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Add dual canvas XYZBC and refined machine visualization

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wangdequan
2026-09-10 05:47:14 +08:00
parent d90933b980
commit 17887c199a
15 changed files with 935 additions and 92 deletions
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21
web/worker/sim-session.mjs
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@@ -168,6 +168,7 @@ export class SimSession {
this.previewState = null;
this.livePathEpoch = 0;
this.workspaceFiles = {};
this.visualModelSourceHash = null;
call(core, "sim_protocol_reset");
if (typeof core.ccall === "function") core.ccall("sim_event_reset", null, [], []);
}
@@ -460,6 +461,23 @@ export class SimSession {
? (Array.isArray(wasmMotion.state.joint_commanded) && wasmMotion.state.joint_commanded.length === 5 ? [...wasmMotion.state.joint_commanded] : inverseJoints?.length === 5 ? [...inverseJoints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0])
: authoritative.kinematics.joints;
const preview = this.previewState?.status === "verified" ? this.previewState : null;
// Keep the Vismach model identity in the same authoritative visual
// envelope as the canonical toolpath and live motion trace. The source
// hash comes from the exact resource resolved during WASM startup, so a
// renderer can audit that its geometry matches the loaded LinuxCNC case.
const modelResource = this.configurationState?.exact_resources?.find?.((row) => row.role === "vismach_source");
const modelSourcePath = "linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py";
const modelSourceText = this.workspaceFiles?.[modelSourcePath];
const machineModel = this.xyzacProgram ? {
schema: "linuxcnc-vismach-model.v1",
id: "xyzac-trt",
source: "linuxcnc-wasm-worker",
source_path: modelResource?.path ?? modelSourcePath,
source_hash: modelResource?.data_hash ?? this.visualModelSourceHash ?? (typeof modelSourceText === "string" ? fnv1a64(modelSourceText) : null),
coordinate_system: "XYZAC",
joints: ["table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c"],
components: ["base", "column", "head", "spindle", "tool", "table", "saddle", "zslide"],
} : null;
const visual = {
schema: "axis-visual.v1",
pose: { ...position },
@@ -477,6 +495,7 @@ export class SimSession {
velocity_mm_min: motion.velocity_mm_min ?? 0,
machine_limits: this.wasmMotion.axisLimits?.() ?? null,
coordinate_offset: program?.coordinate_context?.offsets?.[(program?.coordinate_context?.system ?? 1) - 1]?.slice(0, 3) ?? null,
...(machineModel ? { machine_model: machineModel } : {}),
};
const axisCoordinates = [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0];
const coordinateContext = program?.coordinate_context;
@@ -1567,6 +1586,8 @@ export class SimSession {
const configuration = input.payload?.configuration ?? null;
if (configuration) {
this.workspaceFiles = { ...(configuration.files ?? configuration.workspace ?? configuration.workspace_files ?? {}) };
const visualSourcePath = "linuxcnc/src/hal/user_comps/vismach/xyzac-trt-gui.py";
this.visualModelSourceHash = typeof this.workspaceFiles[visualSourcePath] === "string" ? fnv1a64(this.workspaceFiles[visualSourcePath]) : null;
const startupWorkspace = configuration.workspace ?? configuration.files ?? configuration.workspace_files;
if (startupWorkspace) {
const startup = new ConfigurationStartupStateMachine({