wangdequan/linuxcncWebWASM
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Enforce LinuxCNC WASM authority for XYZAC frontend

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wangdequan
2026-09-02 07:43:47 +08:00
parent c60e3a1e8f
commit 6b689fd69e
36 changed files with 514 additions and 210 deletions
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72
wasm-core/src/sim_linuxcnc_tp.c
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@@ -18,6 +18,10 @@ struct sim_linuxcnc_tp {
emcmot_config_t config;
double axis_velocity[9];
double axis_acceleration[9];
double axis_min[9];
double axis_max[9];
double velocity_scale;
double jog_scale;
uint32_t tick;
uint32_t last_active_id;
int just_completed;
@@ -144,7 +148,11 @@ int32_t sim_linuxcnc_tp_init(sim_linuxcnc_tp *planner, double cycle_time, double
for (int axis = 0; axis < 9; ++axis) {
planner->axis_velocity[axis] = axis < 3 ? fmin(20.0, velocity_limit) : (axis == 3 || axis == 5) ? fmin(30.0, velocity_limit) : velocity_limit;
planner->axis_acceleration[axis] = acceleration_limit;
planner->axis_min[axis] = -INFINITY;
planner->axis_max[axis] = INFINITY;
}
planner->velocity_scale = 1.0;
planner->jog_scale = 1.0;
planner->status.feed_scale = 1.0; planner->status.rapid_scale = 1.0; planner->status.net_feed_scale = 1.0;
planner->status.enables_new = FS_ENABLED | FH_ENABLED; planner->status.enables_queued = planner->status.enables_new;
planner->status.motionFlag = EMCMOT_MOTION_ENABLE_BIT | EMCMOT_MOTION_COORD_BIT | EMCMOT_MOTION_INPOS_BIT;
@@ -176,6 +184,64 @@ int32_t sim_linuxcnc_tp_set_feed_override(sim_linuxcnc_tp *planner, double scale
planner->status.net_feed_scale = scale; planner->status.feed_scale = scale; return 0;
}
int32_t sim_linuxcnc_tp_set_velocity_scale(sim_linuxcnc_tp *planner, double scale) {
if (planner == NULL || !planner->initialized || !isfinite(scale) || scale < 0.06 || scale > 1.0) return -1211;
active_planner = planner;
if (tpSetVlimit(&planner->tp, planner->config.limitVel * scale) != TP_ERR_OK) return -1212;
planner->velocity_scale = scale;
return 0;
}
int32_t sim_linuxcnc_tp_set_jog_scale(sim_linuxcnc_tp *planner, double scale) {
if (planner == NULL || !planner->initialized || !isfinite(scale) || scale < 0.06 || scale > 1.0) return -1213;
planner->jog_scale = scale;
return 0;
}
int32_t sim_linuxcnc_tp_set_axis_limit(sim_linuxcnc_tp *planner, int axis, double minimum, double maximum) {
if (planner == NULL || !planner->initialized || axis < 0 || axis >= 9 || !isfinite(minimum) || !isfinite(maximum) || minimum >= maximum) return -1214;
planner->axis_min[axis] = minimum;
planner->axis_max[axis] = maximum;
return 0;
}
int32_t sim_linuxcnc_tp_jog(sim_linuxcnc_tp *planner, int axis, int direction, double increment, uint32_t tag) {
EmcPose end;
double *value;
double velocity;
struct state_tag_t state_tag = {0};
if (planner == NULL || !planner->initialized || axis < 0 || axis >= 9 || (direction != -1 && direction != 1) || !isfinite(increment) || increment <= 0.0) return -1215;
active_planner = planner;
end = planner->tp.goalPos;
value = axis == 0 ? &end.tran.x : axis == 1 ? &end.tran.y : axis == 2 ? &end.tran.z : axis == 3 ? &end.a : axis == 4 ? &end.b : axis == 5 ? &end.c : axis == 6 ? &end.u : axis == 7 ? &end.v : &end.w;
*value += (double)direction * increment;
if (!isfinite(*value) || *value < planner->axis_min[axis] || *value > planner->axis_max[axis]) return -1217;
velocity = planner->axis_velocity[axis] * planner->jog_scale;
state_tag.fields_float[GM_FIELD_FLOAT_LINE_NUMBER] = (float)tag;
if (tpSetId(&planner->tp, (int)tag) != TP_ERR_OK) return -1218;
return tpAddLine(&planner->tp, end, TC_LINEAR, velocity, velocity, planner->axis_acceleration[axis], planner->status.enables_new, 0, -1, state_tag) == TP_ERR_OK ? 0 : -1219;
}
double sim_linuxcnc_tp_velocity_scale(const sim_linuxcnc_tp *planner) {
return planner == NULL || !planner->initialized ? 0.0 : planner->velocity_scale;
}
double sim_linuxcnc_tp_velocity_limit(const sim_linuxcnc_tp *planner) {
return planner == NULL || !planner->initialized ? 0.0 : planner->tp.vLimit;
}
double sim_linuxcnc_tp_jog_scale(const sim_linuxcnc_tp *planner) {
return planner == NULL || !planner->initialized ? 0.0 : planner->jog_scale;
}
double sim_linuxcnc_tp_jog_velocity(const sim_linuxcnc_tp *planner, int axis) {
return planner == NULL || !planner->initialized || axis < 0 || axis >= 9 ? 0.0 : planner->axis_velocity[axis] * planner->jog_scale;
}
double sim_linuxcnc_tp_feed_override(const sim_linuxcnc_tp *planner) {
return planner == NULL || !planner->initialized ? 0.0 : planner->status.net_feed_scale;
}
int32_t sim_linuxcnc_tp_set_dynamics(sim_linuxcnc_tp *planner, double acceleration_limit) {
if (planner == NULL || !planner->initialized || !isfinite(acceleration_limit) || acceleration_limit <= 0.0) return -1217;
active_planner = planner;
@@ -195,7 +261,11 @@ int32_t sim_linuxcnc_tp_abort(sim_linuxcnc_tp *planner) {
active_planner = planner;
planner->last_active_id = 0;
planner->just_completed = 0;
return tpAbort(&planner->tp) == TP_ERR_OK ? 0 : -1223;
if (tpAbort(&planner->tp) != TP_ERR_OK) return -1223;
// A browser PROGRAM_ABORT has no background emcmot servo thread after
// the command response. Complete the source TP abort transition here so
// the authoritative snapshot cannot retain an active queue indefinitely.
return tpClear(&planner->tp) == TP_ERR_OK ? 0 : -1223;
}
int32_t sim_linuxcnc_tp_set_position(sim_linuxcnc_tp *planner, const sim_posemath_pose *position) {