wangdequan/linuxcncWebWASM
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Fix web homing motion and synchronize preview state

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wangdequan
2026-09-09 09:31:32 +08:00
parent bade560372
commit eb5c58cdb3
11 changed files with 375 additions and 33 deletions
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4
web/react/src/xyzac-visual-adapter.ts
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@@ -9,6 +9,7 @@ export type XyzacVisualState = {
joints: [number, number, number, number, number];
livePose: XyzacKinematicsSnapshot["pose"];
activeProgress: number;
poseEpoch: number;
livePathEpoch: number;
motionTrace: Array<{ tick: number; pose: XyzacKinematicsSnapshot["pose"]; joints: number[]; activeSegmentId: number; activeProgress: number }>;
offsets: XyzacKinematicsSnapshot["offsets"];
@@ -28,7 +29,7 @@ export type XyzacVisualSource = {
state_hash?: string;
kinematics?: XyzacKinematicsSnapshot;
motion?: { velocity_mm_min?: number };
visual?: { active_segment_id?: number | null; active_progress?: number; live_path_epoch?: number; motion_trace?: Array<{ tick: number; pose: Record<string, number>; joints: number[]; active_segment_id: number; active_progress: number }>; pose?: Record<string, number>; joints?: number[]; toolpath?: Array<Record<string, unknown>> };
visual?: { active_segment_id?: number | null; active_progress?: number; pose_epoch?: number; live_path_epoch?: number; motion_trace?: Array<{ tick: number; pose: Record<string, number>; joints: number[]; active_segment_id: number; active_progress: number }>; pose?: Record<string, number>; joints?: number[]; toolpath?: Array<Record<string, unknown>> };
};
export function projectXyzacVisual(snapshot: XyzacVisualSource | null | undefined): XyzacVisualState {
@@ -53,6 +54,7 @@ export function projectXyzacVisual(snapshot: XyzacVisualSource | null | undefine
joints,
livePose: pose,
activeProgress,
poseEpoch: Number.isSafeInteger(snapshot?.visual?.pose_epoch) ? Number(snapshot?.visual?.pose_epoch) : 0,
livePathEpoch: Number.isSafeInteger(snapshot?.visual?.live_path_epoch) ? Number(snapshot?.visual?.live_path_epoch) : 0,
motionTrace,
offsets: kinematics?.offsets ?? ZERO_OFFSETS,