完善虚拟HAL运动控制矩阵

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。

text17.txt

@@ -757,3 +757,112 @@ browser_real_simulation_page_smoke=ok
    让用户可直接保存和恢复完整 Web CNC 仿真会话。
 3. 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。
+
+### 八、2026-06-17 Virtual HAL Motion Controller Matrix Report
+
+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 motion controller
+仿真测试矩阵提升为 SDK/API/report/gate 能力，使多轴 target、servo period、distance-to-go、
+in-position 与 HAL pin feedback 的关系可由 LinuxCNC motion source evidence 验证。
+
+新增实质能力：
+
+- 新增 `VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES`：
+  - `x-single-axis-servo-dtg`：
+    - 单轴 X target；
+    - servo period `dt`；
+    - velocity limit；
+    - `motion.distance-to-go`；
+    - `motion.in-position`；
+    - `axis.x.pos-cmd`；
+    - `joint.0.pos-fb`；
+  - `xyz-multi-axis-in-position`：
+    - XYZ 多轴 target；
+    - 多周期 servo stepping；
+    - final `in-position`；
+    - axis feedback 与 joint feedback 一致性；
+  - `abc-rotary-feedback`：
+    - ABC rotary axes target；
+    - rotary axis command/feedback；
+    - joint 3/4/5 feedback；
+- 新增 `createVirtualHalMotionControllerMatrixReport()`：
+  - 执行每个 motion matrix fixture；
+  - 读取 virtual HAL WASM bridge snapshot；
+  - 验证 required motion/axis/joint pins；
+  - 验证 `distanceToGo`；
+  - 验证 `inPosition`；
+  - 验证 axis command、joint feedback、HALUI feedback 一致；
+  - 输出 `webSimulationSatisfied`；
+  - 输出 LinuxCNC motion source files；
+- `createVirtualHalSourceComplianceReport()` 新增内嵌：
+  - `motionControllerMatrix`；
+  - source compliance complete 现在要求 motion matrix complete；
+- `createVirtualHalSimulationReplacementReport()` 新增内嵌：
+  - `motionControllerMatrix`；
+  - replacement ready 现在要求 motion matrix complete；
+- `createLinuxCncVirtualHalRuntime()` 新增：
+  - `getMotionControllerMatrixReport()`；
+- SDK index、SDK README、browser simulation re-export 同步新增：
+  - `VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES`；
+  - `createVirtualHalMotionControllerMatrixReport()`；
+- Browser simulation API 新增：
+  - `getVirtualHalMotionControllerMatrixReport()`；
+- `exportDiagnosticsArtifact()` 新增：
+  - `virtualHalMotionControllerMatrix`；
+- `createProjectReleaseBrowserDiagnosticsArtifactValidation()` 新增 release 级校验：
+  - diagnostics artifact 必须包含 complete motion controller matrix；
+  - required pins 必须包含 `motion.distance-to-go` 与 `motion.in-position`；
+  - source evidence 必须包含 `linuxcnc/src/emc/motion/motion.c` 与
+    `linuxcnc/src/emc/motion/axis.c`。
+
+新增/扩展验证：
+
+- `verify_sdk_surface.mjs` 覆盖：
+  - SDK index/README 导出新常量与新 report API；
+  - motion matrix report `complete === true`；
+  - motion matrix report `webSimulationSatisfied === true`；
+  - missing fixtures 为 0；
+  - source evidence 包含 LinuxCNC motion/axis source；
+  - required pins 包含 `motion.distance-to-go` 与 `motion.in-position`；
+  - `xyz-multi-axis-in-position` fixture 达到 `inPosition === true`；
+  - 每个 axis/joint/HALUI feedback row 均 matched；
+  - runtime wrapper 可读取 motion matrix report；
+  - replacement/source compliance report 内嵌 motion matrix；
+  - browser diagnostics artifact validation 要求 motion matrix ready；
+- `real_simulation_page_smoke.html` 覆盖：
+  - 页面 API 暴露 `getVirtualHalMotionControllerMatrixReport()`；
+  - diagnostics artifact 中 `virtualHalMotionControllerMatrix.complete === true`；
+  - diagnostics artifact 中 source evidence 包含 LinuxCNC motion source；
+  - browser API matrix report 包含 motion pins、source evidence 和多轴 in-position fixture；
+  - replacement/source compliance report 内嵌 motion matrix。
+
+关键验证：
+
+```text
+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
+project_release_readiness_artifact_node_smoke=ok
+git diff --check ok
+```
+
+语义边界：
+
+- 本批没有新增 G-code/interpreter/planner/kinematics 语义；
+- motion matrix 只验证 Web virtual HAL motion controller 的仿真替代状态与 HAL pin
+  feedback，不把 browser virtual HAL 声称为 Linux kernel hard-realtime ABI；
+- `stepVirtualHalMotionController()` 仍是 Web 仿真范围内的 deterministic servo-period
+  stepping，不替代外部硬件驱动 ABI 或 native HAL module ABI；
+- G-code/interpreter/planner/canonical motion 语义仍来自 LinuxCNC-backed WASM。
+
+下一步工作内容：
+
+1. 将 virtual HAL session payload 接入 real simulation page 的显式保存/恢复按钮或 API，
+   让用户可直接保存和恢复完整 Web CNC 仿真会话。
+2. 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。
+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。

wasm-port/runtime/sdk/README.md

@@ -68,6 +68,7 @@ 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,
@@ -83,6 +84,7 @@ import {
   createLinuxCncInterpSdk,
   createLinuxCncVirtualHalRuntime,
   createVirtualHalCommandScriptFixtureReport,
+  createVirtualHalMotionControllerMatrixReport,
   createMachineSessionPersistenceDisplayViewModel,
   createMachineSessionPersistenceRenderState,
   createMachineSessionPersistenceSummary,
@@ -303,6 +305,8 @@ private page state.
   `VIRTUAL_HAL_SOURCE_DERIVED_CAPABILITIES`,
   `executeVirtualHalCommand()`, `executeVirtualHalcmd()`,
   `stepVirtualHalMotion()`, `stepVirtualHalMotionController()`,
+  `VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES`,
+  `createVirtualHalMotionControllerMatrixReport()`,
   `createVirtualHalSimulationRuntimeReport()`, and
   `createVirtualHalSimulationReplacementReport()` expose a simulation-grade
   replacement for the host LinuxCNC realtime HAL, `halcmd`, and motion

wasm-port/runtime/sdk/src/index.js

@@ -5,6 +5,7 @@ export {
   VIRTUAL_HAL_AXISUI_PINS,
   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,
@@ -19,6 +20,7 @@ export {
   cloneVirtualHalState,
   createLinuxCncVirtualHalRuntime,
   createVirtualHalCommandScriptFixtureReport,
+  createVirtualHalMotionControllerMatrixReport,
   createVirtualHalBridgeActionPlan,
   createVirtualHalBridgeReadiness,
   createVirtualHalDroState,

wasm-port/runtime/sdk/src/linuxcnc-hal.js

@@ -476,6 +476,97 @@ export const VIRTUAL_HAL_COMMAND_SCRIPT_FIXTURES = Object.freeze([
   }),
 ]);
 
+export const VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES = Object.freeze([
+  Object.freeze({
+    id: "x-single-axis-servo-dtg",
+    label: "Single-axis servo period target stepping",
+    sourceFiles: Object.freeze([
+      VIRTUAL_HAL_SOURCE_FILES.motion,
+      VIRTUAL_HAL_SOURCE_FILES.motionAxis,
+      VIRTUAL_HAL_SOURCE_FILES.vendoredMotionHeader,
+    ]),
+    initialPosition: Object.freeze({ x: 0, y: 0, z: 0 }),
+    target: Object.freeze({ x: 1 }),
+    maxVelocity: 10,
+    dt: 0.05,
+    cycleCount: 1,
+    requiredPins: Object.freeze([
+      "motion.distance-to-go",
+      "motion.in-position",
+      "axis.x.pos-cmd",
+      "joint.0.pos-fb",
+    ]),
+    expected: Object.freeze({
+      moving: true,
+      inPosition: false,
+      distanceToGo: 0.5,
+      axisFeedback: Object.freeze({ x: 0.5 }),
+    }),
+  }),
+  Object.freeze({
+    id: "xyz-multi-axis-in-position",
+    label: "Multi-axis target reaches in-position",
+    sourceFiles: Object.freeze([
+      VIRTUAL_HAL_SOURCE_FILES.motion,
+      VIRTUAL_HAL_SOURCE_FILES.motionAxis,
+      VIRTUAL_HAL_SOURCE_FILES.motionHoming,
+      VIRTUAL_HAL_SOURCE_FILES.vendoredMotionHeader,
+    ]),
+    initialPosition: Object.freeze({ x: 0, y: 0, z: 0 }),
+    target: Object.freeze({ x: 1, y: -0.5, z: 0.25 }),
+    maxVelocity: 10,
+    dt: 0.1,
+    cycleCount: 4,
+    requiredPins: Object.freeze([
+      "motion.distance-to-go",
+      "motion.in-position",
+      "axis.x.pos-cmd",
+      "axis.y.pos-cmd",
+      "axis.z.pos-cmd",
+      "halui.axis.x.pos-feedback",
+      "joint.0.pos-fb",
+      "joint.1.pos-fb",
+      "joint.2.pos-fb",
+    ]),
+    expected: Object.freeze({
+      moving: false,
+      inPosition: true,
+      distanceToGo: 0,
+      axisFeedback: Object.freeze({ x: 1, y: -0.5, z: 0.25 }),
+    }),
+  }),
+  Object.freeze({
+    id: "abc-rotary-feedback",
+    label: "Rotary axis feedback follows target",
+    sourceFiles: Object.freeze([
+      VIRTUAL_HAL_SOURCE_FILES.motion,
+      VIRTUAL_HAL_SOURCE_FILES.motionAxis,
+      VIRTUAL_HAL_SOURCE_FILES.vendoredMotionHeader,
+    ]),
+    initialPosition: Object.freeze({ a: 0, b: 0, c: 0 }),
+    target: Object.freeze({ a: 0.4, b: -0.2, c: 0.1 }),
+    maxVelocity: 8,
+    dt: 0.1,
+    cycleCount: 2,
+    requiredPins: Object.freeze([
+      "motion.current-vel",
+      "motion.requested-vel",
+      "axis.a.pos-cmd",
+      "axis.b.pos-cmd",
+      "axis.c.pos-cmd",
+      "joint.3.pos-fb",
+      "joint.4.pos-fb",
+      "joint.5.pos-fb",
+    ]),
+    expected: Object.freeze({
+      moving: false,
+      inPosition: true,
+      distanceToGo: 0,
+      axisFeedback: Object.freeze({ a: 0.4, b: -0.2, c: 0.1 }),
+    }),
+  }),
+]);
+
 export const VIRTUAL_HAL_SOURCE_DERIVED_CAPABILITIES = Object.freeze({
   "realtime-hal-simulation-replacement": Object.freeze({
     label: "LinuxCNC realtime HAL simulation replacement",
@@ -2087,12 +2178,126 @@ export function createVirtualHalCommandScriptFixtureReport(options = {}) {
   };
 }
 
+function readVirtualHalSnapshotValue(snapshot, name) {
+  return snapshot.values.find((entry) => entry.name === name)?.value;
+}
+
+function valuesClose(actual, expected, tolerance = 0.000001) {
+  return Math.abs(Number(actual) - Number(expected)) <= tolerance;
+}
+
+export function createVirtualHalMotionControllerMatrixReport(options = {}) {
+  const fixtures = options.motionFixtures ?? options.fixtures ?? VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES;
+  const tolerance = clampNumber(options.tolerance ?? 0.000001, 0, 1);
+  const rows = fixtures.map((fixture) => {
+    const initialState = createVirtualHalState({
+      task: { estop: false, powered: true },
+      position: fixture.initialPosition ?? {},
+      motion: {
+        requestedVel: fixture.maxVelocity,
+        target: fixture.initialPosition ?? {},
+        servoPeriod: fixture.dt,
+      },
+    });
+    const step = stepVirtualHalMotionController(initialState, {
+      target: fixture.target,
+      maxVelocity: fixture.maxVelocity,
+      dt: fixture.dt,
+      cycleCount: fixture.cycleCount,
+      stopOnInPosition: fixture.stopOnInPosition,
+    });
+    const snapshot = createVirtualHalWasmBridgeSnapshot(step.state);
+    const missingPins = (fixture.requiredPins ?? [])
+      .filter((name) => readVirtualHalSnapshotValue(snapshot, name) === undefined);
+    const axisFeedbackRows = Object.entries(fixture.expected?.axisFeedback ?? {}).map(([axis, expectedValue]) => {
+      const axisValue = readVirtualHalSnapshotValue(snapshot, `axis.${axis}.pos-cmd`);
+      const jointIndex = VIRTUAL_HAL_AXES.indexOf(axis);
+      const jointValue = jointIndex >= 0
+        ? readVirtualHalSnapshotValue(snapshot, `joint.${jointIndex}.pos-fb`)
+        : undefined;
+      const haluiValue = readVirtualHalSnapshotValue(snapshot, `halui.axis.${axis}.pos-feedback`);
+      return {
+        axis,
+        expected: expectedValue,
+        axisPosition: axisValue,
+        jointFeedback: jointValue,
+        haluiFeedback: haluiValue,
+        matched: valuesClose(axisValue, expectedValue, tolerance) &&
+          valuesClose(jointValue, expectedValue, tolerance) &&
+          valuesClose(haluiValue, expectedValue, tolerance),
+      };
+    });
+    const expectedInPosition = fixture.expected?.inPosition;
+    const expectedDistanceToGo = fixture.expected?.distanceToGo;
+    const inPositionMatched = typeof expectedInPosition === "boolean"
+      ? step.inPosition === expectedInPosition
+      : true;
+    const distanceToGoMatched = Number.isFinite(Number(expectedDistanceToGo))
+      ? valuesClose(step.distanceToGo, expectedDistanceToGo, tolerance)
+      : true;
+    const movingMatched = typeof fixture.expected?.moving === "boolean"
+      ? (step.frames.some((frame) => frame.motion.motionType === 1) === fixture.expected.moving)
+      : true;
+    const complete = step.ok === true &&
+      missingPins.length === 0 &&
+      inPositionMatched &&
+      distanceToGoMatched &&
+      movingMatched &&
+      axisFeedbackRows.every((row) => row.matched);
+    return {
+      id: fixture.id,
+      label: fixture.label,
+      source: "linuxcnc-motion-source-derived-virtual-motion-controller",
+      sourceFiles: [...(fixture.sourceFiles ?? [])],
+      complete,
+      target: { ...(fixture.target ?? {}) },
+      initialPosition: { ...(fixture.initialPosition ?? {}) },
+      maxVelocity: fixture.maxVelocity,
+      dt: fixture.dt,
+      cycleCount: step.cycleCount,
+      inPosition: step.inPosition,
+      distanceToGo: step.distanceToGo,
+      currentVel: step.state.motion.currentVel,
+      requestedVel: step.state.motion.requestedVel,
+      servoPeriod: step.state.motion.servoPeriod,
+      missingPins,
+      inPositionMatched,
+      distanceToGoMatched,
+      movingMatched,
+      axisFeedbackRows,
+      frameCount: step.frames.length,
+    };
+  });
+  const missingFixtures = rows.filter((row) => !row.complete).map((row) => row.id);
+  const complete = rows.length > 0 && missingFixtures.length === 0;
+  return {
+    apiName: "linuxcnc-wasm-virtual-hal-motion-controller-matrix-report",
+    matrixVersion: 1,
+    source: "linuxcnc-motion-source-derived-virtual-hal",
+    phase: complete ? "ready" : "blocked",
+    complete,
+    webSimulationSatisfied: complete,
+    sourceFiles: [...new Set(rows.flatMap((row) => row.sourceFiles))],
+    requiredPins: [...new Set(fixtures.flatMap((fixture) => fixture.requiredPins ?? []))],
+    fixtureCount: rows.length,
+    missingFixtures,
+    rows,
+    summaryRows: [
+      { id: "fixtures", label: "Motion matrix fixtures", value: `${rows.length}` },
+      { id: "source", label: "LinuxCNC motion source", value: complete ? "source-derived" : "incomplete" },
+      { id: "servo-period", label: "Servo period stepping", value: complete ? "covered" : "blocked" },
+      { id: "axis-joint-feedback", label: "Axis/joint feedback", value: complete ? "covered" : "blocked" },
+    ],
+  };
+}
+
 export function createVirtualHalSimulationReplacementReport(halState = createVirtualHalState(), options = {}) {
   const state = normalizeVirtualHalState(halState);
   const runtime = createVirtualHalSimulationRuntimeReport(state, options);
   const sourceCompliance = createVirtualHalSourceComplianceReport({ halState: state });
   const simConfigSourceCoverage = createVirtualHalSimConfigSourceCoverageReport(options);
   const commandScriptFixtures = createVirtualHalCommandScriptFixtureReport({ ...options, halState: state });
+  const motionControllerMatrix = createVirtualHalMotionControllerMatrixReport(options);
   const requiredCapabilities = options.requiredCapabilities ?? [
     "realtime-hal-simulation-replacement",
     "halcmd-simulation-replacement",
@@ -2122,7 +2327,8 @@ export function createVirtualHalSimulationReplacementReport(halState = createVir
     },
   };
   const ready = missingCapabilities.length === 0 &&
-    Object.values(replacements).every((item) => item.ready === true);
+    Object.values(replacements).every((item) => item.ready === true) &&
+    motionControllerMatrix.complete === true;
   return {
     apiName: "linuxcnc-wasm-virtual-hal-simulation-replacement-report",
     replacementVersion: 1,
@@ -2139,6 +2345,7 @@ export function createVirtualHalSimulationReplacementReport(halState = createVir
     sourceCompliance,
     simConfigSourceCoverage,
     commandScriptFixtures,
+    motionControllerMatrix,
     runtime,
     rows: [
       { id: "realtime-hal", label: "LinuxCNC realtime HAL", value: replacements["linuxcnc-realtime-hal"].ready ? "virtual replacement ready" : "blocked" },
@@ -2252,10 +2459,12 @@ export function createVirtualHalSourceComplianceReport(options = {}) {
   });
   const simConfigSourceCoverage = options.simConfigSourceCoverage ?? createVirtualHalSimConfigSourceCoverageReport(options);
   const commandScriptFixtures = options.commandScriptFixtures ?? createVirtualHalCommandScriptFixtureReport(options);
+  const motionControllerMatrix = options.motionControllerMatrix ?? createVirtualHalMotionControllerMatrixReport(options);
   const allowedSourceFiles = new Set([
     ...Object.values(VIRTUAL_HAL_SOURCE_FILES),
     ...VIRTUAL_HAL_SIM_CONFIG_SOURCE_TARGETS.flatMap((target) => target.sourceFiles),
     ...VIRTUAL_HAL_COMMAND_SCRIPT_FIXTURES.flatMap((fixture) => fixture.sourceFiles),
+    ...VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES.flatMap((fixture) => fixture.sourceFiles),
     ...(options.allowedSourceFiles ?? []),
   ]);
   const requiredCapabilities = options.requiredCapabilities ?? VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES;
@@ -2298,6 +2507,7 @@ export function createVirtualHalSourceComplianceReport(options = {}) {
     missingFamilySources.length === 0 &&
     simConfigSourceCoverage.complete === true &&
     commandScriptFixtures.complete === true &&
+    motionControllerMatrix.complete === true &&
     systemCoverage.complete === true &&
     targetRows.every((row) => row.sourceDerived);
   return {
@@ -2315,11 +2525,13 @@ export function createVirtualHalSourceComplianceReport(options = {}) {
       ...capabilityRows.flatMap((row) => row.sourceFiles),
       ...simConfigSourceCoverage.sourceFiles,
       ...commandScriptFixtures.sourceFiles,
+      ...motionControllerMatrix.sourceFiles,
     ])],
     missingCapabilitySources,
     missingFamilySources,
     simConfigSourceCoverage,
     commandScriptFixtures,
+    motionControllerMatrix,
     targetRows,
     capabilityRows,
     familyRows: systemCoverage.families.map((family) => ({
@@ -2336,6 +2548,7 @@ export function createVirtualHalSourceComplianceReport(options = {}) {
       { id: "pin-families", label: "HAL pin families", value: missingFamilySources.length === 0 ? "source-derived" : `missing ${missingFamilySources.length}` },
       { id: "sim-configs", label: "LinuxCNC sim configs", value: simConfigSourceCoverage.complete ? "source-derived" : "incomplete" },
       { id: "halcmd-fixtures", label: "HAL command script fixtures", value: commandScriptFixtures.complete ? "source-derived" : "incomplete" },
+      { id: "motion-matrix", label: "Motion controller matrix", value: motionControllerMatrix.complete ? "source-derived" : "incomplete" },
       { id: "web-simulation", label: "Web simulation HAL", value: complete ? "satisfied" : "blocked" },
     ],
   };
@@ -2452,6 +2665,9 @@ export function createLinuxCncVirtualHalRuntime(initialState = createVirtualHalS
     getCommandScriptFixtureReport(options = {}) {
       return createVirtualHalCommandScriptFixtureReport({ ...options, halState: state });
     },
+    getMotionControllerMatrixReport(options = {}) {
+      return createVirtualHalMotionControllerMatrixReport(options);
+    },
     getIntegrityReport(options = {}) {
       return createVirtualHalIntegrityReport({ ...options, halState: state });
     },

wasm-port/runtime/sdk/src/project-release-readiness.js

@@ -104,6 +104,7 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
   const sourceCompliance = objectOrEmpty(artifactObject.virtualHalSourceCompliance);
   const simConfigSourceCoverage = objectOrEmpty(artifactObject.virtualHalSimConfigSourceCoverage);
   const commandScriptFixtures = objectOrEmpty(artifactObject.virtualHalCommandScriptFixtures);
+  const motionControllerMatrix = objectOrEmpty(artifactObject.virtualHalMotionControllerMatrix);
   const replacement = objectOrEmpty(artifactObject.virtualHalSimulationReplacement);
   const virtualHal = objectOrEmpty(artifactObject.virtualHal);
   const sourceComplianceReady = sourceCompliance.complete === true &&
@@ -115,9 +116,16 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
     arrayOrEmpty(commandScriptFixtures.coveredActions).includes("loadusr") &&
     arrayOrEmpty(commandScriptFixtures.coveredActions).includes("stop") &&
     arrayOrEmpty(commandScriptFixtures.sourceFiles).includes("linuxcnc/src/hal/utils/halcmd_commands.cc");
+  const motionControllerMatrixReady = motionControllerMatrix.complete === true &&
+    motionControllerMatrix.webSimulationSatisfied === true &&
+    arrayOrEmpty(motionControllerMatrix.requiredPins).includes("motion.distance-to-go") &&
+    arrayOrEmpty(motionControllerMatrix.requiredPins).includes("motion.in-position") &&
+    arrayOrEmpty(motionControllerMatrix.sourceFiles).includes("linuxcnc/src/emc/motion/motion.c") &&
+    arrayOrEmpty(motionControllerMatrix.sourceFiles).includes("linuxcnc/src/emc/motion/axis.c");
   const replacementReady = replacement.ready === true &&
     replacement.replacesHostRuntimeForSimulation === true &&
-    objectOrEmpty(replacement.sourceCompliance).webSimulationSatisfied === true;
+    objectOrEmpty(replacement.sourceCompliance).webSimulationSatisfied === true &&
+    objectOrEmpty(replacement.motionControllerMatrix).complete === true;
   const virtualHalReady = virtualHal.source === "browser-virtual-hal";
   const missing = [
     ...(artifactObject.apiName === "real-browser-simulation-diagnostics-artifact" ? [] : ["apiName"]),
@@ -126,6 +134,7 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
     ...(sourceComplianceReady ? [] : ["virtualHalSourceCompliance"]),
     ...(simConfigSourceCoverageReady ? [] : ["virtualHalSimConfigSourceCoverage"]),
     ...(commandScriptFixturesReady ? [] : ["virtualHalCommandScriptFixtures"]),
+    ...(motionControllerMatrixReady ? [] : ["virtualHalMotionControllerMatrix"]),
   ];
   return {
     apiName: "project-release-browser-diagnostics-artifact-validation",
@@ -139,10 +148,12 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
     sourceComplianceReady,
     simConfigSourceCoverageReady,
     commandScriptFixturesReady,
+    motionControllerMatrixReady,
     sourceFiles: [...new Set([
       ...arrayOrEmpty(sourceCompliance.sourceFiles),
       ...arrayOrEmpty(simConfigSourceCoverage.sourceFiles),
       ...arrayOrEmpty(commandScriptFixtures.sourceFiles),
+      ...arrayOrEmpty(motionControllerMatrix.sourceFiles),
     ])],
     rows: [
       {
@@ -170,6 +181,11 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
         label: "Virtual HAL command script fixtures",
         value: commandScriptFixturesReady ? "ready" : "missing",
       },
+      {
+        id: "motion-controller-matrix",
+        label: "Virtual HAL motion controller matrix",
+        value: motionControllerMatrixReady ? "ready" : "missing",
+      },
       {
         id: "missing",
         label: "Missing diagnostics evidence",

wasm-port/runtime/ui/simulation/index.html

@@ -1802,6 +1802,7 @@ M2
       createVirtualHalIntegrityReport as createSharedVirtualHalIntegrityReport,
       createVirtualHalLimitsHomeState as createSharedVirtualHalLimitsHomeState,
       createVirtualHalMachineStatusState as createSharedVirtualHalMachineStatusState,
+      createVirtualHalMotionControllerMatrixReport as createSharedVirtualHalMotionControllerMatrixReport,
       createVirtualHalPinRegistry as createSharedVirtualHalPinRegistry,
       createVirtualHalSimConfigSourceCoverageReport as createSharedVirtualHalSimConfigSourceCoverageReport,
       createVirtualHalSimulationReplacementReport as createSharedVirtualHalSimulationReplacementReport,
@@ -2496,6 +2497,10 @@ M2
       return createSharedVirtualHalCommandScriptFixtureReport({ halState: virtualHalState });
     }
 
+    function createVirtualHalMotionControllerMatrixReport() {
+      return createSharedVirtualHalMotionControllerMatrixReport();
+    }
+
     function renderMachineStatusDom(machineStatus) {
       const statusMap = {
         "spindle-state": machineStatus.spindle.state,
@@ -2585,6 +2590,7 @@ M2
         virtualHalSourceCompliance: createVirtualHalSourceComplianceReport(),
         virtualHalSimConfigSourceCoverage: createVirtualHalSimConfigSourceCoverageReport(),
         virtualHalCommandScriptFixtures: createVirtualHalCommandScriptFixtureReport(),
+        virtualHalMotionControllerMatrix: createVirtualHalMotionControllerMatrixReport(),
         statusHistory: getStatusHistory(),
         mdiHistory: getMdiHistory(),
         recentPrograms: getRecentPrograms(),
@@ -3890,6 +3896,7 @@ M2
         getVirtualHalSourceComplianceReport: () => createVirtualHalSourceComplianceReport(),
         getVirtualHalSimConfigSourceCoverageReport: () => createVirtualHalSimConfigSourceCoverageReport(),
         getVirtualHalCommandScriptFixtureReport: () => createVirtualHalCommandScriptFixtureReport(),
+        getVirtualHalMotionControllerMatrixReport: () => createVirtualHalMotionControllerMatrixReport(),
         getVirtualRealtimeHalRuntimeReport: () => createVirtualHalSimulationReplacementReport(),
         getVirtualHalDroState: () => createVirtualHalDroState(),
         getVirtualHalLimitsHomeState: () => createVirtualHalLimitsHomeState(),

wasm-port/runtime/ui/simulation/simulation-app.js

@@ -18,6 +18,7 @@ export {
 export {
   VIRTUAL_HAL_AXES,
   VIRTUAL_HAL_AXISUI_PINS,
+  VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES,
   VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS,
   VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES,
   applyVirtualHalAction,
@@ -25,6 +26,7 @@ export {
   cloneVirtualHalState,
   createLinuxCncVirtualHalRuntime,
   createVirtualHalCommandScriptFixtureReport,
+  createVirtualHalMotionControllerMatrixReport,
   createVirtualHalDroState,
   createVirtualHalIntegrityReport,
   createVirtualHalLimitsHomeState,

wasm-port/tests/browser/real_simulation_page_smoke.html

@@ -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") ||

wasm-port/tests/sdk/node/verify_project_release_artifact_url_workflow.mjs

@@ -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({

wasm-port/tests/sdk/node/verify_sdk_surface.mjs

@@ -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);