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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/worker/test_axis_source_execution.mjs
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@@ -29,7 +29,9 @@ assert.equal(panel().ui_gates.run.enabled, true);
assert.equal(panel().ui_gates.step.enabled, true);
assert.equal(send("PROGRAM_RUN").payload.gate_reason, "xyzac_not_all_homed");
ok("HOME", { all: true });
assert.equal(send("HOME", { axis: "x" }).payload.message_key, "home_joint_requires_joint_mode");
const homeAxis = send("HOME", { axis: "x", joint: 0 });
assert.equal(homeAxis.payload.status, "verified");
assert.deepEqual(homeAxis.payload.homing, { phase: "complete", target: "joint", source_axis: "x", joint: 0, motion_mode_before: "TELEOP", motion_mode_during: "FREE", motion_mode_after: "TELEOP" });
ok("PROGRAM_STEP");
assert.equal(panel().program.current_line, 0, "first native Step starts at line zero and pauses");