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Complete 3axis tutorial native and Web/WASM parity tools

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wangdequan
2026-08-24 14:01:30 +08:00
parent 938654b19d
commit 7e90142b63
147 changed files with 17639 additions and 557 deletions
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10
web/worker/authoritative-runtime.mjs
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@@ -124,18 +124,16 @@ export class AuthoritativeRuntime {
this.state.planner.queue_depth = 0;
return { status: "verified", command: "AUTHORITATIVE_ABORT" };
}
if (this.state.program_status === "completed") {
this.state.status = "completed";
return { status: "verified", command: "AUTHORITATIVE_COMPLETE", queue_depth: this.state.planner.queue_depth };
}
const planner = this.state.planner;
const last = planner.queue.at(-1)?.end ?? (planner.active_id === null ? this.state.kinematics.pose : null);
const last = planner.queue.at(-1)?.end ?? planner.active?.end ?? (planner.active_id === null ? this.state.kinematics.pose : null);
if (!samePose(target, last)) {
const id = planner.next_id++;
planner.queue.push({ id, source_line: program.line ?? null, start: clone(this.state.kinematics.pose), end: target });
}
planner.queue_depth = planner.queue.length + (planner.active_id === null ? 0 : 1);
this.state.status = this.state.program_status === "completed" ? "completed" : "running";
// M2 marks the interpreter complete, but AXIS remains visibly active until
// the final queued motion reaches its endpoint.
this.state.status = this.state.program_status === "completed" && planner.queue_depth === 0 ? "completed" : "running";
return { status: "verified", command: "AUTHORITATIVE_SYNC", queue_depth: planner.queue_depth };
}