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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18
web/worker/wasm-home-limit.mjs
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@@ -5,11 +5,11 @@ const KIN_TYPE_TRIVKINS = 1;
const KIN_TYPE_XYZAC_TRT = 2;
const KIN_CONFIG_SIZE = 1608;
const KIN_SIZE = 1760;
const HOME_LIMIT_SIZE = 184;
const HOME_STATE_SIZE = 176;
const HOME_LIMIT_SIZE = 192;
const HOME_STATE_SIZE = 184;
const HOME_STATE_OFFSET = 8;
const CONFIG_OFFSETS = Object.freeze({ type: 0, mode: 4, joint_count: 8, kinematics_joint_count: 12, extra_joint_count: 16, coordinates: 20, x_rot_point: 40, y_offset: 72, z_offset: 80, tool_offset: 88, limit_enabled: 1448, joint_min: 1464, joint_max: 1536 });
const HOME_STATE_OFFSETS = Object.freeze({ pose: 0, joints: 72, joint_count: 144, homed: 148, home_sequence: 152, tick: 156, last_error: 160, limit_error: 164, kinematics_error: 168 });
const HOME_STATE_OFFSETS = Object.freeze({ pose: 0, joints: 72, joint_count: 144, homed: 148, home_sequence: 152, tick: 156, last_error: 160, limit_error: 164, kinematics_error: 168, homed_mask: 172 });
function call(core, name, returnType, argTypes, args) {
const direct = core?.[`_${name}`] ?? core?.[name];
@@ -43,7 +43,7 @@ function finitePose(value) {
export class WasmHomeLimit {
constructor(core, { jointCount = 3, limits = {}, kinematicsType = KIN_TYPE_TRIVKINS, coordinates = "XYZ", offsets = {} } = {}) {
this.core = core;
this.available = ["sim_kinematics_init", "sim_kinematics_home_limit_init", "sim_kinematics_home_limit_reset", "sim_kinematics_home_limit_home", "sim_kinematics_home_limit_check", "sim_kinematics_home_limit_read"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.available = ["sim_kinematics_init", "sim_kinematics_home_limit_init", "sim_kinematics_home_limit_reset", "sim_kinematics_home_limit_home", "sim_kinematics_home_limit_home_joint", "sim_kinematics_home_limit_check", "sim_kinematics_home_limit_read"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.jointCount = jointCount;
this.kinematicsType = kinematicsType;
this.coordinates = String(coordinates).toUpperCase();
@@ -93,12 +93,16 @@ export class WasmHomeLimit {
const ints = this.core.HEAPU32;
const signed = this.core.HEAP32;
const joints = [...this.core.HEAPF64.subarray(this.stateBuffer / 8 + 9, this.stateBuffer / 8 + 9 + this.jointCount)];
return { status: "verified", state: { schema: HOME_LIMIT_SCHEMA, source: "wasm_home_limit", pose: pose(this.core, this.stateBuffer), joints, joint_count: ints[this.stateBuffer / 4 + 36], homed: Boolean(ints[this.stateBuffer / 4 + 37]), home_sequence: ints[this.stateBuffer / 4 + 38], tick: ints[this.stateBuffer / 4 + 39], last_error: signed[this.stateBuffer / 4 + 40], limit_error: signed[this.stateBuffer / 4 + 41], kinematics_error: signed[this.stateBuffer / 4 + 42] } };
return { status: "verified", state: { schema: HOME_LIMIT_SCHEMA, source: "wasm_home_limit", pose: pose(this.core, this.stateBuffer), joints, joint_count: ints[this.stateBuffer / 4 + 36], homed: Boolean(ints[this.stateBuffer / 4 + 37]), home_sequence: ints[this.stateBuffer / 4 + 38], tick: ints[this.stateBuffer / 4 + 39], last_error: signed[this.stateBuffer / 4 + 40], limit_error: signed[this.stateBuffer / 4 + 41], kinematics_error: signed[this.stateBuffer / 4 + 42], homed_mask: ints[this.stateBuffer / 4 + 43] } };
}
home(sequence = 0) {
home(sequence = 0, axis = null) {
if (!this.available) return this.read();
const result = call(this.core, "sim_kinematics_home_limit_home", "number", ["number", "number"], [this.homeLimit, sequence]);
const index = axis === null || axis === undefined ? -1 : [...this.coordinates].findIndex((value) => value.toLowerCase() === String(axis).toLowerCase());
if (axis !== null && index < 0) return { status: "error", code: "wasm_home_axis_invalid", state: this.read().state };
const result = index < 0
? call(this.core, "sim_kinematics_home_limit_home", "number", ["number", "number"], [this.homeLimit, sequence])
: call(this.core, "sim_kinematics_home_limit_home_joint", "number", ["number", "number", "number"], [this.homeLimit, sequence, index]);
if (result !== 0) return { status: "error", code: `wasm_home_${result}`, state: this.read().state };
return this.read();
}