LinuxCNC AXIS Web/WASM 控制面板详细技术流程图

更新时间：2026-09-03

本文将 LinuxCNC AXIS 的可见控制入口、按钮相互制约关系、WASM 命令、状态回执和显示数据画成可执行流程。目标案例为 XYZAC TRT；所有程序、运动和设备结果必须来自 LinuxCNC WASM，React 只负责输入、传输、投影和显示。

1. 总体技术边界

flowchart LR
    USER[用户] --> APP[React AXIS UI]
    APP --> CLIENT[WorkerClient]
    CLIENT --> WORKER[Dedicated Worker]
    WORKER --> SESSION[SimSession]
    SESSION --> GATE[WASM Task gate]
    GATE --> RUNTIME[LinuxCNC WASM runtime]
    RUNTIME --> INTERP[WASM interpreter]
    RUNTIME --> TP[LinuxCNC source TP]
    RUNTIME --> KINS[WASM kinematics]
    RUNTIME --> IO[WASM HAL/IO]
    RUNTIME --> SNAP[panel_snapshot]
    SNAP --> CLIENT
    CLIENT --> APP

2. 全部按钮矩阵

控件	WASM 命令	前置条件	互斥/阻断	成功后
Emergency Stop	ESTOP	session ready	无，最高优先级	ESTOP
Release E-stop	ESTOP false	machine=ESTOP	非 ESTOP 禁用	ESTOP_RESET
Power On	POWER true	non-estop、无 fault	estop/fault/spindle busy	ON
Power Off	POWER false	ON	OFF 时禁用	OFF，程序保留
Reset	RESET	reset gate	WASM gate 决定	task/IO reset
HOME ALL	HOME all	ON、manual_ok	OFF/ESTOP/运行中	五轴 homed
Run	PROGRAM_RUN	ON、homed、loaded	running/paused/aborted	RUNNING
Pause	PROGRAM_PAUSE	RUNNING	不得和 Resume 并发	PAUSED，保留 queue
Resume	PROGRAM_RESUME	PAUSED	不得和 Pause 并发	RUNNING
Stop	PROGRAM_ABORT	RUNNING/PAUSED	先停止 poll	STOPPED，queue=0
Step	PROGRAM_STEP	AUTO、queue idle	running 时禁用	单块后 PAUSED
Restart	PROGRAM_RESTART	aborted/completed/loaded	运行中禁用	loaded
Manual 页签	SET_MODE MANUAL	非运行	running/paused 阻断	MANUAL
MDI 页签	SET_MODE MDI	非运行	running/paused 阻断	MDI
Jog X/Y/Z/A/C	JOG_START	MANUAL、ON、homed	OFF/ESTOP/运行	WASM TP queue
Jog Stop	JOG_STOP	jog active	不是 PROGRAM_PAUSE	queue=0
MDI Go	MDI_EXECUTE	MDI、ON、homed	running/queue full	MDI queue
Spindle CW/CCW	SPINDLE_COMMAND	MANUAL、ON、IO ready	estop/fault	IO spindle state
Spindle Stop	SPINDLE_COMMAND off	spindle gate	不只改 UI	speed decays
Brake	SPINDLE_BRAKE	spindle gate	IO busy/fault	brake state
Mist/Flood	COOLANT_COMMAND	IO ready	estop/fault	device IO state
Prepare/Change tool	TOOL_PREPARE/CHANGE	tool gate/handshake	running/fault	tool state
Arm/Disarm probe	PROBE_CONFIG	probe gate	estop/fault	probe state
Feed/Spindle/Max override	SET_*	override gate	out of range	WASM override
Clear plot	VISUAL_CLEAR	session ready	不清 program	visual empty
Views/Zoom/DRO	UI projection	任意	不改 runtime	camera/display
Block delete/Optional pause	disabled	ABI unavailable	不得 JS 模拟	blocked_by_abi
Override Limits	disabled	ABI unavailable	不得 JS 模拟	blocked_by_abi

2.6 逐控件完整索引

区域	控件/按钮	命令或动作	必须启用时	必须禁用/互斥时	成功/变化后的唯一来源
File menu	Reload editor	LOAD_WORKSPACE + PROGRAM_LOAD	非运行、非加载中、load gate	RUNNING/PAUSED/loading	WASM program source、preview、source_hash
File menu	Edit tool data	host boundary notice	浏览器环境仅提示	不得伪造 desktop editor	command status
File menu	Quit	host boundary notice	浏览器标签页不退出进程	始终不可执行 desktop quit	command status
Machine menu	Emergency Stop	ESTOP	session ready	无互斥，最高优先级	WASM IO/task ESTOP
Machine menu	Power On/Off	POWER	power gate	estop/fault/busy 或已处于目标状态	IO ready、axis_state
Machine menu	Reset machine	RESET	reset gate	gate disabled 时	WASM task/IO reset
Machine menu	Run program	PROGRAM_RUN	run gate	OFF、未回零、running、paused、aborted	task/program RUNNING
Machine menu	Step	PROGRAM_STEP	step gate	RUNNING 或 queue 非空	一个 WASM canonical block
Machine menu	Pause	PROGRAM_PAUSE	pause gate	idle、paused、非 AUTO reading	task/program PAUSED
Machine menu	Resume	PROGRAM_RESUME	resume gate	非 paused	task/program RUNNING
Machine menu	Stop	PROGRAM_ABORT	abort gate	无活动程序时由 WASM gate 决定	STOPPED、queue=0
View menu	Preview	仅切换右侧 tab	始终	不影响 runtime	visual snapshot
View menu	DRO	仅切换右侧 tab	始终	不影响 runtime	pose/joints snapshot
View menu	Manual Control	SET_MODE(MANUAL)	非运行/暂停	AUTO active	task.mode
View menu	MDI	SET_MODE(MDI)	非运行/暂停	AUTO active	task.mode
Toolbar	Open G-code file	file picker -> PROGRAM_LOAD	非运行、非加载中	RUNNING/PAUSED/loading	WASM program/preview
Toolbar	Load exact XYZAC case	LOAD_WORKSPACE + PROGRAM_LOAD	load gate	running/loading	configuration/program snapshot
Toolbar	Reopen editor defaults	LOAD_WORKSPACE + PROGRAM_LOAD	load gate、非运行	running/loading	默认案例 WASM preview
Toolbar	Run current file	PROGRAM_RUN	run gate	同 Run program	RUNNING
Toolbar	Execute next line	PROGRAM_STEP	step gate	RUNNING/queue active	PAUSED/current line
Toolbar	Pause/Resume icon	PROGRAM_PAUSE 或 PROGRAM_RESUME	对应 gate	状态相反时禁用	PAUSED/RUNNING
Toolbar	Stop icon	PROGRAM_ABORT	abort gate	无活动时禁用	STOPPED/aborted
Toolbar	Block delete	无当前 ABI	始终禁用	不得 JS 模拟	blocked_by_abi
Toolbar	Optional pause	无当前 ABI	始终禁用	不得 JS 模拟	blocked_by_abi
Toolbar	Zoom in/out	view transform	始终	不改变 runtime	camera zoom
Toolbar	Top view	view=z	始终	不改变 runtime	camera projection
Toolbar	Rotated top view	view=z2	始终	不改变 runtime	camera projection
Toolbar	Side view	view=x	始终	不改变 runtime	camera projection
Toolbar	Front view	view=y	始终	不改变 runtime	camera projection
Toolbar	Inverted front view	view=y2	始终	不改变 runtime	camera projection
Toolbar	Perspective view	view=p	始终	不改变 runtime	camera projection
Toolbar	Drag/rotate mode	rotateMode	始终	不改变 runtime	camera pose
Toolbar	Clear live plot	VISUAL_CLEAR	session ready	不清程序、不改 TP	visual layer
XYZAC	Identity	KINEMATICS_SELECT(0)	queue=0、非运行	active motion/queue	WASM switchkins active_type=0
XYZAC	TCP: XYZAC	KINEMATICS_SELECT(1)	queue=0、非运行	active motion/queue	active_type=1
XYZAC	User K	KINEMATICS_SELECT(2)	queue=0、非运行	active motion/queue	active_type=2
XYZAC	Clear plot	VISUAL_CLEAR	session ready	不清程序	visual layer
Manual	Axis X/Y/Z/A/C radio	local selection	manual tab	不直接产生 motion	next JOG payload
Manual	Jog -/+	JOG_START	MANUAL、ON、homed	running/MDI/off/estop	WASM TP queue
Manual	Jog Stop	JOG_STOP	jog active/safe stop	不得转为 PROGRAM_PAUSE	queue=0
Manual	Increment selector	JOG_START payload	MANUAL	非法值由 WASM 拒绝	TP increment
Manual	Home Axis	HOME(axis)	home gate	running/estop/off	home_limit
Manual	Home All	HOME(all=true)	home gate	running/estop/off	homed_axes
Manual	Touch Off	MDI_EXECUTE(G92)	coordinate/MDI gate	running、ABI 不可用	WASM coordinates
Manual	Tool Touch Off	TOOL_TOUCH_OFF	完整 ABI 可用时	当前配置 blocked_by_abi	WASM tool/coordinate
Manual	Spindle CCW/CW	SPINDLE_COMMAND	MANUAL、IO ready	estop/fault/not ready	io.spindles[0]
Manual	Spindle Stop	SPINDLE_COMMAND off	spindle gate	不只改 pressed	speed/enable
Manual	Spindle -/+	SPINDLE_COMMAND delta	spindle gate	范围错误	command_rpm
Manual	Brake	SPINDLE_BRAKE	spindle gate	IO busy/fault	brake
Manual	Mist	COOLANT_COMMAND(mist)	coolant gate	estop/fault	device_io.coolant.mist
Manual	Flood	COOLANT_COMMAND(flood)	coolant gate	estop/fault	device_io.coolant.flood
Manual	Prepare T1	TOOL_PREPARE	tool gate	running/fault	tool.prepared
Manual	Change	TOOL_CHANGE	prepared/handshake	running/unprepared	current_tool/tool_state
Manual	Arm Probe	PROBE_CONFIG(arm)	probe gate	estop/fault	probe.state
Manual	Disarm	PROBE_CONFIG(disarm)	probe gate	estop/fault	probe.state
MDI	Command input	local draft	MDI tab	不直接执行	input text
MDI	Go	MDI_EXECUTE	MDI、ON、homed、queue 未满	running/paused/off/full	WASM interpreter/TP
MDI	History item	回填 input	始终	不直接执行	input text
Metrics	Jog Speed	SET_JOG_SCALE	jog gate	out of range	WASM TP scale
Metrics	Feed Override	SET_OVERRIDE	override gate	loading/out of range	WASM feed override
Metrics	Spindle Override	SET_SPINDLE_OVERRIDE	override gate	out of range	WASM spindle override
Metrics	Max Velocity	SET_MAX_VELOCITY	override gate	out of range	WASM TP velocity
Metrics	path/live/limits/velocity/offsets/extents	visual layer toggle	始终	不改 runtime	existing snapshot fields
Program	Load	PROGRAM_LOAD	load gate、非运行	running/paused/loading	WASM source/preview
Program	Run	PROGRAM_RUN	run gate	same Run constraint	program status
Program	Step	PROGRAM_STEP	step gate	running/queue active	paused/current line
Program	Editor text	local draft	非运行可编辑	不等于 runtime load	PROGRAM_LOAD 后才生效
Program	Preview/DRO tab	local tab	始终	不影响 runtime	existing snapshot

2.7 按钮互斥总图

flowchart TD
    WASM[WASM snapshot] --> IOREADY{io.ready 且非 estop?}
    IOREADY -->|否| SAFE[仅 ESTOP/Release/Power/Load 等安全动作]
    IOREADY -->|是| MACHINE{machine_state=ON?}
    MACHINE -->|否| POWER[Power On]
    MACHINE -->|是| HOMED{homed_axes 五轴 true?}
    HOMED -->|否| HOME[HOME ALL / HOME AXIS]
    HOMED -->|是| MODE{task.mode}
    MODE -->|MANUAL| MANUAL[JOG / spindle / coolant / tool / probe]
    MODE -->|MDI| MDI[MDI Go / queued MDI]
    MODE -->|AUTO| AUTO[Run / Pause / Resume / Step / Abort]
    MANUAL --> RUNNING{program active?}
    MDI --> RUNNING
    RUNNING -->|是| BLOCKMAN[阻断 JOG / MDI / HOME / SET_MODE / switchkins]
    RUNNING -->|否| ALLOWMAN[允许 manual_ok 等价动作]
    AUTO --> PAUSEQ{program paused?}
    PAUSEQ -->|否| PAUSE[Pause 可用]
    PAUSEQ -->|是| RESUME[Resume 可用]
    AUTO --> ABORT[Abort/Stop 始终受 abort gate]
    ABORT --> ABORTED[program=aborted]
    ABORTED --> RELOAD[Restart / Program Load]
    RELOAD --> LOADED[program=loaded]
    LOADED --> RUNQ{run gate enabled?}
    RUNQ -->|是| RUN[Run]
    RUNQ -->|否| WAIT[保持禁用并显示 gate reason]

2.8 按钮互斥规则的优先级

发生多个条件时按下面优先级处理，优先级高的条件覆盖低优先级：

ESTOP 和 fault：停止运动，禁用所有非安全运动/设备按钮。
protocol/schema/sequence/tick 错误：拒绝当前命令，不执行副作用。
machine OFF 或未上电：只允许 Power、Release/ESTOP、Reset、Load 等安全/准备动作。
未回零：允许 HOME，禁止依赖机床坐标的 JOG、MDI 和程序运行。
AUTO/MDI 解释器运行：允许 Pause/Resume/Abort/Power Off/ESTOP，禁止 Manual、MDI、JOG、HOME、switchkins。
PAUSED：只允许 Resume、Abort、Power、ESTOP 和只读 snapshot，禁止自动 SET_MODE。
program aborted：必须 Restart 或重新 Load，禁止直接 Run。
ABI unavailable：按钮必须保持 disabled，显示 blocked_by_abi，不得由 JavaScript 替代。

任何按钮由禁用变为可用，都必须先收到新的 WASM snapshot；React 不得仅依据点击事件自行解除互斥。

3. 机床状态图

stateDiagram-v2
    [*] --> OFF
    OFF --> ESTOP: ESTOP
    ESTOP --> ESTOP_RESET: release
    ESTOP_RESET --> ON: POWER ON
    OFF --> ON: POWER ON
    ON --> HOME: HOME ALL
    HOME --> IDLE: all homed
    IDLE --> RUNNING: RUN
    RUNNING --> PAUSED: PAUSE
    PAUSED --> RUNNING: RESUME
    RUNNING --> STOPPED: ABORT
    PAUSED --> STOPPED: ABORT
    STOPPED --> ON: recovery/load/restart
    RUNNING --> OFF: POWER OFF
    PAUSED --> OFF: POWER OFF

4. 通用命令流

flowchart TD
    CLICK[用户操作] --> OP[operation_id]
    OP --> ENV[protocol envelope]
    ENV --> VALIDATE[validate schema/context/seq/tick]
    VALIDATE -->|error| PERR[protocol ERROR]
    VALIDATE -->|ok| ACCEPT[WASM sim_protocol_accept]
    ACCEPT --> GATE[WASM Task gate]
    GATE -->|disabled| REJECT[gate_reason + ERROR]
    GATE -->|enabled| EVENT[event log + timeline]
    EVENT --> HANDLER[WASM handler]
    HANDLER -->|error| FAIL[rollback + ERROR]
    HANDLER -->|success| SNAP[WASM snapshot/hash]
    SNAP --> RESULT[COMMAND_RESULT]
    RESULT --> REDUCER[React reducer]
    REDUCER --> UI[显示状态]

5. 固定 tick

flowchart TD
    STEP[SIM_STEP] --> TASK[WASM Task/program]
    TASK --> INTERP[interpreter canonical]
    INTERP --> TP[LinuxCNC source TP]
    TP --> KINS[IK/switchkins/RTCP]
    KINS --> MOTION[motion queue]
    MOTION --> FEEDBACK[FK/feedback]
    FEEDBACK --> LIMIT[home/limit]
    LIMIT --> HAL[HAL/PLC]
    HAL --> IO[spindle/coolant/tool/probe]
    IO --> TRACE[execution trace]
    TRACE --> SNAP[pose/joints/velocity/current line/queue/hash]

6. AXIS 对照

AXIS 源入口	Web/WASM
manual_ok	WASM command gate
ensure_mode	SET_MODE
open_file_guts	PROGRAM_LOAD transaction
reload_file	PROGRAM_RESTART/Reopen
task_run	PROGRAM_RUN
task_pause	PROGRAM_PAUSE
task_resume	PROGRAM_RESUME
task_stop	PROGRAM_ABORT
task_step	PROGRAM_STEP
jog_on/jog_off_actual	JOG_START/JOG_STOP
spindle_forward_toggle	SPINDLE_COMMAND
brake_on/off	SPINDLE_BRAKE
mist_toggle/flood_toggle	COOLANT_COMMAND
send_mdi_command	MDI_EXECUTE
clear_live_plot	VISUAL_CLEAR

7. 验收

flowchart LR
    SOURCE[AXIS source/config lock] --> NATIVE[native LinuxCNC]
    SOURCE --> WASM[WASM C tests]
    WASM --> WORKER[Worker tests]
    WORKER --> REACT[React build]
    REACT --> BROWSER[Chromium audit]
    NATIVE --> COMPARE[逐字段/逐 tick compare]
    WASM --> COMPARE
    WORKER --> COMPARE
    BROWSER --> COMPARE
    COMPARE -->|all formal oracle| CANDIDATE[release candidate]
    COMPARE -->|difference| STOP[STOP_RELEASE]

当前浏览器审计要求：WASM authority 标记正确、browser_errors=0、所有按钮有 command result 或明确 gate/ABI 原因；面板 verified 不等于完整 TP oracle verified。

页面临时上下文使用 Worker-only OPFS 双槽位 JSON；它不进入 CNC protocol sequence，也不保存运动 authority。断电 checkpoint 由 Worker 写入 OPFS，下一次 LOAD_WORKSPACE 时再提交给 LinuxCNC WASM 校验和恢复。

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