接入 task HAL Web 仿真运行时
This commit is contained in:
@@ -35,6 +35,37 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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programExecution?.plannerTiming?.plannerRuntimeReady === true,
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);
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const halSwitchkinsEvidenceReady = machineFileText.includes("fiveaxis_hal_switchkins: rc=0 found=1");
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const taskHalSummary = state.taskHalStatus?.summary || {};
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const taskRuntimeReady = Boolean(
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taskHalSummary.taskRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.taskRuntimeReady === true,
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);
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const motionRuntimeReady = Boolean(
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taskHalSummary.motionRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.motionRuntimeReady === true,
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);
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const halRuntimeReady = Boolean(
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taskHalSummary.halRuntimeReady === true ||
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state.taskHalRuntimeReadiness?.halRuntimeReady === true,
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);
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const halSyncReady = Boolean(
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taskHalSummary.halSyncReady === true ||
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state.taskHalRuntimeReadiness?.halSyncReady === true,
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);
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const taskHalComparisonReady = Boolean(taskHalSummary.taskHalComparisonReady === true);
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const nativeTaskReady = taskRuntimeReady;
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const nativeHalSyncReady = halRuntimeReady && motionRuntimeReady && halSyncReady;
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const fullLinuxCncProgramExecutionReady = Boolean(
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kinematicsReady &&
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interpreterReady &&
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canonicalProgramReady &&
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machineFileStagingReady &&
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machineFileRemapReady &&
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plannerRuntimeReady &&
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nativeTaskReady &&
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nativeHalSyncReady &&
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taskHalComparisonReady
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);
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const satisfied = [
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kinematicsReady ? "linuxcnc-kinematics-wasm" : null,
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@@ -44,6 +75,11 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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machineFileRemapReady ? "fiveaxis-remap-machine-file-run" : null,
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plannerRuntimeReady ? "linuxcnc-tp-queue-runtime-timing" : null,
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halSwitchkinsEvidenceReady ? "switchkins-hal-bridge-evidence" : null,
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taskRuntimeReady ? "linuxcnc-task-runtime" : null,
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motionRuntimeReady ? "linuxcnc-motion-runtime" : null,
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halRuntimeReady ? "linuxcnc-hal-runtime" : null,
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halSyncReady ? "task-motion-hal-sync" : null,
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taskHalComparisonReady ? "task-hal-cycle-artifact" : null,
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].filter(Boolean);
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const missing = [];
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@@ -54,12 +90,16 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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if (!machineFileRemapReady) missing.push("machine-file backed five-axis remap run");
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if (!plannerRuntimeReady) missing.push("LinuxCNC trajectory planner queue timing runtime");
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if (!halSwitchkinsEvidenceReady) missing.push("switchkins HAL bridge evidence");
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if (!taskRuntimeReady) missing.push("LinuxCNC task runtime");
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if (!motionRuntimeReady) missing.push("LinuxCNC motion runtime");
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if (!halRuntimeReady) missing.push("LinuxCNC HAL runtime");
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if (!halSyncReady) missing.push("task/motion/HAL synchronization");
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if (!taskHalComparisonReady) missing.push("task cycle and HAL servo cycle artifact");
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const blockers = [
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"native LinuxCNC task/NML process is not ported",
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"native realtime HAL thread synchronization is not ported",
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"external user-M process and full tool DB process are not promoted",
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];
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const blockers = [];
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if (!nativeTaskReady) blockers.push("LinuxCNC task runtime is not promoted");
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if (!nativeHalSyncReady) blockers.push("realtime HAL synchronization is not promoted");
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blockers.push("external user-M process and full tool DB process are not promoted");
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if (!plannerRuntimeReady) {
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blockers.push("LinuxCNC trajectory planner queue is not promoted as browser runtime");
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}
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@@ -67,12 +107,16 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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return {
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apiName: "web-rtcp-5axis-full-linuxcnc-execution-boundary",
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profileId: state.machineProfile || adapter.profileId || "unknown",
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phase: machineFileRemapReady
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phase: fullLinuxCncProgramExecutionReady
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? "linuxcnc-task-motion-hal-simulation-runtime"
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: machineFileRemapReady
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? "partial-linuxcnc-remap-boundary"
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: canonicalProgramReady
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? "canonical-interpreter-boundary"
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: "blocked",
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semanticBoundary: machineFileRemapReady
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semanticBoundary: fullLinuxCncProgramExecutionReady
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? "linuxcnc_task_motion_hal_wasm_simulation_runtime"
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: machineFileRemapReady
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? "linuxcnc_machine_file_remap_ready_planner_task_hal_blocked"
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: canonicalProgramReady
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? "linuxcnc_interpreter_canonical_ready_planner_task_hal_blocked"
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@@ -85,10 +129,19 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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remapRuntimeReady: machineFileRemapReady,
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halSwitchkinsEvidenceReady,
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plannerRuntimeReady,
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nativeTaskReady: false,
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nativeHalSyncReady: false,
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fullLinuxCncProgramExecutionReady: false,
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promotionAllowed: false,
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taskRuntimeReady,
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motionRuntimeReady,
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halRuntimeReady,
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halSyncReady,
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taskHalComparisonReady,
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nativeTaskReady,
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nativeHalSyncReady,
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fullLinuxCncProgramExecutionReady,
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promotionAllowed: fullLinuxCncProgramExecutionReady,
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hardwareDrive: false,
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hostRealtimeKernel: false,
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externalUserMProcessReady: false,
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toolDbProcessReady: false,
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satisfied,
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missing,
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blockers,
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@@ -101,6 +154,11 @@ export function createFullLinuxCncExecutionBoundary(state = {}) {
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machineFileFlags: MACHINE_FILE_FLAGS.filter((flag) => machineFileText.includes(flag)),
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machineFileExecutionReady: machineFileExecution?.summary?.machineFileExecutionReady === true,
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stagedFileCount: state.machineFileStaging?.fileCount || 0,
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taskHal: taskHalSummary,
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taskCycle: state.taskHalStatus?.ui?.taskCycle || 0,
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servoCycle: state.taskHalStatus?.ui?.servoCycle || 0,
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motionQueueDepth: state.taskHalStatus?.ui?.motionQueueDepth || 0,
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halChangedPinCount: state.taskHalStatus?.ui?.halChangedPinCount || 0,
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},
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};
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}
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@@ -52,6 +52,13 @@ export async function createMachineFileStagingPlan({
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kind: classifySourceRel(file.sourceRel),
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})),
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summary: summarizePlan(files),
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taskHalSession: createTaskHalSession({
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profileId: profile.id,
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wasmDir: plan.wasmDir,
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iniPath: plan.iniPath,
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programPath: plan.programPath,
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files,
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}),
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semanticBoundary: "linuxcnc_sim_config_file_staging_plan_only",
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};
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}
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@@ -86,6 +93,11 @@ export function selectMachineFileProgram(plan, save, sourceRel) {
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selectedProgramSourceRel: selectedFile.sourceRel,
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selectedProgramFilename: basename(selectedFile.sourceRel),
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selectedProgramBytes: selectedFile.bytes,
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taskHalSession: {
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...(plan.taskHalSession || {}),
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programPath: selectedFile.wasmPath || selectedFile.path,
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programSourceRel: selectedFile.sourceRel,
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},
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semanticBoundary: "linuxcnc_sim_config_file_staging_plan_with_selected_gcode_source",
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};
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}
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@@ -120,6 +132,16 @@ export async function saveMachineFileStagingPlan(plan, options = {}) {
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files: savedFiles,
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gcodeSources: listLinuxCncGcodeSources({ files: savedFiles }),
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summary: summarizeSavedFiles(savedFiles),
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taskHalSession: {
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...(plan.taskHalSession || {}),
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files: savedFiles.map((file) => ({
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sourceRel: file.sourceRel,
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wasmPath: file.wasmPath,
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path: file.wasmPath,
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kind: file.kind,
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bytes: file.bytes,
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})),
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},
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semanticBoundary: "opfs_machine_file_text_staging_only",
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};
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}
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@@ -150,6 +172,20 @@ function summarizePlan(files) {
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};
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}
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function createTaskHalSession({ profileId, wasmDir, iniPath, programPath, files }) {
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return {
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apiName: "web-rtcp-5axis-task-hal-session-plan",
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semanticBoundary: "linuxcnc_machine_file_session_for_task_hal_wasm",
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profileId,
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wasmDir,
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iniPath,
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programPath,
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halFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "hal").map((file) => file.wasmPath),
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remapFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "remap").map((file) => file.wasmPath),
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toolTableFiles: files.filter((file) => classifySourceRel(file.sourceRel) === "toolTable").map((file) => file.wasmPath),
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};
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}
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function addVendoredDemoSources(files, manifestText, wasmDir) {
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const bySourceRel = new Map(files.map((file) => [file.sourceRel, file]));
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for (const sourceRel of String(manifestText).split(/\r?\n/)) {
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@@ -0,0 +1,210 @@
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const DEFAULT_SDK_MODULE_URLS = [
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new URL("../../../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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new URL("../../wasm-port/runtime/sdk/src/linuxcnc-task-hal.js", import.meta.url).href,
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];
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const SEMANTIC_BOUNDARY = "linuxcnc_task_motion_hal_wasm_simulation_runtime";
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export async function createLinuxCncTaskHalRuntime({
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sdkModuleUrl = null,
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moduleOptions = {},
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} = {}) {
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const errors = [];
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const candidateUrls = sdkModuleUrl ? [sdkModuleUrl] : DEFAULT_SDK_MODULE_URLS;
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for (const url of candidateUrls) {
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try {
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const { createLinuxCncTaskHalSdk } = await import(url);
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const sdk = await createLinuxCncTaskHalSdk(moduleOptions);
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return wrapTaskHalSdk(sdk, {
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sdkModuleUrl: url,
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executionContext: "direct",
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});
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} catch (error) {
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errors.push(`${url}: ${error instanceof Error ? error.message : String(error)}`);
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}
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}
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throw new Error(`LinuxCNC task/HAL runtime unavailable: ${errors.join(" | ")}`);
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}
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export function wrapTaskHalSdk(sdk, {
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sdkModuleUrl = null,
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executionContext = "direct",
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workerUrl = null,
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} = {}) {
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if (!sdk || typeof sdk.readiness !== "function") {
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throw new Error("wrapTaskHalSdk requires a task/HAL SDK");
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}
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime",
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semanticBoundary: SEMANTIC_BOUNDARY,
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executionContext,
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sdkModuleUrl,
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workerUrl,
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loaded: true,
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readiness() {
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const readiness = sdk.readiness();
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const taskRuntimeReady = readiness.taskRuntimeReady === true;
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const motionRuntimeReady = readiness.motionRuntimeReady === true;
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const halRuntimeReady = readiness.halRuntimeReady === true;
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-runtime-readiness",
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loaded: true,
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semanticBoundary: SEMANTIC_BOUNDARY,
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sdkSemanticBoundary: readiness.semanticBoundary,
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executionContext,
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workerUrl,
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taskRuntimeReady,
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motionRuntimeReady,
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halRuntimeReady,
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halSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady,
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nativeTaskReady: taskRuntimeReady,
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nativeHalSyncReady: taskRuntimeReady && motionRuntimeReady && halRuntimeReady,
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hardwareDrive: false,
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hostRealtimeKernel: false,
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externalUserMProcessReady: false,
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};
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},
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initSession(session = {}) {
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return sdk.initSession(session);
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},
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stageFiles(files = []) {
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let staged = 0;
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for (const file of files) {
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const path = file.wasmPath || file.path;
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if (!path) continue;
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const rc = sdk.stageFile(path, file.text || "");
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if (rc !== 0) {
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throw new Error(`lctask_stage_file failed for ${path} rc=${rc}`);
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}
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staged += 1;
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}
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return staged;
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},
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openProgram(path) {
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const rc = sdk.openProgram(path);
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if (rc !== 0) {
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throw new Error(`lctask_open_program failed for ${path} rc=${rc}`);
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}
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return rc;
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},
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sendCommand(command) {
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const rc = sdk.sendCommand(command);
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if (rc !== 0) {
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throw new Error(`lctask_send_command_json failed for ${command?.type || "unknown"} rc=${rc}`);
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}
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return rc;
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},
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runCycles(options = {}) {
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const rc = sdk.runCycles(options);
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if (rc !== 0) {
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throw new Error(`lctask_run_cycles failed rc=${rc}`);
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}
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return rc;
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},
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readStatus() {
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return normalizeTaskHalStatus(sdk.readStatus());
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},
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readEvents() {
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return sdk.readEvents();
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},
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resetSession() {
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return sdk.resetSession();
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},
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};
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}
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export function buildTaskHalSessionFromMachineFiles({ profile, plan, save, selectedProgramRel = null } = {}) {
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const files = save?.files || [];
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const iniFile = files.find((file) => file.kind === "ini")
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|| files.find((file) => file.sourceRel === profile?.iniPath)
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|| null;
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const selectedFile = selectedProgramRel
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? files.find((file) => file.sourceRel === selectedProgramRel)
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: null;
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const programFile = selectedFile
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|| files.find((file) => file.wasmPath === plan?.wasmProgramPath)
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|| files.find((file) => file.kind === "demo")
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|| null;
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return {
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apiName: "web-rtcp-5axis-task-hal-session",
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semanticBoundary: "linuxcnc_machine_files_for_task_hal_wasm_runtime",
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profileId: profile?.id || plan?.profileId || save?.profileId || "unknown",
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iniPath: iniFile?.wasmPath || plan?.wasmIniPath || plan?.iniPath || profile?.iniPath || null,
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iniText: iniFile?.text || "",
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programPath: programFile?.wasmPath || plan?.wasmProgramPath || null,
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programSourceRel: programFile?.sourceRel || selectedProgramRel || null,
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halFiles: files.filter((file) => file.kind === "hal").map(sessionFileDescriptor),
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toolTableFiles: files.filter((file) => file.kind === "toolTable").map(sessionFileDescriptor),
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remapFiles: files.filter((file) => file.kind === "remap").map(sessionFileDescriptor),
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files: files.map(sessionFileDescriptor),
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fileCount: files.length,
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};
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}
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export function normalizeTaskHalStatus(status = {}) {
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const motion = status.motionStatus?.motion || {};
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const axis = status.motionStatus?.axis || {};
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const halPins = status.halSnapshot?.pins || {};
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return {
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...status,
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semanticBoundary: SEMANTIC_BOUNDARY,
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summary: {
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taskRuntimeReady: status.taskRuntimeReady === true,
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motionRuntimeReady: status.motionStatus?.motionHalSyncReady === true || status.taskCommandsDriveMotionRuntime === true,
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halRuntimeReady: Boolean(status.halSnapshot?.halRuntimeReady ?? status.halSnapshot?.ready ?? true),
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halSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
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taskHalComparisonReady: status.taskRuntimeReady === true && status.taskCommandsDriveMotionRuntime === true,
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switchkinsRemapHalSync: Boolean(halPins["motion.switchkins-type"]),
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nativeTaskReady: status.taskRuntimeReady === true,
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nativeHalSyncReady: status.taskCommandsDriveMotionRuntime === true && Boolean(halPins["motion.program-line"]),
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fullLinuxCncProgramExecutionReady: false,
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hardwareDrive: false,
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hostRealtimeKernel: false,
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},
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ui: {
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taskState: String(status.task?.state || "ESTOP").toLowerCase(),
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taskMode: String(status.task?.mode || "MANUAL").toLowerCase(),
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interpState: String(status.task?.interpState || "IDLE").toLowerCase(),
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execState: String(status.task?.execState || "DONE").toLowerCase(),
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taskCycle: Number(status.task?.taskCycle ?? status.taskCycle ?? 0),
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servoCycle: Number(status.motionStatus?.cycle ?? status.task?.servoCycle ?? 0),
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motionQueueDepth: Number(status.motionStatus?.queueDepth ?? motion.queueDepth ?? 0),
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halChangedPinCount: Array.isArray(status.halSnapshot?.changedPins)
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? status.halSnapshot.changedPins.length
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: Number(status.halSnapshot?.changedPinCount || 0),
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activeLine: Number(motion.programLine || halPins["motion.program-line"]?.value || 1),
|
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switchkinsType: Number(motion.switchkinsType ?? halPins["motion.switchkins-type"]?.value ?? 0),
|
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axisPose: {
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x: Number(axis.x ?? halPins["axis.0.pos-cmd"]?.value ?? 0),
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y: Number(axis.y ?? halPins["axis.1.pos-cmd"]?.value ?? 0),
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z: Number(axis.z ?? halPins["axis.2.pos-cmd"]?.value ?? 0),
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a: Number(axis.a ?? halPins["axis.3.pos-cmd"]?.value ?? 0),
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b: Number(axis.b ?? halPins["axis.4.pos-cmd"]?.value ?? 0),
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c: Number(axis.c ?? halPins["axis.5.pos-cmd"]?.value ?? 0),
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},
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currentVelocity: Number(motion.currentVel || motion.currentVelocity || 0) * 60,
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},
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};
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}
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function sessionFileDescriptor(file) {
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return {
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sourceRel: file.sourceRel,
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wasmPath: file.wasmPath || file.path,
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path: file.wasmPath || file.path,
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kind: file.kind,
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bytes: Number(file.bytes || String(file.text || "").length),
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text: file.text || "",
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};
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}
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@@ -0,0 +1,70 @@
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import { wrapTaskHalSdk } from "./linuxcnc-task-hal-runtime.js";
|
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export async function createLinuxCncTaskHalWorkerRuntime({
|
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workerUrl = new URL("./linuxcnc-task-hal-worker.js", import.meta.url).href,
|
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sdkModuleUrl = null,
|
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moduleOptions = {},
|
||||
} = {}) {
|
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if (typeof Worker !== "function") {
|
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throw new Error("Worker is not available");
|
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}
|
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const worker = new Worker(workerUrl, { type: "module" });
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const client = createWorkerClient(worker);
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await client.call("init", { sdkModuleUrl, moduleOptions });
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return {
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apiName: "web-rtcp-5axis-linuxcnc-task-hal-worker-runtime",
|
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semanticBoundary: "linuxcnc_task_motion_hal_wasm_simulation_runtime",
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executionContext: "worker",
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workerUrl,
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loaded: true,
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readiness: () => client.call("readiness"),
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initSession: (session) => client.call("initSession", { session }),
|
||||
stageFiles: (files) => client.call("stageFiles", { files }),
|
||||
openProgram: (path) => client.call("openProgram", { path }),
|
||||
sendCommand: (command) => client.call("command", { command }),
|
||||
runCycles: (options) => client.call("runCycles", { options }),
|
||||
readStatus: () => client.call("readStatus"),
|
||||
readEvents: () => client.call("readEvents"),
|
||||
resetSession: () => client.call("reset"),
|
||||
terminate: () => worker.terminate(),
|
||||
};
|
||||
}
|
||||
|
||||
export function createDirectTaskHalRuntimeFromSdk(sdk) {
|
||||
return wrapTaskHalSdk(sdk, { executionContext: "direct" });
|
||||
}
|
||||
|
||||
function createWorkerClient(worker) {
|
||||
let nextId = 1;
|
||||
const pending = new Map();
|
||||
|
||||
worker.addEventListener("message", (event) => {
|
||||
const { id, ok, result, error } = event.data || {};
|
||||
const request = pending.get(id);
|
||||
if (!request) return;
|
||||
pending.delete(id);
|
||||
if (ok) {
|
||||
request.resolve(result);
|
||||
} else {
|
||||
request.reject(new Error(error || "LinuxCNC task/HAL worker failed"));
|
||||
}
|
||||
});
|
||||
|
||||
worker.addEventListener("error", (event) => {
|
||||
for (const request of pending.values()) {
|
||||
request.reject(new Error(event.message || "LinuxCNC task/HAL worker error"));
|
||||
}
|
||||
pending.clear();
|
||||
});
|
||||
|
||||
return {
|
||||
call(type, payload = {}) {
|
||||
const id = nextId;
|
||||
nextId += 1;
|
||||
return new Promise((resolve, reject) => {
|
||||
pending.set(id, { resolve, reject });
|
||||
worker.postMessage({ id, type, payload });
|
||||
});
|
||||
},
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,60 @@
|
||||
import { createLinuxCncTaskHalRuntime } from "./linuxcnc-task-hal-runtime.js";
|
||||
|
||||
let runtime = null;
|
||||
|
||||
self.addEventListener("message", async (event) => {
|
||||
const { id, type, payload = {} } = event.data || {};
|
||||
try {
|
||||
const result = await handleMessage(type, payload);
|
||||
self.postMessage({ id, ok: true, result });
|
||||
} catch (error) {
|
||||
self.postMessage({
|
||||
id,
|
||||
ok: false,
|
||||
error: error instanceof Error ? error.message : String(error),
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
async function handleMessage(type, payload) {
|
||||
switch (type) {
|
||||
case "init":
|
||||
runtime = await createLinuxCncTaskHalRuntime(payload);
|
||||
return runtime.readiness();
|
||||
case "readiness":
|
||||
assertRuntime();
|
||||
return runtime.readiness();
|
||||
case "stageFiles":
|
||||
assertRuntime();
|
||||
return runtime.stageFiles(payload.files || []);
|
||||
case "initSession":
|
||||
assertRuntime();
|
||||
return runtime.initSession(payload.session || {});
|
||||
case "openProgram":
|
||||
assertRuntime();
|
||||
return runtime.openProgram(payload.path);
|
||||
case "command":
|
||||
assertRuntime();
|
||||
return runtime.sendCommand(payload.command);
|
||||
case "runCycles":
|
||||
assertRuntime();
|
||||
return runtime.runCycles(payload.options || {});
|
||||
case "readStatus":
|
||||
assertRuntime();
|
||||
return runtime.readStatus();
|
||||
case "readEvents":
|
||||
assertRuntime();
|
||||
return runtime.readEvents();
|
||||
case "reset":
|
||||
assertRuntime();
|
||||
return runtime.resetSession();
|
||||
default:
|
||||
throw new Error(`Unknown task/HAL worker message: ${type}`);
|
||||
}
|
||||
}
|
||||
|
||||
function assertRuntime() {
|
||||
if (!runtime) {
|
||||
throw new Error("LinuxCNC task/HAL worker runtime is not initialized");
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user