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Extend simulation runtime coverage and kinematics support

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wangdequan
2026-08-21 10:57:10 +08:00
parent 554b72dae8
commit 2ef2d82db3
71 changed files with 24232 additions and 1867 deletions
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68
wasm-core/include/sim_kinematics_motion.h Normal file
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#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H
#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H
#include "sim_kinematics.h"
#include "sim_posemath.h"
#ifdef __cplusplus
extern "C" {
#endif
enum sim_kinematics_motion_result {
SIM_KIN_MOTION_OK = 0,
SIM_KIN_MOTION_ERR_ARGUMENT = -800,
SIM_KIN_MOTION_ERR_STATE = -801,
SIM_KIN_MOTION_ERR_CAPACITY = -802,
SIM_KIN_MOTION_ERR_PLANNER = -803,
SIM_KIN_MOTION_ERR_INVERSE = -804,
SIM_KIN_MOTION_ERR_NONFINITE = -805,
SIM_KIN_MOTION_ERR_CONFIGURATION = -806,
};
#define SIM_KIN_MOTION_QUEUE_CAPACITY 64u
typedef struct sim_kinematics_motion_sample {
sim_posemath_pose pose;
double joints[SIM_KIN_MAX_JOINTS];
uint32_t joint_count;
uint32_t tick;
uint32_t planner_id;
} sim_kinematics_motion_sample;
typedef struct sim_kinematics_motion {
sim_tp planner;
sim_kinematics *kinematics;
sim_kinematics_motion_sample samples[SIM_KIN_MOTION_QUEUE_CAPACITY];
uint32_t head;
uint32_t count;
uint32_t tick;
uint32_t joint_count;
uint32_t paused;
int last_error;
int planner_error;
int kinematics_error;
sim_posemath_pose last_pose;
double last_joints[SIM_KIN_MAX_JOINTS];
} sim_kinematics_motion;
int sim_kinematics_motion_init(sim_kinematics_motion *adapter,
sim_kinematics *kinematics, double cycle_time,
double velocity_limit, double acceleration_limit);
int sim_kinematics_motion_reset(sim_kinematics_motion *adapter);
int sim_kinematics_motion_enqueue(sim_kinematics_motion *adapter,
const sim_posemath_segment *segment,
uint32_t *id_out);
int sim_kinematics_motion_pause(sim_kinematics_motion *adapter, uint32_t paused);
int sim_kinematics_motion_step(sim_kinematics_motion *adapter);
int sim_kinematics_motion_peek(const sim_kinematics_motion *adapter,
sim_kinematics_motion_sample *sample);
int sim_kinematics_motion_pop(sim_kinematics_motion *adapter,
sim_kinematics_motion_sample *sample);
uint32_t sim_kinematics_motion_depth(const sim_kinematics_motion *adapter);
uint64_t sim_kinematics_motion_state_hash(const sim_kinematics_motion *adapter);
#ifdef __cplusplus
}
#endif
#endif