Complete XYZAC LinuxCNC WASM parity and smooth 3D preview

2026-08-28 06:24:50 +08:00
parent e8fe323aab
commit 1a7995fa9b
181 changed files with 36854 additions and 215 deletions
--- a/web/react/src/xyzac-panel-contract.ts
+++ b/web/react/src/xyzac-panel-contract.ts
@@ -0,0 +1,59 @@
+import type { XyzacCapabilitySnapshot, XyzacKinematicsSnapshot } from "./protocol";
+
+export const XYZAC_CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" as const;
+export const XYZAC_AXES = ["x", "y", "z", "a", "c"] as const;
+export const XYZAC_COMMANDS = {
+  power: "POWER",
+  selectKinematics: "KINEMATICS_SELECT",
+  clearVisual: "VISUAL_CLEAR",
+} as const;
+export const XYZAC_KINEMATICS = [
+  { type: 0, action: "switchkinsIdentity", label: "Identity", mcode: "M429" },
+  { type: 1, action: "switchkinsXyzac", label: "TCP: XYZAC", mcode: "M428" },
+  { type: 2, action: "switchkinsUserk", label: "User K", mcode: "M430" },
+] as const;
+
+export type XyzacGate = { action: string; enabled: boolean; reason: string; required_type?: number; visual_only?: boolean };
+export type XyzacOperationTrace = { operation_id?: string; kind?: string; action?: string | null; phase?: string; reason?: string; response_kind?: string };
+export type XyzacPanelView = {
+  status: "ready" | "unavailable";
+  tick: number;
+  stateHash: string;
+  kinematics: XyzacKinematicsSnapshot | null;
+  capability: XyzacCapabilitySnapshot | null;
+  pose: XyzacKinematicsSnapshot["pose"] | null;
+  joints: number[];
+  gates: Record<string, XyzacGate>;
+  recovery: Record<string, unknown> | null;
+};
+
+type XyzacPanelSource = {
+  simulation_tick?: number;
+  state_hash?: string;
+  kinematics?: XyzacKinematicsSnapshot;
+  xyzac?: XyzacCapabilitySnapshot;
+  gates?: Record<string, XyzacGate>;
+  authoritative?: Record<string, unknown>;
+  visual?: { pose?: Record<string, number>; joints?: number[] };
+};
+
+export function projectXyzacPanel(snapshot: XyzacPanelSource | null | undefined): XyzacPanelView {
+  const kinematics = snapshot?.kinematics?.coordinates === "XYZAC" && snapshot.kinematics.joint_count === 5 ? snapshot.kinematics : null;
+  const capability = snapshot?.xyzac?.coordinates === "XYZAC" && snapshot.xyzac.joint_count === 5 ? snapshot.xyzac : null;
+  const visualPose = snapshot?.visual?.pose;
+  const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value))
+    ? { ...(kinematics?.pose ?? { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }), ...visualPose }
+    : kinematics?.pose ?? null;
+  const joints = snapshot?.visual?.joints?.length === 5 ? snapshot.visual.joints.slice(0, 5) : kinematics?.joints ? [...kinematics.joints] : [];
+  return {
+    status: kinematics && capability ? "ready" : "unavailable",
+    tick: snapshot?.simulation_tick ?? 0,
+    stateHash: snapshot?.state_hash ?? "",
+    kinematics,
+    capability,
+    pose,
+    joints,
+    gates: snapshot?.gates ?? {},
+    recovery: (snapshot?.authoritative?.recovery as Record<string, unknown> | undefined) ?? null,
+  };
+}