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Align Web execute-next-line with LinuxCNC

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wangdequan
2026-09-10 08:30:04 +08:00
parent 0a202e5841
commit aac1ceb250
5 changed files with 226 additions and 17 deletions
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81
web/worker/sim-session.mjs
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@@ -145,6 +145,7 @@ export class SimSession {
this.pendingProgramControl = 0;
this.pendingTaskSync = 0;
this.pendingXyzacMotion = null;
this.xyzacStepTargetId = 0;
this.pendingServoSync = 0;
this.xyzacExecutionWaitNextMotion = false;
this.xyzacExecutionWaitSamples = 0;
@@ -2322,20 +2323,68 @@ export class SimSession {
case "PROGRAM_STEP": {
if (this.xyzacProgram) {
try {
const current = this.xyzacProgram.snapshot();
const idle = !["RUNNING", "PAUSED"].includes(this.task.state.state);
let current = this.xyzacProgram.snapshot();
let queueDepth = Number(this.wasmMotion.read().state?.queue_depth ?? 0);
let stepPhase = "source_line_pause";
let stepWaitingForMotion = false;
let stepSourceLine = current.execution_source_line ?? current.current_line ?? 0;
let stepTargetId = null;
let stepResult = null;
let stepTrace = [];
this.task.setMode("AUTO");
this.wasmHomeLimit.setMode("COORD");
if (this.wasmMotion.isStepping()) {
const motion = this.wasmMotion.read();
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, step_phase: "motion_step_pending", step_waiting_for_motion: true, step_target_id: Number(motion.state.active_id ?? 0) || this.xyzacStepTargetId || null, program_steps: [], execution_trace: [], program: current, task: this.task.export(), wasm_motion: motion, motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
}
if (queueDepth > 0) {
const targetId = Number(this.wasmMotion.read().state.active_id ?? 0) || this.xyzacStepTargetId;
this.xyzacStepTargetId = targetId;
if (current.status === 2) {
const paused = this.xyzacProgram.pause();
if (paused.status !== "verified") return finish(this.error(input, "program_pause", paused.code), "failed");
if (this.task.state.state === "READY") this.task.transition("RUNNING");
if (this.task.state.state === "RUNNING") this.task.transition("PAUSED");
this.task.setProgram("paused", current.current_line);
current = this.xyzacProgram.snapshot();
}
this.wasmMotion.stepLine();
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, step_phase: "motion_step", step_waiting_for_motion: true, step_target_id: targetId || null, step_source_line: current.execution_source_line ?? current.current_line, program_steps: [], execution_trace: [], program: current, task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
}
if (["completed", "aborted"].includes(current.program_status) && this.task.state.state === "STOPPED") {
const reset = this.resetXyzacProgramToLoaded();
if (reset.status !== "verified") return finish(this.error(input, "program_step", reset.code ?? "program_reload_failed"), "failed");
this.wasmMotion.setPaused(false);
this.xyzacProgramKinematicsMode = XYZAC_MODES.identity;
if (typeof this.wasmMotion.setActiveKinematicsTag === "function") this.wasmMotion.setActiveKinematicsTag(XYZAC_MODES.identity);
this.task.recover();
this.task.setProgram("loaded", 0);
current = this.xyzacProgram.snapshot();
}
const idle = !["RUNNING", "PAUSED"].includes(this.task.state.state) && ![2, 3].includes(current.status);
if (idle) {
const started = this.xyzacProgram.start();
if (started.status !== "verified") return finish(this.error(input, "program_step", started.code), "failed");
} else if (current.status === 3 && this.wasmMotion.queueDepth() > 0) {
this.wasmMotion.stepLine();
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, program: current, task: this.task.export(), motion: this.wasmMotionProjection() }), "verified");
stepPhase = "start_pause";
stepSourceLine = 0;
} else {
if (current.status === 3) this.xyzacProgram.resume();
if (current.status === 3) {
const resumed = this.xyzacProgram.resume();
if (resumed.status !== "verified") return finish(this.error(input, "program_resume", resumed.code), "failed");
current = this.xyzacProgram.snapshot();
if (current.status === 4) {
this.task.setProgram("completed", current.current_line);
if (["RUNNING", "PAUSED"].includes(this.task.state.state)) this.task.transition("STOPPED");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, step_phase: "terminal", step_waiting_for_motion: false, step_source_line: current.current_line, program_steps: [], execution_trace: [], program: current, task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
}
if (current.status === 1) {
const started = this.xyzacProgram.start();
if (started.status !== "verified") return finish(this.error(input, "program_step", started.code), "failed");
}
}
const stepped = this.xyzacProgram.step();
if (stepped.status !== "verified") return finish(this.error(input, "program_step", stepped.code), "failed");
stepResult = stepped;
const sync = this.syncXyzacProgramSpindle(stepped.program);
if (sync.status !== "verified" && sync.status !== "skipped") return finish(this.error(input, "program_spindle", sync.code), "failed");
if (stepped.has_control && [428, 429, 430].includes(stepped.control_code)) {
@@ -2346,20 +2395,30 @@ export class SimSession {
stepped.motion.kinematics_mode = this.xyzacProgramKinematicsMode;
const queued = this.wasmMotion.enqueue(stepped.motion);
if (queued.status === "error") return finish(this.error(input, "motion_queue", queued.code), "failed");
// AUTO_STEP releases the current trajectory line. The WASM TP
// will stop again when its execution ID changes.
this.wasmMotion.stepLine();
stepTargetId = Number(stepped.motion.source_line ?? stepped.line ?? 0) || Number(this.wasmMotion.read().state.active_id ?? 0) || null;
this.xyzacStepTargetId = stepTargetId ?? 0;
stepPhase = "source_line_motion";
stepWaitingForMotion = true;
}
stepSourceLine = stepped.program?.execution_source_line ?? stepped.line ?? stepSourceLine;
stepTrace = [{ line: stepSourceLine, text: stepped.program?.execution_line_text ?? "", program_status: stepped.program?.program_status ?? null }].filter((entry) => Number.isSafeInteger(entry.line) && entry.line > 0);
}
if (this.xyzacProgram.snapshot().status === 4 && this.wasmMotion.read().state.queue_depth === 0) {
this.task.setProgram("completed", this.xyzacProgram.snapshot().current_line);
if (this.task.state.state !== "STOPPED") this.task.transition("STOPPED");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion: this.wasmMotionProjection() }), "verified");
if (["RUNNING", "PAUSED"].includes(this.task.state.state)) this.task.transition("STOPPED");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, step_phase: "terminal", step_waiting_for_motion: false, step_source_line: this.xyzacProgram.snapshot().current_line, program: this.xyzacProgram.snapshot(), task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
}
const paused = this.xyzacProgram.pause();
if (paused.status !== "verified") return finish(this.error(input, "program_pause", paused.code), "failed");
this.wasmMotion.setPaused(true);
if (["READY", "STOPPED"].includes(this.task.state.state)) this.task.transition("RUNNING");
if (!this.wasmMotion.isStepping()) this.wasmMotion.setPaused(true);
if (this.task.state.state === "STOPPED") this.task.recover();
if (this.task.state.state === "READY") this.task.transition("RUNNING");
if (this.task.state.state === "RUNNING") this.task.transition("PAUSED");
this.task.setProgram("paused", this.xyzacProgram.snapshot().current_line);
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, program: this.xyzacProgram.snapshot(), task: this.task.export(), motion: this.wasmMotionProjection() }), "verified");
return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, step_phase: stepPhase, step_waiting_for_motion: stepWaitingForMotion || this.wasmMotion.isStepping(), step_source_line: stepSourceLine, step_target_id: stepTargetId, program_steps: stepResult ? [stepResult] : [], execution_trace: stepTrace, program: this.xyzacProgram.snapshot(), task: this.task.export(), wasm_motion: this.wasmMotion.read(), motion: this.wasmMotionProjection(), motion_authority: "wasm", operation_id: input.operation_id ?? null }), "verified");
} catch (error) {
return finish(this.error(input, "program_step", String(error?.message ?? error)), "failed");
}