feat(parser): E10 phases 2+3 — arc planes + coordinate systems (probe-aware) (#157, #158) - #208
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Closes #157. DD-010 D3. Arc flattening (G2/G3) now runs in the active plane (G17 XY default, G18 XZ, G19 YZ) instead of always assuming XY. - g2 is plane-parameterized: the in-plane pair uses the two relevant center offsets (I/J, I/K, or J/K) and the through axis ramps linearly. G17 reproduces the previous XY math EXACTLY — the whole XY-arc corpus is byte-identical (the only golden change is the additive `arcPlanes` capability key). - G18/G19 arcs (previously mis-flattened onto XY, K ignored) now render in the correct plane; R-mode chord solve generalized to the active plane's two axes. - Folds in the deferred G91-arc geometry: arc endpoints honor G90/G91; I/J/K stay current-relative center offsets in both modes. - New capability `arcPlanes` ('known' once a plane word seen, else 'inferred'). - Motion-coverage matrix updated; +5 motion-model tests (G18/G19/R-mode/G91 arc); native goldens regenerated (additive only). Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
) Closes #158. DD-010 D4 (amended: probe awareness). Honors work-coordinate systems and G92 X/Y/Z, keeping the IR in the logical/work frame so identity-WCS files stay byte-identical. - G54–G59 select an active work offset (G10 L2/L20); G53 is a one-shot machine-coordinate bypass for the next move. - G92 X/Y/Z is a datum SHIFT when the position is known (continuity: G92 X0 at X50 then G1 X10 → X60). - Probe awareness (D4 amendment): per-axis position certainty. G31 reaches its endpoint at runtime → the probed axis is marked uncertain and disclosed via a new `probe-position-runtime-dependent` warning (never advanced to the un-reached value). A G92 after a probe is a logical RESYNC — the current logical position is declared to be the given value and a new frame starts at the datum, so no fabricated move is drawn across the unknown probe. The mach3 fixture's post-probe path now renders in its authored logical range instead of a stale +0.2" shift. - New capability `coordinateSystem`. Golden discipline (DD-010 D5): identity-WCS corpus byte-identical (only the additive `coordinateSystem` key changed). demo-mach3 intentionally diverges from the inherited engine (which ignored G31 and G92 Z) — a documented semantic correction, pinned by its native golden and excluded from strict adapter equivalence. Motion-coverage matrix + DD-010 decision log updated; +8 tests. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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* docs: mark E10 complete + renderer color backlog + E8 DD in the epic table E10 (motion-model) is done — #208 merged (arc planes #157 + coordinate systems #158 with the probe-aware G92 amendment); #157/#158 closed. Color-by-speed #177 and color-by-object #178 shipped (#209). E8 has a proposed DD-014 (awaiting the D6 evidence-gate decision). Update the docs/README current-state table + heading. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> * docs: reference DD-014 as text (file lands with #210, not yet on dev) Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> --------- Co-authored-by: Nathaniel Chestnut <sobechestnut-dev@users.noreply.github.com> Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>
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Closes #157 · Closes #158 · Epic #191 (E10) · DD-010 D3/D4. Completes E10's motion-model gaps from the #154 audit.
Phase 2 — arc planes G17/G18/G19 (#157, D3)
g2is plane-parameterized: the in-plane pair uses the two relevant center offsets (I/J, I/K, or J/K) and the through axis ramps linearly. G17 reproduces the previous XY math exactly — the XY-arc corpus is byte-identical. G18/G19 arcs (previously mis-flattened onto XY,Kignored) now render in the correct plane; R-mode generalized to the active plane. Folds in the deferred G91-arc geometry. New capabilityarcPlanes.Phase 3 — coordinate systems + probe-aware datum (#158, D4)
Honors work-coordinate systems and
G92X/Y/Z, keeping the IR in the logical/work frame so identity-WCS files stay byte-identical:G10 L2/L20); G53 one-shot machine-coord bypass.G92 X0at X50 →G1 X10→ X60).Probe awareness — a D4 amendment (maintainer)
A bare G92-XYZ datum shift mis-rendered the mach3 plasma fixture, whose
G92 Z0follows an un-modeledG31probe (it shifted Z up 0.2″ off the stale pre-probe height). So D4 now tracks per-axis position certainty:G31reaches its endpoint at runtime → the probed axis is runtime-dependent, disclosed via a newprobe-position-runtime-dependentwarning; never advanced to the un-reached commanded value.G92after a probe is a logical resync — the current logical position is declared to be the given value, and a new frame starts at the datum so no fabricated move is drawn across the unknown probe result.G31 Z-11.8→G92 Z0→G00 Z0.039now renders at logical 0.039 (not 0.239).New capability
coordinateSystem. DD-010 D4 + decision log amended accordingly.Golden discipline (DD-010 D5)
arcPlanes+coordinateSystemkeys; no position/kind/tool/layer/srcByte digest moved.G31andG92 Z) — a documented semantic correction, pinned by its native golden and excluded from strict adapter-equivalence (it.skipIf).Verified
131 parser tests pass (1 intentional skip); +13 motion-model tests (G18/G19/R-mode/G91 arcs; G53/G54–G59/G10; G92 datum shift; G31→G92 resync, partial-axis recovery, no-false-connecting-geometry). Root 292,
typeCheck,lint,docs:linksall green. Two changesets (phase 2, phase 3).🤖 Generated with Claude Code