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Align AXIS Web control lifecycle with LinuxCNC

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wangdequan
2026-09-07 13:47:10 +08:00
parent 35adac6471
commit 0a679b5eeb
34 changed files with 2598 additions and 177 deletions
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39
wasm-core/src/sim_program.c
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@@ -367,9 +367,46 @@ int32_t sim_program_set_rapid_velocity(sim_program *program, double velocity) {
return SIM_PROGRAM_OK;
}
int32_t sim_program_set_position(sim_program *program, const sim_posemath_pose *position) {
const double *values;
size_t index;
if (program == NULL || position == NULL || program->status == SIM_PROGRAM_IDLE) return SIM_PROGRAM_ERR_ARGUMENT;
values = &position->tran.x;
for (index = 0; index < 9; ++index) if (!isfinite(values[index])) return SIM_PROGRAM_ERR_RANGE;
program->interpreter.state.x = position->tran.x;
program->interpreter.state.y = position->tran.y;
program->interpreter.state.z = position->tran.z;
program->interpreter.state.a = position->a;
program->interpreter.state.b = position->b;
program->interpreter.state.c = position->c;
program->interpreter.state.u = position->u;
program->interpreter.state.v = position->v;
program->interpreter.state.w = position->w;
program->interpreter.state.status = SIM_INTERP_OK;
return SIM_PROGRAM_OK;
}
int32_t sim_program_start(sim_program *program) {
if (program == NULL || program->status == SIM_PROGRAM_IDLE) return SIM_PROGRAM_ERR_STATE;
if (program->status == SIM_PROGRAM_COMPLETED || program->status == SIM_PROGRAM_ABORTED) return SIM_PROGRAM_ERR_STATE;
/* LinuxCNC EMC_TASK_PLAN_RUN reopens the current task file after an M2/
end-of-file or task abort, then starts again at the requested line
(AXIS uses line zero for the normal Run button). Preserve the current
interpreter position/offset state as the task-plan synchronization
point, but rewind file/control execution before accepting AUTO_RUN. */
if (program->status == SIM_PROGRAM_COMPLETED || program->status == SIM_PROGRAM_ABORTED) {
program->current_line = 0;
program->last_error = 0;
program->error_line = 0;
program->has_motion = 0;
program->call_depth = 0;
program->has_control = 0;
program->control_code = 0;
program->interpreter.state.line = 0;
program->interpreter.state.program_end = 0;
program->interpreter.state.status = SIM_INTERP_OK;
memset(&program->motion, 0, sizeof(program->motion));
memset(program->call_stack, 0, sizeof(program->call_stack));
}
program->status = SIM_PROGRAM_RUNNING;
return SIM_PROGRAM_OK;
}