wangdequan/linuxcncWebWASM
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Display live WASM machining parameters

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wangdequan
2026-09-02 12:38:27 +08:00
parent cd0286a3d6
commit ee2c992328
15 changed files with 152 additions and 10 deletions
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5
web/worker/wasm-linuxcnc-tp.mjs
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@@ -17,7 +17,7 @@ function toPose(values) { return Object.fromEntries(["x", "y", "z", "a", "b", "c
export class WasmLinuxcncTp {
constructor(core, { cycleTime = 0.001, velocityLimit = 35, accelerationLimit = 300, limits = {} } = {}) {
this.core = core;
this.available = ["sim_linuxcnc_tp_size", "sim_linuxcnc_tp_queue_capacity", "sim_linuxcnc_tp_init", "sim_linuxcnc_tp_read_state", "sim_linuxcnc_tp_step", "sim_linuxcnc_tp_idle", "sim_linuxcnc_tp_add_line", "sim_linuxcnc_tp_set_profile", "sim_linuxcnc_tp_set_feed_override", "sim_linuxcnc_tp_set_velocity_scale", "sim_linuxcnc_tp_set_jog_scale", "sim_linuxcnc_tp_set_axis_limit", "sim_linuxcnc_tp_jog", "sim_linuxcnc_tp_velocity_scale", "sim_linuxcnc_tp_velocity_limit", "sim_linuxcnc_tp_jog_scale", "sim_linuxcnc_tp_jog_velocity", "sim_linuxcnc_tp_feed_override", "sim_linuxcnc_tp_set_dynamics", "sim_linuxcnc_tp_set_paused", "sim_linuxcnc_tp_abort", "sim_linuxcnc_tp_set_goal_position", "sim_linuxcnc_tp_queue_depth", "sim_linuxcnc_tp_queue_segment", "sim_linuxcnc_tp_restore_progress"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.available = ["sim_linuxcnc_tp_size", "sim_linuxcnc_tp_queue_capacity", "sim_linuxcnc_tp_init", "sim_linuxcnc_tp_read_state", "sim_linuxcnc_tp_step", "sim_linuxcnc_tp_idle", "sim_linuxcnc_tp_add_line", "sim_linuxcnc_tp_set_profile", "sim_linuxcnc_tp_set_feed_override", "sim_linuxcnc_tp_set_velocity_scale", "sim_linuxcnc_tp_set_jog_scale", "sim_linuxcnc_tp_set_axis_limit", "sim_linuxcnc_tp_jog", "sim_linuxcnc_tp_velocity_scale", "sim_linuxcnc_tp_velocity_limit", "sim_linuxcnc_tp_velocity_mm_min", "sim_linuxcnc_tp_jog_scale", "sim_linuxcnc_tp_jog_velocity", "sim_linuxcnc_tp_feed_override", "sim_linuxcnc_tp_set_dynamics", "sim_linuxcnc_tp_set_paused", "sim_linuxcnc_tp_abort", "sim_linuxcnc_tp_set_goal_position", "sim_linuxcnc_tp_queue_depth", "sim_linuxcnc_tp_queue_segment", "sim_linuxcnc_tp_restore_progress"].every((name) => typeof core?.[`_${name}`] === "function" || typeof core?.[name] === "function");
this.cycleTime = cycleTime;
this.velocityLimit = velocityLimit;
this.accelerationLimit = accelerationLimit;
@@ -192,7 +192,8 @@ export class WasmLinuxcncTp {
this.controls.feed_override = feedOverride;
const position = toPose(doubles);
const joints = this.commandedJoints(position, this.activeTag);
const state = { position, velocity: doubles[9], acceleration: this.accelerationLimit, progress: doubles[10], tick: ints[0], queue_depth: this.queueDepthOverride === null ? ints[1] : this.queueDepthOverride, active_queue: activeId ? 1 : 0, active_id: activeId, active_tag: this.activeTag, joint_commanded: joints, joint_actual: joints.slice(), motion_type: this.core.HEAP32[this.statePointer / 4 + 25], status: this.core.HEAP32[this.statePointer / 4 + 26], exec_state: this.executionState, velocity_limit: velocityLimit, velocity_scale: velocityScale, jog_velocity_linear: this.jogVelocity("x"), jog_velocity_angular: this.jogVelocity("a"), feed_override: feedOverride, jog_scale: jogScale, source: "linuxcnc-source-tp" };
const velocityMmMin = Number(call(this.core, "sim_linuxcnc_tp_velocity_mm_min", "number", ["number"], [this.planner]));
const state = { position, velocity: doubles[9], velocity_mm_min: velocityMmMin, acceleration: this.accelerationLimit, progress: doubles[10], tick: ints[0], queue_depth: this.queueDepthOverride === null ? ints[1] : this.queueDepthOverride, active_queue: activeId ? 1 : 0, active_id: activeId, active_tag: this.activeTag, joint_commanded: joints, joint_actual: joints.slice(), motion_type: this.core.HEAP32[this.statePointer / 4 + 25], status: this.core.HEAP32[this.statePointer / 4 + 26], exec_state: this.executionState, velocity_limit: velocityLimit, velocity_scale: velocityScale, jog_velocity_linear: this.jogVelocity("x"), jog_velocity_angular: this.jogVelocity("a"), feed_override: feedOverride, jog_scale: jogScale, source: "linuxcnc-source-tp" };
this.lastState = state;
return { status: "verified", state };
}