接入 task HAL Web 仿真运行时

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

@@ -1,5 +1,6 @@
 export { createLinuxCncIniSdk } from "./linuxcnc-ini.js";
 export { createLinuxCncInterpSdk } from "./linuxcnc-interp.js";
+export { createLinuxCncTaskHalSdk } from "./linuxcnc-task-hal.js";
 export {
   createLinuxCncKinematicsSdk,
   linuxCncKinematicsWasmFile,

wasm-port/runtime/sdk/src/linuxcnc-task-hal.js

@@ -0,0 +1,128 @@
+import createLinuxCncTaskHalModule from "../../../build/wasm/task-hal/linuxcnc_task_hal.js";
+
+const SEMANTIC_BOUNDARY = "linuxcnc_task_motion_hal_wasm_phase4_minimal";
+
+function allocCString(mod, value) {
+  const text = String(value ?? "");
+  const bytes = mod.lengthBytesUTF8(text) + 1;
+  const ptr = mod._malloc(bytes);
+  mod.stringToUTF8(text, ptr, bytes);
+  return ptr;
+}
+
+function withCString(mod, value, fn) {
+  const ptr = allocCString(mod, value);
+  try {
+    return fn(ptr);
+  } finally {
+    mod._free(ptr);
+  }
+}
+
+function requireWasmFunction(mod, functionName) {
+  const fn = mod[`_${functionName}`];
+  if (typeof fn !== "function") {
+    throw new Error(`linuxcnc task/HAL WASM missing ${functionName}; rebuild wasm-port/tools/build_task_hal_wasm.sh`);
+  }
+  return fn;
+}
+
+function readJson(mod, functionName) {
+  const fn = requireWasmFunction(mod, functionName);
+  let bytes = 131072;
+  for (let attempt = 0; attempt < 2; attempt += 1) {
+    const ptr = mod._malloc(bytes);
+    try {
+      const rc = fn(ptr, bytes);
+      if (rc === 0) {
+        return JSON.parse(mod.UTF8ToString(ptr));
+      }
+      if (rc > bytes) {
+        bytes = rc;
+        continue;
+      }
+      throw new Error(`${functionName} failed with rc=${rc}`);
+    } finally {
+      mod._free(ptr);
+    }
+  }
+  throw new Error(`${functionName} output exceeded buffer`);
+}
+
+function callWithJson(mod, functionName, payload) {
+  const fn = requireWasmFunction(mod, functionName);
+  return withCString(mod, JSON.stringify(payload ?? {}), (ptr) => fn(ptr));
+}
+
+export async function createLinuxCncTaskHalSdk(moduleOptions = {}) {
+  const mod = await createLinuxCncTaskHalModule(moduleOptions);
+
+  return {
+    apiName: "linuxcnc-task-hal-wasm-sdk",
+    semanticBoundary: SEMANTIC_BOUNDARY,
+    module: mod,
+
+    readiness() {
+      return {
+        apiName: "linuxcnc-task-hal-wasm-sdk-readiness",
+        loaded: true,
+        semanticBoundary: SEMANTIC_BOUNDARY,
+        taskRuntimeReady: typeof mod._lctask_init_session === "function",
+        motionRuntimeReady: typeof mod._lcmot_step_servo === "function",
+        halRuntimeReady: typeof mod._lchal_get_snapshot_json === "function",
+        nativeTaskReady: false,
+        nativeHalSyncReady: false,
+      };
+    },
+
+    initSession(session = {}) {
+      const rc = callWithJson(mod, "lctask_init_session", session);
+      if (rc !== 0) {
+        throw new Error(`lctask_init_session failed with rc=${rc}`);
+      }
+      return rc;
+    },
+
+    stageFile(path, text) {
+      return withCString(mod, path, (pathPtr) =>
+        withCString(mod, text, (textPtr) =>
+          requireWasmFunction(mod, "lctask_stage_file")(pathPtr, textPtr),
+        ),
+      );
+    },
+
+    openProgram(path) {
+      return withCString(mod, path, (pathPtr) =>
+        requireWasmFunction(mod, "lctask_open_program")(pathPtr),
+      );
+    },
+
+    sendCommand(command) {
+      return callWithJson(mod, "lctask_send_command_json", command);
+    },
+
+    runCycles({
+      taskPeriodNs = 10000000,
+      servoPeriodNs = 1000000,
+      taskCycles = 1,
+    } = {}) {
+      return requireWasmFunction(mod, "lctask_run_cycles")(
+        Number(taskPeriodNs) || 10000000,
+        Number(servoPeriodNs) || 1000000,
+        Number(taskCycles) || 0,
+      );
+    },
+
+    readStatus() {
+      return readJson(mod, "lctask_read_status_json");
+    },
+
+    readEvents() {
+      return readJson(mod, "lctask_read_events_json");
+    },
+
+    resetSession() {
+      return requireWasmFunction(mod, "lctask_reset_session")();
+    },
+  };
+}