Upload project files

2026-06-28 08:20:33 +08:00
parent f0e96308d2
commit 84a5b54195
162 changed files with 14070 additions and 31381 deletions
--- a/kdl-wasm/web/app/virtual-controller.js
+++ b/kdl-wasm/web/app/virtual-controller.js
@@ -0,0 +1,140 @@
+(function () {
+  const root = document.querySelector(".workbench");
+  const fields = new Map(
+    Array.from(document.querySelectorAll("[data-field]")).map((item) => [item.dataset.field, item])
+  );
+  const tabButtons = Array.from(document.querySelectorAll("[data-tab]"));
+
+  const sources = {
+    grl: "proc main()\n  run_path pick_place\nend",
+    abb: "MODULE A120Smoke\n  PROC main()\n    MoveJ home,v100,fine,tool0;\n  ENDPROC\nENDMODULE",
+    fanuc: "/PROG A120SMOKE\n/MN\n  1:J P[1] 40% FINE ;\n/END",
+    kuka: "DEF A120SMOKE()\n  PTP HOME\nEND"
+  };
+
+  const state = {
+    command: "ready",
+    mode: "auto",
+    motors: "on",
+    pc: 0,
+    joints: [0, 0, 0, 0, 0, 0],
+    tcp: [0, 0, 580, 0, 0, 0],
+    di1: false,
+    do1: false,
+    wait: "none",
+    queue: [],
+    trace: ["ready"],
+    diagnostics: ["ready"],
+    report: "A120-REPORT",
+    tab: "grl"
+  };
+
+  function formatArray(values) {
+    return `[${values.map((value) => Number(value).toFixed(value % 1 === 0 ? 0 : 2)).join(", ")}]`;
+  }
+
+  function setField(name, value) {
+    const item = fields.get(name);
+    if (item) item.textContent = value;
+  }
+
+  function render() {
+    root?.setAttribute("data-last-command", state.command);
+    root?.setAttribute("data-running", String(state.command === "running"));
+    setField("state", state.command);
+    setField("mode", state.mode);
+    setField("motors", state.motors);
+    setField("pc", `main:${state.pc}`);
+    setField("joints", formatArray(state.joints));
+    setField("tcp", formatArray(state.tcp));
+    setField("log", state.trace.at(-1) ?? "ready");
+    setField("diagnostics", state.diagnostics.at(-1) ?? "ready");
+    setField("io", `do[1]=${state.do1}, di[1]=${state.di1}`);
+    setField("wait", state.wait);
+    setField("queue", state.queue.length ? state.queue.join(" -> ") : "empty");
+    setField("trace", `${state.trace.length} events`);
+    setField("reports", state.report);
+    setField("editor", sources[state.tab]);
+
+    for (const button of tabButtons) {
+      button.setAttribute("aria-pressed", String(button.dataset.tab === state.tab));
+    }
+  }
+
+  function pushTrace(message) {
+    state.trace.push(message);
+    state.diagnostics.push(message);
+  }
+
+  function advanceProgram(stepSize) {
+    state.pc = Math.min(state.pc + stepSize, 4);
+    state.joints = state.joints.map((value, index) => Number((value + (index + 1) * 1.5 * stepSize).toFixed(2)));
+    state.tcp = [
+      Number((state.tcp[0] + 12 * stepSize).toFixed(2)),
+      Number((state.tcp[1] + 4 * stepSize).toFixed(2)),
+      state.tcp[2],
+      state.tcp[3],
+      state.tcp[4],
+      state.tcp[5]
+    ];
+  }
+
+  function handleCommand(command) {
+    state.command = command === "run" ? "running" : command;
+    if (command === "load") {
+      state.pc = 0;
+      state.queue = ["movej home", "run_path pick_place"];
+      state.wait = "none";
+      pushTrace("program loaded");
+    } else if (command === "run") {
+      advanceProgram(2);
+      state.do1 = true;
+      state.wait = state.di1 ? "satisfied" : "waiting di[1]";
+      state.queue = state.di1 ? ["movel place"] : ["wait di[1]", "movel place"];
+      pushTrace(state.di1 ? "running path" : "waiting for di[1]");
+    } else if (command === "pause") {
+      pushTrace("program paused");
+    } else if (command === "step") {
+      state.command = "paused";
+      advanceProgram(1);
+      pushTrace(`stepped to main:${state.pc}`);
+    } else if (command === "stop") {
+      state.queue = [];
+      pushTrace("program stopped");
+    } else if (command === "reset") {
+      state.command = "ready";
+      state.pc = 0;
+      state.joints = [0, 0, 0, 0, 0, 0];
+      state.tcp = [0, 0, 580, 0, 0, 0];
+      state.do1 = false;
+      state.wait = "none";
+      state.queue = [];
+      pushTrace("controller reset");
+    } else if (command === "export") {
+      state.report = "A120-REPORT exported";
+      pushTrace("delivery package exported");
+    }
+    render();
+  }
+
+  for (const button of document.querySelectorAll("[data-command]")) {
+    button.addEventListener("click", () => handleCommand(button.dataset.command ?? "ready"));
+  }
+
+  for (const button of tabButtons) {
+    button.addEventListener("click", () => {
+      state.tab = button.dataset.tab ?? "grl";
+      pushTrace(`${state.tab.toUpperCase()} source selected`);
+      render();
+    });
+  }
+
+  document.querySelector("[data-io='di1']")?.addEventListener("click", () => {
+    state.di1 = !state.di1;
+    state.wait = state.di1 ? "satisfied" : "waiting di[1]";
+    pushTrace(`di[1]=${state.di1}`);
+    render();
+  });
+
+  render();
+})();