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虚拟HAL完全满足Web数控仿真

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结论：motion controller matrix 已显式关联 external-offsets、QtDragon multi-joint、vismach remap sims 的 LinuxCNC configs/sim source evidence，并纳入 SDK、browser diagnostics artifact 与 release validation；虚拟 HAL 仍只作为 Web 仿真替代层，不声明 Linux kernel hard-realtime ABI、外部硬件驱动 ABI 或 native HAL module ABI。
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wangdequan
2026-06-17 23:00:25 +08:00
parent 71c60d0ea9
commit 7449ff7f4e
6 changed files with 137 additions and 3 deletions
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11
wasm-port/tests/sdk/node/verify_sdk_surface.mjs
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@@ -661,7 +661,15 @@ assert.equal(motionControllerMatrixReport.sourceFiles.includes("linuxcnc/src/emc
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.simConfigTargets.includes("external-offsets"), true);
assert.equal(motionControllerMatrixReport.simConfigTargets.includes("qtdragon-on-abort"), true);
assert.equal(motionControllerMatrixReport.simConfigTargets.includes("vismach-remap-sims"), true);
assert.equal(motionControllerMatrixReport.simConfigSourceFiles.includes("linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini"), true);
assert.equal(motionControllerMatrixReport.simConfigSourceFiles.includes("linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini"), true);
assert.equal(motionControllerMatrixReport.simConfigSourceFiles.includes("linuxcnc/configs/sim/axis/vismach/puma/puma.ini"), true);
assert.equal(motionControllerMatrixReport.missingSimConfigTargets.length, 0);
assert.equal(motionControllerMatrixReport.rows.some(({ id, inPosition }) => id === "xyz-multi-axis-in-position" && inPosition === true), true);
assert.equal(motionControllerMatrixReport.rows.some(({ id, simConfigTargets }) => id === "x-single-axis-servo-dtg" && simConfigTargets.includes("external-offsets")), true);
assert.equal(motionControllerMatrixReport.rows.every(({ axisFeedbackRows }) => axisFeedbackRows.every(({ matched }) => matched)), true);
assert.equal(virtualHalRuntime.getMotionControllerMatrixReport().complete, true);
const steppedVirtualHal = stepVirtualHalMotion(virtualHalRuntime.getState(), {
@@ -777,6 +785,9 @@ assert.equal(browserDiagnosticsArtifactValidation.commandScriptFixturesReady, tr
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);
assert.equal(browserDiagnosticsArtifactValidation.sourceFiles.includes("linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini"), true);
assert.equal(browserDiagnosticsArtifactValidation.sourceFiles.includes("linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini"), true);
assert.equal(browserDiagnosticsArtifactValidation.sourceFiles.includes("linuxcnc/configs/sim/axis/vismach/puma/puma.ini"), true);
const runtimeProjectReport = virtualHalRuntime.getProjectReport({ availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS });
assert.equal(runtimeProjectReport.simulationRuntime.replacesHostRuntimeForSimulation, true);
assert.equal(runtimeProjectReport.systemCoverage.unclassifiedSnapshotPins.length, 0);