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接上一轮，按接续文件继续执行

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结论：Three.js 程序预览和刀具执行显示已收口，公网 HTTP/IP 下 Save/Restore Session 已支持 memory-fallback 降级并通过 node/browser gate。
This commit is contained in:
wangdequan
2026-06-22 06:56:34 +08:00
parent bd11a5f8d6
commit 8321055934
9 changed files with 631 additions and 221 deletions
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8
web-rtcp-5axis-sim-plan/app/scripts/build-static.mjs
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@@ -82,7 +82,13 @@ async function copyKinematicsRuntimeAssets() {
join(sdkSrcDir, "linuxcnc-kinematics.js"),
join(sdkDistDir, "linuxcnc-kinematics.js"),
);
for (const entry of ["linuxcnc-interp.js", "linuxcnc-hal.js", "linuxcnc-tp.js", "linuxcnc-task-hal.js"]) {
for (const entry of [
"linuxcnc-interp.js",
"linuxcnc-hal.js",
"linuxcnc-tp.js",
"linuxcnc-task-hal.js",
"sim-config-staging.js",
]) {
await cp(join(sdkSrcDir, entry), join(sdkDistDir, entry));
}

40
web-rtcp-5axis-sim-plan/app/src/runtime/five-axis-session.js
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@@ -88,20 +88,22 @@ export function validateFiveAxisSessionSnapshot(snapshot, sessionId) {
export async function saveFiveAxisSessionSnapshot(sessionId, payload, options = {}) {
const snapshot = createFiveAxisSessionSnapshot(sessionId, payload, options);
const path = sessionSnapshotPath(sessionId, options.filename);
await saveTextFile(path, `${JSON.stringify(snapshot, null, 2)}\n`, options.storage);
return { snapshot, path };
const storage = resolveSessionStorage(options);
await saveTextFile(path, `${JSON.stringify(snapshot, null, 2)}\n`, storage.storage);
return { snapshot, path, storageMode: storage.mode };
}
export async function loadFiveAxisSessionSnapshot(sessionId, options = {}) {
const path = sessionSnapshotPath(sessionId, options.filename);
const text = await loadTextFile(path, options.storage);
const storage = resolveSessionStorage(options);
const text = await loadTextFile(path, storage.storage);
let snapshot;
try {
snapshot = JSON.parse(text);
} catch (error) {
throw new Error(`Invalid five-axis session snapshot JSON: ${error.message}`);
}
return { snapshot: validateFiveAxisSessionSnapshot(snapshot, sessionId), path };
return { snapshot: validateFiveAxisSessionSnapshot(snapshot, sessionId), path, storageMode: storage.mode };
}
export function restoreFiveAxisSessionState(snapshot) {
@@ -138,6 +140,7 @@ export function restoreFiveAxisSessionState(snapshot) {
export function createMemorySessionStorage(seed = {}) {
const files = new Map(Object.entries(seed));
return {
apiName: "web-rtcp-5axis-memory-session-storage",
files,
async getDirectory() {
return createDirectoryHandle(files, []);
@@ -145,6 +148,35 @@ export function createMemorySessionStorage(seed = {}) {
};
}
let browserMemorySessionStorage = null;
function resolveSessionStorage(options = {}) {
if (options.storage) {
return {
storage: options.storage,
mode: options.storageMode || storageModeFor(options.storage),
};
}
const browserStorage = globalThis.navigator?.storage;
if (browserStorage?.getDirectory) {
return {
storage: browserStorage,
mode: "opfs",
};
}
browserMemorySessionStorage ??= createMemorySessionStorage();
return {
storage: browserMemorySessionStorage,
mode: "memory-fallback",
};
}
function storageModeFor(storage) {
return storage?.apiName === "web-rtcp-5axis-memory-session-storage"
? "memory"
: "custom";
}
function validateFiveAxisSessionPayload(payload) {
assertPlainObject(payload, "five-axis session payload");
if (payload.apiName !== "web-rtcp-5axis-session-payload") {

32
web-rtcp-5axis-sim-plan/app/src/state/store.js
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@@ -59,6 +59,7 @@ const initialState = {
filename: DEFAULT_SESSION_FILENAME,
status: "not-saved",
path: null,
storageMode: null,
savedAt: null,
restoredAt: null,
lastError: null,
@@ -189,6 +190,7 @@ const initialState = {
pathPoints: 64,
selectedView: "iso",
fullscreen: false,
cameraRevision: 0,
},
toolPreview: {
toolNumber: 1,
@@ -629,10 +631,11 @@ export function createSimulationStore(seed = {}) {
...state.sessionPersistence,
status: "saved",
path: action.path,
storageMode: action.storageMode || null,
savedAt: action.savedAt,
lastError: null,
},
operatorMessage: `5-axis session saved ${action.path}`,
operatorMessage: `5-axis session saved ${action.path} (${action.storageMode || "unknown"})`,
});
break;
case "SESSION_RESTORE_STARTED":
@@ -664,10 +667,11 @@ export function createSimulationStore(seed = {}) {
...state.sessionPersistence,
status: "restored",
path: action.path,
storageMode: action.storageMode || null,
restoredAt: action.restoredAt,
lastError: null,
},
operatorMessage: `5-axis session restored ${action.path}`,
operatorMessage: `5-axis session restored ${action.path} (${action.storageMode || "unknown"})`,
});
}
break;
@@ -1255,7 +1259,11 @@ export function createSimulationStore(seed = {}) {
break;
case "RESET_VIEW":
setState({
preview: { ...state.preview, selectedView: "iso" },
preview: {
...state.preview,
selectedView: "iso",
cameraRevision: (state.preview.cameraRevision ?? 0) + 1,
},
operatorMessage: "preview fit to program",
});
break;
@@ -1267,7 +1275,11 @@ export function createSimulationStore(seed = {}) {
break;
case "SET_VIEW":
setState({
preview: { ...state.preview, selectedView: action.view },
preview: {
...state.preview,
selectedView: action.view,
cameraRevision: (state.preview.cameraRevision ?? 0) + 1,
},
operatorMessage: `preview view ${action.view}`,
});
break;
@@ -1395,17 +1407,19 @@ export function createSimulationStore(seed = {}) {
const sessionId = options.sessionId || state.sessionPersistence.sessionId;
const filename = options.filename || state.sessionPersistence.filename;
const payload = createFiveAxisSessionPayload(state);
const { snapshot, path } = await saveFiveAxisSessionSnapshot(sessionId, payload, {
const { snapshot, path, storageMode } = await saveFiveAxisSessionSnapshot(sessionId, payload, {
filename,
storage: options.storage,
storageMode: options.storageMode,
metadata: options.metadata,
});
dispatch({
type: "SESSION_SAVE_COMPLETE",
path,
storageMode,
savedAt: snapshot.createdAt,
});
return { snapshot, path };
return { snapshot, path, storageMode };
} catch (error) {
dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message });
throw error;
@@ -1417,18 +1431,20 @@ export function createSimulationStore(seed = {}) {
try {
const sessionId = options.sessionId || state.sessionPersistence.sessionId;
const filename = options.filename || state.sessionPersistence.filename;
const { snapshot, path } = await loadFiveAxisSessionSnapshot(sessionId, {
const { snapshot, path, storageMode } = await loadFiveAxisSessionSnapshot(sessionId, {
filename,
storage: options.storage,
storageMode: options.storageMode,
});
dispatch({
type: "SESSION_RESTORE_COMPLETE",
restoredState: restoreFiveAxisSessionState(snapshot),
path,
storageMode,
restoredAt: new Date().toISOString(),
});
await refreshAsyncKinematicsFrame({ operatorMessage: `5-axis session restored ${path}` });
return { snapshot, path };
return { snapshot, path, storageMode };
} catch (error) {
dispatch({ type: "SESSION_PERSISTENCE_FAILED", error: error.message });
throw error;

6
web-rtcp-5axis-sim-plan/app/src/styles/gmoccapy.css
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@@ -165,6 +165,12 @@ button:active {
height: calc(100% - 64px);
margin-top: 32px;
display: block;
touch-action: none;
cursor: grab;
}
.machine-preview:active {
cursor: grabbing;
}
.tool-preview-card {

2
web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
View File

@@ -324,7 +324,7 @@ function renderInfoTabs(element, state) {
<dt>Canonical:</dt><dd data-program-execution-summary="${state.programExecution?.summary?.motionEventCount ?? 0}">${state.programExecution?.summary?.motionEventCount ?? 0} motion / ${state.programExecution?.summary?.canonicalEventCount ?? 0} events</dd>
<dt>Switchkins:</dt><dd data-program-switchkins-summary="${state.programExecution?.summary?.switchkinsEventCount ?? 0}">${formatSwitchkinsSummary(state.programExecution)}</dd>
<dt>Machine run:</dt><dd data-machine-file-execution="status">${formatMachineFileExecution(state.machineFileExecution)}</dd>
<dt>Session:</dt><dd data-session-persistence="status">${state.sessionPersistence.status} / ${state.sessionPersistence.path ?? "-"}</dd>
<dt>Session:</dt><dd data-session-persistence="status">${state.sessionPersistence.status} / ${state.sessionPersistence.storageMode ?? "-"} / ${state.sessionPersistence.path ?? "-"}</dd>
<dt>Tool preview:</dt><dd data-tool-preview="detail">T${state.toolPreview.toolNumber} D${formatNumber(state.toolPreview.diameter, 2)} L${formatNumber(state.toolPreview.length, 3)} ${state.toolPreview.units}</dd>
<dt>Program time:</dt><dd data-program-timing="summary">${formatProgramTiming(state)}</dd>
<dt>Segment time:</dt><dd data-program-timing="segment">${formatProgramTimingSegment(state)}</dd>

587
web-rtcp-5axis-sim-plan/app/src/visualization/five-axis-scene.js
View File

@@ -1,6 +1,14 @@
import * as THREE from "../vendor/three/three.module.js";
const scenes = new WeakMap();
const CAMERA_PRESETS = {
iso: { theta: -0.96, phi: 1.02, radius: 7.0, target: new THREE.Vector3(0, 0, 0) },
x: { theta: 0, phi: Math.PI / 2, radius: 6.2, target: new THREE.Vector3(0, 0, 0) },
y: { theta: -Math.PI / 2, phi: Math.PI / 2, radius: 6.2, target: new THREE.Vector3(0, 0, 0) },
z: { theta: 0, phi: 0.001, radius: 6.6, target: new THREE.Vector3(0, 0, 0) },
};
const MAX_TOOLPATH_POINTS = 1600;
const EMPTY_GEOMETRY = new THREE.BufferGeometry().setFromPoints([]);
export function renderFiveAxisScene(canvas, state) {
let preview = scenes.get(canvas);
@@ -16,7 +24,7 @@ export function renderFiveAxisScene(canvas, state) {
try {
resizeRenderer(preview);
updateMachinePose(preview, state);
updateToolpathPreview(preview, state);
preview.renderer.render(preview.scene, preview.camera);
} catch (error) {
const fallback = createFallbackPreview(canvas, error);
@@ -25,12 +33,17 @@ export function renderFiveAxisScene(canvas, state) {
return;
}
const pointCount = preview.pathLine.geometry.getAttribute("position").count;
const pointCount = preview.previewPath.geometry.getAttribute("position").count;
const executedPointCount = preview.executedPath.geometry.getAttribute("position").count;
exposePreviewDataset(canvas, state, {
pointCount,
executedPointCount,
sceneObjectCount: countSceneObjects(preview.scene),
toolhead: preview.toolGroup.position,
toolhead: preview.currentToolhead,
renderer: "webgl",
sceneMode: "program-preview-and-tool-execution",
cameraControls: preview.controls.enabled,
toolExecutionMarker: preview.toolMarker.visible,
});
}
@@ -48,87 +61,45 @@ function createScene(canvas) {
antialias: true,
preserveDrawingBuffer: true,
});
renderer.setClearColor(0x07100d, 1);
renderer.setClearColor(0x030405, 1);
renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
const scene = new THREE.Scene();
scene.fog = new THREE.Fog(0x07100d, 7, 15);
const camera = new THREE.PerspectiveCamera(42, 1, 0.1, 100);
camera.position.set(3.4, -5.0, 3.2);
camera.lookAt(0, 0, 0);
const ambient = new THREE.HemisphereLight(0xdffbff, 0x17110d, 0.86);
const key = new THREE.DirectionalLight(0xffffff, 1.35);
key.position.set(3, -5, 7);
const fill = new THREE.DirectionalLight(0x4fd5ff, 0.46);
fill.position.set(-4, 3, 3);
scene.add(ambient, key, fill);
const floor = new THREE.Mesh(
new THREE.BoxGeometry(6.2, 4.5, 0.08),
new THREE.MeshStandardMaterial({ color: 0x151b1f, roughness: 0.78, metalness: 0.12 }),
);
floor.position.z = -0.98;
scene.add(floor);
const grid = new THREE.GridHelper(6.2, 14, 0x4b555a, 0x252f32);
grid.rotation.x = Math.PI / 2;
grid.position.z = -0.93;
scene.add(grid);
const axes = new THREE.AxesHelper(1.45);
axes.position.set(-2.85, -2.0, -0.86);
scene.add(axes);
const envelope = buildEnvelope();
scene.add(envelope);
const tableGroup = new THREE.Group();
const table = new THREE.Mesh(
new THREE.BoxGeometry(3.0, 2.15, 0.18),
new THREE.MeshStandardMaterial({ color: 0x42484e, roughness: 0.68, metalness: 0.22 }),
);
const platter = new THREE.Mesh(
new THREE.CylinderGeometry(0.84, 0.84, 0.16, 64),
new THREE.MeshStandardMaterial({ color: 0x6d7880, roughness: 0.48, metalness: 0.42 }),
);
platter.rotation.x = Math.PI / 2;
platter.position.z = 0.14;
tableGroup.add(table, platter);
scene.add(tableGroup);
const pathLine = buildToolpath();
scene.add(pathLine);
const toolGroup = new THREE.Group();
const toolBody = new THREE.Mesh(
new THREE.CylinderGeometry(0.045, 0.07, 1.05, 28),
new THREE.MeshStandardMaterial({ color: 0x29ecf0, emissive: 0x0a4f52, roughness: 0.28 }),
);
toolBody.rotation.x = Math.PI / 2;
toolBody.position.z = 0.52;
const tcpPoint = new THREE.Mesh(
new THREE.SphereGeometry(0.095, 28, 18),
new THREE.MeshStandardMaterial({ color: 0x1ffff4, emissive: 0x0b6f6f, roughness: 0.18 }),
const previewPath = createLine(0x808892, 0.56);
const executedPath = createLine(0x1ffff4, 1);
const rapidPath = createLine(0xffb13b, 0.82);
const toolMarker = new THREE.Mesh(
new THREE.SphereGeometry(0.065, 18, 12),
new THREE.MeshBasicMaterial({ color: 0x1ffff4 }),
);
const toolAxis = new THREE.Line(
new THREE.BufferGeometry().setFromPoints([new THREE.Vector3(), new THREE.Vector3(0, 0, 1)]),
new THREE.LineBasicMaterial({ color: 0x21f2f2, linewidth: 2 }),
EMPTY_GEOMETRY.clone(),
new THREE.LineBasicMaterial({ color: 0x1ffff4, transparent: true, opacity: 0.9 }),
);
toolGroup.add(toolBody, tcpPoint, toolAxis);
scene.add(toolGroup);
scene.add(previewPath, rapidPath, executedPath, toolAxis, toolMarker);
const controls = createToolpathCameraControls(canvas, camera, () => {
renderer.render(scene, camera);
});
const preview = {
kind: "webgl",
renderer,
scene,
camera,
tableGroup,
toolGroup,
controls,
previewPath,
executedPath,
rapidPath,
toolMarker,
toolAxis,
pathLine,
currentToolhead: new THREE.Vector3(),
lastSelectedView: null,
lastCameraRevision: null,
};
resizeRenderer(preview);
resetCamera(preview, "iso");
return preview;
}
@@ -153,101 +124,65 @@ function renderFallbackPreview(preview, state) {
if (!ctx) return;
ctx.clearRect(0, 0, width, height);
ctx.fillStyle = "#07100d";
ctx.fillStyle = "#030405";
ctx.fillRect(0, 0, width, height);
const cx = width * 0.5;
const cy = height * 0.53;
const scale = Math.min(width / 7.2, height / 4.8);
drawFallbackGrid(ctx, cx, cy, scale);
ctx.strokeStyle = "#e43a35";
ctx.lineWidth = 1.5;
ctx.strokeRect(cx - 2.95 * scale, cy - 1.9 * scale, 5.9 * scale, 3.8 * scale);
ctx.fillStyle = "#42484e";
ctx.strokeStyle = "#79838a";
ctx.lineWidth = 2;
ctx.beginPath();
ctx.roundRect(cx - 1.5 * scale, cy - 0.78 * scale, 3.0 * scale, 1.56 * scale, 4);
ctx.fill();
ctx.stroke();
ctx.fillStyle = "#6d7880";
ctx.strokeStyle = "#a3b0b8";
ctx.beginPath();
ctx.ellipse(cx, cy, 0.84 * scale, 0.48 * scale, 0, 0, Math.PI * 2);
ctx.fill();
ctx.stroke();
ctx.strokeStyle = "#ffffff";
ctx.lineWidth = 2;
ctx.beginPath();
for (let index = 0; index < 72; index += 1) {
const t = index / 71;
const x = cx + (-2.45 + t * 4.9) * scale;
const y = cy + Math.sin(t * Math.PI * 13) * 0.36 * scale;
if (index === 0) ctx.moveTo(x, y);
else ctx.lineTo(x, y);
const previewPoints = buildProgramPreviewPoints(state);
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
const pointCount = previewPoints.length;
const executedPointCount = executedPoints.length;
if (pointCount > 0) {
ctx.strokeStyle = "#8d95a0";
ctx.lineWidth = 2;
ctx.beginPath();
drawFallbackPolyline(ctx, previewPoints, cx, cy, scale);
ctx.stroke();
}
ctx.stroke();
const tcp = state.tcpPose;
const tool = state.toolAxisVector;
const toolX = cx + clamp(tcp.x * 0.035, -2.7, 2.7) * scale;
const toolY = cy - clamp(tcp.y * 0.035, -2.0, 2.0) * scale;
const axisX = toolX + tool.x * 0.85 * scale;
const axisY = toolY - (tool.y || 0.2) * 0.85 * scale;
ctx.strokeStyle = "#21f2f2";
ctx.fillStyle = "#1ffff4";
ctx.lineWidth = 3;
ctx.beginPath();
ctx.moveTo(toolX, toolY);
ctx.lineTo(axisX, axisY);
ctx.stroke();
ctx.beginPath();
ctx.arc(toolX, toolY, 0.09 * scale, 0, Math.PI * 2);
ctx.fill();
if (executedPointCount > 0) {
ctx.strokeStyle = "#1ffff4";
ctx.lineWidth = 3;
ctx.beginPath();
drawFallbackPolyline(ctx, executedPoints, cx, cy, scale);
ctx.stroke();
}
const toolPosition = executionToolPosition(state, previewPoints);
if (toolPosition) {
const toolX = cx + toolPosition.x * scale;
const toolY = cy - toolPosition.y * scale;
ctx.fillStyle = "#1ffff4";
ctx.beginPath();
ctx.arc(toolX, toolY, 0.055 * scale, 0, Math.PI * 2);
ctx.fill();
}
ctx.fillStyle = "#b7c7b8";
ctx.font = "12px Courier New, monospace";
ctx.fillText("2D RTCP fallback", 12, height - 14);
exposePreviewDataset(canvas, state, {
pointCount: 72,
sceneObjectCount: 12,
toolhead: {
x: clamp(tcp.x * 0.035, -2.7, 2.7),
y: clamp(tcp.y * 0.035, -2.0, 2.0),
z: clamp(tcp.z * 0.04 + 0.35, -1.1, 1.9),
},
pointCount,
executedPointCount,
sceneObjectCount: (pointCount > 0 ? 1 : 0) + (executedPointCount > 0 ? 1 : 0),
toolhead: toolPosition || { x: 0, y: 0, z: 0 },
renderer: "2d-fallback",
sceneMode: "program-preview-and-tool-execution",
cameraControls: false,
toolExecutionMarker: Boolean(toolPosition),
});
canvas.dataset.threeFallbackReason = preview.errorMessage;
}
function drawFallbackGrid(ctx, cx, cy, scale) {
ctx.strokeStyle = "#273236";
ctx.lineWidth = 1;
for (let x = -3; x <= 3; x += 0.5) {
ctx.beginPath();
ctx.moveTo(cx + x * scale, cy - 2.1 * scale);
ctx.lineTo(cx + x * scale, cy + 2.1 * scale);
ctx.stroke();
}
for (let y = -2; y <= 2; y += 0.5) {
ctx.beginPath();
ctx.moveTo(cx - 3.1 * scale, cy + y * scale);
ctx.lineTo(cx + 3.1 * scale, cy + y * scale);
ctx.stroke();
}
}
function exposePreviewDataset(canvas, state, preview) {
canvas.dataset.threeReady = "true";
canvas.dataset.threeRevision = THREE.REVISION;
canvas.dataset.threePathPoints = String(preview.pointCount);
canvas.dataset.threeExecutedPathPoints = String(preview.executedPointCount);
canvas.dataset.threeSceneObjects = String(preview.sceneObjectCount);
canvas.dataset.threeToolhead = JSON.stringify(toRoundedVector(preview.toolhead));
canvas.dataset.threeToolAxis = JSON.stringify(toRoundedVector(state.toolAxisVector));
@@ -256,62 +191,346 @@ function exposePreviewDataset(canvas, state, preview) {
canvas.dataset.threeSelectedView = state.preview.selectedView;
canvas.dataset.threeFrameApi = state.rtcpFrame.apiName;
canvas.dataset.threeRenderer = preview.renderer;
canvas.dataset.threeSceneMode = preview.sceneMode;
canvas.dataset.threeCameraControls = preview.cameraControls ? "orbit-pan-zoom" : "none";
canvas.dataset.threeProgramPreviewSource = previewSourceMode(state);
canvas.dataset.threeToolExecutionMarker = preview.toolExecutionMarker ? "true" : "false";
}
function buildEnvelope() {
const geometry = new THREE.BoxGeometry(5.9, 4.25, 2.7);
const edges = new THREE.EdgesGeometry(geometry);
const line = new THREE.LineSegments(edges, new THREE.LineBasicMaterial({ color: 0xe43a35 }));
line.position.z = 0.2;
return line;
function createLine(color, opacity) {
return new THREE.Line(
EMPTY_GEOMETRY.clone(),
new THREE.LineBasicMaterial({
color,
transparent: opacity < 1,
opacity,
}),
);
}
function buildToolpath() {
function updateToolpathPreview(preview, state) {
const previewPoints = buildProgramPreviewPoints(state);
const executedPoints = buildExecutedProgramPoints(state, previewPoints);
const rapidPoints = buildRapidPreviewPoints(state);
const toolPosition = executionToolPosition(state, previewPoints);
updateLineGeometry(preview.previewPath, previewPoints);
updateLineGeometry(preview.executedPath, executedPoints);
updateLineGeometry(preview.rapidPath, rapidPoints);
updateToolExecutionMarker(preview, state, toolPosition);
const cameraRevision = state.preview.cameraRevision ?? 0;
if (
preview.lastSelectedView !== state.preview.selectedView ||
preview.lastCameraRevision !== cameraRevision
) {
resetCamera(preview, state.preview.selectedView);
preview.lastSelectedView = state.preview.selectedView;
preview.lastCameraRevision = cameraRevision;
} else {
applyCameraControls(preview.controls);
}
}
function updateToolExecutionMarker(preview, state, toolPosition) {
if (!toolPosition) {
preview.currentToolhead.set(0, 0, 0);
preview.toolMarker.visible = false;
preview.toolAxis.visible = false;
updateLineGeometry(preview.toolAxis, []);
return;
}
const vector = toToolVector(state.toolAxisVector);
preview.currentToolhead.copy(toolPosition);
preview.toolMarker.visible = true;
preview.toolMarker.position.copy(toolPosition);
preview.toolAxis.visible = true;
updateLineGeometry(preview.toolAxis, [
toolPosition,
toolPosition.clone().add(vector.multiplyScalar(0.7)),
]);
}
function updateLineGeometry(line, points) {
line.visible = points.length > 0;
line.geometry.dispose();
line.geometry = points.length > 0
? new THREE.BufferGeometry().setFromPoints(points)
: EMPTY_GEOMETRY.clone();
}
function buildProgramPreviewPoints(state) {
const motion = state.programExecution?.motion;
if (Array.isArray(motion) && motion.length > 0 && state.preview.pathPoints !== 0) {
return limitPoints(motion.map((event) => vectorFromAxes(event.axes)));
}
const pointCount = normalizePathPointCount(state.preview.pathPoints);
if (pointCount === 0) return [];
return buildFixturePreviewPoints(pointCount, toPreviewVector(state.tcpPose));
}
function buildExecutedProgramPoints(state, previewPoints) {
if (state.preview.pathPoints === 0 || previewPoints.length === 0) return [];
const samples = state.programExecutionTiming?.samples;
const sampleIndex = Number(state.programExecutionSampleIndex || 0);
if (Array.isArray(samples) && samples.length > 0) {
const end = clamp(Math.round(sampleIndex), 0, samples.length - 1);
return limitPoints(samples.slice(0, end + 1).map((sample) => vectorFromAxes(sample)));
}
const motionIndex = clamp(Math.round(Number(state.programExecutionMotionIndex || 0)), 0, previewPoints.length - 1);
return previewPoints.slice(0, motionIndex + 1);
}
function buildRapidPreviewPoints(state) {
const motion = state.programExecution?.motion;
if (!Array.isArray(motion) || state.preview.pathPoints === 0) return [];
return limitPoints(
motion
.filter((event) => event.type === "STRAIGHT_TRAVERSE")
.map((event) => vectorFromAxes(event.axes)),
);
}
function buildFixturePreviewPoints(pointCount, tcpPosition) {
const points = [];
for (let index = 0; index < 72; index += 1) {
const t = index / 71;
for (let index = 0; index < pointCount; index += 1) {
const t = pointCount === 1 ? 0 : index / (pointCount - 1);
const x = -2.45 + t * 4.9;
const y = Math.sin(t * Math.PI * 13) * 0.36;
const z = -0.68 + Math.sin(t * Math.PI * 2) * 0.42;
points.push(new THREE.Vector3(x, y, z));
}
const geometry = new THREE.BufferGeometry().setFromPoints(points);
return new THREE.Line(geometry, new THREE.LineBasicMaterial({ color: 0xffffff }));
}
function updateMachinePose(preview, state) {
const tcp = state.tcpPose;
const tool = state.toolAxisVector;
const tcpPosition = new THREE.Vector3(
clamp(tcp.x * 0.035, -2.7, 2.7),
clamp(tcp.y * 0.035, -2.0, 2.0),
clamp(tcp.z * 0.04 + 0.35, -1.1, 1.9),
);
const toolAxisVector = new THREE.Vector3(tool.x, tool.y, tool.z || 1).normalize();
preview.toolGroup.position.copy(tcpPosition);
preview.toolGroup.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), toolAxisVector);
preview.toolAxis.geometry.setFromPoints([
new THREE.Vector3(0, 0, 0),
toolAxisVector.clone().multiplyScalar(state.rtcpState === "on" ? 1.2 : 0.85),
]);
preview.tableGroup.rotation.x = THREE.MathUtils.degToRad(state.axisPose.a);
preview.tableGroup.rotation.z = THREE.MathUtils.degToRad(state.axisPose.c);
setCameraView(preview.camera, state.preview.selectedView);
}
function setCameraView(camera, selectedView) {
if (selectedView === "x") {
camera.position.set(6, 0.02, 0.45);
} else if (selectedView === "y") {
camera.position.set(0.02, -6, 0.7);
} else if (selectedView === "z") {
camera.position.set(0.01, -0.02, 6.6);
} else {
camera.position.set(3.4, -5.0, 3.2);
if (points.length > 0 && tcpPosition) {
points[points.length - 1] = tcpPosition.clone();
}
camera.lookAt(0, 0, 0);
camera.updateProjectionMatrix();
return points;
}
function executionToolPosition(state, previewPoints) {
if (state.preview.pathPoints === 0) return null;
const feedbackAxes = state.programRuntimeFeedback?.axisPose || state.programRuntimeFeedback;
if (feedbackAxes && hasLinearAxes(feedbackAxes)) return vectorFromAxes(feedbackAxes);
if (hasLinearAxes(state.axisPose)) return vectorFromAxes(state.axisPose);
return previewPoints.at(-1) || null;
}
function vectorFromAxes(axes = {}) {
return new THREE.Vector3(
scaleLinearAxis(axes.x),
scaleLinearAxis(axes.y),
scaleZAxis(axes.z),
);
}
function toPreviewVector(pose = {}) {
return new THREE.Vector3(
scaleLinearAxis(pose.x),
scaleLinearAxis(pose.y),
scaleZAxis(pose.z),
);
}
function scaleLinearAxis(value) {
return clamp((Number(value) || 0) * 0.035, -2.7, 2.7);
}
function scaleZAxis(value) {
return clamp((Number(value) || 0) * 0.04 + 0.35, -1.1, 1.9);
}
function toToolVector(vector = {}) {
return new THREE.Vector3(
Number(vector.x) || 0,
Number(vector.y) || 0,
Number(vector.z) || 1,
).normalize();
}
function hasLinearAxes(value = {}) {
return ["x", "y", "z"].some((axis) => Number.isFinite(Number(value[axis])));
}
function limitPoints(points) {
if (points.length <= MAX_TOOLPATH_POINTS) return points;
const stride = Math.ceil(points.length / MAX_TOOLPATH_POINTS);
const sampled = points.filter((_, index) => index % stride === 0);
const last = points.at(-1);
if (last && sampled.at(-1) !== last) sampled.push(last);
return sampled;
}
function previewSourceMode(state) {
if (state.programExecution?.sourceMode) return state.programExecution.sourceMode;
return state.programExecutionSourceMode || "fixture-line-playback";
}
function drawFallbackPolyline(ctx, points, cx, cy, scale) {
for (let index = 0; index < points.length; index += 1) {
const point = points[index];
const x = cx + point.x * scale;
const y = cy - point.y * scale;
if (index === 0) ctx.moveTo(x, y);
else ctx.lineTo(x, y);
}
}
function createToolpathCameraControls(canvas, camera, renderFrame) {
const controls = {
enabled: true,
camera,
target: new THREE.Vector3(),
theta: CAMERA_PRESETS.iso.theta,
phi: CAMERA_PRESETS.iso.phi,
radius: CAMERA_PRESETS.iso.radius,
pointerMode: null,
pointers: new Map(),
lastPointer: null,
lastPinchCenter: null,
lastPinchDistance: 0,
renderFrame,
};
canvas.addEventListener("contextmenu", (event) => event.preventDefault());
canvas.addEventListener("wheel", (event) => {
event.preventDefault();
const scale = Math.exp(Math.sign(event.deltaY) * 0.12);
controls.radius = clamp(controls.radius * scale, 1.2, 28);
applyCameraControls(controls);
controls.renderFrame();
}, { passive: false });
canvas.addEventListener("pointerdown", (event) => {
safelySetPointerCapture(canvas, event.pointerId);
controls.pointers.set(event.pointerId, { x: event.clientX, y: event.clientY });
controls.lastPointer = { x: event.clientX, y: event.clientY };
controls.pointerMode = event.button === 1 || event.button === 2 || event.shiftKey ? "pan" : "rotate";
if (controls.pointers.size === 2) {
controls.pointerMode = "pinch";
controls.lastPinchDistance = getPointerDistance(controls.pointers);
controls.lastPinchCenter = getPointerCenter(controls.pointers);
}
});
canvas.addEventListener("pointermove", (event) => {
if (!controls.pointers.has(event.pointerId)) return;
const previous = controls.pointers.get(event.pointerId);
controls.pointers.set(event.pointerId, { x: event.clientX, y: event.clientY });
if (controls.pointerMode === "pinch" && controls.pointers.size >= 2) {
const distance = getPointerDistance(controls.pointers);
const center = getPointerCenter(controls.pointers);
if (distance > 0 && controls.lastPinchDistance > 0) {
controls.radius = clamp(controls.radius * (controls.lastPinchDistance / distance), 1.2, 28);
if (controls.lastPinchCenter) {
panCamera(
controls,
center.x - controls.lastPinchCenter.x,
center.y - controls.lastPinchCenter.y,
canvas,
);
}
controls.lastPinchDistance = distance;
controls.lastPinchCenter = center;
applyCameraControls(controls);
controls.renderFrame();
}
return;
}
const dx = event.clientX - previous.x;
const dy = event.clientY - previous.y;
if (controls.pointerMode === "pan") {
panCamera(controls, dx, dy, canvas);
} else {
controls.theta -= dx * 0.006;
controls.phi = clamp(controls.phi - dy * 0.006, 0.001, Math.PI - 0.001);
}
applyCameraControls(controls);
controls.renderFrame();
});
const releasePointer = (event) => {
controls.pointers.delete(event.pointerId);
safelyReleasePointerCapture(canvas, event.pointerId);
if (controls.pointers.size === 0) {
controls.pointerMode = null;
controls.lastPointer = null;
controls.lastPinchCenter = null;
controls.lastPinchDistance = 0;
}
};
canvas.addEventListener("pointerup", releasePointer);
canvas.addEventListener("pointercancel", releasePointer);
return controls;
}
function safelySetPointerCapture(canvas, pointerId) {
try {
canvas.setPointerCapture?.(pointerId);
} catch {
// Synthetic browser-smoke events do not always have an active pointer capture target.
}
}
function safelyReleasePointerCapture(canvas, pointerId) {
try {
canvas.releasePointerCapture?.(pointerId);
} catch {
// Matching setPointerCapture guard for synthetic and cancelled pointer streams.
}
}
function normalizePathPointCount(value) {
const requestedCount = Number(value);
return Number.isFinite(requestedCount) && requestedCount > 0
? Math.max(2, Math.min(Math.round(requestedCount), 512))
: 0;
}
function getPointerDistance(pointers) {
const values = [...pointers.values()];
if (values.length < 2) return 0;
return Math.hypot(values[0].x - values[1].x, values[0].y - values[1].y);
}
function getPointerCenter(pointers) {
const values = [...pointers.values()];
if (values.length < 2) return null;
return {
x: (values[0].x + values[1].x) / 2,
y: (values[0].y + values[1].y) / 2,
};
}
function panCamera(controls, dx, dy, canvas) {
const cameraDirection = new THREE.Vector3();
controls.camera.getWorldDirection(cameraDirection);
const right = new THREE.Vector3().crossVectors(cameraDirection, controls.camera.up).normalize();
const up = new THREE.Vector3().crossVectors(right, cameraDirection).normalize();
const speed = controls.radius / Math.max(canvas.clientWidth, canvas.clientHeight, 1);
controls.target.addScaledVector(right, -dx * speed);
controls.target.addScaledVector(up, dy * speed);
}
function resetCamera(preview, selectedView) {
const preset = CAMERA_PRESETS[selectedView] || CAMERA_PRESETS.iso;
preview.controls.theta = preset.theta;
preview.controls.phi = preset.phi;
preview.controls.radius = preset.radius;
preview.controls.target.copy(preset.target);
applyCameraControls(preview.controls);
}
function applyCameraControls(controls) {
const sinPhiRadius = Math.sin(controls.phi) * controls.radius;
controls.camera.position.set(
controls.target.x + sinPhiRadius * Math.cos(controls.theta),
controls.target.y + sinPhiRadius * Math.sin(controls.theta),
controls.target.z + Math.cos(controls.phi) * controls.radius,
);
controls.camera.lookAt(controls.target);
controls.camera.updateProjectionMatrix();
}
function resizeRenderer(preview) {