Initial LinuxCNC WebAssembly workspace snapshot

wasm-core/src/sim_protocol.c

@@ -0,0 +1,112 @@
+#include "sim_protocol.h"
+
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+
+typedef struct {
+    uint32_t state;
+    uint32_t last_seq;
+    uint32_t tick;
+} protocol_state;
+
+static protocol_state state;
+
+static int has_text(const char *value) {
+    return value != NULL && value[0] != '\0' && strlen(value) <= 128;
+}
+
+static int is_kind(const char *kind, const char *expected) {
+    return kind != NULL && strcmp(kind, expected) == 0;
+}
+
+static int is_side_effect(const char *kind) {
+    static const char *const commands[] = {
+        "SESSION_CREATE", "LOAD_PROJECT", "START", "STOP", "RESET",
+        "LOAD_WORKSPACE", "SIM_STEP", "COMMAND",
+        "PROGRAM_LOAD", "PROGRAM_RUN", "PROGRAM_PAUSE", "PROGRAM_RESUME",
+        "PROGRAM_ABORT", "PROGRAM_STEP", "PROGRAM_SEEK", "MDI_EXECUTE",
+        "JOG_START", "JOG_STOP", "HOME", "SET_MODE", "SET_OVERRIDE",
+        "SPINDLE_COMMAND", "COOLANT_COMMAND", "TOOL_PREPARE", "TOOL_CHANGE",
+        "PROBE_CONFIG", "HAL_COMMAND", "HAL_SET", "PLC_START", "PLC_STOP",
+        "PROJECT_SAVE", "IMPORT", "EXPORT", "CHECKPOINT", "RECOVER",
+        "SUBSCRIBE", "UNSUBSCRIBE", "CANCEL", NULL,
+    };
+    size_t index;
+    if (!has_text(kind)) return 0;
+    for (index = 0; commands[index] != NULL; ++index) {
+        if (is_kind(kind, commands[index])) return 1;
+    }
+    return 0;
+}
+
+static int state_accepts_kind(uint32_t current, const char *kind) {
+    if (current == SIM_PROTOCOL_NEW) return is_kind(kind, "HELLO");
+    if (current == SIM_PROTOCOL_HELLO) return is_kind(kind, "SESSION_ATTACH") || is_kind(kind, "CAPABILITIES");
+    if (current == SIM_PROTOCOL_ATTACHED) return is_kind(kind, "SESSION_READY");
+    if (current == SIM_PROTOCOL_READY) return 1;
+    if (current == SIM_PROTOCOL_PAUSED) {
+        return is_kind(kind, "PROGRAM_RESUME") || is_kind(kind, "RESUME") ||
+               is_kind(kind, "PING") || is_kind(kind, "SNAPSHOT_REQUEST") ||
+               is_kind(kind, "DESTROY");
+    }
+    return is_kind(kind, "RESET");
+}
+
+void sim_protocol_reset(void) {
+    memset(&state, 0, sizeof(state));
+}
+
+int32_t sim_protocol_accept(uint32_t schema_version, uint32_t seq,
+                            const char *kind, const char *operation_id,
+                            uint32_t simulation_tick) {
+    if (schema_version != 1U) return SIM_PROTOCOL_ERR_SCHEMA;
+    if (!has_text(kind)) return SIM_PROTOCOL_ERR_KIND;
+    if (state.state == SIM_PROTOCOL_DESTROYED && !is_kind(kind, "RESET")) return SIM_PROTOCOL_ERR_STATE;
+    if (seq == 0U || seq != state.last_seq + 1U) return SIM_PROTOCOL_ERR_SEQUENCE;
+    if (simulation_tick < state.tick) return SIM_PROTOCOL_ERR_TICK;
+    if (!state_accepts_kind(state.state, kind)) return SIM_PROTOCOL_ERR_STATE;
+    if (is_side_effect(kind) && !has_text(operation_id)) return SIM_PROTOCOL_ERR_OPERATION_ID;
+
+    state.last_seq = seq;
+    state.tick = simulation_tick;
+    if (is_kind(kind, "HELLO")) state.state = SIM_PROTOCOL_HELLO;
+    /* SESSION_READY is the worker response; the next client command is valid immediately. */
+    else if (is_kind(kind, "SESSION_ATTACH")) state.state = SIM_PROTOCOL_READY;
+    else if (is_kind(kind, "SESSION_READY")) state.state = SIM_PROTOCOL_READY;
+    else if (is_kind(kind, "PROGRAM_PAUSE")) state.state = SIM_PROTOCOL_PAUSED;
+    else if (is_kind(kind, "PROGRAM_RESUME") || is_kind(kind, "RESUME")) state.state = SIM_PROTOCOL_READY;
+    else if (is_kind(kind, "DESTROY")) state.state = SIM_PROTOCOL_DESTROYED;
+    else if (is_kind(kind, "RESET")) sim_protocol_reset();
+    return SIM_PROTOCOL_OK;
+}
+
+int32_t sim_protocol_pause(void) {
+    if (state.state != SIM_PROTOCOL_READY) return SIM_PROTOCOL_ERR_STATE;
+    state.state = SIM_PROTOCOL_PAUSED;
+    return SIM_PROTOCOL_OK;
+}
+
+int32_t sim_protocol_resume(void) {
+    if (state.state != SIM_PROTOCOL_PAUSED) return SIM_PROTOCOL_ERR_STATE;
+    state.state = SIM_PROTOCOL_READY;
+    return SIM_PROTOCOL_OK;
+}
+
+int32_t sim_protocol_state_value(void) {
+    return (int32_t)state.state;
+}
+
+uint32_t sim_protocol_last_seq(void) {
+    return state.last_seq;
+}
+
+uint32_t sim_protocol_tick(void) {
+    return state.tick;
+}
+
+int32_t sim_protocol_set_tick(uint32_t simulation_tick) {
+    if (simulation_tick < state.tick) return SIM_PROTOCOL_ERR_TICK;
+    state.tick = simulation_tick;
+    return SIM_PROTOCOL_OK;
+}