60 lines
2.7 KiB
TypeScript
60 lines
2.7 KiB
TypeScript
import type { XyzacCapabilitySnapshot, XyzacKinematicsSnapshot } from "./protocol";
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export const XYZAC_CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" as const;
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export const XYZAC_AXES = ["x", "y", "z", "a", "c"] as const;
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export const XYZAC_COMMANDS = {
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power: "POWER",
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selectKinematics: "KINEMATICS_SELECT",
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clearVisual: "VISUAL_CLEAR",
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} as const;
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export const XYZAC_KINEMATICS = [
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{ type: 0, action: "switchkinsIdentity", label: "Identity", mcode: "M429" },
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{ type: 1, action: "switchkinsXyzac", label: "TCP: XYZAC", mcode: "M428" },
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{ type: 2, action: "switchkinsUserk", label: "User K", mcode: "M430" },
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] as const;
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export type XyzacGate = { action: string; enabled: boolean; reason: string; required_type?: number; visual_only?: boolean };
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export type XyzacOperationTrace = { operation_id?: string; kind?: string; action?: string | null; phase?: string; reason?: string; response_kind?: string };
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export type XyzacPanelView = {
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status: "ready" | "unavailable";
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tick: number;
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stateHash: string;
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kinematics: XyzacKinematicsSnapshot | null;
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capability: XyzacCapabilitySnapshot | null;
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pose: XyzacKinematicsSnapshot["pose"] | null;
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joints: number[];
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gates: Record<string, XyzacGate>;
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recovery: Record<string, unknown> | null;
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};
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type XyzacPanelSource = {
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simulation_tick?: number;
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state_hash?: string;
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kinematics?: XyzacKinematicsSnapshot;
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xyzac?: XyzacCapabilitySnapshot;
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gates?: Record<string, XyzacGate>;
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authoritative?: Record<string, unknown>;
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visual?: { pose?: Record<string, number>; joints?: number[] };
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};
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export function projectXyzacPanel(snapshot: XyzacPanelSource | null | undefined): XyzacPanelView {
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const kinematics = snapshot?.kinematics?.coordinates === "XYZAC" && snapshot.kinematics.joint_count === 5 ? snapshot.kinematics : null;
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const capability = snapshot?.xyzac?.coordinates === "XYZAC" && snapshot.xyzac.joint_count === 5 ? snapshot.xyzac : null;
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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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? { ...(kinematics?.pose ?? { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, u: 0, v: 0, w: 0 }), ...visualPose }
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: kinematics?.pose ?? null;
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const joints = snapshot?.visual?.joints?.length === 5 ? snapshot.visual.joints.slice(0, 5) : kinematics?.joints ? [...kinematics.joints] : [];
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return {
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status: kinematics && capability ? "ready" : "unavailable",
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tick: snapshot?.simulation_tick ?? 0,
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stateHash: snapshot?.state_hash ?? "",
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kinematics,
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capability,
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pose,
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joints,
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gates: snapshot?.gates ?? {},
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recovery: (snapshot?.authoritative?.recovery as Record<string, unknown> | undefined) ?? null,
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};
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}
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