完善虚拟HAL仿真替代能力

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

@@ -1,5 +1,42 @@
 export { createLinuxCncIniSdk } from "./linuxcnc-ini.js";
 export { createLinuxCncInterpSdk } from "./linuxcnc-interp.js";
+export {
+  VIRTUAL_HAL_AXES,
+  VIRTUAL_HAL_AXISUI_PINS,
+  VIRTUAL_HAL_COVERAGE_STATES,
+  VIRTUAL_HAL_PROJECT_PIN_GROUPS,
+  VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS,
+  VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES,
+  VIRTUAL_HAL_SOURCE_FILES,
+  VIRTUAL_HAL_SYSTEM_PIN_FAMILIES,
+  VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS,
+  applyVirtualHalToInterpSdk,
+  applyVirtualHalAction,
+  applyVirtualHalPinUpdates,
+  cloneVirtualHalState,
+  createLinuxCncVirtualHalRuntime,
+  createVirtualHalBridgeActionPlan,
+  createVirtualHalBridgeReadiness,
+  createVirtualHalDroState,
+  createVirtualHalLimitsHomeState,
+  createVirtualHalMachineStatusState,
+  createVirtualHalIntegrityReport,
+  createVirtualHalPinInventory,
+  createVirtualHalPinRegistry,
+  createVirtualHalProjectReport,
+  createVirtualHalSimulationReplacementReport,
+  createVirtualHalSimulationRuntimeReport,
+  createVirtualHalState,
+  createVirtualHalSystemCoverageReport,
+  createVirtualHalWasmBridgeSnapshot,
+  executeVirtualHalCommand,
+  executeVirtualHalcmd,
+  parseVirtualHalJogIncrement,
+  readVirtualHalPin,
+  stepVirtualHalMotionController,
+  stepVirtualHalMotion,
+  writeVirtualHalPin,
+} from "./linuxcnc-hal.js";
 export {
   createProjectBatchAcceptanceActionPlan,
   createProjectBatchAcceptanceCapabilityMatrix,

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

@@ -1,4 +1,5 @@
 import createLinuxCncInterpModule from "../../../build/wasm/core/linuxcnc_interp.js";
+import { createVirtualHalWasmBridgeSnapshot } from "./linuxcnc-hal.js";
 
 function allocCString(mod, value) {
   const bytes = mod.lengthBytesUTF8(value) + 1;
@@ -43,12 +44,36 @@ function callStringResult(mod, functionName, ...values) {
   }
 }
 
+function requireWasmFunction(mod, functionName) {
+  const fn = mod[`_${functionName}`];
+  if (typeof fn !== "function") {
+    throw new Error(`linuxcnc interpreter WASM missing ${functionName}; rebuild wasm-port/tools/build_wasm_core.sh`);
+  }
+  return fn;
+}
+
+function callVoidWithStringsAndNumbers(mod, functionName, strings, numbers = []) {
+  const fn = requireWasmFunction(mod, functionName);
+  const ptrs = strings.map((value) => allocCString(mod, value));
+  try {
+    return fn(...ptrs, ...numbers);
+  } finally {
+    for (const ptr of ptrs) {
+      mod._free(ptr);
+    }
+  }
+}
+
 export async function createLinuxCncInterpSdk(moduleOptions = {}) {
   const mod = await createLinuxCncInterpModule(moduleOptions);
 
   return {
     module: mod,
 
+    hasWasmFunction(functionName) {
+      return typeof mod[`_${functionName}`] === "function";
+    },
+
     writeTextFile(path, text) {
       ensureParentPath(mod, path);
       mod.FS.writeFile(path, text, { encoding: "utf8" });
@@ -160,5 +185,44 @@ export async function createLinuxCncInterpSdk(moduleOptions = {}) {
     probeNamedParameters(iniPath) {
       return callStringResult(mod, "lcinterp_probe_named_parameters", iniPath);
     },
+
+    resetHal() {
+      requireWasmFunction(mod, "lcinterp_hal_reset")();
+    },
+
+    setHalValue({ kind = "pin", name, type = "HAL_FLOAT", value = 0, connected = true }) {
+      if (!name) {
+        throw new Error("setHalValue requires a HAL name");
+      }
+      return callVoidWithStringsAndNumbers(
+        mod,
+        "lcinterp_hal_set_value",
+        [kind, name, type],
+        [Number(value) || 0, connected === false ? 0 : 1],
+      );
+    },
+
+    applyVirtualHalSnapshot(snapshot, options = {}) {
+      if (options.reset !== false) {
+        this.resetHal();
+      }
+      for (const value of snapshot?.values ?? []) {
+        this.setHalValue(value);
+      }
+      return {
+        apiName: "linuxcnc-wasm-hal-apply-result",
+        applied: snapshot?.values?.length ?? 0,
+        reset: options.reset !== false,
+        source: snapshot?.source ?? "unknown",
+      };
+    },
+
+    applyVirtualHalState(halState, options = {}) {
+      return this.applyVirtualHalSnapshot(createVirtualHalWasmBridgeSnapshot(halState), options);
+    },
+
+    probeHalNamed(name) {
+      return callStringResult(mod, "lcinterp_probe_hal_named", name);
+    },
   };
 }