Update wasm port validation state
This commit is contained in:
wangdequan
@@ -1,437 +0,0 @@
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#include "emccanon_wasm_subset.hh"
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/*
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* WASM canonical linear-motion subset derived from
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* LinuxCNC src/emc/task/emccanon.cc.
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*
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* Upstream anchors:
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* - INIT_CANON(): initializes CanonConfig_t, offsets, endpoint, feed state, and units.
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* - ON_RESET(): drops pending canonical segments.
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* - FINISH(): flushes pending canonical segments.
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* - USE_LENGTH_UNITS(): sets canon.lengthUnits.
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* - GET_EXTERNAL_LENGTH_UNITS()/GET_EXTERNAL_ANGLE_UNITS(): read EMC_STAT motion units.
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* - GET_EXTERNAL_POSITION()/GET_EXTERNAL_POSITION_X/Y/Z/A/B/C(): expose the current canonical endpoint.
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* - generate_fast_move(): emits EMC_TRAJ_LINEAR_MOVE for traverse-like moves.
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* - generate_move(): emits EMC_TRAJ_LINEAR_MOVE for feed moves.
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* - STRAIGHT_TRAVERSE(): canonical traverse entry point.
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* - STRAIGHT_FEED(): canonical feed entry point.
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* - DWELL(): emits EMC_TRAJ_DELAY to interp_list.
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* - SET_MOTION_CONTROL_MODE(): emits EMC_TRAJ_SET_TERM_COND to interp_list.
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* - SET_SPINDLE_SPEED(): emits EMC_SPINDLE_SPEED to interp_list.
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* - START_SPINDLE_CLOCKWISE()/START_SPINDLE_COUNTERCLOCKWISE(): emit EMC_SPINDLE_ON to interp_list.
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* - STOP_SPINDLE_TURNING(): emits EMC_SPINDLE_OFF to interp_list.
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* - SELECT_TOOL(): emits EMC_TOOL_PREPARE to interp_list.
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* - CHANGE_TOOL(): emits EMC_TOOL_LOAD to interp_list.
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* - CHANGE_TOOL_NUMBER(): emits EMC_TOOL_SET_NUMBER to interp_list.
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* - RELOAD_TOOLDATA(): emits EMC_TOOL_LOAD_TOOL_TABLE to interp_list.
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* - SET_MOTION_OUTPUT_BIT()/CLEAR_MOTION_OUTPUT_BIT()/SET_AUX_OUTPUT_BIT()/CLEAR_AUX_OUTPUT_BIT():
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* emit EMC_MOTION_SET_DOUT to interp_list.
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* - SET_MOTION_OUTPUT_VALUE()/SET_AUX_OUTPUT_VALUE(): emit EMC_MOTION_SET_AOUT to interp_list.
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* - WAIT(): emits EMC_AUX_INPUT_WAIT to interp_list.
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*
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* Full emccanon.cc owns CanonConfig_t, offsets, unit conversion, interp_list,
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* tags, NURBS, spindle/tool/coolant, and many other canonical callbacks. This
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* subset stops at a canonical linear-move envelope so task-HAL can keep using
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* the existing standalone runtime edge while moving motion generation toward
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* upstream canonical function families.
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*/
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namespace {
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int units_from_external(double external_length_units)
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{
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if (external_length_units > 0.038 && external_length_units < 0.041) {
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return LC_EMCCANON_SUBSET_UNITS_INCHES;
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}
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return LC_EMCCANON_SUBSET_UNITS_MM;
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}
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void set_linear_move(int line, const LcEmcCanonSubsetPose *end, double velocity,
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int motion_type, LcEmcCanonSubsetLinearMove *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetLinearMove{};
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out->line = line;
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out->motion_type = motion_type;
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out->velocity = velocity;
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if (end) {
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out->end = *end;
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}
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}
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void set_spindle_command(int command, int spindle, double speed, int wait_for_at_speed,
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LcEmcCanonSubsetSpindleCommand *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetSpindleCommand{};
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out->command = command;
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out->spindle = spindle;
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out->speed = speed;
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out->wait_for_at_speed = wait_for_at_speed;
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}
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void set_tool_command(int command, int tool, LcEmcCanonSubsetToolCommand *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetToolCommand{};
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out->command = command;
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out->tool = tool;
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}
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void set_output_command(int command, int index, int start, int end, int now,
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double value, LcEmcCanonSubsetOutputCommand *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetOutputCommand{};
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out->command = command;
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out->index = index;
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out->start = start;
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out->end = end;
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out->now = now;
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out->value = value;
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}
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} // namespace
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extern "C" {
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void lc_emccanon_subset_init(double external_length_units,
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double external_angle_units,
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LcEmcCanonSubsetState *state)
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{
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if (!state) {
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return;
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}
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*state = LcEmcCanonSubsetState{};
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state->initialized = 1;
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state->external_length_units = external_length_units == 0.0 ? 1.0 : external_length_units;
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state->external_angle_units = external_angle_units == 0.0 ? 1.0 : external_angle_units;
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state->length_units = units_from_external(state->external_length_units);
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}
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void lc_emccanon_subset_on_reset(LcEmcCanonSubsetState *state)
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{
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if (!state) {
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return;
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}
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state->reset_count += 1;
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state->endpoint = LcEmcCanonSubsetPose{};
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}
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void lc_emccanon_subset_finish(LcEmcCanonSubsetState *state)
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{
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if (!state) {
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return;
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}
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state->finish_count += 1;
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}
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void lc_emccanon_subset_use_length_units(int units,
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LcEmcCanonSubsetState *state)
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{
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if (!state) {
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return;
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}
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state->length_units = units;
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}
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void lc_emccanon_subset_update_endpoint(const LcEmcCanonSubsetPose *position,
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LcEmcCanonSubsetState *state)
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{
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if (!state || !position) {
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return;
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}
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state->endpoint = *position;
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}
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void lc_emccanon_subset_get_external_position(const LcEmcCanonSubsetState *state,
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LcEmcCanonSubsetPose *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetPose{};
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if (state) {
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*out = state->endpoint;
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}
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}
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double lc_emccanon_subset_get_external_length_units(const LcEmcCanonSubsetState *state)
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{
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if (!state || state->external_length_units == 0.0) {
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return 1.0;
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}
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return state->external_length_units;
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}
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double lc_emccanon_subset_get_external_angle_units(const LcEmcCanonSubsetState *state)
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{
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if (!state || state->external_angle_units == 0.0) {
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return 1.0;
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}
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return state->external_angle_units;
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}
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int lc_emccanon_subset_get_external_length_unit_type(const LcEmcCanonSubsetState *state)
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{
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return state ? state->length_units : LC_EMCCANON_SUBSET_UNITS_MM;
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}
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void lc_emccanon_subset_straight_traverse(int line, const LcEmcCanonSubsetPose *end,
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double velocity,
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LcEmcCanonSubsetLinearMove *out)
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{
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set_linear_move(line, end, velocity, LC_EMCCANON_SUBSET_MOTION_TRAVERSE, out);
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}
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void lc_emccanon_subset_straight_feed(int line, const LcEmcCanonSubsetPose *end,
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double velocity,
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LcEmcCanonSubsetLinearMove *out)
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{
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set_linear_move(line, end, velocity, LC_EMCCANON_SUBSET_MOTION_FEED, out);
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}
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void lc_emccanon_subset_dwell(double seconds, LcEmcCanonSubsetDelay *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetDelay{};
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out->seconds = seconds < 0.0 ? 0.0 : seconds;
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}
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void lc_emccanon_subset_set_motion_control_mode(int mode,
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double tolerance,
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LcEmcCanonSubsetTermCond *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetTermCond{};
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out->mode = mode;
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out->tolerance = tolerance < 0.0 ? 0.0 : tolerance;
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switch (mode) {
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case LC_EMCCANON_SUBSET_PATH_CONTINUOUS:
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out->condition = LC_EMCCANON_SUBSET_TERM_BLEND;
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break;
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case LC_EMCCANON_SUBSET_PATH_EXACT_PATH:
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out->condition = LC_EMCCANON_SUBSET_TERM_EXACT;
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break;
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case LC_EMCCANON_SUBSET_PATH_EXACT_STOP:
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default:
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out->condition = LC_EMCCANON_SUBSET_TERM_STOP;
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break;
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}
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}
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void lc_emccanon_subset_set_spindle_speed(int spindle,
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double speed,
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LcEmcCanonSubsetSpindleCommand *out)
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{
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set_spindle_command(
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LC_EMCCANON_SUBSET_SPINDLE_SET_SPEED,
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spindle,
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speed < 0.0 ? 0.0 : speed,
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0,
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out);
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}
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void lc_emccanon_subset_start_spindle_clockwise(int spindle,
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int wait_for_at_speed,
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LcEmcCanonSubsetSpindleCommand *out)
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{
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set_spindle_command(
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LC_EMCCANON_SUBSET_SPINDLE_START_CW,
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spindle,
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0.0,
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wait_for_at_speed ? 1 : 0,
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out);
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}
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void lc_emccanon_subset_start_spindle_counterclockwise(int spindle,
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int wait_for_at_speed,
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LcEmcCanonSubsetSpindleCommand *out)
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{
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set_spindle_command(
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LC_EMCCANON_SUBSET_SPINDLE_START_CCW,
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spindle,
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0.0,
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wait_for_at_speed ? 1 : 0,
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out);
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}
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void lc_emccanon_subset_stop_spindle_turning(int spindle,
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int wait_for_at_speed,
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LcEmcCanonSubsetSpindleCommand *out)
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{
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set_spindle_command(
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LC_EMCCANON_SUBSET_SPINDLE_STOP,
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spindle,
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0.0,
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wait_for_at_speed ? 1 : 0,
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out);
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}
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void lc_emccanon_subset_select_tool(int tool,
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LcEmcCanonSubsetToolCommand *out)
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{
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set_tool_command(LC_EMCCANON_SUBSET_TOOL_PREPARE, tool, out);
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}
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void lc_emccanon_subset_change_tool(LcEmcCanonSubsetToolCommand *out)
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{
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set_tool_command(LC_EMCCANON_SUBSET_TOOL_LOAD, 0, out);
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}
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void lc_emccanon_subset_change_tool_number(int tool,
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LcEmcCanonSubsetToolCommand *out)
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{
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set_tool_command(LC_EMCCANON_SUBSET_TOOL_SET_NUMBER, tool, out);
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}
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void lc_emccanon_subset_reload_tooldata(LcEmcCanonSubsetToolCommand *out)
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{
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set_tool_command(LC_EMCCANON_SUBSET_TOOL_LOAD_TABLE, 0, out);
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}
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void lc_emccanon_subset_set_motion_output_bit(int index,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_BIT,
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index,
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1,
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1,
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0,
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1.0,
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out);
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}
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void lc_emccanon_subset_clear_motion_output_bit(int index,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_CLEAR_MOTION_BIT,
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index,
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0,
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0,
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0,
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0.0,
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out);
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}
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void lc_emccanon_subset_set_aux_output_bit(int index,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_BIT,
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index,
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1,
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1,
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1,
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1.0,
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out);
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}
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void lc_emccanon_subset_clear_aux_output_bit(int index,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_CLEAR_AUX_BIT,
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index,
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0,
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0,
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1,
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0.0,
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out);
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}
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void lc_emccanon_subset_set_motion_output_value(int index,
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double value,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_VALUE,
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index,
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0,
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0,
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0,
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value,
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out);
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}
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void lc_emccanon_subset_set_aux_output_value(int index,
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double value,
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LcEmcCanonSubsetOutputCommand *out)
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{
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set_output_command(
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LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_VALUE,
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index,
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0,
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0,
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1,
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value,
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out);
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}
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void lc_emccanon_subset_wait_input(int index,
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int input_type,
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int wait_type,
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double timeout,
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LcEmcCanonSubsetOutputCommand *out)
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{
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if (!out) {
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return;
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}
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*out = LcEmcCanonSubsetOutputCommand{};
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out->command = LC_EMCCANON_SUBSET_OUTPUT_WAIT;
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out->index = index;
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out->input_type = input_type;
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out->wait_type = wait_type;
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out->timeout = timeout < 0.0 ? 0.0 : timeout;
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}
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const char *lc_emccanon_subset_source_path(void)
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{
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return "src/emc/task/emccanon.cc";
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}
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const char *lc_emccanon_subset_anchor_list(void)
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{
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return "INIT_CANON,ON_RESET,FINISH,USE_LENGTH_UNITS,GET_EXTERNAL_LENGTH_UNITS,GET_EXTERNAL_ANGLE_UNITS,GET_EXTERNAL_POSITION,GET_EXTERNAL_POSITION_X,GET_EXTERNAL_POSITION_Y,GET_EXTERNAL_POSITION_Z,GET_EXTERNAL_POSITION_A,GET_EXTERNAL_POSITION_B,GET_EXTERNAL_POSITION_C,generate_fast_move,generate_move,STRAIGHT_TRAVERSE,STRAIGHT_FEED,DWELL,SET_MOTION_CONTROL_MODE,SET_SPINDLE_SPEED,START_SPINDLE_CLOCKWISE,START_SPINDLE_COUNTERCLOCKWISE,STOP_SPINDLE_TURNING,SELECT_TOOL,CHANGE_TOOL,CHANGE_TOOL_NUMBER,RELOAD_TOOLDATA,SET_MOTION_OUTPUT_BIT,CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT,SET_MOTION_OUTPUT_VALUE,SET_AUX_OUTPUT_VALUE,WAIT";
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}
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const char *lc_emccanon_subset_init_finish_unit_anchor_list(void)
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{
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return "INIT_CANON,ON_RESET,FINISH,USE_LENGTH_UNITS,GET_EXTERNAL_LENGTH_UNITS,GET_EXTERNAL_ANGLE_UNITS,GET_EXTERNAL_POSITION,GET_EXTERNAL_POSITION_X,GET_EXTERNAL_POSITION_Y,GET_EXTERNAL_POSITION_Z,GET_EXTERNAL_POSITION_A,GET_EXTERNAL_POSITION_B,GET_EXTERNAL_POSITION_C";
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}
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const char *lc_emccanon_subset_straight_motion_anchor_list(void)
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{
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return "generate_fast_move,generate_move,STRAIGHT_TRAVERSE,STRAIGHT_FEED,EMC_TRAJ_LINEAR_MOVE,interp_list";
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}
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const char *lc_emccanon_subset_dwell_path_control_anchor_list(void)
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{
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return "DWELL,EMC_TRAJ_DELAY,SET_MOTION_CONTROL_MODE,EMC_TRAJ_SET_TERM_COND,interp_list";
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}
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const char *lc_emccanon_subset_spindle_tool_anchor_list(void)
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{
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return "SET_SPINDLE_SPEED,START_SPINDLE_CLOCKWISE,START_SPINDLE_COUNTERCLOCKWISE,STOP_SPINDLE_TURNING,EMC_SPINDLE_SPEED,EMC_SPINDLE_ON,EMC_SPINDLE_OFF,SELECT_TOOL,CHANGE_TOOL,CHANGE_TOOL_NUMBER,RELOAD_TOOLDATA,EMC_TOOL_PREPARE,EMC_TOOL_LOAD,EMC_TOOL_SET_NUMBER,EMC_TOOL_LOAD_TOOL_TABLE,interp_list";
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}
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const char *lc_emccanon_subset_motion_output_anchor_list(void)
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{
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return "SET_MOTION_OUTPUT_BIT,CLEAR_MOTION_OUTPUT_BIT,SET_AUX_OUTPUT_BIT,CLEAR_AUX_OUTPUT_BIT,SET_MOTION_OUTPUT_VALUE,SET_AUX_OUTPUT_VALUE,WAIT,EMC_MOTION_SET_DOUT,EMC_MOTION_SET_AOUT,EMC_AUX_INPUT_WAIT,interp_list";
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}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,193 +0,0 @@
|
||||
#ifndef LINUXCNC_EMCCANON_WASM_SUBSET_HH
|
||||
#define LINUXCNC_EMCCANON_WASM_SUBSET_HH
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcEmcCanonSubsetMotionType {
|
||||
LC_EMCCANON_SUBSET_MOTION_TRAVERSE = 1,
|
||||
LC_EMCCANON_SUBSET_MOTION_FEED = 2,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetUnits {
|
||||
LC_EMCCANON_SUBSET_UNITS_MM = 1,
|
||||
LC_EMCCANON_SUBSET_UNITS_INCHES = 2,
|
||||
LC_EMCCANON_SUBSET_UNITS_CM = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetPathMode {
|
||||
LC_EMCCANON_SUBSET_PATH_CONTINUOUS = 1,
|
||||
LC_EMCCANON_SUBSET_PATH_EXACT_PATH = 2,
|
||||
LC_EMCCANON_SUBSET_PATH_EXACT_STOP = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetTermCondition {
|
||||
LC_EMCCANON_SUBSET_TERM_BLEND = 1,
|
||||
LC_EMCCANON_SUBSET_TERM_EXACT = 2,
|
||||
LC_EMCCANON_SUBSET_TERM_STOP = 3,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetSpindleCommandType {
|
||||
LC_EMCCANON_SUBSET_SPINDLE_SET_SPEED = 1,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CW = 2,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_START_CCW = 3,
|
||||
LC_EMCCANON_SUBSET_SPINDLE_STOP = 4,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetToolCommandType {
|
||||
LC_EMCCANON_SUBSET_TOOL_PREPARE = 1,
|
||||
LC_EMCCANON_SUBSET_TOOL_LOAD = 2,
|
||||
LC_EMCCANON_SUBSET_TOOL_SET_NUMBER = 3,
|
||||
LC_EMCCANON_SUBSET_TOOL_LOAD_TABLE = 4,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetOutputCommandType {
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_BIT = 1,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_MOTION_BIT = 2,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_BIT = 3,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_CLEAR_AUX_BIT = 4,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_MOTION_VALUE = 5,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_SET_AUX_VALUE = 6,
|
||||
LC_EMCCANON_SUBSET_OUTPUT_WAIT = 7,
|
||||
};
|
||||
|
||||
enum LcEmcCanonSubsetInputType {
|
||||
LC_EMCCANON_SUBSET_INPUT_DIGITAL = 1,
|
||||
LC_EMCCANON_SUBSET_INPUT_ANALOG = 2,
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetPose {
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double a;
|
||||
double b;
|
||||
double c;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetState {
|
||||
int initialized;
|
||||
int finish_count;
|
||||
int reset_count;
|
||||
int length_units;
|
||||
double external_length_units;
|
||||
double external_angle_units;
|
||||
LcEmcCanonSubsetPose endpoint;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetLinearMove {
|
||||
int line;
|
||||
int motion_type;
|
||||
double velocity;
|
||||
LcEmcCanonSubsetPose end;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetDelay {
|
||||
double seconds;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetTermCond {
|
||||
int mode;
|
||||
int condition;
|
||||
double tolerance;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetSpindleCommand {
|
||||
int command;
|
||||
int spindle;
|
||||
double speed;
|
||||
int wait_for_at_speed;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetToolCommand {
|
||||
int command;
|
||||
int tool;
|
||||
};
|
||||
|
||||
struct LcEmcCanonSubsetOutputCommand {
|
||||
int command;
|
||||
int index;
|
||||
int start;
|
||||
int end;
|
||||
int now;
|
||||
double value;
|
||||
int input_type;
|
||||
int wait_type;
|
||||
double timeout;
|
||||
};
|
||||
|
||||
void lc_emccanon_subset_init(double external_length_units,
|
||||
double external_angle_units,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_on_reset(LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_finish(LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_use_length_units(int units,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_update_endpoint(const LcEmcCanonSubsetPose *position,
|
||||
LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_get_external_position(const LcEmcCanonSubsetState *state,
|
||||
LcEmcCanonSubsetPose *out);
|
||||
double lc_emccanon_subset_get_external_length_units(const LcEmcCanonSubsetState *state);
|
||||
double lc_emccanon_subset_get_external_angle_units(const LcEmcCanonSubsetState *state);
|
||||
int lc_emccanon_subset_get_external_length_unit_type(const LcEmcCanonSubsetState *state);
|
||||
void lc_emccanon_subset_straight_traverse(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out);
|
||||
void lc_emccanon_subset_straight_feed(int line, const LcEmcCanonSubsetPose *end,
|
||||
double velocity,
|
||||
LcEmcCanonSubsetLinearMove *out);
|
||||
void lc_emccanon_subset_dwell(double seconds, LcEmcCanonSubsetDelay *out);
|
||||
void lc_emccanon_subset_set_motion_control_mode(int mode,
|
||||
double tolerance,
|
||||
LcEmcCanonSubsetTermCond *out);
|
||||
void lc_emccanon_subset_set_spindle_speed(int spindle,
|
||||
double speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_start_spindle_clockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_start_spindle_counterclockwise(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_stop_spindle_turning(int spindle,
|
||||
int wait_for_at_speed,
|
||||
LcEmcCanonSubsetSpindleCommand *out);
|
||||
void lc_emccanon_subset_select_tool(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_change_tool(LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_change_tool_number(int tool,
|
||||
LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_reload_tooldata(LcEmcCanonSubsetToolCommand *out);
|
||||
void lc_emccanon_subset_set_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_clear_motion_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_clear_aux_output_bit(int index,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_motion_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_set_aux_output_value(int index,
|
||||
double value,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
void lc_emccanon_subset_wait_input(int index,
|
||||
int input_type,
|
||||
int wait_type,
|
||||
double timeout,
|
||||
LcEmcCanonSubsetOutputCommand *out);
|
||||
const char *lc_emccanon_subset_source_path(void);
|
||||
const char *lc_emccanon_subset_anchor_list(void);
|
||||
const char *lc_emccanon_subset_init_finish_unit_anchor_list(void);
|
||||
const char *lc_emccanon_subset_straight_motion_anchor_list(void);
|
||||
const char *lc_emccanon_subset_dwell_path_control_anchor_list(void);
|
||||
const char *lc_emccanon_subset_spindle_tool_anchor_list(void);
|
||||
const char *lc_emccanon_subset_motion_output_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,377 +0,0 @@
|
||||
#include "emctask_wasm_subset.hh"
|
||||
|
||||
#include <cstring>
|
||||
|
||||
/*
|
||||
* WASM task subset derived from LinuxCNC src/emc/task/emctask.cc.
|
||||
*
|
||||
* Upstream anchors:
|
||||
* - emcTaskAbort(): clears interpreter/task execution state and resynchronizes the plan.
|
||||
* - emcTaskSetMode(): switches manual/mdi/auto task mode and synchronizes trajectory mode.
|
||||
* - emcTaskSetState(): switches estop/off/on state and issues motion enable/disable/abort edges.
|
||||
* - determineMode(): traj mode + mdiOrAuto -> task mode.
|
||||
* - determineState(): traj enabled + io estop -> task state.
|
||||
* - emcTaskUpdate(): writes task mode/state and motionLine from motion id.
|
||||
* - emcTaskPlanSetWait()/IsWait()/ClearWait(): own the interpreter wait flag.
|
||||
* - emcTaskPlanSynch()/Open()/Close()/Reset(): synchronize, open, close, and reset the interpreter plan.
|
||||
* - emcTaskPlanRead()/Execute()/Line()/Level()/Command(): read interpreter lines,
|
||||
* expose line/command metadata, and append executed work to interp_list.
|
||||
*
|
||||
* This file is intentionally narrow. Full emctask.cc also owns interpreter,
|
||||
* NML, dynamic loading, IO, and native process edges that are not part of this
|
||||
* standalone WASM subset yet.
|
||||
*/
|
||||
|
||||
namespace {
|
||||
|
||||
int determine_mode(int traj_mode, int mdi_or_auto)
|
||||
{
|
||||
if (traj_mode == LC_EMC_TASK_SUBSET_TRAJ_FREE) {
|
||||
return LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
}
|
||||
if (traj_mode == LC_EMC_TASK_SUBSET_TRAJ_TELEOP) {
|
||||
return LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
}
|
||||
return mdi_or_auto;
|
||||
}
|
||||
|
||||
int determine_state(int traj_enabled, int io_estop)
|
||||
{
|
||||
if (io_estop) {
|
||||
return LC_EMC_TASK_SUBSET_STATE_ESTOP;
|
||||
}
|
||||
if (!traj_enabled) {
|
||||
return LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET;
|
||||
}
|
||||
return LC_EMC_TASK_SUBSET_STATE_ON;
|
||||
}
|
||||
|
||||
void clear_command_result(LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetCommandResult{};
|
||||
}
|
||||
|
||||
void clear_plan_result(LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetPlanResult{};
|
||||
}
|
||||
|
||||
void clear_plan_io_result(LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
*result = LcEmcTaskSubsetPlanIoResult{};
|
||||
}
|
||||
|
||||
void copy_plan_state(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
result->wait_flag = state->wait_flag;
|
||||
result->taskplanopen = state->taskplanopen;
|
||||
result->line = state->read_line;
|
||||
result->level = state->level;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" {
|
||||
|
||||
void lc_emctask_subset_update(const LcEmcTaskSubsetUpdateInput *input,
|
||||
LcEmcTaskSubsetUpdateResult *result)
|
||||
{
|
||||
if (!input || !result) {
|
||||
return;
|
||||
}
|
||||
result->mode = determine_mode(input->traj_mode, input->mdi_or_auto);
|
||||
result->state = determine_state(input->traj_enabled, input->io_estop);
|
||||
result->should_abort_on_state_drop =
|
||||
input->old_task_state == LC_EMC_TASK_SUBSET_STATE_ON &&
|
||||
result->state != LC_EMC_TASK_SUBSET_STATE_ON;
|
||||
result->motion_line = input->motion_id > 0 ? input->motion_id : 0;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_abort(LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_plan_synch = 1;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_set_mode(int mode,
|
||||
int all_homed,
|
||||
int jogging_active,
|
||||
LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
if (jogging_active) {
|
||||
result->mode = mode;
|
||||
return;
|
||||
}
|
||||
switch (mode) {
|
||||
case LC_EMC_TASK_SUBSET_MODE_MANUAL:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_MANUAL;
|
||||
result->traj_mode = all_homed ? LC_EMC_TASK_SUBSET_TRAJ_TELEOP : LC_EMC_TASK_SUBSET_TRAJ_FREE;
|
||||
result->should_clear_interpreter = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_MODE_MDI:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_MDI;
|
||||
result->traj_mode = LC_EMC_TASK_SUBSET_TRAJ_COORD;
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_MODE_AUTO:
|
||||
result->mode = LC_EMC_TASK_SUBSET_MODE_AUTO;
|
||||
result->traj_mode = LC_EMC_TASK_SUBSET_TRAJ_COORD;
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
default:
|
||||
result->retval = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lc_emctask_subset_set_state(int state,
|
||||
int old_state,
|
||||
LcEmcTaskSubsetCommandResult *result)
|
||||
{
|
||||
(void)old_state;
|
||||
clear_command_result(result);
|
||||
if (!result) {
|
||||
return;
|
||||
}
|
||||
result->state = state;
|
||||
switch (state) {
|
||||
case LC_EMC_TASK_SUBSET_STATE_OFF:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_traj_disable = 1;
|
||||
result->should_reset_homing = 1;
|
||||
result->should_unhome = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ON:
|
||||
result->should_traj_enable = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
case LC_EMC_TASK_SUBSET_STATE_ESTOP:
|
||||
result->should_clear_interpreter = 1;
|
||||
result->should_abort_motion = 1;
|
||||
result->should_traj_disable = 1;
|
||||
result->should_reset_homing = 1;
|
||||
result->should_unhome = 1;
|
||||
result->should_plan_synch = 1;
|
||||
break;
|
||||
default:
|
||||
result->retval = -1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_set_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_is_wait(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->wait_flag : 0;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_clear_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 0;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_synch(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
result->should_synch = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_open(const char *file,
|
||||
int staged_file_available,
|
||||
LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result || !file || !staged_file_available) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
state->motion_line = 0;
|
||||
state->current_line = 0;
|
||||
state->read_line = 0;
|
||||
state->taskplanopen = 1;
|
||||
result->should_reset_lines = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_close(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->taskplanopen = 0;
|
||||
result->should_close = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_reset(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result)
|
||||
{
|
||||
clear_plan_result(result);
|
||||
if (!state || !result) {
|
||||
return;
|
||||
}
|
||||
state->wait_flag = 0;
|
||||
state->read_line = 0;
|
||||
state->current_line = 0;
|
||||
state->motion_line = 0;
|
||||
result->should_reset = 1;
|
||||
result->should_reset_lines = 1;
|
||||
copy_plan_state(state, result);
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_read(const LcEmcTaskSubsetPlanState *state,
|
||||
int next_line,
|
||||
int line_count,
|
||||
LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
clear_plan_io_result(result);
|
||||
if (!state || !result || !state->taskplanopen) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (state->wait_flag) {
|
||||
result->retval = 2;
|
||||
result->should_set_wait = 1;
|
||||
result->line = state->read_line;
|
||||
result->level = state->level;
|
||||
return;
|
||||
}
|
||||
if (next_line < 0 || next_line >= line_count) {
|
||||
result->retval = 1;
|
||||
result->should_set_wait = 1;
|
||||
result->line = 0;
|
||||
result->level = state->level;
|
||||
return;
|
||||
}
|
||||
result->retval = 0;
|
||||
result->line = next_line + 1;
|
||||
result->level = state->level;
|
||||
result->should_execute = 1;
|
||||
}
|
||||
|
||||
void lc_emctask_subset_plan_execute(const char *command,
|
||||
int mdi,
|
||||
int inpos,
|
||||
int line_number,
|
||||
LcEmcTaskSubsetPlanIoResult *result)
|
||||
{
|
||||
clear_plan_io_result(result);
|
||||
if (!result || !command) {
|
||||
if (result) {
|
||||
result->retval = -1;
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (mdi && command[0] != '\0' && inpos) {
|
||||
result->should_synch_before_execute = 1;
|
||||
}
|
||||
result->retval = 0;
|
||||
result->line = line_number > 0 ? line_number : 0;
|
||||
result->level = 0;
|
||||
result->should_append_to_interp_list = command[0] != '\0';
|
||||
result->should_finish = mdi ? 1 : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_line(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->read_line : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_level(const LcEmcTaskSubsetPlanState *state)
|
||||
{
|
||||
return state ? state->level : 0;
|
||||
}
|
||||
|
||||
int lc_emctask_subset_plan_command(const char *command, char *out, int out_len)
|
||||
{
|
||||
if (!command || !out || out_len <= 0) {
|
||||
return -1;
|
||||
}
|
||||
std::strncpy(out, command, static_cast<std::size_t>(out_len - 1));
|
||||
out[out_len - 1] = '\0';
|
||||
return 0;
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_source_path(void)
|
||||
{
|
||||
return "src/emc/task/emctask.cc";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_anchor_list(void)
|
||||
{
|
||||
return "emcTaskAbort,emcTaskSetMode,emcTaskSetState,determineMode,determineState,emcTaskUpdate,emcTaskPlanSetWait,emcTaskPlanIsWait,emcTaskPlanClearWait,emcTaskPlanSynch,emcTaskPlanOpen,emcTaskPlanClose,emcTaskPlanReset,emcTaskPlanRead,emcTaskPlanExecute,emcTaskPlanLine,emcTaskPlanLevel,emcTaskPlanCommand";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_state_mode_anchor_list(void)
|
||||
{
|
||||
return "emcTaskAbort,emcTaskSetMode,emcTaskSetState,emcTaskPlanSynch,emcTaskPlanClose,emcTaskPlanReset";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_plan_anchor_list(void)
|
||||
{
|
||||
return "emcTaskPlanSetWait,emcTaskPlanIsWait,emcTaskPlanClearWait,emcTaskPlanSynch,emcTaskPlanOpen,emcTaskPlanClose,emcTaskPlanReset";
|
||||
}
|
||||
|
||||
const char *lc_emctask_subset_plan_read_execute_anchor_list(void)
|
||||
{
|
||||
return "emcTaskPlanRead,emcTaskPlanExecute,emcTaskPlanLine,emcTaskPlanLevel,emcTaskPlanCommand,interp_list";
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,136 +0,0 @@
|
||||
#ifndef LINUXCNC_EMCTASK_WASM_SUBSET_HH
|
||||
#define LINUXCNC_EMCTASK_WASM_SUBSET_HH
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcEmcTaskSubsetMode {
|
||||
LC_EMC_TASK_SUBSET_MODE_MANUAL = 1,
|
||||
LC_EMC_TASK_SUBSET_MODE_AUTO = 2,
|
||||
LC_EMC_TASK_SUBSET_MODE_MDI = 3,
|
||||
};
|
||||
|
||||
enum LcEmcTaskSubsetState {
|
||||
LC_EMC_TASK_SUBSET_STATE_ESTOP = 1,
|
||||
LC_EMC_TASK_SUBSET_STATE_ESTOP_RESET = 2,
|
||||
LC_EMC_TASK_SUBSET_STATE_ON = 3,
|
||||
LC_EMC_TASK_SUBSET_STATE_OFF = 4,
|
||||
};
|
||||
|
||||
enum LcEmcTaskSubsetTrajMode {
|
||||
LC_EMC_TASK_SUBSET_TRAJ_FREE = 1,
|
||||
LC_EMC_TASK_SUBSET_TRAJ_TELEOP = 2,
|
||||
LC_EMC_TASK_SUBSET_TRAJ_COORD = 3,
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetUpdateInput {
|
||||
int traj_mode;
|
||||
int mdi_or_auto;
|
||||
int traj_enabled;
|
||||
int io_estop;
|
||||
int old_task_state;
|
||||
int motion_id;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetUpdateResult {
|
||||
int mode;
|
||||
int state;
|
||||
int should_abort_on_state_drop;
|
||||
int motion_line;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetCommandResult {
|
||||
int retval;
|
||||
int mode;
|
||||
int state;
|
||||
int traj_mode;
|
||||
int should_clear_interpreter;
|
||||
int should_abort_motion;
|
||||
int should_traj_enable;
|
||||
int should_traj_disable;
|
||||
int should_reset_homing;
|
||||
int should_unhome;
|
||||
int should_plan_synch;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanState {
|
||||
int wait_flag;
|
||||
int taskplanopen;
|
||||
int motion_line;
|
||||
int current_line;
|
||||
int read_line;
|
||||
int level;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanResult {
|
||||
int retval;
|
||||
int wait_flag;
|
||||
int taskplanopen;
|
||||
int should_reset_lines;
|
||||
int should_synch;
|
||||
int should_close;
|
||||
int should_reset;
|
||||
int line;
|
||||
int level;
|
||||
};
|
||||
|
||||
struct LcEmcTaskSubsetPlanIoResult {
|
||||
int retval;
|
||||
int line;
|
||||
int level;
|
||||
int should_execute;
|
||||
int should_set_wait;
|
||||
int should_synch_before_execute;
|
||||
int should_finish;
|
||||
int should_append_to_interp_list;
|
||||
};
|
||||
|
||||
void lc_emctask_subset_update(const LcEmcTaskSubsetUpdateInput *input,
|
||||
LcEmcTaskSubsetUpdateResult *result);
|
||||
void lc_emctask_subset_abort(LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_set_mode(int mode,
|
||||
int all_homed,
|
||||
int jogging_active,
|
||||
LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_set_state(int state,
|
||||
int old_state,
|
||||
LcEmcTaskSubsetCommandResult *result);
|
||||
void lc_emctask_subset_plan_set_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
int lc_emctask_subset_plan_is_wait(const LcEmcTaskSubsetPlanState *state);
|
||||
void lc_emctask_subset_plan_clear_wait(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_synch(const LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_open(const char *file,
|
||||
int staged_file_available,
|
||||
LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_close(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_reset(LcEmcTaskSubsetPlanState *state,
|
||||
LcEmcTaskSubsetPlanResult *result);
|
||||
void lc_emctask_subset_plan_read(const LcEmcTaskSubsetPlanState *state,
|
||||
int next_line,
|
||||
int line_count,
|
||||
LcEmcTaskSubsetPlanIoResult *result);
|
||||
void lc_emctask_subset_plan_execute(const char *command,
|
||||
int mdi,
|
||||
int inpos,
|
||||
int line_number,
|
||||
LcEmcTaskSubsetPlanIoResult *result);
|
||||
int lc_emctask_subset_plan_line(const LcEmcTaskSubsetPlanState *state);
|
||||
int lc_emctask_subset_plan_level(const LcEmcTaskSubsetPlanState *state);
|
||||
int lc_emctask_subset_plan_command(const char *command, char *out, int out_len);
|
||||
const char *lc_emctask_subset_source_path(void);
|
||||
const char *lc_emctask_subset_anchor_list(void);
|
||||
const char *lc_emctask_subset_state_mode_anchor_list(void);
|
||||
const char *lc_emctask_subset_plan_anchor_list(void);
|
||||
const char *lc_emctask_subset_plan_read_execute_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -1,241 +0,0 @@
|
||||
#include "taskintf_wasm_subset.hh"
|
||||
|
||||
/*
|
||||
* WASM task-to-motion subset derived from LinuxCNC src/emc/task/taskintf.cc.
|
||||
*
|
||||
* Upstream anchors:
|
||||
* - emcMotionInit(): initialize traj/joint/axis/spindle motion edge.
|
||||
* - emcMotionUpdate(): read usrmot status/config/internal/error into EMC_MOTION_STAT.
|
||||
* - emcMotionAbort(): jog abort + traj abort through the motion interface.
|
||||
* - emcTrajSetMotionId/Enable/Disable/Abort/Pause/Step/Resume(): set EMCMOT_* command and write it.
|
||||
* - emcTrajLinearMove(): populate line motion command fields.
|
||||
* - emcJogIncr(): populate jog increment command fields.
|
||||
* - emcJointHome()/emcJointUnhome(): populate joint home command fields.
|
||||
* - emcMotionSetAout(): populate analog-output motion command fields.
|
||||
*
|
||||
* The full upstream file owns usrmot, NML, INI config, and native motion
|
||||
* process edges. This subset stops at the command envelope boundary so the
|
||||
* standalone WASM runtime can forward through lcmot_* without owning LinuxCNC
|
||||
* motion semantics in the task layer.
|
||||
*/
|
||||
|
||||
namespace {
|
||||
|
||||
void clear_command(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
*out = LcTaskIntfSubsetMotionCommand{};
|
||||
}
|
||||
|
||||
void set_simple(int command, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = command;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" {
|
||||
|
||||
void lc_taskintf_subset_traj_abort(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_ABORT, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_enable(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_disable(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_set_motion_id(int id, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID;
|
||||
out->motion_id = id;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_pause(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_PAUSE, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_step(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_STEP, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_traj_resume(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
set_simple(LC_TASKINTF_SUBSET_COMMAND_TRAJ_RESUME, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_joint_home(int joint, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOINT_HOME;
|
||||
out->joint = joint;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_joint_unhome(int joint, LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOINT_UNHOME;
|
||||
out->joint = joint;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_jog_incr(int axis, double distance, double velocity,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_jog_incr_ex(axis, distance, velocity, 0, 0, out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_jog_incr_ex(int nr, double distance, double velocity,
|
||||
int joint_jog_mode, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_JOG_INCR;
|
||||
out->axis = joint_jog_mode ? -1 : nr;
|
||||
out->joint = joint_jog_mode ? nr : -1;
|
||||
out->distance = distance;
|
||||
out->velocity = velocity;
|
||||
out->motion_id = motion_id;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_set_aout(int index, double start, double end, int now,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_SET_AOUT;
|
||||
out->aout_index = index;
|
||||
out->aout_now = now;
|
||||
out->aout_start = start;
|
||||
out->aout_end = end;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_linear_move(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_linear_move_ex(
|
||||
line,
|
||||
pose,
|
||||
velocity,
|
||||
motion_type,
|
||||
velocity,
|
||||
0.0,
|
||||
0.0,
|
||||
line,
|
||||
out);
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_linear_move_ex(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
double ini_maxvel, double acceleration,
|
||||
double ini_maxjerk, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
clear_command(out);
|
||||
if (!out) {
|
||||
return;
|
||||
}
|
||||
out->command = LC_TASKINTF_SUBSET_COMMAND_TRAJ_LINEAR_MOVE;
|
||||
out->line = line;
|
||||
out->motion_type = motion_type;
|
||||
out->motion_id = motion_id;
|
||||
out->velocity = velocity;
|
||||
out->ini_maxvel = ini_maxvel;
|
||||
out->acceleration = acceleration;
|
||||
out->ini_maxjerk = ini_maxjerk;
|
||||
if (pose) {
|
||||
out->pose = *pose;
|
||||
}
|
||||
}
|
||||
|
||||
int lc_taskintf_subset_motion_init(const char *ini_path, const char *ini_text)
|
||||
{
|
||||
return lcmot_init_from_ini(ini_path, ini_text);
|
||||
}
|
||||
|
||||
int lc_taskintf_subset_motion_update(LcmotStatusSnapshot *status,
|
||||
LcmotConfigSnapshot *config,
|
||||
char *error_text,
|
||||
int error_text_len)
|
||||
{
|
||||
if (!status || !config) {
|
||||
return -1;
|
||||
}
|
||||
if (lcmot_read_status_snapshot(status) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (lcmot_read_config_snapshot(config) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (error_text && error_text_len > 0) {
|
||||
error_text[0] = '\0';
|
||||
(void)lcmot_read_error_message(error_text, error_text_len);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void lc_taskintf_subset_motion_abort(LcTaskIntfSubsetMotionCommand *out)
|
||||
{
|
||||
lc_taskintf_subset_traj_abort(out);
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_source_path(void)
|
||||
{
|
||||
return "src/emc/task/taskintf.cc";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_anchor_list(void)
|
||||
{
|
||||
return "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume,emcTrajLinearMove,emcJogIncr,emcJointHome,emcJointUnhome,emcMotionSetAout";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_motion_bridge_anchor_list(void)
|
||||
{
|
||||
return "emcMotionInit,emcMotionUpdate,emcMotionAbort,usrmotReadEmcmotStatus,usrmotReadEmcmotConfig,usrmotReadEmcmotError";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_traj_control_anchor_list(void)
|
||||
{
|
||||
return "emcTrajSetMotionId,emcTrajEnable,emcTrajDisable,emcTrajAbort,emcTrajPause,emcTrajStep,emcTrajResume";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_linear_move_anchor_list(void)
|
||||
{
|
||||
return "emcTrajLinearMove,EMCMOT_SET_LINE,usrmotWriteEmcmotCommand";
|
||||
}
|
||||
|
||||
const char *lc_taskintf_subset_jog_home_switchkins_anchor_list(void)
|
||||
{
|
||||
return "emcJogIncr,emcJointHome,emcJointUnhome,emcMotionSetAout,EMCMOT_JOG_INCR,EMCMOT_JOINT_HOME,EMCMOT_JOINT_UNHOME,EMCMOT_SET_AOUT,usrmotWriteEmcmotCommand";
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
@@ -1,95 +0,0 @@
|
||||
#ifndef LINUXCNC_TASKINTF_WASM_SUBSET_HH
|
||||
#define LINUXCNC_TASKINTF_WASM_SUBSET_HH
|
||||
|
||||
#include "linuxcnc_motion_runtime.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
enum LcTaskIntfSubsetCommand {
|
||||
LC_TASKINTF_SUBSET_COMMAND_NONE = 0,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_ABORT = 1,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_PAUSE = 2,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_STEP = 3,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_RESUME = 4,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_LINEAR_MOVE = 5,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOG_INCR = 6,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOINT_HOME = 7,
|
||||
LC_TASKINTF_SUBSET_COMMAND_SET_AOUT = 8,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_ENABLE = 9,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_DISABLE = 10,
|
||||
LC_TASKINTF_SUBSET_COMMAND_TRAJ_SET_MOTION_ID = 11,
|
||||
LC_TASKINTF_SUBSET_COMMAND_JOINT_UNHOME = 12,
|
||||
};
|
||||
|
||||
struct LcTaskIntfSubsetPose {
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double a;
|
||||
double b;
|
||||
double c;
|
||||
};
|
||||
|
||||
struct LcTaskIntfSubsetMotionCommand {
|
||||
int command;
|
||||
int line;
|
||||
int axis;
|
||||
int joint;
|
||||
int motion_type;
|
||||
int aout_index;
|
||||
int aout_now;
|
||||
int motion_id;
|
||||
double velocity;
|
||||
double ini_maxvel;
|
||||
double acceleration;
|
||||
double ini_maxjerk;
|
||||
double distance;
|
||||
double aout_start;
|
||||
double aout_end;
|
||||
LcTaskIntfSubsetPose pose;
|
||||
};
|
||||
|
||||
void lc_taskintf_subset_traj_abort(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_enable(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_disable(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_set_motion_id(int id, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_pause(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_step(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_traj_resume(LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_joint_home(int joint, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_joint_unhome(int joint, LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_jog_incr(int axis, double distance, double velocity,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_jog_incr_ex(int nr, double distance, double velocity,
|
||||
int joint_jog_mode, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_set_aout(int index, double start, double end, int now,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_linear_move(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
void lc_taskintf_subset_linear_move_ex(int line, const LcTaskIntfSubsetPose *pose,
|
||||
double velocity, int motion_type,
|
||||
double ini_maxvel, double acceleration,
|
||||
double ini_maxjerk, int motion_id,
|
||||
LcTaskIntfSubsetMotionCommand *out);
|
||||
int lc_taskintf_subset_motion_init(const char *ini_path, const char *ini_text);
|
||||
int lc_taskintf_subset_motion_update(LcmotStatusSnapshot *status,
|
||||
LcmotConfigSnapshot *config,
|
||||
char *error_text,
|
||||
int error_text_len);
|
||||
void lc_taskintf_subset_motion_abort(LcTaskIntfSubsetMotionCommand *out);
|
||||
const char *lc_taskintf_subset_source_path(void);
|
||||
const char *lc_taskintf_subset_anchor_list(void);
|
||||
const char *lc_taskintf_subset_motion_bridge_anchor_list(void);
|
||||
const char *lc_taskintf_subset_traj_control_anchor_list(void);
|
||||
const char *lc_taskintf_subset_linear_move_anchor_list(void);
|
||||
const char *lc_taskintf_subset_jog_home_switchkins_anchor_list(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user