Keep long G-code execution running past full planner queue

web/worker/replay.mjs

@@ -2,18 +2,18 @@ const EVENT_SCHEMA = "event-log.v1";
 const SNAPSHOT_SCHEMA = "snapshot.v1";
 const REPLAY_SCHEMA = "replay-timeline.v1";
 
-export function canonicalJson(value) {
+export function canonicalJson(value, path = "$") {
   if (value === null) return "null";
   if (typeof value === "number") {
     if (!Number.isFinite(value)) throw new Error("canonical_nonfinite");
     return JSON.stringify(value);
   }
   if (typeof value !== "object") {
-    if (typeof value === "undefined" || typeof value === "function" || typeof value === "symbol") throw new Error("canonical_unsupported");
+    if (typeof value === "undefined" || typeof value === "function" || typeof value === "symbol") throw new Error(`canonical_unsupported:${path}`);
     return JSON.stringify(value);
   }
-  if (Array.isArray(value)) return `[${value.map(canonicalJson).join(",")}]`;
-  return `{${Object.keys(value).sort().map((key) => `${JSON.stringify(key)}:${canonicalJson(value[key])}`).join(",")}}`;
+  if (Array.isArray(value)) return `[${value.map((item, index) => canonicalJson(item, `${path}[${index}]`)).join(",")}]`;
+  return `{${Object.keys(value).sort().map((key) => `${JSON.stringify(key)}:${canonicalJson(value[key], `${path}.${key}`)}`).join(",")}}`;
 }
 
 export function fnv1a64(value) {

web/worker/sim-session.mjs

@@ -151,7 +151,10 @@ export class SimSession {
     const lightweightXyzacStep = input.kind === "SIM_STEP" && Boolean(this.xyzacProgram);
     const currentMotion = this.wasmMotion.read();
     const completedMotion = program.status === 4 && currentMotion.state?.queue_depth === 0;
-    const motionDelta = lightweightXyzacStep && input.payload?.response === "motion_delta" && !completedMotion;
+    // Compact payloads are only valid for successful motion samples. Error
+    // responses must retain their code/reason instead of being rewritten into
+    // a delta with undefined fields.
+    const motionDelta = kind === "COMMAND_RESULT" && lightweightXyzacStep && input.payload?.response === "motion_delta" && !completedMotion;
     const panelSnapshot = motionDelta ? null : this.panelSnapshot({ task, program, input, tick, motionTrace: statePayload.motion_trace, includeToolpath: !lightweightXyzacStep, includeConfiguration: !lightweightXyzacStep, includeStableRuntime: !lightweightXyzacStep });
     const compactProgram = motionDelta ? {
       schema: program.schema,
@@ -1415,6 +1418,11 @@ export class SimSession {
               if (this.xyzacProgram) {
                 const wasmState = this.xyzacProgram.snapshot();
                 if (![2, 3].includes(wasmState.status)) return;
+                // LinuxCNC's task/interpreter blocks on a full trajectory
+                // planner queue. Let the motion phase consume one segment
+                // before reading another source line instead of converting
+                // normal planner backpressure into a program fault.
+                if (this.wasmMotion.read().state.queue_depth >= this.wasmMotion.queueCapacity) return;
                 if (this.pendingProgramControl !== 0) {
                   if (this.wasmMotion.read().state.queue_depth !== 0) return;
                   const current = this.wasmMotion.read().state.position;

web/worker/test_xyzac_3d_chips.mjs

@@ -44,13 +44,18 @@ assert.equal(send("POWER", { active: true }).kind, "COMMAND_RESULT");
 assert.equal(send("HOME", { all: true }).kind, "COMMAND_RESULT");
 const run = send("PROGRAM_RUN");
 assert.equal(run.kind, "COMMAND_RESULT");
-const stepped = send("SIM_STEP", { cycles: 16, response: "motion_delta" });
+let stepped = null;
+for (let cycle = 0; cycle < 300; cycle += 1) {
+  stepped = send("SIM_STEP", { cycles: 1, response: "motion_delta" });
+  assert.equal(stepped.kind, "COMMAND_RESULT");
+}
 assert.equal(stepped.kind, "COMMAND_RESULT");
 assert.equal(stepped.payload.program.program_status, "running");
-assert.ok(stepped.payload.program.current_line > 0);
+assert.ok(stepped.payload.program.current_line > 82);
 assert.ok(stepped.payload.execution_trace.length > 0);
 assert.ok(stepped.payload.program.execution_line_text.length > 0);
 assert.equal(stepped.payload.motion_authority, "wasm");
+assert.equal(Object.hasOwn(stepped.payload.xyzac_ledger.entries.at(-1), "response"), false);
 
 console.log(JSON.stringify({
   schema: "xyzac-3d-chips-program.v1",

web/worker/xyzac-command-ledger.mjs

@@ -45,10 +45,11 @@ export class XyzacCommandLedger extends OperationLedger {
     return { status: "reconcile_required", operation_id: operationId, retry_allowed: false, reconciliation };
   }
 
-  audit() {
+  audit({ includeResponses = true } = {}) {
     const exported = super.export();
     const pending = this.pending();
-    const unsigned = { schema: XYZAC_COMMAND_LEDGER_SCHEMA, operation_schema: LEDGER_SCHEMA, phases: [...LEDGER_PHASES], scope: this.scope, entries: exported.entries, pending_count: pending.length };
+    const entries = includeResponses ? exported.entries : exported.entries.map((entry) => { const { response, ...summary } = entry; return summary; });
+    const unsigned = { schema: XYZAC_COMMAND_LEDGER_SCHEMA, operation_schema: LEDGER_SCHEMA, phases: [...LEDGER_PHASES], scope: this.scope, entries, pending_count: pending.length };
     return { ...unsigned, state_hash: fnv1a64(unsigned) };
   }
 }

web/worker/xyzac-session.mjs

@@ -28,12 +28,15 @@ export class XyzacSession extends SimSession {
 
   accept(input) {
     const response = super.accept(input);
-    if (response?.payload && typeof response.payload === "object") {
-      response.payload.xyzac_session = this.authority();
-      response.payload.xyzac_ledger = this.ledger.audit();
-      response.payload.xyzac_scheduler = this.scheduler.export();
-    }
-    return response;
+    if (!response?.payload || typeof response.payload !== "object") return response;
+    // super.accept stores the response in the operation ledger. Enrich a
+    // shallow client copy so the next ledger audit cannot recursively embed
+    // every previous response inside the stored response object.
+    const payload = { ...response.payload };
+    payload.xyzac_session = this.authority();
+    payload.xyzac_ledger = this.ledger.audit({ includeResponses: input.kind !== "SIM_STEP" });
+    payload.xyzac_scheduler = this.scheduler.export();
+    return { ...response, payload };
   }
 }