wangdequan
bade560372
Document source UI gates, explicit native live-plot clearing, and remaining parity boundaries. Fix pause/resume transport continuity, repeated stepping, coordinate previews, and spindle override state. Optimize large program snapshots and rendering, and cover the control flows with native Tcl, WASM, and browser checks. Validation: 22 native tests and source/browser checks pass. Worker/App regression: 113 of 123 pass; 10 pre-existing failures remain documented with no new failures.
161 lines
4.7 KiB
C
161 lines
4.7 KiB
C
#ifndef LINUXCNC_WEB_WASM_SIM_IO_H
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#define LINUXCNC_WEB_WASM_SIM_IO_H
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#include "sim_posemath.h"
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define SIM_IO_MAX_SPINDLES 8u
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#define SIM_IO_MAX_TOOLS 1001u
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enum sim_io_result {
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SIM_IO_OK = 0,
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SIM_IO_ERR_ARGUMENT = -900,
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SIM_IO_ERR_RANGE = -901,
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SIM_IO_ERR_STATE = -902,
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SIM_IO_ERR_NOT_READY = -903,
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SIM_IO_ERR_ESTOP = -904,
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SIM_IO_ERR_FAULT = -905,
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SIM_IO_ERR_LIMIT = -906,
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SIM_IO_ERR_NONFINITE = -907,
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SIM_IO_ERR_PIN = -908,
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SIM_IO_ERR_CAPACITY = -909,
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SIM_IO_ERR_BUSY = -910,
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SIM_IO_ERR_PROBE = -911,
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SIM_IO_ERR_TIMEOUT = -912,
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SIM_IO_ERR_RECOVERY = -913,
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};
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enum sim_io_tool_state {
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SIM_IO_TOOL_IDLE = 0,
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SIM_IO_TOOL_PREPARING = 1,
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SIM_IO_TOOL_PREPARED = 2,
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SIM_IO_TOOL_CHANGING = 3,
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SIM_IO_TOOL_READY = 4,
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SIM_IO_TOOL_ABORTED = 5,
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SIM_IO_TOOL_FAULT = 6,
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};
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enum sim_io_probe_status {
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SIM_IO_PROBE_IDLE = 0,
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SIM_IO_PROBE_ARMED = 1,
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SIM_IO_PROBE_TRIPPED = 2,
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SIM_IO_PROBE_FAILED = 3,
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};
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typedef struct sim_io_spindle_state {
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uint32_t registered;
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uint32_t enabled;
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uint32_t inhibit;
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uint32_t amp_fault;
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uint32_t at_speed;
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uint32_t brake;
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uint32_t forward;
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uint32_t reverse;
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uint32_t index_enable;
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uint32_t orient;
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uint32_t locked;
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uint32_t is_oriented;
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int32_t orient_mode;
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int32_t orient_fault;
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double command_rpm;
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double speed_rpm;
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double max_rpm;
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double accel_rpm_s;
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double tolerance_rpm;
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double override_scale;
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double orient_angle;
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double revs;
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uint32_t tick;
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double requested_rpm;
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int32_t direction;
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} sim_io_spindle_state;
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typedef struct sim_io_probe_state {
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uint32_t input;
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uint32_t probe_type;
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uint32_t state;
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uint32_t tripped;
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uint32_t tick;
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sim_posemath_pose position;
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} sim_io_probe_state;
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typedef struct sim_io_state {
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uint32_t ready;
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uint32_t estop;
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uint32_t fault;
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int32_t fault_reason;
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uint32_t tick;
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uint32_t recovery_epoch;
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uint32_t spindle_count;
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uint32_t tool_capacity;
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sim_io_spindle_state spindles[SIM_IO_MAX_SPINDLES];
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uint32_t tool_state;
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int32_t current_tool;
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int32_t prepared_tool;
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int32_t prepared_pocket;
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uint32_t tool_prepare;
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uint32_t tool_prepared;
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uint32_t tool_change;
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uint32_t tool_changed;
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uint32_t toolchanger_fault;
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int32_t toolchanger_reason;
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sim_io_probe_state probe;
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int32_t last_error;
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} sim_io_state;
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typedef struct sim_io {
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sim_io_state state;
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double cycle_time;
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uint32_t pins_registered;
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} sim_io;
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uint32_t sim_io_size(void);
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int sim_io_init(sim_io *io, uint32_t spindle_count, uint32_t tool_capacity,
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double cycle_time, double spindle_accel_rpm_s,
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double spindle_tolerance_rpm);
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int sim_io_reset(sim_io *io);
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int sim_io_register_pins(sim_io *io);
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int sim_io_spindle_command(sim_io *io, uint32_t spindle, double rpm,
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uint32_t enabled);
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int sim_io_spindle_adjust(sim_io *io, uint32_t spindle, double delta);
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int sim_io_spindle_brake(sim_io *io, uint32_t spindle, uint32_t engaged);
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int sim_io_spindle_set_override(sim_io *io, uint32_t spindle, double scale);
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int sim_io_spindle_set_inhibit(sim_io *io, uint32_t spindle, uint32_t inhibit);
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int sim_io_spindle_set_fault(sim_io *io, uint32_t spindle, uint32_t fault);
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int sim_io_spindle_set_index_enable(sim_io *io, uint32_t spindle, uint32_t enable);
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int sim_io_spindle_set_feedback(sim_io *io, uint32_t spindle, double rpm);
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int sim_io_spindle_orient(sim_io *io, uint32_t spindle, double angle,
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int32_t mode);
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int sim_io_spindle_set_oriented(sim_io *io, uint32_t spindle,
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uint32_t oriented, int32_t fault);
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int sim_io_tool_prepare(sim_io *io, int32_t tool, int32_t pocket);
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int sim_io_tool_set_prepared(sim_io *io, uint32_t prepared);
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int sim_io_tool_change(sim_io *io);
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int sim_io_tool_set_changed(sim_io *io, uint32_t changed);
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int sim_io_tool_abort(sim_io *io, int32_t reason);
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int sim_io_tool_set_fault(sim_io *io, uint32_t fault, int32_t reason);
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int sim_io_tool_clear_fault(sim_io *io);
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int sim_io_probe_arm(sim_io *io, uint32_t probe_type);
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int sim_io_probe_update(sim_io *io, const sim_posemath_pose *pose,
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uint32_t input);
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int sim_io_probe_disarm(sim_io *io);
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int sim_io_set_estop(sim_io *io, uint32_t estop);
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int sim_io_set_power(sim_io *io, uint32_t active);
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int sim_io_recover(sim_io *io);
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int sim_io_step(sim_io *io, uint32_t ticks);
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int sim_io_read_state(const sim_io *io, sim_io_state *state);
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uint64_t sim_io_state_hash(const sim_io *io);
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uint32_t sim_io_canonical(const sim_io *io, char *output, uint32_t capacity);
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#ifdef __cplusplus
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}
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#endif
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#endif
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