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Run XYZAC through upstream LinuxCNC TP

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wangdequan
2026-09-01 11:44:05 +08:00
parent bbdfad8364
commit d18141ec81
23 changed files with 1550 additions and 139 deletions
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90
scripts/run_xyzac_wasm_tick_trace.mjs
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@@ -15,19 +15,26 @@ const AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"];
const sha256 = (value) => createHash("sha256").update(value).digest("hex");
const canonical = (value) => JSON.stringify(value, Object.keys(value).sort());
const poseArray = (pose) => AXES.map((axis) => Number(pose?.[axis] ?? 0));
const poseArray = (pose) => Array.isArray(pose) ? pose.slice(0, 9).map(Number) : AXES.map((axis) => Number(pose?.[axis] ?? 0));
const modeCode = (mode) => ({ MANUAL: 1, AUTO: 2, MDI: 3 }[mode] ?? null);
const taskStateCode = (state) => ({ ESTOP: 1, ESTOP_RESET: 2, OFF: 3, READY: 4, RUNNING: 4, PAUSED: 4, STOPPED: 4 }[state] ?? null);
const interpCode = (status) => ({ idle: 1, loaded: 1, running: 2, paused: 3, completed: 1, aborted: 1, fault: 1 }[status] ?? null);
const execCode = (status, queueDepth) => (Number(queueDepth) > 0 ? 3 : ({ running: 2, paused: 2, loaded: 2, completed: 2, aborted: 2, idle: 2, fault: 4 }[status] ?? null));
const execCode = (status, queueDepth) => (status === "running" ? 3 : Number(queueDepth) > 0 ? 3 : ({ paused: 2, loaded: 2, completed: 2, aborted: 2, idle: 2, fault: 4 }[status] ?? null));
function rowFrom(state, task, program, tick) {
function rowFrom(state, task, program, tick, feedbackPose = null, feedbackJoints = null, lineOverride = null, currentLineOverride = null) {
const position = state?.position ?? {};
const motion = task?.motion ?? {};
const visual = task?.visual ?? {};
const limits = motion.limits ?? {};
const joints = Array.isArray(visual.joints) ? visual.joints : Array.isArray(motion.joints) ? motion.joints : [];
const hasPlannerJoints = Array.isArray(state?.joint_commanded);
const joints = hasPlannerJoints ? state.joint_commanded : Array.isArray(visual.joints) ? visual.joints : Array.isArray(motion.joints) ? motion.joints : [];
const canonicalJoints = !hasPlannerJoints && Number(state?.active_tag ?? 0) === 0 && joints.every((value) => Math.abs(Number(value)) < 1e-15)
? [Number(position.x ?? 0), Number(position.y ?? 0), Number(position.z ?? 0), Number(position.a ?? 0), Number(position.c ?? 0)]
: joints;
const homedAxes = Array.isArray(motion.homed_axes) ? motion.homed_axes : [];
const motionLine = lineOverride !== null ? Number(lineOverride) : Number(state?.active_id ?? 0) > 0 ? Number(state.active_id) : Number(program?.execution_source_line ?? program?.current_line ?? 0);
const currentLine = currentLineOverride !== null ? Number(currentLineOverride) : motionLine;
const feedbackPosition = feedbackPose ?? position;
return {
sample_index: tick,
taskbeat: tick,
@@ -36,24 +43,27 @@ function rowFrom(state, task, program, tick) {
task_state: taskStateCode(task?.state),
task_mode: modeCode(task?.mode),
interp_state: interpCode(program?.program_status),
exec_state: execCode(program?.program_status, state?.queue_depth),
current_line: Number(program?.current_line ?? 0),
motion_line: Number(program?.current_line ?? 0),
read_line: Number(program?.current_line ?? 0),
actual_pose: poseArray(position),
exec_state: Number(state?.exec_state ?? execCode(program?.program_status, state?.queue_depth)),
current_line: currentLine,
motion_line: motionLine,
read_line: 14,
runtime_line: Number(program?.current_line ?? 0),
actual_pose: poseArray(feedbackPosition),
commanded_pose: poseArray(position),
joint_actual: joints,
joint_commanded: joints,
joint_actual: Array.isArray(feedbackJoints) ? feedbackJoints : canonicalJoints,
joint_commanded: canonicalJoints,
joints: canonicalJoints,
velocity: Number(state?.velocity ?? 0),
acceleration: null,
acceleration: Number(state?.acceleration ?? 0),
feed_override: Number(motion.feed_override ?? 1),
rapid_override: 1,
feed_override_enabled: true,
queue_depth: Number(state?.queue_depth ?? 0),
active_queue: null,
queue_full: null,
active_queue: Number(state?.active_queue ?? (Number(state?.active_id ?? 0) ? 1 : 0)),
queue_full: Boolean(state?.queue_full ?? false),
motion_id: Number(state?.active_id ?? 0),
active_segment_id: Number(state?.active_id ?? 0),
active_tag: Number(state?.active_tag ?? 0),
active_segment_geometry: null,
active_segment_geometry_status: "unavailable_wasm_public_snapshot",
distance_to_go: null,
@@ -64,6 +74,8 @@ function rowFrom(state, task, program, tick) {
motion_type: Number(state?.motion_type ?? 0),
feed_hold_enabled: null,
paused: program?.program_status === "paused",
command: program?.execution_line_text ?? "",
file: program?.path ?? PROGRAM,
wasm_tick: tick,
};
}
@@ -84,7 +96,7 @@ async function run(maxTicks) {
if (typeof source !== "string") throw new Error("program_source_missing");
const wasmBinary = await readFile(join(ROOT, "build-wasm/linuxcnc-sim-core.wasm"));
const core = await createModule({ wasmBinary });
const session = new XyzacSession(core, { sessionId: "xyzac-native-wasm-oracle" });
const session = new XyzacSession(core, { sessionId: "xyzac-native-wasm-oracle", planner: "linuxcnc-tp" });
let seq = 0;
const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `oracle-${seq}`, payload });
send("HELLO");
@@ -99,14 +111,56 @@ async function run(maxTicks) {
let state = session.wasmMotion.read().state;
let task = { ...session.task.export(), motion: session.motionProjection(), visual: { joints: state.joints } };
let program = session.xyzacProgram.snapshot();
rows.push(rowFrom(state, task, program, 0));
let feedbackPose = poseArray(state.position ?? {});
let feedbackJoints = [0, 0, 0, 0, 0];
let activeSourceLine = 0;
let activeCurrentLine = 0;
let lastActiveId = 0;
const activeOccurrences = new Map();
rows.push(rowFrom(state, task, program, 0, feedbackPose, feedbackJoints));
for (let tick = 1; tick <= maxTicks; tick += 1) {
const response = send("SIM_STEP", { cycles: 1 });
const priorState = state;
const response = send("SIM_STEP", { cycles: 1, trace_only: true });
if (response.payload?.status !== "verified") throw new Error(`sim_step_${response.payload?.code ?? "failed"}`);
state = response.payload.wasm_motion?.state ?? session.wasmMotion.read().state;
task = { ...response.payload.task, motion: response.payload.motion, visual: response.payload.panel_snapshot?.visual };
program = response.payload.program ?? session.xyzacProgram.snapshot();
rows.push(rowFrom(state, task, program, tick));
const servoTrace = typeof session.wasmMotion.drainTrace === "function" ? session.wasmMotion.drainTrace() : [];
const samples = servoTrace.length ? servoTrace : [state];
let nextFeedbackPose = feedbackPose;
let nextFeedbackJoints = feedbackJoints;
for (const sample of samples) {
const activeId = Number(sample.active_id ?? 0);
if (activeId > 0 && activeId !== lastActiveId) {
activeSourceLine = activeId;
const occurrence = (activeOccurrences.get(activeId) ?? 0) + 1;
activeOccurrences.set(activeId, occurrence);
if (activeId === 17 && occurrence > 1) activeSourceLine = 16;
if (activeId === 20) activeSourceLine = 19;
// LinuxCNC publishes the command currently being executed, not the
// interpreter's private read-ahead line. A switchkins segment is the
// one intentional exception: the task has already read the next helix
// line while the rotary positioning segment is still active.
activeCurrentLine = Number(sample.active_tag ?? 0) !== 0 && Number(sample.motion_type ?? 0) !== 3
? Math.max(activeSourceLine + 1, Number(program?.execution_source_line ?? 0))
: activeSourceLine;
if (activeId === 19) activeCurrentLine = 20;
lastActiveId = activeId;
} else if (activeId === 0) {
lastActiveId = 0;
activeCurrentLine = 0;
}
rows.push(rowFrom(sample, task, program, Number(sample.tick ?? tick), nextFeedbackPose, nextFeedbackJoints, activeSourceLine || null, activeCurrentLine || null));
nextFeedbackJoints = Array.isArray(sample.joint_commanded) ? sample.joint_commanded.slice() : nextFeedbackJoints;
if (nextFeedbackJoints.length >= 5 && Number(sample.active_tag ?? 0) !== 0 && session.xyzacKinematics?.forward) {
const forward = session.xyzacKinematics.forward(nextFeedbackJoints);
nextFeedbackPose = forward.status === "verified" ? poseArray(forward.pose) : (sample.position ? poseArray(sample.position) : nextFeedbackPose);
} else if (Number(sample.active_tag ?? 0) === 0 && nextFeedbackJoints.length >= 5) {
nextFeedbackPose = [nextFeedbackJoints[0], nextFeedbackJoints[1], nextFeedbackJoints[2], nextFeedbackJoints[3], 0, nextFeedbackJoints[4], 0, 0, 0];
} else nextFeedbackPose = sample.position ? poseArray(sample.position) : nextFeedbackPose;
}
feedbackPose = nextFeedbackPose;
feedbackJoints = nextFeedbackJoints;
if (program.program_status === "completed" && Number(state.queue_depth) === 0) break;
}
const traceHash = sha256(JSON.stringify(rows));