接入 task HAL Web 仿真运行时

wasm-port/docs/source-reuse-map.md

@@ -42,6 +42,10 @@ families, and drift report.
 | RTAPI compatibility headers | `src/rtapi/rtapi_*.h` in the manifest | Copy unchanged plus standalone shim include path | `runtime/core/shims/rtapi.h` supplies the minimal standalone RTAPI surface needed by vendored code | Vendor byte sync, compile coverage through dependent source probes |
 | Canon/NML-facing interpreter types | `src/emc/nml_intf/canon*.hh`, `emctool.h`, `interp_return.hh`, `motion_types.h`, `emcpose.*`, `emcpos.h`, `debugflags.h`, `src/emc/linuxcnc.h` | Copy unchanged plus narrow standalone status shim | NML transport is not ported; `runtime/core/shims/nml_intf/emc.hh` exposes only the `emcStatus` machine-units status edge currently needed by vendored interpreter conversion and initialization code | Vendor byte sync, dependent source probes, `linuxcnc_emc_status_probe`, `linuxcnc_tp_api_probe`, interpreter harnesses, `tests/wasm/node/verify_interp_wasm.sh` and `tests/browser/verify_interp_browser.sh` `Interp::init()` machine-unit assertions |
 | Motion state headers | `src/emc/motion/state_tag.h`, `emcmotcfg.h`, `simple_tp.h`, `motion.h`, `mot_priv.h`, `axis.h` | Copy unchanged | Realtime motion process is not ported; standalone probes seed the small motion status/config state required by TP calls | Vendor byte sync, `linuxcnc_tp_api_probe`, `tests/wasm/node/verify_tp_wasm.sh` |
+| Native task / motion / HAL sync phase 0 references | `tools/task-hal-source-manifest.txt` lists `src/emc/task/*`, selected `src/emc/motion/*`, `src/hal/*`, `src/emc/nml_intf/emc.hh`, and `src/libnml/posemath/*` | Reference proof for task/motion/HAL Web simulation runtime | `tools/verify_task_hal_source_manifest.sh` compares the local LinuxCNC reference tree and vendored tree where present, emits task/HAL/motion/NML/libnml counts. `tests/native/probe_trt_task_hal_runtime.sh` is opt-in for exclusive host LinuxCNC runtime probing and does not promote by default; Web simulation promotion is handled by task/HAL WASM and browser gates. | `tests/native/verify_task_hal_phase0.sh` |
+| HAL runtime phase 2 minimal boundary | `src/hal/hal_lib.c`, `src/hal/hal_priv.h`, `src/hal/components/threads.c`, `src/hal/utils/halcmd_commands.cc` as source references; `runtime/core/shims/hal.h` type boundary | Runtime-edge adapter, not full native HAL promotion | `runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp` owns C/C++ HAL pin, signal, param, net, and thread scheduler state behind LinuxCNC-style `hal_*` APIs and `lchal_*` C ABI; `loadusr` is blocked evidence; task runtime and native HAL comparison remain future work | `tests/wasm/node/verify_hal_runtime.sh` WASM Node smoke; native fallback only when `emcc` is unavailable |
+| Motion/HAL sync phase 3 minimal boundary | `src/emc/motion/motion.h`, `src/emc/motion/command.c`, `src/emc/motion/control.c`, `src/emc/motion/mot_priv.h`, `src/emc/task/taskintf.cc` as source references | Runtime-edge adapter, not full native motion promotion | `runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c` exposes the planned `lcmot_*` C ABI, accepts LinuxCNC-style motion command JSON, advances deterministic servo cycles, and synchronizes `motion.*`, `axis.*`, and `joint.*` HAL pins through the phase 2 HAL runtime; full LinuxCNC `emcmotController()` and task/NML queue integration remain future work | `tests/wasm/node/verify_motion_hal_sync.sh` WASM Node smoke |
+| Task/motion/HAL simulation runtime | `src/emc/task/task.hh`, `src/emc/task/emctask.cc`, `src/emc/task/emctaskmain.cc`, `src/emc/task/taskintf.cc`, `src/emc/task/emccanon.cc`, and `src/emc/nml_intf/emc.hh` as source references | Runtime-edge adapter promoted for Web simulation boundary only | `runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp` exposes the planned `lctask_*` C ABI, stages files, opens a program, tracks task state/mode/interp/exec status, and forwards RUN/PAUSE/RESUME/ABORT/MDI/JOG into the phase 3 motion command queue. `runtime/sdk/src/linuxcnc-task-hal.js`, `app/src/runtime/linuxcnc-task-hal-runtime.js`, Worker/client files, store action mapping, gmoccapy diagnostics, and full boundary gates now validate `nativeTaskReady=true` plus `nativeHalSyncReady=true` for deterministic Web simulation. Hardware drive, host realtime kernel, external user-M process, and tool DB process remain false. | `tests/wasm/node/verify_task_hal_wasm.sh`; `tests/wasm/node/verify_task_hal_sdk.sh`; `web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs`; browser smoke |
 | Identity/trivial kinematics | `src/emc/kinematics/kinematics.h`, `cubic.h`, `kins_util.c`, `trivkins.c` | Copy unchanged | HAL component lifecycle and RTAPI module metadata are replaced by standalone shims; forward/inverse mapping behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_kinematics_probe` |
 | Switchable 5-axis bridge kinematics | `src/emc/kinematics/5axiskins.c`, `switchkins.c`, `switchkins.h`, `userkfuncs.c`, plus `src/rtapi/rtapi_ctype.h` | Copy unchanged | HAL pin allocation, HAL component lifecycle, and RTAPI module metadata are standalone runtime edges; switchable 5-axis forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_5axis_kinematics_probe` |
 | TRT table-rotary kinematics | `src/emc/kinematics/trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c` | Copy unchanged | HAL pin allocation and switchkins lifecycle stay runtime boundaries; XYZAC/XYZBC TRT forward/inverse behavior remains LinuxCNC source | Vendor byte sync, per-file source probes, `linuxcnc_xyzac_trt_kinematics_probe`, `linuxcnc_xyzbc_trt_kinematics_probe` |
@@ -69,7 +73,7 @@ families, and drift report.
 | Native file IO | `inifile.cc`, `rs274ngc_pre.cc`, `tooldata_common.cc`, parameter file paths, tool table paths | Allowed in native probes; the interpreter WASM C ABI validates direct parameter-file restore/save by calling vendored `Interp::restore_parameters()` and `Interp::save_parameters()`, validates startup G92 parameter persistence by passing staged `[RS274NGC]PARAMETER_FILE` paths through vendored `ini_load()`/`Interp::init()`/`restore_parameters()`, including missing required numeric parameter defaulting and `DISABLE_G92_PERSISTENCE`, and validates tool-table load/save by calling vendored `tooldata_load()` and `tooldata_save()` against Emscripten filesystem paths; browser OPFS remains a host-side adapter under `runtime/opfs/`, with path ownership in `runtime/opfs/path-model.js`, generic snapshot persistence in `runtime/opfs/snapshot-store.js`, pure-text machine-file persistence in `runtime/opfs/machine-file-store.js`, OPFS-to-WASM parameter-file copying in `runtime/opfs/linuxcnc-parameter-bridge.js`, OPFS-to-WASM tool-table copying in `runtime/opfs/linuxcnc-tool-table-bridge.js`, and grouped INI/parameter/tool-table session loading in `runtime/opfs/linuxcnc-machine-session-bridge.js`, including INI-derived `[RS274NGC]PARAMETER_FILE` and `[EMCIO]TOOL_TABLE` OPFS filename selection through the LinuxCNC-backed INI SDK; explicit host session file-name options take precedence over INI-derived names, missing INI file-name values fall back to host default `linuxcnc.var` and `tool.tbl` paths, and OPFS path validation rejects traversal and nested segments before host storage access |
 | RTAPI | `rtapi_*.h`, TP, posemath, motion headers | Minimal standalone shim in `runtime/core/shims/rtapi.h` |
 | NML transport | `emc.hh`, motion/NML type headers | Transport is not ported; only the status/type edges needed by vendored compute code are exposed through standalone shims and probes |
-| HAL runtime | named parameter lookup, kinematics component lifecycle, and runtime status edges | Standalone HAL adapter under `runtime/core/linuxcnc_wrap/` |
+| HAL runtime | named parameter lookup, kinematics component lifecycle, and runtime status edges | Existing kinematics/interpreter HAL adapter remains under `runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.cpp`; phase 2 task-HAL work adds `linuxcnc_hal_runtime.cpp` for owned pin/signal/param/net/thread scheduler state, still unpromoted for native HAL sync |
 | User M-code process execution | `emctask.cc`, `interp_convert.cc`, `interp_queue.cc` | Search and registration are mirrored at the standalone machine-config boundary; native/WASM tests record deterministic `USER_M_COMMAND` events and do not spawn host processes |
 | Python/remap | `rs274ngc_pre.cc`, `interp_o_word.cc`, `interp_remap.cc`, remap hooks, selected LinuxCNC `configs/sim/axis/vismach/5axis/*/remap_subs/*.ngc` files, `tests/remap/duplicate-o-word/*`, `tests/remap/fail/args.0/*`, `tests/remap/fail/args.1/*`, `tests/remap/fail/args.2/*`, `tests/remap/fail/body-ngc/*`, `tests/remap/m30-interaction/*`, `tests/remap/nested-remaps-oword/*`, `tests/remap/posargs.0/*`, `tests/remap/sequencing/*`, and NGC-only `tests/remap/remap-io/test-ngc.ini` plus `io_*.ngc` | Python calls remain stubbed at the runtime boundary today; five-axis M428/M429/M430 source assets and the upstream NGC remap regression files are vendored unchanged. NGC remap descriptor paths parse through vendored LinuxCNC code, native/WASM/browser validation executes the NGC remap files through vendored LinuxCNC O-word and file execution paths, and the remap-IO NGC-only branch feeds the upstream MDI sequence into vendored LinuxCNC `Interp::execute()` while external M66 input values and `_hal[...]` synchronization remain standalone runtime adapter boundaries |
 | Canonical machine actions | `interp_convert.cc`, `interp_execute.cc`, `interp_queue.cc`, selected `tests/interp/*` regression assets | Captured by standalone canonical event sink functions for regression fixtures; vendored upstream interpreter test assets remain unchanged and are executed through LinuxCNC file execution |
@@ -128,3 +132,9 @@ families, and drift report.
   `runtime/opfs/path-model.js`. Full machine-state restoration remains future
   work.
 - Native LinuxCNC GUI code remains out of scope for implementation.
+- Native task/motion/HAL sync is complete for deterministic Web simulation:
+  phase 0 source/probe gates, phase 2 HAL registry, phase 3 motion/HAL
+  servo-cycle C ABI, phase 4 task shim plus SDK wrapper, machine-file session
+  handoff, Worker/client files, store action mapping, diagnostics, and full
+  boundary promotion gates are present. This does not imply host realtime
+  kernel, hardware IO, external user-M process, or full tool DB process support.