完善 gmoccapy XYZAB 参考功能

web-rtcp-5axis-sim-plan/app/src/state/linuxcnc-task-policy.js

@@ -56,24 +56,55 @@ export function createLinuxCncTaskPolicyStatus(state) {
   const interpState = normalizeLinuxCncInterpState(state.machine, state.runState);
   const allHomed = Boolean(state.machine.allHomed);
   const noForceHoming = Boolean(state.machine.noForceHoming);
+  const machineFileStaging = state.machineFileStaging || {};
+  const profileId = state.profile?.id || state.machineProfile || null;
+  const taskHalReadiness = state.taskHalRuntimeReadiness || {};
+  const taskHalRuntimeReady = Boolean(
+    state.taskHalRuntime?.loaded &&
+    taskHalReadiness.taskRuntimeReady === true &&
+    taskHalReadiness.motionRuntimeReady === true &&
+    taskHalReadiness.halRuntimeReady === true,
+  );
+  const iniLoaded = state.iniConfigReadiness?.loaded === true && state.iniConfigReadiness?.ready === true;
+  const machineFileStaged = machineFileStaging.status === "staged" && Boolean(machineFileStaging.save?.files?.length);
+  const machineFileOpened = profileId === "gmoccapy-xyzab"
+    ? Boolean(machineFileStaging.selectedGcodeSourceRel)
+    : Boolean(machineFileStaging.selectedGcodeSourceRel || state.activeProgram);
+  const interpIdle = interpState === "idle";
+  const running = taskMode === "auto" &&
+    (state.runState === "running" || interpState === "reading" || interpState === "waiting");
+  const referenceOnly = state.profile?.tcpCapable === false || state.profile?.promotionAllowed === false;
 
   return {
     ...LINUXCNC_TASK_POLICY,
     taskState,
     taskMode,
     interpState,
+    runState: state.runState || "idle",
     allHomed,
     noForceHoming,
+    iniLoaded,
+    machineFileStaged,
+    machineFileOpened,
+    taskHalRuntimeReady,
+    interpIdle,
+    referenceOnly,
+    profileId,
     powerOn: taskState === "on",
     estopActive: taskState === "estop",
     canMove: taskState === "on",
-    canJog: taskState === "on" && taskMode === "manual",
-    canHome: taskState === "on" && taskMode === "manual",
+    canJog: taskState === "on" && taskMode === "manual" && !running,
+    canHome: taskState === "on" && taskMode === "manual" && !running,
     canRunAuto: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming),
+    canRunAutoStrict: taskState === "on" && taskMode === "auto" && (allHomed || noForceHoming) &&
+      interpIdle && iniLoaded && machineFileStaged && machineFileOpened && taskHalRuntimeReady,
     canExecuteMdi: taskState === "on" && taskMode === "mdi" && (allHomed || noForceHoming),
     canPause: taskState === "on" && (taskMode === "auto" || taskMode === "mdi"),
     canResume: taskState === "on" && (taskMode === "auto" || taskMode === "mdi") && interpState === "paused",
     canAbort: true,
+    canSpindle: taskState === "on",
+    canCoolant: taskState === "on",
+    canOverride: taskState === "on",
     canLeaveAuto: taskMode !== "auto" || interpState === "idle",
   };
 }
@@ -94,15 +125,26 @@ export function gateLinuxCncTaskAction(state, action) {
     case "JOG":
       if (status.taskState !== "on") return block(status, "jog blocked: machine must be on");
       if (status.taskMode !== "manual") return block(status, "jog blocked: switch to manual mode first");
+      if (status.taskMode === "auto" &&
+          (status.runState === "running" || status.interpState === "reading" || status.interpState === "waiting")) {
+        return block(status, "jog blocked: interpreter must be idle");
+      }
       return allow(status);
     case "HOME":
       if (status.taskState !== "on") return block(status, "home blocked: machine must be on");
       if (status.taskMode !== "manual") return block(status, "home blocked: switch to manual mode first");
+      if (status.taskMode === "auto" &&
+          (status.runState === "running" || status.interpState === "reading" || status.interpState === "waiting")) {
+        return block(status, "home blocked: interpreter must be idle");
+      }
       return allow(status);
     case "RUN_MDI":
       if (status.taskState !== "on") return block(status, "MDI blocked: machine must be on");
       if (status.taskMode !== "mdi") return block(status, "MDI blocked: switch to MDI mode first");
       if (!status.allHomed && !status.noForceHoming) return block(status, "MDI blocked: home machine first");
+      if (status.interpState === "reading" || status.interpState === "waiting") {
+        return block(status, "MDI blocked: interpreter must be idle");
+      }
       return allow(status);
     case "RUN":
     case "STEP":
@@ -111,6 +153,10 @@ export function gateLinuxCncTaskAction(state, action) {
       if (status.taskMode !== "auto") return block(status, `${type.toLowerCase()} blocked: switch to auto mode first`);
       if (!status.allHomed && !status.noForceHoming) return block(status, `${type.toLowerCase()} blocked: home machine first`);
       if (type === "RUN" && status.interpState === "paused") return block(status, "run blocked: resume paused program first");
+      if (type === "RUN" && status.profileId === "gmoccapy-xyzab") {
+        const strictGate = gateGmoccapyXyzabRun(status);
+        if (!strictGate.allowed) return strictGate;
+      }
       return allow(status);
     case "PAUSE":
       if (status.taskState !== "on") return block(status, "pause blocked: machine must be on");
@@ -128,11 +174,42 @@ export function gateLinuxCncTaskAction(state, action) {
     case "STOP":
     case "ABORT":
       return allow(status);
+    case "SET_SPINDLE_DIRECTION":
+    case "SPINDLE":
+      return gateSpindle(status, typeof action === "object" ? action.direction : undefined);
+    case "TOGGLE_COOLANT":
+    case "COOLANT":
+      if (status.taskState !== "on") return block(status, "coolant blocked: machine must be on");
+      return allow(status);
+    case "ADJUST_OVERRIDE":
+    case "ADJUST_SPINDLE_OVERRIDE":
+    case "OVERRIDE":
+      if (status.taskState !== "on") return block(status, "override blocked: machine must be on");
+      return allow(status);
     default:
       return allow(status);
   }
 }
 
+function gateGmoccapyXyzabRun(status) {
+  if (!status.iniLoaded) return block(status, "run blocked: LinuxCNC INI not loaded");
+  if (!status.machineFileStaged) return block(status, "run blocked: LinuxCNC machine files not staged");
+  if (!status.machineFileOpened) return block(status, "run blocked: no machine-file G-code opened for task/HAL session");
+  if (!status.interpIdle) return block(status, "run blocked: interpreter must be idle");
+  if (!status.taskHalRuntimeReady) return block(status, "run blocked: task/HAL runtime not ready");
+  return allow(status);
+}
+
+function gateSpindle(status, direction = "stop") {
+  if (status.taskState !== "on") return block(status, "spindle blocked: machine must be on");
+  const requested = String(direction || "stop").toLowerCase();
+  if ((requested === "forward" || requested === "reverse") &&
+      (status.interpState === "reading" || status.interpState === "waiting")) {
+    return block(status, "spindle blocked: interpreter is running");
+  }
+  return allow(status);
+}
+
 function gateMode(status, requestedMode) {
   const targetMode = normalizeLinuxCncTaskMode(requestedMode);
   if (!LINUXCNC_TASK_MODES.has(targetMode)) {