wangdequan/cnc_wams
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

接入虚拟HAL会话保存恢复

Browse Source 
结论：real simulation page 已提供显式 Save/Restore HAL Session 按钮与 browser API，使用 OPFS session snapshot 保存和恢复 virtual HAL runtime state，并随 payload 校验 source compliance、sim-config coverage、halcmd fixtures 与 motion controller matrix，证明虚拟HAL可恢复地满足Web方式数控系统仿真范围。
This commit is contained in:
wangdequan
2026-06-17 22:32:23 +08:00
parent 402fd41d4d
commit 0a33f0f7c1
7 changed files with 263 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

84
text17.txt
View File

@@ -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。

7
wasm-port/runtime/opfs/snapshot-store.js
View File

@@ -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,
});
}

4
wasm-port/runtime/sdk/README.md
View File

@@ -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,

119
wasm-port/runtime/ui/simulation/index.html
View File

@@ -1474,6 +1474,8 @@
<div class="machine-session-actions">
<button type="button" data-check-machine-session>Check Session</button>
<button type="button" data-load-machine-session>Load Session</button>
<button type="button" data-save-virtual-hal-session>Save HAL Session</button>
<button type="button" data-restore-virtual-hal-session>Restore HAL Session</button>
<label><input type="checkbox" checked data-use-loaded-session> Use Session</label>
</div>
<div class="machine-session-status" data-machine-session-status>
@@ -1484,6 +1486,7 @@
<span>Loaded INI: <span data-machine-session-loaded-path="ini">-</span></span>
<span>Loaded parameters: <span data-machine-session-loaded-path="parameters">-</span></span>
<span>Loaded tool table: <span data-machine-session-loaded-path="toolTable">-</span></span>
<span>Virtual HAL session: <span data-virtual-hal-session-status>not saved</span></span>
</div>
</div>
<div class="active-codes" data-axis-shell="active-codes">
@@ -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);
});

47
wasm-port/tests/browser/real_simulation_page_smoke.html
View File

@@ -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" ||

2
wasm-port/tests/opfs/node/verify_file_service.mjs
View File

@@ -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",

1
wasm-port/tests/sdk/node/verify_sdk_surface.mjs
View File

@@ -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", {