Complete 3axis tutorial native and Web/WASM parity tools

web/worker/program-runner.mjs

@@ -41,6 +41,39 @@ function readInterpreterState(core, pointer) {
   };
 }
 
+function readInterpreterMotion(core, interpreter, sourceLine = null) {
+  if (typeof core._sim_interpreter_read_motion !== "function" || typeof core._sim_interpreter_motion_size !== "function") return null;
+  const size = core._sim_interpreter_motion_size();
+  if (!Number.isSafeInteger(size) || size < 216 || size > 4096) throw new Error("wasm_motion_size_invalid");
+  const pointer = core._malloc(size);
+  if (!pointer) throw new Error("wasm_motion_allocation_failed");
+  try {
+    const result = call(core, "sim_interpreter_read_motion", "number", ["number", "number"], [interpreter, pointer]);
+    if (result !== 0) return null;
+    const doubles = core.HEAPF64.subarray(pointer / 8, pointer / 8 + 26);
+    const ints = core.HEAP32.subarray(pointer / 4 + 52, pointer / 4 + 54);
+    const pose = (offset) => ({
+      x: doubles[offset], y: doubles[offset + 1], z: doubles[offset + 2],
+      a: doubles[offset + 3], b: doubles[offset + 4], c: doubles[offset + 5],
+      u: doubles[offset + 6], v: doubles[offset + 7], w: doubles[offset + 8],
+    });
+    return {
+      source_line: sourceLine,
+      start: pose(0),
+      end: pose(9),
+      center: { x: doubles[18], y: doubles[19], z: doubles[20] },
+      normal: { x: doubles[21], y: doubles[22], z: doubles[23] },
+      velocity: doubles[24],
+      acceleration: doubles[25],
+      motion_type: ints[0],
+      turn: ints[1],
+      source: "wasm_interpreter_canonical_motion",
+    };
+  } finally {
+    core._free(pointer);
+  }
+}
+
 function readCanonical(core, interpreter) {
   if (typeof core._sim_interpreter_canonical !== "function") return null;
   const required = call(core, "sim_interpreter_canonical", "number", ["number", "number", "number"], [interpreter, 0, 0]);
@@ -328,6 +361,32 @@ export class ProgramRunner {
     return this.snapshot();
   }
 
+  preview() {
+    if (!this.loaded) return { status: "error", code: "program_not_loaded" };
+    const source = this.source;
+    const path = this.path;
+    const segments = [];
+    let result = { status: "verified" };
+    try {
+      for (let steps = 0; steps < MAX_EXPANDED_LINES && this.programCounter < this.lines.length; steps += 1) {
+        result = this.executeNext(true);
+        if (result.status !== "verified") break;
+        if (result.motion) {
+          const motion = result.motion;
+          const linearNoop = motion.motion_type === 1
+            && ["x", "y", "z", "a", "b", "c", "u", "v", "w"].every((axis) => motion.start[axis] === motion.end[axis]);
+          if (!linearNoop) segments.push(motion);
+        }
+      }
+      if (result.status !== "verified") return { ...result, preview: { status: "error", segments } };
+      return { status: "verified", preview: { status: "verified", segments } };
+    } catch (error) {
+      return { status: "error", code: error.message, preview: { status: "error", segments } };
+    } finally {
+      this.load(source, path);
+    }
+  }
+
   pause() {
     if (this.status !== "running") return { status: "error", code: "program_not_running" };
     this.status = "paused";
@@ -398,7 +457,7 @@ export class ProgramRunner {
       if (stateResult !== 0) return { status: "error", code: "mdi_state_read", result: stateResult };
       this.state = readInterpreterState(this.core, this.stateBuffer);
       const interpreterState = cloneState(this.state);
-      return { status: "verified", block, state: interpreterState, interpreter_state: interpreterState, runner: this.snapshot() };
+      return { status: "verified", block, state: interpreterState, interpreter_state: interpreterState, motion: readInterpreterMotion(this.core, this.interpreter, this.state.line), runner: this.snapshot() };
     } catch (error) {
       return { status: "error", code: error.message };
     }
@@ -588,7 +647,7 @@ export class ProgramRunner {
       }
       if (this.state.program_end) this.status = "completed";
       else if (this.programCounter >= this.lines.length && !seeking) this.status = "completed";
-      return { status: "verified", line: index + 1, text: sourceLine, state: cloneState(this.state), program_status: this.status };
+      return { status: "verified", line: index + 1, text: sourceLine, state: cloneState(this.state), program_status: this.status, motion: readInterpreterMotion(this.core, this.interpreter, index + 1) };
     }
     this.status = "completed";
     return { status: "verified", line: this.currentLine, text: null, state: cloneState(this.state), program_status: this.status };
@@ -618,6 +677,11 @@ export class ProgramRunner {
         this.lastError = this.lastError ?? { code: error.message };
       }
     }
+    const unitsCode = this.state.units === 20 ? "G20" : "G21";
+    const distanceCode = this.state.distance_mode === 91 ? "G91" : "G90";
+    const planeCode = this.state.plane === 18 ? "G18" : this.state.plane === 19 ? "G19" : "G17";
+    const motionCode = `G${this.state.motion_mode}`;
+    const spindleCode = this.state.spindle_mode === 5 ? "M5" : `M${this.state.spindle_mode}`;
     return {
       status: "verified",
       program_status: this.status,
@@ -632,6 +696,7 @@ export class ProgramRunner {
       modal_hash,
       motion_control: { ...this.motionControl },
       motion_control_hash: fnv1a64(this.motionControl),
+      active_gcodes: `${unitsCode} ${distanceCode} ${planeCode} ${motionCode} ${spindleCode}`,
       error_column,
       error_code,
       error: this.lastError,