feat: complete working8 pause semantics

2026-07-07 10:27:02 -04:00
parent 83402c506e
commit 4ba45b2ec5
987 changed files with 340641 additions and 65 deletions
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-runtime.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/runtime/linuxcnc-task-hal-runtime.js
@@ -217,6 +217,13 @@ export function normalizeTaskHalStatus(status = {}) {
  const halPins = status.halSnapshot?.pins || {};
  const motionProgramLine = Number(motion.programLine || 0);
  const halProgramLine = Number(halPins["motion.program-line"]?.value || 0);
+  const motionQueueDepth = Number(
+    status.motionStatus?.commandQueueDepth ??
+    motion.commandQueueDepth ??
+    status.motionStatus?.queueDepth ??
+    motion.queueDepth ??
+    0,
+  );
  const activeLine = motionProgramLine > 0
    ? motionProgramLine
    : halProgramLine > 0
@@ -242,10 +249,17 @@ export function normalizeTaskHalStatus(status = {}) {
      taskState: String(status.task?.state || "ESTOP").toLowerCase(),
      taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
      interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
+      interpResumeState: String(status.task?.interpResumeState || status.task?.interpState || "IDLE").toLowerCase(),
      execState: String(status.task?.execState || "DONE").toLowerCase(),
+      taskPaused: status.task?.taskPaused === true,
+      singleStepping: status.task?.singleStepping === true,
      taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
      servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
-      motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0),
+      motionQueueDepth,
+      motionPaused: motion.paused === true,
+      motionStepping: motion.stepping === true,
+      motionId: Number(motion.motionId || 0),
+      idForStep: Number(motion.idForStep || 0),
      halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins)
        ? status.halSnapshot.changedPins.length
        : Number(status.halSnapshot?.changedPinCount || 0),
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/linuxcnc-task-policy.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/linuxcnc-task-policy.js
@@ -71,6 +71,14 @@ export function createLinuxCncTaskPolicyStatus(state) {
    ? Boolean(machineFileStaging.selectedGcodeSourceRel)
    : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
  const interpIdle = interpState === "idle";
+  const motionPaused = state.machine?.motionPaused === true ||
+    state.taskHalStatus?.ui?.motionPaused === true ||
+    state.taskHalStatus?.motionStatus?.motion?.paused === true;
+  const taskPaused = state.machine?.taskPaused === true ||
+    state.taskHalStatus?.ui?.taskPaused === true ||
+    state.taskHalStatus?.task?.taskPaused === true;
+  const feedbackPaused = state.programRuntimeFeedback?.paused === true;
+  const paused = motionPaused || taskPaused || feedbackPaused || interpState === "paused" || state.runState === "paused";
  const running = taskMode === "auto" &&
    (state.runState === "running" || interpState === "reading" || interpState === "waiting");
  const referenceOnly = state.profile?.tcpCapable === false || state.profile?.promotionAllowed === false;
@@ -81,6 +89,10 @@ export function createLinuxCncTaskPolicyStatus(state) {
    taskMode,
    interpState,
    runState: state.runState || "idle",
+    motionPaused,
+    taskPaused,
+    feedbackPaused,
+    paused,
    allHomed,
    noForceHoming,
    iniLoaded,
@@ -100,7 +112,7 @@ export function createLinuxCncTaskPolicyStatus(state) {
      interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
    canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
    canPause: taskState === "on" && taskMode === "auto" && (interpState === "reading" || interpState === "waiting"),
-    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
+    canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && paused,
    canAbort: true,
    canSpindle: taskState === "on",
    canCoolant: taskState === "on",
@@ -184,7 +196,7 @@ export function gateLinuxCncTaskAction(state, action) {
      if (status.taskMode !== "auto" && status.taskMode !== "mdi" && status.runState !== "paused") {
        return block(status, "resume blocked: task mode must be auto or MDI");
      }
-      if (status.interpState !== "paused") return block(status, "resume blocked: interpreter is not paused");
+      if (!status.paused) return block(status, "resume blocked: program is not paused");
      return allow(status);
    case "STOP":
    case "ABORT":
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/state/store.js
@@ -171,6 +171,7 @@ const initialState = {
    interpState: "idle",
    interpResumeState: "idle",
    taskPaused: false,
+    motionPaused: false,
    manualPanel: "manual",
    allHomed: false,
    noForceHoming: false,
@@ -1762,6 +1763,7 @@ export function createSimulationStore(seed = {}) {
                : state.machine.interpState || "reading",
              interpState: "paused",
              taskPaused: true,
+              motionPaused: true,
            };
            const pauseLock = createTaskHalPauseLock(state, "task-hal-plan-pause");
            setState({
@@ -1794,6 +1796,7 @@ export function createSimulationStore(seed = {}) {
                : state.machine.interpState,
              interpState: "paused",
              taskPaused: true,
+              motionPaused: true,
            },
            runState: "paused",
            taskHalPauseLock: pauseLock,
@@ -1814,7 +1817,7 @@ export function createSimulationStore(seed = {}) {
            setState({ operatorMessage: "pause blocked: task mode must be auto or MDI" });
            break;
          }
-          if (state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
+          if (state.machine?.motionPaused === true || state.machine?.taskPaused === true || interpState === "paused" || state.runState === "paused") {
            dispatch({ type: "RESUME", source: "pauseresume" });
            break;
          }
@@ -1843,6 +1846,7 @@ export function createSimulationStore(seed = {}) {
              interpState: resumeState,
              interpResumeState: resumeState,
              taskPaused: false,
+              motionPaused: false,
            };
            setState({
              machine: resumedMachine,
@@ -1875,6 +1879,7 @@ export function createSimulationStore(seed = {}) {
              interpState: resumeState,
              interpResumeState: resumeState,
              taskPaused: false,
+              motionPaused: false,
            },
            runState: resumeState === "reading" ? "running" : "idle",
            taskHalPauseLock: null,
@@ -1910,6 +1915,7 @@ export function createSimulationStore(seed = {}) {
                : state.machine.interpState || "reading",
              interpState: "paused",
              taskPaused: true,
+              motionPaused: true,
            };
            setState({
              machine: steppedMachine,
@@ -1953,6 +1959,7 @@ export function createSimulationStore(seed = {}) {
                : state.machine.interpState,
              interpState: "paused",
              taskPaused: true,
+              motionPaused: true,
            },
            runState: "stepping",
            taskHalPauseLock: null,
@@ -3791,7 +3798,17 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
  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 paused = Boolean(pauseLock) || interpState === "paused" || motion.paused === true;
+  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 interpResumeState = normalizeTaskHalInterpState(
+    ui.interpResumeState ||
+    task.interpResumeState ||
+    (paused ? state.machine.interpResumeState || "reading" : interpState),
+  );
  const axisPose = pauseLock?.axisPose
    ? clampAxisPoseToProfile(pauseLock.axisPose, state.profile)
    : paused
@@ -3917,8 +3934,9 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
      mode: taskMode,
      manualPanel,
      interpState,
-      interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState,
+      interpResumeState,
      taskPaused: paused,
+      motionPaused,
      allHomed,
      noForceHoming: Boolean(state.machine.noForceHoming),
    },
@@ -3952,7 +3970,11 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
  const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
  const taskMode = normalizeLinuxCncTaskMode(ui.taskMode || task.mode || state.machine?.mode);
  const aborted = motion.aborted === true;
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    task.taskPaused === true;
  const openedProgramLineCount = Number(task.openedSourceLineCount || task.openedLineCount || 1);
  const complete = interpState === "idle"
    && Number(task.nextProgramLine || 0) >= openedProgramLineCount;
@@ -3962,7 +3984,8 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
 function isTaskHalRunPausedByOperator(state = {}) {
  return state.runState === "paused"
    || state.machine?.interpState === "paused"
-    || state.machine?.taskPaused === true;
+    || state.machine?.taskPaused === true
+    || state.machine?.motionPaused === true;
 }

 function programControlModeForMachine(machine = {}) {
@@ -3980,6 +4003,7 @@ function createPowerToggleMachinePatch(machine = {}, turningOn = false) {
    interpState: "idle",
    interpResumeState: "idle",
    taskPaused: false,
+    motionPaused: false,
  };
 }

@@ -4137,7 +4161,11 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
  const halProgramLine = Number(status?.halSnapshot?.pins?.["motion.program-line"]?.value || 0);
  const motionProgramLine = Number(motion.programLine || 0);
  const interpState = normalizeTaskHalInterpState(ui.interpState || status?.task?.interpState);
-  const paused = interpState === "paused" || motion.paused === true;
+  const paused = interpState === "paused" ||
+    ui.motionPaused === true ||
+    ui.taskPaused === true ||
+    motion.paused === true ||
+    status?.task?.taskPaused === true;
  const currentVelocity = paused ? 0 : Number(ui.currentVelocity || 0);
  const requestedVelocity = paused ? 0 : Number(motion.requestedVel || 0) * 60;
  return {
@@ -4152,6 +4180,7 @@ function createTaskHalRuntimeFeedback(state, status, axisPose, activeLine) {
    activeLineSource: ui.activeLineSource || (motionProgramLine > 0 ? "motion-status" : halProgramLine > 0 ? "hal-pin" : "fallback"),
    activeLineHalSynced: motionProgramLine > 0 && halProgramLine > 0 && motionProgramLine === halProgramLine,
    type: Number(motion.motionType || 0) === 3 ? "JOG" : "TASK_MOTION",
+    paused,
    timeSeconds: Number(ui.taskCycle || 0) * 0.01,
    axisPose,
    currentVelocityMmPerMin: currentVelocity,
@@ -4546,6 +4575,7 @@ function normalizeTaskHalInterpState(value) {
  const state = String(value || "").toLowerCase();
  if (state === "paused") return "paused";
  if (state === "reading") return "reading";
+  if (state === "waiting") return "waiting";
  return "idle";
 }

@@ -4583,6 +4613,7 @@ function normalizeMachineForLinuxCncTask(machine = {}, runState = "idle") {
    interpState,
    interpResumeState: machine.interpResumeState || (interpState === "paused" ? "reading" : interpState),
    taskPaused: Boolean(machine.taskPaused || interpState === "paused"),
+    motionPaused: Boolean(machine.motionPaused || machine.taskPaused || interpState === "paused"),
    powerOn: taskState === "on",
    estopActive: taskState === "estop",
    allHomed: Boolean(machine.allHomed),
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/ui/axis-shell.js
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/src/ui/axis-shell.js
@@ -616,7 +616,9 @@ function updateToolbarButton(element, buttonId, action, title, active = false, i
 function isProgramPaused(state) {
  return state.runState === "paused" ||
    state.machine?.interpState === "paused" ||
-    state.machine?.taskPaused === true;
+    state.machine?.taskPaused === true ||
+    state.machine?.motionPaused === true ||
+    state.programRuntimeFeedback?.paused === true;
 }

 function pauseResumeToolbarTitle(state) {
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/task-hal/linuxcnc_task_hal.wasm
--- a/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/tp/linuxcnc_tp.wasm
+++ b/web-rtcp-5axis-xyzbc-trt-sim-plan/app/dist/wasm-port/build/wasm/tp/linuxcnc_tp.wasm