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Align pause resume and abort lifecycle

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wangdequan
2026-09-01 21:12:52 +08:00
parent 3dcd2d681f
commit 1342cff3f0
5 changed files with 56 additions and 28 deletions
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3
wasm-core/src/sim_protocol.c
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@@ -47,6 +47,8 @@ static int state_accepts_kind(uint32_t current, const char *kind) {
if (current == SIM_PROTOCOL_READY) return 1;
if (current == SIM_PROTOCOL_PAUSED) {
return is_kind(kind, "PROGRAM_RESUME") || is_kind(kind, "RESUME") ||
is_kind(kind, "PROGRAM_ABORT") || is_kind(kind, "ESTOP") ||
is_kind(kind, "POWER") || is_kind(kind, "SET_OVERRIDE") ||
is_kind(kind, "PING") || is_kind(kind, "SNAPSHOT_REQUEST") ||
is_kind(kind, "DESTROY");
}
@@ -76,6 +78,7 @@ int32_t sim_protocol_accept(uint32_t schema_version, uint32_t seq,
else if (is_kind(kind, "SESSION_READY")) state.state = SIM_PROTOCOL_READY;
else if (is_kind(kind, "PROGRAM_PAUSE")) state.state = SIM_PROTOCOL_PAUSED;
else if (is_kind(kind, "PROGRAM_RESUME") || is_kind(kind, "RESUME")) state.state = SIM_PROTOCOL_READY;
else if (is_kind(kind, "PROGRAM_ABORT") || is_kind(kind, "ESTOP") || is_kind(kind, "POWER")) state.state = SIM_PROTOCOL_READY;
else if (is_kind(kind, "DESTROY")) state.state = SIM_PROTOCOL_DESTROYED;
else if (is_kind(kind, "RESET")) {
/* RESET is a machine/task reset once attached. Keep the transport

15
wasm-core/tests/sim_protocol_test.c
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@@ -15,12 +15,15 @@ int main(void) {
assert(sim_protocol_last_seq() == 4);
assert(sim_protocol_accept(1, 5, "PROGRAM_PAUSE", "op-4", 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(1, 6, "MDI_EXECUTE", "op-5", 2) == SIM_PROTOCOL_ERR_STATE);
assert(sim_protocol_accept(1, 6, "PROGRAM_RESUME", "op-5", 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(2, 7, "PING", NULL, 2) == SIM_PROTOCOL_ERR_SCHEMA);
assert(sim_protocol_accept(1, 7, "PING", NULL, 1) == SIM_PROTOCOL_ERR_TICK);
assert(sim_protocol_accept(1, 7, "DESTROY", NULL, 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(1, 8, "PING", NULL, 2) == SIM_PROTOCOL_ERR_STATE);
assert(sim_protocol_accept(1, 9, "RESET", "reset-1", 0) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(1, 6, "PROGRAM_ABORT", "op-5", 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_state_value() == SIM_PROTOCOL_READY);
assert(sim_protocol_accept(1, 7, "PROGRAM_PAUSE", "op-6", 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(1, 8, "PROGRAM_RESUME", "op-7", 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(2, 9, "PING", NULL, 2) == SIM_PROTOCOL_ERR_SCHEMA);
assert(sim_protocol_accept(1, 9, "PING", NULL, 1) == SIM_PROTOCOL_ERR_TICK);
assert(sim_protocol_accept(1, 9, "DESTROY", NULL, 2) == SIM_PROTOCOL_OK);
assert(sim_protocol_accept(1, 10, "PING", NULL, 2) == SIM_PROTOCOL_ERR_STATE);
assert(sim_protocol_accept(1, 11, "RESET", "reset-1", 0) == SIM_PROTOCOL_OK);
assert(sim_protocol_state_value() == SIM_PROTOCOL_NEW);
assert(sim_protocol_set_tick(4) == SIM_PROTOCOL_ERR_TICK);
return 0;

7
web/react/src/App.tsx
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@@ -219,10 +219,15 @@ export function App() {
const startRunTimer = () => { if (runTimer.current) return; runTimer.current = setInterval(() => { if (runStepPending.current) return; runStepPending.current = true; operationController.execute("SIM_STEP", { cycles: 5, response: "motion_delta" }, { state: axisState, gate: false }).catch(() => undefined).finally(() => { runStepPending.current = false; }); }, 50); };
const dispatch = (kind: string, payload: Record<string, unknown> = {}, gate = true, action: string | null = null): Promise<void> => {
setCommandStatus(`${kind} pending`);
// The AXIS task stops issuing servo/task polls before changing the
// interpreter state. A SIM_STEP already in flight is allowed to finish,
// but no new poll may race PROGRAM_PAUSE/PROGRAM_ABORT and consume the
// protocol sequence reserved for RESUME.
if (kind === "JOG_STOP") stopJogTimer();
if (["PROGRAM_PAUSE", "PROGRAM_ABORT"].includes(kind)) stopRunTimer();
const pending = operationController.execute(kind, payload, { state: axisState, gate, ...(action ? { action } : {}) });
setOperationTrace(operationController.exportTrace());
return pending.then(() => { setOperationTrace(operationController.exportTrace()); setCommandStatus(`${kind} acknowledged`); if (kind === "PROGRAM_RUN") startRunTimer(); if (kind === "PROGRAM_ABORT" || kind === "PROGRAM_RESTART") stopRunTimer(); if (kind === "JOG_START") startJogTimer(); if (kind === "JOG_STOP") stopJogTimer(); }).catch((error: Error) => {
return pending.then(() => { setOperationTrace(operationController.exportTrace()); setCommandStatus(`${kind} acknowledged`); if (kind === "PROGRAM_RUN" || kind === "PROGRAM_RESUME") startRunTimer(); if (["PROGRAM_PAUSE", "PROGRAM_ABORT", "PROGRAM_RESTART"].includes(kind)) stopRunTimer(); if (kind === "JOG_START") startJogTimer(); if (kind === "JOG_STOP") stopJogTimer(); }).catch((error: Error) => {
setOperationTrace(operationController.exportTrace());
const code = error.message;
setCommandStatus(`${kind} blocked: ${code}`);

52
web/worker/sim-session.mjs
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@@ -1862,7 +1862,7 @@ export class SimSession {
if (this.xyzacProgram) {
const result = this.xyzacProgram.start();
if (result.status === "verified") { this.wasmMotion.setPaused(false); this.task.setMode("AUTO"); if (this.task.state.state === "STOPPED") this.task.recover(); this.task.transition("RUNNING"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("running", program.execution_source_line ?? program.current_line); }
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
const result = this.program.start();
if (result.status === "verified") {
@@ -1885,30 +1885,40 @@ export class SimSession {
case "PROGRAM_PAUSE": case "PROGRAM_RESUME": case "PROGRAM_ABORT": {
const action = input.kind === "PROGRAM_PAUSE" ? "pause" : input.kind === "PROGRAM_RESUME" ? "resume" : "abort";
if (this.xyzacProgram) {
this.pendingXyzacMotion = null;
this.pendingProgramControl = 0;
this.pendingTaskSync = 0;
this.pendingServoSync = 0;
this.xyzacExecutionWaitNextMotion = false;
this.xyzacExecutionWaitSamples = 0;
this.xyzacLastEnqueuedKinematicsMode = 0;
this.xyzacDeferredPhysicalSwitchMode = null;
this.xyzacDeferredBlockedActiveId = 0;
this.xyzacDeferredControlMotionType = 0;
this.xyzacQueuedLookaheadTargetId = 0;
this.xyzacAllowQueuedLookahead = false;
this.xyzacLastServoActiveId = 0;
this.xyzacLastQueuedMotion = null;
this.xyzacDeferredPhysicalPose = null;
this.xyzacDeferredPhysicalPoseApplied = false;
this.xyzacAppendDeferredOnActive = false;
// PAUSE/RESUME are interpreter and TP state transitions. They must
// preserve the pending canonical block and queued lookahead so a
// resume continues the exact WASM trajectory. ABORT is the only
// edge that clears the task/TP handoff state.
if (action === "abort") {
this.pendingXyzacMotion = null;
this.pendingProgramControl = 0;
this.pendingTaskSync = 0;
this.pendingServoSync = 0;
this.xyzacExecutionWaitNextMotion = false;
this.xyzacExecutionWaitSamples = 0;
this.xyzacLastEnqueuedKinematicsMode = 0;
this.xyzacDeferredPhysicalSwitchMode = null;
this.xyzacDeferredBlockedActiveId = 0;
this.xyzacDeferredControlMotionType = 0;
this.xyzacQueuedLookaheadTargetId = 0;
this.xyzacAllowQueuedLookahead = false;
this.xyzacLastServoActiveId = 0;
this.xyzacLastQueuedMotion = null;
this.xyzacDeferredPhysicalPose = null;
this.xyzacDeferredPhysicalPoseApplied = false;
this.xyzacAppendDeferredOnActive = false;
}
const result = this.xyzacProgram[action]();
if (result.status === "verified") {
if (action === "pause") { call(this.core, "sim_protocol_pause"); this.wasmMotion.setPaused(true); this.task.transition("PAUSED"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("paused", program.execution_source_line ?? program.current_line); }
else if (action === "resume") { call(this.core, "sim_protocol_resume"); this.wasmMotion.setPaused(false); this.task.transition("RUNNING"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("running", program.execution_source_line ?? program.current_line); }
// sim_protocol_accept has already applied the transport edge;
// calling sim_protocol_pause/resume a second time would return a
// false ERR_STATE. The LinuxCNC WASM TP remains authoritative for
// the actual pause/resume motion transition.
if (action === "pause") { this.wasmMotion.setPaused(true); this.task.transition("PAUSED"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("paused", program.execution_source_line ?? program.current_line); }
else if (action === "resume") { this.wasmMotion.setPaused(false); this.task.transition("RUNNING"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("running", program.execution_source_line ?? program.current_line); }
else { this.wasmMotion.abort(); this.task.transition("STOPPED"); const program = this.xyzacProgram.snapshot(); this.task.setProgram("aborted", program.execution_source_line ?? program.current_line); }
}
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
const result = this.program[action]();
if (result.status === "verified") {

7
web/worker/test_xyzac_button_constraints.mjs
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@@ -50,6 +50,13 @@ for (const [kind, payload, reason] of [["HOME", { all: true }, "xyzac_interp_run
assert.equal(blocked.payload.gate_reason, reason, kind);
}
assert.equal(send("PROGRAM_PAUSE").payload.task.state, "PAUSED");
const abortedWhilePaused = send("PROGRAM_ABORT");
assert.equal(abortedWhilePaused.payload.task.state, "STOPPED");
assert.equal(abortedWhilePaused.payload.task.program_status, "aborted");
assert.equal(abortedWhilePaused.payload.wasm_motion.state.queue_depth, 0);
assert.equal(send("PROGRAM_RESTART").payload.task.program_status, "loaded");
assert.equal(send("PROGRAM_RUN").payload.task.state, "RUNNING");
assert.equal(send("PROGRAM_PAUSE").payload.task.state, "PAUSED");
assert.equal(send("PROGRAM_RESUME").payload.task.state, "RUNNING");
assert.equal(send("POWER", { active: false }).payload.task.state, "STOPPED");
assert.equal(send("POWER", { active: true }).payload.panel_snapshot.axis_state.machine_state, "ON");