65 lines
5.0 KiB
JavaScript
65 lines
5.0 KiB
JavaScript
const EMPTY_STATE = Object.freeze({
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connected: false,
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tick: 0,
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status: "disconnected",
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alarm: null,
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mode: null,
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program: null,
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snapshot: null,
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lastCommand: null,
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error: null,
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diagnostic: null,
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motion: null,
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devices: null,
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hal: null,
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plc: null,
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python: null,
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io_ack: null,
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});
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export function reduceWorkerState(state = EMPTY_STATE, message) {
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if (!message || typeof message !== "object") return { ...state, error: "worker_message_invalid" };
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if (message.kind === "ERROR") return { ...state, status: "error", error: message.payload?.code ?? "worker_error", alarm: message.payload?.message_key ?? null, diagnostic: { code: message.payload?.code ?? "worker_error", line: message.payload?.line ?? message.payload?.source_line ?? null, column: message.payload?.column ?? null, text: message.payload?.text ?? null } };
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if (message.kind === "CAPABILITIES") return { ...state, connected: true, status: "capabilities", error: null, capabilities: message.payload };
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if (message.kind === "SESSION_READY") return { ...state, connected: true, status: "ready", mode: message.payload?.task?.mode ?? state.mode, tick: message.simulation_tick ?? state.tick, error: null };
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if (message.kind === "STATE_SNAPSHOT") return { ...state, status: "snapshot", mode: message.payload?.task?.mode ?? state.mode, tick: message.payload?.tick ?? message.simulation_tick ?? state.tick, snapshot: message.payload, program: message.payload?.snapshot?.state?.program ?? state.program, motion: message.payload?.motion ?? state.motion, devices: message.payload?.devices ?? state.devices, hal: message.payload?.hal ?? state.hal, plc: message.payload?.plc ?? state.plc, python: message.payload?.python ?? state.python, io_ack: message.payload?.io_ack ?? state.io_ack, error: null };
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if (message.kind === "COMMAND_RESULT") return { ...state, status: message.payload?.status ?? "verified", mode: message.payload?.task?.mode ?? state.mode, tick: message.simulation_tick ?? state.tick, lastCommand: message.payload?.command ?? null, snapshot: message.payload?.snapshot ?? state.snapshot, program: message.payload?.program ?? message.payload?.snapshot?.state?.program ?? state.program, motion: message.payload?.motion ?? state.motion, devices: message.payload?.devices ?? state.devices, hal: message.payload?.hal ?? state.hal, plc: message.payload?.plc ?? state.plc, python: message.payload?.python ?? state.python, io_ack: message.payload?.io_ack ?? state.io_ack, error: null };
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if (message.kind === "ALARM") return { ...state, status: "alarm", alarm: message.payload, error: message.payload?.code ?? null };
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return { ...state, tick: message.simulation_tick ?? state.tick };
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}
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export function renderStatePanel(document, state) {
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const section = document.createElement("section");
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section.className = "panel state-panel";
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const title = document.createElement("h2");
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title.className = "panel-title";
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title.textContent = "Machine state";
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section.append(title);
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const dro = document.createElement("div");
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dro.className = "dro-readout";
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const positionState = state.program?.state ?? state.motion?.state?.position ?? {};
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for (const axis of ["x", "y", "z"]) {
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const row = document.createElement("div");
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row.className = "dro-row";
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const name = document.createElement("span"); name.className = "dro-axis"; name.textContent = axis.toUpperCase();
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const value = document.createElement("strong"); value.textContent = Number.isFinite(positionState[axis]) ? Number(positionState[axis]).toFixed(3) : "0.000";
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row.append(name, value); dro.append(row);
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}
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section.append(dro);
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const grid = document.createElement("dl");
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grid.className = "state-grid";
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const program = state.program;
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const position = program?.state ? `X ${program.state.x} | Y ${program.state.y} | Z ${program.state.z}` : "-";
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const diagnostic = state.diagnostic ? `${state.diagnostic.code}${state.diagnostic.line ? ` @${state.diagnostic.line}` : ""}${state.diagnostic.column ? `:${state.diagnostic.column}` : ""}` : "None";
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const fields = [["Connection", state.connected ? "Connected" : "Disconnected"], ["Status", state.status], ["Tick", String(state.tick)], ["Program", program?.program_status ?? "-"], ["Line", program ? `${program.line}/${program.line_count}` : "-"], ["Position", position], ["Mode", state.mode ?? "-"], ["Motion", state.motion?.state?.fault ?? state.motion?.fault ?? "Ready"], ["HAL", state.hal?.status ?? "-"], ["PLC", state.plc?.state?.last_error ?? state.plc?.last_error ?? "-"], ["Python", state.python?.state?.errors?.length ?? state.python?.errors?.length ?? 0], ["IO ack", state.io_ack?.commands?.length ?? 0], ["Alarm", state.alarm ? (typeof state.alarm === "string" ? state.alarm : JSON.stringify(state.alarm)) : "None"], ["Diagnostic", diagnostic]];
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for (const [name, value] of fields) {
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const term = document.createElement("dt"); term.textContent = name;
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const detail = document.createElement("dd"); detail.textContent = value;
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grid.append(term, detail);
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}
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section.append(grid);
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return section;
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}
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export { EMPTY_STATE };
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