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Complete XYZAC LinuxCNC WASM parity and smooth 3D preview

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wangdequan
2026-08-28 06:24:50 +08:00
parent e8fe323aab
commit 1a7995fa9b
181 changed files with 36854 additions and 215 deletions
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web/react/src/xyzac-visual-adapter.ts Normal file
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import type { XyzacKinematicsSnapshot } from "./protocol";
export type XyzacVisualState = {
schema: "xyzac-visual-state.v1";
tick: number;
stateHash: string;
pose: XyzacKinematicsSnapshot["pose"];
joints: [number, number, number, number, number];
livePose: XyzacKinematicsSnapshot["pose"];
activeProgress: number;
motionTrace: Array<{ tick: number; pose: XyzacKinematicsSnapshot["pose"]; joints: number[]; activeSegmentId: number; activeProgress: number }>;
offsets: XyzacKinematicsSnapshot["offsets"];
activeSegmentId: number | null;
toolpath: Array<Record<string, unknown>>;
source: "linuxcnc-wasm-worker";
};
const ZERO_POSE: XyzacKinematicsSnapshot["pose"] = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 };
const ZERO_OFFSETS: XyzacKinematicsSnapshot["offsets"] = { x_rot_point: 0, y_offset: 0, z_offset: 0, tool_offset: 0 };
export type XyzacVisualSource = {
simulation_tick?: number;
state_hash?: string;
kinematics?: XyzacKinematicsSnapshot;
visual?: { active_segment_id?: number | null; active_progress?: number; motion_trace?: Array<{ tick: number; pose: Record<string, number>; joints: number[]; active_segment_id: number; active_progress: number }>; pose?: Record<string, number>; joints?: number[]; toolpath?: Array<Record<string, unknown>> };
};
export function projectXyzacVisual(snapshot: XyzacVisualSource | null | undefined): XyzacVisualState {
const kinematics = snapshot?.kinematics;
const visualPose = snapshot?.visual?.pose;
const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value))
? { ...ZERO_POSE, ...visualPose }
: kinematics?.pose ?? ZERO_POSE;
const visualJoints = snapshot?.visual?.joints;
const joints: [number, number, number, number, number] = visualJoints?.length === 5
? visualJoints.slice(0, 5).map((value) => Number(value)) as [number, number, number, number, number]
: kinematics?.joints?.length === 5 ? [...kinematics.joints] as [number, number, number, number, number] : [0, 0, 0, 0, 0];
const rawProgress = snapshot?.visual?.active_progress;
const activeProgress = Number.isFinite(rawProgress) ? Math.max(0, Math.min(1, Number(rawProgress))) : 0;
const motionTrace = (snapshot?.visual?.motion_trace ?? []).filter((sample) => sample && Number.isSafeInteger(sample.tick) && sample.pose && Array.isArray(sample.joints)).map((sample) => ({ tick: sample.tick, pose: { ...ZERO_POSE, ...sample.pose }, joints: sample.joints.slice(0, 5).map(Number), activeSegmentId: Number(sample.active_segment_id ?? 0), activeProgress: Math.max(0, Math.min(1, Number(sample.active_progress ?? 0))) }));
return {
schema: "xyzac-visual-state.v1",
tick: snapshot?.simulation_tick ?? 0,
stateHash: snapshot?.state_hash ?? "",
pose,
joints,
livePose: pose,
activeProgress,
motionTrace,
offsets: kinematics?.offsets ?? ZERO_OFFSETS,
activeSegmentId: snapshot?.visual?.active_segment_id ?? null,
toolpath: snapshot?.visual?.toolpath ?? [],
source: "linuxcnc-wasm-worker",
};
}
export const XYZAC_MACHINE_GROUPS = Object.freeze(["xyzac-machine", "table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "xyzac-toolpath", "xyzac-live-toolpath"]);