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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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94
web/worker/sim-session.mjs
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@@ -37,7 +37,7 @@ const OPERATION_KINDS = new Set([
"SESSION_ATTACH", "LOAD_WORKSPACE", "SIM_STEP", "DESTROY", "CHECKPOINT", "RECOVER", "ABORT",
"COMMAND", "START", "STOP", "RESET", "PROGRAM_LOAD", "PROGRAM_RUN",
"PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT", "PROGRAM_RESTART", "JOG_START", "JOG_STOP",
"HOME", "SET_MODE", "SET_OVERRIDE", "SPINDLE_COMMAND", "SPINDLE_BRAKE", "TOOL_PREPARE",
"HOME", "SET_MODE", "SET_OVERRIDE", "SET_JOG_SCALE", "SET_MAX_VELOCITY", "SET_SPINDLE_OVERRIDE", "SPINDLE_COMMAND", "SPINDLE_BRAKE", "TOOL_PREPARE",
"TOOL_CHANGED", "TOOL_PREPARED", "TOOL_CHANGE", "TOOL_ABORT", "TOOL_FAULT", "TOOL_CLEAR_FAULT",
"SPINDLE_FAULT", "SPINDLE_INHIBIT", "SPINDLE_ORIENT", "SPINDLE_ORIENTED", "IO_STEP", "IO_RECOVER",
"PROBE_CONFIG", "LIMIT_SET", "ESTOP", "HAL_COMMAND", "HAL_SET",
@@ -52,7 +52,8 @@ const OPERATION_KINDS = new Set([
const PANEL_GATE_ACTIONS = Object.freeze({
PROGRAM_RUN: "run", PROGRAM_STEP: "step", PROGRAM_PAUSE: "pause",
PROGRAM_RESUME: "resume", PROGRAM_ABORT: "abort", PROGRAM_RESTART: "restart",
JOG_START: "jogStart", JOG_STOP: "jogStop", HOME: "home", SET_OVERRIDE: "override",
JOG_START: "jogStart", JOG_STOP: "jogStop", SET_JOG_SCALE: "jogStart", SET_MAX_VELOCITY: "override", SET_SPINDLE_OVERRIDE: "override", HOME: "home", SET_OVERRIDE: "override",
SPINDLE_COMMAND: "spindle", SPINDLE_BRAKE: "spindle", COOLANT_COMMAND: "coolant", TOOL_PREPARE: "tool", TOOL_CHANGE: "tool", PROBE_CONFIG: "probe",
ESTOP: "estop", IO_RECOVER: "recover",
POWER: "power",
});
@@ -61,6 +62,7 @@ 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, OVERRIDE: 16,
SPINDLE: 17, COOLANT: 18, TOOL: 19, PROBE: 20, TOUCH_OFF: 21, TOOL_TOUCH_OFF: 22,
});
const WASM_GATE_REASONS = Object.freeze({
@@ -232,7 +234,7 @@ export class SimSession {
motion_authority: responsePayload.motion_authority ?? this.motionAuthority,
task_authority: responsePayload.task_authority ?? this.task.authority(),
...(!lightweightXyzacStep ? { wasm_home_limit: statePayload.wasm_home_limit ?? this.wasmHomeLimit.read() } : {}),
...(traceOnlyStep ? {} : { axis_state: axisState({ task, program, motion: this.motionProjection(), devices: {}, io: this.xyzacIo?.canonical?.() ?? {}, device_io: this.xyzacDeviceIo?.canonical?.() ?? this.deviceIo.export(), action: input.kind, payload: input.payload ?? {} }) }),
...(traceOnlyStep ? {} : { axis_state: axisState({ task, program, motion: this.motionProjection(), devices: {}, io: this.xyzacIo?.canonical?.() ?? {}, device_io: this.xyzacDeviceIo?.canonical?.() ?? this.deviceIo.export() }) }),
},
};
}
@@ -253,10 +255,15 @@ 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: this.wasmMotion.controls?.feed_override ?? 1,
spindle_override: 1,
feed_override: Number(wasmMotion.state?.feed_override ?? 1),
spindle_override: Number(ioState?.spindles?.[0]?.override ?? 1),
velocity_scale: Number(wasmMotion.state?.velocity_scale ?? 1),
jog_scale: Number(wasmMotion.state?.jog_scale ?? 1),
jog_velocity_linear: Number(wasmMotion.state?.jog_velocity_linear ?? 0),
jog_velocity_angular: Number(wasmMotion.state?.jog_velocity_angular ?? 0),
max_velocity: Number(wasmMotion.state?.velocity_limit ?? 0),
homed: Boolean(home.state?.homed),
homed_axes: Array.from({ length: 5 }, (_, index) => Boolean(home.state?.homed && index < (home.state?.joint_count ?? 0))),
homed_axes: Array.from({ length: 5 }, (_, index) => Boolean(Number(home.state?.homed_mask ?? 0) & (1 << index))),
limits: { x: Boolean(home.state?.limit_error), y: Boolean(home.state?.limit_error), z: Boolean(home.state?.limit_error), a: Boolean(home.state?.limit_error), c: Boolean(home.state?.limit_error) },
on_any_limit: Boolean(home.state?.limit_error),
following_error: 0,
@@ -326,7 +333,7 @@ export class SimSession {
const authoritative = this.xyzacProgram
? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker", state_hash: fnv1a64({ motion: wasmMotion, kinematics: this.xyzacKinematics?.snapshot() ?? null, task }) }
: this.authoritative.export();
const axis = axisState({ task, program: program ?? {}, motion, devices, io: this.xyzacIo ? this.xyzacIo.export() : {}, device_io: deviceIo, action: input.kind, payload: input.payload ?? {} });
const axis = axisState({ task, program: program ?? {}, motion, devices, io: this.xyzacIo ? this.xyzacIo.export() : {}, device_io: deviceIo });
const xyzac = this.xyzacKinematics ? { coordinates: "XYZAC", joint_count: 5, hal_pin_vars: true, switchkins_net: true, finite_offsets: true, userk_capability: true, active_type: this.xyzacKinematics.snapshot().active_type } : null;
const gateInput = { task, program: program ?? {}, motion, devices, io: this.xyzacIo ? this.xyzacIo.export() : {}, device_io: deviceIo, xyzac, taskfile: Boolean(this.xyzacProgram ? this.xyzacProgram.snapshot().status !== 0 : this.program.loaded), kinematicsIdentity: this.motionAuthority === "wasm" };
const gateActions = ["load", "run", "runLine", "step", "pause", "resume", "abort", "restart", "reload", "edit", "mdi", "jogStart", "jogStop", "home", "estop", "recover", "override", "overrideLimits", "reset", "spindle", "coolant", "touchOff", "toolTouchOff"];
@@ -345,6 +352,15 @@ export class SimSession {
jogStop: this.xyzacCommandGate({ kind: "JOG_STOP", payload: {} }),
home: this.xyzacCommandGate({ kind: "HOME", payload: {} }),
override: this.xyzacCommandGate({ kind: "SET_OVERRIDE", payload: { feed: 1 } }),
jogScale: this.xyzacCommandGate({ kind: "SET_JOG_SCALE", payload: { scale: 1 } }),
maxVelocity: this.xyzacCommandGate({ kind: "SET_MAX_VELOCITY", payload: { scale: 1 } }),
spindleOverride: this.xyzacCommandGate({ kind: "SET_SPINDLE_OVERRIDE", payload: { scale: 1 } }),
spindle: this.xyzacCommandGate({ kind: "SPINDLE_COMMAND", payload: {} }),
coolant: this.xyzacCommandGate({ kind: "COOLANT_COMMAND", payload: {} }),
tool: this.xyzacCommandGate({ kind: "TOOL_PREPARE", payload: {} }),
probe: this.xyzacCommandGate({ kind: "PROBE_CONFIG", payload: {} }),
touchOff: this.xyzacCommandGate({ kind: "TOUCH_OFF", payload: {} }),
toolTouchOff: this.xyzacCommandGate({ kind: "TOOL_TOUCH_OFF", payload: {} }),
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) } }),
@@ -366,7 +382,7 @@ export class SimSession {
: { x: wasmPosition.x, y: wasmPosition.y, z: wasmPosition.z };
const inverseJoints = this.xyzacKinematics?.snapshot?.()?.joints;
const joints = this.motionAuthority === "wasm" && wasmMotion.status === "verified"
? (inverseJoints?.length === 5 ? [...inverseJoints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0])
? (Array.isArray(wasmMotion.state.joint_commanded) && wasmMotion.state.joint_commanded.length === 5 ? [...wasmMotion.state.joint_commanded] : inverseJoints?.length === 5 ? [...inverseJoints] : [position.x, position.y, position.z, position.a ?? 0, position.c ?? 0])
: authoritative.kinematics.joints;
const preview = this.previewState?.status === "verified" ? this.previewState : null;
const visual = {
@@ -465,8 +481,15 @@ 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" ? WASM_GATE_COMMANDS.JOG
const command = input.kind === "JOG_STOP" || input.kind === "JOG_START" || input.kind === "SET_JOG_SCALE" ? WASM_GATE_COMMANDS.JOG
: input.kind === "SET_MAX_VELOCITY" || input.kind === "SET_SPINDLE_OVERRIDE" ? WASM_GATE_COMMANDS.OVERRIDE
: input.kind === "SET_OVERRIDE" ? WASM_GATE_COMMANDS.OVERRIDE
: input.kind === "SPINDLE_COMMAND" || input.kind === "SPINDLE_BRAKE" ? WASM_GATE_COMMANDS.SPINDLE
: input.kind === "COOLANT_COMMAND" ? WASM_GATE_COMMANDS.COOLANT
: input.kind === "TOOL_PREPARE" || input.kind === "TOOL_CHANGE" ? WASM_GATE_COMMANDS.TOOL
: input.kind === "PROBE_CONFIG" ? WASM_GATE_COMMANDS.PROBE
: input.kind === "TOUCH_OFF" ? WASM_GATE_COMMANDS.TOUCH_OFF
: input.kind === "TOOL_TOUCH_OFF" ? WASM_GATE_COMMANDS.TOOL_TOUCH_OFF
: 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
@@ -485,6 +508,7 @@ export class SimSession {
if (!command) return { action, enabled: true, reason: "linuxcnc_wasm_authority" };
const requested = input.kind === "POWER" || input.kind === "ESTOP" ? (input.payload?.active === true ? 1 : 0)
: input.kind === "KINEMATICS_SELECT" ? Number(input.payload?.type)
: input.kind === "TOOL_TOUCH_OFF" ? Number(io.tool?.current ?? 0) > 0 ? 1 : 0
: input.kind === "SET_MODE" ? ({ MANUAL: 0, MDI: 1, AUTO: 2 }[String(input.payload?.mode ?? "").toUpperCase()] ?? 3) : 0;
const result = this.task.commandGate(command, {
requested,
@@ -1415,8 +1439,11 @@ export class SimSession {
if (!Number.isFinite(this.xyzacMotionCycleTime) || this.xyzacMotionCycleTime <= 0) throw new Error("wasm_xyzac_cycle_time_invalid");
const taskCycleTime = Number(configuration.kinematics?.task_cycle_time ?? this.xyzacMotionCycleTime);
this.xyzacTaskCycleTicks = Math.max(1, Math.round(taskCycleTime / this.xyzacMotionCycleTime));
this.wasmMotion = this.planner === "linuxcnc-tp"
? new WasmLinuxcncTp(this.core, { cycleTime: this.xyzacMotionCycleTime, velocityLimit: this.xyzacRapidVelocity, accelerationLimit: Number(configuration.kinematics?.max_acceleration ?? 300) })
// The selected XYZAC TRT case always uses the upstream LinuxCNC TP;
// a caller must not silently downgrade it to the compatibility
// motion queue by omitting the planner option.
this.wasmMotion = configuration.kinematics.type === "xyzac-trt"
? new WasmLinuxcncTp(this.core, { cycleTime: this.xyzacMotionCycleTime, velocityLimit: this.xyzacRapidVelocity, accelerationLimit: Number(configuration.kinematics?.max_acceleration ?? 300), limits: configuration.home_limits ?? {} })
: new WasmMotionQueue(this.core, { cycleTime: this.xyzacMotionCycleTime, velocityLimit: 1e9 });
this.xyzacProgram = new WasmProgramRuntime(this.core);
this.xyzacProgramKinematicsMode = XYZAC_MODES.identity;
@@ -1706,7 +1733,7 @@ export class SimSession {
this.xyzacAppendDeferredOnActive = false;
if (typeof this.wasmMotion.setQueueDepthOverride === "function") this.wasmMotion.setQueueDepthOverride(null);
servoResult.state.queue_depth = 2;
if (Array.isArray(this.wasmMotion.history) && this.wasmMotion.history.length) this.wasmMotion.history[this.wasmMotion.history.length - 1].queue_depth = 2;
if (this.wasmMotion.lastState) this.wasmMotion.lastState.queue_depth = 2;
}
if (this.planner === "linuxcnc-tp" && this.xyzacExecutionWaitSamples > 0 && Number(servoResult.state.active_id ?? 0) !== 0) this.xyzacExecutionWaitSamples -= 1;
if (this.planner === "linuxcnc-tp" && this.xyzacDeferredPhysicalSwitchMode !== null && Number(servoResult.state.active_tag ?? -1) === this.xyzacDeferredPhysicalSwitchMode) {
@@ -1796,8 +1823,16 @@ export class SimSession {
}
const snapshotState = { tick: this.tick, cycles, motion_authority: this.motionAuthority, task: this.task.export(), scheduler: this.scheduler.export(), authoritative: this.xyzacProgram ? { schema: "wasm_authority_boundary.v1", source: "linuxcnc-wasm-worker" } : this.authoritative.export(), wasm_motion: this.wasmMotion.read(), motion: this.motionProjection(), plc: this.plc.export(), hal_runtime: this.xyzacIo ? this.xyzacIo.halExport() : this.hal.export(), device_io: this.xyzacDeviceIo ? this.xyzacDeviceIo.export() : this.xyzacIo ? this.xyzacIo.export() : this.deviceIo.export(), configuration_batch: this.configurationBatch.export(), io_ack: this.ioAck.export(), callbacks: this.callbacks.export(), xyzac_timing: { servo_cycle_time: this.xyzacMotionCycleTime, task_cycle_ticks: this.xyzacTaskCycleTicks } };
if (program) snapshotState.program = program;
const snapshot = input.payload?.trace_only === true ? null : this.timeline.checkpoint(input.seq, this.tick, snapshotState, this.timeline.snapshots.latest()?.snapshot_id ?? null);
const lightweightXyzac = Boolean(this.xyzacProgram);
// A high-frequency XYZAC motion-delta is already backed by the WASM
// state returned in this response. Persisting a full structured
// snapshot for every task tick makes the browser replay store grow
// quadratically because each snapshot contains the complete program
// and runtime state. Explicit CHECKPOINT/trace/power-off requests
// still materialize a durable snapshot through createCheckpoint().
const snapshot = input.payload?.trace_only === true || (lightweightXyzac && input.payload?.response === "motion_delta" && input.payload?.checkpoint !== true)
? null
: this.timeline.checkpoint(input.seq, this.tick, snapshotState, this.timeline.snapshots.latest()?.snapshot_id ?? null);
return finish(this.envelope("COMMAND_RESULT", input, {
status: "verified", cycles, program_steps, execution_trace,
...(lightweightXyzac && cycles <= 32 && motion_trace.length ? { motion_trace } : {}),
@@ -2097,7 +2132,7 @@ export class SimSession {
case "HOME": {
if (this.xyzacProgram) {
if (this.wasmHomeLimit.read().status !== "verified") return finish(this.error(input, "home_limit", "wasm_home_limit_unavailable"), "failed");
const home = this.wasmHomeLimit.home(input.seq);
const home = this.wasmHomeLimit.home(input.seq, input.payload?.all ? null : input.payload?.axis ?? null);
if (home.status === "error") return finish(this.error(input, "home_limit", home.code), "failed");
this.task.setMode("MANUAL");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, motion: this.wasmMotionProjection(), wasm_home_limit: this.wasmHomeLimit.read(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
@@ -2109,7 +2144,7 @@ export class SimSession {
}
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motionProjection(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
case "JOG_START": case "JOG_STOP": case "SET_OVERRIDE": case "FOLLOWING_ERROR": {
case "JOG_START": case "JOG_STOP": case "SET_JOG_SCALE": case "SET_MAX_VELOCITY": case "SET_OVERRIDE": case "FOLLOWING_ERROR": {
if (this.motionAuthority === "wasm") {
if (input.kind === "JOG_STOP") {
this.wasmMotion.abort();
@@ -2127,23 +2162,28 @@ export class SimSession {
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 === "SET_JOG_SCALE" || input.kind === "SET_MAX_VELOCITY") {
const scale = Number(input.payload?.scale ?? Number(input.payload?.percent) / 100);
if (!Number.isFinite(scale) || scale < 0.06 || scale > 1) return finish(this.error(input, "motion_scale", input.kind === "SET_JOG_SCALE" ? "jog_scale_range" : "max_velocity_scale_range"), "failed");
try {
if (input.kind === "SET_JOG_SCALE") this.wasmMotion.setJogScale(scale);
else this.wasmMotion.setVelocityScale(scale);
} catch (error) {
return finish(this.error(input, "motion_scale", String(error?.message ?? error)), "failed");
}
const motion = this.wasmMotionProjection();
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, 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();
if (current.status !== "verified") return finish(this.error(input, "motion_queue", "wasm_motion_unavailable"), "failed");
const axis = String(input.payload?.axis ?? "").toLowerCase();
if (!["x", "y", "z", "a", "c"].includes(axis)) return finish(this.error(input, "motion_axis", "motion_axis_invalid"), "failed");
const direction = input.payload?.direction === -1 ? -1 : input.payload?.direction === 1 ? 1 : null;
if (direction === null) return finish(this.error(input, "motion_jog", "motion_jog_range"), "failed");
this.wasmMotion.setPaused(false);
const start = { ...current.state.position };
const distance = Number(input.payload?.increment) > 0 ? Number(input.payload.increment) : 1;
const target = Number(start[axis] ?? 0) + direction * distance;
const configuredLimit = this.wasmHomeLimit.limits?.[axis];
if (Array.isArray(configuredLimit) && configuredLimit.length === 2 && (target < Number(configuredLimit[0]) || target > Number(configuredLimit[1]))) return finish(this.error(input, "motion_queue", "motion_limit_range"), "failed");
const end = { ...start, [axis]: target };
const enqueue = this.wasmMotion.enqueue({ start, end, center: { x: 0, y: 0, z: 0 }, normal: { x: 0, y: 0, z: 1 }, velocity: Number(input.payload?.speed ?? 1), acceleration: 0, motion_type: 1, turn: 0, source_line: null });
if (enqueue.status === "error") {
const code = enqueue.code === "wasm_motion_enqueue_-602" ? "motion_limit_range" : enqueue.code === "wasm_motion_enqueue_-601" ? "motion_jog_nonfinite" : enqueue.code;
const distance = input.payload?.increment ?? 1;
const jog = this.wasmMotion.jog({ x: 0, y: 1, z: 2, a: 3, c: 5 }[axis], direction, distance, input.seq);
if (jog.status !== "verified") {
const code = jog.code === "linuxcnc_tp_jog_-1217" ? "motion_limit_range" : jog.code === "linuxcnc_tp_jog_-1215" ? "motion_jog_nonfinite" : jog.code;
return finish(this.error(input, "motion_queue", code), "failed");
}
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, motion: this.wasmMotionProjection(), wasm_motion: this.wasmMotion.read(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
@@ -2157,7 +2197,7 @@ export class SimSession {
if (result.status === "error" && result.state?.fault && this.task.state.state === "RUNNING") this.task.fault(-1205);
return finish(this.envelope(result.status === "verified" ? "COMMAND_RESULT" : "ERROR", input, { ...result, motion: this.motionProjection(), task: this.task.export(), command: input.kind, operation_id: input.operation_id ?? null }), result.status === "verified" ? "verified" : "failed");
}
case "SPINDLE_COMMAND": case "SPINDLE_BRAKE": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT":
case "SET_SPINDLE_OVERRIDE": case "SPINDLE_COMMAND": case "SPINDLE_BRAKE": case "SPINDLE_FAULT": case "SPINDLE_INHIBIT":
case "SPINDLE_ORIENT": case "SPINDLE_ORIENTED": case "IO_STEP":
case "TOOL_PREPARE": case "TOOL_PREPARED": case "TOOL_CHANGE":
case "TOOL_CHANGED": case "TOOL_ABORT": case "TOOL_FAULT": case "TOOL_CLEAR_FAULT":