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Optimize XYZAC motion updates and persist power-off recovery

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wangdequan
2026-08-29 04:52:44 +08:00
parent a97971ea19
commit f6e545018e
17 changed files with 479 additions and 74 deletions
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8
web/worker/wasm-motion-queue.mjs
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@@ -7,6 +7,10 @@ const QUEUE_HEADER_BYTES = 32;
const STATE_POSITION_BYTES = 72;
const MOTION_QUEUE_SCHEMA = "sim_motion_queue_state.v1";
const DEFAULT_CONTROLS = Object.freeze({ profile: 0, lookahead: 1, acceleration_limit: 1e9, jerk_limit: 1e12, paused: false });
const MOTION_ERROR_REASONS = Object.freeze({
[-600]: "wasm_motion_invalid_argument", [-601]: "wasm_motion_nonfinite_value", [-602]: "wasm_motion_limit_range",
[-603]: "wasm_motion_invalid_state", [-604]: "wasm_motion_queue_full", [-605]: "wasm_motion_paused",
});
function call(core, name, returnType, argTypes, args) {
const fn = core[`_${name}`] ?? core[name];
@@ -101,7 +105,7 @@ export class WasmMotionQueue {
// Keep the WASM switchkins mode in the tag field; the C queue assigns id.
ints[this.command / 4 + SEGMENT_INT_OFFSET + 3] = Number(segment.kinematics_mode ?? segment.tag ?? 0);
const result = call(this.core, "sim_motion_enqueue", "number", ["number", "number", "number"], [this.queue, this.command, 0]);
return result === 0 ? { status: "verified", source_line: segment.source_line ?? null } : { status: "error", code: `wasm_motion_enqueue_${result}` };
return result === 0 ? { status: "verified", source_line: segment.source_line ?? null } : { status: "error", code: `wasm_motion_enqueue_${result}`, reason: MOTION_ERROR_REASONS[result] ?? `wasm_motion_enqueue_${result}`, message_key: MOTION_ERROR_REASONS[result] ?? `wasm_motion_enqueue_${result}`, source: "linuxcnc-wasm-motion" };
}
reset() {
@@ -183,7 +187,7 @@ export class WasmMotionQueue {
if (!this.available) return { status: "error", code: "wasm_motion_step_-605" };
if (this.controls.paused) return { status: "error", code: "wasm_motion_step_-605" };
const result = call(this.core, "sim_motion_step", "number", ["number"], [this.queue]);
if (result !== 0) return { status: "error", code: `wasm_motion_step_${result}` };
if (result !== 0) return { status: "error", code: `wasm_motion_step_${result}`, reason: MOTION_ERROR_REASONS[result] ?? `wasm_motion_step_${result}`, message_key: MOTION_ERROR_REASONS[result] ?? `wasm_motion_step_${result}`, source: "linuxcnc-wasm-motion" };
return this.read();
}