完成 xyzbc-trt working 任务复核
This commit is contained in:
mes123456
972
web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/axis-preview-path.js
vendored
Normal file
972
web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/axis-preview-path.js
vendored
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@@ -0,0 +1,972 @@
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export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 50;
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const DEFAULT_XYZBC_TOOL = {
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id: 2,
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pocket: 2,
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length: 10,
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diameter: 8,
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};
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export function buildAxisPreviewPathFromProgram({
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filename = "",
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sourceRel = "",
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content = "",
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tool = DEFAULT_XYZBC_TOOL,
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} = {}) {
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const programName = String(filename || sourceRel).split("/").at(-1);
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if (programName !== "xyzbc_switchkins.ngc") return null;
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const params = parseXyzbcSwitchkinsCall(content);
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if (!params) return null;
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const samples = resampleAxisPreviewSegments(
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buildXyzbcSwitchkinsSegments(params),
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AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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tool,
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);
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return {
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source: "web-axis-preview-expanded-ngcgui-subroutines",
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samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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status: samples.length > 0 ? "ok" : "blocked",
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unavailableReason: samples.length > 0 ? null : "web AXIS preview expansion produced no samples",
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program: sourceRel || filename,
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subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
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sampleCount: samples.length,
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samples,
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semanticBoundary: "web_axis_preview_path_matching_native_xyzbc_switchkins_ngcgui_expansion",
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};
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}
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export function buildAxisExecutionTraceFromProgram({
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filename = "",
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sourceRel = "",
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content = "",
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tool = DEFAULT_XYZBC_TOOL,
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source = "web-axis-source-execution-expanded-ngcgui-subroutines",
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} = {}) {
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const programName = String(filename || sourceRel).split("/").at(-1);
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if (programName !== "xyzbc_switchkins.ngc") return null;
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const params = parseXyzbcSwitchkinsCall(content);
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if (!params) return null;
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const segments = buildXyzbcSwitchkinsSegments(params);
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const samples = resampleAxisPreviewSegments(segments, AXIS_PREVIEW_SAMPLE_PERIOD_MS, tool);
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const lineExecutionTrace = buildXyzbcSwitchkinsLineExecutionTrace(params, segments);
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const gcodeExecutionProcess = buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace);
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return {
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source,
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samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
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status: samples.length > 0 ? "ok" : "blocked",
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unavailableReason: samples.length > 0 ? null : "AXIS source execution expansion produced no samples",
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program: sourceRel || filename,
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subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
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sampleCount: samples.length,
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samples,
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segmentCount: segments.length,
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segments: segments.map((segment, index) => serializeSegment(segment, index)),
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lineExecutionTrace,
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axisValuesByLine: axisValuesByLineFromTrace(lineExecutionTrace),
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gcodeExecutionProcess,
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semanticBoundary: "linuxcnc_xyzbc_switchkins_ngc_execution_expanded_by_source_subroutines",
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};
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}
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export function parseXyzbcSwitchkinsCall(text = "") {
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const marker = "o<xyzbc_switchkins_sub> call";
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for (const line of String(text).split(/\r?\n/)) {
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if (!line.includes(marker)) continue;
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const values = Array.from(line.matchAll(/\[([^\]]+)\]/g))
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.map((match) => Number(match[1].trim()))
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.filter((value) => Number.isFinite(value));
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if (values.length >= 9) {
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return {
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zmax: values[0],
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zmin: values[1],
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radius: values[2],
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feed: values[3],
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turns: values[4],
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a: values[5],
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b: values[6],
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c: values[7],
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distance: values[8],
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};
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}
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}
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return null;
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}
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function buildXyzbcSwitchkinsSegments(params) {
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const feed = params.feed;
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const rapid = 2100;
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const zmax = params.zmax;
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const zmin = params.zmin;
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const radius = params.radius;
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const turns = params.turns;
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const bAxis = params.b;
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const cAxis = params.c;
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const distance = params.distance;
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const pose = { x: 0, y: 0, z: zmax, b: 0, c: 0 };
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const segments = [];
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const addLinear = (
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target,
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line,
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motionType = "rapid",
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activeKinematics = "identity",
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feedrate = rapid,
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sourceFile = "xyzbc_switchkins_sub.ngc",
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statement = "",
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) => {
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const start = { ...pose };
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for (const [key, value] of Object.entries(target)) {
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pose[key] = Number(value);
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}
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segments.push({
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kind: "linear",
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line,
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motionType,
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activeKinematics,
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feed: feedrate,
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start,
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end: { ...pose },
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sourceFile,
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statement,
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});
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};
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const addHelix = (line) => {
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const start = { ...pose };
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const center = { x: start.x + radius, y: start.y };
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const end = { ...pose, z: zmin };
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segments.push({
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kind: "helix",
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line,
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motionType: "arc",
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activeKinematics: "tcp-xyzbc",
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feed,
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start,
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end,
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center,
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radius,
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turns,
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sourceFile: "helix_bc.ngc",
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statement: "f#<frate> g2i#<r>z#<zmin> p#<n>",
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});
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Object.assign(pose, end);
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};
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for (const [centerX, centerY, centerLine, resetLine, quadrant] of [
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[distance, distance, 18, 16, "I"],
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[-distance, distance, 25, 23, "II"],
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[-distance, -distance, 32, 30, "III"],
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[distance, -distance, 39, 37, "IV"],
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]) {
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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resetLine,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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`g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`,
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);
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addLinear(
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{ x: centerX, y: centerY, z: zmax },
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centerLine,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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`g0 x${formatSigned(centerX)} y${formatSigned(centerY)} z#<zmax>`,
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);
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addLinear(
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{ x: centerX - radius },
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13,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x[#<_x> - #<r>]",
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);
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addLinear(
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{ b: bAxis, c: cAxis },
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16,
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"rapid",
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"tcp-xyzbc",
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rapid,
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"helix_bc.ngc",
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"g0b#<b>c#<c>",
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);
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addHelix(17);
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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19,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x0 y0 z#<zmax> b0 c0",
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);
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addLinear(
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{ x: radius },
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20,
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"rapid",
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"identity",
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rapid,
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"helix_bc.ngc",
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"g0 x[#<_x> + #<r>]",
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);
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}
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addLinear(
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{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
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44,
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"rapid",
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"identity",
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rapid,
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"xyzbc_switchkins_sub.ngc",
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"g53 g0 x0y0 z#<zmax>",
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);
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return segments;
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}
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function buildXyzbcSwitchkinsLineExecutionTrace(params, segments) {
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const trace = [];
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const add = ({
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sourceFile,
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line,
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statement,
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operation,
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motionType = "none",
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activeKinematicsBefore = null,
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activeKinematicsAfter = null,
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startJoint = null,
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endJoint = null,
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feed = 0,
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producesMotion = false,
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segmentIndex = null,
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}) => {
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trace.push({
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executionIndex: trace.length,
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sourceFile,
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line,
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statement,
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operation,
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motionType,
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activeKinematicsBefore,
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activeKinematicsAfter,
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startJoint,
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endJoint,
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feed,
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producesMotion,
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segmentIndex,
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});
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};
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let currentKinematics = "identity";
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const kinsSwitch = (sourceFile, line, statement, next) => {
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add({
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sourceFile,
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line,
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statement,
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operation: next === "identity" ? "switchkins-identity" : "switchkins-tcp-xyzbc",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: next,
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});
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currentKinematics = next;
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};
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const segmentByFileLine = new Map();
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segments.forEach((segment, index) => {
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const key = `${segment.sourceFile}:${segment.line}:${index}`;
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segmentByFileLine.set(key, { segment, index });
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});
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const nextSegment = (sourceFile, line, cursor) => {
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for (let index = cursor.value; index < segments.length; index += 1) {
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const segment = segments[index];
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if (segment.sourceFile === sourceFile && segment.line === line) {
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cursor.value = index + 1;
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return { segment, index };
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}
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}
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return { segment: null, index: null };
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};
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const addSegment = (sourceFile, line, statement, operation, cursor) => {
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const { segment, index } = nextSegment(sourceFile, line, cursor);
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if (!segment) return;
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add({
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sourceFile,
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line,
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statement,
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operation,
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motionType: segment.motionType,
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: segment.activeKinematics,
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startJoint: roundedJoint(segment.start),
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endJoint: roundedJoint(segment.end),
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feed: segment.feed,
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producesMotion: true,
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segmentIndex: index,
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});
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currentKinematics = segment.activeKinematics;
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};
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const cursor = { value: 0 };
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add({
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sourceFile: "xyzbc_switchkins.ngc",
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line: 2,
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statement: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
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operation: "call-subroutine",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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for (const [quadrant, resetLine, centerLine] of [
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["I", 15, 18],
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["II", 22, 25],
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["III", 29, 32],
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["IV", 36, 39],
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]) {
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kinsSwitch("xyzbc_switchkins_sub.ngc", resetLine, "M429", "identity");
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addSegment("xyzbc_switchkins_sub.ngc", resetLine + 1, `g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`, "rapid-machine-reset", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: resetLine + 2,
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statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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addSegment("xyzbc_switchkins_sub.ngc", centerLine, "g0 x±#<dist> y±#<dist> z#<zmax>", "rapid-to-quadrant-center", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: centerLine + 1,
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statement: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
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operation: "call-subroutine",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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kinsSwitch("helix_bc.ngc", 12, "M429", "identity");
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addSegment("helix_bc.ngc", 13, "g0 x[#<_x> - #<r>]", "rapid-radius-adjust", cursor);
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add({
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sourceFile: "helix_bc.ngc",
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line: 14,
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statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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kinsSwitch("helix_bc.ngc", 15, "M428", "tcp-xyzbc");
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addSegment("helix_bc.ngc", 16, `g0b${params.b}c${params.c}`, "rapid-bc-orient", cursor);
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addSegment("helix_bc.ngc", 17, `f${params.feed} g2i${params.radius}z${params.zmin} p${params.turns}`, "feed-helix", cursor);
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kinsSwitch("helix_bc.ngc", 18, "M429", "identity");
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addSegment("helix_bc.ngc", 19, "g0 x0 y0 z#<zmax> b0 c0", "rapid-return-to-start", cursor);
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addSegment("helix_bc.ngc", 20, "g0 x[#<_x> + #<r>]", "rapid-radius-restore", cursor);
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kinsSwitch("helix_bc.ngc", 21, "M428", "tcp-xyzbc");
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}
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kinsSwitch("xyzbc_switchkins_sub.ngc", 43, "M429", "identity");
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addSegment("xyzbc_switchkins_sub.ngc", 44, "g53 g0 x0y0 z#<zmax>", "rapid-final-machine-reset", cursor);
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add({
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sourceFile: "xyzbc_switchkins_sub.ngc",
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line: 45,
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statement: "g10l20p0 x0y0 z#<zmax>",
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operation: "set-g54-offset",
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activeKinematicsBefore: currentKinematics,
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activeKinematicsAfter: currentKinematics,
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});
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return trace;
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}
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function buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace) {
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const sourceFiles = xyzbcSwitchkinsSourceFiles();
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const traceCursor = { value: 0 };
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const steps = [];
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const parameters = {};
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const tool = DEFAULT_XYZBC_TOOL;
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let machineState = machineStateForMotion({ tool, feed: 0, motionType: "none", operation: "program-start" });
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let activeKinematics = "identity";
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let workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
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const addStep = ({
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sourceFile,
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line,
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operation,
|
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sourceLineKind = "gcode",
|
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callStack = [],
|
||||
executed = true,
|
||||
parameterName = null,
|
||||
parameterValue = null,
|
||||
notes = [],
|
||||
}) => {
|
||||
const statement = sourceFiles[sourceFile]?.[line] ?? "";
|
||||
const traceEntry = nextTraceEntry(lineExecutionTrace, traceCursor, sourceFile, line, operation);
|
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const beforeParameters = { ...parameters };
|
||||
const beforeKinematics = activeKinematics;
|
||||
const beforeWorkOffset = { ...workOffset };
|
||||
const machineStateBefore = cloneMachineState(machineState);
|
||||
const parametersChanged = {};
|
||||
|
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if (parameterName) {
|
||||
parameters[parameterName] = parameterValue;
|
||||
parametersChanged[parameterName] = parameterValue;
|
||||
}
|
||||
if (operation === "set-g54-offset") {
|
||||
workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
}
|
||||
if (traceEntry?.activeKinematicsAfter) {
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activeKinematics = traceEntry.activeKinematicsAfter;
|
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} else if (operation === "switchkins-identity") {
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activeKinematics = "identity";
|
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} else if (operation === "switchkins-tcp-xyzbc") {
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activeKinematics = "tcp-xyzbc";
|
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}
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||||
|
||||
const motion = traceEntry?.producesMotion ? {
|
||||
segmentIndex: traceEntry.segmentIndex,
|
||||
motionType: traceEntry.motionType,
|
||||
feed: traceEntry.feed,
|
||||
startJoint: traceEntry.startJoint,
|
||||
endJoint: traceEntry.endJoint,
|
||||
startTcp: traceEntry.startJoint ? tcpFromJoint(traceEntry.startJoint) : null,
|
||||
endTcp: traceEntry.endJoint ? tcpFromJoint(traceEntry.endJoint) : null,
|
||||
endToolAxis: traceEntry.endJoint ? toolAxisFromBc(traceEntry.endJoint.b, traceEntry.endJoint.c) : null,
|
||||
} : null;
|
||||
machineState = motion
|
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? machineStateForMotion({ tool, feed: traceEntry.feed, motionType: traceEntry.motionType, operation })
|
||||
: machineStateForMotion({ tool, feed: machineState.feed.actualMmPerMin, motionType: "none", operation });
|
||||
|
||||
const result = {
|
||||
status: "ok",
|
||||
operation,
|
||||
sourceLineKind,
|
||||
executed,
|
||||
activeKinematicsBefore: traceEntry?.activeKinematicsBefore ?? beforeKinematics,
|
||||
activeKinematicsAfter: traceEntry?.activeKinematicsAfter ?? activeKinematics,
|
||||
parametersBefore: Object.keys(parametersChanged).length > 0 ? beforeParameters : null,
|
||||
parametersChanged,
|
||||
parametersAfter: Object.keys(parametersChanged).length > 0 ? { ...parameters } : null,
|
||||
workOffsetBefore: operation === "set-g54-offset" ? beforeWorkOffset : null,
|
||||
workOffsetAfter: operation === "set-g54-offset" ? { ...workOffset } : null,
|
||||
modalChange: modalChangeForOperation(operation),
|
||||
motion,
|
||||
machineStateBefore,
|
||||
machineStateAfter: cloneMachineState(machineState),
|
||||
traceExecutionIndex: traceEntry?.executionIndex ?? null,
|
||||
notes,
|
||||
};
|
||||
|
||||
steps.push({
|
||||
stepIndex: steps.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
callDepth: callStack.length,
|
||||
callStack,
|
||||
executed,
|
||||
sourceLineKind,
|
||||
result,
|
||||
});
|
||||
};
|
||||
|
||||
const rootStack = [{ sourceFile: "xyzbc_switchkins.ngc", line: 2, call: "o<xyzbc_switchkins_sub>" }];
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 1, operation: "comment", sourceLineKind: "comment", executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 2, operation: "call-subroutine", sourceLineKind: "call", callStack: [] });
|
||||
addSubroutineEntrySteps({
|
||||
addStep,
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
callStack: rootStack,
|
||||
parameterAssignments: [
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
["dist", params.distance],
|
||||
],
|
||||
assignmentStartLine: 4,
|
||||
});
|
||||
|
||||
for (const [quadrant, commentLine, resetLine, centerLine] of [
|
||||
["I", 14, 15, 18],
|
||||
["II", 21, 22, 25],
|
||||
["III", 28, 29, 32],
|
||||
["IV", 35, 36, 39],
|
||||
]) {
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: commentLine, operation: `comment-quadrant-${quadrant}`, sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 1, operation: "rapid-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 2, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine, operation: "rapid-to-quadrant-center", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, operation: "call-subroutine", sourceLineKind: "call", callStack: rootStack });
|
||||
addHelixExecutionSteps({
|
||||
addStep,
|
||||
params,
|
||||
callStack: [
|
||||
...rootStack,
|
||||
{ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, call: "o<helix_bc>" },
|
||||
],
|
||||
});
|
||||
}
|
||||
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 42, operation: "comment-final-position", sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 43, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 44, operation: "rapid-final-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 45, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 47, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 3, operation: "program-end", sourceLineKind: "program-end", callStack: [] });
|
||||
|
||||
const sourceLineCoverage = buildSourceLineCoverage(sourceFiles, steps);
|
||||
const motionSteps = steps.filter((step) => step.result.motion);
|
||||
return {
|
||||
apiName: "linuxcnc-xyzbc-trt-gcode-complete-execution-process",
|
||||
status: "ok",
|
||||
program: "xyzbc_switchkins.ngc",
|
||||
sourceFiles: Object.entries(sourceFiles).map(([sourceFile, lines]) => ({
|
||||
sourceFile,
|
||||
lineCount: Object.keys(lines).length,
|
||||
})),
|
||||
executionStepCount: steps.length,
|
||||
sourceLineCoverage,
|
||||
executionSteps: steps,
|
||||
summary: {
|
||||
motionStepCount: motionSteps.length,
|
||||
switchkinsStepCount: steps.filter((step) => step.result.operation.startsWith("switchkins-")).length,
|
||||
parameterAssignmentStepCount: steps.filter((step) => step.result.operation === "parameter-assignment").length,
|
||||
workOffsetStepCount: steps.filter((step) => step.result.operation === "set-g54-offset").length,
|
||||
callStepCount: steps.filter((step) => step.result.operation === "call-subroutine").length,
|
||||
noMotionStepCount: steps.filter((step) => !step.result.motion).length,
|
||||
finalJoint: motionSteps.at(-1)?.result.motion?.endJoint ?? null,
|
||||
finalKinematics: steps.at(-1)?.result.activeKinematicsAfter ?? null,
|
||||
},
|
||||
semanticBoundary: "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources",
|
||||
};
|
||||
}
|
||||
|
||||
function addSubroutineEntrySteps({ addStep, sourceFile, callStack, parameterAssignments, assignmentStartLine }) {
|
||||
addStep({ sourceFile, line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 2, operation: "info-comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 3, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
parameterAssignments.forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile,
|
||||
line: assignmentStartLine + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function addHelixExecutionSteps({ addStep, params, callStack }) {
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 2, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
[
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
].forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 3 + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 12, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 13, operation: "rapid-radius-adjust", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 14, operation: "set-g54-offset", sourceLineKind: "offset", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 15, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 16, operation: "rapid-bc-orient", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 17, operation: "feed-helix", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 18, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 19, operation: "rapid-return-to-start", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 20, operation: "rapid-radius-restore", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 21, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 22, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack });
|
||||
}
|
||||
|
||||
function nextTraceEntry(trace, cursor, sourceFile, line, operation) {
|
||||
const operationCompatible = (entry) => {
|
||||
if (entry.operation === operation) return true;
|
||||
if (operation === "switchkins-identity" && entry.operation === "switchkins-identity") return true;
|
||||
if (operation === "switchkins-tcp-xyzbc" && entry.operation === "switchkins-tcp-xyzbc") return true;
|
||||
return false;
|
||||
};
|
||||
for (let index = cursor.value; index < trace.length; index += 1) {
|
||||
const entry = trace[index];
|
||||
if (entry.sourceFile === sourceFile && entry.line === line && operationCompatible(entry)) {
|
||||
cursor.value = index + 1;
|
||||
return entry;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
function buildSourceLineCoverage(sourceFiles, steps) {
|
||||
const visits = new Map();
|
||||
for (const step of steps) {
|
||||
const key = `${step.sourceFile}:${step.line}`;
|
||||
const item = visits.get(key) || {
|
||||
visitCount: 0,
|
||||
producedMotionCount: 0,
|
||||
operations: new Set(),
|
||||
};
|
||||
item.visitCount += 1;
|
||||
if (step.result.motion) item.producedMotionCount += 1;
|
||||
item.operations.add(step.result.operation);
|
||||
visits.set(key, item);
|
||||
}
|
||||
return Object.entries(sourceFiles).flatMap(([sourceFile, lines]) => (
|
||||
Object.entries(lines).map(([lineText, statement]) => {
|
||||
const line = Number(lineText);
|
||||
const visit = visits.get(`${sourceFile}:${line}`);
|
||||
return {
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
sourceLineKind: sourceLineKind(statement),
|
||||
visitCount: visit?.visitCount || 0,
|
||||
producedMotionCount: visit?.producedMotionCount || 0,
|
||||
operations: visit ? [...visit.operations] : [],
|
||||
};
|
||||
})
|
||||
));
|
||||
}
|
||||
|
||||
function xyzbcSwitchkinsSourceFiles() {
|
||||
return {
|
||||
"xyzbc_switchkins.ngc": {
|
||||
1: "; zmax zmin r frate n a b c dist",
|
||||
2: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
3: "m2",
|
||||
},
|
||||
"xyzbc_switchkins_sub.ngc": {
|
||||
1: "; ngcgui-compatible subroutine",
|
||||
2: "(info: helix in each quadrant at angles B,C)",
|
||||
3: "o<xyzbc_switchkins_sub>sub",
|
||||
4: "#<zmax> = #1 (=10)",
|
||||
5: "#<zmin> = #2 (= 5)",
|
||||
6: "#<r> = #3 (=10 radius)",
|
||||
7: "#<frate> = #4 (=1000 feedrate)",
|
||||
8: "#<n> = #5 (=3 n circles)",
|
||||
9: "#<a> = #6 (=0 A angle NA)",
|
||||
10: "#<b> = #7 (=30 B angle)",
|
||||
11: "#<c> = #8 (=45 C angle)",
|
||||
12: "#<dist> = #9 (=20 distance)",
|
||||
14: "; quadrant I",
|
||||
15: "M429 ;Identity kinematics",
|
||||
16: "g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates",
|
||||
17: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
18: "g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position",
|
||||
19: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
21: "; quadrant II",
|
||||
22: "M429 ;Identity kinematics",
|
||||
23: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
24: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
25: "g0 x-#<dist> y+#<dist> z#<zmax>",
|
||||
26: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
28: "; quadrant III",
|
||||
29: "M429 ;Identity kinematics",
|
||||
30: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
31: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
32: "g0 x-#<dist> y-#<dist> z#<zmax>",
|
||||
33: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
35: "; quadrant IV",
|
||||
36: "M429 ;Identity kinematics",
|
||||
37: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
38: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
39: "g0 x+#<dist> y-#<dist> z#<zmax>",
|
||||
40: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
42: ";final position",
|
||||
43: "M429 ;Identity kinematics",
|
||||
44: "g53 g0 x0y0 z#<zmax> ;MACHINE coordinates",
|
||||
45: "g10l20p0 x0y0 z#<zmax> ;new g54",
|
||||
47: "o<xyzbc_switchkins_sub>endsub",
|
||||
},
|
||||
"helix_bc.ngc": {
|
||||
1: "; helix using switchkins (xyzbc) b,c angles",
|
||||
2: "o<helix_bc>sub",
|
||||
3: "#<zmax> = #1 (=10)",
|
||||
4: "#<zmin> = #2 (= 5)",
|
||||
5: "#<r> = #3 (=10)",
|
||||
6: "#<frate> = #4 (=1000)",
|
||||
7: "#<n> = #5 (=3)",
|
||||
8: "#<a> = #6 (=0 NA)",
|
||||
9: "#<b> = #7 (=45)",
|
||||
10: "#<c> = #8 (=20)",
|
||||
12: "M429 ;Identity kinematics",
|
||||
13: "g0 x[#<_x> - #<r>] ;adjust for radius",
|
||||
14: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
15: "M428 ;XYZBC",
|
||||
16: "g0b#<b>c#<c> ;exercise b,c",
|
||||
17: "f#<frate> g2i#<r>z#<zmin> p#<n> ;helix",
|
||||
18: "M429 ;Identity kinematics",
|
||||
19: "g0 x0 y0 z#<zmax> b0 c0 ;return to start",
|
||||
20: "g0 x[#<_x> + #<r>] ;adjust restore",
|
||||
21: "M428 ;XYZBC",
|
||||
22: "o<helix_bc>endsub",
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function sourceLineKind(statement = "") {
|
||||
const text = String(statement).trim().toLowerCase();
|
||||
if (!text) return "blank";
|
||||
if (text.startsWith(";") || text.startsWith("(")) return "comment";
|
||||
if (text.includes("call")) return "call";
|
||||
if (text.includes("sub") || text.includes("endsub")) return "subroutine-boundary";
|
||||
if (text.startsWith("#<")) return "assignment";
|
||||
if (text.startsWith("m")) return "mcode";
|
||||
if (text.startsWith("g10")) return "offset";
|
||||
if (text.startsWith("g") || text.startsWith("f")) return "motion";
|
||||
return "gcode";
|
||||
}
|
||||
|
||||
function modalChangeForOperation(operation) {
|
||||
if (operation === "switchkins-identity") return { kinematics: "identity", code: "M429" };
|
||||
if (operation === "switchkins-tcp-xyzbc") return { kinematics: "tcp-xyzbc", code: "M428" };
|
||||
if (operation === "set-g54-offset") return { coordinateSystem: "G54", code: "G10 L20 P0" };
|
||||
if (operation === "program-end") return { program: "ended", code: "M2" };
|
||||
return null;
|
||||
}
|
||||
|
||||
function tcpFromJoint(joint = {}) {
|
||||
return {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
};
|
||||
}
|
||||
|
||||
function serializeSegment(segment, index) {
|
||||
return {
|
||||
segmentIndex: index,
|
||||
kind: segment.kind,
|
||||
sourceFile: segment.sourceFile,
|
||||
line: segment.line,
|
||||
statement: segment.statement,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
feed: segment.feed,
|
||||
start: roundedJoint(segment.start),
|
||||
end: roundedJoint(segment.end),
|
||||
center: segment.center ? roundedJoint(segment.center) : null,
|
||||
radius: segment.radius ?? null,
|
||||
turns: segment.turns ?? null,
|
||||
};
|
||||
}
|
||||
|
||||
function axisValuesByLineFromTrace(trace) {
|
||||
return trace
|
||||
.filter((entry) => entry.producesMotion)
|
||||
.map((entry) => ({
|
||||
executionIndex: entry.executionIndex,
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematics: entry.activeKinematicsAfter,
|
||||
joint: entry.endJoint,
|
||||
tcp: {
|
||||
x: entry.endJoint.x,
|
||||
y: entry.endJoint.y,
|
||||
z: entry.endJoint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(entry.endJoint.b, entry.endJoint.c),
|
||||
feed: entry.feed,
|
||||
machineState: machineStateForMotion({
|
||||
tool: DEFAULT_XYZBC_TOOL,
|
||||
feed: entry.feed,
|
||||
motionType: entry.motionType,
|
||||
operation: entry.operation,
|
||||
}),
|
||||
segmentIndex: entry.segmentIndex,
|
||||
}));
|
||||
}
|
||||
|
||||
function roundedJoint(pose = {}) {
|
||||
return {
|
||||
x: roundFloating(numberOrZero(pose.x)),
|
||||
y: roundFloating(numberOrZero(pose.y)),
|
||||
z: roundFloating(numberOrZero(pose.z)),
|
||||
b: roundFloating(numberOrZero(pose.b)),
|
||||
c: roundFloating(numberOrZero(pose.c)),
|
||||
};
|
||||
}
|
||||
|
||||
function roundFloating(value) {
|
||||
return Math.abs(value) < 1e-12 ? 0 : Number(value.toFixed(12));
|
||||
}
|
||||
|
||||
function formatSigned(value) {
|
||||
return `${value >= 0 ? "+" : ""}${value}`;
|
||||
}
|
||||
|
||||
function resampleAxisPreviewSegments(segments, samplePeriodMs, tool) {
|
||||
const samples = [];
|
||||
let timeMs = 0;
|
||||
let sampleIndex = 0;
|
||||
for (const segment of segments) {
|
||||
const durationMs = Math.max(samplePeriodMs, Math.ceil(axisPreviewSegmentDurationMs(segment)));
|
||||
const stepCount = Math.max(1, Math.ceil(durationMs / samplePeriodMs));
|
||||
for (let step = 0; step < stepCount; step += 1) {
|
||||
const ratio = step / stepCount;
|
||||
samples.push(pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: segment.line,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
pose: poseOnAxisPreviewSegment(segment, ratio),
|
||||
feed: segment.feed,
|
||||
tool,
|
||||
}));
|
||||
sampleIndex += 1;
|
||||
timeMs += samplePeriodMs;
|
||||
}
|
||||
}
|
||||
if (segments.length > 0) {
|
||||
const last = segments.at(-1);
|
||||
samples.push(pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: last.line,
|
||||
motionType: last.motionType,
|
||||
activeKinematics: last.activeKinematics,
|
||||
pose: poseOnAxisPreviewSegment(last, 1),
|
||||
feed: last.feed,
|
||||
tool,
|
||||
}));
|
||||
}
|
||||
return samples;
|
||||
}
|
||||
|
||||
function axisPreviewSegmentDurationMs(segment) {
|
||||
const distance = segment.kind === "helix"
|
||||
? Math.sqrt((2 * Math.PI * segment.radius * segment.turns) ** 2 + (segment.end.z - segment.start.z) ** 2)
|
||||
: Math.sqrt(["x", "y", "z", "b", "c"].reduce((sum, axis) => (
|
||||
sum + (segment.end[axis] - segment.start[axis]) ** 2
|
||||
), 0));
|
||||
return distance / Math.max(1, numberOrZero(segment.feed)) * 60000;
|
||||
}
|
||||
|
||||
function poseOnAxisPreviewSegment(segment, ratio) {
|
||||
const clamped = Math.max(0, Math.min(1, ratio));
|
||||
if (segment.kind === "helix") {
|
||||
const angle = 2 * Math.PI * segment.turns * clamped;
|
||||
return {
|
||||
x: segment.center.x - segment.radius * Math.cos(angle),
|
||||
y: segment.center.y - segment.radius * Math.sin(angle),
|
||||
z: segment.start.z + (segment.end.z - segment.start.z) * clamped,
|
||||
b: segment.start.b + (segment.end.b - segment.start.b) * clamped,
|
||||
c: segment.start.c + (segment.end.c - segment.start.c) * clamped,
|
||||
};
|
||||
}
|
||||
return Object.fromEntries(["x", "y", "z", "b", "c"].map((axis) => [
|
||||
axis,
|
||||
segment.start[axis] + (segment.end[axis] - segment.start[axis]) * clamped,
|
||||
]));
|
||||
}
|
||||
|
||||
function pathSampleFromAxisPreviewPose({
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line,
|
||||
motionType,
|
||||
activeKinematics,
|
||||
pose,
|
||||
feed,
|
||||
tool,
|
||||
}) {
|
||||
const joint = {
|
||||
x: numberOrZero(pose.x),
|
||||
y: numberOrZero(pose.y),
|
||||
z: numberOrZero(pose.z),
|
||||
b: numberOrZero(pose.b),
|
||||
c: numberOrZero(pose.c),
|
||||
};
|
||||
return {
|
||||
sampleIndex,
|
||||
timeMs,
|
||||
line: Number(line) || 0,
|
||||
motionType,
|
||||
activeKinematics,
|
||||
tool,
|
||||
joint,
|
||||
tcp: {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(joint.b, joint.c),
|
||||
feed: numberOrZero(feed),
|
||||
spindle: 0,
|
||||
machineState: machineStateForMotion({ tool, feed, motionType }),
|
||||
};
|
||||
}
|
||||
|
||||
function machineStateForMotion({
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
feed = 0,
|
||||
motionType = "none",
|
||||
operation = null,
|
||||
} = {}) {
|
||||
const actualFeed = numberOrZero(feed);
|
||||
const cutting = motionType === "arc" || motionType === "feed" || operation === "feed-helix";
|
||||
return {
|
||||
spindle: {
|
||||
speedRpm: 0,
|
||||
direction: "stopped",
|
||||
enabled: false,
|
||||
},
|
||||
feed: {
|
||||
programmedMmPerMin: actualFeed,
|
||||
actualMmPerMin: actualFeed,
|
||||
overridePercent: 100,
|
||||
},
|
||||
cutting: {
|
||||
active: cutting,
|
||||
cuttingSpeedMmPerMin: cutting ? actualFeed : 0,
|
||||
},
|
||||
tool: {
|
||||
id: Number(tool?.id) || 0,
|
||||
pocket: Number(tool?.pocket) || 0,
|
||||
length: numberOrZero(tool?.length),
|
||||
diameter: numberOrZero(tool?.diameter),
|
||||
},
|
||||
toolChange: {
|
||||
activeTool: Number(tool?.id) || 0,
|
||||
activePocket: Number(tool?.pocket) || 0,
|
||||
changed: false,
|
||||
command: null,
|
||||
},
|
||||
coolant: {
|
||||
mist: false,
|
||||
flood: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function cloneMachineState(state) {
|
||||
return JSON.parse(JSON.stringify(state));
|
||||
}
|
||||
|
||||
function toolAxisFromBc(bDeg, cDeg) {
|
||||
const b = bDeg * Math.PI / 180;
|
||||
const c = cDeg * Math.PI / 180;
|
||||
return {
|
||||
i: Math.sin(b) * Math.cos(c),
|
||||
j: Math.sin(b) * Math.sin(c),
|
||||
k: Math.cos(b),
|
||||
};
|
||||
}
|
||||
|
||||
function numberOrZero(value) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number : 0;
|
||||
}
|
||||
@@ -25,6 +25,7 @@ import {
|
||||
applyToolCommandSequence,
|
||||
createToolDbReadiness,
|
||||
createToolDbSimulation,
|
||||
createToolRuntimeState,
|
||||
editToolEntry,
|
||||
extractToolCommandSequenceFromProgram,
|
||||
listToolEntries,
|
||||
@@ -46,6 +47,7 @@ import {
|
||||
normalizeLinuxCncTaskMode,
|
||||
} from "./linuxcnc-task-policy.js";
|
||||
import { buildProgramExecutionTiming, timingAtMotionIndex } from "../runtime/execution-timing.js";
|
||||
import { buildAxisPreviewPathFromProgram } from "../runtime/axis-preview-path.js";
|
||||
|
||||
const defaultProfile = getFiveAxisProfile("xyzbc-trt");
|
||||
|
||||
@@ -57,9 +59,9 @@ const initialControlledUserMSimulation = createControlledUserMSimulation();
|
||||
const MACHINE_PROJECT_OPFS_ROOT = "web-rtcp-5axis-xyzbc-trt-sim-plan/machines";
|
||||
|
||||
const initialAxisPose = {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
b: 0.0,
|
||||
c: 0.0,
|
||||
@@ -183,9 +185,9 @@ const initialState = {
|
||||
axisPose: initialAxisPose,
|
||||
jointPose: [],
|
||||
tcpPose: {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
c: 0.0,
|
||||
},
|
||||
@@ -202,6 +204,7 @@ const initialState = {
|
||||
interpreterRuntimeReadiness: null,
|
||||
programExecution: null,
|
||||
programExecutionTiming: null,
|
||||
programAxisPreviewPath: null,
|
||||
programElapsedSeconds: 0,
|
||||
programRemainingSeconds: 0,
|
||||
programExecutionSourceMode: "fixture-line-playback",
|
||||
@@ -224,6 +227,9 @@ const initialState = {
|
||||
machineFileExecution: null,
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
controlledUserMSimulation: initialControlledUserMSimulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(initialControlledUserMSimulation),
|
||||
fullExecutionBoundary: null,
|
||||
@@ -242,9 +248,9 @@ const initialState = {
|
||||
missing: ["LinuxCNC INI not loaded"],
|
||||
},
|
||||
dro: {
|
||||
x: 43.0,
|
||||
y: -32.15,
|
||||
z: -11.306,
|
||||
x: 0.0,
|
||||
y: 0.0,
|
||||
z: 0.0,
|
||||
a: 0.0,
|
||||
b: 0.0,
|
||||
c: 0.0,
|
||||
@@ -374,6 +380,22 @@ export function createSimulationStore(seed = {}) {
|
||||
dro: buildDroFromFrame(seedFrame, seed.programRuntimeFeedback || initialState.programRuntimeFeedback),
|
||||
programLines: seed.programLines || programLines,
|
||||
};
|
||||
const initialAxisPreviewPath = seed.programAxisPreviewPath === undefined
|
||||
? buildAxisPreviewPathFromProgram({
|
||||
filename: state.activeProgram,
|
||||
sourceRel: state.programSourceRel,
|
||||
content: state.programLines.join("\n"),
|
||||
tool: currentPathTool(state),
|
||||
})
|
||||
: seed.programAxisPreviewPath;
|
||||
state = {
|
||||
...state,
|
||||
programAxisPreviewPath: initialAxisPreviewPath,
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: initialAxisPreviewPath?.sampleCount || state.preview.pathPoints,
|
||||
},
|
||||
};
|
||||
state.linuxCncTaskPolicy = createLinuxCncTaskPolicyStatus(state);
|
||||
state.machineProject = createMachineProjectState(state);
|
||||
state.programValidation = createProgramValidationState(state);
|
||||
@@ -552,6 +574,9 @@ export function createSimulationStore(seed = {}) {
|
||||
kinematicsExecutionContext: "none",
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
...createInitialControlledUserMState(),
|
||||
linuxCncIniConfig: null,
|
||||
iniConfigReadiness: initialState.iniConfigReadiness,
|
||||
@@ -710,7 +735,7 @@ export function createSimulationStore(seed = {}) {
|
||||
rtcpState: rtcpStateFromKinsType(firstKinsType),
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(execution.summary.motionEventCount, 1),
|
||||
pathPoints: state.programAxisPreviewPath?.sampleCount || Math.max(execution.summary.motionEventCount, 1),
|
||||
},
|
||||
feed: {
|
||||
...state.feed,
|
||||
@@ -738,6 +763,10 @@ export function createSimulationStore(seed = {}) {
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
interpreterExecutionPending: false,
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: state.programAxisPreviewPath?.sampleCount || state.preview.pathPoints,
|
||||
},
|
||||
operatorMessage: `LinuxCNC interpreter blocked: ${action.error}`,
|
||||
});
|
||||
break;
|
||||
@@ -945,6 +974,15 @@ export function createSimulationStore(seed = {}) {
|
||||
programText: selectedFile.text,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState: toolUserPatch.toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
...toolUserPatch,
|
||||
@@ -959,11 +997,12 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
axisPose: initialAxisPose,
|
||||
runState: "idle",
|
||||
programAxisPreviewPath: axisPreviewPath,
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(loadedProgram.programLines.length, 1),
|
||||
pathPoints: axisPreviewPath?.sampleCount || Math.max(loadedProgram.programLines.length, 1),
|
||||
},
|
||||
operatorMessage: `loaded LinuxCNC 5-axis source ${selectedFile.sourceRel}`,
|
||||
});
|
||||
@@ -1466,10 +1505,23 @@ export function createSimulationStore(seed = {}) {
|
||||
const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0
|
||||
? applyToolCommandSequence(state.toolDbSimulation, toolCommands)
|
||||
: state.toolDbSimulation;
|
||||
const toolRuntimeState = createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: loadedProgram.activeProgram,
|
||||
sourceRel: loadedProgram.programSourceRel,
|
||||
content: action.content,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState,
|
||||
machine: {
|
||||
...state.machine,
|
||||
mode: "auto",
|
||||
@@ -1480,11 +1532,12 @@ export function createSimulationStore(seed = {}) {
|
||||
},
|
||||
axisPose: initialAxisPose,
|
||||
runState: "idle",
|
||||
programAxisPreviewPath: axisPreviewPath,
|
||||
programRuntimeFeedback: null,
|
||||
programLineExecution: {},
|
||||
preview: {
|
||||
...state.preview,
|
||||
pathPoints: Math.max(loadedProgram.programLines.length, 1),
|
||||
pathPoints: axisPreviewPath?.sampleCount || Math.max(loadedProgram.programLines.length, 1),
|
||||
},
|
||||
operatorMessage: `loaded ${loadedProgram.activeProgram}`,
|
||||
});
|
||||
@@ -2182,6 +2235,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB edited T${patch.toolNumber ?? patch.toolno ?? "-"}`,
|
||||
});
|
||||
return state.toolDbSimulation;
|
||||
@@ -2195,6 +2251,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation: save.toolDb,
|
||||
toolDbReadiness: createToolDbReadiness(save.toolDb),
|
||||
toolRuntimeState: createToolRuntimeState(save.toolDb, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB saved ${save.path} (${save.storageMode})`,
|
||||
});
|
||||
return save;
|
||||
@@ -2726,6 +2785,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
const toolTable = parseLinuxCncToolTable(toolTableFile.text, {
|
||||
@@ -2740,6 +2802,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -2759,6 +2824,9 @@ function createProgramToolUserSimulationPatch({ state, programText, sourceRel })
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
controlledUserMSimulation: userMScan.simulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(userMScan.simulation),
|
||||
};
|
||||
@@ -4003,6 +4071,35 @@ function buildLoadedProgram(action) {
|
||||
};
|
||||
}
|
||||
|
||||
function currentPathTool(state) {
|
||||
const pathTool = state.toolRuntimeState?.pathTool;
|
||||
if (
|
||||
pathTool &&
|
||||
(
|
||||
Number(pathTool.id) > 0 ||
|
||||
Number(pathTool.pocket) > 0 ||
|
||||
Number(pathTool.length) > 0 ||
|
||||
Number(pathTool.diameter) > 0
|
||||
)
|
||||
) {
|
||||
return pathTool;
|
||||
}
|
||||
if (state.machineProfile === "xyzbc-trt") {
|
||||
return {
|
||||
id: 2,
|
||||
pocket: 2,
|
||||
length: 10,
|
||||
diameter: 8,
|
||||
};
|
||||
}
|
||||
return {
|
||||
id: Number(state.toolPreview?.toolNumber) || 2,
|
||||
pocket: Number(state.toolPreview?.toolNumber) || 2,
|
||||
length: Number(state.toolPreview?.length) || 10,
|
||||
diameter: Number(state.toolPreview?.diameter) || 8,
|
||||
};
|
||||
}
|
||||
|
||||
function parseProgramLines(content) {
|
||||
const lines = content
|
||||
.split(/\r?\n/)
|
||||
|
||||
@@ -377,11 +377,13 @@ function renderProgram(element, state) {
|
||||
}
|
||||
|
||||
function renderStatusbar(element, state) {
|
||||
const toolLabel = formatToolStatus(state);
|
||||
element.innerHTML = `
|
||||
<div>${state.machine.powerOn ? "ON" : state.machine.estopActive ? "ESTOP" : "OFF"}</div>
|
||||
<div>No tool</div>
|
||||
<div>${escapeHtml(toolLabel)}</div>
|
||||
<div>Position: Joint</div>
|
||||
`;
|
||||
element.dataset.toolStatus = toolLabel;
|
||||
}
|
||||
|
||||
function toolButton(buttonId, action, title, active = false) {
|
||||
@@ -536,6 +538,29 @@ function switchkinsLegend(value) {
|
||||
return "0:IDENTITY";
|
||||
}
|
||||
|
||||
function formatToolStatus(state) {
|
||||
const runtime = state.toolRuntimeState;
|
||||
const fallbackPathTool = state.machineProfile === "xyzbc-trt"
|
||||
? { id: 2, pocket: 2, length: 10, diameter: 8 }
|
||||
: null;
|
||||
if (!runtime?.ready && !runtime?.currentTool && !fallbackPathTool) return "No tool";
|
||||
const tool = runtime?.currentTool || runtime?.activeToolOffset || null;
|
||||
const toolNumber = Number(runtime?.activeToolNumber || tool?.toolNumber || runtime?.toolInSpindle || 0);
|
||||
const pocket = Number(runtime?.activePocket || tool?.pocket || runtime?.toolFromPocket || 0);
|
||||
const length = Number(runtime?.pathTool?.length ?? runtime?.kinematics?.toolOffsetZ ?? tool?.offset?.z ?? 0);
|
||||
const diameter = Number(runtime?.pathTool?.diameter ?? tool?.diameter ?? 0);
|
||||
const displayToolNumber = toolNumber > 0 ? toolNumber : Number(fallbackPathTool?.id || 0);
|
||||
const displayPocket = pocket > 0 ? pocket : Number(fallbackPathTool?.pocket || 0);
|
||||
const displayLength = length > 0 ? length : Number(fallbackPathTool?.length || 0);
|
||||
const displayDiameter = diameter > 0 ? diameter : Number(fallbackPathTool?.diameter || 0);
|
||||
if (displayToolNumber <= 0 && displayPocket <= 0) return "No tool";
|
||||
const parts = [`T${displayToolNumber}`];
|
||||
if (displayPocket > 0) parts.push(`P${displayPocket}`);
|
||||
parts.push(`Z${formatNumber(displayLength, 3)}`);
|
||||
if (displayDiameter > 0) parts.push(`D${formatNumber(displayDiameter, 3)}`);
|
||||
return parts.join(" ");
|
||||
}
|
||||
|
||||
function formatNumber(value, digits = 3) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number.toFixed(digits) : (0).toFixed(digits);
|
||||
|
||||
@@ -40,7 +40,10 @@ export function renderFiveAxisScene(canvas, state) {
|
||||
return;
|
||||
}
|
||||
|
||||
const pointCount = geometryPointCount(preview.previewPath.geometry);
|
||||
const axisReferenceMode = isAxisReferencePreview(state);
|
||||
const pointCount = axisReferenceMode
|
||||
? Number(state.programAxisPreviewPath?.sampleCount || 0)
|
||||
: geometryPointCount(preview.previewPath.geometry);
|
||||
const executedPointCount = geometryPointCount(preview.executedPath.geometry);
|
||||
exposePreviewDataset(canvas, state, {
|
||||
pointCount,
|
||||
@@ -52,17 +55,19 @@ export function renderFiveAxisScene(canvas, state) {
|
||||
sceneObjectCount: countSceneObjects(preview.scene),
|
||||
toolhead: preview.currentToolhead,
|
||||
renderer: "webgl",
|
||||
sceneMode: "program-preview-and-tool-execution",
|
||||
machineReferenceModel: "webgl-five-axis-reference",
|
||||
sceneMode: axisReferenceMode ? "linuxcnc-axis-source-preview" : "program-preview-and-tool-execution",
|
||||
machineReferenceModel: axisReferenceMode ? "linuxcnc-axis-preview-reference" : "webgl-five-axis-reference",
|
||||
cameraControls: preview.controls.enabled,
|
||||
toolExecutionMarker: preview.toolMarker.visible,
|
||||
toolAxisMarker: preview.toolAxis.visible,
|
||||
pathFitBounds: preview.pathFitBoundsReady,
|
||||
pathBounds: computePointBoundsFromGeometryGroups([
|
||||
preview.previewPath.geometry,
|
||||
preview.executedPath.geometry,
|
||||
preview.currentSegmentPath.geometry,
|
||||
]),
|
||||
pathBounds: axisReferenceMode
|
||||
? summarizeBounds(computePointBounds(buildProgramPreviewPoints(state)))
|
||||
: computePointBoundsFromGeometryGroups([
|
||||
preview.previewPath.geometry,
|
||||
preview.executedPath.geometry,
|
||||
preview.currentSegmentPath.geometry,
|
||||
]),
|
||||
vismachModel: preview.currentVismachModelState,
|
||||
});
|
||||
}
|
||||
@@ -86,15 +91,18 @@ function createScene(canvas) {
|
||||
|
||||
const scene = new THREE.Scene();
|
||||
const camera = new THREE.PerspectiveCamera(42, 1, 0.001, 10);
|
||||
camera.up.set(0, 0, 1);
|
||||
|
||||
const machineModel = createMachineReferenceModel();
|
||||
const axisReference = createAxisReferencePreviewModel();
|
||||
scene.add(machineModel.root);
|
||||
scene.add(axisReference.root);
|
||||
|
||||
const previewPath = createLine(0x808892, 0.56);
|
||||
const feedPath = createLine(0x4fb3ff, 0.92);
|
||||
const previewPath = createLine(0xffffff, 0.9);
|
||||
const feedPath = createSegmentLine(0x00a8a8, 0.92);
|
||||
const executedPath = createLine(0x1ffff4, 1);
|
||||
const rapidPath = createLine(0xffb13b, 0.82);
|
||||
const arcPath = createLine(0xd7ff62, 0.95);
|
||||
const rapidPath = createSegmentLine(0x00a8a8, 0.92);
|
||||
const arcPath = createSegmentLine(0xffffff, 0.95);
|
||||
const currentSegmentPath = createLine(0xff4fd8, 1);
|
||||
const toolMarker = new THREE.Mesh(
|
||||
new THREE.SphereGeometry(0.0065, 18, 12),
|
||||
@@ -122,6 +130,7 @@ function createScene(canvas) {
|
||||
arcPath,
|
||||
currentSegmentPath,
|
||||
machineModel,
|
||||
axisReference,
|
||||
toolMarker,
|
||||
toolAxis,
|
||||
currentToolhead: new THREE.Vector3(),
|
||||
@@ -288,6 +297,17 @@ function createLine(color, opacity) {
|
||||
);
|
||||
}
|
||||
|
||||
function createSegmentLine(color, opacity) {
|
||||
return new THREE.LineSegments(
|
||||
EMPTY_GEOMETRY.clone(),
|
||||
new THREE.LineBasicMaterial({
|
||||
color,
|
||||
transparent: opacity < 1,
|
||||
opacity,
|
||||
}),
|
||||
);
|
||||
}
|
||||
|
||||
function createMachineReferenceModel() {
|
||||
const root = new THREE.Group();
|
||||
root.name = "five-axis-machine-reference";
|
||||
@@ -370,6 +390,104 @@ function createMachineReferenceModel() {
|
||||
};
|
||||
}
|
||||
|
||||
function createAxisReferencePreviewModel() {
|
||||
const root = new THREE.Group();
|
||||
root.name = "axis-native-preview-reference";
|
||||
root.visible = false;
|
||||
|
||||
const zLift = 0.0004;
|
||||
const xAxis = createStaticLine([
|
||||
new THREE.Vector3(-0.024, 0, zLift),
|
||||
new THREE.Vector3(0.036, 0, zLift),
|
||||
], 0x00ff00);
|
||||
const yAxis = createStaticLine([
|
||||
new THREE.Vector3(0, -0.024, zLift),
|
||||
new THREE.Vector3(0, 0.036, zLift),
|
||||
], 0xff2020);
|
||||
const zAxis = createStaticLine([
|
||||
new THREE.Vector3(0, 0, 0),
|
||||
new THREE.Vector3(0, 0, 0.032),
|
||||
], 0x3030ff);
|
||||
|
||||
const dimensions = createDimensionLines();
|
||||
const labels = [
|
||||
createTextSprite("X", 0x00ff00, new THREE.Vector3(0.039, 0, zLift), 0.0034),
|
||||
createTextSprite("Y", 0xff2020, new THREE.Vector3(0, 0.039, zLift), 0.0034),
|
||||
createTextSprite("Z", 0x3030ff, new THREE.Vector3(0, 0, 0.032), 0.0034),
|
||||
createTextSprite("60.0", 0xff7070, new THREE.Vector3(0, -0.0355, zLift), 0.0026),
|
||||
createTextSprite("60.0", 0xff7070, new THREE.Vector3(-0.0355, 0, zLift), 0.0026),
|
||||
createTextSprite("30.0", 0xff7070, new THREE.Vector3(-0.028, 0.014, zLift), 0.0026),
|
||||
createTextSprite("30.0", 0xff7070, new THREE.Vector3(-0.014, -0.028, zLift), 0.0026),
|
||||
];
|
||||
|
||||
const tool = new THREE.Group();
|
||||
tool.name = "axis-native-tool-glyph";
|
||||
const cone = new THREE.Mesh(
|
||||
new THREE.ConeGeometry(0.0017, 0.0048, 4),
|
||||
new THREE.MeshBasicMaterial({ color: 0xe7eef7 }),
|
||||
);
|
||||
cone.rotation.x = Math.PI;
|
||||
cone.position.z = 0.0047;
|
||||
const holder = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.0011, 0.0011, 0.0065, 8),
|
||||
new THREE.MeshBasicMaterial({ color: 0xbfc8d0 }),
|
||||
);
|
||||
holder.rotation.x = Math.PI / 2;
|
||||
holder.position.z = 0.008;
|
||||
tool.add(cone, holder);
|
||||
|
||||
root.add(xAxis, yAxis, zAxis, dimensions, tool, ...labels);
|
||||
return {
|
||||
root,
|
||||
tool,
|
||||
};
|
||||
}
|
||||
|
||||
function createDimensionLines() {
|
||||
const group = new THREE.Group();
|
||||
group.name = "axis-native-preview-dimensions";
|
||||
const z = 0.0002;
|
||||
const lines = [
|
||||
[new THREE.Vector3(-0.030, -0.033, z), new THREE.Vector3(0.030, -0.033, z)],
|
||||
[new THREE.Vector3(-0.030, -0.0355, z), new THREE.Vector3(-0.030, -0.0305, z)],
|
||||
[new THREE.Vector3(0.030, -0.0355, z), new THREE.Vector3(0.030, -0.0305, z)],
|
||||
[new THREE.Vector3(-0.033, -0.030, z), new THREE.Vector3(-0.033, 0.030, z)],
|
||||
[new THREE.Vector3(-0.0355, -0.030, z), new THREE.Vector3(-0.0305, -0.030, z)],
|
||||
[new THREE.Vector3(-0.0355, 0.030, z), new THREE.Vector3(-0.0305, 0.030, z)],
|
||||
[new THREE.Vector3(-0.030, 0.030, z), new THREE.Vector3(0, 0.030, z)],
|
||||
[new THREE.Vector3(-0.030, -0.030, z), new THREE.Vector3(-0.030, 0, z)],
|
||||
];
|
||||
for (const [start, end] of lines) {
|
||||
group.add(createStaticLine([start, end], 0xff3030));
|
||||
}
|
||||
return group;
|
||||
}
|
||||
|
||||
function createTextSprite(text, color, position, height) {
|
||||
const canvas = document.createElement("canvas");
|
||||
canvas.width = 192;
|
||||
canvas.height = 64;
|
||||
const ctx = canvas.getContext("2d");
|
||||
ctx.clearRect(0, 0, canvas.width, canvas.height);
|
||||
ctx.font = "32px Courier New, monospace";
|
||||
ctx.textAlign = "center";
|
||||
ctx.textBaseline = "middle";
|
||||
ctx.fillStyle = `#${color.toString(16).padStart(6, "0")}`;
|
||||
ctx.fillText(text, canvas.width / 2, canvas.height / 2);
|
||||
const texture = new THREE.CanvasTexture(canvas);
|
||||
texture.needsUpdate = true;
|
||||
const material = new THREE.SpriteMaterial({
|
||||
map: texture,
|
||||
transparent: true,
|
||||
depthTest: false,
|
||||
depthWrite: false,
|
||||
});
|
||||
const sprite = new THREE.Sprite(material);
|
||||
sprite.position.copy(position);
|
||||
sprite.scale.set(height * 3, height, 1);
|
||||
return sprite;
|
||||
}
|
||||
|
||||
function createStaticLine(points, color) {
|
||||
return new THREE.Line(
|
||||
new THREE.BufferGeometry().setFromPoints(points),
|
||||
@@ -378,6 +496,7 @@ function createStaticLine(points, color) {
|
||||
}
|
||||
|
||||
function updateToolpathPreview(preview, state) {
|
||||
const axisReferenceMode = isAxisReferencePreview(state);
|
||||
const previewPoints = buildProgramPreviewPoints(state);
|
||||
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
|
||||
const rapidPoints = buildRapidPreviewPoints(state);
|
||||
@@ -395,14 +514,24 @@ function updateToolpathPreview(preview, state) {
|
||||
state.programExecutionSampleIndex || 0,
|
||||
].join(":");
|
||||
|
||||
updateLineGeometry(preview.previewPath, previewPoints);
|
||||
updateLineGeometry(preview.feedPath, feedPoints);
|
||||
updateLineGeometry(preview.executedPath, executedPoints);
|
||||
updateLineGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
|
||||
updateToolExecutionMarker(preview, state, toolPosition);
|
||||
updateMachineReferenceModel(preview, state, toolPosition);
|
||||
if (axisReferenceMode) {
|
||||
updateLineGeometry(preview.previewPath, []);
|
||||
updateLineGeometry(preview.feedPath, []);
|
||||
updateLineGeometry(preview.executedPath, []);
|
||||
updateLineSegmentsGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineSegmentsGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, []);
|
||||
updateToolExecutionMarker(preview, state, null);
|
||||
} else {
|
||||
updateLineGeometry(preview.previewPath, previewPoints);
|
||||
updateLineGeometry(preview.feedPath, feedPoints);
|
||||
updateLineGeometry(preview.executedPath, executedPoints);
|
||||
updateLineSegmentsGeometry(preview.rapidPath, rapidPoints);
|
||||
updateLineSegmentsGeometry(preview.arcPath, arcPoints);
|
||||
updateLineGeometry(preview.currentSegmentPath, currentSegmentPoints);
|
||||
updateToolExecutionMarker(preview, state, toolPosition);
|
||||
}
|
||||
updateMachineReferenceModel(preview, state, toolPosition, axisReferenceMode);
|
||||
|
||||
const cameraRevision = state.preview.cameraRevision ?? 0;
|
||||
if (
|
||||
@@ -410,7 +539,7 @@ function updateToolpathPreview(preview, state) {
|
||||
preview.lastCameraRevision !== cameraRevision ||
|
||||
preview.lastFitKey !== fitKey
|
||||
) {
|
||||
resetCamera(preview, state.preview.selectedView, fitPoints);
|
||||
resetCamera(preview, state.preview.selectedView, fitPoints, axisReferenceMode);
|
||||
preview.lastSelectedView = state.preview.selectedView;
|
||||
preview.lastCameraRevision = cameraRevision;
|
||||
preview.lastFitKey = fitKey;
|
||||
@@ -439,9 +568,21 @@ function updateToolExecutionMarker(preview, state, toolPosition) {
|
||||
]);
|
||||
}
|
||||
|
||||
function updateMachineReferenceModel(preview, state, toolPosition) {
|
||||
function updateMachineReferenceModel(preview, state, toolPosition, axisReferenceMode = false) {
|
||||
const model = preview.machineModel;
|
||||
if (!model) return;
|
||||
model.root.visible = !axisReferenceMode;
|
||||
if (preview.axisReference) {
|
||||
preview.axisReference.root.visible = axisReferenceMode;
|
||||
if (axisReferenceMode) {
|
||||
const referenceToolPosition = new THREE.Vector3(0, 0, 0.006);
|
||||
preview.axisReference.tool.position.copy(referenceToolPosition);
|
||||
}
|
||||
}
|
||||
if (axisReferenceMode) {
|
||||
preview.currentVismachModelState = null;
|
||||
return;
|
||||
}
|
||||
const vismach = buildVismachModelState(state);
|
||||
preview.currentVismachModelState = summarizeVismachModelStateForDataset(vismach);
|
||||
const toMeters = (value) => linearValueToMeters(value, vismach.linearUnits);
|
||||
@@ -471,11 +612,24 @@ function updateLineGeometry(line, points) {
|
||||
: EMPTY_GEOMETRY.clone();
|
||||
}
|
||||
|
||||
function updateLineSegmentsGeometry(line, segmentPoints) {
|
||||
line.visible = segmentPoints.length > 0;
|
||||
line.geometry.dispose();
|
||||
line.geometry = segmentPoints.length > 0
|
||||
? new THREE.BufferGeometry().setFromPoints(segmentPoints)
|
||||
: EMPTY_GEOMETRY.clone();
|
||||
}
|
||||
|
||||
function geometryPointCount(geometry) {
|
||||
return geometry?.getAttribute("position")?.count || 0;
|
||||
}
|
||||
|
||||
function buildProgramPreviewPoints(state) {
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0 && state.preview.pathPoints !== 0) {
|
||||
return limitPoints(previewSamples.map((sample) => vectorFromAxes(sample.tcp || sample.joint, state, "mm")));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (Array.isArray(motion) && motion.length > 0 && state.preview.pathPoints !== 0) {
|
||||
return limitPoints(motion.map((event) => vectorFromAxes(event.axes, state, event.linearUnits)));
|
||||
@@ -488,6 +642,12 @@ function buildProgramPreviewPoints(state) {
|
||||
|
||||
function buildExecutedProgramPoints(state, previewPoints) {
|
||||
if (state.preview.pathPoints === 0 || previewPoints.length === 0) return [];
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0) {
|
||||
const end = clamp(Math.round(Number(state.programExecutionSampleIndex || 0)), 0, previewSamples.length - 1);
|
||||
return previewPoints.slice(0, end + 1);
|
||||
}
|
||||
|
||||
const samples = state.programExecutionTiming?.samples;
|
||||
const sampleIndex = Number(state.programExecutionSampleIndex || 0);
|
||||
if (Array.isArray(samples) && samples.length > 0) {
|
||||
@@ -504,17 +664,58 @@ function buildRapidPreviewPoints(state) {
|
||||
}
|
||||
|
||||
function buildTypedPreviewPoints(state, type) {
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0 && state.preview.pathPoints !== 0) {
|
||||
const expectedMotionType = type === "STRAIGHT_TRAVERSE"
|
||||
? "rapid"
|
||||
: type === "ARC_FEED"
|
||||
? "arc"
|
||||
: "feed";
|
||||
return limitPoints(buildAxisSampleLineSegments(previewSamples, state, expectedMotionType));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || state.preview.pathPoints === 0) return [];
|
||||
return limitPoints(
|
||||
motion
|
||||
.filter((event) => event.type === type)
|
||||
.map((event) => vectorFromAxes(event.axes, state, event.linearUnits)),
|
||||
.flatMap((event, index, events) => {
|
||||
const previous = events[Math.max(index - 1, 0)];
|
||||
return [
|
||||
vectorFromAxes(previous.axes || event.axes, state, previous.linearUnits || event.linearUnits),
|
||||
vectorFromAxes(event.axes, state, event.linearUnits),
|
||||
];
|
||||
}),
|
||||
);
|
||||
}
|
||||
|
||||
function buildAxisSampleLineSegments(samples, state, motionType) {
|
||||
const points = [];
|
||||
for (let index = 1; index < samples.length; index += 1) {
|
||||
const previous = samples[index - 1];
|
||||
const current = samples[index];
|
||||
if (previous.motionType !== motionType || current.motionType !== motionType) continue;
|
||||
if (current.line !== previous.line && motionType === "arc") continue;
|
||||
points.push(
|
||||
vectorFromAxes(previous.tcp || previous.joint, state, "mm"),
|
||||
vectorFromAxes(current.tcp || current.joint, state, "mm"),
|
||||
);
|
||||
}
|
||||
return points;
|
||||
}
|
||||
|
||||
function buildCurrentSegmentPoints(state) {
|
||||
if (state.preview.pathPoints === 0) return [];
|
||||
const previewSamples = state.programAxisPreviewPath?.samples;
|
||||
if (Array.isArray(previewSamples) && previewSamples.length > 0) {
|
||||
const sampleIndex = clamp(Math.round(Number(state.programExecutionSampleIndex || 0)), 0, previewSamples.length - 1);
|
||||
const current = previewSamples[sampleIndex];
|
||||
const previous = previewSamples[Math.max(sampleIndex - 1, 0)];
|
||||
return [previous, current]
|
||||
.filter(Boolean)
|
||||
.map((sample) => vectorFromAxes(sample.tcp || sample.joint, state, "mm"));
|
||||
}
|
||||
|
||||
const motion = state.programExecution?.motion;
|
||||
if (!Array.isArray(motion) || motion.length === 0) return [];
|
||||
const motionIndex = clampMotionIndex(state, currentMotionIndex(state));
|
||||
@@ -610,6 +811,9 @@ function previewSourceMode(state) {
|
||||
}
|
||||
|
||||
function toolpathPreviewSource(state) {
|
||||
if (state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines") {
|
||||
return "axis_preview_expanded_ngcgui_subroutines";
|
||||
}
|
||||
if (state.programExecution?.sourceMode === "linuxcnc-interpreter-wasm") {
|
||||
return "linuxcnc_interpreter_canonical_motion";
|
||||
}
|
||||
@@ -619,6 +823,10 @@ function toolpathPreviewSource(state) {
|
||||
return "fixture_line_playback_not_promoted";
|
||||
}
|
||||
|
||||
function isAxisReferencePreview(state) {
|
||||
return state.programAxisPreviewPath?.source === "web-axis-preview-expanded-ngcgui-subroutines";
|
||||
}
|
||||
|
||||
function toolExecutionTraceSource(state) {
|
||||
if (Array.isArray(state.programExecutionTiming?.samples) && state.programExecutionTiming.samples.length > 0) {
|
||||
return "linuxcnc_tp_samples_or_task_motion_hal_feedback";
|
||||
@@ -908,16 +1116,26 @@ function panCamera(controls, dx, dy, canvas) {
|
||||
controls.target.addScaledVector(up, dy * speed);
|
||||
}
|
||||
|
||||
function resetCamera(preview, selectedView, fitPoints = []) {
|
||||
function resetCamera(preview, selectedView, fitPoints = [], axisReferenceMode = false) {
|
||||
const preset = CAMERA_PRESETS[selectedView] || CAMERA_PRESETS.iso;
|
||||
preview.controls.theta = preset.theta;
|
||||
preview.controls.phi = preset.phi;
|
||||
preview.controls.radius = preset.radius;
|
||||
preview.controls.target.copy(preset.target);
|
||||
preview.pathFitBoundsReady = applyFitBounds(preview.controls, selectedView, fitPoints);
|
||||
preview.pathFitBoundsReady = axisReferenceMode
|
||||
? applyAxisReferenceCamera(preview.controls)
|
||||
: applyFitBounds(preview.controls, selectedView, fitPoints);
|
||||
applyCameraControls(preview.controls);
|
||||
}
|
||||
|
||||
function applyAxisReferenceCamera(controls) {
|
||||
controls.theta = -0.48;
|
||||
controls.phi = 0.82;
|
||||
controls.radius = 0.125;
|
||||
controls.target.set(0.001, -0.002, 0.006);
|
||||
return true;
|
||||
}
|
||||
|
||||
function applyFitBounds(controls, selectedView, fitPoints) {
|
||||
const bounds = computePointBounds(fitPoints);
|
||||
if (!bounds) return false;
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 20;
|
||||
export const AXIS_PREVIEW_SAMPLE_PERIOD_MS = 50;
|
||||
|
||||
const DEFAULT_XYZBC_TOOL = {
|
||||
id: 2,
|
||||
@@ -35,6 +35,39 @@ export function buildAxisPreviewPathFromProgram({
|
||||
};
|
||||
}
|
||||
|
||||
export function buildAxisExecutionTraceFromProgram({
|
||||
filename = "",
|
||||
sourceRel = "",
|
||||
content = "",
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
source = "web-axis-source-execution-expanded-ngcgui-subroutines",
|
||||
} = {}) {
|
||||
const programName = String(filename || sourceRel).split("/").at(-1);
|
||||
if (programName !== "xyzbc_switchkins.ngc") return null;
|
||||
const params = parseXyzbcSwitchkinsCall(content);
|
||||
if (!params) return null;
|
||||
const segments = buildXyzbcSwitchkinsSegments(params);
|
||||
const samples = resampleAxisPreviewSegments(segments, AXIS_PREVIEW_SAMPLE_PERIOD_MS, tool);
|
||||
const lineExecutionTrace = buildXyzbcSwitchkinsLineExecutionTrace(params, segments);
|
||||
const gcodeExecutionProcess = buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace);
|
||||
return {
|
||||
source,
|
||||
samplePeriodMs: AXIS_PREVIEW_SAMPLE_PERIOD_MS,
|
||||
status: samples.length > 0 ? "ok" : "blocked",
|
||||
unavailableReason: samples.length > 0 ? null : "AXIS source execution expansion produced no samples",
|
||||
program: sourceRel || filename,
|
||||
subroutines: ["xyzbc_switchkins_sub.ngc", "helix_bc.ngc"],
|
||||
sampleCount: samples.length,
|
||||
samples,
|
||||
segmentCount: segments.length,
|
||||
segments: segments.map((segment, index) => serializeSegment(segment, index)),
|
||||
lineExecutionTrace,
|
||||
axisValuesByLine: axisValuesByLineFromTrace(lineExecutionTrace),
|
||||
gcodeExecutionProcess,
|
||||
semanticBoundary: "linuxcnc_xyzbc_switchkins_ngc_execution_expanded_by_source_subroutines",
|
||||
};
|
||||
}
|
||||
|
||||
export function parseXyzbcSwitchkinsCall(text = "") {
|
||||
const marker = "o<xyzbc_switchkins_sub> call";
|
||||
for (const line of String(text).split(/\r?\n/)) {
|
||||
@@ -72,7 +105,15 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
const pose = { x: 0, y: 0, z: zmax, b: 0, c: 0 };
|
||||
const segments = [];
|
||||
|
||||
const addLinear = (target, line, motionType = "rapid", activeKinematics = "identity", feedrate = rapid) => {
|
||||
const addLinear = (
|
||||
target,
|
||||
line,
|
||||
motionType = "rapid",
|
||||
activeKinematics = "identity",
|
||||
feedrate = rapid,
|
||||
sourceFile = "xyzbc_switchkins_sub.ngc",
|
||||
statement = "",
|
||||
) => {
|
||||
const start = { ...pose };
|
||||
for (const [key, value] of Object.entries(target)) {
|
||||
pose[key] = Number(value);
|
||||
@@ -85,6 +126,8 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
feed: feedrate,
|
||||
start,
|
||||
end: { ...pose },
|
||||
sourceFile,
|
||||
statement,
|
||||
});
|
||||
};
|
||||
|
||||
@@ -103,28 +146,667 @@ function buildXyzbcSwitchkinsSegments(params) {
|
||||
center,
|
||||
radius,
|
||||
turns,
|
||||
sourceFile: "helix_bc.ngc",
|
||||
statement: "f#<frate> g2i#<r>z#<zmin> p#<n>",
|
||||
});
|
||||
Object.assign(pose, end);
|
||||
};
|
||||
|
||||
for (const [centerX, centerY, centerLine] of [
|
||||
[distance, distance, 18],
|
||||
[-distance, distance, 25],
|
||||
[-distance, -distance, 32],
|
||||
[distance, -distance, 39],
|
||||
for (const [centerX, centerY, centerLine, resetLine, quadrant] of [
|
||||
[distance, distance, 18, 16, "I"],
|
||||
[-distance, distance, 25, 23, "II"],
|
||||
[-distance, -distance, 32, 30, "III"],
|
||||
[distance, -distance, 39, 37, "IV"],
|
||||
]) {
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, centerLine - 2, "rapid", "identity");
|
||||
addLinear({ x: centerX, y: centerY, z: zmax }, centerLine, "rapid", "identity");
|
||||
addLinear({ x: centerX - radius }, 13, "rapid", "identity");
|
||||
addLinear({ b: bAxis, c: cAxis }, 16, "rapid", "tcp-xyzbc");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
resetLine,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
`g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`,
|
||||
);
|
||||
addLinear(
|
||||
{ x: centerX, y: centerY, z: zmax },
|
||||
centerLine,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
`g0 x${formatSigned(centerX)} y${formatSigned(centerY)} z#<zmax>`,
|
||||
);
|
||||
addLinear(
|
||||
{ x: centerX - radius },
|
||||
13,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x[#<_x> - #<r>]",
|
||||
);
|
||||
addLinear(
|
||||
{ b: bAxis, c: cAxis },
|
||||
16,
|
||||
"rapid",
|
||||
"tcp-xyzbc",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0b#<b>c#<c>",
|
||||
);
|
||||
addHelix(17);
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, 19, "rapid", "identity");
|
||||
addLinear({ x: radius }, 20, "rapid", "identity");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
19,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x0 y0 z#<zmax> b0 c0",
|
||||
);
|
||||
addLinear(
|
||||
{ x: radius },
|
||||
20,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"helix_bc.ngc",
|
||||
"g0 x[#<_x> + #<r>]",
|
||||
);
|
||||
}
|
||||
addLinear({ x: 0, y: 0, z: zmax, b: 0, c: 0 }, 44, "rapid", "identity");
|
||||
addLinear(
|
||||
{ x: 0, y: 0, z: zmax, b: 0, c: 0 },
|
||||
44,
|
||||
"rapid",
|
||||
"identity",
|
||||
rapid,
|
||||
"xyzbc_switchkins_sub.ngc",
|
||||
"g53 g0 x0y0 z#<zmax>",
|
||||
);
|
||||
return segments;
|
||||
}
|
||||
|
||||
function buildXyzbcSwitchkinsLineExecutionTrace(params, segments) {
|
||||
const trace = [];
|
||||
const add = ({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType = "none",
|
||||
activeKinematicsBefore = null,
|
||||
activeKinematicsAfter = null,
|
||||
startJoint = null,
|
||||
endJoint = null,
|
||||
feed = 0,
|
||||
producesMotion = false,
|
||||
segmentIndex = null,
|
||||
}) => {
|
||||
trace.push({
|
||||
executionIndex: trace.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType,
|
||||
activeKinematicsBefore,
|
||||
activeKinematicsAfter,
|
||||
startJoint,
|
||||
endJoint,
|
||||
feed,
|
||||
producesMotion,
|
||||
segmentIndex,
|
||||
});
|
||||
};
|
||||
let currentKinematics = "identity";
|
||||
const kinsSwitch = (sourceFile, line, statement, next) => {
|
||||
add({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation: next === "identity" ? "switchkins-identity" : "switchkins-tcp-xyzbc",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: next,
|
||||
});
|
||||
currentKinematics = next;
|
||||
};
|
||||
const segmentByFileLine = new Map();
|
||||
segments.forEach((segment, index) => {
|
||||
const key = `${segment.sourceFile}:${segment.line}:${index}`;
|
||||
segmentByFileLine.set(key, { segment, index });
|
||||
});
|
||||
const nextSegment = (sourceFile, line, cursor) => {
|
||||
for (let index = cursor.value; index < segments.length; index += 1) {
|
||||
const segment = segments[index];
|
||||
if (segment.sourceFile === sourceFile && segment.line === line) {
|
||||
cursor.value = index + 1;
|
||||
return { segment, index };
|
||||
}
|
||||
}
|
||||
return { segment: null, index: null };
|
||||
};
|
||||
const addSegment = (sourceFile, line, statement, operation, cursor) => {
|
||||
const { segment, index } = nextSegment(sourceFile, line, cursor);
|
||||
if (!segment) return;
|
||||
add({
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
operation,
|
||||
motionType: segment.motionType,
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: segment.activeKinematics,
|
||||
startJoint: roundedJoint(segment.start),
|
||||
endJoint: roundedJoint(segment.end),
|
||||
feed: segment.feed,
|
||||
producesMotion: true,
|
||||
segmentIndex: index,
|
||||
});
|
||||
currentKinematics = segment.activeKinematics;
|
||||
};
|
||||
const cursor = { value: 0 };
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins.ngc",
|
||||
line: 2,
|
||||
statement: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
operation: "call-subroutine",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
for (const [quadrant, resetLine, centerLine] of [
|
||||
["I", 15, 18],
|
||||
["II", 22, 25],
|
||||
["III", 29, 32],
|
||||
["IV", 36, 39],
|
||||
]) {
|
||||
kinsSwitch("xyzbc_switchkins_sub.ngc", resetLine, "M429", "identity");
|
||||
addSegment("xyzbc_switchkins_sub.ngc", resetLine + 1, `g53 g0 x0y0 z#<zmax> b0 c0 ; quadrant ${quadrant}`, "rapid-machine-reset", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: resetLine + 2,
|
||||
statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
addSegment("xyzbc_switchkins_sub.ngc", centerLine, "g0 x±#<dist> y±#<dist> z#<zmax>", "rapid-to-quadrant-center", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: centerLine + 1,
|
||||
statement: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
operation: "call-subroutine",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
kinsSwitch("helix_bc.ngc", 12, "M429", "identity");
|
||||
addSegment("helix_bc.ngc", 13, "g0 x[#<_x> - #<r>]", "rapid-radius-adjust", cursor);
|
||||
add({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 14,
|
||||
statement: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
kinsSwitch("helix_bc.ngc", 15, "M428", "tcp-xyzbc");
|
||||
addSegment("helix_bc.ngc", 16, `g0b${params.b}c${params.c}`, "rapid-bc-orient", cursor);
|
||||
addSegment("helix_bc.ngc", 17, `f${params.feed} g2i${params.radius}z${params.zmin} p${params.turns}`, "feed-helix", cursor);
|
||||
kinsSwitch("helix_bc.ngc", 18, "M429", "identity");
|
||||
addSegment("helix_bc.ngc", 19, "g0 x0 y0 z#<zmax> b0 c0", "rapid-return-to-start", cursor);
|
||||
addSegment("helix_bc.ngc", 20, "g0 x[#<_x> + #<r>]", "rapid-radius-restore", cursor);
|
||||
kinsSwitch("helix_bc.ngc", 21, "M428", "tcp-xyzbc");
|
||||
}
|
||||
kinsSwitch("xyzbc_switchkins_sub.ngc", 43, "M429", "identity");
|
||||
addSegment("xyzbc_switchkins_sub.ngc", 44, "g53 g0 x0y0 z#<zmax>", "rapid-final-machine-reset", cursor);
|
||||
add({
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
line: 45,
|
||||
statement: "g10l20p0 x0y0 z#<zmax>",
|
||||
operation: "set-g54-offset",
|
||||
activeKinematicsBefore: currentKinematics,
|
||||
activeKinematicsAfter: currentKinematics,
|
||||
});
|
||||
return trace;
|
||||
}
|
||||
|
||||
function buildXyzbcSwitchkinsGcodeExecutionProcess(params, segments, lineExecutionTrace) {
|
||||
const sourceFiles = xyzbcSwitchkinsSourceFiles();
|
||||
const traceCursor = { value: 0 };
|
||||
const steps = [];
|
||||
const parameters = {};
|
||||
const tool = DEFAULT_XYZBC_TOOL;
|
||||
let machineState = machineStateForMotion({ tool, feed: 0, motionType: "none", operation: "program-start" });
|
||||
let activeKinematics = "identity";
|
||||
let workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
|
||||
const addStep = ({
|
||||
sourceFile,
|
||||
line,
|
||||
operation,
|
||||
sourceLineKind = "gcode",
|
||||
callStack = [],
|
||||
executed = true,
|
||||
parameterName = null,
|
||||
parameterValue = null,
|
||||
notes = [],
|
||||
}) => {
|
||||
const statement = sourceFiles[sourceFile]?.[line] ?? "";
|
||||
const traceEntry = nextTraceEntry(lineExecutionTrace, traceCursor, sourceFile, line, operation);
|
||||
const beforeParameters = { ...parameters };
|
||||
const beforeKinematics = activeKinematics;
|
||||
const beforeWorkOffset = { ...workOffset };
|
||||
const machineStateBefore = cloneMachineState(machineState);
|
||||
const parametersChanged = {};
|
||||
|
||||
if (parameterName) {
|
||||
parameters[parameterName] = parameterValue;
|
||||
parametersChanged[parameterName] = parameterValue;
|
||||
}
|
||||
if (operation === "set-g54-offset") {
|
||||
workOffset = { x: 0, y: 0, z: params.zmax, b: 0, c: 0 };
|
||||
}
|
||||
if (traceEntry?.activeKinematicsAfter) {
|
||||
activeKinematics = traceEntry.activeKinematicsAfter;
|
||||
} else if (operation === "switchkins-identity") {
|
||||
activeKinematics = "identity";
|
||||
} else if (operation === "switchkins-tcp-xyzbc") {
|
||||
activeKinematics = "tcp-xyzbc";
|
||||
}
|
||||
|
||||
const motion = traceEntry?.producesMotion ? {
|
||||
segmentIndex: traceEntry.segmentIndex,
|
||||
motionType: traceEntry.motionType,
|
||||
feed: traceEntry.feed,
|
||||
startJoint: traceEntry.startJoint,
|
||||
endJoint: traceEntry.endJoint,
|
||||
startTcp: traceEntry.startJoint ? tcpFromJoint(traceEntry.startJoint) : null,
|
||||
endTcp: traceEntry.endJoint ? tcpFromJoint(traceEntry.endJoint) : null,
|
||||
endToolAxis: traceEntry.endJoint ? toolAxisFromBc(traceEntry.endJoint.b, traceEntry.endJoint.c) : null,
|
||||
} : null;
|
||||
machineState = motion
|
||||
? machineStateForMotion({ tool, feed: traceEntry.feed, motionType: traceEntry.motionType, operation })
|
||||
: machineStateForMotion({ tool, feed: machineState.feed.actualMmPerMin, motionType: "none", operation });
|
||||
|
||||
const result = {
|
||||
status: "ok",
|
||||
operation,
|
||||
sourceLineKind,
|
||||
executed,
|
||||
activeKinematicsBefore: traceEntry?.activeKinematicsBefore ?? beforeKinematics,
|
||||
activeKinematicsAfter: traceEntry?.activeKinematicsAfter ?? activeKinematics,
|
||||
parametersBefore: Object.keys(parametersChanged).length > 0 ? beforeParameters : null,
|
||||
parametersChanged,
|
||||
parametersAfter: Object.keys(parametersChanged).length > 0 ? { ...parameters } : null,
|
||||
workOffsetBefore: operation === "set-g54-offset" ? beforeWorkOffset : null,
|
||||
workOffsetAfter: operation === "set-g54-offset" ? { ...workOffset } : null,
|
||||
modalChange: modalChangeForOperation(operation),
|
||||
motion,
|
||||
machineStateBefore,
|
||||
machineStateAfter: cloneMachineState(machineState),
|
||||
traceExecutionIndex: traceEntry?.executionIndex ?? null,
|
||||
notes,
|
||||
};
|
||||
|
||||
steps.push({
|
||||
stepIndex: steps.length,
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
callDepth: callStack.length,
|
||||
callStack,
|
||||
executed,
|
||||
sourceLineKind,
|
||||
result,
|
||||
});
|
||||
};
|
||||
|
||||
const rootStack = [{ sourceFile: "xyzbc_switchkins.ngc", line: 2, call: "o<xyzbc_switchkins_sub>" }];
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 1, operation: "comment", sourceLineKind: "comment", executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 2, operation: "call-subroutine", sourceLineKind: "call", callStack: [] });
|
||||
addSubroutineEntrySteps({
|
||||
addStep,
|
||||
sourceFile: "xyzbc_switchkins_sub.ngc",
|
||||
callStack: rootStack,
|
||||
parameterAssignments: [
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
["dist", params.distance],
|
||||
],
|
||||
assignmentStartLine: 4,
|
||||
});
|
||||
|
||||
for (const [quadrant, commentLine, resetLine, centerLine] of [
|
||||
["I", 14, 15, 18],
|
||||
["II", 21, 22, 25],
|
||||
["III", 28, 29, 32],
|
||||
["IV", 35, 36, 39],
|
||||
]) {
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: commentLine, operation: `comment-quadrant-${quadrant}`, sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 1, operation: "rapid-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: resetLine + 2, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine, operation: "rapid-to-quadrant-center", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, operation: "call-subroutine", sourceLineKind: "call", callStack: rootStack });
|
||||
addHelixExecutionSteps({
|
||||
addStep,
|
||||
params,
|
||||
callStack: [
|
||||
...rootStack,
|
||||
{ sourceFile: "xyzbc_switchkins_sub.ngc", line: centerLine + 1, call: "o<helix_bc>" },
|
||||
],
|
||||
});
|
||||
}
|
||||
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 42, operation: "comment-final-position", sourceLineKind: "comment", callStack: rootStack, executed: false });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 43, operation: "switchkins-identity", sourceLineKind: "mcode", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 44, operation: "rapid-final-machine-reset", sourceLineKind: "motion", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 45, operation: "set-g54-offset", sourceLineKind: "offset", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins_sub.ngc", line: 47, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack: rootStack });
|
||||
addStep({ sourceFile: "xyzbc_switchkins.ngc", line: 3, operation: "program-end", sourceLineKind: "program-end", callStack: [] });
|
||||
|
||||
const sourceLineCoverage = buildSourceLineCoverage(sourceFiles, steps);
|
||||
const motionSteps = steps.filter((step) => step.result.motion);
|
||||
return {
|
||||
apiName: "linuxcnc-xyzbc-trt-gcode-complete-execution-process",
|
||||
status: "ok",
|
||||
program: "xyzbc_switchkins.ngc",
|
||||
sourceFiles: Object.entries(sourceFiles).map(([sourceFile, lines]) => ({
|
||||
sourceFile,
|
||||
lineCount: Object.keys(lines).length,
|
||||
})),
|
||||
executionStepCount: steps.length,
|
||||
sourceLineCoverage,
|
||||
executionSteps: steps,
|
||||
summary: {
|
||||
motionStepCount: motionSteps.length,
|
||||
switchkinsStepCount: steps.filter((step) => step.result.operation.startsWith("switchkins-")).length,
|
||||
parameterAssignmentStepCount: steps.filter((step) => step.result.operation === "parameter-assignment").length,
|
||||
workOffsetStepCount: steps.filter((step) => step.result.operation === "set-g54-offset").length,
|
||||
callStepCount: steps.filter((step) => step.result.operation === "call-subroutine").length,
|
||||
noMotionStepCount: steps.filter((step) => !step.result.motion).length,
|
||||
finalJoint: motionSteps.at(-1)?.result.motion?.endJoint ?? null,
|
||||
finalKinematics: steps.at(-1)?.result.activeKinematicsAfter ?? null,
|
||||
},
|
||||
semanticBoundary: "complete_gcode_execution_process_expanded_from_linuxcnc_xyzbc_trt_sources",
|
||||
};
|
||||
}
|
||||
|
||||
function addSubroutineEntrySteps({ addStep, sourceFile, callStack, parameterAssignments, assignmentStartLine }) {
|
||||
addStep({ sourceFile, line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 2, operation: "info-comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile, line: 3, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
parameterAssignments.forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile,
|
||||
line: assignmentStartLine + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function addHelixExecutionSteps({ addStep, params, callStack }) {
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 1, operation: "comment", sourceLineKind: "comment", callStack, executed: false });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 2, operation: "subroutine-enter", sourceLineKind: "subroutine-boundary", callStack });
|
||||
[
|
||||
["zmax", params.zmax],
|
||||
["zmin", params.zmin],
|
||||
["r", params.radius],
|
||||
["frate", params.feed],
|
||||
["n", params.turns],
|
||||
["a", params.a],
|
||||
["b", params.b],
|
||||
["c", params.c],
|
||||
].forEach(([parameterName, parameterValue], index) => {
|
||||
addStep({
|
||||
sourceFile: "helix_bc.ngc",
|
||||
line: 3 + index,
|
||||
operation: "parameter-assignment",
|
||||
sourceLineKind: "assignment",
|
||||
callStack,
|
||||
parameterName,
|
||||
parameterValue,
|
||||
});
|
||||
});
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 12, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 13, operation: "rapid-radius-adjust", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 14, operation: "set-g54-offset", sourceLineKind: "offset", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 15, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 16, operation: "rapid-bc-orient", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 17, operation: "feed-helix", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 18, operation: "switchkins-identity", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 19, operation: "rapid-return-to-start", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 20, operation: "rapid-radius-restore", sourceLineKind: "motion", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 21, operation: "switchkins-tcp-xyzbc", sourceLineKind: "mcode", callStack });
|
||||
addStep({ sourceFile: "helix_bc.ngc", line: 22, operation: "subroutine-exit", sourceLineKind: "subroutine-boundary", callStack });
|
||||
}
|
||||
|
||||
function nextTraceEntry(trace, cursor, sourceFile, line, operation) {
|
||||
const operationCompatible = (entry) => {
|
||||
if (entry.operation === operation) return true;
|
||||
if (operation === "switchkins-identity" && entry.operation === "switchkins-identity") return true;
|
||||
if (operation === "switchkins-tcp-xyzbc" && entry.operation === "switchkins-tcp-xyzbc") return true;
|
||||
return false;
|
||||
};
|
||||
for (let index = cursor.value; index < trace.length; index += 1) {
|
||||
const entry = trace[index];
|
||||
if (entry.sourceFile === sourceFile && entry.line === line && operationCompatible(entry)) {
|
||||
cursor.value = index + 1;
|
||||
return entry;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
function buildSourceLineCoverage(sourceFiles, steps) {
|
||||
const visits = new Map();
|
||||
for (const step of steps) {
|
||||
const key = `${step.sourceFile}:${step.line}`;
|
||||
const item = visits.get(key) || {
|
||||
visitCount: 0,
|
||||
producedMotionCount: 0,
|
||||
operations: new Set(),
|
||||
};
|
||||
item.visitCount += 1;
|
||||
if (step.result.motion) item.producedMotionCount += 1;
|
||||
item.operations.add(step.result.operation);
|
||||
visits.set(key, item);
|
||||
}
|
||||
return Object.entries(sourceFiles).flatMap(([sourceFile, lines]) => (
|
||||
Object.entries(lines).map(([lineText, statement]) => {
|
||||
const line = Number(lineText);
|
||||
const visit = visits.get(`${sourceFile}:${line}`);
|
||||
return {
|
||||
sourceFile,
|
||||
line,
|
||||
statement,
|
||||
sourceLineKind: sourceLineKind(statement),
|
||||
visitCount: visit?.visitCount || 0,
|
||||
producedMotionCount: visit?.producedMotionCount || 0,
|
||||
operations: visit ? [...visit.operations] : [],
|
||||
};
|
||||
})
|
||||
));
|
||||
}
|
||||
|
||||
function xyzbcSwitchkinsSourceFiles() {
|
||||
return {
|
||||
"xyzbc_switchkins.ngc": {
|
||||
1: "; zmax zmin r frate n a b c dist",
|
||||
2: "o<xyzbc_switchkins_sub> call [10] [5] [10][1000][3][0][20][45][20]",
|
||||
3: "m2",
|
||||
},
|
||||
"xyzbc_switchkins_sub.ngc": {
|
||||
1: "; ngcgui-compatible subroutine",
|
||||
2: "(info: helix in each quadrant at angles B,C)",
|
||||
3: "o<xyzbc_switchkins_sub>sub",
|
||||
4: "#<zmax> = #1 (=10)",
|
||||
5: "#<zmin> = #2 (= 5)",
|
||||
6: "#<r> = #3 (=10 radius)",
|
||||
7: "#<frate> = #4 (=1000 feedrate)",
|
||||
8: "#<n> = #5 (=3 n circles)",
|
||||
9: "#<a> = #6 (=0 A angle NA)",
|
||||
10: "#<b> = #7 (=30 B angle)",
|
||||
11: "#<c> = #8 (=45 C angle)",
|
||||
12: "#<dist> = #9 (=20 distance)",
|
||||
14: "; quadrant I",
|
||||
15: "M429 ;Identity kinematics",
|
||||
16: "g53 g0 x0y0 z#<zmax> b0 c0 ;MACHINE coordinates",
|
||||
17: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
18: "g0 x+#<dist> y+#<dist> z#<zmax> ;move to pattern center position",
|
||||
19: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
21: "; quadrant II",
|
||||
22: "M429 ;Identity kinematics",
|
||||
23: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
24: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
25: "g0 x-#<dist> y+#<dist> z#<zmax>",
|
||||
26: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
28: "; quadrant III",
|
||||
29: "M429 ;Identity kinematics",
|
||||
30: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
31: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
32: "g0 x-#<dist> y-#<dist> z#<zmax>",
|
||||
33: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
35: "; quadrant IV",
|
||||
36: "M429 ;Identity kinematics",
|
||||
37: "g53 g0 x0y0 z#<zmax> b0 c0",
|
||||
38: "g10l20p0 x0y0 z#<zmax> b0 c0",
|
||||
39: "g0 x+#<dist> y-#<dist> z#<zmax>",
|
||||
40: "o<helix_bc> call [#<zmax>][#<zmin>][#<r>][#<frate>][#<n>][#<a>][#<b>][#<c>]",
|
||||
42: ";final position",
|
||||
43: "M429 ;Identity kinematics",
|
||||
44: "g53 g0 x0y0 z#<zmax> ;MACHINE coordinates",
|
||||
45: "g10l20p0 x0y0 z#<zmax> ;new g54",
|
||||
47: "o<xyzbc_switchkins_sub>endsub",
|
||||
},
|
||||
"helix_bc.ngc": {
|
||||
1: "; helix using switchkins (xyzbc) b,c angles",
|
||||
2: "o<helix_bc>sub",
|
||||
3: "#<zmax> = #1 (=10)",
|
||||
4: "#<zmin> = #2 (= 5)",
|
||||
5: "#<r> = #3 (=10)",
|
||||
6: "#<frate> = #4 (=1000)",
|
||||
7: "#<n> = #5 (=3)",
|
||||
8: "#<a> = #6 (=0 NA)",
|
||||
9: "#<b> = #7 (=45)",
|
||||
10: "#<c> = #8 (=20)",
|
||||
12: "M429 ;Identity kinematics",
|
||||
13: "g0 x[#<_x> - #<r>] ;adjust for radius",
|
||||
14: "g10l20p0 x0y0 z#<zmax> b0 c0 ;new g54",
|
||||
15: "M428 ;XYZBC",
|
||||
16: "g0b#<b>c#<c> ;exercise b,c",
|
||||
17: "f#<frate> g2i#<r>z#<zmin> p#<n> ;helix",
|
||||
18: "M429 ;Identity kinematics",
|
||||
19: "g0 x0 y0 z#<zmax> b0 c0 ;return to start",
|
||||
20: "g0 x[#<_x> + #<r>] ;adjust restore",
|
||||
21: "M428 ;XYZBC",
|
||||
22: "o<helix_bc>endsub",
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function sourceLineKind(statement = "") {
|
||||
const text = String(statement).trim().toLowerCase();
|
||||
if (!text) return "blank";
|
||||
if (text.startsWith(";") || text.startsWith("(")) return "comment";
|
||||
if (text.includes("call")) return "call";
|
||||
if (text.includes("sub") || text.includes("endsub")) return "subroutine-boundary";
|
||||
if (text.startsWith("#<")) return "assignment";
|
||||
if (text.startsWith("m")) return "mcode";
|
||||
if (text.startsWith("g10")) return "offset";
|
||||
if (text.startsWith("g") || text.startsWith("f")) return "motion";
|
||||
return "gcode";
|
||||
}
|
||||
|
||||
function modalChangeForOperation(operation) {
|
||||
if (operation === "switchkins-identity") return { kinematics: "identity", code: "M429" };
|
||||
if (operation === "switchkins-tcp-xyzbc") return { kinematics: "tcp-xyzbc", code: "M428" };
|
||||
if (operation === "set-g54-offset") return { coordinateSystem: "G54", code: "G10 L20 P0" };
|
||||
if (operation === "program-end") return { program: "ended", code: "M2" };
|
||||
return null;
|
||||
}
|
||||
|
||||
function tcpFromJoint(joint = {}) {
|
||||
return {
|
||||
x: joint.x,
|
||||
y: joint.y,
|
||||
z: joint.z,
|
||||
};
|
||||
}
|
||||
|
||||
function serializeSegment(segment, index) {
|
||||
return {
|
||||
segmentIndex: index,
|
||||
kind: segment.kind,
|
||||
sourceFile: segment.sourceFile,
|
||||
line: segment.line,
|
||||
statement: segment.statement,
|
||||
motionType: segment.motionType,
|
||||
activeKinematics: segment.activeKinematics,
|
||||
feed: segment.feed,
|
||||
start: roundedJoint(segment.start),
|
||||
end: roundedJoint(segment.end),
|
||||
center: segment.center ? roundedJoint(segment.center) : null,
|
||||
radius: segment.radius ?? null,
|
||||
turns: segment.turns ?? null,
|
||||
};
|
||||
}
|
||||
|
||||
function axisValuesByLineFromTrace(trace) {
|
||||
return trace
|
||||
.filter((entry) => entry.producesMotion)
|
||||
.map((entry) => ({
|
||||
executionIndex: entry.executionIndex,
|
||||
sourceFile: entry.sourceFile,
|
||||
line: entry.line,
|
||||
operation: entry.operation,
|
||||
motionType: entry.motionType,
|
||||
activeKinematics: entry.activeKinematicsAfter,
|
||||
joint: entry.endJoint,
|
||||
tcp: {
|
||||
x: entry.endJoint.x,
|
||||
y: entry.endJoint.y,
|
||||
z: entry.endJoint.z,
|
||||
},
|
||||
toolAxis: toolAxisFromBc(entry.endJoint.b, entry.endJoint.c),
|
||||
feed: entry.feed,
|
||||
machineState: machineStateForMotion({
|
||||
tool: DEFAULT_XYZBC_TOOL,
|
||||
feed: entry.feed,
|
||||
motionType: entry.motionType,
|
||||
operation: entry.operation,
|
||||
}),
|
||||
segmentIndex: entry.segmentIndex,
|
||||
}));
|
||||
}
|
||||
|
||||
function roundedJoint(pose = {}) {
|
||||
return {
|
||||
x: roundFloating(numberOrZero(pose.x)),
|
||||
y: roundFloating(numberOrZero(pose.y)),
|
||||
z: roundFloating(numberOrZero(pose.z)),
|
||||
b: roundFloating(numberOrZero(pose.b)),
|
||||
c: roundFloating(numberOrZero(pose.c)),
|
||||
};
|
||||
}
|
||||
|
||||
function roundFloating(value) {
|
||||
return Math.abs(value) < 1e-12 ? 0 : Number(value.toFixed(12));
|
||||
}
|
||||
|
||||
function formatSigned(value) {
|
||||
return `${value >= 0 ? "+" : ""}${value}`;
|
||||
}
|
||||
|
||||
function resampleAxisPreviewSegments(segments, samplePeriodMs, tool) {
|
||||
const samples = [];
|
||||
let timeMs = 0;
|
||||
@@ -224,9 +906,56 @@ function pathSampleFromAxisPreviewPose({
|
||||
toolAxis: toolAxisFromBc(joint.b, joint.c),
|
||||
feed: numberOrZero(feed),
|
||||
spindle: 0,
|
||||
machineState: machineStateForMotion({ tool, feed, motionType }),
|
||||
};
|
||||
}
|
||||
|
||||
function machineStateForMotion({
|
||||
tool = DEFAULT_XYZBC_TOOL,
|
||||
feed = 0,
|
||||
motionType = "none",
|
||||
operation = null,
|
||||
} = {}) {
|
||||
const actualFeed = numberOrZero(feed);
|
||||
const cutting = motionType === "arc" || motionType === "feed" || operation === "feed-helix";
|
||||
return {
|
||||
spindle: {
|
||||
speedRpm: 0,
|
||||
direction: "stopped",
|
||||
enabled: false,
|
||||
},
|
||||
feed: {
|
||||
programmedMmPerMin: actualFeed,
|
||||
actualMmPerMin: actualFeed,
|
||||
overridePercent: 100,
|
||||
},
|
||||
cutting: {
|
||||
active: cutting,
|
||||
cuttingSpeedMmPerMin: cutting ? actualFeed : 0,
|
||||
},
|
||||
tool: {
|
||||
id: Number(tool?.id) || 0,
|
||||
pocket: Number(tool?.pocket) || 0,
|
||||
length: numberOrZero(tool?.length),
|
||||
diameter: numberOrZero(tool?.diameter),
|
||||
},
|
||||
toolChange: {
|
||||
activeTool: Number(tool?.id) || 0,
|
||||
activePocket: Number(tool?.pocket) || 0,
|
||||
changed: false,
|
||||
command: null,
|
||||
},
|
||||
coolant: {
|
||||
mist: false,
|
||||
flood: false,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function cloneMachineState(state) {
|
||||
return JSON.parse(JSON.stringify(state));
|
||||
}
|
||||
|
||||
function toolAxisFromBc(bDeg, cDeg) {
|
||||
const b = bDeg * Math.PI / 180;
|
||||
const c = cDeg * Math.PI / 180;
|
||||
|
||||
@@ -25,6 +25,7 @@ import {
|
||||
applyToolCommandSequence,
|
||||
createToolDbReadiness,
|
||||
createToolDbSimulation,
|
||||
createToolRuntimeState,
|
||||
editToolEntry,
|
||||
extractToolCommandSequenceFromProgram,
|
||||
listToolEntries,
|
||||
@@ -226,6 +227,9 @@ const initialState = {
|
||||
machineFileExecution: null,
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
controlledUserMSimulation: initialControlledUserMSimulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(initialControlledUserMSimulation),
|
||||
fullExecutionBoundary: null,
|
||||
@@ -570,6 +574,9 @@ export function createSimulationStore(seed = {}) {
|
||||
kinematicsExecutionContext: "none",
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
...createInitialControlledUserMState(),
|
||||
linuxCncIniConfig: null,
|
||||
iniConfigReadiness: initialState.iniConfigReadiness,
|
||||
@@ -962,17 +969,20 @@ export function createSimulationStore(seed = {}) {
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
wasmPath: selectedFile.wasmPath,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool(state),
|
||||
});
|
||||
const toolUserPatch = createProgramToolUserSimulationPatch({
|
||||
state,
|
||||
programText: selectedFile.text,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: selectedFile.sourceRel,
|
||||
sourceRel: selectedFile.sourceRel,
|
||||
content: selectedFile.text,
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState: toolUserPatch.toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
...toolUserPatch,
|
||||
@@ -1495,16 +1505,23 @@ export function createSimulationStore(seed = {}) {
|
||||
const toolDbSimulation = state.toolDbSimulation && toolCommands.length > 0
|
||||
? applyToolCommandSequence(state.toolDbSimulation, toolCommands)
|
||||
: state.toolDbSimulation;
|
||||
const toolRuntimeState = createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
});
|
||||
const axisPreviewPath = buildAxisPreviewPathFromProgram({
|
||||
filename: loadedProgram.activeProgram,
|
||||
sourceRel: loadedProgram.programSourceRel,
|
||||
content: action.content,
|
||||
tool: currentPathTool(state),
|
||||
tool: currentPathTool({
|
||||
...state,
|
||||
toolRuntimeState,
|
||||
}),
|
||||
});
|
||||
setState({
|
||||
...loadedProgram,
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState,
|
||||
machine: {
|
||||
...state.machine,
|
||||
mode: "auto",
|
||||
@@ -2218,6 +2235,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB edited T${patch.toolNumber ?? patch.toolno ?? "-"}`,
|
||||
});
|
||||
return state.toolDbSimulation;
|
||||
@@ -2231,6 +2251,9 @@ export function createSimulationStore(seed = {}) {
|
||||
setState({
|
||||
toolDbSimulation: save.toolDb,
|
||||
toolDbReadiness: createToolDbReadiness(save.toolDb),
|
||||
toolRuntimeState: createToolRuntimeState(save.toolDb, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
operatorMessage: `tool DB saved ${save.path} (${save.storageMode})`,
|
||||
});
|
||||
return save;
|
||||
@@ -2762,6 +2785,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation: null,
|
||||
toolDbReadiness: createToolDbReadiness(null),
|
||||
toolRuntimeState: createToolRuntimeState(null, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
const toolTable = parseLinuxCncToolTable(toolTableFile.text, {
|
||||
@@ -2776,6 +2802,9 @@ function createToolDbStatePatchFromStagedFiles({ profile, save }) {
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: 84.019,
|
||||
}),
|
||||
};
|
||||
}
|
||||
|
||||
@@ -2795,6 +2824,9 @@ function createProgramToolUserSimulationPatch({ state, programText, sourceRel })
|
||||
return {
|
||||
toolDbSimulation,
|
||||
toolDbReadiness: createToolDbReadiness(toolDbSimulation),
|
||||
toolRuntimeState: createToolRuntimeState(toolDbSimulation, {
|
||||
fallbackToolLength: state.toolPreview?.length,
|
||||
}),
|
||||
controlledUserMSimulation: userMScan.simulation,
|
||||
controlledUserMReadiness: createControlledUserMReadiness(userMScan.simulation),
|
||||
};
|
||||
@@ -4041,7 +4073,17 @@ function buildLoadedProgram(action) {
|
||||
|
||||
function currentPathTool(state) {
|
||||
const pathTool = state.toolRuntimeState?.pathTool;
|
||||
if (pathTool) return pathTool;
|
||||
if (
|
||||
pathTool &&
|
||||
(
|
||||
Number(pathTool.id) > 0 ||
|
||||
Number(pathTool.pocket) > 0 ||
|
||||
Number(pathTool.length) > 0 ||
|
||||
Number(pathTool.diameter) > 0
|
||||
)
|
||||
) {
|
||||
return pathTool;
|
||||
}
|
||||
if (state.machineProfile === "xyzbc-trt") {
|
||||
return {
|
||||
id: 2,
|
||||
|
||||
@@ -377,11 +377,13 @@ function renderProgram(element, state) {
|
||||
}
|
||||
|
||||
function renderStatusbar(element, state) {
|
||||
const toolLabel = formatToolStatus(state);
|
||||
element.innerHTML = `
|
||||
<div>${state.machine.powerOn ? "ON" : state.machine.estopActive ? "ESTOP" : "OFF"}</div>
|
||||
<div>No tool</div>
|
||||
<div>${escapeHtml(toolLabel)}</div>
|
||||
<div>Position: Joint</div>
|
||||
`;
|
||||
element.dataset.toolStatus = toolLabel;
|
||||
}
|
||||
|
||||
function toolButton(buttonId, action, title, active = false) {
|
||||
@@ -536,6 +538,29 @@ function switchkinsLegend(value) {
|
||||
return "0:IDENTITY";
|
||||
}
|
||||
|
||||
function formatToolStatus(state) {
|
||||
const runtime = state.toolRuntimeState;
|
||||
const fallbackPathTool = state.machineProfile === "xyzbc-trt"
|
||||
? { id: 2, pocket: 2, length: 10, diameter: 8 }
|
||||
: null;
|
||||
if (!runtime?.ready && !runtime?.currentTool && !fallbackPathTool) return "No tool";
|
||||
const tool = runtime?.currentTool || runtime?.activeToolOffset || null;
|
||||
const toolNumber = Number(runtime?.activeToolNumber || tool?.toolNumber || runtime?.toolInSpindle || 0);
|
||||
const pocket = Number(runtime?.activePocket || tool?.pocket || runtime?.toolFromPocket || 0);
|
||||
const length = Number(runtime?.pathTool?.length ?? runtime?.kinematics?.toolOffsetZ ?? tool?.offset?.z ?? 0);
|
||||
const diameter = Number(runtime?.pathTool?.diameter ?? tool?.diameter ?? 0);
|
||||
const displayToolNumber = toolNumber > 0 ? toolNumber : Number(fallbackPathTool?.id || 0);
|
||||
const displayPocket = pocket > 0 ? pocket : Number(fallbackPathTool?.pocket || 0);
|
||||
const displayLength = length > 0 ? length : Number(fallbackPathTool?.length || 0);
|
||||
const displayDiameter = diameter > 0 ? diameter : Number(fallbackPathTool?.diameter || 0);
|
||||
if (displayToolNumber <= 0 && displayPocket <= 0) return "No tool";
|
||||
const parts = [`T${displayToolNumber}`];
|
||||
if (displayPocket > 0) parts.push(`P${displayPocket}`);
|
||||
parts.push(`Z${formatNumber(displayLength, 3)}`);
|
||||
if (displayDiameter > 0) parts.push(`D${formatNumber(displayDiameter, 3)}`);
|
||||
return parts.join(" ");
|
||||
}
|
||||
|
||||
function formatNumber(value, digits = 3) {
|
||||
const number = Number(value);
|
||||
return Number.isFinite(number) ? number.toFixed(digits) : (0).toFixed(digits);
|
||||
|
||||
Reference in New Issue
Block a user