOG_START/JOG_STOP/HOME` -> `WasmLinuxcncTp/WasmHomeLimit` |
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| MDI/Touch Off | `axis.py:send_mdi_command/touch_off_system/touch_off_tool` | `MDI_EXECUTE` -> `linuxcnc-wasm-sim_program` |
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| Feed/rapid/spindle override | `axis.py:set_feedrate/set_rapidrate/set_spindlerate` | `SET_OVERRIDE` -> WASM TP/IO |
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| 主轴、刹车、冷却、刀具、探针 | `axis.py:spindle/brake/mist/flood/change_tool` | `SPINDLE_COMMAND/SPINDLE_BRAKE/COOLANT_COMMAND/TOOL_*/PROBE_CONFIG` -> WASM IO |
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| 预览、实时轨迹、清屏 | `linuxcnc/lib/python/rs274/glcanon.py` | `XyzacToolPreview`，只投影 WASM preview/motion trace |
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| XYZAC M428/M429/M430 | `switchkins_postgui.hal`、`remap_subs/428remap.ngc` 等 | `KINEMATICS_SELECT` -> WASM kinematics/switchkins |
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源码输入哈希：
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```text
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axis.py 328c038a1e8fefd952e53c8e398e3fa98b04602351c44318edd1b044e8f63ffa
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glcanon.py 0dfb20f1fdc05289894f3aa638357d98e1063fbd53329c723c777399ec7b33b7
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xyzac-trt.ini f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811
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source slices c9f0b4dc686717b37565f85fb0ab8cc8ded9cfa0028cc0aaaccdbcf808c4c524
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```
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AXIS 源控件清单：菜单 80、工具栏 20、快捷键 10，共 110 条，来自 `web/workspace/xyzac-trt-source-slices.mjs`。
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## 权威状态边界
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选定 `xyzac-trt` 配置时，Worker 强制建立 LinuxCNC WASM TP，不接受缺省 planner 降级。前端只负责输入和显示投影，业务值、门控、运动和设备状态均来自以下 WASM 边界：
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| 数据/动作 | 唯一来源 | 前端使用方式 |
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| --- | --- | --- |
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| G-code 解析、当前行、活动段、预览 | `WasmProgramRuntime` (`linuxcnc-wasm-sim_program`) | 显示源代码和路径，不在 React 重解析 |
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| XYZAC 位姿、速度、队列、前瞻 | `WasmLinuxcncTp` (`linuxcnc-source-tp`) | DRO、实时刀具、执行状态 |
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| 五关节命令值 | WASM TP 当前 pose + `sim_kinematics_switch_inverse_mode` | 关节/DRO 投影；无 JS 插值 |
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| JOG 目标、速度和限位 | `sim_linuxcnc_tp_jog`、WASM TP axis limits/jog scale | Worker 只传递轴、方向、步长 |
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| HOME、逐关节 homed、limit | `WasmHomeLimit` (`homed_mask`) | Home 按钮和轴状态门控 |
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| ESTOP、POWER、主轴、探针、HAL | `WasmXyzacIo` / `sim_io` / `sim_hal` | 设备状态、报警和命令结果 |
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| Task/程序门控 | `SimTask` `sim_task_command_gate` | 所有按钮 `disabled` 和错误原因 |
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| Feed/Jog/Max/Spindle override | WASM TP/IO getter/setter | 受控 slider，值由快照回读 |
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| 视图缩放、旋转、平移、tab | React/Three 本地 UI | 仅显示交互，不参与运动计算 |
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在 WASM 快照尚未到达前，界面显示 `WASM PENDING` 并禁用运动操作；不会使用 JS 默认轴值、任务状态或 override 值。浏览器定时器只发送 `SIM_STEP` 采样请求，不执行 G-code、轨迹、运动学或设备状态计算。React/Three 中的定时器、相机、网格、刀具网格和文本格式化均为显示层，不产生或修改任何 CNC 状态。
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## 按钮/控件矩阵
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下表中的“通过”包含正常路径和刻意触发的 LinuxCNC 门控拒绝；拒绝不是失败，必须返回可解释的 gate/error key。
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| 面板区域 | Web 控件 | LinuxCNC 命令/源函数 | WASM 权威输出 | 结果 |
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| --- | --- | --- | --- | --- |
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| 会话 | HELLO、SESSION_ATTACH | AXIS 启动/状态轮询 | `sim_protocol`、`SimTask` | 通过 |
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| Machine | Emergency Stop、Release E-stop | `General_Halt`、`emcTaskAbort` | WASM IO + Task ESTOP/RESET | 通过 |
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| Machine | Power On/Off | `commands.power`、`emcTaskSetState` | `sim_io_set_power` | 通过 |
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| Machine | Reset | `commands.reset` | WASM Task/IO reset | 通过 |
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| Machine | HOME ALL | `home_all_joints` | `WasmHomeLimit` 五关节回零 | 通过 |
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| Machine | Home X/Y/Z/A/C | `home_joint` | `WasmHomeLimit.homed_mask` 逐关节回零 | 通过 |
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| Machine | Run Startup Sequence | release -> power -> home -> run | Worker 固定顺序 | 通过 |
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| Program | Load | `open_file_guts` | WASM interpreter preview | 通过 |
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| Program | Run | `task_run` / `AUTO_RUN` | WASM program + source TP | 通过 |
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| Program | Pause / Resume | `task_pause` / `task_resume` | WASM interpreter + TP pause/resume | 通过 |
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| Program | Stop | `task_stop` / `c.abort` | WASM TP abort，队列清零 | 通过 |
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| Program | Restart | `reload_file` / first line | WASM program reload | 通过 |
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| Program | Step / Seek | `task_step` / `set_first_line` | WASM interpreter | 通过 |
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| JOG | X、Y、Z、A、C +/-、Stop | `jog_plus/jog_minus/jog_on/jog_off` | WASM source TP jog velocity/queue | 通过 |
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| JOG | 越界/非有限速度 | LinuxCNC motion limit/ferror | WASM 错误 key | 通过拒绝 |
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| MDI | Go、历史命令 | `send_mdi_command` | WASM interpreter/canonical | 通过 |
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| MDI | 运行中 MDI | `manual_ok` | `mdi_while_program_active` | 通过拒绝 |
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| Override | Feed Override 50%/200% | `set_feedrate` | WASM TP feed override | 通过 |
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| Override | Feed > 200% | `set_feedrate` range | `motion_override_range` | 通过拒绝 |
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| Spindle | CW/CCW/Stop | `spindle_forward_toggle/spindle` | WASM spindle command | 通过 |
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| Spindle | +/- | `SPINDLE_INCREASE/DECREASE` | WASM signed delta | 通过 |
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| Spindle | Brake | `EMC_SPINDLE_BRAKE_ENGAGE/RELEASE` | WASM IO brake state | 通过 |
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| Coolant | Mist/Flood | `mist_toggle/flood_toggle` | WASM device IO | 通过 |
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| Tool | Prepare、Prepared、Change、Changed | iocontrol/tool handler | WASM IO tool state | 通过 |
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| Probe | Arm、Disarm、Trip | probe canonical/HAL | WASM IO + HAL | 通过 |
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| Switchkins | Identity/M429、TCP: XYZAC/M428、User K/M430 | `switchkins_postgui.hal` + remap files | WASM kinematics `active_type` | 通过 |
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| Switchkins | IDENTITY <-> TCP: XYZAC <-> USERK 任意切换 | `KINEMATICS_SELECT` / `M429` / `M428` / `M430` | 当前 WASM TP pose + WASM inverse/forward | 通过 |
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| Preview | Preview、DRO、路径/实时/限位/速度/偏置/范围 | `glcanon.py` draw layers | WASM pose/joints/toolpath | 通过投影 |
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| Preview | 缩放、平移、旋转、原点坐标系 | AXIS view handlers | React/Three display-only state | 通过显示 |
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| Diagnostics | 状态、门控、错误、恢复 | AXIS status/error channel | Worker snapshot/ledger | 通过 |
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## 本轮自动化结果
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聚合用例：`web/worker/test_xyzac_panel_buttons.mjs`
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```json
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{
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"schema": "xyzac-panel-button-parity.v1",
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"source": "linuxcnc-wasm-worker",
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"verified_paths": 97,
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"expected_error_paths": 8,
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"blocked_by_abi_paths": 4,
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"selected_case_release_status": "STOP_RELEASE"
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}
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```
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97 条通过路径包括：
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- Machine：HELLO、SESSION_ATTACH、LOAD_WORKSPACE、ESTOP、ESTOP_RESET、POWER、RESET、HOME ALL、启动序列；
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- Machine：五个轴的独立 HOME、`homed_mask` 聚合和部分回零门控；
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- Program：LOAD、RUN、SIM_STEP、PAUSE、SNAPSHOT、RESUME、ABORT/STOP、RESTART、STEP、SEEK、按行恢复；
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- JOG：XYZAC 五轴启动、固定 tick 采样和停止；
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- MDI：正常 G-code、运行中门控和非法 G-code 错误回显；
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- Feed Override：50%、200% 和 201% 拒绝；
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- 主轴：CW、signed increase/decrease、Stop、Brake engage/release；
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- Coolant、Tool prepare/change ack、Probe arm/disarm、ESTOP recovery；
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- M428/M429/M430、VISUAL_CLEAR 和诊断快照。
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- Switchkins 直接按钮在非零姿态下 `0 -> 1 -> 2 -> 0 -> 1 -> 2 -> 0` 循环切换；每一步的 kinematics pose 与 TP pose 逐轴一致。
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8 条错误路径是刻意验证的拒绝：OFF 状态 Run/HOME/JOG/MDI/M428、Feed 201%、非法 MDI、运行中 MDI。它们均返回 LinuxCNC/WASM 可读原因，没有把拒绝当成成功。
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3D_Chips 长程序补充验证：
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```text
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source_length: 200509
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line_count: 4711
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preview_segments: 4684
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fixed_tick_samples: 3000
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execution_line: 337
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execution_trace_entries: 335
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motion_authority: wasm
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motion_delta_snapshots: 0
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ledger_audit_window: 32
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running_queue_gaps: 0 (excluding the initial startup tick)
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```
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## 长距离连续性判定
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`3D_Chips.ngc` 第 17 行设置 `G64 P.1`，后续是大量连续短段。对标 LinuxCNC source TP 时，正常表现是 TP 在当前段运行期间持续保留前瞻队列；G64 不应在普通同模式段之间出现人为的零速度空队列 tick。此前 Worker 在等待当前段完全结束后才入队下一段，造成截图中可见的短暂停顿，这不是源 LinuxCNC 的合理结果。
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已修复为：同一运动学模式的下一段可在当前 TC 活动时进入 source TP；M428/M429/M430 模式变化仍由 WASM Task/TP 同步边界约束；队列容量由 `sim_linuxcnc_tp_queue_capacity` 读取，按真实 `TP_DEFAULT_QUEUE_SIZE` 限流。1000 tick 连续性回归中，除启动第 1 tick 外 `program_status=running && queue_depth=0` 的次数为 `0`；第 82 行附近仍保持 31 段前瞻队列。
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## 当前未闭合项
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以下项目仍明确记录为 `blocked_by_abi`，没有伪造通过：
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1. `Override Limits`：原始 AXIS `toggle_override_limits` 有独立 motion command；选定 XYZAC WASM 配置目前把 limits 作为配置所有权，尚无等价 command ABI。
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2. `Block delete` 和 `Optional pause`：当前 AXIS 图标已禁用，尚未写入 WASM interpreter modal/control state；不保留本地假状态。
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3. `Tool Touch Off`：当前按钮发送固定 `G43`；原始 AXIS 先取得用户值，再发送 `G10 L10/L11` 和 `G43`，交互输入流程尚未闭合。
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4. `Edit tool data`、`Quit`：依赖桌面进程/外部编辑器，属于浏览器 `HOST_BOUNDARY`，不在仿真 Web 范围内。
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## 复现命令
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```bash
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scripts/build-wasm.sh
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npm run build --prefix web/react
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node --experimental-strip-types web/worker/test_xyzac_panel_buttons.mjs
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node --experimental-strip-types web/worker/test_xyzac_trt_case.mjs
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node --experimental-strip-types web/worker/test_xyzac_button_constraints.mjs
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node --experimental-strip-types web/worker/test_xyzac_workflow.mjs
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node --experimental-strip-types web/worker/test_xyzac_manual_control.mjs
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node --experimental-strip-types web/worker/test_xyzac_feed_override.mjs
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node --experimental-strip-types web/worker/test_xyzac_trt_io_authority.mjs
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node --experimental-strip-types web/worker/test_xyzac_3d_chips.mjs
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bash -n run-5axis-rtcp.sh
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```
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本轮结果：WASM 构建通过，原生 CTest 22/22 通过，XYZAC 聚合按钮测试通过，3D_Chips 固定 tick 长程序测试通过。Jog Speed、Max Velocity、Spindle Override 已改为 WASM TP/IO 状态和命令；前端运行态不再使用 React 默认值。发布站点 UI 运行/暂停/恢复/停止也已在 Chromium 仿真环境执行；Safari 和真实物理断电不属于本项目范围。
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本轮连续性修复后，`3D_Chips.ngc` 3000 tick 执行到第 337 行，`running_queue_gaps=0`；这证明长距离运行中的中间停顿已不再由 Worker 队列饥饿制造。
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发布站点 r10 连续性验证：
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```text
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url: https://49.232.250.35:58010/
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release: 20260902-linuxcnc-wasm-continuous-r10
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resource_sha256: index-Byst0JhC.js 26d3f21f496c8223218761ba641dab8b4f36fd18892f260c7bf5b5cfa83cafec
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sim-worker-entry-BTVfbu6g.js adf2ac5621ba388408f31ceab4bbcbfa6ba2923577d8eb69aa79ea54f3be0134
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linuxcnc-sim-core-B2786u4k.wasm 3163f5ff63c5f3e1d2c07d1d948fce328bf3ad919eee188e432f7ba57468fc71
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3D_Chips.ngc: loaded -> POWER -> HOME ALL -> RUNNING
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sampled_running_frames: 33
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queue_gaps: 0
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first_running: current_line=62, queue_depth=3, velocity=20, active_id=16
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last_running: current_line=69, queue_depth=2, velocity=16.6666666667, active_id=17
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browser_errors: 0
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screenshot: /tmp/published-r10-continuous.png
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screenshot_sha256: c93fd23e648e49bfa9359af245372f03f3fccee123497909f3dcc005f5a59749
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```
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发布站点 r5 浏览器冒烟：
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```text
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url: https://49.232.250.35:58010/
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result: verified
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startup -> pause -> resume -> stop: verified
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pause_tick: 140 (position held while PAUSED)
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resume_tick: 160 -> continued running
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stop: IDLE / queue cleared
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JOG X/Y/Z/A/C, spindle CW/CCW/+/-/brake, coolant, tool/probe,
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Feed Override, M428/M429/M430, VISUAL_CLEAR, Preview/DRO/MDI/Diagnostics
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and view controls: clicked with no browser errors
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output_sha256: bdf705473e6cda94d721aa23329257adf4a68b705add7650da5cc47012ab70b0
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```
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发布站点 r6（历史 WASM authority 版本）浏览器验收：
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```text
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url: https://49.232.250.35:58010/
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release: 20260902-linuxcnc-wasm-authority-r6
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resource_sha256: index-DEinWp01.js 79f5e933909fc631186db9b5091b6239f30c1ade612bb908a4ab9fcf79965343
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sim-worker-entry-7q53Ew6x.js e5c239104d6676f242ea45cb3ddaf78a379aaaecaca5ff26031dee1ba9496e7c
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linuxcnc-sim-core-CJilJ2YZ.wasm 13e2746899b0cac5cf91189c00a6174160202f8e632b53c5701e9664335c97cf
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initial_dom: data-axis-authority=linuxcnc-wasm-worker, data-axis-state-source=linuxcnc-wasm,
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data-axis-motion-authority=wasm, data-axis-task-authority=wasm_task_canonical
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3D_Chips.ngc: loaded from published workspace, preview 100%, source TP running current line 22
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browser_errors: 0
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screenshots: /tmp/published-r6-authority.png (e58205228a04b386c7b7514bf03c71df7b53f66f2d9ebe2292931b36ef0edb55)
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/tmp/published-r6-running.png (7fc474d0cb31a0fdd4afb198061e9812c753684e3d2963cc004ec4483c5c4990)
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```
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当前发布资源为 r10；r6 资源 hash 仅作为历史记录保留。
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发布站点 r7（IDENTITY/TCP: XYZAC/USERK 切换版本）浏览器验收：
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```text
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url: https://49.232.250.35:58010/
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release: 20260902-linuxcnc-wasm-switchkins-r7
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startup: WASM authority ready, initial machine OFF
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power -> HOME ALL -> IDENTITY -> TCP: XYZAC -> USERK -> IDENTITY -> TCP: XYZAC -> USERK: verified
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active modes: 0 -> 1 -> 2 -> 0 -> 1 -> 2
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browser_errors: 0
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screenshot: /tmp/published-switchkins-r7.png
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screenshot_sha256: 920b85ad7fd6451dfb134255ffdcc4f03a7aa615ebf486c63cde8582e17af195
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```
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## 证据哈希
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```text
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panel_button_test_output 9bddcd8b0219925e00598e081dc7a4ed0f4868e8822a21f0ccd08d8e9d355d45
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button_constraints_output 5b6f4ce1dec03764dcb234793ff96fc2f04d15ab954620a44dbb1210ec64a5a5
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feed_authority_output deab4a51ee0e56d4f8134efba4b7a97a2b88f37d9165cf730207f71886df8526
|
||
3d_chips_test_output c97caef2ea5cf3841e1238ec443d0eebadad8cb0048af829111c06e99c9fcdd7
|
||
3d_chips_no_gap_output c97b5fbb43a6e81a8ee15272bf71aa75ec0ba79be28a34f30b4221d50251c77d
|
||
wasm_io_source 1cb066d185dd2c5bbf435e022c2518483bd44962e5a0303248757b2da51740f7
|
||
wasm_io_c_source 09bce1430d6f71702ca0b3bf29ac50db377a6f232ce0d1a9b2c1eaac7ea2162e
|
||
panel_button_test_source 80782fc1f85f88beb48ec3dfaf638a93f2edb912e694840199dbff504477fe74
|
||
switchkins_direct_test_output 24e6cb8ec1195a97f71294b49217db0cbc0d7c3ecfa4bc8aa244ba3921c816a7
|
||
panel_r10_output 9bddcd8b0219925e00598e081dc7a4ed0f4868e8822a21f0ccd08d8e9d355d45
|
||
```
|
||
|
||
报告对应提交前工作树保留了既有 coverage 大文件和 LinuxCNC 子模块改动；本轮提交包含 WASM TP/IO/HOME authority、无 JS JOG 运动计算、前端 pending 投影、长程序快照性能修正、聚合测试和本报告。
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