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Enforce LinuxCNC WASM XYZAC command authority

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wangdequan
2026-08-28 13:04:47 +08:00
parent 1a7995fa9b
commit 78d884bc67
43 changed files with 567 additions and 186 deletions
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16
web/worker/axis-state.mjs
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@@ -31,19 +31,29 @@ function programActivity(task, program) {
return "IDLE";
}
export function axisState({ task = {}, program = {}, action = null, payload = {} } = {}) {
export function axisState({ task = {}, program = {}, motion = {}, devices = {}, device_io = {}, io = {}, action = null, payload = {} } = {}) {
const taskState = String(task.state ?? "NEW").toUpperCase();
let machineState = ["ESTOP", "FAULT"].includes(taskState) ? "ESTOP" : ["READY", "RUNNING", "PAUSED", "STOPPED"].includes(taskState) ? "ON" : "OFF";
const ioState = io?.state ?? io ?? device_io?.state ?? device_io ?? {};
const hasIoState = typeof ioState.estop === "boolean" || typeof ioState.estop === "number";
const ioEstop = hasIoState && Boolean(ioState.estop);
const ioReady = typeof ioState.ready === "boolean" || typeof ioState.ready === "number" ? Boolean(ioState.ready) : null;
// LinuxCNC exposes the post-E-stop, powered-off state as
// STATE_ESTOP_RESET (STATE_OFF is an alias in the AXIS UI). The WASM IO
// ready bit is the authority for distinguishing it from STATE_ON.
const estopReset = hasIoState && !ioEstop && ioReady === false;
let machineState = ioEstop || ["ESTOP", "FAULT"].includes(taskState) ? "ESTOP" : estopReset ? "ESTOP_RESET" : ioReady === false ? "OFF" : ["READY", "RUNNING", "PAUSED", "STOPPED"].includes(taskState) ? "ON" : "OFF";
let operationState = programActivity(task, program);
if (action === "ESTOP" && payload.active === true) machineState = "ESTOP";
if (action === "ESTOP" && payload.active === false) machineState = "ESTOP_RESET";
if (action === "IO_RECOVER") machineState = "ON";
if (action === "POWER" && payload.active === true) machineState = "ON";
if (action === "POWER" && payload.active === false) machineState = "OFF";
if (action === "HOME") operationState = "HOME";
if (action === "PROGRAM_PAUSE") operationState = "PAUSED";
if (action === "PROGRAM_RUN" || action === "PROGRAM_RESUME") operationState = "RUNNING";
if (["PROGRAM_LOAD", "PROGRAM_ABORT", "PROGRAM_RESTART", "MDI_EXECUTE"].includes(action)) operationState = "IDLE";
const state = machineState === "ESTOP" || machineState === "ESTOP_RESET" ? machineState : operationState === "HOME" ? "HOME" : operationState === "RUNNING" ? "RUNNING" : operationState === "PAUSED" ? "PAUSED" : machineState === "OFF" ? "OFF" : "IDLE";
const sourceTaskState = taskState === "ESTOP" ? "STATE_ESTOP" : machineState === "ESTOP_RESET" ? "STATE_ESTOP_RESET" : machineState === "OFF" ? "STATE_OFF" : "STATE_ON";
const sourceTaskState = machineState === "ESTOP" ? "STATE_ESTOP" : machineState === "ESTOP_RESET" ? "STATE_ESTOP_RESET" : machineState === "OFF" ? "STATE_OFF" : "STATE_ON";
const sourceInterpState = operationState === "PAUSED" ? "INTERP_PAUSED" : operationState === "RUNNING" ? "INTERP_READING" : "INTERP_IDLE";
const sourceMode = String(task.mode ?? "MANUAL").toUpperCase();
return Object.freeze({ state, machine_state: machineState, operation_state: operationState, source_task_state: sourceTaskState, source_interp_state: sourceInterpState, source_mode: sourceMode, states: [...AXIS_STATES] });