虚拟HAL完全满足Web数控仿真

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。

text17.txt

@@ -1033,3 +1033,83 @@ git diff --check ok
    做联动，使保存的 Web CNC 仿真会话可直接输出 release-ready diagnostics evidence。
 3. 将 ini-panel workflow overview 的 diagnostics URL workflow 接入固定页面表单/按钮，
    让用户可在页面上输入 release artifact URL 与 browser diagnostics URL 后直接运行验证。
+
+### 十一、2026-06-17 Motion Matrix Sim Config Source Evidence
+
+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 matrix 与 LinuxCNC `configs/sim` 证据建立显式关联，使 external-offsets、
+QtDragon multi-joint、vismach remap sims 的 source evidence 可在 SDK、browser
+diagnostics artifact 和 release validation 中被直接验证。
+
+新增实质能力：
+
+- `VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES` 新增 `simConfigTargets`：
+  - `x-single-axis-servo-dtg` 映射 `external-offsets`；
+  - `xyz-multi-axis-in-position` 映射 `qtdragon-on-abort`；
+  - `abc-rotary-feedback` 映射 `vismach-remap-sims`；
+- `createVirtualHalMotionControllerMatrixReport()` 新增：
+  - `simConfigTargets`；
+  - `simConfigEvidenceRows`；
+  - `simConfigSourceFiles`；
+  - `missingSimConfigTargets`；
+- motion matrix complete 判定现在同时要求：
+  - fixture 本身 motion/pin feedback 完整；
+  - fixture 映射的 LinuxCNC sim config source target 存在；
+  - `missingSimConfigTargets.length === 0`；
+- `createVirtualHalSourceComplianceReport()` 的 `sourceFiles` 汇总 now 包含 motion
+  matrix 关联的 sim config source files；
+- `createProjectReleaseBrowserDiagnosticsArtifactValidation()` 加严：
+  - 必须包含 `external-offsets`、`qtdragon-on-abort`、`vismach-remap-sims` targets；
+  - 必须包含 `dynamic_offsets.ini`、`qtdragon_xyyz.ini`、`puma.ini` 具体
+    LinuxCNC sim config source files；
+- SDK README 同步说明 motion controller matrix rows 已携带 LinuxCNC `configs/sim`
+  evidence。
+
+新增/扩展验证：
+
+- `verify_sdk_surface.mjs` 覆盖：
+  - matrix report 包含三个 sim config targets；
+  - matrix report 包含 external offsets、QtDragon multi-joint、vismach puma source
+    files；
+  - `missingSimConfigTargets.length === 0`；
+  - fixture row 与 sim config target 的映射存在；
+  - browser diagnostics artifact validation 的 source files 包含三类 sim config evidence；
+- `real_simulation_page_smoke.html` 覆盖：
+  - browser API `getVirtualHalMotionControllerMatrixReport()` 输出三类 sim config
+    targets；
+  - diagnostics/matrix 输出三类具体 LinuxCNC sim config source files；
+- release diagnostics validation 现在不能只靠 target 名称通过，必须携带具体 LinuxCNC
+  sim config source evidence。
+
+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
+git diff --check ok
+```
+
+语义边界：
+
+- 本批没有新增 G-code/interpreter/planner/kinematics/remap 语义；
+- external-offsets、QtDragon multi-joint、vismach remap sims 只作为 LinuxCNC-owned
+  sim config source evidence 映射到 virtual HAL motion matrix；
+- 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；
+- G-code/interpreter/planner/canonical motion 语义仍来自 LinuxCNC-backed WASM；
+- Web 方式数控系统仿真所需 HAL、halcmd、motion controller 替代层继续由
+  source-derived virtual HAL 满足。
+
+下一步工作内容：
+
+1. 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。
+2. 将 ini-panel workflow overview 的 diagnostics URL workflow 接入固定页面表单/按钮，
+   让用户可在页面上输入 release artifact URL 与 browser diagnostics URL 后直接运行验证。
+3. 为 motion matrix 增加 manifest-backed source check，把 matrix 关联的 sim config
+   source files 与 vendored LinuxCNC manifest 做显式一致性验证。

wasm-port/runtime/sdk/README.md

@@ -313,7 +313,9 @@ private page state.
   controller runtime. It supports HAL pin/signal/param storage, `setp`,
   `sets`, `newsig`, `net`, `show`, `getp`, `gets`, `loadrt`/`loadusr` stubs,
   `addf`, thread start/stop, and servo-period motion stepping for browser
-  simulation and Node dashboards.
+  simulation and Node dashboards. The motion controller matrix rows also carry
+  LinuxCNC `configs/sim` evidence for external offsets, QtDragon multi-joint,
+  and vismach remap simulation coverage.
 - `createVirtualHalSourceComplianceReport()` is the machine-readable gate for
   the virtual HAL source rule. It maps replacement targets, runtime
   capabilities, and HAL pin families back to LinuxCNC source files such as

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

@@ -496,6 +496,7 @@ export const VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES = Object.freeze([
       "axis.x.pos-cmd",
       "joint.0.pos-fb",
     ]),
+    simConfigTargets: Object.freeze(["external-offsets"]),
     expected: Object.freeze({
       moving: true,
       inPosition: false,
@@ -528,6 +529,7 @@ export const VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES = Object.freeze([
       "joint.1.pos-fb",
       "joint.2.pos-fb",
     ]),
+    simConfigTargets: Object.freeze(["qtdragon-on-abort"]),
     expected: Object.freeze({
       moving: false,
       inPosition: true,
@@ -558,6 +560,7 @@ export const VIRTUAL_HAL_MOTION_CONTROLLER_MATRIX_FIXTURES = Object.freeze([
       "joint.4.pos-fb",
       "joint.5.pos-fb",
     ]),
+    simConfigTargets: Object.freeze(["vismach-remap-sims"]),
     expected: Object.freeze({
       moving: false,
       inPosition: true,
@@ -2186,6 +2189,11 @@ function valuesClose(actual, expected, tolerance = 0.000001) {
   return Math.abs(Number(actual) - Number(expected)) <= tolerance;
 }
 
+function virtualHalSimConfigTargetsById(targetIds = []) {
+  const ids = new Set(targetIds);
+  return VIRTUAL_HAL_SIM_CONFIG_SOURCE_TARGETS.filter((target) => ids.has(target.id));
+}
+
 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);
@@ -2244,11 +2252,25 @@ export function createVirtualHalMotionControllerMatrixReport(options = {}) {
       distanceToGoMatched &&
       movingMatched &&
       axisFeedbackRows.every((row) => row.matched);
+    const simConfigEvidenceRows = virtualHalSimConfigTargetsById(fixture.simConfigTargets ?? [])
+      .map((target) => ({
+        id: target.id,
+        label: target.label,
+        sourceFiles: [...target.sourceFiles],
+        capabilities: [...target.capabilities],
+        evidence: target.evidence,
+      }));
+    const missingSimConfigTargets = (fixture.simConfigTargets ?? [])
+      .filter((targetId) => !simConfigEvidenceRows.some((target) => target.id === targetId));
     return {
       id: fixture.id,
       label: fixture.label,
       source: "linuxcnc-motion-source-derived-virtual-motion-controller",
       sourceFiles: [...(fixture.sourceFiles ?? [])],
+      simConfigTargets: [...(fixture.simConfigTargets ?? [])],
+      simConfigEvidenceRows,
+      simConfigSourceFiles: [...new Set(simConfigEvidenceRows.flatMap((target) => target.sourceFiles))],
+      missingSimConfigTargets,
       complete,
       target: { ...(fixture.target ?? {}) },
       initialPosition: { ...(fixture.initialPosition ?? {}) },
@@ -2269,7 +2291,8 @@ export function createVirtualHalMotionControllerMatrixReport(options = {}) {
     };
   });
   const missingFixtures = rows.filter((row) => !row.complete).map((row) => row.id);
-  const complete = rows.length > 0 && missingFixtures.length === 0;
+  const missingSimConfigTargets = rows.flatMap((row) => row.missingSimConfigTargets);
+  const complete = rows.length > 0 && missingFixtures.length === 0 && missingSimConfigTargets.length === 0;
   return {
     apiName: "linuxcnc-wasm-virtual-hal-motion-controller-matrix-report",
     matrixVersion: 1,
@@ -2278,13 +2301,17 @@ export function createVirtualHalMotionControllerMatrixReport(options = {}) {
     complete,
     webSimulationSatisfied: complete,
     sourceFiles: [...new Set(rows.flatMap((row) => row.sourceFiles))],
+    simConfigSourceFiles: [...new Set(rows.flatMap((row) => row.simConfigSourceFiles))],
+    simConfigTargets: [...new Set(rows.flatMap((row) => row.simConfigTargets))],
     requiredPins: [...new Set(fixtures.flatMap((fixture) => fixture.requiredPins ?? []))],
     fixtureCount: rows.length,
     missingFixtures,
+    missingSimConfigTargets,
     rows,
     summaryRows: [
       { id: "fixtures", label: "Motion matrix fixtures", value: `${rows.length}` },
       { id: "source", label: "LinuxCNC motion source", value: complete ? "source-derived" : "incomplete" },
+      { id: "sim-config-source", label: "LinuxCNC sim config source", value: missingSimConfigTargets.length === 0 ? "source-derived" : `missing ${missingSimConfigTargets.length}` },
       { id: "servo-period", label: "Servo period stepping", value: complete ? "covered" : "blocked" },
       { id: "axis-joint-feedback", label: "Axis/joint feedback", value: complete ? "covered" : "blocked" },
     ],
@@ -2526,6 +2553,7 @@ export function createVirtualHalSourceComplianceReport(options = {}) {
       ...simConfigSourceCoverage.sourceFiles,
       ...commandScriptFixtures.sourceFiles,
       ...motionControllerMatrix.sourceFiles,
+      ...motionControllerMatrix.simConfigSourceFiles,
     ])],
     missingCapabilitySources,
     missingFamilySources,

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

@@ -121,7 +121,13 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
     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");
+    arrayOrEmpty(motionControllerMatrix.sourceFiles).includes("linuxcnc/src/emc/motion/axis.c") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigTargets).includes("external-offsets") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigTargets).includes("qtdragon-on-abort") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigTargets).includes("vismach-remap-sims") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigSourceFiles).includes("linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigSourceFiles).includes("linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini") &&
+    arrayOrEmpty(motionControllerMatrix.simConfigSourceFiles).includes("linuxcnc/configs/sim/axis/vismach/puma/puma.ini");
   const replacementReady = replacement.ready === true &&
     replacement.replacesHostRuntimeForSimulation === true &&
     objectOrEmpty(replacement.sourceCompliance).webSimulationSatisfied === true &&
@@ -154,6 +160,7 @@ export function createProjectReleaseBrowserDiagnosticsArtifactValidation(artifac
       ...arrayOrEmpty(simConfigSourceCoverage.sourceFiles),
       ...arrayOrEmpty(commandScriptFixtures.sourceFiles),
       ...arrayOrEmpty(motionControllerMatrix.sourceFiles),
+      ...arrayOrEmpty(motionControllerMatrix.simConfigSourceFiles),
     ])],
     rows: [
       {

wasm-port/tests/browser/real_simulation_page_smoke.html

@@ -802,6 +802,12 @@
         !motionControllerMatrix.requiredPins.includes("motion.distance-to-go") ||
         !motionControllerMatrix.requiredPins.includes("motion.in-position") ||
         !motionControllerMatrix.sourceFiles.includes("linuxcnc/src/emc/motion/axis.c") ||
+        !motionControllerMatrix.simConfigTargets.includes("external-offsets") ||
+        !motionControllerMatrix.simConfigTargets.includes("qtdragon-on-abort") ||
+        !motionControllerMatrix.simConfigTargets.includes("vismach-remap-sims") ||
+        !motionControllerMatrix.simConfigSourceFiles.includes("linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini") ||
+        !motionControllerMatrix.simConfigSourceFiles.includes("linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini") ||
+        !motionControllerMatrix.simConfigSourceFiles.includes("linuxcnc/configs/sim/axis/vismach/puma/puma.ini") ||
         !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)}`);

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

@@ -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);