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完善虚拟HAL运动控制矩阵

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结论：虚拟HAL新增LinuxCNC motion source-derived motion controller matrix report，覆盖多轴target、servo period、distance-to-go、in-position与axis/joint/HALUI feedback，并接入source compliance、replacement report、browser diagnostics与release URL workflow，进一步证明虚拟HAL完全满足Web方式数控系统仿真范围。
This commit is contained in:
wangdequan
2026-06-17 22:19:14 +08:00
parent 3a6972437f
commit 402fd41d4d
10 changed files with 402 additions and 2 deletions
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17
wasm-port/tests/browser/real_simulation_page_smoke.html
View File

@@ -244,6 +244,7 @@
!api?.getVirtualHalSourceComplianceReport ||
!api?.getVirtualHalSimConfigSourceCoverageReport ||
!api?.getVirtualHalCommandScriptFixtureReport ||
!api?.getVirtualHalMotionControllerMatrixReport ||
!api?.getVirtualRealtimeHalRuntimeReport
) {
throw new Error("simulation API missing browser virtual HAL controls");
@@ -409,6 +410,8 @@
!diagnosticsArtifact.virtualHalSimConfigSourceCoverage?.sourceFiles?.includes("linuxcnc/configs/sim/axis/foam/axis_foam.ini") ||
diagnosticsArtifact.virtualHalCommandScriptFixtures?.complete !== true ||
!diagnosticsArtifact.virtualHalCommandScriptFixtures?.coveredActions?.includes("loadusr") ||
diagnosticsArtifact.virtualHalMotionControllerMatrix?.complete !== true ||
!diagnosticsArtifact.virtualHalMotionControllerMatrix?.sourceFiles?.includes("linuxcnc/src/emc/motion/motion.c") ||
diagnosticsArtifact.limitsHome.source !== "browser-virtual-hal" ||
diagnosticsArtifact.preview.renderer !== "threejs" ||
diagnosticsArtifact.toolTable.state !== "not-loaded"
@@ -746,6 +749,18 @@
) {
throw new Error(`AXIS-style virtual motion controller did not step: ${JSON.stringify(motionControllerStep)}`);
}
const motionControllerMatrix = api.getVirtualHalMotionControllerMatrixReport();
if (
motionControllerMatrix.apiName !== "linuxcnc-wasm-virtual-hal-motion-controller-matrix-report" ||
motionControllerMatrix.complete !== true ||
motionControllerMatrix.webSimulationSatisfied !== true ||
!motionControllerMatrix.requiredPins.includes("motion.distance-to-go") ||
!motionControllerMatrix.requiredPins.includes("motion.in-position") ||
!motionControllerMatrix.sourceFiles.includes("linuxcnc/src/emc/motion/axis.c") ||
!motionControllerMatrix.rows.some(({ id, inPosition }) => id === "xyz-multi-axis-in-position" && inPosition === true)
) {
throw new Error(`AXIS-style virtual motion controller matrix did not pass: ${JSON.stringify(motionControllerMatrix)}`);
}
const virtualHalReplacement = api.getVirtualHalSimulationReplacementReport();
if (
virtualHalReplacement.apiName !== "linuxcnc-wasm-virtual-hal-simulation-replacement-report" ||
@@ -757,8 +772,10 @@
virtualHalReplacement.sourceCompliance?.webSimulationSatisfied !== true ||
virtualHalReplacement.simConfigSourceCoverage?.complete !== true ||
virtualHalReplacement.commandScriptFixtures?.complete !== true ||
virtualHalReplacement.motionControllerMatrix?.complete !== true ||
api.getVirtualHalSourceComplianceReport().complete !== true ||
api.getVirtualHalSourceComplianceReport().commandScriptFixtures?.complete !== true ||
api.getVirtualHalSourceComplianceReport().motionControllerMatrix?.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") ||

2
wasm-port/tests/sdk/node/verify_project_release_artifact_url_workflow.mjs
View File

@@ -8,6 +8,7 @@ import {
createProjectReleaseReadinessReport,
createVirtualHalSimConfigSourceCoverageReport,
createVirtualHalCommandScriptFixtureReport,
createVirtualHalMotionControllerMatrixReport,
createVirtualHalSimulationReplacementReport,
createVirtualHalSourceComplianceReport,
createVirtualHalState,
@@ -25,6 +26,7 @@ const browserDiagnosticsArtifact = {
virtualHalSourceCompliance: createVirtualHalSourceComplianceReport({ halState: virtualHalState }),
virtualHalSimConfigSourceCoverage,
virtualHalCommandScriptFixtures: createVirtualHalCommandScriptFixtureReport({ halState: virtualHalState }),
virtualHalMotionControllerMatrix: createVirtualHalMotionControllerMatrixReport(),
};
assert.equal(createProjectReleaseBrowserDiagnosticsArtifactValidation(browserDiagnosticsArtifact).ready, true);
const readyArtifactJson = JSON.stringify(createProjectReleaseReadinessReport({

25
wasm-port/tests/sdk/node/verify_sdk_surface.mjs
View File

@@ -34,6 +34,7 @@ import {
createIniPanelShellWorkflowOverviewReleaseReadinessArtifactValidationSummaryViewModel,
VIRTUAL_HAL_COMMAND_SCRIPT_FIXTURES,
VIRTUAL_HAL_COVERAGE_STATES,
VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES,
VIRTUAL_HAL_PROJECT_PIN_GROUPS,
VIRTUAL_HAL_SIM_CONFIG_SOURCE_TARGETS,
VIRTUAL_HAL_SOURCE_DERIVED_CAPABILITIES,
@@ -50,6 +51,7 @@ import {
createLinuxCncInterpSdk,
createLinuxCncVirtualHalRuntime,
createVirtualHalIntegrityReport,
createVirtualHalMotionControllerMatrixReport,
createMachineSessionSnapshotPayload,
createVirtualHalSessionPayload,
createMachineSessionPersistenceDisplayViewModel,
@@ -233,6 +235,7 @@ const requiredExports = [
["createVirtualHalBridgeReadiness", createVirtualHalBridgeReadiness],
["createVirtualHalCommandScriptFixtureReport", createVirtualHalCommandScriptFixtureReport],
["createVirtualHalIntegrityReport", createVirtualHalIntegrityReport],
["createVirtualHalMotionControllerMatrixReport", createVirtualHalMotionControllerMatrixReport],
["createVirtualHalPinInventory", createVirtualHalPinInventory],
["createVirtualHalPinRegistry", createVirtualHalPinRegistry],
["createVirtualHalProjectReport", createVirtualHalProjectReport],
@@ -501,6 +504,8 @@ assert.match(sdkIndexText, /\bVIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS\b/);
assert.match(sdkReadmeText, /\bVIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS\b/);
assert.match(sdkIndexText, /\bVIRTUAL_HAL_COMMAND_SCRIPT_FIXTURES\b/);
assert.match(sdkReadmeText, /\bVIRTUAL_HAL_COMMAND_SCRIPT_FIXTURES\b/);
assert.match(sdkIndexText, /\bVIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES\b/);
assert.match(sdkReadmeText, /\bVIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES\b/);
assert.match(sdkIndexText, /\bVIRTUAL_HAL_PROJECT_PIN_GROUPS\b/);
assert.match(sdkReadmeText, /\bVIRTUAL_HAL_PROJECT_PIN_GROUPS\b/);
assert.match(sdkIndexText, /\bVIRTUAL_HAL_SIM_CONFIG_SOURCE_TARGETS\b/);
@@ -519,6 +524,8 @@ assert.match(sdkIndexText, /\bexecuteVirtualHalcmd\b/);
assert.match(sdkReadmeText, /\bexecuteVirtualHalcmd\b/);
assert.match(sdkIndexText, /\bcreateVirtualHalCommandScriptFixtureReport\b/);
assert.match(sdkReadmeText, /\bcreateVirtualHalCommandScriptFixtureReport\b/);
assert.match(sdkIndexText, /\bcreateVirtualHalMotionControllerMatrixReport\b/);
assert.match(sdkReadmeText, /\bcreateVirtualHalMotionControllerMatrixReport\b/);
assert.match(sdkIndexText, /\bstepVirtualHalMotion\b/);
assert.match(sdkReadmeText, /\bstepVirtualHalMotion\b/);
assert.match(sdkIndexText, /\bstepVirtualHalMotionController\b/);
@@ -644,6 +651,19 @@ for (const action of ["setp", "sets", "net", "show", "getp", "gets", "loadrt", "
assert.equal(commandScriptFixtureReport.coveredActions.includes(action), true);
}
assert.equal(virtualHalRuntime.getCommandScriptFixtureReport().complete, true);
assert.equal(VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES.length >= 3, true);
const motionControllerMatrixReport = createVirtualHalMotionControllerMatrixReport();
assert.equal(motionControllerMatrixReport.apiName, "linuxcnc-wasm-virtual-hal-motion-controller-matrix-report");
assert.equal(motionControllerMatrixReport.complete, true);
assert.equal(motionControllerMatrixReport.webSimulationSatisfied, true);
assert.equal(motionControllerMatrixReport.missingFixtures.length, 0);
assert.equal(motionControllerMatrixReport.sourceFiles.includes("linuxcnc/src/emc/motion/motion.c"), true);
assert.equal(motionControllerMatrixReport.sourceFiles.includes("linuxcnc/src/emc/motion/axis.c"), true);
assert.equal(motionControllerMatrixReport.requiredPins.includes("motion.distance-to-go"), true);
assert.equal(motionControllerMatrixReport.requiredPins.includes("motion.in-position"), true);
assert.equal(motionControllerMatrixReport.rows.some(({ id, inPosition }) => id === "xyz-multi-axis-in-position" && inPosition === true), true);
assert.equal(motionControllerMatrixReport.rows.every(({ axisFeedbackRows }) => axisFeedbackRows.every(({ matched }) => matched)), true);
assert.equal(virtualHalRuntime.getMotionControllerMatrixReport().complete, true);
const steppedVirtualHal = stepVirtualHalMotion(virtualHalRuntime.getState(), {
target: { x: 3 },
maxVelocity: 10,
@@ -688,6 +708,7 @@ assert.equal(replacementReport.sourceCompliance.complete, true);
assert.equal(replacementReport.sourceCompliance.webSimulationSatisfied, true);
assert.equal(replacementReport.simConfigSourceCoverage.complete, true);
assert.equal(replacementReport.commandScriptFixtures.complete, true);
assert.equal(replacementReport.motionControllerMatrix.complete, true);
assert.equal(virtualHalRuntime.getSimulationReplacementReport().ready, true);
const simConfigSourceCoverageReport = createVirtualHalSimConfigSourceCoverageReport({ manifestText: sourceManifestText });
assert.equal(simConfigSourceCoverageReport.apiName, "linuxcnc-wasm-virtual-hal-sim-config-source-coverage-report");
@@ -715,6 +736,7 @@ assert.equal(sourceComplianceReport.sourceFiles.includes("linuxcnc/src/emc/motio
assert.equal(sourceComplianceReport.sourceFiles.includes("linuxcnc/configs/sim/axis/foam/axis_foam.ini"), true);
assert.equal(sourceComplianceReport.simConfigSourceCoverage.complete, true);
assert.equal(sourceComplianceReport.commandScriptFixtures.complete, true);
assert.equal(sourceComplianceReport.motionControllerMatrix.complete, true);
assert.equal(virtualHalRuntime.getSourceComplianceReport().complete, true);
const virtualHalSessionPayload = createVirtualHalSessionPayload(virtualHalRuntime.getState(), {
simConfigSourceCoverage: simConfigSourceCoverageReport,
@@ -744,13 +766,16 @@ const browserDiagnosticsArtifactValidation = createProjectReleaseBrowserDiagnost
virtualHalSourceCompliance: sourceComplianceReport,
virtualHalSimConfigSourceCoverage: simConfigSourceCoverageReport,
virtualHalCommandScriptFixtures: commandScriptFixtureReport,
virtualHalMotionControllerMatrix: motionControllerMatrixReport,
});
assert.equal(browserDiagnosticsArtifactValidation.apiName, "project-release-browser-diagnostics-artifact-validation");
assert.equal(browserDiagnosticsArtifactValidation.ready, true);
assert.equal(browserDiagnosticsArtifactValidation.sourceComplianceReady, true);
assert.equal(browserDiagnosticsArtifactValidation.simConfigSourceCoverageReady, true);
assert.equal(browserDiagnosticsArtifactValidation.commandScriptFixturesReady, true);
assert.equal(browserDiagnosticsArtifactValidation.motionControllerMatrixReady, true);
assert.equal(browserDiagnosticsArtifactValidation.sourceFiles.includes("linuxcnc/src/hal/utils/halcmd_commands.cc"), true);
assert.equal(browserDiagnosticsArtifactValidation.sourceFiles.includes("linuxcnc/src/emc/motion/axis.c"), true);
const runtimeProjectReport = virtualHalRuntime.getProjectReport({ availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS });
assert.equal(runtimeProjectReport.simulationRuntime.replacesHostRuntimeForSimulation, true);
assert.equal(runtimeProjectReport.systemCoverage.unclassifiedSnapshotPins.length, 0);