同步五轴仿真文档和验证证据

web-rtcp-5axis-sim-plan/app/src/state/store.js

@@ -856,6 +856,9 @@ export function createSimulationStore(seed = {}) {
         }
         break;
       case "TASK_HAL_SESSION_READY":
+        if (action.session?.programSourceRel && action.session.programSourceRel !== state.machineFileStaging?.selectedGcodeSourceRel) {
+          break;
+        }
         setState({
           taskHalSession: action.session,
           taskHalFallbackReason: null,
@@ -898,6 +901,12 @@ export function createSimulationStore(seed = {}) {
           operatorMessage: action.operatorMessage || state.operatorMessage,
         });
         break;
+      case "TASK_HAL_PROGRAM_STOPPED":
+        setState(createStoppedProgramStatePatch(state, {
+          reason: action.reason || "stopped",
+          operatorMessage: action.operatorMessage || "task/HAL program stopped",
+        }));
+        break;
       case "TASK_HAL_COMMAND_FAILED":
         setState({
           taskHalFallbackReason: action.error,
@@ -1243,9 +1252,21 @@ export function createSimulationStore(seed = {}) {
             stopTaskHalStatusLoop(action.type === "ABORT" ? "aborted" : "stopped", {
               operatorMessage: action.type === "ABORT" ? "task/HAL abort requested" : "task/HAL stop requested",
             });
+            setState(createStoppedProgramStatePatch(state, {
+              reason: action.type === "ABORT" ? "aborted" : "stopped",
+              operatorMessage: action.type === "ABORT" ? "task abort requested" : "program stop requested",
+            }));
             runTaskHalCommandSequence([
               { type: "EMC_TASK_ABORT" },
-            ], { operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped" }).catch(() => {});
+            ], { operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped" })
+              .then(() => {
+                dispatch({
+                  type: "TASK_HAL_PROGRAM_STOPPED",
+                  reason: action.type === "ABORT" ? "aborted" : "stopped",
+                  operatorMessage: action.type === "ABORT" ? "task/HAL abort complete" : "task/HAL program stopped",
+                });
+              })
+              .catch(() => {});
             break;
           }
           setState({
@@ -1304,8 +1325,8 @@ export function createSimulationStore(seed = {}) {
               { type: "EMC_TASK_PLAN_RESUME" },
             ], {
               operatorMessage: "task/HAL program resumed",
-            }).then(() => {
-              if (state.runState === "running" || state.machine.interpState === "reading") {
+            }).then((status) => {
+              if (shouldContinueTaskHalStatusLoop(state, status)) {
                 startTaskHalStatusLoop({
                   operatorMessage: "task/HAL status loop resumed",
                 });
@@ -1337,7 +1358,9 @@ export function createSimulationStore(seed = {}) {
           }
           if (state.taskHalRuntime?.loaded) {
             stopTaskHalStatusLoop("step", { operatorMessage: "task/HAL step requested" });
-            runTaskHalCommandSequence([], {
+            runTaskHalCommandSequence([
+              { type: "EMC_TASK_PLAN_STEP" },
+            ], {
               taskCycles: 1,
               operatorMessage: "task/HAL stepped one cycle",
             }).catch(() => {});
@@ -1412,6 +1435,20 @@ export function createSimulationStore(seed = {}) {
             break;
           }
           if (state.taskHalRuntime?.loaded) {
+            setState({
+              machine: {
+                ...state.machine,
+                mode: "manual",
+                allHomed: true,
+                interpState: "idle",
+                interpResumeState: "idle",
+                taskPaused: false,
+              },
+              runState: "idle",
+              axisPose: initialAxisPose,
+              programRuntimeFeedback: null,
+              operatorMessage: "task/HAL home requested",
+            });
             runTaskHalCommandSequence([
               { type: "EMC_JOINT_HOME", joint: -1 },
             ], {
@@ -1421,6 +1458,7 @@ export function createSimulationStore(seed = {}) {
                 allHomed: true,
               },
             }).catch(() => {});
+            break;
           }
           setState({
             machine: {
@@ -1705,6 +1743,7 @@ export function createSimulationStore(seed = {}) {
     if (!state.taskHalRuntime?.loaded || !state.machineFileStaging?.save?.files?.length) {
       return null;
     }
+    stopTaskHalStatusLoop("session-initialize", { notify: false });
     const preserveMachine = {
       powerOn: state.machine.powerOn,
       estopActive: state.machine.estopActive,
@@ -1719,6 +1758,9 @@ export function createSimulationStore(seed = {}) {
       save: state.machineFileStaging.save,
       selectedProgramRel: state.machineFileStaging.selectedGcodeSourceRel,
     });
+    if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) {
+      return null;
+    }
     await state.taskHalRuntime.resetSession?.();
     await state.taskHalRuntime.initSession({
       profileId: session.profileId,
@@ -1746,6 +1788,9 @@ export function createSimulationStore(seed = {}) {
       ...deriveTaskHalCyclePeriods(state),
       taskCycles: 1,
     });
+    if (session.programSourceRel && session.programSourceRel !== state.machineFileStaging.selectedGcodeSourceRel) {
+      return null;
+    }
     dispatch({ type: "TASK_HAL_SESSION_READY", session });
     const status = await state.taskHalRuntime.readStatus();
     dispatch({
@@ -2345,11 +2390,12 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
     : rawTaskState;
   const taskMode = normalizeLinuxCncTaskMode(preserveMachine?.mode || ui.taskMode || task.mode || state.machine.mode);
   const interpState = normalizeTaskHalInterpState(ui.interpState || task.interpState);
+  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 axisPose = resolveTaskHalAxisPose(state, status);
-  const currentVelocity = Number.isFinite(ui.currentVelocity) && ui.currentVelocity > 0
-    ? ui.currentVelocity
+  const currentVelocity = Number.isFinite(ui.currentVelocity)
+    ? Math.max(ui.currentVelocity, 0)
     : state.feed.currentVelocity;
   const paused = interpState === "paused" || motion.paused === true;
   const aborted = motion.aborted === true;
@@ -2400,7 +2446,8 @@ function applyTaskHalStatusPatch(state, status, operatorMessage, {
       interpState,
       interpResumeState: paused ? state.machine.interpResumeState || "reading" : interpState,
       taskPaused: paused,
-      allHomed: Boolean(preserveMachine?.allHomed ?? state.machine.allHomed),
+      allHomed,
+      noForceHoming: Boolean(state.machine.noForceHoming),
     },
     runState,
     taskHalStatusLoop: loopSequence === null
@@ -2440,6 +2487,33 @@ function shouldContinueTaskHalStatusLoop(state = {}, status = {}) {
   return !aborted && !paused && !complete && (interpState === "reading" || taskMode === "mdi");
 }
 
+function createStoppedProgramStatePatch(state, {
+  reason = "stopped",
+  operatorMessage = "program stopped",
+} = {}) {
+  return {
+    machine: {
+      ...state.machine,
+      interpState: "idle",
+      interpResumeState: "idle",
+      taskPaused: false,
+    },
+    runState: reason === "aborted" ? "stopped" : reason,
+    taskHalStatusLoop: {
+      ...state.taskHalStatusLoop,
+      active: false,
+      sequence: Number(state.taskHalStatusLoop?.sequence || 0) + 1,
+      stopReason: reason,
+      lastStatusAt: new Date().toISOString(),
+    },
+    feed: {
+      ...state.feed,
+      currentVelocity: 0,
+    },
+    operatorMessage,
+  };
+}
+
 function resolveTaskHalKinsType(state, status, activeLine) {
   const ui = status?.ui || {};
   const numeric = Number(ui.switchkinsType);