完善虚拟HAL仿真替代能力

2026-06-17 19:45:51 +08:00
parent 656cddf73a
commit a4d449ad48
17 changed files with 5005 additions and 302 deletions
--- a/wasm-port/tests/sdk/node/verify_sdk_surface.mjs
+++ b/wasm-port/tests/sdk/node/verify_sdk_surface.mjs
@@ -32,8 +32,21 @@ import {
  createIniPanelShellWorkflowOverviewReleaseReadinessArtifactUrlWorkflowSummaryViewModel,
  createIniPanelShellWorkflowOverviewReleaseReadinessArtifactValidationActionPlan,
  createIniPanelShellWorkflowOverviewReleaseReadinessArtifactValidationSummaryViewModel,
+  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,
+  applyVirtualHalAction,
+  applyVirtualHalPinUpdates,
+  applyVirtualHalToInterpSdk,
+  createVirtualHalSimulationRuntimeReport,
  createLinuxCncIniSdk,
  createLinuxCncInterpSdk,
+  createLinuxCncVirtualHalRuntime,
+  createVirtualHalIntegrityReport,
  createMachineSessionSnapshotPayload,
  createMachineSessionPersistenceDisplayViewModel,
  createMachineSessionPersistenceRenderState,
@@ -63,6 +76,21 @@ import {
  createProjectReleaseReadinessArtifactValidationSummaryViewModel,
  createProjectReleaseReadinessReport,
  createProjectReleaseReadinessSummaryViewModel,
+  createVirtualHalBridgeActionPlan,
+  createVirtualHalBridgeReadiness,
+  createVirtualHalPinInventory,
+  createVirtualHalPinRegistry,
+  createVirtualHalProjectReport,
+  createVirtualHalSimulationReplacementReport,
+  createVirtualHalState,
+  createVirtualHalSystemCoverageReport,
+  createVirtualHalWasmBridgeSnapshot,
+  executeVirtualHalCommand,
+  executeVirtualHalcmd,
+  readVirtualHalPin,
+  stepVirtualHalMotionController,
+  stepVirtualHalMotion,
+  writeVirtualHalPin,
  parseProjectReleaseReadinessArtifactJson,
  createSessionSnapshot,
  defaultMachinePaths,
@@ -186,6 +214,27 @@ const requiredExports = [
  ],
  ["createProjectReleaseReadinessReport", createProjectReleaseReadinessReport],
  ["createProjectReleaseReadinessSummaryViewModel", createProjectReleaseReadinessSummaryViewModel],
+  ["applyVirtualHalAction", applyVirtualHalAction],
+  ["applyVirtualHalPinUpdates", applyVirtualHalPinUpdates],
+  ["applyVirtualHalToInterpSdk", applyVirtualHalToInterpSdk],
+  ["createLinuxCncVirtualHalRuntime", createLinuxCncVirtualHalRuntime],
+  ["createVirtualHalBridgeActionPlan", createVirtualHalBridgeActionPlan],
+  ["createVirtualHalBridgeReadiness", createVirtualHalBridgeReadiness],
+  ["createVirtualHalIntegrityReport", createVirtualHalIntegrityReport],
+  ["createVirtualHalPinInventory", createVirtualHalPinInventory],
+  ["createVirtualHalPinRegistry", createVirtualHalPinRegistry],
+  ["createVirtualHalProjectReport", createVirtualHalProjectReport],
+  ["createVirtualHalSimulationReplacementReport", createVirtualHalSimulationReplacementReport],
+  ["createVirtualHalSimulationRuntimeReport", createVirtualHalSimulationRuntimeReport],
+  ["createVirtualHalState", createVirtualHalState],
+  ["createVirtualHalSystemCoverageReport", createVirtualHalSystemCoverageReport],
+  ["createVirtualHalWasmBridgeSnapshot", createVirtualHalWasmBridgeSnapshot],
+  ["executeVirtualHalCommand", executeVirtualHalCommand],
+  ["executeVirtualHalcmd", executeVirtualHalcmd],
+  ["readVirtualHalPin", readVirtualHalPin],
+  ["stepVirtualHalMotionController", stepVirtualHalMotionController],
+  ["stepVirtualHalMotion", stepVirtualHalMotion],
+  ["writeVirtualHalPin", writeVirtualHalPin],
  ["parseProjectReleaseReadinessArtifactJson", parseProjectReleaseReadinessArtifactJson],
  [
    "validateIniPanelShellWorkflowOverviewReleaseReadinessArtifactJson",
@@ -411,6 +460,202 @@ for (const [name, value] of requiredExports) {
  assert.match(sdkReadmeText, new RegExp(`\\b${name}\\b`));
 }

+assert.equal(VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS.includes("lcinterp_hal_set_value"), true);
+assert.equal(VIRTUAL_HAL_PROJECT_PIN_GROUPS.some(({ id }) => id === "axisui"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES.includes("halcmd-setp-sets-net-show-getp-gets"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES.includes("realtime-hal-simulation-replacement"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES.includes("motion-controller-simulation-replacement"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS.includes("linuxcnc-realtime-hal"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS.includes("halcmd"), true);
+assert.equal(VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS.includes("motion-controller"), true);
+assert.equal(VIRTUAL_HAL_COVERAGE_STATES.runtimeBoundary, "runtime-boundary");
+assert.equal(VIRTUAL_HAL_SOURCE_FILES.halui, "linuxcnc/src/emc/usr_intf/halui.cc");
+assert.equal(VIRTUAL_HAL_SYSTEM_PIN_FAMILIES.some(({ id }) => id === "iocontrol"), true);
+assert.equal(VIRTUAL_HAL_SYSTEM_PIN_FAMILIES.some(({ id }) => id === "motion-core"), true);
+assert.match(sdkIndexText, /\bVIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS\b/);
+assert.match(sdkReadmeText, /\bVIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS\b/);
+assert.match(sdkIndexText, /\bVIRTUAL_HAL_PROJECT_PIN_GROUPS\b/);
+assert.match(sdkReadmeText, /\bVIRTUAL_HAL_PROJECT_PIN_GROUPS\b/);
+assert.match(sdkIndexText, /\bVIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES\b/);
+assert.match(sdkReadmeText, /\bVIRTUAL_HAL_SIMULATION_RUNTIME_CAPABILITIES\b/);
+assert.match(sdkIndexText, /\bVIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS\b/);
+assert.match(sdkReadmeText, /\bVIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS\b/);
+assert.match(sdkIndexText, /\bVIRTUAL_HAL_SYSTEM_PIN_FAMILIES\b/);
+assert.match(sdkReadmeText, /\bVIRTUAL_HAL_SYSTEM_PIN_FAMILIES\b/);
+assert.match(sdkIndexText, /\bexecuteVirtualHalCommand\b/);
+assert.match(sdkReadmeText, /\bexecuteVirtualHalCommand\b/);
+assert.match(sdkIndexText, /\bexecuteVirtualHalcmd\b/);
+assert.match(sdkReadmeText, /\bexecuteVirtualHalcmd\b/);
+assert.match(sdkIndexText, /\bstepVirtualHalMotion\b/);
+assert.match(sdkReadmeText, /\bstepVirtualHalMotion\b/);
+assert.match(sdkIndexText, /\bstepVirtualHalMotionController\b/);
+assert.match(sdkReadmeText, /\bstepVirtualHalMotionController\b/);
+assert.match(sdkIndexText, /\bcreateVirtualHalSimulationRuntimeReport\b/);
+assert.match(sdkReadmeText, /\bcreateVirtualHalSimulationRuntimeReport\b/);
+assert.match(sdkIndexText, /\bcreateVirtualHalSimulationReplacementReport\b/);
+assert.match(sdkReadmeText, /\bcreateVirtualHalSimulationReplacementReport\b/);
+assert.match(sdkIndexText, /\bcreateVirtualHalSystemCoverageReport\b/);
+assert.match(sdkReadmeText, /\bcreateVirtualHalSystemCoverageReport\b/);
+assert.match(sdkIndexText, /\bcreateVirtualHalPinRegistry\b/);
+assert.match(sdkReadmeText, /\bcreateVirtualHalPinRegistry\b/);
+assert.match(sdkIndexText, /\bcreateVirtualHalIntegrityReport\b/);
+assert.match(sdkReadmeText, /\bcreateVirtualHalIntegrityReport\b/);
+assert.match(sdkIndexText, /\breadVirtualHalPin\b/);
+assert.match(sdkReadmeText, /\breadVirtualHalPin\b/);
+assert.match(sdkIndexText, /\bwriteVirtualHalPin\b/);
+assert.match(sdkReadmeText, /\bwriteVirtualHalPin\b/);
+
+let sdkVirtualHal = createVirtualHalState();
+sdkVirtualHal = applyVirtualHalAction(sdkVirtualHal, "estop");
+sdkVirtualHal = applyVirtualHalAction(sdkVirtualHal, "power");
+sdkVirtualHal = applyVirtualHalAction(sdkVirtualHal, "jog", { axis: "x", increment: "0.01 in", direction: 1 });
+sdkVirtualHal = writeVirtualHalPin(sdkVirtualHal, { name: "spindle.0.speed-out", type: "HAL_FLOAT", value: 1800 });
+sdkVirtualHal = writeVirtualHalPin(sdkVirtualHal, { name: "motion.tooloffset.z", type: "HAL_FLOAT", value: 2.5 });
+sdkVirtualHal = applyVirtualHalPinUpdates(sdkVirtualHal, [
+  { name: "halui.tool.number", type: "HAL_U32", value: 7 },
+  { name: "halui.feed-override.value", type: "HAL_FLOAT", value: 0.8 },
+]);
+assert.equal(readVirtualHalPin(sdkVirtualHal, "spindle.0.speed-out").value, 1800);
+assert.equal(readVirtualHalPin(sdkVirtualHal, "motion.tooloffset.z").value, 2.5);
+assert.equal(readVirtualHalPin(sdkVirtualHal, "halui.tool.number").value, 7);
+assert.equal(sdkVirtualHal.overrides.feed, 80);
+const virtualHalSnapshot = createVirtualHalWasmBridgeSnapshot(sdkVirtualHal);
+assert.equal(virtualHalSnapshot.apiName, "linuxcnc-wasm-virtual-hal-bridge-snapshot");
+assert.ok(virtualHalSnapshot.values.some(({ name }) => name === "axisui.jog.x"));
+assert.ok(virtualHalSnapshot.values.some(({ name, value }) => name === "spindle.0.speed-out" && value === 1800));
+assert.ok(virtualHalSnapshot.values.some(({ name, value }) => name === "motion.tooloffset.z" && value === 2.5));
+const virtualHalRegistry = createVirtualHalPinRegistry(sdkVirtualHal);
+assert.equal(virtualHalRegistry.apiName, "linuxcnc-wasm-virtual-hal-pin-registry");
+assert.equal(virtualHalRegistry.byName["spindle.0.speed-out"].value, 1800);
+assert.equal(virtualHalRegistry.byName["motion.tooloffset.z"].value, 2.5);
+assert.equal(virtualHalRegistry.byName["halui.tool.number"].value, 7);
+assert.equal(virtualHalRegistry.rows.some(({ name, writable }) => name === "halui.machine.on" && writable === true), true);
+const virtualHalIntegrity = createVirtualHalIntegrityReport({ halState: sdkVirtualHal, registry: virtualHalRegistry });
+assert.equal(virtualHalIntegrity.apiName, "linuxcnc-wasm-virtual-hal-integrity-report");
+assert.equal(virtualHalIntegrity.complete, true);
+assert.equal(virtualHalIntegrity.missingPins.length, 0);
+const virtualHalInventory = createVirtualHalPinInventory(sdkVirtualHal);
+assert.equal(virtualHalInventory.apiName, "linuxcnc-wasm-virtual-hal-pin-inventory");
+assert.equal(virtualHalInventory.groups.some(({ id, pinCount }) => id === "axisui" && pinCount > 0), true);
+assert.equal(virtualHalInventory.groups.some(({ id, pinCount }) => id === "axis-motion" && pinCount > 0), true);
+assert.equal(virtualHalInventory.groups.some(({ id, pinCount }) => id === "tool" && pinCount > 0), true);
+const virtualHalSystemCoverage = createVirtualHalSystemCoverageReport({ snapshot: virtualHalSnapshot });
+assert.equal(virtualHalSystemCoverage.apiName, "linuxcnc-wasm-virtual-hal-system-coverage-report");
+assert.equal(virtualHalSystemCoverage.complete, true);
+assert.equal(virtualHalSystemCoverage.realtimeHalRuntime, false);
+assert.equal(virtualHalSystemCoverage.sourceFiles.includes("linuxcnc/bin/axis"), true);
+assert.equal(virtualHalSystemCoverage.sourceFiles.includes("linuxcnc/src/emc/usr_intf/halui.cc"), true);
+assert.equal(virtualHalSystemCoverage.sourceFiles.includes("linuxcnc/src/emc/task/taskclass.cc"), true);
+assert.equal(virtualHalSystemCoverage.sourceFiles.includes("linuxcnc/src/emc/motion/motion.c"), true);
+assert.equal(virtualHalSystemCoverage.families.some(({ id, coverage }) => id === "motion-core" && coverage === "runtime-boundary"), true);
+assert.equal(virtualHalSystemCoverage.boundaryRows.some(({ id }) => id === "halui-task"), true);
+const virtualHalBlockedReadiness = createVirtualHalBridgeReadiness({ snapshot: virtualHalSnapshot });
+assert.equal(virtualHalBlockedReadiness.ready, false);
+assert.equal(virtualHalBlockedReadiness.missing.includes("wasm-function-evidence"), true);
+const virtualHalReadyReadiness = createVirtualHalBridgeReadiness({
+  snapshot: virtualHalSnapshot,
+  availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS,
+});
+assert.equal(virtualHalReadyReadiness.ready, true);
+assert.equal(createVirtualHalBridgeActionPlan(virtualHalReadyReadiness).nextCommand, null);
+const virtualHalReport = createVirtualHalProjectReport({
+  halState: sdkVirtualHal,
+  availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS,
+});
+assert.equal(virtualHalReport.apiName, "linuxcnc-wasm-virtual-hal-project-report");
+assert.equal(virtualHalReport.ready, true);
+assert.equal(virtualHalReport.pinInventory.pinCount, virtualHalReport.wasmBridgeSnapshot.values.length);
+assert.equal(virtualHalReport.systemCoverage.phase, "covered-with-runtime-boundaries");
+assert.equal(virtualHalReport.systemCoverage.unclassifiedSnapshotPins.length, 0);
+assert.equal(virtualHalReport.pinRegistry.byName["spindle.0.speed-out"].value, 1800);
+assert.equal(virtualHalReport.integrity.complete, true);
+const virtualHalRuntime = createLinuxCncVirtualHalRuntime(sdkVirtualHal);
+assert.equal(virtualHalRuntime.getProjectReport({ availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS }).ready, true);
+const virtualHalcmdResult = virtualHalRuntime.executeHalCommand(`
+loadrt trivkins
+addf motion-controller servo-thread
+net x-pos axis.x.pos-cmd joint.0.pos-fb
+setp axis.x.pos-cmd 2.5
+sets x-pos 1.25
+show pin axis.x.*
+motion-step x=2.0
+`);
+assert.equal(virtualHalcmdResult.apiName, "linuxcnc-wasm-virtual-halcmd-result");
+assert.equal(virtualHalcmdResult.ok, true);
+assert.equal(virtualHalcmdResult.rows.some(({ action }) => action === "net"), true);
+assert.equal(virtualHalRuntime.getState().hal.signals["x-pos"].value, 1.25);
+assert.equal(virtualHalRuntime.getState().hal.nets["x-pos"].includes("axis.x.pos-cmd"), true);
+assert.equal(virtualHalRuntime.getState().hal.loadedComponents.some(({ component }) => component === "trivkins"), true);
+assert.equal(virtualHalRuntime.getState().hal.functions.some(({ name }) => name === "motion-controller"), true);
+assert.ok(virtualHalRuntime.getState().position.x > 1.25);
+const directHalcmdResult = executeVirtualHalCommand(virtualHalRuntime.getState(), "getp axis.x.pos-cmd\ngets x-pos");
+assert.equal(directHalcmdResult.ok, true);
+assert.match(directHalcmdResult.output, /axis\.x\.pos-cmd/);
+assert.match(directHalcmdResult.output, /x-pos/);
+const directHalcmdAliasResult = executeVirtualHalcmd(virtualHalRuntime.getState(), "setp halui.machine.on 1\nshow pin halui.machine.*");
+assert.equal(directHalcmdAliasResult.ok, true);
+assert.equal(directHalcmdAliasResult.apiName, "linuxcnc-wasm-virtual-halcmd-result");
+assert.match(directHalcmdAliasResult.output, /halui\.machine\.is-on/);
+const steppedVirtualHal = stepVirtualHalMotion(virtualHalRuntime.getState(), {
+  target: { x: 3 },
+  maxVelocity: 10,
+  dt: 0.1,
+});
+assert.ok(steppedVirtualHal.position.x > virtualHalRuntime.getState().position.x);
+const motionControllerStep = stepVirtualHalMotionController(virtualHalRuntime.getState(), {
+  target: { x: 4 },
+  maxVelocity: 10,
+  dt: 0.1,
+  cycleCount: 3,
+});
+assert.equal(motionControllerStep.apiName, "linuxcnc-wasm-virtual-motion-controller-step");
+assert.equal(motionControllerStep.ok, true);
+assert.ok(motionControllerStep.cycleCount >= 1);
+assert.ok(motionControllerStep.state.position.x > virtualHalRuntime.getState().position.x);
+const simulationRuntimeReport = virtualHalRuntime.getSimulationRuntimeReport();
+assert.equal(simulationRuntimeReport.apiName, "linuxcnc-wasm-virtual-hal-simulation-runtime-report");
+assert.equal(simulationRuntimeReport.replacesHostRuntimeForSimulation, true);
+assert.deepEqual(simulationRuntimeReport.replacementTargets, VIRTUAL_HAL_SIMULATION_REPLACEMENT_TARGETS);
+assert.equal(simulationRuntimeReport.hardRealtime, false);
+assert.deepEqual(simulationRuntimeReport.hostRequirements, []);
+assert.equal(simulationRuntimeReport.capabilities.includes("servo-period-motion-step"), true);
+assert.equal(createVirtualHalSimulationRuntimeReport(virtualHalRuntime.getState()).ready, true);
+const runtimeMotionControllerStep = virtualHalRuntime.stepMotionController({
+  target: { x: 4.5 },
+  maxVelocity: 20,
+  dt: 0.1,
+  cycleCount: 2,
+});
+assert.equal(runtimeMotionControllerStep.apiName, "linuxcnc-wasm-virtual-motion-controller-step");
+assert.ok(virtualHalRuntime.getState().position.x > motionControllerStep.state.position.x);
+const replacementReport = createVirtualHalSimulationReplacementReport(virtualHalRuntime.getState());
+assert.equal(replacementReport.apiName, "linuxcnc-wasm-virtual-hal-simulation-replacement-report");
+assert.equal(replacementReport.ready, true);
+assert.equal(replacementReport.replacesHostRuntimeForSimulation, true);
+assert.equal(replacementReport.replacements["linuxcnc-realtime-hal"].ready, true);
+assert.equal(replacementReport.replacements.halcmd.ready, true);
+assert.equal(replacementReport.replacements["motion-controller"].ready, true);
+assert.equal(replacementReport.hardRealtime, false);
+assert.equal(virtualHalRuntime.getSimulationReplacementReport().ready, true);
+const runtimeProjectReport = virtualHalRuntime.getProjectReport({ availableFunctions: VIRTUAL_HAL_WASM_BRIDGE_FUNCTIONS });
+assert.equal(runtimeProjectReport.simulationRuntime.replacesHostRuntimeForSimulation, true);
+assert.equal(runtimeProjectReport.systemCoverage.unclassifiedSnapshotPins.length, 0);
+const fakeInterpApplyResult = applyVirtualHalToInterpSdk(
+  {
+    applyVirtualHalSnapshot(snapshot, options) {
+      return {
+        apiName: "fake-virtual-hal-apply-result",
+        applied: snapshot.values.length,
+        reset: options.reset !== false,
+      };
+    },
+  },
+  sdkVirtualHal,
+  { reset: false },
+);
+assert.equal(fakeInterpApplyResult.apiName, "fake-virtual-hal-apply-result");
+assert.equal(fakeInterpApplyResult.reset, false);
+
 assert.equal(machineIniPath("sdk-mill"), "linuxcnc/machines/sdk-mill/machine.ini");
 assert.deepEqual(defaultMachinePaths("sdk-mill"), machineFilePaths("sdk-mill"));
 assert.equal(gcodeProgramPath("demo.ngc"), "linuxcnc/gcode/demo.ngc");