完善虚拟HAL仿真替代能力

wasm-port/tests/ui/node/verify_real_simulation_programs.mjs

@@ -21,6 +21,23 @@ import {
   runRealBrowserSimulation,
   zoomToolpathViewBox,
 } from "../../../runtime/ui/simulation/simulation-app.js";
+import {
+  VIRTUAL_HAL_AXISUI_PINS,
+  applyVirtualHalAction,
+  applyVirtualHalPinUpdates,
+  createLinuxCncInterpSdk,
+  createLinuxCncVirtualHalRuntime,
+  createVirtualHalDroState,
+  createVirtualHalIntegrityReport,
+  createVirtualHalLimitsHomeState,
+  createVirtualHalMachineStatusState,
+  createVirtualHalPinRegistry,
+  createVirtualHalState,
+  createVirtualHalWasmBridgeSnapshot,
+  parseVirtualHalJogIncrement,
+  readVirtualHalPin,
+  writeVirtualHalPin,
+} from "../../../runtime/sdk/src/index.js";
 import {
   SIMULATION_TEST_PROGRAMS as directoryPrograms,
 } from "../../../runtime/ui/simulation/programs/index.js";
@@ -56,6 +73,62 @@ const ids = new Set(programs.map(({ id }) => id));
 assert.equal(ids.size, programs.length, "program ids should be unique");
 assert.ok(ids.has("arc-g2-g3"), "program inventory should include an arc fixture");
 assert.ok(ids.has("drill-g81"), "program inventory should include a canned-cycle fixture");
+assert.equal(VIRTUAL_HAL_AXISUI_PINS.component, "axisui");
+assert.ok(VIRTUAL_HAL_AXISUI_PINS.pins.some(({ name }) => name === "jog.x"), "virtual HAL should mirror AXIS axisui jog pins");
+assert.ok(VIRTUAL_HAL_AXISUI_PINS.pins.some(({ name }) => name === "jog.increment"), "virtual HAL should expose AXIS jog increment pin");
+assert.equal(parseVirtualHalJogIncrement("Continuous"), 0);
+assert.equal(parseVirtualHalJogIncrement("0.01 in"), 0.01);
+assert.equal(Number(parseVirtualHalJogIncrement("1 mm").toFixed(6)), 0.03937);
+
+let virtualHal = createVirtualHalState();
+assert.equal(virtualHal.task.state, "ESTOP");
+virtualHal = applyVirtualHalAction(virtualHal, "estop");
+assert.equal(virtualHal.task.state, "ESTOP_RESET");
+virtualHal = applyVirtualHalAction(virtualHal, "power");
+assert.equal(virtualHal.task.state, "ON");
+virtualHal = applyVirtualHalAction(virtualHal, "home-all");
+assert.equal(createVirtualHalLimitsHomeState(virtualHal).axes.x.homed, "yes");
+virtualHal = applyVirtualHalAction(virtualHal, "jog", { axis: "x", increment: "0.01 in", direction: 1 });
+assert.equal(virtualHal.pins["jog.x"], true);
+assert.equal(virtualHal.pins["jog.increment"], 0.01);
+assert.equal(createVirtualHalDroState(virtualHal).actual.x, "0.010");
+const jogSnapshot = createVirtualHalWasmBridgeSnapshot(virtualHal);
+assert.ok(jogSnapshot.values.some(({ name, type, value }) => name === "jog.x" && type === "HAL_BIT" && value === 1));
+assert.ok(jogSnapshot.values.some(({ name, type, value }) => name === "axisui.jog.x" && type === "HAL_BIT" && value === 1));
+assert.ok(jogSnapshot.values.some(({ name, type, value }) => name === "jog.increment" && type === "HAL_FLOAT" && value === 0.01));
+assert.ok(jogSnapshot.values.some(({ name, type, value }) => name === "axisui.jog.increment" && type === "HAL_FLOAT" && value === 0.01));
+virtualHal = applyVirtualHalAction(virtualHal, "spindle", { command: "cw", speed: 1200 });
+virtualHal = applyVirtualHalAction(virtualHal, "coolant", { name: "flood", enabled: true });
+virtualHal = writeVirtualHalPin(virtualHal, { name: "motion.tooloffset.z", type: "HAL_FLOAT", value: 1.25 });
+virtualHal = applyVirtualHalPinUpdates(virtualHal, [
+  { name: "halui.tool.number", type: "HAL_U32", value: 4 },
+  { name: "halui.feed-override.value", type: "HAL_FLOAT", value: 0.9 },
+]);
+assert.equal(readVirtualHalPin(virtualHal, "motion.tooloffset.z").value, 1.25);
+assert.equal(readVirtualHalPin(virtualHal, "halui.tool.number").value, 4);
+assert.equal(virtualHal.overrides.feed, 90);
+const virtualHalRegistry = createVirtualHalPinRegistry(virtualHal);
+assert.equal(virtualHalRegistry.apiName, "linuxcnc-wasm-virtual-hal-pin-registry");
+assert.equal(virtualHalRegistry.byName["halui.machine.on"].writable, true);
+assert.equal(virtualHalRegistry.byName["motion.tooloffset.z"].value, 1.25);
+const virtualHalIntegrity = createVirtualHalIntegrityReport({ halState: virtualHal, registry: virtualHalRegistry });
+assert.equal(virtualHalIntegrity.complete, true);
+const virtualMachineStatus = createVirtualHalMachineStatusState(virtualHal);
+assert.equal(virtualMachineStatus.source, "browser-virtual-hal");
+assert.equal(virtualMachineStatus.spindle.direction, "cw");
+assert.equal(virtualMachineStatus.spindle.speed, "1200");
+assert.equal(virtualMachineStatus.coolant.flood, "on");
+const virtualHalRuntime = createLinuxCncVirtualHalRuntime(virtualHal);
+virtualHalRuntime.writePin({ name: "spindle.0.speed-out", type: "HAL_FLOAT", value: 1400 });
+assert.equal(virtualHalRuntime.readPin("spindle.0.speed-out").value, 1400);
+assert.equal(virtualHalRuntime.getIntegrityReport().complete, true);
+const runtimeSnapshot = virtualHalRuntime.getWasmBridgeSnapshot();
+assert.equal(runtimeSnapshot.apiName, "linuxcnc-wasm-virtual-hal-bridge-snapshot");
+assert.ok(runtimeSnapshot.values.some(({ name, type, value }) => name === "jog.x" && type === "HAL_BIT" && value === 1));
+assert.ok(runtimeSnapshot.values.some(({ name, type, value }) => name === "axisui.jog.x" && type === "HAL_BIT" && value === 1));
+assert.ok(runtimeSnapshot.values.some(({ name, type, value }) => name === "halui.machine.is-on" && type === "HAL_BIT" && value === 1));
+assert.ok(runtimeSnapshot.values.some(({ name, type, value }) => name === "spindle.0.speed-out" && type === "HAL_FLOAT" && value === 1400));
+assert.ok(runtimeSnapshot.values.some(({ name, type, value }) => name === "iocontrol.0.coolant-flood" && type === "HAL_BIT" && value === 1));
 
 assert.throws(
   () => getSimulationTestProgram("missing-program"),
@@ -91,8 +164,8 @@ assert.equal(arcModal.apiName, "real-browser-simulation-modal-state");
 assert.equal(arcModal.source, "linuxcnc-update-tag");
 assert.ok(arcModal.raw.includes("canon_event=UPDATE_TAG line=1"));
 assert.ok(arcModal.rows.some(({ id, value, source }) => id === "plane" && value === "plane=170" && source === "linuxcnc-update-tag"));
-assert.equal(unavailableMachineStatus.spindle.state, "n/a");
-assert.equal(unavailableMachineStatus.coolant.mist, "n/a");
+assert.equal(unavailableMachineStatus.spindle.state, "off");
+assert.equal(unavailableMachineStatus.coolant.mist, "off");
 
 const runtimeMachineStatus = createMachineStatusState([
   "canon_event=SET_SPINDLE_SPEED spindle=0 speed=1200",
@@ -108,7 +181,7 @@ const runtimeMachineStatus = createMachineStatusState([
   "canon_event=ENABLE_SPEED_OVERRIDE spindle=0",
 ].join("\n"));
 assert.equal(runtimeMachineStatus.spindle.state, "off");
-assert.equal(runtimeMachineStatus.spindle.direction, "cw");
+assert.equal(runtimeMachineStatus.spindle.direction, "stopped");
 assert.equal(runtimeMachineStatus.spindle.speed, "1200");
 assert.equal(runtimeMachineStatus.coolant.mist, "off");
 assert.equal(runtimeMachineStatus.coolant.flood, "off");
@@ -160,11 +233,11 @@ assert.equal(firstFrame.activeLine, 1);
 assert.equal(firstFrame.visibleMotion.length, 1);
 assert.equal(firstDro.apiName, "real-browser-simulation-dro-state");
 assert.equal(firstDro.actual.x, "0.000");
-assert.equal(firstDro.distanceToGo.x, "n/a");
-assert.equal(firstDro.workOffsetG54.x, "n/a");
-assert.equal(firstDro.g92Offset.x, "n/a");
-assert.equal(firstDro.toolLengthOffset.x, "n/a");
-assert.equal(firstDro.velocity, "n/a");
+assert.equal(firstDro.distanceToGo.x, "0.000");
+assert.equal(firstDro.workOffsetG54.x, "0.000");
+assert.equal(firstDro.g92Offset.x, "0.000");
+assert.equal(firstDro.toolLengthOffset.x, "0.000");
+assert.equal(firstDro.velocity, "0.000");
 
 const arcFrame = createPlaybackFrame(playbackState, 1);
 assert.equal(arcFrame.index, 1);