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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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16
web/worker/wasm-motion-queue.mjs
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@@ -97,6 +97,9 @@ export class WasmMotionQueue {
[...poseToArray(segment.start), ...poseToArray(segment.end), Number(segment.center?.x ?? 0), Number(segment.center?.y ?? 0), Number(segment.center?.z ?? 0), Number(segment.normal?.x ?? 0), Number(segment.normal?.y ?? 0), Number(segment.normal?.z ?? 0), Number(segment.velocity ?? 0), Number(segment.acceleration ?? 0)].forEach((value, index) => { doubles[base + index] = value; });
ints[this.command / 4 + SEGMENT_INT_OFFSET] = Number(segment.motion_type ?? 1);
ints[this.command / 4 + SEGMENT_INT_OFFSET + 1] = Number(segment.turn ?? 0);
// sim_motion_command layout is segment (216 bytes), id (4), tag (4).
// Keep the WASM switchkins mode in the tag field; the C queue assigns id.
ints[this.command / 4 + SEGMENT_INT_OFFSET + 3] = Number(segment.kinematics_mode ?? segment.tag ?? 0);
const result = call(this.core, "sim_motion_enqueue", "number", ["number", "number", "number"], [this.queue, this.command, 0]);
return result === 0 ? { status: "verified", source_line: segment.source_line ?? null } : { status: "error", code: `wasm_motion_enqueue_${result}` };
}
@@ -153,13 +156,16 @@ export class WasmMotionQueue {
const previous = this.core.HEAPU8.slice(this.queue, this.queue + this.queueSize);
const headerOffset = this.queueCapacity * this.commandCapacity;
const stateOffset = headerOffset + QUEUE_HEADER_BYTES;
const nextId = new DataView(previous.buffer, previous.byteOffset, previous.byteLength).getUint32(8, true);
const previousView = new DataView(previous.buffer, previous.byteOffset, previous.byteLength);
const nextId = previousView.getUint32(headerOffset + 8, true);
this.reset();
const bytes = new Uint8Array(this.queueSize);
const view = new DataView(bytes.buffer);
bytes.set(previous.subarray(16, 32), 16);
view.setUint32(8, nextId, true);
view.setUint32(12, current.state.tick, true);
// sim_motion_queue stores commands first, followed by its 32-byte header.
// Preserve cycle/velocity configuration from that actual header offset.
bytes.set(previous.subarray(headerOffset + 16, headerOffset + QUEUE_HEADER_BYTES), headerOffset + 16);
view.setUint32(headerOffset + 8, nextId, true);
view.setUint32(headerOffset + 12, current.state.tick, true);
bytes.set(previous.subarray(stateOffset, stateOffset + STATE_POSITION_BYTES), stateOffset);
view.setFloat64(stateOffset + 72, 0, true);
view.setFloat64(stateOffset + 80, 0, true);
@@ -187,7 +193,7 @@ export class WasmMotionQueue {
if (result !== 0) return { status: "error", code: `wasm_motion_read_${result}` };
const doubles = this.core.HEAPF64.subarray(this.state / 8, this.state / 8 + 11);
const ints = this.core.HEAPU32.subarray(this.state / 4 + 22, this.state / 4 + 26);
return { status: "verified", state: { position: { x: doubles[0], y: doubles[1], z: doubles[2] }, velocity: this.controls.paused ? 0 : doubles[9], progress: doubles[10], tick: ints[0], queue_depth: ints[1], active_id: ints[2], active_tag: ints[3], motion_type: this.core.HEAP32[this.state / 4 + 26], status: this.core.HEAP32[this.state / 4 + 27], source: "wasm_motion_queue" } };
return { status: "verified", state: { position: { x: doubles[0], y: doubles[1], z: doubles[2], a: doubles[3], b: doubles[4], c: doubles[5], u: doubles[6], v: doubles[7], w: doubles[8] }, velocity: this.controls.paused ? 0 : doubles[9], progress: doubles[10], tick: ints[0], queue_depth: ints[1], active_id: ints[2], active_tag: ints[3], motion_type: this.core.HEAP32[this.state / 4 + 26], status: this.core.HEAP32[this.state / 4 + 27], source: "wasm_motion_queue" } };
}
exportState() {