wangdequan/linuxcncWebWASM
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Advance simulation parity and 3-axis tutorial coverage

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wangdequan
2026-08-23 18:00:56 +08:00
parent 4a11d9692b
commit 938654b19d
107 changed files with 13537 additions and 3565 deletions
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6
web/react/src/store.ts
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@@ -1,4 +1,4 @@
import type { Capabilities, MessageEnvelope, SimSnapshotV1 } from "./protocol";
import type { AxisStateView, Capabilities, MessageEnvelope, SimSnapshotV1 } from "./protocol";
export type SessionStatus = "disconnected" | "handshaking" | "attaching" | "loading" | "ready" | "running" | "paused" | "recovering" | "blocked" | "error";
@@ -21,6 +21,7 @@ export type FrontendState = {
plc: Record<string, unknown> | null;
python: Record<string, unknown> | null;
ioAck: Record<string, unknown> | null;
axisState: AxisStateView | null;
};
export const INITIAL_STATE: FrontendState = {
@@ -42,6 +43,7 @@ export const INITIAL_STATE: FrontendState = {
plc: null,
python: null,
ioAck: null,
axisState: null,
};
function payload<T>(message: MessageEnvelope): T {
@@ -57,7 +59,7 @@ function projection(result: Record<string, unknown>, message: MessageEnvelope, p
: [axesObject?.x, axesObject?.y, axesObject?.z].map((value) => typeof value === "number" ? value : 0);
const joints = Array.isArray(motionState.joints) ? motionState.joints as number[] : [];
const snapshot = { simulation_tick: message.simulation_tick ?? previous.tick, state_hash: String(result.state_hash ?? previous.snapshot?.state_hash ?? ""), task: result.task as SimSnapshotV1["task"], motion: { axes, joints, velocity: Array.isArray(motionState.velocity) ? motionState.velocity as number[] : [] }, authoritative: result.authoritative as SimSnapshotV1["authoritative"] } satisfies SimSnapshotV1;
return { snapshot, task: (result.task as Record<string, unknown>) ?? previous.task, program: (result.program as Record<string, unknown>) ?? previous.program, devices: (result.devices as Record<string, unknown>) ?? previous.devices, deviceIo: (result.device_io as Record<string, unknown>) ?? previous.deviceIo, hal: (result.hal_runtime as Record<string, unknown>) ?? previous.hal, plc: (result.plc as Record<string, unknown>) ?? previous.plc, python: (result.python as Record<string, unknown>) ?? previous.python, ioAck: (result.io_ack as Record<string, unknown>) ?? previous.ioAck };
return { snapshot, task: (result.task as Record<string, unknown>) ?? previous.task, program: (result.program as Record<string, unknown>) ?? previous.program, devices: (result.devices as Record<string, unknown>) ?? previous.devices, deviceIo: (result.device_io as Record<string, unknown>) ?? previous.deviceIo, hal: (result.hal_runtime as Record<string, unknown>) ?? previous.hal, plc: (result.plc as Record<string, unknown>) ?? previous.plc, python: (result.python as Record<string, unknown>) ?? previous.python, ioAck: (result.io_ack as Record<string, unknown>) ?? previous.ioAck, axisState: (result.axis_state as AxisStateView) ?? previous.axisState };
}
export function reduceFrontendState(state: FrontendState, message: MessageEnvelope): FrontendState {