Complete XYZAC LinuxCNC WASM parity and smooth 3D preview

web/worker/xyzac-scheduler.mjs

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+import { SimScheduler, SCHEDULER_PHASES } from "./sim-scheduler.mjs";
+import { fnv1a64 } from "./replay.mjs";
+
+export const XYZAC_SCHEDULER_SCHEMA = "xyzac-scheduler.v1";
+export const XYZAC_SCHEDULER_PHASES = Object.freeze([...SCHEDULER_PHASES]);
+
+export class XyzacScheduler extends SimScheduler {
+  constructor(core, { budget = 1_000_000, cycleTime = 0.01 } = {}) {
+    super(core, { budget });
+    this.cycle_time = cycleTime;
+    this.authority = "linuxcnc-wasm-worker";
+    this.clock = "logical_tick";
+    this.machine = Object.freeze({ coordinates: "XYZAC", joint_count: 5, rotary_units: "degrees", kinematics: "xyzac-trt" });
+  }
+
+  step(cycles, callbacks = {}) {
+    if (!Number.isSafeInteger(cycles) || cycles < 0) throw new Error("xyzac_scheduler_cycles_invalid");
+    const result = super.step(cycles, callbacks);
+    return this.export({ last_step_cycles: cycles, state_hash: result.state_hash });
+  }
+
+  export(extra = {}) {
+    const unsigned = {
+      schema: XYZAC_SCHEDULER_SCHEMA,
+      authority: this.authority,
+      clock: this.clock,
+      cycle_time: this.cycle_time,
+      machine: this.machine,
+      budget: this.budget,
+      tick: this.tick,
+      last_cycles: this.last_cycles,
+      phase_trace: [...this.phase_trace],
+      ...extra,
+    };
+    delete unsigned.state_hash;
+    return { ...unsigned, state_hash: fnv1a64(unsigned) };
+  }
+
+  restore(value) {
+    if (!value || value.schema !== XYZAC_SCHEDULER_SCHEMA || value.clock !== "logical_tick" || value.machine?.coordinates !== "XYZAC" || value.machine?.joint_count !== 5) throw new Error("xyzac_scheduler_restore_scope");
+    const base = { schema: "sim_scheduler.v1", budget: value.budget, last_cycles: value.last_cycles, phase_trace: value.phase_trace, tick: value.tick, state_hash: fnv1a64({ schema: "sim_scheduler.v1", budget: value.budget, phase_trace: value.phase_trace, tick: value.tick }) };
+    super.restore(base);
+    return this.export();
+  }
+}