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Complete XYZAC switchkins transitions

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wangdequan
2026-09-02 09:31:55 +08:00
parent 6b689fd69e
commit 0a22c7bf1b
4 changed files with 70 additions and 6 deletions
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27
web/worker/sim-session.mjs
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@@ -476,6 +476,9 @@ export class SimSession {
const program = this.xyzacProgram.snapshot();
const io = this.xyzacIo?.canonical?.() ?? {};
const wasmMotion = this.wasmMotion.read();
if (input.kind === "KINEMATICS_SELECT" && wasmMotion.status === "verified" && Number(wasmMotion.state.queue_depth ?? 0) > 0) {
return { action: input.payload?.type === 0 ? "switchkinsIdentity" : input.payload?.type === 1 ? "switchkinsXyzac" : "switchkinsUserk", enabled: false, reason: "xyzac_motion_active", taskState: task.state, interpState: "READING", wasm: { queue_depth: wasmMotion.state.queue_depth, active_id: wasmMotion.state.active_id } };
}
const homeLimit = this.wasmHomeLimit.read();
const estop = Boolean(io.estop);
const ready = Boolean(io.ready) && !estop;
@@ -528,6 +531,22 @@ export class SimSession {
return { action, enabled: result === 0, reason, taskState: task.state, interpState: task.state === "PAUSED" || program.status === 3 ? "PAUSED" : task.state === "RUNNING" || program.status === 2 ? "READING" : "IDLE", wasm: { io_ready: ready, io_estop: estop, program_status: program.program_status, queue_depth: wasmMotion.state.queue_depth, gate_result: result } };
}
switchXyzacKinematics(mode) {
if (!this.xyzacKinematics) return { status: "error", code: "xyzac_kinematics_unavailable" };
const current = this.wasmMotion.read();
if (current.status !== "verified") return { status: "error", code: "wasm_motion_unavailable" };
if (Number(current.state.queue_depth ?? 0) > 0) return { status: "error", code: "xyzac_motion_active" };
const joints = Array.isArray(current.state.joint_commanded) && current.state.joint_commanded.length === 5
? [...current.state.joint_commanded]
: [...this.xyzacKinematics.snapshot().joints];
const selected = this.xyzacKinematics.select(mode, joints);
if (selected.status !== "verified") return selected;
this.xyzacProgramKinematicsMode = mode;
if (typeof this.wasmMotion.setActiveKinematicsTag === "function") this.wasmMotion.setActiveKinematicsTag(mode);
if (selected.pose && typeof this.wasmMotion.setPosition === "function") this.wasmMotion.setPosition(selected.pose);
return { ...selected, kinematics: this.xyzacKinematics.snapshot(), wasm_motion: this.wasmMotion.read() };
}
stateForCheckpoint() {
const state = {
context_id: this.contextId,
@@ -2095,9 +2114,9 @@ export class SimSession {
const controlCode = Number(result.program?.control_code ?? 0);
if ([428, 429, 430].includes(controlCode) && this.xyzacKinematics) {
const mode = { 428: XYZAC_MODES.xyzac, 429: XYZAC_MODES.identity, 430: XYZAC_MODES.userk }[controlCode];
const selected = this.xyzacKinematics.select(mode, this.xyzacKinematics.snapshot().joints);
const selected = this.switchXyzacKinematics(mode);
if (selected.status !== "verified") return finish(this.error(input, "kinematics", selected.code ?? "xyzac_switchkins_failed"), "failed");
result.kinematics = this.xyzacKinematics.snapshot();
result.kinematics = selected.kinematics;
result.remap = { code: `M${controlCode}`, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" };
}
this.task.setMode("MDI");
@@ -2123,9 +2142,9 @@ export class SimSession {
const mode = Number(input.payload?.type);
if (![XYZAC_MODES.identity, XYZAC_MODES.xyzac, XYZAC_MODES.userk].includes(mode)) return finish(this.error(input, "kinematics", "xyzac_kinematics_type_invalid"), "failed");
this.task.setMode("MDI");
const result = this.xyzacKinematics.select(mode, this.xyzacKinematics.snapshot().joints);
const result = this.switchXyzacKinematics(mode);
const code = mode === XYZAC_MODES.xyzac ? "M428" : mode === XYZAC_MODES.identity ? "M429" : "M430";
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, remap: { code, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }, kinematics: this.xyzacKinematics.snapshot(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, command: input.kind, remap: { code, hal_pin: "motion.switchkins-type", hal_pin_vars: true, sync: "M66 E0 L0" }, kinematics: result.kinematics ?? this.xyzacKinematics.snapshot(), task: this.task.export(), operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
case "VISUAL_CLEAR":
return visualClearResponse();