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>
54 lines
3.2 KiB
JavaScript
54 lines
3.2 KiB
JavaScript
// Drift check: machine-kinematics-specs.json must match the limits declared in
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// the LinuxCNC INIs. A null limit means the source declares none; inventing a
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// number here would put a fabricated value in front of the operator.
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import assert from "node:assert/strict";
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import { readFileSync, existsSync } from "node:fs";
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import { dirname, join, resolve } from "node:path";
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import { MACHINE_DEFINITIONS } from "./machine-definitions.mjs";
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// This file lives in web/workspace/, so the repo root is two levels up.
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const root = resolve(new URL("../..", import.meta.url).pathname);
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const specs = JSON.parse(readFileSync(join(root, "web/workspace/machine-kinematics-specs.json"), "utf8"));
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assert.equal(specs.schema, "linuxcnc.machine-kinematics-specs/1");
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function readCase(entrypoint) {
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const path = join(root, entrypoint);
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if (!existsSync(path)) return null;
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let text = readFileSync(path, "utf8");
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for (const match of text.matchAll(/^\s*(?:#)?INCLUDE\s+(\S+)/gim)) {
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const include = join(dirname(path), match[1]);
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if (existsSync(include)) text += `\n${readFileSync(include, "utf8")}`;
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}
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return text;
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}
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// `m` alone makes `$` match at the first line end, which truncated every body.
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// The lookahead uses a "no more input" test instead of `$` so the section runs
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// to the next header or to the end of the file.
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const section = (text, name) => {
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const match = text.match(new RegExp(`^\\[${name}\\]\\s*(?:\\r?\\n)([\\s\\S]*?)(?=^\\[|(?![\\s\\S]))`, "im"));
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return match ? match[1] : null;
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};
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const value = (body, key) => body?.match(new RegExp(`^\\s*${key}\\s*=\\s*(\\S+)`, "im"))?.[1] ?? null;
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const generic = MACHINE_DEFINITIONS.filter((machine) => machine.runtime === "generic-wasm");
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assert.equal(specs.cases.length, generic.length, "每个通用案例都应有规格");
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for (const machine of generic) {
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const spec = specs.cases.find((item) => item.machineId === machine.id);
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assert.ok(spec, `${machine.id} 缺少规格`);
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assert.equal(spec.jointCount, machine.joint_count, `${machine.id} 槽位数`);
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assert.equal(spec.coordinates, machine.coordinates, `${machine.id} 坐标`);
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assert.equal(spec.jointOrder.length, machine.joint_count, `${machine.id} 槽位键数量`);
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assert.equal(spec.limitsByJoint.length, machine.joint_count, `${machine.id} 限位数量`);
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const text = readCase(machine.entrypoint);
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assert.ok(text, `${machine.id} 的 INI 不存在：${machine.entrypoint}`);
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for (let index = 0; index < machine.joint_count; index += 1) {
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const body = section(text, `JOINT_${index}`);
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const lower = value(body, "MIN_LIMIT"), upper = value(body, "MAX_LIMIT");
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const expected = lower !== null && upper !== null && Number.isFinite(Number(lower)) && Number.isFinite(Number(upper))
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? [Number(lower), Number(upper)] : null;
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assert.deepEqual(spec.limitsByJoint[index], expected,
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`${machine.id} J${index} 限位与 INI 不一致（spec=${JSON.stringify(spec.limitsByJoint[index])} ini=${JSON.stringify(expected)}）`);
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}
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}
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console.log(JSON.stringify({ schema: "machine-kinematics-specs.v1", status: "verified", cases: specs.cases.length, checks: ["槽位数与运行目录一致", "逐关节限位与 INI 完全一致", "INI 未声明的限位保持 null"] }));
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