wangdequan/linuxcncWebWASM
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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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20
web/worker/wasm-xyzac-kinematics.mjs
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@@ -63,7 +63,7 @@ export class WasmXyzacKinematics {
constructor(core, options = {}) {
this.core = core;
this.options = { x_rot_point: 0, y_offset: 20, z_offset: 10, tool_offset: 0, limits: DEFAULT_LIMITS, ...options };
this.available = ["sim_kinematics_init", "sim_kinematics_switch_init", "sim_kinematics_switch_register", "sim_kinematics_switch_select", "sim_kinematics_switch_forward", "sim_kinematics_switch_inverse", "sim_kinematics_switch_active", "sim_kinematics_switch_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.available = ["sim_kinematics_init", "sim_kinematics_switch_init", "sim_kinematics_switch_register", "sim_kinematics_switch_select", "sim_kinematics_switch_select_physical", "sim_kinematics_switch_forward", "sim_kinematics_switch_inverse", "sim_kinematics_switch_inverse_mode", "sim_kinematics_switch_active", "sim_kinematics_switch_state_hash"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.lastCommand = null;
this.modules = new Map();
this.pointers = [];
@@ -128,6 +128,14 @@ export class WasmXyzacKinematics {
return this.snapshot();
}
inverseMode(mode, currentPose) {
if (!this.available) return { status: "blocked", code: "wasm_xyzac_unavailable" };
this.setPose(currentPose);
const result = call(this.core, "sim_kinematics_switch_inverse_mode", "number", ["number", "number", "number", "number", "number", "number"], [this.switchPointer, mode, this.posePointer, this.jointPointer, 5, this.resultPointer]);
if (result !== 0) return resultCode("inverse_mode", result);
return { status: "verified", joints: [...this.core.HEAPF64.subarray(this.jointPointer / 8, this.jointPointer / 8 + 5)] };
}
select(mode, joints = [0, 0, 0, 0, 0]) {
if (![MODE.identity, MODE.xyzac, MODE.userk].includes(mode)) return { status: "error", code: "wasm_xyzac_invalid_mode" };
this.setJoints(joints);
@@ -137,6 +145,16 @@ export class WasmXyzacKinematics {
return this.snapshot();
}
selectPhysical(mode, joints = [0, 0, 0, 0, 0]) {
if (!this.available) return { status: "blocked", code: "wasm_xyzac_unavailable" };
if (![MODE.identity, MODE.xyzac, MODE.userk].includes(mode)) return { status: "error", code: "wasm_xyzac_invalid_mode" };
this.setJoints(joints);
const result = call(this.core, "sim_kinematics_switch_select_physical", "number", ["number", "number", "number", "number", "number", "number"], [this.switchPointer, mode, this.jointPointer, 5, this.posePointer, this.resultPointer]);
if (result !== 0) return resultCode("switch_physical", result);
this.lastCommand = `M${mode === MODE.xyzac ? 428 : mode === MODE.identity ? 429 : 430}`;
return this.snapshot();
}
restoreState(state) {
if (!state || state.schema !== "wasm-xyzac-kinematics.v1" || ![MODE.identity, MODE.xyzac, MODE.userk].includes(state.active_type) || !Array.isArray(state.joints) || state.joints.length !== 5) throw new Error("wasm_xyzac_restore_state_invalid");
this.initializeSwitch();