Prevent XYZAC TP queue starvation

wasm-core/CMakeLists.txt

@@ -308,6 +308,6 @@ if(EMSCRIPTEN)
   string(REPLACE "_sim_device_init" "_sim_device_io_size','_sim_device_init" _sim_module_link_flags "${_sim_module_link_flags}")
   string(REPLACE "_sim_motion_step','_sim_motion_read_state" "_sim_motion_step','_sim_motion_set_profile','_sim_motion_set_lookahead','_sim_motion_set_feed_override','_sim_motion_peek','_sim_motion_read_state" _sim_module_link_flags "${_sim_module_link_flags}")
   string(REPLACE "_sim_motion_state_hash','_sim_motion_canonical" "_sim_motion_state_hash','_sim_motion_plan_hash','_sim_motion_canonical" _sim_module_link_flags "${_sim_module_link_flags}")
-  string(REPLACE "_sim_motion_init" "_sim_motion_init','_sim_linuxcnc_tp_size','_sim_linuxcnc_tp_init','_sim_linuxcnc_tp_reset','_sim_linuxcnc_tp_set_profile','_sim_linuxcnc_tp_set_feed_override','_sim_linuxcnc_tp_set_velocity_scale','_sim_linuxcnc_tp_set_jog_scale','_sim_linuxcnc_tp_set_axis_limit','_sim_linuxcnc_tp_jog','_sim_linuxcnc_tp_velocity_scale','_sim_linuxcnc_tp_velocity_limit','_sim_linuxcnc_tp_jog_scale','_sim_linuxcnc_tp_jog_velocity','_sim_linuxcnc_tp_feed_override','_sim_linuxcnc_tp_set_dynamics','_sim_linuxcnc_tp_set_paused','_sim_linuxcnc_tp_abort','_sim_linuxcnc_tp_set_position','_sim_linuxcnc_tp_set_goal_position','_sim_linuxcnc_tp_add_line','_sim_linuxcnc_tp_add_circle','_sim_linuxcnc_tp_step','_sim_linuxcnc_tp_idle','_sim_linuxcnc_tp_read_state','_sim_linuxcnc_tp_queue_depth','_sim_linuxcnc_tp_queue_segment','_sim_linuxcnc_tp_restore_progress','_sim_linuxcnc_tp_state_hash','_sim_linuxcnc_tp_canonical" _sim_module_link_flags "${_sim_module_link_flags}")
+  string(REPLACE "_sim_motion_init" "_sim_motion_init','_sim_linuxcnc_tp_size','_sim_linuxcnc_tp_queue_capacity','_sim_linuxcnc_tp_init','_sim_linuxcnc_tp_reset','_sim_linuxcnc_tp_set_profile','_sim_linuxcnc_tp_set_feed_override','_sim_linuxcnc_tp_set_velocity_scale','_sim_linuxcnc_tp_set_jog_scale','_sim_linuxcnc_tp_set_axis_limit','_sim_linuxcnc_tp_jog','_sim_linuxcnc_tp_velocity_scale','_sim_linuxcnc_tp_velocity_limit','_sim_linuxcnc_tp_jog_scale','_sim_linuxcnc_tp_jog_velocity','_sim_linuxcnc_tp_feed_override','_sim_linuxcnc_tp_set_dynamics','_sim_linuxcnc_tp_set_paused','_sim_linuxcnc_tp_abort','_sim_linuxcnc_tp_set_position','_sim_linuxcnc_tp_set_goal_position','_sim_linuxcnc_tp_add_line','_sim_linuxcnc_tp_add_circle','_sim_linuxcnc_tp_step','_sim_linuxcnc_tp_idle','_sim_linuxcnc_tp_read_state','_sim_linuxcnc_tp_queue_depth','_sim_linuxcnc_tp_queue_segment','_sim_linuxcnc_tp_restore_progress','_sim_linuxcnc_tp_state_hash','_sim_linuxcnc_tp_canonical" _sim_module_link_flags "${_sim_module_link_flags}")
   set_target_properties(sim_core_module PROPERTIES LINK_FLAGS "${_sim_module_link_flags}")
 endif()

wasm-core/include/sim_linuxcnc_tp.h

@@ -18,6 +18,7 @@ typedef struct sim_linuxcnc_tp_segment {
 } sim_linuxcnc_tp_segment;
 
 uint32_t sim_linuxcnc_tp_size(void);
+uint32_t sim_linuxcnc_tp_queue_capacity(const sim_linuxcnc_tp *planner);
 int32_t sim_linuxcnc_tp_init(sim_linuxcnc_tp *planner, double cycle_time,
                              double velocity_limit, double acceleration_limit);
 int32_t sim_linuxcnc_tp_reset(sim_linuxcnc_tp *planner);

wasm-core/src/sim_linuxcnc_tp.c

@@ -130,6 +130,7 @@ static uint64_t hash_bytes(const unsigned char *bytes, size_t length) {
 }
 
 uint32_t sim_linuxcnc_tp_size(void) { return (uint32_t)sizeof(sim_linuxcnc_tp); }
+uint32_t sim_linuxcnc_tp_queue_capacity(const sim_linuxcnc_tp *planner) { return planner == NULL || !planner->initialized ? 0u : (uint32_t)TP_DEFAULT_QUEUE_SIZE; }
 
 int32_t sim_linuxcnc_tp_init(sim_linuxcnc_tp *planner, double cycle_time, double velocity_limit, double acceleration_limit) {
     if (planner == NULL || !isfinite(cycle_time) || cycle_time <= 0.0 || cycle_time > 60.0 || !isfinite(velocity_limit) || velocity_limit <= 0.0 || !isfinite(acceleration_limit) || acceleration_limit <= 0.0) return -1200;

wasm-core/tests/sim_linuxcnc_tp_test.c

@@ -18,6 +18,7 @@ int main(void) {
     sim_posemath_pose second = pose(20, 20, 10);
     assert(planner != NULL);
     assert(sim_linuxcnc_tp_init(planner, 0.001, 35.0, 300.0) == 0);
+    assert(sim_linuxcnc_tp_queue_capacity(planner) > 0);
     assert(sim_linuxcnc_tp_set_position(planner, &origin) == 0);
     assert(sim_linuxcnc_tp_set_profile(planner, 0, 0.0) == 0);
     assert(sim_linuxcnc_tp_add_line(planner, &first, 20.0, 300.0, 16, 1) == 0);