完善虚拟HAL仿真替代能力

wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_interp_wasm.cpp

@@ -550,6 +550,82 @@ char *load_tool_table_with_mode(const char *path, bool random_tool_changer)
     return copy_result(output.str());
 }
 
+standalone::HalValueKind hal_value_kind_from_name(const char *kind)
+{
+    const std::string value = kind ? kind : "";
+    if (value == "signal") {
+        return standalone::HalValueKind::Signal;
+    }
+    if (value == "param") {
+        return standalone::HalValueKind::Param;
+    }
+    return standalone::HalValueKind::Pin;
+}
+
+hal_type_t hal_type_from_name(const char *type)
+{
+    const std::string value = type ? type : "";
+    if (value == "HAL_BIT") {
+        return HAL_BIT;
+    }
+    if (value == "HAL_S32") {
+        return HAL_S32;
+    }
+    if (value == "HAL_U32") {
+        return HAL_U32;
+    }
+    if (value == "HAL_S64") {
+        return HAL_S64;
+    }
+    if (value == "HAL_U64") {
+        return HAL_U64;
+    }
+    return HAL_FLOAT;
+}
+
+hal_data_u hal_data_from_double(hal_type_t type, double value)
+{
+    hal_data_u data{};
+    switch (type) {
+    case HAL_BIT:
+        data.b = value != 0.0;
+        break;
+    case HAL_S32:
+        data.s = static_cast<int>(value);
+        break;
+    case HAL_U32:
+        data.u = static_cast<unsigned int>(value);
+        break;
+    case HAL_S64:
+        data.ls = static_cast<long long>(value);
+        break;
+    case HAL_U64:
+        data.lu = static_cast<unsigned long long>(value);
+        break;
+    case HAL_FLOAT:
+    default:
+        data.f = value;
+        break;
+    }
+    return data;
+}
+
+void initialize_hal_probe_interp(Interp &interp)
+{
+    interp._setup.length_units = CANON_UNITS_MM;
+    interp._setup.distance_mode = DISTANCE_MODE::ABSOLUTE;
+    interp._setup.ijk_distance_mode = DISTANCE_MODE::INCREMENTAL;
+    interp._setup.feed_mode = FEED_MODE::UNITS_PER_MINUTE;
+    interp._setup.plane = CANON_PLANE::XY;
+    interp._setup.motion_mode = G_0;
+    interp._setup.percent_flag = false;
+    interp._setup.sequence_number = 0;
+    interp._setup.parameter_occurrence = 0;
+    interp._setup.num_spindles = 1;
+    interp._setup.feature_set = FEATURE_HAL_PIN_VARS;
+    interp.init_named_parameters();
+}
+
 }  // namespace
 
 extern "C" {
@@ -1201,6 +1277,39 @@ char *lcinterp_probe_named_parameters(const char *ini_path)
     return copy_result(output.str());
 }
 
+EMSCRIPTEN_KEEPALIVE
+void lcinterp_hal_reset()
+{
+    standalone::reset_hal_adapter();
+}
+
+EMSCRIPTEN_KEEPALIVE
+int lcinterp_hal_set_value(const char *kind, const char *name, const char *type,
+                           double value, int connected)
+{
+    if (!name || name[0] == '\0') {
+        return -1;
+    }
+    const hal_type_t resolved_type = hal_type_from_name(type);
+    standalone::set_hal_value(
+        hal_value_kind_from_name(kind),
+        name,
+        resolved_type,
+        hal_data_from_double(resolved_type, value),
+        connected != 0);
+    return 0;
+}
+
+EMSCRIPTEN_KEEPALIVE
+char *lcinterp_probe_hal_named(const char *name)
+{
+    Interp interp;
+    initialize_hal_probe_interp(interp);
+    std::ostringstream output;
+    append_named_value(output, interp, name ? name : "_hal[missing]");
+    return copy_result(output.str());
+}
+
 EMSCRIPTEN_KEEPALIVE
 void lcinterp_free_string(char *value)
 {