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接入 task HAL Web 仿真运行时

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wangdequan
2026-06-22 06:11:55 +08:00
parent 3771b9eafe
commit bd11a5f8d6
42 changed files with 5574 additions and 50 deletions
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20
web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
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@@ -343,6 +343,8 @@ function renderInfoTabs(element, state) {
<dt>INI joints:</dt><dd data-linuxcnc-ini="joints">${state.iniConfigReadiness.jointCount ?? 0} joints / ${state.iniConfigReadiness.axisCount ?? 0} axes</dd>
<dt>Machine files:</dt><dd data-machine-file-staging="status">${formatMachineFileStaging(state.machineFileStaging)}</dd>
<dt>LinuxCNC G-code:</dt><dd data-linuxcnc-gcode-source="selected">${state.machineFileStaging.selectedGcodeSourceRel || state.programSourceRel || "-"}</dd>
<dt>Task/HAL:</dt><dd data-task-hal-runtime="readiness">${formatTaskHalReadiness(state)}</dd>
<dt>Task/HAL cycles:</dt><dd data-task-hal-runtime="cycles">${formatTaskHalCycles(state)}</dd>
<dt>Full boundary:</dt><dd data-full-execution-boundary="status">${formatFullExecutionBoundary(state.fullExecutionBoundary)}</dd>
<dt>Planner/task:</dt><dd data-full-execution-boundary="blockers">${formatFullExecutionBlockers(state.fullExecutionBoundary)}</dd>
<dt>Boundary evidence:</dt><dd data-full-execution-boundary="evidence">${formatFullExecutionEvidence(state.fullExecutionBoundary)}</dd>
@@ -434,6 +436,24 @@ function formatMachineFileExecution(machineFileExecution) {
return `${summary.machineFileExecutionReady ? "ready" : "ran"} ${summary.motionEventCount || 0} motion ${machineFileExecution.machineFilePlan.profileId}`;
}
function formatTaskHalReadiness(state) {
const readiness = state.taskHalRuntimeReadiness;
if (!readiness?.loaded && !state.taskHalStatus) return "pending";
return [
readiness?.taskRuntimeReady ? "task" : "task pending",
readiness?.motionRuntimeReady ? "motion" : "motion pending",
readiness?.halRuntimeReady ? "hal" : "hal pending",
state.taskHalStatus?.summary?.halSyncReady ? "sync" : "sync pending",
state.taskHalFallbackReason ? `fallback ${state.taskHalFallbackReason}` : null,
].filter(Boolean).join(" / ");
}
function formatTaskHalCycles(state) {
const status = state.taskHalStatus;
if (!status?.ui) return "pending";
return `task ${status.ui.taskCycle} / servo ${status.ui.servoCycle} / queue ${status.ui.motionQueueDepth} / HAL changed ${status.ui.halChangedPinCount}`;
}
function formatFullExecutionBoundary(boundary) {
if (!boundary) return "pending";
const remap = boundary.machineFileBackedRemapReady ? "remap ready" : "remap pending";