51 lines
4.9 KiB
TypeScript
51 lines
4.9 KiB
TypeScript
import type { ReactNode } from "react";
|
|
import { XYZAC_KINEMATICS, type XyzacOperationTrace, type XyzacPanelView } from "./xyzac-panel-contract";
|
|
|
|
type Command = (kind: string, payload?: Record<string, unknown>, action?: string) => void;
|
|
|
|
export function XyzacKinematicsControl({ view, command }: { view: XyzacPanelView; command: Command }) {
|
|
const active = view.kinematics?.active_type;
|
|
return <section className="xyzac-kinematics" aria-label="XYZAC kinematics">
|
|
<div className="xyzac-section-title"><strong>Switchkins</strong><span>{view.kinematics?.native_type ?? "Unavailable"}</span></div>
|
|
<div className="xyzac-segments" role="group" aria-label="Kinematics mode">
|
|
{XYZAC_KINEMATICS.map((item) => {
|
|
const gate = view.gates[item.action];
|
|
const disabled = view.status !== "ready" || gate?.enabled === false;
|
|
return <button key={item.type} type="button" className={active === item.type ? "active" : ""} aria-pressed={active === item.type} disabled={disabled} title={gate?.reason ?? item.mcode} onClick={() => command("KINEMATICS_SELECT", { type: item.type }, item.action)}><span>{item.label}</span><small>{item.mcode}</small></button>;
|
|
})}
|
|
</div>
|
|
<button type="button" className="xyzac-clear" title={view.gates.vismachClear?.reason ?? "Clear visual plot"} disabled={view.gates.vismachClear?.enabled === false} onClick={() => command("VISUAL_CLEAR", {}, "vismachClear")}>Clear plot</button>
|
|
</section>;
|
|
}
|
|
|
|
export function XyzacManualPanel({ view }: { view: XyzacPanelView }) {
|
|
const pose = view.pose;
|
|
const axes = ["x", "y", "z", "a", "c"] as const;
|
|
return <section className="xyzac-manual-summary" aria-label="XYZAC authoritative position">
|
|
<div className="xyzac-section-title"><strong>XYZAC authority</strong><span>{view.kinematics?.linear_units ?? "mm"} / {view.kinematics?.angular_units ?? "deg"}</span></div>
|
|
<div className="xyzac-position-grid">
|
|
{axes.map((axis, index) => <div key={axis}><b>{axis.toUpperCase()}</b><output>{pose ? Number(pose[axis] ?? Number.NaN).toFixed(axis === "a" || axis === "c" ? 3 : 4) : "-"}</output><small>J{index} {view.joints.length === 5 ? Number(view.joints[index]).toFixed(4) : "-"}</small></div>)}
|
|
</div>
|
|
<div className="xyzac-offset-row"><span>Tool {view.kinematics ? Number(view.kinematics.offsets.tool_offset).toFixed(3) : "-"}</span><span>Y offset {view.kinematics ? Number(view.kinematics.offsets.y_offset).toFixed(3) : "-"}</span><span>Z offset {view.kinematics ? Number(view.kinematics.offsets.z_offset).toFixed(3) : "-"}</span></div>
|
|
</section>;
|
|
}
|
|
|
|
export function XyzacProgramPane({ status, currentLine, sourceHash, children }: { status: string; currentLine: number | null; sourceHash?: string | null; children: ReactNode }) {
|
|
return <section className="xyzac-program" aria-label="XYZAC program"><header><strong>XYZAC Program</strong><span>{status}</span><span>Line {currentLine ?? "-"}</span><code>{sourceHash?.slice(0, 18) ?? "no source"}</code></header>{children}</section>;
|
|
}
|
|
|
|
export function XyzacDiagnostics({ view, operations, alarms, error }: { view: XyzacPanelView; operations: XyzacOperationTrace[]; alarms: Array<Record<string, unknown>>; error: { code: string; message?: string } | null }) {
|
|
const disabled = Object.entries(view.gates).filter(([, gate]) => gate.enabled === false);
|
|
return <section className="xyzac-diagnostics" aria-label="XYZAC diagnostics">
|
|
<div className="xyzac-diagnostic-summary"><strong>{view.status.toUpperCase()}</strong><span>Tick {view.tick}</span><code>{view.stateHash || "no hash"}</code></div>
|
|
{error && <div className="xyzac-error" role="alert"><b>{error.code}</b><span>{error.message}</span></div>}
|
|
<div><h3>Operation trace</h3>{operations.length ? operations.slice(-8).reverse().map((item, index) => <div className="xyzac-diagnostic-row" key={`${item.operation_id ?? "operation"}-${index}`}><code>{item.operation_id ?? "-"}</code><span>{item.kind}</span><b>{item.phase}</b><span>{item.reason ?? item.response_kind}</span></div>) : <span>No operations</span>}</div>
|
|
<div><h3>Alarms / recovery</h3>{alarms.length ? alarms.slice(-5).map((alarm, index) => <div className="xyzac-diagnostic-row" key={`${String(alarm.id ?? alarm.code ?? "alarm")}-${index}`}><code>{String(alarm.code ?? "alarm")}</code><span>{String(alarm.severity ?? "error")}</span></div>) : <span>No alarms</span>}<div className="xyzac-diagnostic-row"><code>recovery</code><span>{view.recovery ? JSON.stringify(view.recovery) : "idle"}</span></div></div>
|
|
<div><h3>Gate reasons</h3>{disabled.length ? disabled.slice(0, 10).map(([name, gate]) => <div className="xyzac-diagnostic-row" key={name}><code>{name}</code><span>{gate.reason}</span></div>) : <span>All XYZAC gates enabled</span>}</div>
|
|
</section>;
|
|
}
|
|
|
|
export function XyzacTrtPanel({ view, command }: { view: XyzacPanelView; command: Command }) {
|
|
return <section className="xyzac-control-band" aria-label="XYZAC TRT controls"><XyzacKinematicsControl view={view} command={command} /><XyzacManualPanel view={view} /></section>;
|
|
}
|