wangdequan/linuxcncWebWASM
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Make machine configuration authoritative and restore native checkpoints exactly

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wangdequan
2026-09-18 09:09:41 +08:00
parent 6a69511276
commit 4a568f1f4c
94 changed files with 10882 additions and 301 deletions
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11
web/worker/wasm-xyzac-kinematics.mjs
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@@ -16,7 +16,6 @@ const SWITCH = Object.freeze({ switching: 16, active_mode: 20, pending_mode: 24,
const TYPE = Object.freeze({ identity: 1, xyzac: 2, xyzbc: 3, userk: 1 });
const MODE = Object.freeze({ identity: 0, xyzac: 1, userk: 2 });
const AXES = Object.freeze(["x", "y", "z", "a", "b", "c", "u", "v", "w"]);
const DEFAULT_LIMITS = Object.freeze({ x: [-200, 200], y: [-100, 100], z: [-120, 120], a: [-100, 50], b: [-100, 50], c: [-36000, 36000] });
function call(core, name, returnType, argTypes, args) {
const direct = core?.[`_${name}`] ?? core?.[name];
@@ -44,7 +43,8 @@ function configFor(core, pointer, type, options, coordinates) {
view.setUint32(CONFIG.extra_joint_count, 0, true);
setCoordinates(core, pointer, coordinates);
for (const [index, axis] of coordinates.toLowerCase().split("").entries()) {
const limit = options.limits?.[axis] ?? DEFAULT_LIMITS[axis];
const limit = options.limits?.[axis];
if (!Array.isArray(limit) || limit.length !== 2 || !limit.every(Number.isFinite) || limit[0] >= limit[1]) throw new Error(`wasm_trt_limit_required:${axis}`);
core.HEAPU8[pointer + CONFIG.limit_enabled + index] = 1;
view.setFloat64(CONFIG.joint_min + index * 8, Number(limit[0]), true);
view.setFloat64(CONFIG.joint_max + index * 8, Number(limit[1]), true);
@@ -69,11 +69,10 @@ function resultCode(operation, result) {
export class WasmXyzacKinematics {
constructor(core, options = {}) {
this.core = core;
this.coordinates = String(options.coordinates ?? "XYZAC").toUpperCase();
this.coordinates = String(options.coordinates ?? options.limits?.coordinates ?? "XYZAC").toUpperCase();
if (!["XYZAC", "XYZBC"].includes(this.coordinates)) throw new Error("wasm_trt_coordinates_invalid");
this.kinematicsType = this.coordinates === "XYZBC" ? "xyzbc-trt-kins" : "xyzac-trt-kins";
this.options = { x_rot_point: 0, y_rot_point: 0, z_rot_point: 0, x_offset: 0, y_offset: 20, z_offset: 10, tool_offset: 0, limits: DEFAULT_LIMITS, ...options };
if (this.coordinates === "XYZBC" && options.limits === undefined) this.options.limits = { x: [-200, 200], y: [-100, 100], z: [-120, 120], b: [-100, 50], c: [-36000, 36000] };
this.options = { x_rot_point: 0, y_rot_point: 0, z_rot_point: 0, x_offset: 0, y_offset: 0, z_offset: 0, tool_offset: 0, ...options };
this.available = ["sim_kinematics_init", "sim_kinematics_switch_init", "sim_kinematics_switch_register", "sim_kinematics_switch_select", "sim_kinematics_switch_select_physical", "sim_kinematics_switch_forward", "sim_kinematics_switch_inverse", "sim_kinematics_switch_inverse_mode", "sim_kinematics_switch_active", "sim_kinematics_switch_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.lastCommand = null;
this.modules = new Map();
@@ -198,7 +197,7 @@ export class WasmXyzacKinematics {
const activeMode = this.activeMode;
const nativeType = activeMode === MODE.xyzac ? this.kinematicsType : activeMode === MODE.userk ? "userk-identity-template" : "identity";
const view = new DataView(this.core.HEAPU8.buffer, this.switchPointer, SWITCH_SIZE);
const limits = Object.fromEntries(this.coordinates.toLowerCase().split("").map((axis) => [axis, [...(this.options.limits?.[axis] ?? DEFAULT_LIMITS[axis])]]));
const limits = Object.fromEntries(this.coordinates.toLowerCase().split("").map((axis) => [axis, [...this.options.limits[axis]]]));
const unsigned = { schema: "wasm-xyzac-kinematics.v1", active_type: activeMode, native_type: nativeType, coordinates: this.coordinates, joint_count: 5, linear_units: "mm", angular_units: "deg", pose: currentPose, joints: joints.slice(0, 5), offsets: { x_rot_point: this.options.x_rot_point, y_rot_point: this.options.y_rot_point, z_rot_point: this.options.z_rot_point, x_offset: this.options.x_offset, y_offset: this.options.y_offset, z_offset: this.options.z_offset, tool_offset: this.options.tool_offset }, limits, generation: view.getUint32(SWITCH.generation, true), switch_count: view.getUint32(SWITCH.switch_count, true), abort_count: view.getUint32(SWITCH.abort_count, true), last_command: this.lastCommand, capability: { userk: "linked_identity_template", dynamic_modules: "denied" }, source: "linuxcnc-wasm-sim_kinematics_switch" };
const hash = call(this.core, "sim_kinematics_switch_state_hash", "number", ["number", "number", "number", "number"], [this.switchPointer, this.jointPointer, 5, this.posePointer]);
return { status: "verified", ...unsigned, wasm_state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, state_hash: fnv1a64(unsigned) };