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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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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