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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8
web/worker/wasm-linuxcnc-tp.mjs
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@@ -152,7 +152,10 @@ export class WasmLinuxcncTp {
}
commandedJoints(position, activeTag) {
if (Number(activeTag) === 0) return [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0];
if (Number(activeTag) === 0) {
const tilt = this.kinematics?.coordinates === "XYZBC" ? position.b : position.a;
return [position.x, position.y, position.z, tilt ?? 0, position.c ?? 0];
}
const inverse = this.kinematics?.inverseMode?.(Number(activeTag), position) ?? this.kinematics?.inverse?.(position);
if (inverse?.status === "verified" && Array.isArray(inverse.joints)) return inverse.joints.slice(0, 5);
throw new Error(`linuxcnc_tp_joint_inverse_${inverse?.code ?? "unavailable"}`);
@@ -204,7 +207,8 @@ export class WasmLinuxcncTp {
const position = toPose(doubles);
const joints = this.commandedJoints(position, this.activeTag);
const velocityMmMin = Number(call(this.core, "sim_linuxcnc_tp_velocity_mm_min", "number", ["number"], [this.planner]));
const state = { position, velocity: doubles[9], velocity_mm_min: velocityMmMin, acceleration: this.accelerationLimit, progress: doubles[10], tick: ints[0], queue_depth: this.queueDepthOverride === null ? ints[1] : this.queueDepthOverride, active_queue: activeId ? 1 : 0, active_id: activeId, active_tag: this.activeTag, joint_commanded: joints, joint_actual: joints.slice(), motion_type: this.core.HEAP32[this.statePointer / 4 + 25], status: this.core.HEAP32[this.statePointer / 4 + 26], exec_state: this.executionState, velocity_limit: velocityLimit, velocity_scale: velocityScale, jog_velocity_linear: this.jogVelocity("x"), jog_velocity_angular: this.jogVelocity("a"), feed_override: feedOverride, jog_scale: jogScale, source: "linuxcnc-source-tp" };
const rotaryAxis = this.kinematics?.coordinates === "XYZBC" ? "b" : "a";
const state = { position, velocity: doubles[9], velocity_mm_min: velocityMmMin, acceleration: this.accelerationLimit, progress: doubles[10], tick: ints[0], queue_depth: this.queueDepthOverride === null ? ints[1] : this.queueDepthOverride, active_queue: activeId ? 1 : 0, active_id: activeId, active_tag: this.activeTag, joint_commanded: joints, joint_actual: joints.slice(), motion_type: this.core.HEAP32[this.statePointer / 4 + 25], status: this.core.HEAP32[this.statePointer / 4 + 26], exec_state: this.executionState, velocity_limit: velocityLimit, velocity_scale: velocityScale, jog_velocity_linear: this.jogVelocity("x"), jog_velocity_angular: this.jogVelocity(rotaryAxis), feed_override: feedOverride, jog_scale: jogScale, source: "linuxcnc-source-tp" };
this.lastState = state;
return { status: "verified", state };
}