wangdequan/linuxcncWebWASM
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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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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)) {