diff --git a/text17.txt b/text17.txt
index 5044162..44ea652 100644
--- a/text17.txt
+++ b/text17.txt
@@ -866,3 +866,87 @@ git diff --check ok
让 release readiness 页面能显示 browser diagnostics validation rows。
3. 扩展 motion matrix 与 LinuxCNC sim configs 的关联,把 external-offsets、QtDragon
multi-joint、vismach remap sims 的 motion source evidence 显式映射到 matrix fixture rows。
+
+### 九、2026-06-17 Real Simulation Virtual HAL Session Save/Restore
+
+继续按本文件铁律推进:虚拟 HAL 的功能完全来源于 LinuxCNC 源程序,并且虚拟 HAL
+完全满足 Web 方式数控系统仿真系统。本批完成上一节下一步第 1 项,把 virtual HAL
+session payload 接入 real simulation page 的显式保存/恢复按钮与 browser API,让用户可在
+Web CNC 仿真页面直接保存和恢复完整 virtual HAL runtime state。
+
+新增实质能力:
+
+- `runtime/opfs/snapshot-store.js` 扩展 virtual HAL session payload:
+ - 新增 `motionControllerMatrix`;
+ - payload validation 要求 motion controller matrix complete;
+ - `createVirtualHalSessionPayload()` 默认生成 motion matrix evidence;
+- real simulation page 新增 Machine Session 面板控件:
+ - `Save HAL Session`;
+ - `Restore HAL Session`;
+ - `Virtual HAL session` 状态行;
+- Browser simulation API 新增:
+ - `getVirtualHalSessionState()`;
+ - `saveVirtualHalSessionSnapshot(options)`;
+ - `restoreVirtualHalSessionSnapshot(options)`;
+- 保存流程:
+ - 使用当前 `virtualHalState` 创建 `createVirtualHalSessionPayload()`;
+ - 使用 `createMachineSessionSnapshotPayload()` 封装 machine/session payload;
+ - 使用 `saveSessionSnapshot()` 写入 OPFS;
+ - snapshot metadata 记录 `real-browser-simulation-virtual-hal-session` 与 HAL revision;
+- 恢复流程:
+ - 使用 `loadSessionSnapshot()` 读取 OPFS snapshot;
+ - 使用 `restoreVirtualHalStateFromSessionSnapshot()` 恢复 virtual HAL state;
+ - 重新渲染 HAL machine state、statusbar 和 session 状态;
+- SDK README OPFS/session persistence section 同步说明:
+ - `createVirtualHalSessionPayload()`;
+ - `restoreVirtualHalStateFromSessionSnapshot()`;
+ - payload 包含 source compliance、sim-config coverage、halcmd fixtures、motion
+ controller matrix evidence。
+
+新增/扩展验证:
+
+- `verify_file_service.mjs` 覆盖:
+ - virtual HAL session payload 内含 motion controller matrix complete;
+ - machine session snapshot payload 内含 motion matrix LinuxCNC source evidence;
+- `verify_sdk_surface.mjs` 覆盖:
+ - virtual HAL session payload 内含 motion controller matrix complete;
+- `real_simulation_page_smoke.html` 覆盖:
+ - 页面存在显式保存/恢复按钮;
+ - browser API 暴露保存/恢复方法;
+ - 保存当前 HAL net、loaded component、function、source reports、motion matrix;
+ - 保存后修改 HAL pin 与 loadusr state;
+ - 恢复后 `axis.x.pos-cmd` 回到保存值;
+ - 恢复后临时 `post-save-component` 不再存在;
+ - 恢复后 `motion-controller` function 仍存在;
+ - DOM/body dataset 显示 saved/restored 状态。
+
+关键验证:
+
+```text
+opfs_file_service_node_smoke=ok
+sdk_surface_node_smoke=ok
+project_release_gate_manifest_node_smoke=ok
+project_release_artifact_url_workflow_node_smoke=ok
+project_batch_acceptance_workflow_node_smoke=ok
+project_batch_acceptance_artifact_node_smoke=ok
+browser_real_simulation_page_smoke=ok
+git diff --check ok
+```
+
+语义边界:
+
+- 本批没有新增 G-code/interpreter/planner/kinematics 语义;
+- session snapshot 只保存和恢复 Web virtual HAL runtime state、source reports 和
+ diagnostics evidence;
+- virtual HAL 仍不声称提供 Linux kernel hard-realtime ABI、外部硬件驱动 ABI 或 native
+ HAL module ABI;
+- Web 仿真 HAL 的满足性现在可在 real simulation page 中由用户显式保存、恢复并继续验证。
+
+下一步工作内容:
+
+1. 将 browser diagnostics artifact 的 URL workflow 接入 ini-panel workflow overview 页面,
+ 让 release readiness 页面能显示 browser diagnostics validation rows。
+2. 扩展 motion matrix 与 LinuxCNC sim configs 的关联,把 external-offsets、QtDragon
+ multi-joint、vismach remap sims 的 motion source evidence 显式映射到 matrix fixture rows。
+3. 将 real simulation page 的 virtual HAL session snapshot 与 release diagnostics artifact
+ 做联动,使保存的 Web CNC 仿真会话可直接输出 release-ready diagnostics evidence。
diff --git a/wasm-port/runtime/opfs/snapshot-store.js b/wasm-port/runtime/opfs/snapshot-store.js
index 6820932..4a3c88b 100644
--- a/wasm-port/runtime/opfs/snapshot-store.js
+++ b/wasm-port/runtime/opfs/snapshot-store.js
@@ -10,6 +10,7 @@ import {
import {
cloneVirtualHalState,
createVirtualHalCommandScriptFixtureReport,
+ createVirtualHalMotionControllerMatrixReport,
createVirtualHalSimConfigSourceCoverageReport,
createVirtualHalSimulationReplacementReport,
createVirtualHalSourceComplianceReport,
@@ -66,6 +67,7 @@ function validateVirtualHalSessionPayload(virtualHal) {
assertPlainObject(virtualHal.sourceCompliance, "virtual HAL session source compliance");
assertPlainObject(virtualHal.simConfigSourceCoverage, "virtual HAL session sim-config source coverage");
assertPlainObject(virtualHal.commandScriptFixtures, "virtual HAL session command script fixtures");
+ assertPlainObject(virtualHal.motionControllerMatrix, "virtual HAL session motion controller matrix");
if (virtualHal.state.source !== "browser-virtual-hal") {
throw new Error(`Unsupported virtual HAL state source: ${virtualHal.state.source}`);
}
@@ -78,6 +80,9 @@ function validateVirtualHalSessionPayload(virtualHal) {
if (virtualHal.commandScriptFixtures.complete !== true) {
throw new Error("virtual HAL command script fixtures are incomplete.");
}
+ if (virtualHal.motionControllerMatrix.complete !== true) {
+ throw new Error("virtual HAL motion controller matrix is incomplete.");
+ }
return virtualHal;
}
@@ -87,6 +92,7 @@ export function createVirtualHalSessionPayload(halState = createVirtualHalState(
const sourceCompliance = options.sourceCompliance ?? createVirtualHalSourceComplianceReport({ halState: state });
const simConfigSourceCoverage = options.simConfigSourceCoverage ?? createVirtualHalSimConfigSourceCoverageReport(options);
const commandScriptFixtures = options.commandScriptFixtures ?? createVirtualHalCommandScriptFixtureReport({ ...options, halState: state });
+ const motionControllerMatrix = options.motionControllerMatrix ?? createVirtualHalMotionControllerMatrixReport(options);
return validateVirtualHalSessionPayload({
apiName: "linuxcnc-wasm-virtual-hal-session-payload",
payloadVersion: 1,
@@ -96,6 +102,7 @@ export function createVirtualHalSessionPayload(halState = createVirtualHalState(
sourceCompliance,
simConfigSourceCoverage,
commandScriptFixtures,
+ motionControllerMatrix,
});
}
diff --git a/wasm-port/runtime/sdk/README.md b/wasm-port/runtime/sdk/README.md
index bf70d45..cc4fc5d 100644
--- a/wasm-port/runtime/sdk/README.md
+++ b/wasm-port/runtime/sdk/README.md
@@ -486,6 +486,10 @@ private module paths:
`saveSessionSnapshot()`, `saveMachineSessionSnapshot()`,
`loadMachineSessionSnapshot()`, and `validateSessionSnapshot()` for session
snapshot persistence.
+- `createVirtualHalSessionPayload()` and
+ `restoreVirtualHalStateFromSessionSnapshot()` for saving and restoring Web
+ virtual HAL state with source compliance, sim-config coverage, halcmd
+ fixtures, and motion controller matrix evidence.
- `machineFilePaths()`, `saveMachineTextFiles()`, `loadMachineTextFiles()`, and
`gcodeFilenameFromProgramPath()` for machine-file and G-code file helpers.
- `readMachineSessionReadiness()` for checking persisted INI, parameter,
diff --git a/wasm-port/runtime/ui/simulation/index.html b/wasm-port/runtime/ui/simulation/index.html
index 4977f6e..28669f8 100644
--- a/wasm-port/runtime/ui/simulation/index.html
+++ b/wasm-port/runtime/ui/simulation/index.html
@@ -1474,6 +1474,8 @@
+
+
@@ -1484,6 +1486,7 @@
Loaded INI: -
Loaded parameters: -
Loaded tool table: -
+ Virtual HAL session: not saved
@@ -1781,6 +1784,13 @@ M2
import {
loadMachineSessionFromOpfs,
} from "../../opfs/linuxcnc-machine-session-bridge.js";
+ import {
+ createMachineSessionSnapshotPayload,
+ createVirtualHalSessionPayload,
+ loadSessionSnapshot,
+ restoreVirtualHalStateFromSessionSnapshot,
+ saveSessionSnapshot,
+ } from "../../opfs/snapshot-store.js";
import {
readMachineSessionReadiness,
} from "../../opfs/machine-session-readiness.js";
@@ -1842,6 +1852,8 @@ M2
const machineSessionGcodeInput = document.querySelector("[data-machine-session-gcode]");
const checkMachineSessionButton = document.querySelector("[data-check-machine-session]");
const loadMachineSessionButton = document.querySelector("[data-load-machine-session]");
+ const saveVirtualHalSessionButton = document.querySelector("[data-save-virtual-hal-session]");
+ const restoreVirtualHalSessionButton = document.querySelector("[data-restore-virtual-hal-session]");
const useLoadedSessionInput = document.querySelector("[data-use-loaded-session]");
const resetButton = document.querySelector("[data-playback-reset]");
const prevButton = document.querySelector("[data-playback-prev]");
@@ -1900,6 +1912,16 @@ M2
opfsPath: "linuxcnc/gcode/axis-editor.ngc",
status: "OPFS program not saved",
};
+ let virtualHalSessionState = {
+ ready: false,
+ phase: "not-saved",
+ sessionId: "axis-browser-session",
+ filename: "virtual-hal-session.json",
+ machineId: "axis-browser-sim",
+ status: "Virtual HAL session not saved",
+ revision: 0,
+ restored: false,
+ };
let machineReadinessState = {
machineId: "axis-browser-sim",
ready: false,
@@ -2644,6 +2666,17 @@ M2
return { ...opfsProgramState };
}
+ function setVirtualHalSessionState(nextState) {
+ virtualHalSessionState = {
+ ...virtualHalSessionState,
+ ...nextState,
+ };
+ document.body.dataset.virtualHalSessionPhase = virtualHalSessionState.phase;
+ document.body.dataset.virtualHalSessionReady = virtualHalSessionState.ready ? "true" : "false";
+ setAllText("[data-virtual-hal-session-status]", virtualHalSessionState.status);
+ return { ...virtualHalSessionState };
+ }
+
function renderMachineReadiness(readiness) {
machineReadinessState = readiness;
document.body.dataset.machineSessionReady = readiness.ready ? "true" : "false";
@@ -3489,6 +3522,69 @@ M2
return state;
}
+ function virtualHalSessionOptions(options = {}) {
+ const sessionId = String(options.sessionId ?? machineSessionSnapshotInput?.value ?? "axis-browser-session").trim() || "axis-browser-session";
+ const machineId = String(options.machineId ?? machineSessionIdInput?.value ?? "axis-browser-sim").trim() || "axis-browser-sim";
+ const filename = String(options.filename ?? options.snapshotFilename ?? "virtual-hal-session.json").trim() || "virtual-hal-session.json";
+ const gcodeFilename = String(options.gcodeFilename ?? machineSessionGcodeInput?.value ?? "").trim();
+ return {
+ sessionId,
+ machineId,
+ filename,
+ ...(gcodeFilename ? { gcodeFilename } : {}),
+ };
+ }
+
+ async function saveVirtualHalSessionSnapshot(options = {}) {
+ const session = virtualHalSessionOptions(options);
+ const virtualHal = createVirtualHalSessionPayload(virtualHalState);
+ const payload = createMachineSessionSnapshotPayload(session.machineId, {
+ ...(session.gcodeFilename ? { gcodeFilename: session.gcodeFilename } : {}),
+ virtualHal,
+ });
+ const snapshot = await saveSessionSnapshot(session.sessionId, payload, {
+ filename: session.filename,
+ metadata: {
+ source: "real-browser-simulation-virtual-hal-session",
+ virtualHalRevision: virtualHal.state.revision,
+ },
+ });
+ pushStatusHistory("hal-session", `saved ${session.sessionId}/${session.filename}`);
+ return setVirtualHalSessionState({
+ ready: true,
+ phase: "saved",
+ sessionId: session.sessionId,
+ machineId: session.machineId,
+ filename: session.filename,
+ status: `Saved HAL session: linuxcnc/sessions/${session.sessionId}/${session.filename}`,
+ revision: virtualHal.state.revision,
+ restored: false,
+ snapshot,
+ });
+ }
+
+ async function restoreVirtualHalSessionSnapshot(options = {}) {
+ const session = virtualHalSessionOptions(options);
+ const snapshot = await loadSessionSnapshot(session.sessionId, {
+ filename: session.filename,
+ });
+ virtualHalState = restoreVirtualHalStateFromSessionSnapshot(snapshot);
+ renderVirtualHalState();
+ renderAxisStatusbar();
+ pushStatusHistory("hal-session", `restored ${session.sessionId}/${session.filename}`);
+ return setVirtualHalSessionState({
+ ready: true,
+ phase: "restored",
+ sessionId: session.sessionId,
+ machineId: snapshot.payload?.machineId ?? session.machineId,
+ filename: session.filename,
+ status: `Restored HAL session: linuxcnc/sessions/${session.sessionId}/${session.filename}`,
+ revision: virtualHalState.revision,
+ restored: true,
+ snapshot,
+ });
+ }
+
async function checkMachineSessionReadiness(options = {}) {
const machineId = String(options.machineId ?? machineSessionIdInput?.value ?? "axis-browser-sim").trim() || "axis-browser-sim";
const sessionId = String(options.sessionId ?? machineSessionSnapshotInput?.value ?? "").trim();
@@ -3876,6 +3972,9 @@ M2
checkMachineSessionReadiness,
getMachineSessionLoadState: () => machineSessionLoadState,
loadReadyMachineSession,
+ getVirtualHalSessionState: () => ({ ...virtualHalSessionState }),
+ saveVirtualHalSessionSnapshot,
+ restoreVirtualHalSessionSnapshot,
getRunMode: () => syncRunMode(),
getRunControlState: () => renderRunControlState(),
getAxisStatusbarState: () => renderAxisStatusbar(),
@@ -4018,6 +4117,26 @@ M2
});
});
});
+ saveVirtualHalSessionButton?.addEventListener("click", () => {
+ window.linuxCncRealSimulationApi.saveVirtualHalSessionSnapshot().catch((error) => {
+ setVirtualHalSessionState({
+ ready: false,
+ phase: "failed",
+ status: `HAL session save failed: ${error.message}`,
+ });
+ recordError(error, "hal session save");
+ });
+ });
+ restoreVirtualHalSessionButton?.addEventListener("click", () => {
+ window.linuxCncRealSimulationApi.restoreVirtualHalSessionSnapshot().catch((error) => {
+ setVirtualHalSessionState({
+ ready: false,
+ phase: "failed",
+ status: `HAL session restore failed: ${error.message}`,
+ });
+ recordError(error, "hal session restore");
+ });
+ });
useLoadedSessionInput?.addEventListener("change", () => {
setUseLoadedSession(useLoadedSessionInput.checked);
});
diff --git a/wasm-port/tests/browser/real_simulation_page_smoke.html b/wasm-port/tests/browser/real_simulation_page_smoke.html
index 2dbfabb..c08946f 100644
--- a/wasm-port/tests/browser/real_simulation_page_smoke.html
+++ b/wasm-port/tests/browser/real_simulation_page_smoke.html
@@ -252,6 +252,9 @@
if (!api?.getMachineSessionLoadState || !api?.loadReadyMachineSession) {
throw new Error("simulation API missing AXIS machine/session load controls");
}
+ if (!api?.getVirtualHalSessionState || !api?.saveVirtualHalSessionSnapshot || !api?.restoreVirtualHalSessionSnapshot) {
+ throw new Error("simulation API missing virtual HAL session persistence controls");
+ }
if (!api?.getRunMode || !api?.getRunControlState || !api?.setUseLoadedSession || !api?.getRunSummary) {
throw new Error("simulation API missing AXIS run-mode controls");
}
@@ -317,7 +320,14 @@
if (!doc.querySelector("[data-opfs-program-filename]") || !doc.querySelector("[data-save-program-opfs]") || !doc.querySelector("[data-load-program-opfs]")) {
throw new Error("simulation page missing OPFS program persistence controls");
}
- if (!doc.querySelector('[data-axis-shell="machine-session"]') || !doc.querySelector("[data-check-machine-session]") || !doc.querySelector("[data-load-machine-session]") || !doc.querySelector("[data-use-loaded-session]")) {
+ if (
+ !doc.querySelector('[data-axis-shell="machine-session"]') ||
+ !doc.querySelector("[data-check-machine-session]") ||
+ !doc.querySelector("[data-load-machine-session]") ||
+ !doc.querySelector("[data-save-virtual-hal-session]") ||
+ !doc.querySelector("[data-restore-virtual-hal-session]") ||
+ !doc.querySelector("[data-use-loaded-session]")
+ ) {
throw new Error("simulation page missing machine/session readiness controls");
}
if (!doc.querySelector("[data-axis-machine-control-state]")?.textContent.includes("browser virtual HAL active")) {
@@ -726,6 +736,41 @@
) {
throw new Error(`AXIS-style virtual halcmd did not execute: ${JSON.stringify(virtualHalcmdResult)}`);
}
+ const savedVirtualHalSession = await api.saveVirtualHalSessionSnapshot({
+ sessionId: "axis-browser-virtual-hal-session",
+ machineId: "axis-browser-virtual-hal",
+ filename: "virtual-hal-session.json",
+ gcodeFilename: "axis-opfs-roundtrip.ngc",
+ });
+ if (
+ savedVirtualHalSession.phase !== "saved" ||
+ savedVirtualHalSession.revision < virtualHalcmdResult.state.revision ||
+ !savedVirtualHalSession.snapshot?.payload?.virtualHal?.sourceCompliance?.complete ||
+ !savedVirtualHalSession.snapshot?.payload?.virtualHal?.motionControllerMatrix?.complete ||
+ doc.body.dataset.virtualHalSessionPhase !== "saved" ||
+ !doc.querySelector("[data-virtual-hal-session-status]")?.textContent.includes("Saved HAL session")
+ ) {
+ throw new Error(`AXIS-style virtual HAL session save failed: ${JSON.stringify(savedVirtualHalSession)}`);
+ }
+ api.executeVirtualHalcmd("setp axis.x.pos-cmd 9.5\nloadusr post-save-component");
+ if (api.readVirtualHalPin("axis.x.pos-cmd")?.value !== 9.5) {
+ throw new Error("AXIS-style virtual HAL pre-restore mutation did not apply");
+ }
+ const restoredVirtualHalSession = await api.restoreVirtualHalSessionSnapshot({
+ sessionId: "axis-browser-virtual-hal-session",
+ filename: "virtual-hal-session.json",
+ });
+ if (
+ restoredVirtualHalSession.phase !== "restored" ||
+ restoredVirtualHalSession.restored !== true ||
+ api.readVirtualHalPin("axis.x.pos-cmd")?.value !== 1.75 ||
+ api.getVirtualHalState().hal.loadedComponents.some(({ component }) => component === "post-save-component") ||
+ !api.getVirtualHalState().hal.functions.some(({ name }) => name === "motion-controller") ||
+ doc.body.dataset.virtualHalSessionPhase !== "restored" ||
+ !doc.querySelector("[data-virtual-hal-session-status]")?.textContent.includes("Restored HAL session")
+ ) {
+ throw new Error(`AXIS-style virtual HAL session restore failed: ${JSON.stringify(restoredVirtualHalSession)}`);
+ }
const virtualHalCommandScriptFixtures = api.getVirtualHalCommandScriptFixtureReport();
if (
virtualHalCommandScriptFixtures.apiName !== "linuxcnc-wasm-virtual-hal-command-script-fixture-report" ||
diff --git a/wasm-port/tests/opfs/node/verify_file_service.mjs b/wasm-port/tests/opfs/node/verify_file_service.mjs
index f1e8251..8bfeb2d 100644
--- a/wasm-port/tests/opfs/node/verify_file_service.mjs
+++ b/wasm-port/tests/opfs/node/verify_file_service.mjs
@@ -266,12 +266,14 @@ assert.equal(virtualHalSessionPayload.state.hal.nets["x-pos"].includes("axis.x.p
assert.equal(virtualHalSessionPayload.sourceCompliance.complete, true);
assert.equal(virtualHalSessionPayload.simConfigSourceCoverage.complete, true);
assert.equal(virtualHalSessionPayload.commandScriptFixtures.complete, true);
+assert.equal(virtualHalSessionPayload.motionControllerMatrix.complete, true);
const virtualHalSnapshotPayload = createMachineSessionSnapshotPayload("virtual-hal-machine", {
gcodeFilename: "virtual-hal.ngc",
virtualHal: virtualHalSessionPayload,
});
assert.equal(virtualHalSnapshotPayload.virtualHal.state.hal.signals["x-pos"].value, 2.25);
assert.equal(virtualHalSnapshotPayload.virtualHal.commandScriptFixtures.coveredActions.includes("loadusr"), true);
+assert.equal(virtualHalSnapshotPayload.virtualHal.motionControllerMatrix.sourceFiles.includes("linuxcnc/src/emc/motion/axis.c"), true);
assert.deepEqual(
createMachineSessionSnapshotPayload("custom-machine", {
parameterFilename: "custom.var",
diff --git a/wasm-port/tests/sdk/node/verify_sdk_surface.mjs b/wasm-port/tests/sdk/node/verify_sdk_surface.mjs
index 4f8b1b1..5bb4007 100644
--- a/wasm-port/tests/sdk/node/verify_sdk_surface.mjs
+++ b/wasm-port/tests/sdk/node/verify_sdk_surface.mjs
@@ -747,6 +747,7 @@ assert.equal(virtualHalSessionPayload.state.hal.signals["x-pos"].value, 1.25);
assert.equal(virtualHalSessionPayload.sourceCompliance.complete, true);
assert.equal(virtualHalSessionPayload.simConfigSourceCoverage.complete, true);
assert.equal(virtualHalSessionPayload.commandScriptFixtures.complete, true);
+assert.equal(virtualHalSessionPayload.motionControllerMatrix.complete, true);
const virtualHalSessionSnapshot = createSessionSnapshot(
"sdk-virtual-hal-session",
createMachineSessionSnapshotPayload("sdk-mill", {