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Verify XYZAC panel button parity

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wangdequan
2026-09-01 23:47:34 +08:00
parent 1342cff3f0
commit 492d862e45
12 changed files with 417 additions and 12 deletions
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12
web/worker/sim-session.mjs
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@@ -37,7 +37,7 @@ const OPERATION_KINDS = new Set([
"SESSION_ATTACH", "LOAD_WORKSPACE", "SIM_STEP", "DESTROY", "CHECKPOINT", "RECOVER", "ABORT",
"COMMAND", "START", "STOP", "RESET", "PROGRAM_LOAD", "PROGRAM_RUN",
"PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT", "PROGRAM_RESTART", "JOG_START", "JOG_STOP",
"HOME", "SET_MODE", "SET_OVERRIDE", "SPINDLE_COMMAND", "TOOL_PREPARE",
"HOME", "SET_MODE", "SET_OVERRIDE", "SPINDLE_COMMAND", "SPINDLE_BRAKE", "TOOL_PREPARE",
"TOOL_CHANGED", "TOOL_PREPARED", "TOOL_CHANGE", "TOOL_ABORT", "TOOL_FAULT", "TOOL_CLEAR_FAULT",
"SPINDLE_FAULT", "SPINDLE_INHIBIT", "SPINDLE_ORIENT", "SPINDLE_ORIENTED", "IO_STEP", "IO_RECOVER",
"PROBE_CONFIG", "LIMIT_SET", "ESTOP", "HAL_COMMAND", "HAL_SET",
@@ -1995,7 +1995,13 @@ export class SimSession {
if (current.status === 1 && this.task.state.mode !== "AUTO") this.task.setMode("AUTO");
if (current.status === 1) this.xyzacProgram.start();
const result = this.xyzacProgram.step();
if (result.status === "verified") { if (result.motion) this.wasmMotion.enqueue(result.motion); this.wasmMotion.setPaused(true); this.task.setProgram(result.program_status === 4 ? "completed" : "paused", result.line); this.task.transition(result.program_status === 4 ? "STOPPED" : "PAUSED"); }
if (result.status === "verified") {
if (this.task.state.state === "READY") this.task.transition("RUNNING");
if (result.motion) this.wasmMotion.enqueue(result.motion);
this.wasmMotion.setPaused(true);
this.task.setProgram(result.program_status === 4 ? "completed" : "paused", result.line);
this.task.transition(result.program_status === 4 ? "STOPPED" : "PAUSED");
}
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion_authority: "wasm", command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
if (this.task.state.state === "READY") {
@@ -2151,7 +2157,7 @@ export class SimSession {
if (result.status === "error" && result.state?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205);
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motionProjection(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
case "SPINDLE_COMMAND": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT":
case "SPINDLE_COMMAND": case "SPINDLE_BRAKE": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT":
case "SPINDLE_ORIENT": case "SPINDLE_ORIENTED": case "IO_STEP":
case "TOOL_PREPARE": case "TOOL_PREPARED": case "TOOL_CHANGE":
case "TOOL_CHANGED": case "TOOL_ABORT": case "TOOL_FAULT": case "TOOL_CLEAR_FAULT":