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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16
web/react/src/store.ts
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@@ -71,6 +71,7 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
const executionTrace = resetExecutionTrace ? trace.slice(-EXECUTION_TRACE_CACHE_LIMIT) : trace.length ? [...previous.executionTrace, ...trace].slice(-EXECUTION_TRACE_CACHE_LIMIT) : previous.executionTrace;
const delta = result.motion_sample as { tick?: number; pose?: Record<string, number>; joints?: number[]; active_segment_id?: number; active_progress?: number } | undefined;
if (!panel && delta && previous.snapshot) {
const previousSnapshot = previous.snapshot;
const pose = delta.pose ?? {};
const joints = Array.isArray(delta.joints) ? [...delta.joints] : previous.snapshot.motion?.joints ?? [];
const visual = previous.snapshot.visual ? {
@@ -97,16 +98,8 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
motion: {
...previous.snapshot.motion,
...(result.motion as SimSnapshotV1["motion"] | undefined),
// Keep the XYZAC axis vector intact on every motion delta. Older
// projection code rebuilt only XYZ, which made A/C disappear from
// consumers that read the canonical motion array.
axes: [
Number(pose.x ?? previous.snapshot.motion?.axes?.[0] ?? 0),
Number(pose.y ?? previous.snapshot.motion?.axes?.[1] ?? 0),
Number(pose.z ?? previous.snapshot.motion?.axes?.[2] ?? 0),
Number(pose.a ?? previous.snapshot.motion?.axes?.[3] ?? 0),
Number(pose.c ?? previous.snapshot.motion?.axes?.[4] ?? 0),
],
// Keep the active machine's axis vector intact on every motion delta.
axes: [...String(previousSnapshot.kinematics?.coordinates ?? "XYZAC").toLowerCase()].map((axis, index) => Number(pose[axis] ?? previousSnapshot.motion?.axes?.[index] ?? 0)),
joints,
},
wasm_motion: (result.wasm_motion as Record<string, unknown>) ?? previous.snapshot.wasm_motion,
@@ -150,7 +143,8 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
})
: previous.toolpath;
const pose = panel.visual.pose;
const axes = [pose.x, pose.y, pose.z, pose.a, pose.c].map((value) => Number.isFinite(value) ? value : 0);
const coordinateSystem = String(panel.kinematics?.coordinates ?? panel.xyzac?.coordinates ?? "XYZAC");
const axes = [...coordinateSystem.toLowerCase()].map((axis) => Number.isFinite(pose?.[axis]) ? Number(pose[axis]) : 0);
const snapshot = {
schema: panel.schema,
source_status: panel.source_status,