wangdequan/linuxcncWebWASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Optimize XYZAC motion updates and persist power-off recovery

Browse Source
This commit is contained in:
wangdequan
2026-08-29 04:52:44 +08:00
parent a97971ea19
commit f6e545018e
17 changed files with 479 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
web/react/src/protocol.ts
View File

@@ -42,6 +42,7 @@ export type SimSnapshotV1 = {
simulation_tick: number;
state_hash: string;
task?: { state: string; mode: string; interp_state?: string; current_line?: number | null };
program?: Record<string, unknown> | null;
motion?: MotionSnapshot;
wasm_motion?: Record<string, unknown>;
authoritative?: { state_hash?: string; planner?: TrajectorySnapshot; kinematics?: Record<string, unknown> };
@@ -56,6 +57,8 @@ export type SimSnapshotV1 = {
panel_snapshot?: PanelSnapshotV1;
configuration?: Record<string, unknown> | null;
visual?: PanelSnapshotV1["visual"];
motion_sample?: { tick?: number; pose?: Record<string, number>; joints?: number[]; active_segment_id?: number; active_progress?: number };
snapshot_mode?: "full" | "motion_delta";
kinematics?: XyzacKinematicsSnapshot;
xyzac?: XyzacCapabilitySnapshot;
gates?: Record<string, { action: string; enabled: boolean; reason: string }>;