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docs: add axis run process working set

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wangdequan
2026-07-07 16:46:39 -04:00
parent 8b6be369ff
commit 39b495cf16
672 changed files with 280923 additions and 59 deletions
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106
web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js vendored
View File

@@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) {
{ type: "EMC_TASK_PLAN_PAUSE" },
], {
operatorMessage: "task/HAL program paused",
preserveMachine: pausedMachine,
}).then((status) => {
if (isTaskHalStatusPaused(status)) {
startTaskHalStatusLoop({
batchSize: 1,
operatorMessage: "task/HAL paused status monitor running",
});
}
}).catch(() => {});
break;
}
@@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) {
{ type: "EMC_TASK_PLAN_RESUME" },
], {
operatorMessage: "task/HAL program resumed",
preserveMachine: resumedMachine,
}).then((status) => {
if (shouldContinueTaskHalStatusLoop(state, status)) {
startTaskHalStatusLoop({
@@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) {
};
const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => {
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
return state.rtcpFrame;
}
if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") {
return state.rtcpFrame;
}
@@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) {
if (state.asyncFrameRefreshSequence !== sequence) {
return state.rtcpFrame;
}
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
state = {
...state,
asyncFrameRefreshPending: false,
};
notify();
return state.rtcpFrame;
}
const frame = buildRtcpFrame({
axisPose: state.axisPose,
activeLine: state.activeLine,
@@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) {
};
const scheduleAsyncKinematicsRefresh = () => {
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null;
if (state.asyncFrameRefreshPending) return null;
if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
@@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const ui = status?.ui || {};
const task = status?.task || {};
const motion = status?.motionStatus?.motion || {};
const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
? "on"
: rawTaskState;
const taskMode = pauseLock
const taskMode = statusPaused
? programControlModeForMachine(state.machine)
: normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
const manualPanel = taskMode === "manual"
? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
: null;
const interpState = pauseLock
const interpState = statusPaused
? "paused"
: Object.hasOwn(preserveMachine || {}, "interpState")
? normalizeTaskHalInterpState(preserveMachine.interpState)
: normalizeTaskHalInterpState(ui.interpState || task.interpState);
: statusInterpState;
const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
const kinsType = resolveTaskHalKinsType(state, status, activeLine);
const motionPaused = Boolean(pauseLock) ||
ui.motionPaused === true ||
motion.paused === true ||
preserveMachine?.motionPaused === true;
const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true;
const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused;
const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
const paused = interpState === "paused" || motionPaused || taskPaused;
const interpResumeState = normalizeTaskHalInterpState(
ui.interpResumeState ||
task.interpResumeState ||
(paused ? state.machine.interpResumeState || "reading" : interpState),
);
const axisPose = pauseLock?.axisPose
? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
: paused
? clampAxisPoseToProfile(state.axisPose, state.profile)
const displayPauseLock = paused && state.taskHalPauseLock?.active === true
? state.taskHalPauseLock
: null;
const axisPose = displayPauseLock?.axisPose
? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile)
: preserveAxisPose
? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
: resolveTaskHalAxisPose(state, status);
: resolveTaskHalAxisPose(state, status, { paused, runState: state.runState });
const currentVelocity = paused
? 0
: Number.isFinite(ui.currentVelocity)
@@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const shouldTrackProgramPlayback = runState === "running"
|| runState === "mdi"
|| (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
const taskHalSampleIndex = pauseLock
const taskHalSampleIndex = displayPauseLock
? clampNumber(
pauseLock.sampleIndex,
displayPauseLock.sampleIndex,
0,
Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
)
@@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const idleRuntimeFeedback = {
...runtimeFeedback,
sampleIndex: taskHalSampleIndex,
motionIndex: pauseLock
? Number(pauseLock.motionIndex || 0)
motionIndex: displayPauseLock
? Number(displayPauseLock.motionIndex || 0)
: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
...(paused ? {
axisPose,
tcp: {
x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0),
y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0),
z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0),
},
} : {}),
};
@@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
axisPose,
kinsType,
rtcpState: rtcpStateFromKinsType(kinsType),
motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
sampleIndex: taskHalSampleIndex,
runtimeFeedback: {
...runtimeFeedback,
sampleIndex: taskHalSampleIndex,
motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
axisPose,
currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
@@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
? createProgramUiExecution({
...state,
axisPose,
tcpPose: displayPauseLock?.tcpPose || state.tcpPose,
rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame,
kinsType: kinsType || state.kinsType,
programExecutionSampleIndex: taskHalSampleIndex,
programRuntimeFeedback: idleRuntimeFeedback,
@@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const loopActive = state.taskHalStatusLoop?.active === true
&& loopSequence !== null
&& Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
&& (runState === "running" || runState === "mdi");
&& (runState === "running" || runState === "mdi" || runState === "paused");
const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0);
const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100);
const lineStatus = runState === "complete"
@@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
return {
taskHalStatus: status,
taskHalExecutionPending: false,
taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null,
taskHalFallbackReason: null,
pendingJogCommand: null,
...taskHalPlaybackPatch,
...(displayPauseLock ? {
tcpPose: displayPauseLock.tcpPose,
rtcpFrame: displayPauseLock.rtcpFrame,
dro: displayPauseLock.dro,
} : {}),
programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
machine: {
...state.machine,
@@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
const complete = interpState === "idle"
&& Number(task.nextProgramLine || 0) >= openedProgramLineCount;
if (paused) {
return state.runState === "paused" ||
state.machine?.interpState === "paused" ||
state.machine?.taskPaused === true ||
state.machine?.motionPaused === true;
}
return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi");
}
function isTaskHalStatusPaused(status = {}) {
const ui = status?.ui || {};
const task = status?.task || {};
const motion = status?.motionStatus?.motion || {};
return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
ui.motionPaused === true ||
ui.taskPaused === true ||
motion.paused === true ||
task.taskPaused === true;
}
function isTaskHalRunPausedByOperator(state = {}) {
return state.runState === "paused"
|| state.machine?.interpState === "paused"
@@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") {
y: Number(state.tcpPose?.y || 0),
z: Number(state.tcpPose?.z || 0),
},
rtcpFrame: state.rtcpFrame,
dro: state.dro,
semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
};
}
@@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) {
return candidate;
}
function resolveTaskHalAxisPose(state, status) {
function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) {
const ui = status?.ui || {};
const axisPose = ui.axisPose;
if (!axisPose || typeof axisPose !== "object") {
@@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) {
return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
}
if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) {
return state.axisPose;
}
if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) {
return state.axisPose;
}

106
web-rtcp-5axis-xyzbc-trt-sim-plan/app/src/state/store.js
View File

@@ -1781,7 +1781,13 @@ export function createSimulationStore(seed = {}) {
{ type: "EMC_TASK_PLAN_PAUSE" },
], {
operatorMessage: "task/HAL program paused",
preserveMachine: pausedMachine,
}).then((status) => {
if (isTaskHalStatusPaused(status)) {
startTaskHalStatusLoop({
batchSize: 1,
operatorMessage: "task/HAL paused status monitor running",
});
}
}).catch(() => {});
break;
}
@@ -1858,7 +1864,6 @@ export function createSimulationStore(seed = {}) {
{ type: "EMC_TASK_PLAN_RESUME" },
], {
operatorMessage: "task/HAL program resumed",
preserveMachine: resumedMachine,
}).then((status) => {
if (shouldContinueTaskHalStatusLoop(state, status)) {
startTaskHalStatusLoop({
@@ -2274,6 +2279,9 @@ export function createSimulationStore(seed = {}) {
};
const refreshAsyncKinematicsFrame = async ({ operatorMessage = state.operatorMessage } = {}) => {
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
return state.rtcpFrame;
}
if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") {
return state.rtcpFrame;
}
@@ -2296,6 +2304,14 @@ export function createSimulationStore(seed = {}) {
if (state.asyncFrameRefreshSequence !== sequence) {
return state.rtcpFrame;
}
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) {
state = {
...state,
asyncFrameRefreshPending: false,
};
notify();
return state.rtcpFrame;
}
const frame = buildRtcpFrame({
axisPose: state.axisPose,
activeLine: state.activeLine,
@@ -2988,6 +3004,7 @@ export function createSimulationStore(seed = {}) {
};
const scheduleAsyncKinematicsRefresh = () => {
if (state.taskHalPauseLock?.active === true || isTaskHalRunPausedByOperator(state)) return null;
if (state.asyncFrameRefreshPending) return null;
if (state.desiredFrameSourceMode !== "source-derived-kinematics-wasm") return null;
if (!state.kinematicsRuntime?.loaded || !isAsyncKinematicsRuntime(state.kinematicsRuntime)) return null;
@@ -3779,43 +3796,44 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const ui = status?.ui || {};
const task = status?.task || {};
const motion = status?.motionStatus?.motion || {};
const pauseLock = state.taskHalPauseLock?.active === true ? state.taskHalPauseLock : null;
const statusInterpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
const statusMotionPaused = ui.motionPaused === true || motion.paused === true;
const statusTaskPaused = ui.taskPaused === true || task.taskPaused === true;
const statusPaused = statusInterpState === "paused" || statusMotionPaused || statusTaskPaused;
const rawTaskState = normalizeTaskHalTaskState(ui.taskState || task.state);
const taskState = preserveMachine?.powerOn && rawTaskState === "estop-reset"
? "on"
: rawTaskState;
const taskMode = pauseLock
const taskMode = statusPaused
? programControlModeForMachine(state.machine)
: normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
const manualPanel = taskMode === "manual"
? (preserveMachine?.manualPanel || state.machine.manualPanel || "manual")
: null;
const interpState = pauseLock
const interpState = statusPaused
? "paused"
: Object.hasOwn(preserveMachine || {}, "interpState")
? normalizeTaskHalInterpState(preserveMachine.interpState)
: normalizeTaskHalInterpState(ui.interpState || task.interpState);
: statusInterpState;
const allHomed = Boolean(preserveMachine?.allHomed ?? state.machine.allHomed);
const activeLine = state.programStartLine + Math.max(Number(ui.activeLine || 1) - 1, 0);
const kinsType = resolveTaskHalKinsType(state, status, activeLine);
const motionPaused = Boolean(pauseLock) ||
ui.motionPaused === true ||
motion.paused === true ||
preserveMachine?.motionPaused === true;
const taskPaused = ui.taskPaused === true || task.taskPaused === true || preserveMachine?.taskPaused === true;
const paused = Boolean(pauseLock) || interpState === "paused" || motionPaused || taskPaused;
const motionPaused = statusMotionPaused || preserveMachine?.motionPaused === true;
const taskPaused = statusTaskPaused || preserveMachine?.taskPaused === true;
const paused = interpState === "paused" || motionPaused || taskPaused;
const interpResumeState = normalizeTaskHalInterpState(
ui.interpResumeState ||
task.interpResumeState ||
(paused ? state.machine.interpResumeState || "reading" : interpState),
);
const axisPose = pauseLock?.axisPose
? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
: paused
? clampAxisPoseToProfile(state.axisPose, state.profile)
const displayPauseLock = paused && state.taskHalPauseLock?.active === true
? state.taskHalPauseLock
: null;
const axisPose = displayPauseLock?.axisPose
? clampAxisPoseToProfile(displayPauseLock.axisPose, state.profile)
: preserveAxisPose
? clampAxisPoseToProfile({ ...state.axisPose, ...preserveAxisPose }, state.profile)
: resolveTaskHalAxisPose(state, status);
: resolveTaskHalAxisPose(state, status, { paused, runState: state.runState });
const currentVelocity = paused
? 0
: Number.isFinite(ui.currentVelocity)
@@ -3841,9 +3859,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const shouldTrackProgramPlayback = runState === "running"
|| runState === "mdi"
|| (runState === "complete" && (state.runState === "running" || state.runState === "mdi" || state.runState === "complete"));
const taskHalSampleIndex = pauseLock
const taskHalSampleIndex = displayPauseLock
? clampNumber(
pauseLock.sampleIndex,
displayPauseLock.sampleIndex,
0,
Math.max(Number(state.programAxisPreviewPath?.samples?.length || state.programAxisPreviewPath?.sampleCount || 1) - 1, 0),
)
@@ -3857,15 +3875,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const idleRuntimeFeedback = {
...runtimeFeedback,
sampleIndex: taskHalSampleIndex,
motionIndex: pauseLock
? Number(pauseLock.motionIndex || 0)
motionIndex: displayPauseLock
? Number(displayPauseLock.motionIndex || 0)
: Number(state.programExecutionMotionIndex || runtimeFeedback.motionIndex || 0),
...(paused ? {
axisPose,
tcp: {
x: Number(state.tcpPose?.x ?? axisPose.x ?? 0),
y: Number(state.tcpPose?.y ?? axisPose.y ?? 0),
z: Number(state.tcpPose?.z ?? axisPose.z ?? 0),
x: Number(displayPauseLock?.tcpPose?.x ?? state.tcpPose?.x ?? axisPose.x ?? 0),
y: Number(displayPauseLock?.tcpPose?.y ?? state.tcpPose?.y ?? axisPose.y ?? 0),
z: Number(displayPauseLock?.tcpPose?.z ?? state.tcpPose?.z ?? axisPose.z ?? 0),
},
} : {}),
};
@@ -3875,12 +3893,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
axisPose,
kinsType,
rtcpState: rtcpStateFromKinsType(kinsType),
motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
sampleIndex: taskHalSampleIndex,
runtimeFeedback: {
...runtimeFeedback,
sampleIndex: taskHalSampleIndex,
motionIndex: pauseLock ? Number(pauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
motionIndex: displayPauseLock ? Number(displayPauseLock.motionIndex || 0) : runtimeFeedback.motionIndex,
axisPose,
currentVelocityMmPerMin: paused ? 0 : runtimeFeedback.currentVelocityMmPerMin,
requestedVelocityMmPerMin: paused ? 0 : runtimeFeedback.requestedVelocityMmPerMin,
@@ -3900,6 +3918,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
? createProgramUiExecution({
...state,
axisPose,
tcpPose: displayPauseLock?.tcpPose || state.tcpPose,
rtcpFrame: displayPauseLock?.rtcpFrame || state.rtcpFrame,
kinsType: kinsType || state.kinsType,
programExecutionSampleIndex: taskHalSampleIndex,
programRuntimeFeedback: idleRuntimeFeedback,
@@ -3909,7 +3929,7 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
const loopActive = state.taskHalStatusLoop?.active === true
&& loopSequence !== null
&& Number(state.taskHalStatusLoop.sequence) === Number(loopSequence)
&& (runState === "running" || runState === "mdi");
&& (runState === "running" || runState === "mdi" || runState === "paused");
const nextTickCount = loopActive ? Number(state.taskHalStatusLoop.tickCount || 0) + 1 : Number(state.taskHalStatusLoop?.tickCount || 0);
const feedbackHistory = [taskHalPlaybackPatch.programRuntimeFeedback, ...(state.programRuntimeFeedbackHistory || [])].slice(0, 100);
const lineStatus = runState === "complete"
@@ -3921,10 +3941,15 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
return {
taskHalStatus: status,
taskHalExecutionPending: false,
taskHalPauseLock: pauseLock ? { ...pauseLock, lastStatusAt: new Date().toISOString() } : state.taskHalPauseLock,
taskHalPauseLock: displayPauseLock ? { ...displayPauseLock, lastStatusAt: new Date().toISOString() } : null,
taskHalFallbackReason: null,
pendingJogCommand: null,
...taskHalPlaybackPatch,
...(displayPauseLock ? {
tcpPose: displayPauseLock.tcpPose,
rtcpFrame: displayPauseLock.rtcpFrame,
dro: displayPauseLock.dro,
} : {}),
programExecutionSourceMode: "linuxcnc-task-motion-hal-wasm",
machine: {
...state.machine,
@@ -3978,9 +4003,26 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
const complete = interpState === "idle"
&& Number(task.nextProgramLine || 0) >= openedProgramLineCount;
if (paused) {
return state.runState === "paused" ||
state.machine?.interpState === "paused" ||
state.machine?.taskPaused === true ||
state.machine?.motionPaused === true;
}
return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi");
}
function isTaskHalStatusPaused(status = {}) {
const ui = status?.ui || {};
const task = status?.task || {};
const motion = status?.motionStatus?.motion || {};
return normalizeTaskHalInterpState(ui.interpState || task.interpState) === "paused" ||
ui.motionPaused === true ||
ui.taskPaused === true ||
motion.paused === true ||
task.taskPaused === true;
}
function isTaskHalRunPausedByOperator(state = {}) {
return state.runState === "paused"
|| state.machine?.interpState === "paused"
@@ -4024,6 +4066,8 @@ function createTaskHalPauseLock(state = {}, source = "pause") {
y: Number(state.tcpPose?.y || 0),
z: Number(state.tcpPose?.z || 0),
},
rtcpFrame: state.rtcpFrame,
dro: state.dro,
semanticBoundary: "linuxcnc_axis_task_pauseresume_freezes_task_hal_status_until_resume",
};
}
@@ -4104,7 +4148,7 @@ function programMotionAtOrBeforeLine(state, activeLine) {
return candidate;
}
function resolveTaskHalAxisPose(state, status) {
function resolveTaskHalAxisPose(state, status, { paused = false, runState = state.runState } = {}) {
const ui = status?.ui || {};
const axisPose = ui.axisPose;
if (!axisPose || typeof axisPose !== "object") {
@@ -4127,6 +4171,10 @@ function resolveTaskHalAxisPose(state, status) {
return addAxisDelta(state.axisPose, ui.axisPoseDelta, state.profile);
}
if (!paused && runState !== "running" && runState !== "mdi" && !isJogStatus(status)) {
return state.axisPose;
}
if (!ui.axisPoseFrame && wouldResetNonZeroPoseToLocalZero(state.axisPose, axisPose)) {
return state.axisPose;
}