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Make feed override control the WASM trajectory

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wangdequan
2026-08-31 06:19:36 +08:00
parent 2cda55e724
commit 51ba923cb5
13 changed files with 181 additions and 15 deletions
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16
web/worker/sim-session.mjs
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@@ -59,7 +59,7 @@ const PANEL_GATE_ACTIONS = Object.freeze({
const WASM_GATE_COMMANDS = Object.freeze({
ESTOP: 1, RESET: 2, POWER: 3, HOME: 4, JOG: 5, MDI: 6, RUN: 7,
PAUSE: 8, RESUME: 9, ABORT: 10, RESTART: 11, KINEMATICS: 12,
SET_MODE: 13, PROGRAM_LOAD: 14, STEP: 15,
SET_MODE: 13, PROGRAM_LOAD: 14, STEP: 15, OVERRIDE: 16,
});
const WASM_GATE_REASONS = Object.freeze({
@@ -228,7 +228,7 @@ export class SimSession {
axes: { x: position.x, y: position.y, z: position.z },
joints: kinematicsJoints ?? (home.status === "verified" && Array.isArray(home.state.joints) ? [...home.state.joints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0]),
velocity: wasmMotion.status === "verified" ? wasmMotion.state.velocity : 0,
feed_override: 1,
feed_override: this.wasmMotion.controls?.feed_override ?? 1,
spindle_override: 1,
homed: Boolean(home.state?.homed),
homed_axes: Array.from({ length: 5 }, (_, index) => Boolean(home.state?.homed && index < (home.state?.joint_count ?? 0))),
@@ -319,6 +319,7 @@ export class SimSession {
jogStart: this.xyzacCommandGate({ kind: "JOG_START", payload: {} }),
jogStop: this.xyzacCommandGate({ kind: "JOG_STOP", payload: {} }),
home: this.xyzacCommandGate({ kind: "HOME", payload: {} }),
override: this.xyzacCommandGate({ kind: "SET_OVERRIDE", payload: { feed: 1 } }),
estop: this.xyzacCommandGate({ kind: "ESTOP", payload: { active: true } }),
recover: this.xyzacCommandGate({ kind: "IO_RECOVER", payload: {} }),
power: this.xyzacCommandGate({ kind: "POWER", payload: { active: ioState.estop ? false : !Boolean(ioState.ready) } }),
@@ -439,7 +440,8 @@ export class SimSession {
const ready = Boolean(io.ready) && !estop;
const loaded = program.status !== 0;
const action = PANEL_GATE_ACTIONS[input.kind] ?? null;
const command = input.kind === "JOG_STOP" || input.kind === "JOG_START" || input.kind === "SET_OVERRIDE" ? WASM_GATE_COMMANDS.JOG
const command = input.kind === "JOG_STOP" || input.kind === "JOG_START" ? WASM_GATE_COMMANDS.JOG
: input.kind === "SET_OVERRIDE" ? WASM_GATE_COMMANDS.OVERRIDE
: input.kind === "PROGRAM_LOAD" ? WASM_GATE_COMMANDS.PROGRAM_LOAD
: input.kind === "PROGRAM_RESTART" ? WASM_GATE_COMMANDS.RESTART
: input.kind === "PROGRAM_RUN" ? WASM_GATE_COMMANDS.RUN
@@ -1813,7 +1815,13 @@ export class SimSession {
if (input.kind === "SET_OVERRIDE") {
const feed = Number(input.payload?.feed ?? input.payload?.feed_override);
if (!Number.isFinite(feed) || feed < 0 || feed > 2) return finish(this.error(input, "motion_override", "motion_override_range"), "failed");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, feed_override: feed, state: { ...this.motion.export(), feed_override: feed }, motion: this.motionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
try {
this.wasmMotion.setFeedOverride(feed);
} catch (error) {
return finish(this.error(input, "motion_override", String(error?.message ?? error)), "failed");
}
const motion = this.wasmMotionProjection();
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, feed_override: feed, overrides: { feed, spindle: [this.wasmMotionProjection().spindle_override] }, state: motion, motion, wasm_motion: this.wasmMotion.exportState(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
}
if (input.kind === "FOLLOWING_ERROR") return finish(this.error(input, "motion_following_error", "wasm_following_error_unavailable"), "failed");
const current = this.wasmMotion.read();