60 lines
3.3 KiB
TypeScript
60 lines
3.3 KiB
TypeScript
import type { XyzacKinematicsSnapshot } from "./protocol";
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export type XyzacVisualState = {
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schema: "xyzac-visual-state.v1";
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authoritative: boolean;
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tick: number;
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stateHash: string;
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pose: XyzacKinematicsSnapshot["pose"];
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joints: [number, number, number, number, number];
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livePose: XyzacKinematicsSnapshot["pose"];
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activeProgress: number;
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motionTrace: Array<{ tick: number; pose: XyzacKinematicsSnapshot["pose"]; joints: number[]; activeSegmentId: number; activeProgress: number }>;
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offsets: XyzacKinematicsSnapshot["offsets"];
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activeSegmentId: number | null;
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toolpath: Array<Record<string, unknown>>;
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source: "linuxcnc-wasm-worker";
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};
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const ZERO_POSE: XyzacKinematicsSnapshot["pose"] = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 };
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const ZERO_OFFSETS: XyzacKinematicsSnapshot["offsets"] = { x_rot_point: 0, y_offset: 0, z_offset: 0, tool_offset: 0 };
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export type XyzacVisualSource = {
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simulation_tick?: number;
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state_hash?: string;
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kinematics?: XyzacKinematicsSnapshot;
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visual?: { active_segment_id?: number | null; active_progress?: number; motion_trace?: Array<{ tick: number; pose: Record<string, number>; joints: number[]; active_segment_id: number; active_progress: number }>; pose?: Record<string, number>; joints?: number[]; toolpath?: Array<Record<string, unknown>> };
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};
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export function projectXyzacVisual(snapshot: XyzacVisualSource | null | undefined): XyzacVisualState {
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const kinematics = snapshot?.kinematics;
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const visualPose = snapshot?.visual?.pose;
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const pose = visualPose && [visualPose.x, visualPose.y, visualPose.z, visualPose.a, visualPose.c].every((value) => Number.isFinite(value))
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? { ...ZERO_POSE, ...visualPose }
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: kinematics?.pose ?? ZERO_POSE;
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const visualJoints = snapshot?.visual?.joints;
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const joints: [number, number, number, number, number] = visualJoints?.length === 5
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? visualJoints.slice(0, 5).map((value) => Number(value)) as [number, number, number, number, number]
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: kinematics?.joints?.length === 5 ? [...kinematics.joints] as [number, number, number, number, number] : [0, 0, 0, 0, 0];
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const rawProgress = snapshot?.visual?.active_progress;
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const activeProgress = Number.isFinite(rawProgress) ? Math.max(0, Math.min(1, Number(rawProgress))) : 0;
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const motionTrace = (snapshot?.visual?.motion_trace ?? []).filter((sample) => sample && Number.isSafeInteger(sample.tick) && sample.pose && Array.isArray(sample.joints)).map((sample) => ({ tick: sample.tick, pose: { ...ZERO_POSE, ...sample.pose }, joints: sample.joints.slice(0, 5).map(Number), activeSegmentId: Number(sample.active_segment_id ?? 0), activeProgress: Math.max(0, Math.min(1, Number(sample.active_progress ?? 0))) }));
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return {
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schema: "xyzac-visual-state.v1",
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authoritative: Boolean(snapshot?.kinematics && snapshot?.visual),
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tick: snapshot?.simulation_tick ?? 0,
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stateHash: snapshot?.state_hash ?? "",
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pose,
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joints,
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livePose: pose,
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activeProgress,
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motionTrace,
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offsets: kinematics?.offsets ?? ZERO_OFFSETS,
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activeSegmentId: snapshot?.visual?.active_segment_id ?? null,
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toolpath: snapshot?.visual?.toolpath ?? [],
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source: "linuxcnc-wasm-worker",
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};
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}
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export const XYZAC_MACHINE_GROUPS = Object.freeze(["xyzac-machine", "table-x", "saddle-y", "spindle-z", "tilt-a", "rotate-c", "tool-offset", "xyzac-toolpath", "xyzac-live-toolpath"]);
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