66 lines
2.4 KiB
TypeScript
66 lines
2.4 KiB
TypeScript
export const PROTOCOL_SCHEMA = 1 as const;
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export const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1" as const;
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export type MessageKind =
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| "HELLO" | "CAPABILITIES" | "SESSION_ATTACH" | "SESSION_READY"
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| "LOAD_WORKSPACE" | "COMMAND_RESULT" | "STATE_SNAPSHOT" | "EVENT"
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| "ALARM" | "RECOVERY_STATUS" | "ERROR";
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export type MessageEnvelope<TPayload = unknown> = {
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schema_version: typeof PROTOCOL_SCHEMA;
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kind: MessageKind | string;
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context_id: string;
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session_id: string;
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seq: number;
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operation_id?: string;
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simulation_tick?: number;
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payload: TPayload;
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};
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export type MotionSnapshot = {
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axes?: number[];
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joints?: number[];
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velocity?: number[];
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homed?: boolean[];
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limits?: number;
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};
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export type SimSnapshotV1 = {
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snapshot_id?: string;
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base_snapshot_id?: string;
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full?: boolean;
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simulation_tick: number;
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state_hash: string;
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task?: { state: string; mode: string; interp_state?: string; current_line?: number | null };
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motion?: MotionSnapshot;
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coordinates?: { machine?: number[]; relative?: number[]; g5x?: number; g92?: number[]; tool_offset?: number[] };
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spindle?: Array<{ enabled?: boolean; direction?: number; commanded?: number; actual?: number; at_speed?: boolean }>;
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io?: { coolant?: number; lube?: boolean; digital?: number[]; analog?: number[]; probe?: boolean };
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tool?: { current?: number; prepared?: number; pocket?: number; change_state?: string };
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overrides?: { feed?: number; rapid?: number; spindle?: number[]; adaptive?: number; feed_hold?: boolean };
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hal?: { graph_revision?: number; changed_values?: ArrayBuffer };
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alarms?: Array<{ id?: string; severity?: string; code?: string; acknowledged?: boolean }>;
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recovery?: { status?: string; last_verified_seq?: number; checkpoint_tick?: number };
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};
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export type Capabilities = {
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context_id?: string;
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abi?: Record<string, unknown>;
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snapshot?: Record<string, unknown>;
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commands?: string[];
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streams?: string[];
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limits?: Record<string, number>;
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exclusions?: string[];
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};
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export function isEnvelope(value: unknown): value is MessageEnvelope {
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if (!value || typeof value !== "object") return false;
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const candidate = value as Partial<MessageEnvelope>;
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return candidate.schema_version === PROTOCOL_SCHEMA
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&& typeof candidate.kind === "string"
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&& typeof candidate.context_id === "string"
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&& typeof candidate.session_id === "string"
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&& Number.isSafeInteger(candidate.seq)
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&& "payload" in candidate;
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}
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