继续完成 web-rtcp-5axis-sim-plan
结论：完成 LinuxCNC kinematics WASM ABI 覆盖，并将 web-rtcp-5axis-sim-plan 的 RTCP frame/boundary adapter 接到 xyzac-trt kinematics SDK；Node、build、browser smoke 验证通过。
This commit is contained in:
@@ -1,5 +1,10 @@
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export { createLinuxCncIniSdk } from "./linuxcnc-ini.js";
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export { createLinuxCncInterpSdk } from "./linuxcnc-interp.js";
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export {
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createLinuxCncKinematicsSdk,
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linuxCncKinematicsWasmFile,
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supportedLinuxCncKinematicsModules,
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} from "./linuxcnc-kinematics.js";
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export {
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VIRTUAL_HAL_AXES,
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VIRTUAL_HAL_AXISUI_PINS,
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206
wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
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206
wasm-port/runtime/sdk/src/linuxcnc-kinematics.js
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@@ -0,0 +1,206 @@
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import createLinuxCncTrivkinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_trivkins_kinematics.js";
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import createLinuxCnc5axiskinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_5axiskins_kinematics.js";
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import createLinuxCncXyzacTrtKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_xyzac_trt_kinematics.js";
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import createLinuxCncXyzbcTrtKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_xyzbc_trt_kinematics.js";
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import createLinuxCncCorexyKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_corexy_kinematics.js";
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import createLinuxCncRotateKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rotate_kinematics.js";
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import createLinuxCncRoseKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rose_kinematics.js";
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import createLinuxCncMaxKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_max_kinematics.js";
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import createLinuxCncLineardeltaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_lineardelta_kinematics.js";
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import createLinuxCncRotarydeltaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_rotarydelta_kinematics.js";
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import createLinuxCncScorbotKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_scorbot_kinematics.js";
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import createLinuxCncTripodKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_tripod_kinematics.js";
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import createLinuxCncScaraKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_scara_kinematics.js";
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import createLinuxCncPumaKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_puma_kinematics.js";
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import createLinuxCncGenserKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_genser_kinematics.js";
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import createLinuxCncGenhexKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_genhex_kinematics.js";
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import createLinuxCncPentakinsKinematicsModule from "../../../build/wasm/kinematics/linuxcnc_pentakins_kinematics.js";
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export const LINUXCNC_KINEMATICS_MODULES = [
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{ id: "trivkins", wasmFile: "linuxcnc_trivkins_kinematics.wasm", factory: createLinuxCncTrivkinsKinematicsModule },
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{ id: "5axiskins", wasmFile: "linuxcnc_5axiskins_kinematics.wasm", factory: createLinuxCnc5axiskinsKinematicsModule },
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{ id: "xyzac-trt", wasmFile: "linuxcnc_xyzac_trt_kinematics.wasm", factory: createLinuxCncXyzacTrtKinematicsModule },
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{ id: "xyzbc-trt", wasmFile: "linuxcnc_xyzbc_trt_kinematics.wasm", factory: createLinuxCncXyzbcTrtKinematicsModule },
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{ id: "corexy", wasmFile: "linuxcnc_corexy_kinematics.wasm", factory: createLinuxCncCorexyKinematicsModule },
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{ id: "rotate", wasmFile: "linuxcnc_rotate_kinematics.wasm", factory: createLinuxCncRotateKinematicsModule },
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{ id: "rose", wasmFile: "linuxcnc_rose_kinematics.wasm", factory: createLinuxCncRoseKinematicsModule },
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{ id: "max", wasmFile: "linuxcnc_max_kinematics.wasm", factory: createLinuxCncMaxKinematicsModule },
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{ id: "lineardelta", wasmFile: "linuxcnc_lineardelta_kinematics.wasm", factory: createLinuxCncLineardeltaKinematicsModule },
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{ id: "rotarydelta", wasmFile: "linuxcnc_rotarydelta_kinematics.wasm", factory: createLinuxCncRotarydeltaKinematicsModule },
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{ id: "scorbot", wasmFile: "linuxcnc_scorbot_kinematics.wasm", factory: createLinuxCncScorbotKinematicsModule },
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{ id: "tripod", wasmFile: "linuxcnc_tripod_kinematics.wasm", factory: createLinuxCncTripodKinematicsModule },
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{ id: "scara", wasmFile: "linuxcnc_scara_kinematics.wasm", factory: createLinuxCncScaraKinematicsModule },
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{ id: "puma", wasmFile: "linuxcnc_puma_kinematics.wasm", factory: createLinuxCncPumaKinematicsModule },
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{ id: "genser", wasmFile: "linuxcnc_genser_kinematics.wasm", factory: createLinuxCncGenserKinematicsModule },
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{ id: "genhex", wasmFile: "linuxcnc_genhex_kinematics.wasm", factory: createLinuxCncGenhexKinematicsModule },
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{ id: "pentakins", wasmFile: "linuxcnc_pentakins_kinematics.wasm", factory: createLinuxCncPentakinsKinematicsModule },
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];
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const MODULES_BY_ID = new Map(LINUXCNC_KINEMATICS_MODULES.map((entry) => [entry.id, entry]));
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function requireWasmFunction(mod, functionName) {
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const fn = mod[`_${functionName}`];
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if (typeof fn !== "function") {
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throw new Error(`linuxcnc kinematics WASM missing ${functionName}; rebuild wasm-port/tools/build_kinematics_wasm.sh`);
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}
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return fn;
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}
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function writeDoubleArray(mod, values) {
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const bytes = values.length * 8;
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const ptr = mod._malloc(bytes);
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mod.HEAPF64.set(values, ptr / 8);
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return ptr;
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}
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function readDoubleArray(mod, ptr, length) {
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return Array.from(mod.HEAPF64.subarray(ptr / 8, ptr / 8 + length));
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}
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function poseValuesFromObject(pose = {}) {
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return [
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Number(pose.x ?? pose.tran?.x ?? 0),
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Number(pose.y ?? pose.tran?.y ?? 0),
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Number(pose.z ?? pose.tran?.z ?? 0),
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Number(pose.a ?? 0),
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Number(pose.b ?? 0),
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Number(pose.c ?? 0),
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Number(pose.u ?? 0),
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Number(pose.v ?? 0),
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Number(pose.w ?? 0),
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];
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}
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function poseObjectFromValues(values) {
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return {
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x: values[0],
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y: values[1],
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z: values[2],
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a: values[3],
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b: values[4],
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c: values[5],
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u: values[6],
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v: values[7],
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w: values[8],
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};
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}
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export function supportedLinuxCncKinematicsModules() {
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return LINUXCNC_KINEMATICS_MODULES.map((entry) => entry.id);
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}
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export function linuxCncKinematicsWasmFile(moduleId) {
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return MODULES_BY_ID.get(moduleId)?.wasmFile || null;
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}
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export async function createLinuxCncKinematicsSdk({
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moduleId = "xyzac-trt",
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moduleOptions = {},
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} = {}) {
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const entry = MODULES_BY_ID.get(moduleId);
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if (!entry) {
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throw new Error(`unsupported LinuxCNC kinematics module: ${moduleId}`);
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}
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const mod = await entry.factory(moduleOptions);
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requireWasmFunction(mod, "lckins_init")();
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return {
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apiName: "linuxcnc-kinematics-wasm-sdk",
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moduleId,
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module: mod,
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wasmFile: entry.wasmFile,
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hasWasmFunction(functionName) {
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return typeof mod[`_${functionName}`] === "function";
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},
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type() {
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return requireWasmFunction(mod, "lckins_type")();
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},
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switchable() {
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return requireWasmFunction(mod, "lckins_switchable")();
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},
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switchKinematics(switchkinsType) {
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return requireWasmFunction(mod, "lckins_switch")(Number(switchkinsType) || 0);
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},
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forward(joints, options = {}) {
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const jointValues = Array.from(joints, Number);
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const jointsPtr = writeDoubleArray(mod, jointValues);
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const posePtr = writeDoubleArray(mod, poseValuesFromObject(options.seedPose));
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const fflagsPtr = mod._malloc(8);
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const iflagsPtr = mod._malloc(8);
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mod.HEAPU32[fflagsPtr / 4] = 0;
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mod.HEAPU32[iflagsPtr / 4] = 0;
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try {
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const rc = requireWasmFunction(mod, "lckins_forward")(
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jointsPtr,
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jointValues.length,
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posePtr,
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fflagsPtr,
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iflagsPtr,
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);
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return {
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rc,
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pose: poseObjectFromValues(readDoubleArray(mod, posePtr, 9)),
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fflags: mod.HEAPU32[fflagsPtr / 4],
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iflags: mod.HEAPU32[iflagsPtr / 4],
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};
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} finally {
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mod._free(jointsPtr);
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mod._free(posePtr);
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mod._free(fflagsPtr);
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mod._free(iflagsPtr);
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}
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},
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inverse(pose, jointCount = 5, options = {}) {
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const posePtr = writeDoubleArray(mod, poseValuesFromObject(pose));
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const jointsPtr = mod._malloc(jointCount * 8);
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const iflagsPtr = mod._malloc(8);
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const fflagsPtr = mod._malloc(8);
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const seedJoints = Array.isArray(options.seedJoints)
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? options.seedJoints.map(Number)
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: [];
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mod.HEAPF64.fill(0, jointsPtr / 8, jointsPtr / 8 + jointCount);
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mod.HEAPF64.set(seedJoints.slice(0, jointCount), jointsPtr / 8);
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mod.HEAPU32[iflagsPtr / 4] = 0;
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mod.HEAPU32[fflagsPtr / 4] = 0;
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try {
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const rc = requireWasmFunction(mod, "lckins_inverse")(
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posePtr,
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jointsPtr,
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jointCount,
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iflagsPtr,
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fflagsPtr,
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);
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return {
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rc,
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joints: readDoubleArray(mod, jointsPtr, jointCount),
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iflags: mod.HEAPU32[iflagsPtr / 4],
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fflags: mod.HEAPU32[fflagsPtr / 4],
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};
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} finally {
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mod._free(posePtr);
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mod._free(jointsPtr);
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mod._free(iflagsPtr);
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mod._free(fflagsPtr);
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}
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},
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runProbe() {
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const resultPtr = requireWasmFunction(mod, "lckins_run_probe")();
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if (!resultPtr) {
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throw new Error("lckins_run_probe returned null");
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}
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try {
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return mod.UTF8ToString(resultPtr);
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} finally {
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requireWasmFunction(mod, "lckins_free_string")(resultPtr);
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}
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},
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};
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}
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