deploy fixed MRR drift and webservice CylindroidHolder buckle branch update issue.

2026-05-28 19:42:05 +08:00
parent d7836db45f
commit 95b5790622
140 changed files with 8079 additions and 14099 deletions
@@ -194,6 +194,81 @@ Motion is handled by <a class="xref" href="Hi.NcParsers.LogicSyntaxs.LinearMotio
  </dd></dl>


+  <h2 id="Hi_NcParsers_LogicSyntaxs_G53p1RotaryPositionSyntax_examples">Examples</h2>
+  <p>No-kinematics dep-guard early-return: standalone <code>G53.1</code> with
+no <a class="xref" href="Hi.Numerical.Xyzabc.IMachineKinematics.html">IMachineKinematics</a> dep in the list — the syntax
+detects the flag, finds no kinematics, and silently consumes the
+flag via <code>ConsumeFlag</code>. Empty <code>Parsing</code> is then removed
+by <a class="xref" href="https://learn.microsoft.com/dotnet/api/system.text.json.nodes.jsonobject">CleanupParsing(JsonObject)</a>, so the post-Build block
+is empty:
+#BeforeBuild:</p>
+<pre><code class="lang-csharp">{ "Parsing": { "Flags": ["G53.1"] } }</code></pre>
+<p>#AfterBuild:</p>
+<pre><code class="lang-csharp">{}</code></pre>
+<p>IK happy path — <code>G53.1</code> with active G68.2 tilt on
+<code>#Previous:</code>, real <a class="xref" href="Hi.Numerical.Xyzabc.XyzabcSolver.html">XyzabcSolver</a>
+(table-A / head-B 5-axis), and a
+<code>TestDeps.AxisConfig(A=Rotary, B=Rotary)</code> dep. The syntax
+reads the previous block's tilt Mat4d, solves
+<code>OrientationToMcAbc(tiltMat.AxialNormal)</code> for the rotary ABC,
+converts radians → degrees, writes <code>MachineCoordinateState</code>
+with both rotary axes (XYZ inherited from <code>prevMc = Vec3d.Zero</code>
+when no previous MC exists), and stamps <code>ProgramXyz</code>:
+#Previous:</p>
+<pre><code class="lang-csharp">{
+  "TiltTransform": { "Term": "G68.2", "X": 0, "Y": 0, "Z": 0, "I": 0, "J": 30, "K": 0 },
+  "ProgramToMcTransform": [
+    {
+      "Source": "TiltTransform",
+      "Kind": "Static",
+      "Mat4d": [
+        1, 0, 0, 0,
+        0, 0.8660254037844388, 0.5, 0,
+        0, -0.5, 0.8660254037844388, 0,
+        0, 0, 0, 1
+      ]
+    }
+  ]
+}</code></pre>
+<p>#BeforeBuild:</p>
+<pre><code class="lang-csharp">{ "Parsing": { "Flags": ["G53.1"] } }</code></pre>
+<p>#AfterBuild:</p>
+<pre><code class="lang-csharp">{
+  "MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 29.942194198514308, "B": 0 },
+  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 }
+}</code></pre>
+<p>Explicit ABC override — <code>G53.1 A0 B45</code> on top of the same
+G68.2 tilt + kinematics + axis-config set up. The IK still solves,
+but the explicit <code>A=0</code> and <code>B=45</code> overrides what IK
+returned for those axes; C stays at the IK-solved value (C-axis
+is not present in the table-A/head-B layout, so the rotaryAxes
+loop only writes A and B):
+#Previous:</p>
+<pre><code class="lang-csharp">{
+  "TiltTransform": { "Term": "G68.2", "X": 0, "Y": 0, "Z": 0, "I": 0, "J": 30, "K": 0 },
+  "ProgramToMcTransform": [
+    {
+      "Source": "TiltTransform",
+      "Kind": "Static",
+      "Mat4d": [
+        1, 0, 0, 0,
+        0, 0.8660254037844388, 0.5, 0,
+        0, -0.5, 0.8660254037844388, 0,
+        0, 0, 0, 1
+      ]
+    }
+  ]
+}</code></pre>
+<p>#BeforeBuild:</p>
+<pre><code class="lang-csharp">{
+  "Parsing": { "Flags": ["G53.1"], "A": 0, "B": 45 }
+}</code></pre>
+<p>#AfterBuild:</p>
+<pre><code class="lang-csharp">{
+  "MachineCoordinateState": { "X": 0, "Y": 0, "Z": 0, "A": 0, "B": 45 },
+  "ProgramXyz": { "X": 0, "Y": 0, "Z": 0 }
+}</code></pre>
+

  <h2 id="Hi_NcParsers_LogicSyntaxs_G53p1RotaryPositionSyntax_remarks">Remarks</h2>
  <div class="markdown level0 remarks"><p>