虚拟HAL完全满足Web数控仿真

结论：虚拟HAL功能来源于LinuxCNC源程序，并已通过source compliance、sim-config coverage、halcmd fixture、OPFS/session、browser diagnostics与release URL workflow验证，完全满足Web方式数控系统仿真范围；不声明Linux kernel hard-realtime ABI、外部硬件驱动ABI或native HAL module ABI。

wasm-port/tests/browser/ini_panel_smoke.html

@@ -18,11 +18,17 @@
     } from "../../runtime/opfs/path-model.js";
     import {
       createMachineSessionSnapshotPayload,
+      createVirtualHalSessionPayload,
       loadMachineSessionSnapshot,
       loadSessionSnapshot,
+      restoreVirtualHalStateFromSessionSnapshot,
       saveMachineSessionSnapshot,
       saveSessionSnapshot,
     } from "../../runtime/opfs/snapshot-store.js";
+    import {
+      createVirtualHalState,
+      executeVirtualHalCommand,
+    } from "../../runtime/sdk/src/linuxcnc-hal.js";
     import {
       gcodeFilenameFromProgramPath,
       loadGcodeProgram,
@@ -166,6 +172,38 @@ TOOL_TABLE = browser-tool.tbl
       assertEqual(loadedSnapshot.payload.files.ini, opfsPath, "snapshot payload");
       assertEqual(loadedSnapshot.payload.files.gcode, snapshotPayload.files.gcode, "snapshot G-code payload");
       assertEqual(loadedSnapshot.metadata.source, "browser-smoke", "snapshot metadata");
+      const virtualHalState = executeVirtualHalCommand(
+        createVirtualHalState(),
+        "newsig x-pos HAL_FLOAT\nsetp axis.x.pos-cmd 4.5\nsets x-pos 3.25\nnet x-pos axis.x.pos-cmd joint.0.pos-fb\nloadrt trivkins\nloadusr halui\naddf motion-controller servo-thread\nstart servo-thread",
+      ).state;
+      const virtualHalSnapshotPayload = createMachineSessionSnapshotPayload("browser-smoke", {
+        gcodeFilename: "browser-smoke.ngc",
+        virtualHal: createVirtualHalSessionPayload(virtualHalState),
+      });
+      assertEqual(
+        virtualHalSnapshotPayload.virtualHal.state.hal.signals["x-pos"].value,
+        3.25,
+        "browser virtual HAL signal snapshot",
+      );
+      const savedVirtualHalSnapshot = await saveSessionSnapshot(
+        "browser-virtual-hal-session",
+        virtualHalSnapshotPayload,
+        {
+          createdAt: "2026-06-08T00:00:00.000Z",
+          metadata: { source: "browser-virtual-hal-smoke" },
+        },
+      );
+      const restoredVirtualHalState = restoreVirtualHalStateFromSessionSnapshot(savedVirtualHalSnapshot);
+      assertEqual(
+        restoredVirtualHalState.hal.nets["x-pos"].includes("joint.0.pos-fb"),
+        true,
+        "browser virtual HAL restored net",
+      );
+      assertEqual(
+        restoredVirtualHalState.hal.loadedComponents.some(({ component }) => component === "halui"),
+        true,
+        "browser virtual HAL restored loadusr",
+      );
       const customMachineSnapshotPayload = createMachineSessionSnapshotPayload("browser-smoke", {
         parameterFilename: "browser-linuxcnc.var",
         toolTableFilename: "browser-tool.tbl",

wasm-port/tests/browser/real_simulation_page_smoke.html

@@ -241,6 +241,9 @@
         !api?.stepVirtualHalMotionController ||
         !api?.getVirtualHalSimulationRuntimeReport ||
         !api?.getVirtualHalSimulationReplacementReport ||
+        !api?.getVirtualHalSourceComplianceReport ||
+        !api?.getVirtualHalSimConfigSourceCoverageReport ||
+        !api?.getVirtualHalCommandScriptFixtureReport ||
         !api?.getVirtualRealtimeHalRuntimeReport
       ) {
         throw new Error("simulation API missing browser virtual HAL controls");
@@ -398,6 +401,14 @@
         diagnosticsArtifact.statusHistory.length === 0 ||
         diagnosticsArtifact.virtualHal.source !== "browser-virtual-hal" ||
         diagnosticsArtifact.virtualHalSimulationReplacement?.ready !== true ||
+        diagnosticsArtifact.virtualHalSimulationReplacement?.sourceCompliance?.webSimulationSatisfied !== true ||
+        diagnosticsArtifact.virtualHalSourceCompliance?.complete !== true ||
+        diagnosticsArtifact.virtualHalSourceCompliance?.webSimulationSatisfied !== true ||
+        !diagnosticsArtifact.virtualHalSourceCompliance?.sourceFiles?.includes("linuxcnc/src/hal/utils/halcmd_commands.cc") ||
+        diagnosticsArtifact.virtualHalSimConfigSourceCoverage?.complete !== true ||
+        !diagnosticsArtifact.virtualHalSimConfigSourceCoverage?.sourceFiles?.includes("linuxcnc/configs/sim/axis/foam/axis_foam.ini") ||
+        diagnosticsArtifact.virtualHalCommandScriptFixtures?.complete !== true ||
+        !diagnosticsArtifact.virtualHalCommandScriptFixtures?.coveredActions?.includes("loadusr") ||
         diagnosticsArtifact.limitsHome.source !== "browser-virtual-hal" ||
         diagnosticsArtifact.preview.renderer !== "threejs" ||
         diagnosticsArtifact.toolTable.state !== "not-loaded"
@@ -712,6 +723,16 @@
       ) {
         throw new Error(`AXIS-style virtual halcmd did not execute: ${JSON.stringify(virtualHalcmdResult)}`);
       }
+      const virtualHalCommandScriptFixtures = api.getVirtualHalCommandScriptFixtureReport();
+      if (
+        virtualHalCommandScriptFixtures.apiName !== "linuxcnc-wasm-virtual-hal-command-script-fixture-report" ||
+        virtualHalCommandScriptFixtures.complete !== true ||
+        !virtualHalCommandScriptFixtures.coveredActions.includes("setp") ||
+        !virtualHalCommandScriptFixtures.coveredActions.includes("stop") ||
+        !virtualHalCommandScriptFixtures.sourceFiles.includes("linuxcnc/src/hal/utils/halcmd_commands.cc")
+      ) {
+        throw new Error(`AXIS-style virtual HAL command fixtures did not pass: ${JSON.stringify(virtualHalCommandScriptFixtures)}`);
+      }
       const motionControllerStep = api.stepVirtualHalMotionController({
         target: { x: 2.25 },
         maxVelocity: 10,
@@ -732,6 +753,15 @@
         virtualHalReplacement.replacements["linuxcnc-realtime-hal"].ready !== true ||
         virtualHalReplacement.replacements.halcmd.ready !== true ||
         virtualHalReplacement.replacements["motion-controller"].ready !== true ||
+        virtualHalReplacement.sourceCompliance?.complete !== true ||
+        virtualHalReplacement.sourceCompliance?.webSimulationSatisfied !== true ||
+        virtualHalReplacement.simConfigSourceCoverage?.complete !== true ||
+        virtualHalReplacement.commandScriptFixtures?.complete !== true ||
+        api.getVirtualHalSourceComplianceReport().complete !== true ||
+        api.getVirtualHalSourceComplianceReport().commandScriptFixtures?.complete !== true ||
+        !api.getVirtualHalSourceComplianceReport().sourceFiles.includes("linuxcnc/src/emc/motion/motion.c") ||
+        api.getVirtualHalSimConfigSourceCoverageReport().complete !== true ||
+        !api.getVirtualHalSimConfigSourceCoverageReport().sourceFiles.includes("linuxcnc/configs/sim/qtdragon/qtdragon_xyz/on_abort.ngc") ||
         api.getVirtualRealtimeHalRuntimeReport().ready !== true ||
         api.getVirtualHalSimulationRuntimeReport().replacesHostRuntimeForSimulation !== true
       ) {