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Prevent XYZAC TP queue starvation

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wangdequan
2026-09-02 10:41:21 +08:00
parent 0a22c7bf1b
commit 32adda73d6
10 changed files with 77 additions and 16 deletions
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2
web/react/src/App.tsx
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@@ -465,7 +465,7 @@ export function App() {
const allHomed = homedAxes.length >= 5 && homedAxes.slice(0, 5).every(Boolean);
const xyzacCommand = (kind: string, payload: Record<string, unknown> = {}, action?: string) => { void dispatch(kind, payload, true, action ?? null).then(() => { if (kind === "VISUAL_CLEAR") setPlotCleared(true); }).catch(() => undefined); };
const position = xyzacView.pose ? `X${Number(xyzacView.pose.x).toFixed(3)} Y${Number(xyzacView.pose.y).toFixed(3)} Z${Number(xyzacView.pose.z).toFixed(3)} A${Number(xyzacView.pose.a).toFixed(3)} C${Number(xyzacView.pose.c).toFixed(3)}` : "WASM state pending";
return <main className="axis-app" data-axis-feature="AXIS-UI-01" data-axis-authority="linuxcnc-wasm-worker" data-axis-state-source={wasmSnapshotReady ? "linuxcnc-wasm" : "pending"} data-axis-motion-authority={String(state.snapshot?.motion_authority ?? "pending")} data-axis-task-authority={String(state.snapshot?.task_authority ?? "pending")} data-axis-run-enabled={String(gates.run.enabled)} data-axis-homed={JSON.stringify(state.snapshot?.motion?.homed_axes ?? state.snapshot?.motion?.homed ?? null)} data-axis-program-status={String(state.program?.program_status ?? "idle")}>
return <main className="axis-app" data-axis-feature="AXIS-UI-01" data-axis-authority="linuxcnc-wasm-worker" data-axis-state-source={wasmSnapshotReady ? "linuxcnc-wasm" : "pending"} data-axis-motion-authority={String(state.snapshot?.motion_authority ?? "pending")} data-axis-task-authority={String(state.snapshot?.task_authority ?? "pending")} data-axis-tp-queue-depth={String((wasmMotion as { queue_depth?: number }).queue_depth ?? "")} data-axis-tp-velocity={String((wasmMotion as { velocity?: number }).velocity ?? "")} data-axis-tp-active-id={String((wasmMotion as { active_id?: number }).active_id ?? "")} data-axis-current-line={String(visibleCurrentLine ?? "")} data-axis-run-enabled={String(gates.run.enabled)} data-axis-homed={JSON.stringify(state.snapshot?.motion?.homed_axes ?? state.snapshot?.motion?.homed ?? null)} data-axis-program-status={String(state.program?.program_status ?? "idle")}>
<header className="axis-window-header" data-axis-feature="AXIS-SHELL-01"><div className="axis-brand"><img src={axisIcon("axis-24x24.png")} alt="AXIS" /> <strong>AXIS</strong><span>LinuxCNC Web/WASM</span></div><span className={`connection-state ${state.status}`} data-axis-feature="AXIS-SHELL-01" role="status">{state.status.toUpperCase()}</span><span className="axis-state-badge" data-axis-state={taskState} aria-label={`Machine ${machineState}, operation ${operationState}`}>{taskState}</span></header>
<nav className="axis-menubar" data-axis-feature="AXIS-UI-02" aria-label="AXIS menu"><Menu label="File"><MenuAction onClick={() => { setProgramText(DEFAULT_PROGRAM); setProgramPath(PROGRAM_PATH); }} disabled={programRunning || programLoading}>Reload editor</MenuAction><MenuAction onClick={() => setCommandStatus("Tool data editor is browser-backed")}>Edit tool data...</MenuAction><MenuAction onClick={() => setCommandStatus("Quit is unavailable in a browser tab")}>Quit</MenuAction></Menu><Menu label="Machine"><MenuAction shortcut="F1" onClick={toggleEstop}>{isEstop ? "Cancel Emergency Stop" : "Emergency Stop"}</MenuAction><MenuAction shortcut="F2" onClick={powerOn} disabled={!gates.power.enabled}>{machineOn ? "Power off" : "Power on"}</MenuAction><MenuAction onClick={resetMachine} disabled={!gates.reset.enabled}>Reset machine</MenuAction><MenuAction shortcut="R" onClick={runProgram} disabled={!gates.run.enabled || programLoading}>Run program</MenuAction><MenuAction shortcut="T" onClick={() => execute("PROGRAM_STEP")} disabled={!gates.step.enabled || programLoading}>Step</MenuAction><MenuAction shortcut="P" onClick={() => execute("PROGRAM_PAUSE")} disabled={!gates.pause.enabled || programLoading}>Pause</MenuAction><MenuAction shortcut="S" onClick={() => execute("PROGRAM_RESUME")} disabled={!gates.resume.enabled || programLoading}>Resume</MenuAction><MenuAction shortcut="Esc" onClick={stopProgram} disabled={!gates.abort.enabled}>Stop</MenuAction></Menu><Menu label="View"><MenuAction onClick={() => setRightTab("preview")}>Preview</MenuAction><MenuAction onClick={() => setRightTab("dro")}>DRO</MenuAction><MenuAction onClick={enterManualMode} disabled={programRunning || programLoading}>Manual Control</MenuAction><MenuAction onClick={() => setLeftTab("mdi")} disabled={programRunning || programLoading}>MDI</MenuAction></Menu><Menu label="Help"><MenuAction onClick={() => setCommandStatus("LinuxCNC AXIS source-compatible controls")}>About AXIS</MenuAction></Menu></nav>
<section className="axis-toolbar" data-axis-feature="AXIS-UI-05" aria-label="AXIS toolbar"><IconButton feature="AXIS-MACHINE-01" label={isEstop ? "Cancel Emergency Stop [F1]" : "Emergency Stop [F1]"} asset="tool_estop.gif" danger onClick={toggleEstop} pressed={isEstop} /><IconButton feature="AXIS-MACHINE-02" label={machineOn ? "Power off [F2]" : "Power on [F2]"} asset="tool_power.gif" disabled={!gates.power.enabled} onClick={powerOn} /><IconButton feature="AXIS-MACHINE-03" label="Reset machine" asset="tool_reload.gif" disabled={!gates.reset.enabled} onClick={resetMachine} /><Separator /><IconButton feature="AXIS-FILE-01" label="Open G-Code file [O]" asset="tool_open.gif" disabled={programRunning || programLoading} onClick={openProgramFile} /><IconButton feature="AXIS-FILE-02" label="Load exact XYZAC TRT case" asset="tool_verify.gif" disabled={!gates.load.enabled} onClick={loadCase} /><IconButton feature="AXIS-FILE-04" label="Reopen editor defaults" asset="tool_reload.gif" onClick={() => { setProgramText(DEFAULT_PROGRAM); setProgramPath(PROGRAM_PATH); setPlotCleared(false); }} /><Separator /><IconButton feature="AXIS-MACHINE-03" label="Begin executing current file [R]" asset="tool_run.gif" disabled={!gates.run.enabled} onClick={runProgram} /><IconButton feature="AXIS-MACHINE-05" label="Execute next line [T]" asset="tool_step.gif" disabled={!gates.step.enabled} onClick={() => execute("PROGRAM_STEP")} /><IconButton feature="AXIS-MACHINE-06" label={programPaused ? "Resume execution [S]" : "Pause execution [P]"} asset={programPaused ? "resume_inhibit.gif" : "tool_pause.gif"} disabled={programPaused ? !gates.resume.enabled : !gates.pause.enabled} onClick={() => execute(programPaused ? "PROGRAM_RESUME" : "PROGRAM_PAUSE")} /><IconButton feature="AXIS-MACHINE-07" label="Stop program execution [ESC]" asset="tool_stop.gif" disabled={!gates.abort.enabled} onClick={stopProgram} /><Separator /><IconButton feature="AXIS-MACHINE-09" label="Toggle skip lines with slash" asset="tool_blockdelete.gif" disabled /><IconButton feature="AXIS-MACHINE-08" label="Toggle optional pause" asset="tool_optpause.gif" disabled /><Separator /><IconButton feature="AXIS-VIEW-01" label="Zoom in" asset="tool_zoomin.gif" onClick={() => setZoom((value) => Math.min(2, value + .2))} /><IconButton feature="AXIS-VIEW-01" label="Zoom out" asset="tool_zoomout.gif" onClick={() => setZoom((value) => Math.max(.5, value - .2))} /><IconButton feature="AXIS-VIEW-01" label="Top view" asset="tool_axis_z.gif" pressed={view === "z"} onClick={() => { setView("z"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-01" label="Rotated top view" asset="tool_axis_z2.gif" pressed={view === "z2"} onClick={() => { setView("z2"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-01" label="Side view" asset="tool_axis_x.gif" pressed={view === "x"} onClick={() => { setView("x"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-01" label="Front view" asset="tool_axis_y.gif" pressed={view === "y"} onClick={() => { setView("y"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-01" label="Inverted front view" asset="tool_axis_y2.png" pressed={view === "y2"} onClick={() => { setView("y2"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-01" label="Perspective view" asset="tool_axis_p.gif" pressed={view === "p"} onClick={() => { setView("p"); setRightTab("preview"); }} /><IconButton feature="AXIS-VIEW-02" label="Drag / rotate mode" asset="tool_rotate.gif" pressed={rotateMode} onClick={() => setRotateMode((value) => !value)} /><Separator /><IconButton feature="AXIS-VIEW-15" label="Clear live plot [Ctrl-K]" asset="tool_clear.gif" onClick={() => xyzacCommand("VISUAL_CLEAR", {}, "vismachClear")} /></section>

16
web/worker/sim-session.mjs
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@@ -1552,7 +1552,12 @@ export class SimSession {
// 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;
// TP_DEFAULT_QUEUE_SIZE includes the active TC slot. Leave
// one slot available for the active segment before appending
// another lookahead TC; the upstream queue otherwise rejects
// the boundary insertion even though its reported depth is
// one below the configured capacity.
if (this.wasmMotion.read().state.queue_depth >= this.wasmMotion.queueCapacity - 1) return;
if (this.pendingXyzacMotion) {
const pendingMode = Number(this.pendingXyzacMotion.kinematics_mode ?? 0);
if (this.xyzacAppendDeferredOnActive) return;
@@ -1562,7 +1567,14 @@ export class SimSession {
: Number(queueState.active_id ?? 0) === this.xyzacDeferredBlockedActiveId;
const deferredSwitchMotion = this.xyzacDeferredPhysicalSwitchMode !== null && pendingMode === this.xyzacDeferredPhysicalSwitchMode && this.xyzacQueuedLookaheadTargetId === 0 && deferredControlReady;
const queuedLookaheadReady = deferredSwitchMotion || (this.xyzacAllowQueuedLookahead && this.xyzacLastServoActiveId === this.xyzacQueuedLookaheadTargetId);
if (queueState.queue_depth !== 0 && !queuedLookaheadReady) return;
// Same-mode segments may be queued while the current TC is
// active. LinuxCNC TP needs that lookahead to blend G64
// paths; withholding it until the queue drains creates a
// real zero-velocity servo sample between long runs. A
// kinematics-mode change remains synchronized below and is
// deliberately deferred until its existing TC boundary.
const pendingModeChanged = pendingMode !== this.xyzacLastEnqueuedKinematicsMode;
if (queueState.queue_depth !== 0 && pendingModeChanged && !queuedLookaheadReady) return;
if (queuedLookaheadReady && !deferredSwitchMotion && this.xyzacAllowQueuedLookahead) {
// The next segment is appended after the first servo
// sample of the now-active target, matching LinuxCNC's

4
web/worker/test_xyzac_3d_chips.mjs
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@@ -46,6 +46,7 @@ const run = send("PROGRAM_RUN");
assert.equal(run.kind, "COMMAND_RESULT");
let stepped = null;
let executionTraceEntries = 0;
let runningQueueGaps = 0;
// The first long Z feed is planned at the configured LinuxCNC TP limit. Give
// the fixed-tick simulation enough servo time to complete it before checking
// that the interpreter has advanced beyond the historical line-82 boundary.
@@ -55,6 +56,7 @@ for (let cycle = 0; cycle < cyclesToRun; cycle += 1) {
stepped = send("SIM_STEP", { cycles: 1, response: "motion_delta" });
assert.equal(stepped.kind, "COMMAND_RESULT");
executionTraceEntries += stepped.payload.execution_trace.length;
if (cycle > 0 && stepped.payload.program.program_status === "running" && Number(stepped.payload.wasm_motion.state.queue_depth) === 0) runningQueueGaps += 1;
}
assert.equal(stepped.kind, "COMMAND_RESULT");
assert.equal(stepped.payload.program.program_status, "running");
@@ -65,6 +67,7 @@ assert.equal(stepped.payload.motion_authority, "wasm");
assert.equal(Object.hasOwn(stepped.payload.xyzac_ledger.entries.at(-1), "response"), false);
assert.equal(session.timeline.snapshots.snapshots.size, 0);
assert.equal(session.ledger.audit({ maxEntries: 32 }).entries.length, 32);
assert.equal(runningQueueGaps, 0);
console.log(JSON.stringify({
schema: "xyzac-3d-chips-program.v1",
@@ -77,6 +80,7 @@ console.log(JSON.stringify({
cycles: cyclesToRun,
execution_line: stepped.payload.program.current_line,
execution_trace: executionTraceEntries,
running_queue_gaps: runningQueueGaps,
motion_authority: stepped.payload.motion_authority,
motion_delta_snapshots: session.timeline.snapshots.snapshots.size,
ledger_audit_window: session.ledger.audit({ maxEntries: 32 }).entries.length,

6
web/worker/wasm-linuxcnc-tp.mjs
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@@ -17,11 +17,11 @@ function toPose(values) { return Object.fromEntries(["x", "y", "z", "a", "b", "c
export class WasmLinuxcncTp {
constructor(core, { cycleTime = 0.001, velocityLimit = 35, accelerationLimit = 300, limits = {} } = {}) {
this.core = core;
this.available = ["sim_linuxcnc_tp_size", "sim_linuxcnc_tp_init", "sim_linuxcnc_tp_read_state", "sim_linuxcnc_tp_step", "sim_linuxcnc_tp_idle", "sim_linuxcnc_tp_add_line", "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_goal_position", "sim_linuxcnc_tp_queue_depth", "sim_linuxcnc_tp_queue_segment", "sim_linuxcnc_tp_restore_progress"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.available = ["sim_linuxcnc_tp_size", "sim_linuxcnc_tp_queue_capacity", "sim_linuxcnc_tp_init", "sim_linuxcnc_tp_read_state", "sim_linuxcnc_tp_step", "sim_linuxcnc_tp_idle", "sim_linuxcnc_tp_add_line", "sim_linuxcnc_tp_set_profile", "sim_linuxcnc_tp_set_feed_override", "sim_linuxcnc_tp_set_velocity_scale", "sim_linuxcnc_tp_set_jog_scale", "sim_linuxcnc_tp_set_axis_limit", "sim_linuxcnc_tp_jog", "sim_linuxcnc_tp_velocity_scale", "sim_linuxcnc_tp_velocity_limit", "sim_linuxcnc_tp_jog_scale", "sim_linuxcnc_tp_jog_velocity", "sim_linuxcnc_tp_feed_override", "sim_linuxcnc_tp_set_dynamics", "sim_linuxcnc_tp_set_paused", "sim_linuxcnc_tp_abort", "sim_linuxcnc_tp_set_goal_position", "sim_linuxcnc_tp_queue_depth", "sim_linuxcnc_tp_queue_segment", "sim_linuxcnc_tp_restore_progress"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.cycleTime = cycleTime;
this.velocityLimit = velocityLimit;
this.accelerationLimit = accelerationLimit;
this.queueCapacity = 2000;
this.queueCapacity = 0;
this.planner = 0;
this.posePointer = 0;
this.centerPointer = 0;
@@ -47,6 +47,8 @@ export class WasmLinuxcncTp {
if (![this.planner, this.posePointer, this.centerPointer, this.normalPointer, this.statePointer].every(Boolean)) throw new Error("linuxcnc_tp_allocation_failed");
const result = call(core, "sim_linuxcnc_tp_init", "number", ["number", "number", "number", "number"], [this.planner, cycleTime, velocityLimit, accelerationLimit]);
if (result !== 0) throw new Error(`linuxcnc_tp_init_${result}`);
this.queueCapacity = Number(call(core, "sim_linuxcnc_tp_queue_capacity", "number", ["number"], [this.planner]));
if (!Number.isSafeInteger(this.queueCapacity) || this.queueCapacity < 1) throw new Error("linuxcnc_tp_queue_capacity_invalid");
this.setPosition({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 });
this.setProfile(0);
for (const [axis, limit] of Object.entries(limits)) {