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Preserve RTCP compensation across rotary jog stops

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wangdequan
2026-09-18 06:10:53 +08:00
parent e4600b34e3
commit 6a69511276
14 changed files with 4530 additions and 7 deletions
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18
web/worker/wasm-linuxcnc-tp.mjs
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@@ -95,7 +95,15 @@ export class WasmLinuxcncTp {
setVelocityScale(value) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_velocity_scale", "number", ["number", "number"], [this.planner, Number(value)]); if (result !== 0) throw new Error(`linuxcnc_tp_velocity_scale_${result}`); return this.read(); }
setJogScale(value) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_jog_scale", "number", ["number", "number"], [this.planner, Number(value)]); if (result !== 0) throw new Error(`linuxcnc_tp_jog_scale_${result}`); return this.read(); }
setAxisLimit(axis, minimum, maximum) { if (!this.available) return this.read(); const result = call(this.core, "sim_linuxcnc_tp_set_axis_limit", "number", ["number", "number", "number", "number"], [this.planner, Number(axis), Number(minimum), Number(maximum)]); if (result !== 0) throw new Error(`linuxcnc_tp_axis_limit_${result}`); return this.read(); }
jog(axis, direction, increment, tag = 0) { if (!this.available) return { status: "blocked", code: "linuxcnc_tp_unavailable" }; const result = call(this.core, "sim_linuxcnc_tp_jog", "number", ["number", "number", "number", "number", "number"], [this.planner, Number(axis), Number(direction), Number(increment), Number(tag)]); return result === 0 ? { status: "verified", command: "JOG_START" } : { status: "error", code: `linuxcnc_tp_jog_${result}` }; }
jog(axis, direction, increment, tag = 0) {
if (!this.available) return { status: "blocked", code: "linuxcnc_tp_unavailable" };
const result = call(this.core, "sim_linuxcnc_tp_jog", "number", ["number", "number", "number", "number", "number"], [this.planner, Number(axis), Number(direction), Number(increment), Number(tag)]);
if (result !== 0) return { status: "error", code: `linuxcnc_tp_jog_${result}` };
// The native jog tag is a segment ID, not a kinematics mode. Replace any
// earlier program-line mapping with this jog's current coordinate frame.
if (Number(tag) > 0) this.segmentTags.set(Number(tag), this.activeTag);
return { status: "verified", command: "JOG_START" };
}
jogVelocity(axis) { if (!this.available) return 0; const index = { x: 0, y: 1, z: 2, a: 3, b: 4, c: 5, u: 6, v: 7, w: 8 }[String(axis).toLowerCase()]; return index === undefined ? 0 : Number(call(this.core, "sim_linuxcnc_tp_jog_velocity", "number", ["number", "number"], [this.planner, index])); }
setPaused(value) { this.controls.paused = Boolean(value); if (this.available) call(this.core, "sim_linuxcnc_tp_set_paused", "number", ["number", "number"], [this.planner, this.controls.paused ? 1 : 0]); return this.read(); }
stepLine() {
@@ -214,7 +222,13 @@ export class WasmLinuxcncTp {
}
reset() { if (this.available) call(this.core, "sim_linuxcnc_tp_reset", "number", ["number"], [this.planner]); this.controls.paused = false; this.activeTag = 0; this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3; return this.read(); }
abort() { if (this.available) call(this.core, "sim_linuxcnc_tp_abort", "number", ["number"], [this.planner]); this.activeTag = 0; this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3; return this.read(); }
abort() {
if (this.available) call(this.core, "sim_linuxcnc_tp_abort", "number", ["number"], [this.planner]);
// Stopping motion is not M429: keep the coordinate frame of the stopped
// pose, so its WASM inverse and the next jog retain RTCP compensation.
this.segmentTags.clear(); this.lastActiveId = 0; this.queueDepthOverride = null; this.executionState = 3;
return this.read();
}
exportState() {
const current = this.read();
const segments = [];