wangdequan
db29ae625f
关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性， 重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位 （max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存 GLB 与既有测试不受影响。 13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建， 可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个 关节，槽位数与运行目录的 joint_count 逐条一致。 新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键： 坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换 案例时自动装载对应模型，失败时保留内置模型并显式提示。 消除前端五关节截断：visual 适配器的 joints 改为数组并新增 jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的 machine id 查找机型。 管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部 可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径 不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的 限位保持 null 而不编造。 修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（ DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下 第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。 验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0； typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、 双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。 证据在 coverage/glb-machine-manager/physical-drive/。 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
365 lines
12 KiB
JSON
365 lines
12 KiB
JSON
{
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"report_id": "LINUXCNC-WEB-DEPLOYED-MANUAL-TEST",
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"url": "https://49.232.250.35:58010/",
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"checked_at": "2026-10-08T10:52:07.892Z",
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"status": "verified",
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"passed": 26,
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"failed": 0,
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"results": [
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{
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"name": "打开线上站点并等待 WASM 会话就绪",
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"status": "pass",
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"ms": 20508,
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"detail": {
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"title": "LinuxCNC Web/WASM",
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"canvases": 2,
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"cases": 13
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}
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},
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{
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"name": "状态栏、轴位与实时参数由 LinuxCNC WASM 驱动",
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"status": "pass",
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"ms": 542,
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"detail": {
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"live": "linuxcnc-wasm",
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"axes": [
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"0.0000",
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"0.0000",
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"0.0000",
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"0.000"
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],
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"status": "Task mode MANUAL Task state STATE_ESTOP_RESET Interpreter INTERP_IDLE Motion mode FREE Motion type 0 Homing IDLE Machine"
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}
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},
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{
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"name": "Help 菜单可打开 About 对话框",
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"status": "pass",
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"ms": 5995,
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"detail": "LinuxCNC AXIS Web/WASM XYZAC TRT OK"
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},
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{
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"name": "File 菜单把宿主边界项正确置灰",
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"status": "pass",
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"ms": 2899,
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"detail": [
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true,
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true
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]
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},
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{
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"name": "RTCP 程序库按机型过滤并列出可加载程序",
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"status": "pass",
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"ms": 5690,
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"detail": {
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"options": 16,
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"summary": "AC（XYZAC） 程序 当前分类：16 个 可直接加载：9 LinuxCNC 源程序：32 个 · 含案例干运行程序共 45 个",
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"scopes": [
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"当前 AC（XYZAC） 机床",
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"全部 45 个程序"
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]
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}
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},
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{
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"name": "导入机床模型对话框列出内置示例与下载入口",
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"status": "pass",
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"ms": 5585,
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"detail": {
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"downloads": 4,
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"summary": "三维机床模型 × 三维机床 内置模型 导入 GLB AC 示例 下载 AC BC 示例 下载 BC AC 示例桁架型 下载 AC桁架型 BC 示例桁架型 下载 BC桁架型 单个 GLB，包含层级模型及 URDF，最大 64 MiB"
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}
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},
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{
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"name": "三维机床管理四个步骤页签可切换",
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"status": "pass",
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"ms": 19399,
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"detail": [
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"部件与层级 0 节点 展开 折叠 导入机床或部件后显示 GLB 内部层级。 选择层级节点，配置其唯一自由度。",
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"跟随数控系统实时关节位置 手动验证（相对物理零点） 层级运动测试 复位 X mm Y mm Z mm A deg C deg 这些输入仅验证",
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"机床标定 C 轴原点 (mm) X Y Z A 到 C 轴偏置 (mm) X Y Z 机床物理零点（按当前坐标，直线 mm / 旋转 deg",
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"机床文档 模型名称 设计说明 LinuxCNC 五轴案例库 13 个结构/运动学案例 案例来源于仓库内 LinuxCNC 配置、示例 G 代"
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]
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},
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{
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"name": "机床参数对话框显示旋转中心与轴间偏置字段",
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"status": "pass",
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"ms": 5161,
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"detail": 6
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},
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{
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"name": "案例切换到 XYZBC 后机型与轴组同步改变",
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"status": "pass",
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"ms": 40918,
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"detail": {
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"axes": [
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"X",
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"Y",
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"Z",
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"B",
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"C"
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],
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"back": [
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"X",
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"Y",
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"Z",
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"A",
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"C"
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]
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}
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},
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{
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"name": "急停复位并可上电",
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"status": "pass",
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"ms": 1791,
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"detail": "Task mode MANUAL Task state STATE_ON Interpreter INTERP_IDLE Motion mode FREE Motion type 0 Homing IDLE Machine sequence"
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},
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{
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"name": "HOME ALL 完成全部关节回零",
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"status": "pass",
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"ms": 2910,
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"detail": "Task mode MANUAL Task state STATE_ON Interpreter INTERP_IDLE Motion mode TELEOP Motion type 0 Homing IDLE Machine sequen"
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},
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{
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"name": "连续 Jog：按住 X 正向位置变化，松手停止",
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"status": "pass",
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"ms": 7696,
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"detail": {
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"before": "0.0000",
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"after": "0.9075"
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}
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},
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{
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"name": "增量 Jog：0.1000 步长按一次步进",
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"status": "pass",
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"ms": 6327,
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"detail": {
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"before": 0.9075,
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"after": 0.8075
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}
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},
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{
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"name": "主轴启停与冷却液开关可用",
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"status": "pass",
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"ms": 13600,
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"detail": {
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"mistOn": true,
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"mistOff": true,
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"live": "Live parameters LinuxCNC WASM Spindle 1.0 rpm Cmd 1.0 rpm / S 0.0 rpm Feed actual 0.0 mm/min Program 0.0 mm/mi"
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}
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},
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{
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"name": "MDI 指令执行并写入历史",
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"status": "pass",
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"ms": 7596,
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"detail": "G0 X12.5 Y-4 Z0"
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},
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{
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"name": "DRO 视图可切换坐标、显示与单位",
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"status": "pass",
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"ms": 6126,
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"detail": {
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"rows": 5,
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"footer": "Units: inch / deg relative / commanded Tick: 144 Hash: fnv1a64:0780"
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}
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},
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{
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"name": "倍率滑块与预览图层开关可用",
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"status": "pass",
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"ms": 4898,
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"detail": "Jog Speed: 100% Feed Override: 80% Spindle Override: 100% Max Velocity: 100% Rapid Override Unavailable path live limits velocity offsets extents"
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},
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{
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"name": "工具栏『载入精确案例』按钮重新载入当前案例",
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"status": "pass",
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"ms": 19213,
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"detail": "Program: boat-xyzac.ngc"
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},
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{
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"name": "载入案例程序并运行、暂停、继续、停止",
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"status": "pass",
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"ms": 38054,
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"detail": {
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"running": "Task mode AUTO Task state STATE_ON Interpreter INTERP_READING Motion mode COORD Motion type 0 Homing",
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"paused": "Task mode AUTO Task state STATE_ON Interpreter INTERP_PAUSED Motion mode COORD Motion type 1 Homing ",
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"stopped": "Task mode MANUAL Task state STATE_ON Interpreter INTERP_IDLE Motion mode TELEOP Motion type 0 Homing"
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}
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},
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{
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"name": "RTCP 程序库『加载到控制器』可用",
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"status": "pass",
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"ms": 11529,
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"detail": "程序已加载到 LinuxCNC WASM 控制器"
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},
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{
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"name": "工具栏『打开 G 代码文件』可装载本地 .ngc",
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"status": "pass",
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"ms": 3960,
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"detail": "Program: xyzac-trt.ngc"
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},
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{
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"name": "工具栏『重载当前程序』可用",
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"status": "pass",
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"ms": 5257,
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"detail": "Task mode MANUAL Task state STATE_ON Interpreter INTERP_IDLE Motion mode TELEOP Motion type 0 Homing IDLE Mach"
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},
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{
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"name": "工具栏视图按钮与清除轨迹可用",
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"status": "pass",
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"ms": 10442,
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"detail": {
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"pressed": "true"
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}
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},
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{
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"name": "诊断页显示启动资源与门控",
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"status": "pass",
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"ms": 3151,
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"detail": "TASK_READY Tick 324 Hash fnv1a64:8cadf3b1b75faa04 Startup resources Entrypoint: linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt"
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},
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{
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"name": "快捷键 F1 / F3 / F5 生效",
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"status": "pass",
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"ms": 5683,
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"detail": {
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"estopTriggered": true,
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"manualSelected": "true",
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"mdiSelected": "true"
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}
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},
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{
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"name": "窄视口 390x844 无横向溢出",
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"status": "pass",
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"ms": 3884,
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"detail": {
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"overflow": 0
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}
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}
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],
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"defects": [
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{
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"id": "DEFECT-02",
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"severity": "high",
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"control": "Simulation case 下拉框中的通用运动学案例",
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"observed": "xyzab-tdr、max5-maxkins、trivkins-xyzya、hexapod-genhexkins、scorbot-kins 载入后控制器停在 PENDING，电源按钮保持禁用（linuxcnc_wasm_snapshot_pending），此时下拉框无法切回其它案例，只能刷新页面恢复",
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"expected": "选中案例后可上电、回零并运行其干运行程序",
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"root_cause": "通用案例运行链在浏览器侧尚未完成：案例的运动学源文件（如 linuxcnc/src/emc/kinematics/trivkins.c、linuxcnc/src/hal/components/xyzab_tdr_kins.comp）没有随前端产物发布，请求返回 404；且会话启动失败后前端不回滚，卡在 pending",
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"workaround": "当前只使用 XYZAC TRT / XYZBC TRT 两个案例；误选其它案例后刷新浏览器页面"
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}
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],
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"case_matrix": [
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{
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"id": "xyzac-trt",
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"applied": true,
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"power": "enabled",
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"state": "Task mode MANUAL Task state STATE_ESTOP_RESET Interpreter INTERP_IDLE Motion mode FREE Mot",
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"http_4xx": [],
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"verdict": "usable"
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},
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{
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"id": "xyzbc-trt",
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"applied": true,
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"power": "enabled",
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"state": "Task mode MANUAL Task state STATE_ESTOP_RESET Interpreter INTERP_IDLE Motion mode FREE Mot",
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"http_4xx": [],
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"verdict": "usable"
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},
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{
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"id": "xyzab-tdr",
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"applied": true,
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"power": "disabled:linuxcnc_wasm_snapshot_pending",
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"state": "Task mode PENDING Task state PENDING Interpreter PENDING Motion mode PENDING Motion type -",
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"http_4xx": [
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"404 /linuxcnc/src/hal/components/xyzab_tdr_kins.comp"
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],
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"verdict": "loads_but_controller_pending"
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},
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{
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"id": "max5-maxkins",
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"applied": true,
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"power": "disabled:linuxcnc_wasm_snapshot_pending",
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"state": "Task mode PENDING Task state PENDING Interpreter PENDING Motion mode PENDING Motion type -",
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"http_4xx": [],
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"verdict": "loads_but_controller_pending"
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},
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{
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"id": "trivkins-xyzya",
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"applied": true,
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"power": "disabled:linuxcnc_wasm_snapshot_pending",
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"state": "Task mode PENDING Task state PENDING Interpreter PENDING Motion mode PENDING Motion type -",
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"http_4xx": [
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"404 /linuxcnc/src/emc/kinematics/trivkins.c"
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],
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"verdict": "loads_but_controller_pending"
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},
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{
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"id": "hexapod-genhexkins",
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"applied": true,
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"power": "disabled:linuxcnc_wasm_snapshot_pending",
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"state": "Task mode PENDING Task state PENDING Interpreter PENDING Motion mode PENDING Motion type -",
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"http_4xx": [
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"404 /linuxcnc/src/emc/kinematics/genhexkins.c"
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],
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"verdict": "loads_but_controller_pending"
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},
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{
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"id": "scorbot-kins",
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"applied": true,
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"power": "disabled:linuxcnc_wasm_snapshot_pending",
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"state": "Task mode PENDING Task state PENDING Interpreter PENDING Motion mode PENDING Motion type -",
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"http_4xx": [
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"404 /linuxcnc/src/emc/kinematics/scorbot-kins.c"
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],
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"verdict": "loads_but_controller_pending"
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}
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],
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"console_errors": [
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{
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"kind": "console",
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"text": "Failed to load resource: the server responded with a status of 404 (Not Found)"
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},
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{
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"kind": "console",
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"text": "Failed to load resource: the server responded with a status of 404 (Not Found)"
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},
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{
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"kind": "console",
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"text": "Failed to load resource: the server responded with a status of 404 (Not Found)"
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},
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{
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"kind": "console",
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"text": "Failed to load resource: the server responded with a status of 404 (Not Found)"
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}
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],
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"http_and_request_failures": [
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"HTTP 404 https://49.232.250.35:58010/linuxcnc/src/hal/components/xyzab_tdr_kins.comp",
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"HTTP 404 https://49.232.250.35:58010/linuxcnc/src/emc/kinematics/trivkins.c",
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"HTTP 404 https://49.232.250.35:58010/linuxcnc/src/emc/kinematics/genhexkins.c",
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"HTTP 404 https://49.232.250.35:58010/linuxcnc/src/emc/kinematics/scorbot-kins.c"
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],
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"screenshots": [
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"01-main-overview.png",
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"02-about-dialog.png",
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"03-file-menu.png",
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"04-rtcp-program-library.png",
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"05-machine-import-dialog.png",
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"06-machine-manager-structure.png",
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"07-machine-manager-motion.png",
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"08-machine-manager-calibration.png",
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"09-machine-manager-files.png",
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"10-geometry-parameters.png",
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"11-case-xyzbc.png",
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"12-manual-homed.png",
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"13-manual-jog.png",
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"14-spindle-coolant.png",
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"15-mdi.png",
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"16-dro.png",
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"17-overrides-layers.png",
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"18-program-running.png",
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"19-program-paused.png",
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"22-rtcp-load.png",
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"23-views-cleared.png",
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"20-diagnostics.png",
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"21-mobile-390.png"
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]
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}
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