wangdequan/linuxcncWebWASM
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Support XYZAC and XYZBC in shared web machine UI

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wangdequan
2026-09-11 06:25:13 +08:00
parent aac1ceb250
commit 02dcc573b0
20 changed files with 318 additions and 146 deletions
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12
web/react/src/protocol.ts
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@@ -99,26 +99,28 @@ export type SimSnapshotV1 = {
task_authority?: string;
};
export type XyzacKinematicsSnapshot = {
export type TrtKinematicsSnapshot = {
schema: "wasm-xyzac-kinematics.v1";
status: "verified" | "error" | "blocked";
active_type: 0 | 1 | 2;
native_type: string;
coordinates: "XYZAC";
coordinates: "XYZAC" | "XYZBC";
joint_count: 5;
linear_units: "mm";
angular_units: "deg";
pose: Record<"x" | "y" | "z" | "a" | "b" | "c" | "u" | "v" | "w", number>;
joints: [number, number, number, number, number];
offsets: { x_rot_point: number; y_offset: number; z_offset: number; tool_offset: number };
offsets: { x_rot_point: number; y_offset: number; z_offset: number; tool_offset: number; y_rot_point?: number; z_rot_point?: number; x_offset?: number };
generation: number;
switch_count: number;
state_hash: string;
wasm_state_hash: string;
};
export type XyzacKinematicsSnapshot = TrtKinematicsSnapshot;
export type XyzacCapabilitySnapshot = {
coordinates: "XYZAC";
coordinates: "XYZAC" | "XYZBC";
joint_count: 5;
active_type: 0 | 1 | 2;
hal_pin_vars: boolean;
@@ -176,7 +178,7 @@ export type XyzacMachineModel = {
source: "linuxcnc-wasm-worker";
source_path: string;
source_hash: string | null;
coordinate_system: "XYZAC";
coordinate_system: "XYZAC" | "XYZBC";
joints: string[];
components: string[];
};