接入 task HAL Web 仿真运行时

2026-06-22 06:11:55 +08:00
parent 3771b9eafe
commit bd11a5f8d6
42 changed files with 5574 additions and 50 deletions
--- a/wasm-port/tools/build_task_hal_wasm.sh
+++ b/wasm-port/tools/build_task_hal_wasm.sh
@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+WRAP_DIR="$ROOT_DIR/runtime/core/linuxcnc_wrap"
+SHIM_DIR="$ROOT_DIR/runtime/core/shims"
+INCLUDE_DIR="$ROOT_DIR/runtime/core/include"
+OUT_DIR="$ROOT_DIR/build/wasm/task-hal"
+OBJ_DIR="$OUT_DIR/obj"
+
+source "$ROOT_DIR/tools/wasm_incremental_build_lib.sh"
+
+mkdir -p "$OUT_DIR" "$OBJ_DIR"
+
+TARGET="linuxcnc_task_hal_wasm"
+: > "$OUT_DIR/$TARGET.stdout.log"
+: > "$OUT_DIR/$TARGET.stderr.log"
+
+COMMON_FLAGS=(
+  -O2
+  -D_GNU_SOURCE
+  -I"$WRAP_DIR"
+  -I"$SHIM_DIR"
+  -I"$INCLUDE_DIR"
+)
+
+SOURCES=(
+  "$WRAP_DIR/linuxcnc_hal_runtime.cpp"
+  "$WRAP_DIR/linuxcnc_motion_runtime.c"
+  "$WRAP_DIR/linuxcnc_task_hal_wasm.cpp"
+)
+
+OBJECTS=()
+for source in "${SOURCES[@]}"; do
+  obj="$(source_object_path "$source" "$ROOT_DIR" "$OBJ_DIR")"
+  OBJECTS+=("$obj")
+  if [[ "$source" == *.c ]]; then
+    compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" -std=c11 "${COMMON_FLAGS[@]}"
+  else
+    compile_wasm_object "$TARGET" "$source" "$obj" "$OUT_DIR" -std=c++20 "${COMMON_FLAGS[@]}"
+  fi
+done
+
+link_wasm_module \
+  "$TARGET" \
+  "$OUT_DIR/linuxcnc_task_hal.js" \
+  "$OUT_DIR" \
+  -O2 \
+  "${OBJECTS[@]}" \
+  -s MODULARIZE=1 \
+  -s EXPORT_ES6=1 \
+  -s ENVIRONMENT=web,node \
+  -s ALLOW_MEMORY_GROWTH=1 \
+  -s NO_EXIT_RUNTIME=1 \
+  -s EXPORTED_FUNCTIONS='["_malloc","_free","_hal_init","_hal_ready","_hal_exit","_hal_malloc","_hal_pin_bit_new","_hal_pin_float_new","_hal_pin_s32_new","_hal_pin_u32_new","_hal_pin_s64_new","_hal_pin_u64_new","_hal_pin_bit_newf","_hal_pin_float_newf","_hal_pin_s32_newf","_hal_pin_u32_newf","_hal_pin_s64_newf","_hal_pin_u64_newf","_hal_param_bit_new","_hal_param_float_new","_hal_param_s32_new","_hal_param_u32_new","_hal_param_s64_new","_hal_param_u64_new","_hal_param_bit_newf","_hal_param_float_newf","_hal_param_s32_newf","_hal_param_u32_newf","_hal_param_s64_newf","_hal_param_u64_newf","_hal_get_pin_value_by_name","_hal_get_signal_value_by_name","_hal_get_param_value_by_name","_hal_link","_hal_unlink","_hal_set_p","_hal_get_p","_hal_create_thread","_hal_add_funct_to_thread","_hal_del_funct_from_thread","_hal_start_threads","_hal_stop_threads","_lchal_init_runtime","_lchal_load_hal_file","_lchal_set_pin_float","_lchal_set_pin_s32","_lchal_set_pin_bit","_lchal_get_pin_json","_lchal_get_snapshot_json","_lchal_step_threads","_lchal_reset_runtime","_lcmot_init_from_ini","_lcmot_write_command_json","_lcmot_step_servo","_lcmot_read_status_json","_lcmot_read_hal_snapshot_json","_lcmot_reset","_lctask_init_session","_lctask_stage_file","_lctask_open_program","_lctask_send_command_json","_lctask_run_cycles","_lctask_read_status_json","_lctask_read_events_json","_lctask_reset_session"]' \
+  -s EXPORTED_RUNTIME_METHODS='["UTF8ToString","stringToUTF8","lengthBytesUTF8","getValue","setValue"]'
+
+echo "linuxcnc_task_hal_wasm_build=ok"
--- a/wasm-port/tools/task-hal-source-manifest.txt
+++ b/wasm-port/tools/task-hal-source-manifest.txt
@@ -0,0 +1,28 @@
+# LinuxCNC task / motion / HAL source references for future task-HAL runtime.
+#
+# This manifest is intentionally separate from source-manifest.txt. The main
+# source manifest is tied to current native source-probe coverage; these files
+# are Phase 0 references for the future task/HAL runtime boundary and must not
+# be treated as promoted runtime coverage until the task/HAL WASM/native/browser
+# gates exist.
+
+src/emc/task/task.hh
+src/emc/task/taskclass.hh
+src/emc/task/taskclass.cc
+src/emc/task/emctask.cc
+src/emc/task/emctaskmain.cc
+src/emc/task/taskintf.cc
+src/emc/task/emccanon.cc
+src/emc/nml_intf/emc.hh
+src/libnml/posemath/posemath.h
+src/libnml/posemath/posemath.cc
+src/emc/motion/usrmotintf.h
+src/emc/motion/motion.h
+src/emc/motion/motion.c
+src/emc/motion/command.c
+src/emc/motion/control.c
+src/emc/motion/mot_priv.h
+src/hal/hal_lib.c
+src/hal/hal_priv.h
+src/hal/components/threads.c
+src/hal/utils/halcmd_commands.cc
--- a/wasm-port/tools/verify_task_hal_source_manifest.sh
+++ b/wasm-port/tools/verify_task_hal_source_manifest.sh
@@ -0,0 +1,150 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+ROOT_DIR="$(cd "$(dirname "$0")/.." && pwd)"
+LINUXCNC_ROOT="${LINUXCNC_ROOT:-$ROOT_DIR/../linuxcnc}"
+VENDOR_ROOT="$ROOT_DIR/vendor/linuxcnc"
+MANIFEST="$ROOT_DIR/tools/task-hal-source-manifest.txt"
+BUILD_DIR="$ROOT_DIR/build/task-hal"
+REPORT="$BUILD_DIR/task-hal-source-manifest.tsv"
+
+mkdir -p "$BUILD_DIR"
+
+print_kv() {
+  printf '%s=%s\n' "$1" "$2"
+}
+
+if [[ ! -f "$MANIFEST" ]]; then
+  print_kv task_hal_source_manifest_status missing_manifest
+  print_kv task_hal_source_manifest_path "$MANIFEST"
+  exit 1
+fi
+
+tmp="$(mktemp "$BUILD_DIR/task-hal-source-manifest.XXXXXX.tsv")"
+trap 'rm -f "$tmp"' EXIT
+
+printf '%s\t%s\t%s\t%s\t%s\n' \
+  source_rel \
+  reference_exists \
+  vendor_exists \
+  vendor_hash_matches \
+  boundary > "$tmp"
+
+source_count=0
+task_source_count=0
+hal_source_count=0
+motion_source_count=0
+nml_source_count=0
+libnml_source_count=0
+reference_ready=1
+vendor_ready=1
+vendor_match_ready=1
+missing_reference=()
+missing_vendor=()
+mismatched_vendor=()
+
+while IFS= read -r source_rel; do
+  [[ -z "$source_rel" || "$source_rel" =~ ^[[:space:]]*# ]] && continue
+  source_count=$((source_count + 1))
+  case "$source_rel" in
+    src/emc/task/*)
+      task_source_count=$((task_source_count + 1))
+      ;;
+    src/hal/*)
+      hal_source_count=$((hal_source_count + 1))
+      ;;
+    src/emc/motion/*)
+      motion_source_count=$((motion_source_count + 1))
+      ;;
+    src/emc/nml_intf/*)
+      nml_source_count=$((nml_source_count + 1))
+      ;;
+    src/libnml/*)
+      libnml_source_count=$((libnml_source_count + 1))
+      ;;
+  esac
+
+  reference_file="$LINUXCNC_ROOT/$source_rel"
+  vendor_file="$VENDOR_ROOT/$source_rel"
+  reference_exists=0
+  vendor_exists=0
+  vendor_hash_matches=0
+
+  if [[ -f "$reference_file" ]]; then
+    reference_exists=1
+  else
+    reference_ready=0
+    missing_reference+=("$source_rel")
+  fi
+
+  if [[ -f "$vendor_file" ]]; then
+    vendor_exists=1
+  else
+    vendor_ready=0
+    missing_vendor+=("$source_rel")
+  fi
+
+  if [[ "$reference_exists" == "1" && "$vendor_exists" == "1" ]]; then
+    if cmp -s "$reference_file" "$vendor_file"; then
+      vendor_hash_matches=1
+    else
+      vendor_match_ready=0
+      mismatched_vendor+=("$source_rel")
+    fi
+  elif [[ "$vendor_exists" != "1" ]]; then
+    vendor_hash_matches=0
+  fi
+
+  printf '%s\t%s\t%s\t%s\t%s\n' \
+    "$source_rel" \
+    "$reference_exists" \
+    "$vendor_exists" \
+    "$vendor_hash_matches" \
+    "phase0_reference_only_not_runtime_promoted" >> "$tmp"
+done < "$MANIFEST"
+
+mv -f "$tmp" "$REPORT"
+trap - EXIT
+
+join_csv() {
+  local IFS=,
+  printf '%s' "$*"
+}
+
+print_kv task_hal_source_manifest_status ok
+print_kv task_hal_source_manifest_ready "$(( source_count > 0 && reference_ready == 1 ? 1 : 0 ))"
+print_kv task_hal_source_manifest_path "$MANIFEST"
+print_kv task_hal_source_manifest_report "$REPORT"
+print_kv task_hal_source_count "$source_count"
+print_kv task_source_count "$task_source_count"
+print_kv hal_source_count "$hal_source_count"
+print_kv motion_source_count "$motion_source_count"
+print_kv nml_source_count "$nml_source_count"
+print_kv libnml_source_count "$libnml_source_count"
+print_kv task_hal_reference_source_ready "$reference_ready"
+print_kv task_hal_vendor_source_ready "$vendor_ready"
+print_kv task_hal_vendor_hash_match_ready "$vendor_match_ready"
+print_kv task_hal_missing_reference_source_count "${#missing_reference[@]}"
+print_kv task_hal_missing_reference_sources_ready "$(( ${#missing_reference[@]} == 0 ? 1 : 0 ))"
+if [[ "${#missing_reference[@]}" -gt 0 ]]; then
+  print_kv task_hal_missing_reference_source_list "$(join_csv "${missing_reference[@]}")"
+else
+  print_kv task_hal_missing_reference_source_list "-"
+fi
+if [[ "${#missing_vendor[@]}" -gt 0 ]]; then
+  print_kv task_hal_missing_vendor_source_list "$(join_csv "${missing_vendor[@]}")"
+else
+  print_kv task_hal_missing_vendor_source_list "-"
+fi
+if [[ "${#mismatched_vendor[@]}" -gt 0 ]]; then
+  print_kv task_hal_mismatched_vendor_source_list "$(join_csv "${mismatched_vendor[@]}")"
+else
+  print_kv task_hal_mismatched_vendor_source_list "-"
+fi
+print_kv task_hal_runtime_promoted 0
+print_kv nativeTaskReady false
+print_kv nativeHalSyncReady false
+
+if [[ "$source_count" -eq 0 || "$reference_ready" != "1" ]]; then
+  exit 1
+fi