168 lines
9.4 KiB
Markdown
168 lines
9.4 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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## 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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## 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 | 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 motion 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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| 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": 94,
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"expected_error_paths": 8,
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"blocked_by_abi_paths": 7,
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"selected_case_release_status": "STOP_RELEASE"
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}
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```
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94 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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- 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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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: 1500
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execution_line: 168
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execution_trace_entries: 166
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motion_authority: wasm
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```
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## 当前未闭合项
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这些项目在本轮明确记录为 `blocked_by_abi`，没有伪造通过：
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1. `Home Axis`：当前 WASM home 状态只暴露 aggregate `homed`，没有 LinuxCNC 每关节 homed mask；当前按钮调用的是统一 home。
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2. `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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3. `Jog Speed` 和 `Max Velocity` slider：当前是 React 控件状态，尚未接入 WASM jog/max velocity command。
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4. `Block delete` 和 `Optional pause`：当前是 React toggle，尚未写入 WASM interpreter modal/control state。
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5. `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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6. `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_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。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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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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## 证据哈希
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```text
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panel_button_test_output 4447f37d8db6724fcd43518e8ddcd18d54e40faaedc77be9ea01abdc573226bc
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3d_chips_test_output 493ed6c901d18fae8fa02d0dc26ee0575ce78c53557351a468fc1df622e48ea4
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wasm_io_source 1cb066d185dd2c5bbf435e022c2518483bd44962e5a0303248757b2da51740f7
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wasm_io_c_source 09bce1430d6f71702ca0b3bf29ac50db377a6f232ce0d1a9b2c1eaac7ea2162e
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panel_button_test_source 80782fc1f85f88beb48ec3dfaf638a93f2edb912e694840199dbff504477fe74
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```
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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；本轮只提交面板 WASM I/O 修正、step 状态修正、聚合测试和本报告。
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