接入 task HAL Web 仿真运行时
This commit is contained in:
@@ -362,10 +362,30 @@ full_program_execution=partial_interpreter_canonical_and_switchkins_event_ready_
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session_persistence=implemented_opfs_save_restore_for_5axis_session
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machine_file_staging=implemented_linuxcnc_trt_ini_hal_tool_table_remap_demo_opfs_staging
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machine_file_backed_run=implemented_linuxcnc_fiveaxis_remap_wasm_machine_file_execution
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planner_task_hal_gap=audited_as_blocked_without_native_task_nml_realtime_hal_and_planner_queue_runtime
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next_batch=trajectory_planner_wasm_boundary_or_native_task_hal_port
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planner_task_hal_gap=closed_for_web_simulation_boundary_with_task_motion_hal_wasm_runtime
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native_task_hal_sync_plan=docs_native_task_hal_sync_implementation_steps_ready
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native_task_hal_phase0_8=source_manifest_native_probe_hal_runtime_motion_hal_sync_task_shim_sdk_machine_file_store_ui_full_boundary_smokes_ready
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next_batch=hardware_realtime_external_processes_if_required
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```
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当前 native task/HAL 接续状态：
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- Phase 0 source manifest gate 已输出 `task_hal_source_manifest_ready=1`；
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- Phase 1 TRT native probe 已按 opt-in 模式就绪，默认 `ready_disabled_by_default`，不提升；
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- Phase 2 HAL runtime 已覆盖 pin/signal/param/net/thread scheduler 和 `loadusr` blocked evidence；
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- Phase 3 minimal motion/HAL C ABI 已覆盖 servo cycle、program-line、switchkins、jog/status HAL 同步；
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- Phase 4 minimal task/HAL C ABI 已覆盖 `lctask_*` session/stage/open/command/cycle/status/events，RUN/MDI/JOG/PAUSE/RESUME/ABORT 能从 task shim 驱动 motion/HAL runtime，并已补 SDK wrapper；
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- Phase 5-8 已把 machine-file session、task/HAL runtime adapter、Worker/client 文件、store action mapping、gmoccapy diagnostics 和 full boundary gate 接上；
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- `nativeTaskReady=true`、`nativeHalSyncReady=true` 当前只表示 Web simulation boundary 内的 task/motion/HAL WASM runtime proof；仍保持 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false`。
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补充实施文档：
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```text
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docs/native-task-hal-sync-implementation-steps.md
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```
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该文档给出完成 `nativeTaskReady` 和 `nativeHalSyncReady` 的分阶段实现步骤、程序编写顺序、LinuxCNC 源程序参考清单和验收 gate。当前已完成 Web simulation boundary；不表示真实硬件、host realtime kernel 或外部进程 runtime 已完成。
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## 10. M12 任务
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```text
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@@ -0,0 +1,803 @@
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# Native Task 与实时 HAL 同步实现步骤
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生成时间：2026-06-21 CST
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## 1. 目标和边界
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本文用于指导后续把当前保留的两个 blocker 推进到可验证完成状态：
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```text
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nativeTaskReady=false
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nativeHalSyncReady=false
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```
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这里的“完成”不是把浏览器变成真实机床控制器，也不是接入真实硬件 IO；目标是建立一个 LinuxCNC 源码拥有语义的 task/HAL 同步 runtime 边界，使 Web 仿真能按 LinuxCNC task、motion、HAL 的顺序运行程序、执行 MDI/JOG、同步 HAL pin，并把状态反馈到 gmoccapy Web UI。
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完成后的目标状态：
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```text
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nativeTaskReady=true
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nativeHalSyncReady=true
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plannerRuntimeReady=true
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fullLinuxCncProgramExecutionReady=true for simulated machine-file runtime
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hardwareDrive=false
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promotionAllowed=true for Web simulation boundary only
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```
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仍不属于本文范围：
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- 真实硬件 IO、Mesa/并口/伺服驱动；
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- Linux 内核实时线程等同物；
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- 任意外部 user-M 进程；
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- Python GUI、GTK、Tk、QtVCP runtime；
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- 未经过 LinuxCNC 源码边界验证的 JavaScript CNC 语义。
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## 2. LinuxCNC 源程序参考清单
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后续实现必须以这些源文件为主参考，不能用 Web 侧自定义状态机替代 CNC 语义：
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```text
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linuxcnc/src/emc/task/task.hh
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linuxcnc/src/emc/task/emctask.cc
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linuxcnc/src/emc/task/emctaskmain.cc
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linuxcnc/src/emc/task/taskintf.cc
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linuxcnc/src/emc/task/emccanon.cc
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linuxcnc/src/emc/nml_intf/emc.hh
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linuxcnc/src/emc/motion/usrmotintf.h
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linuxcnc/src/emc/motion/motion.h
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linuxcnc/src/emc/motion/motion.c
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linuxcnc/src/emc/motion/command.c
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linuxcnc/src/emc/motion/control.c
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linuxcnc/src/emc/motion/mot_priv.h
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linuxcnc/src/emc/tp/tp.c
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linuxcnc/src/emc/tp/tc.c
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linuxcnc/src/emc/tp/tcq.c
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linuxcnc/src/hal/hal_lib.c
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linuxcnc/src/hal/hal_priv.h
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linuxcnc/src/hal/components/threads.c
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```
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当前 `wasm-port/vendor/linuxcnc` 已包含 interpreter、kinematics、TP 所需的一部分源码，但 task 和 HAL 目录是裁剪状态。实施前必须先把上述 task、motion、HAL、NML 相关源文件纳入 vendored source manifest，或者建立只读引用校验，确保构建用的源码和根目录 `linuxcnc/` 中的参考源码一致。
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## 3. 推荐架构
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推荐实现为单进程确定性 runtime：
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```text
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Web UI
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-> linuxcnc-task-hal-worker-client.js
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-> Web Worker
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-> linuxcnc_task_hal.wasm
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-> LinuxCNC task loop
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-> LinuxCNC canonical queue
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-> LinuxCNC motion command queue
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-> deterministic HAL scheduler
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-> LinuxCNC motion controller servo cycles
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-> status snapshot
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-> Web store / Three.js / DRO / G-code panel
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```
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这个结构不启动 LinuxCNC native 进程、不使用 OS NML IPC、不启动真实 HAL realtime thread。它把 LinuxCNC 的 task/motion/HAL 关键状态机编译到 WASM，并用显式 `step(period_ns)` API 驱动周期。这样浏览器中每一帧都是可复现的，Node 和 browser smoke 可以对同一 G-code 得到一致的 HAL/status 序列。
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host-native LinuxCNC 只作为对照探针：
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```text
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native LinuxCNC/halrun probe
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-> 记录 task status、HAL pin、motion status 序列
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WASM task/HAL runtime
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-> 记录同类序列
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对比 artifact
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-> 允许提升 nativeTaskReady/nativeHalSyncReady
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```
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## 4. textbak 接续文件可复用结论
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已分析 `textbak` 中和 native task / HAL 相关的接续文件，结论是：当前仓库已有大量 Web 仿真级 virtual HAL、motion matrix、native opt-in probe 和 promotion lock 资产，后续实现 native task/HAL 边界时必须复用这些成果，但不能把它们直接当成 native task/HAL runtime 已完成。
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### 4.1 可直接复用的工作
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`textbak/text17.txt` 记录了完整 virtual HAL 闭环，当前对应代码主要在：
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```text
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wasm-port/runtime/sdk/src/linuxcnc-hal.js
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wasm-port/runtime/opfs/snapshot-store.js
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wasm-port/runtime/ui/simulation/simulation-app.js
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wasm-port/tests/host/verify_project_release_readiness_artifact.mjs
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```
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可复用内容：
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- HAL pin family registry：`axisui`、`halui`、`iocontrol`、`motion`、`axis`、`joint`、`spindle`、`coolant`、`tool`；
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- HAL pin/signal/param/net store 结构；
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- `executeVirtualHalcmd()` / `executeVirtualHalCommand()` 的 halcmd fixture 语义；
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- `stepVirtualHalMotion()` / `stepVirtualHalMotionController()` 的 deterministic servo-period stepping 测试模式；
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- `createVirtualHalMotionControllerMatrixReport()` 的 motion matrix 验证项；
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- OPFS snapshot 中的 `createVirtualHalSessionPayload()`、`restoreVirtualHalStateFromSessionSnapshot()`；
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- source compliance、sim-config source coverage、release diagnostics artifact 结构。
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这些内容应作为阶段 2、阶段 3、阶段 7 的输入，避免重新设计 HAL registry、snapshot、diagnostics 和 motion matrix。
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### 4.2 只能作为 evidence，不能直接提升的工作
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`textbak/text17.txt` 和 `textbak/text19.txt` 明确：virtual HAL 在 Web 仿真范围内可以替代 host `halcmd`、host realtime HAL process 和 host motion process，但不能声称提供 Linux kernel hard-realtime ABI、外部硬件驱动 ABI 或 native HAL module ABI。
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因此：
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```text
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virtualHalReady=true
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motionControllerMatrix.complete=true
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sourceCompliance.complete=true
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```
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只能作为 `nativeHalSyncReady` 的前置 evidence，不能直接使：
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```text
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nativeTaskReady=true
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nativeHalSyncReady=true
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fullLinuxCncProgramExecutionReady=true
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```
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真正提升仍必须由 LinuxCNC task/motion/HAL WASM runtime 或 host-native 对照探针完成。
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### 4.3 native opt-in probe 模式
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`textbak/text21.txt`、`textbak/text24.txt`、`textbak/text28.txt`、`textbak/text35.txt` 和 `wasm-port/docs/full-process-boundary-design.md` 已形成一套可复用规则：
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```text
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source proof ready
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native runtime readiness checked
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probe disabled by default
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ENABLE_*_RUNTIME_PROBE=1 才运行真实 host runtime
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缺少 host runtime 时 skip，不失败
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已有 LinuxCNC runtime 冲突时 blocked，不抢占
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execution_enabled=0
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promotion_allowed=0 until Node/WASM/browser proof also passes
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```
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当前已有可参考脚本：
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```text
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wasm-port/tests/native/probe_millturn_user_m_runtime.sh
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wasm-port/tests/native/probe_tool_db_runtime.sh
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wasm-port/tests/native/probe_python_remap_runtime.sh
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```
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后续 `probe_trt_task_hal_runtime.sh` 必须照这个模式写，尤其是：
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- 检查 `linuxcnc`、`halcmd`、`halrun`、`milltask` 或所需命令；
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- 默认只报告 readiness，不执行独占 runtime；
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- 显式 opt-in 后才启动 native runtime；
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- 如果发现已有 `linuxcncsvr -ini` 或 `rtapi_app load`，报告 blocked；
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- 输出 key/value artifact，且默认保持 `promotion_allowed=0`。
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### 4.4 Web/virtual HAL user-M proof 可借鉴
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`textbak/text28.txt` 的 L4-USER-M-PROCESS 记录说明：millturn `M429 -> M129 -> turn`、`M428 -> M128 -> mill` 已接入 Web/virtual HAL 状态 proof，验证了：
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```text
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motion.switchkins-type
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motion.analog-out-03
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kinstype.is-0 / kinstype.is-1
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ini.x.min_limit / ini.x.max_limit
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ini.z.min_limit / ini.z.max_limit
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```
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这对 TRT `M428/M429/M430` 的 task/HAL 同步很有价值：可复用状态目标、guard pin、source-boundary report 的写法。但它仍然不执行 arbitrary external user-M process，不解除 native promotion。
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### 4.5 kinematics 和 HAL shim 已有注意事项
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`textbak/text39.txt`、`textbak/text40.txt`、`textbak/text41.txt` 记录了 kinematics WASM ABI 和 HAL shim 经验：
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- `wasm-port/runtime/core/shims/hal.h` 已是 C ABI 边界；
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- `linuxcnc_hal_adapter.cpp` 需要对 C/C++ 调用者保持一致 ABI；
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- kinematics C 源可能直接调用 `hal_*`，所以 task/HAL runtime 的 HAL API 不能只做 JS wrapper；
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- kinematics ready 不能等同于 interpreter/remap/full-process ready。
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后续新增 `linuxcnc_hal_runtime.hh/.cpp` 时，应兼容现有 `hal.h` 和 `linuxcnc_hal_adapter.hh`，不要另起一套不兼容 HAL 类型定义。
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### 4.6 应写入后续实现的复用点
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后续代码实施时，优先按下面映射复用：
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| 后续阶段 | 复用来源 | 用法 |
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| --- | --- | --- |
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| 阶段 1 Native 对照探针 | `probe_millturn_user_m_runtime.sh` | 复制 opt-in、skip、blocked、key/value 输出模式 |
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| 阶段 2 HAL runtime | `linuxcnc-hal.js`、`hal.h`、`linuxcnc_hal_adapter.hh` | 复用 pin 类型、family、source evidence、C ABI 类型 |
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| 阶段 3 Motion HAL sync | `createVirtualHalMotionControllerMatrixReport()` | 把 matrix 从 virtual HAL fixture 升级为 task/motion/HAL runtime 对比 gate |
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| 阶段 5 Machine-file session | `linuxcnc-machine-file-staging.js`、`snapshot-store.js` | 复用 OPFS 文件和 virtual HAL session payload 结构 |
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| 阶段 6 SWITCHKINS | `VIRTUAL_HAL_MILLTURN_USER_M_PROCESS_BOUNDARY` | 复用 guard pin / state target / source-boundary report 方法 |
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| 阶段 8 Full boundary | `full-process-boundary-design.md` | 保持 promotion lock，直到 native/WASM/browser 全链路通过 |
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## 5. 分阶段实现
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### 阶段 0：源码和构建清单补齐
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目标：
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- 把 task、motion、HAL、NML 相关源码加入可追溯清单；
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- 明确哪些源文件参与 WASM 构建，哪些只用于 native 对照；
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- 禁止直接从 JS 手写 task/HAL 语义。
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要编写或更新的文件：
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```text
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wasm-port/tools/source-manifest.txt
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wasm-port/docs/source-reuse-map.md
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web-rtcp-5axis-sim-plan/docs/traceability-matrix.md
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```
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具体步骤：
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1. 在 `source-manifest.txt` 中加入 `src/emc/task`、`src/emc/motion`、`src/hal`、`src/libnml`、`src/emc/nml_intf` 的必要文件。
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2. 建立 manifest 校验脚本，比较 `linuxcnc/` 和 `wasm-port/vendor/linuxcnc/` 的 hash。
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3. 对 `emctaskmain.cc`、`emctask.cc`、`taskintf.cc`、`emccanon.cc` 做编译依赖扫描，列出必须 shim 的函数。
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4. 对 `hal_lib.c`、`hal_priv.h`、`threads.c`、motion HAL pin 定义做依赖扫描，列出 HAL API 最小集合。
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5. 验收时输出机器可读 artifact：
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```text
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task_hal_source_manifest_ready=1
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task_source_count>0
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hal_source_count>0
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motion_source_count>0
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```
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### 阶段 1：Native 对照探针
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目标：
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- 先用 host-native LinuxCNC 证明期望行为；
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- 不修改 Web runtime；
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- 如果本机没有 LinuxCNC runtime 命令，探针允许 skip，但不得 promoted。
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- 复用 `textbak` 中已有 native opt-in probe 规则，避免默认启动或抢占 LinuxCNC host runtime。
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要编写的文件：
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```text
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wasm-port/tests/native/probe_trt_task_hal_runtime.sh
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_native_probe.cpp
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wasm-port/build/native/task-hal-reference/*.json
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```
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固定序列：
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```text
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SET_STATE ON
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SET_MODE AUTO
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OPEN impeller-7bl-xyzac.ngc
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RUN
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wait until first motion
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PAUSE
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RESUME
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run through M428/M429 switchkins segment
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ABORT
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```
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必须记录：
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```text
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task.state
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task.mode
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task.interpState
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task.execState
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motion.program-line
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motion.motion-type
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motion.switchkins-type
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motion.coord-mode
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motion.teleop-mode
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motion.in-position
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joint.N.motor-pos-cmd
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joint.N.motor-pos-fb
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axis pose / commanded pose / feedback pose
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analog-out-03
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synch digital/analog IO
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```
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验收：
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```text
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native_task_hal_probe=ok
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native_probe_status=passed or skipped_missing_host_runtime
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promotionAllowed=false until WASM comparison passes
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```
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### 阶段 2：HAL 内存模型和线程调度器
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目标：
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- 用 LinuxCNC HAL API 名称建立 WASM 内部 HAL registry；
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- 支持 pin、signal、param、net、alias；
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- 支持确定性 thread/function 调度。
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- 复用 `linuxcnc-hal.js` 中的 HAL family/source evidence 和 `hal.h` 的类型定义。
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参考源码：
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||||
|
||||
```text
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linuxcnc/src/hal/hal_lib.c
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linuxcnc/src/hal/hal_priv.h
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linuxcnc/src/hal/components/threads.c
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wasm-port/runtime/core/shims/hal.h
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_adapter.hh
|
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```
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|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_halcmd_runtime.cpp
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-hal.js
|
||||
```
|
||||
|
||||
必须实现的 C/C++ API：
|
||||
|
||||
```text
|
||||
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_*_newf
|
||||
hal_param_*_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
|
||||
```
|
||||
|
||||
必须实现的 WASM C ABI：
|
||||
|
||||
```c
|
||||
int lchal_init_runtime(void);
|
||||
int lchal_load_hal_file(const char *path, const char *text);
|
||||
int lchal_set_pin_float(const char *name, double value);
|
||||
int lchal_set_pin_s32(const char *name, int value);
|
||||
int lchal_set_pin_bit(const char *name, int value);
|
||||
int lchal_get_pin_json(const char *name, char *out, int out_len);
|
||||
int lchal_get_snapshot_json(char *out, int out_len);
|
||||
int lchal_step_threads(long period_ns, int cycles);
|
||||
int lchal_reset_runtime(void);
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. 所有 HAL 值必须保存在 C/C++ runtime 内部，不放在 JS 里当语义源。
|
||||
2. `net` 只建立 pin 到 signal 的绑定，值传播由 thread step 或显式 set/get 触发。
|
||||
3. `halcmd` 先支持 TRT sim config 需要的最小命令：`loadrt`、`addf`、`net`、`setp`、`gets`。
|
||||
4. 对 `loadusr`、外部进程、真实驱动组件必须返回 blocked evidence，不得静默忽略。
|
||||
5. 每次 `lchal_step_threads()` 记录 cycle、thread name、function name、changed pins。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
hal_runtime_registry=ok
|
||||
hal_thread_scheduler=ok
|
||||
hal_net_signal_propagation=ok
|
||||
loadusr_blocked_evidence=ok
|
||||
```
|
||||
|
||||
### 阶段 3：Motion realtime 同步最小闭环
|
||||
|
||||
目标：
|
||||
|
||||
- 把 LinuxCNC motion controller 以确定性 servo cycle 方式接入；
|
||||
- task 发出的 trajectory/jog 命令进入 motion command queue；
|
||||
- motion controller 每周期更新 status 和 HAL pins。
|
||||
- 把现有 virtual HAL motion controller matrix 改造为 task/motion/HAL runtime 的对比 gate。
|
||||
|
||||
参考源码：
|
||||
|
||||
```text
|
||||
linuxcnc/src/emc/motion/usrmotintf.h
|
||||
linuxcnc/src/emc/motion/motion.h
|
||||
linuxcnc/src/emc/motion/motion.c
|
||||
linuxcnc/src/emc/motion/command.c
|
||||
linuxcnc/src/emc/motion/control.c
|
||||
linuxcnc/src/emc/motion/mot_priv.h
|
||||
linuxcnc/src/emc/task/taskintf.cc
|
||||
```
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-motion.js
|
||||
```
|
||||
|
||||
必须实现的 C ABI：
|
||||
|
||||
```c
|
||||
int lcmot_init_from_ini(const char *ini_path, const char *ini_text);
|
||||
int lcmot_write_command_json(const char *json);
|
||||
int lcmot_step_servo(long period_ns, int cycles);
|
||||
int lcmot_read_status_json(char *out, int out_len);
|
||||
int lcmot_read_hal_snapshot_json(char *out, int out_len);
|
||||
int lcmot_reset(void);
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. 优先复用 `emcmot_status_t`、`emcmot_command_t`、`emcmot_config_t`，避免新建 Web 专用 motion struct。
|
||||
2. `usrmotWriteEmcmotCommand()` 在 WASM 中改为写入内存队列。
|
||||
3. `usrmotReadEmcmotStatus()` 在 WASM 中从同一 runtime snapshot 读取。
|
||||
4. `emcmotController(void *arg, long period)` 按固定周期调用。
|
||||
5. motion HAL pins 必须按 `mot_priv.h` 中的方向和名称输出。
|
||||
6. 至少覆盖 `EMC_JOG_*`、`EMC_TRAJ_LINEAR_MOVE`、`EMC_TRAJ_CIRCULAR_MOVE`、`EMC_TRAJ_PAUSE`、`EMC_TRAJ_RESUME`、`EMC_TRAJ_ABORT`、override 类命令。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
motion_hal_servo_cycle=ok
|
||||
motion_program_line_hal_sync=ok
|
||||
switchkins_type_hal_sync=ok
|
||||
jog_motion_status_sync=ok
|
||||
```
|
||||
|
||||
### 阶段 4：Task runtime 移植
|
||||
|
||||
目标：
|
||||
|
||||
- 让 Web runtime 使用 LinuxCNC task loop 处理 operator command；
|
||||
- `RUN/PAUSE/RESUME/STOP/ABORT/MDI/JOG` 不再只走 Web policy mirror；
|
||||
- task status、exec state、interp state 来自 LinuxCNC task runtime。
|
||||
|
||||
参考源码：
|
||||
|
||||
```text
|
||||
linuxcnc/src/emc/task/task.hh
|
||||
linuxcnc/src/emc/task/emctask.cc
|
||||
linuxcnc/src/emc/task/emctaskmain.cc
|
||||
linuxcnc/src/emc/task/taskintf.cc
|
||||
linuxcnc/src/emc/task/emccanon.cc
|
||||
linuxcnc/src/emc/nml_intf/emc.hh
|
||||
```
|
||||
|
||||
要编写的文件：
|
||||
|
||||
```text
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_nml_inproc.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_nml_inproc.cpp
|
||||
wasm-port/tools/build_task_hal_wasm.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-task-hal-worker-client.js
|
||||
```
|
||||
|
||||
必须实现的 C ABI：
|
||||
|
||||
```c
|
||||
int lctask_init_session(const char *session_json);
|
||||
int lctask_stage_file(const char *path, const char *text);
|
||||
int lctask_open_program(const char *path);
|
||||
int lctask_send_command_json(const char *command_json);
|
||||
int lctask_run_cycles(long task_period_ns, long servo_period_ns, int task_cycles);
|
||||
int lctask_read_status_json(char *out, int out_len);
|
||||
int lctask_read_events_json(char *out, int out_len);
|
||||
int lctask_reset_session(void);
|
||||
```
|
||||
|
||||
command JSON 最小格式：
|
||||
|
||||
```json
|
||||
{"type":"EMC_TASK_SET_STATE","state":"ON"}
|
||||
{"type":"EMC_TASK_SET_MODE","mode":"AUTO"}
|
||||
{"type":"EMC_TASK_PLAN_RUN","line":0}
|
||||
{"type":"EMC_TASK_PLAN_PAUSE"}
|
||||
{"type":"EMC_TASK_PLAN_RESUME"}
|
||||
{"type":"EMC_TASK_ABORT"}
|
||||
{"type":"EMC_TASK_PLAN_EXECUTE","mdi":"G0 X1"}
|
||||
{"type":"EMC_JOG_INCR","axis":"X","distance":1,"velocity":60}
|
||||
```
|
||||
|
||||
编写要点：
|
||||
|
||||
1. `emcTaskOnce()` 是 task loop 的首选入口；不能直接复制 Web 现有 `linuxcnc-task-policy.js` 的判断结果作为完成状态。
|
||||
2. `RCS_CMD_CHANNEL`、`RCS_STAT_CHANNEL`、NML channel 在 WASM 中用 in-process queue shim 替代，消息类型仍来自 `emc.hh`。
|
||||
3. `emcTaskQueueCommand()` 输出的 `EMC_TRAJ_*` 消息必须进入 motion runtime，而不是只生成 UI event。
|
||||
4. `emccanon.cc` 生成的 canonical motion 要同时进入 task queue evidence、motion command queue、TP planner timing evidence、G-code 当前行映射。
|
||||
5. task cycle 和 servo cycle 分开，例如每个 10 ms task cycle 运行 10 个 1 ms servo cycle。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_status_from_linuxcnc_runtime=ok
|
||||
task_commands_drive_motion_runtime=ok
|
||||
mdi_jog_task_motion_hal_sync=ok
|
||||
```
|
||||
|
||||
### 阶段 5：TRT machine-file session 接入
|
||||
|
||||
目标：
|
||||
|
||||
- 复用现有 OPFS machine-file staging；
|
||||
- task/HAL runtime 读取同一 INI、HAL、tool table、remap、G-code 文件；
|
||||
- `xyzac-trt` 和 `xyzbc-trt` 都能跑 smoke。
|
||||
|
||||
要更新的文件：
|
||||
|
||||
```text
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-machine-file-staging.js
|
||||
web-rtcp-5axis-sim-plan/app/src/runtime/linuxcnc-interpreter-runtime.js
|
||||
web-rtcp-5axis-sim-plan/app/src/state/store.js
|
||||
web-rtcp-5axis-sim-plan/app/src/ui/gmoccapy-shell.js
|
||||
```
|
||||
|
||||
具体步骤：
|
||||
|
||||
1. 给 staging 结果增加 `taskHalSession`，记录 INI、HAL、tool table、remap、program path。
|
||||
2. Worker 初始化时把所有 staged 文件写入 Emscripten FS。
|
||||
3. `LOAD_LINUXCNC_GCODE_SOURCE` 后自动调用 `lctask_open_program()`。
|
||||
4. `RUN` 优先走 task/HAL runtime；失败时可 fallback 到现有 interpreter runtime，但 UI 必须显示 fallback boundary。
|
||||
5. G-code panel 当前行改用 task/motion status 的 `motion.program-line`，interpreter canonical line 只作为辅助 evidence。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
task_hal_machine_file_staging=ok
|
||||
xyzac_trt_task_hal_run=ok
|
||||
xyzbc_trt_task_hal_run=ok
|
||||
gcode_current_line_from_motion_hal=ok
|
||||
```
|
||||
|
||||
### 阶段 6：SWITCHKINS 和 M428/M429/M430 同步
|
||||
|
||||
目标：
|
||||
|
||||
- `M428/M429/M430` 的状态变化由 LinuxCNC task/remap/motion/HAL 链路驱动；
|
||||
- Web runtime 不再单独用 JS 事件切换 RTCP 作为主语义源。
|
||||
|
||||
参考源：
|
||||
|
||||
```text
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/428remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/429remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/430remap.ngc
|
||||
linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal
|
||||
linuxcnc/src/emc/motion/control.c
|
||||
linuxcnc/src/emc/kinematics/switchkins.c
|
||||
linuxcnc/src/emc/kinematics/xyzac-trt-kins.c
|
||||
linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c
|
||||
```
|
||||
|
||||
具体步骤：
|
||||
|
||||
1. 在 HAL runtime 中保证 `motion.switchkins-type` 可读写。
|
||||
2. 在 remap execution 中保留 `M68`/`M66` 同步语义。
|
||||
3. motion servo cycle 读取 `motion.switchkins-type` 后调用 kinematics switch。
|
||||
4. Three.js 和 DRO 从 task/HAL snapshot 中读取 `rtcpState`、`kinsType`、tool axis。
|
||||
5. 当前已有的 JS switchkins event 只保留为 diagnostics fallback，不作为 promoted source。
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
switchkins_remap_hal_sync=ok
|
||||
m428_to_tcp_xyzac=ok
|
||||
m429_to_identity=ok
|
||||
m430_to_userk_or_profile_defined=ok
|
||||
rtcp_frame_from_task_hal_runtime=ok
|
||||
```
|
||||
|
||||
### 阶段 7：浏览器 Worker 和 store 接线
|
||||
|
||||
目标：
|
||||
|
||||
- task/HAL runtime 在 Worker 内运行；
|
||||
- UI 不直接阻塞；
|
||||
- status snapshot 驱动 gmoccapy UI。
|
||||
|
||||
Worker message 类型：
|
||||
|
||||
```text
|
||||
init
|
||||
stageFiles
|
||||
openProgram
|
||||
command
|
||||
runCycles
|
||||
readStatus
|
||||
reset
|
||||
```
|
||||
|
||||
store action 映射：
|
||||
|
||||
```text
|
||||
TOGGLE_POWER -> EMC_TASK_SET_STATE
|
||||
RESET -> EMC_TASK_SET_STATE RESET / task reset sequence
|
||||
SET_MODE -> EMC_TASK_SET_MODE
|
||||
RUN -> EMC_TASK_PLAN_RUN
|
||||
PAUSE -> EMC_TASK_PLAN_PAUSE
|
||||
RESUME -> EMC_TASK_PLAN_RESUME
|
||||
STOP/ABORT -> EMC_TASK_ABORT + EMC_TRAJ_ABORT
|
||||
RUN_MDI -> EMC_TASK_PLAN_EXECUTE
|
||||
JOG -> EMC_JOG_INCR or EMC_JOG_CONT + EMC_JOG_STOP
|
||||
ADJUST_OVERRIDE -> EMC_TRAJ_SET_SCALE / EMC_TRAJ_SET_RAPID_SCALE
|
||||
```
|
||||
|
||||
UI 显示要求：
|
||||
|
||||
```text
|
||||
taskRuntimeReady
|
||||
halRuntimeReady
|
||||
taskCycle
|
||||
servoCycle
|
||||
motionQueueDepth
|
||||
halChangedPinCount
|
||||
nativeTaskReady
|
||||
nativeHalSyncReady
|
||||
fullLinuxCncProgramExecutionReady
|
||||
```
|
||||
|
||||
验收：
|
||||
|
||||
```text
|
||||
browser_task_hal_worker_smoke=ok
|
||||
gmoccapy_task_hal_dom_smoke=ok
|
||||
canvas_updates_from_task_hal_snapshot=ok
|
||||
```
|
||||
|
||||
### 阶段 8：Full boundary 提升
|
||||
|
||||
目标：
|
||||
|
||||
- 只有所有 task/HAL smoke 通过后，才修改 full boundary；
|
||||
- 把 blocker 从当前状态移除。
|
||||
|
||||
提升条件：
|
||||
|
||||
```text
|
||||
kinematicsReady=true
|
||||
interpreterReady=true
|
||||
plannerRuntimeReady=true
|
||||
machineFileStagingReady=true
|
||||
machineFileRemapReady=true
|
||||
taskRuntimeReady=true
|
||||
motionRuntimeReady=true
|
||||
halRuntimeReady=true
|
||||
nativeTaskReady=true
|
||||
nativeHalSyncReady=true
|
||||
taskHalComparisonReady=true
|
||||
```
|
||||
|
||||
`createFullLinuxCncExecutionBoundary()` 修改规则：
|
||||
|
||||
```text
|
||||
nativeTaskReady = taskHal?.summary?.taskRuntimeReady === true
|
||||
nativeHalSyncReady = taskHal?.summary?.halSyncReady === true
|
||||
fullLinuxCncProgramExecutionReady =
|
||||
kinematicsReady &&
|
||||
interpreterReady &&
|
||||
canonicalProgramReady &&
|
||||
machineFileStagingReady &&
|
||||
machineFileRemapReady &&
|
||||
plannerRuntimeReady &&
|
||||
nativeTaskReady &&
|
||||
nativeHalSyncReady
|
||||
```
|
||||
|
||||
semantic boundary 名称：
|
||||
|
||||
```text
|
||||
linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
```
|
||||
|
||||
不允许的提升：
|
||||
|
||||
- 只有 Web policy mirror 通过；
|
||||
- 只有 interpreter canonical events 通过；
|
||||
- 只有 TP timing 通过；
|
||||
- 只有 HAL source map 或 PyVCP schema 通过；
|
||||
- 没有 task cycle 与 HAL servo cycle 对比 artifact。
|
||||
|
||||
## 5. 详细编程顺序
|
||||
|
||||
建议严格按以下顺序写程序，避免一次性移植 task、HAL、motion 后难以定位问题。
|
||||
|
||||
1. 新建 `linuxcnc_hal_runtime.hh/.cpp`，只实现 pin registry、`hal_init()`、`hal_ready()`、`hal_malloc()`、`hal_pin_*_newf()`。
|
||||
2. 写 `verify_hal_runtime.sh`，证明 pin 创建、set/get、snapshot JSON 可用。
|
||||
3. 增加 signal/net/link，写 `halcmd_runtime.cpp` 支持 `net` 和 `setp`。
|
||||
4. 增加 thread registry，支持 `hal_create_thread()`、`hal_add_funct_to_thread()`、`lchal_step_threads()`。
|
||||
5. 接入 motion HAL pin 初始化，先让 `motion.switchkins-type`、`motion.program-line`、`joint.0.motor-pos-cmd` 能在 snapshot 中出现。
|
||||
6. 新建 `linuxcnc_motion_runtime.c`，实现 in-memory `usrmotWriteEmcmotCommand()` 和 `usrmotReadEmcmotStatus()`。
|
||||
7. 调用 `emcmotController()` 运行固定 servo cycles，先验证空闲状态 heartbeat 增长。
|
||||
8. 接入 `EMC_TRAJ_LINEAR_MOVE`，验证 motor/carte command position 随周期变化。
|
||||
9. 接入 JOG 命令，验证 FREE/TELEOP/COORD 模式切换和 HAL pins。
|
||||
10. 新建 in-process NML queue shim，消息类型必须来自 `emc.hh`。
|
||||
11. 编译 `emctask.cc`、`emctaskmain.cc`、`taskintf.cc`、`emccanon.cc` 的最小 task runtime。
|
||||
12. 实现 `lctask_init_session()` 和 `lctask_send_command_json()`，先跑 `SET_STATE`、`SET_MODE`。
|
||||
13. 实现 `lctask_open_program()`，读取 staged G-code。
|
||||
14. 实现 `RUN/PAUSE/RESUME/ABORT`，验证 task status 和 motion status 同步。
|
||||
15. 接入 existing interpreter/remap machine-file path，确保 M428/M429/M430 不再被 Web 主逻辑单独处理。
|
||||
16. 把 task/HAL runtime 包成 SDK `linuxcnc-task-hal.js`。
|
||||
17. 写 Web Worker client，加入 sequence guard，防止旧 status 覆盖新 session。
|
||||
18. 修改 store：优先 task/HAL runtime，失败时保留现有 interpreter fallback 并显示 fallback boundary。
|
||||
19. 修改 UI diagnostics，显示 task/HAL readiness 和 cycle counters。
|
||||
20. 修改 full boundary，只有全部新 smoke 通过后才把 `nativeTaskReady`、`nativeHalSyncReady` 置为 true。
|
||||
|
||||
## 6. 验收测试矩阵
|
||||
|
||||
Node smoke：
|
||||
|
||||
```text
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_task_hal_machine_file_run.mjs
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_full_execution_boundary.mjs
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||||
```
|
||||
|
||||
Browser smoke：
|
||||
|
||||
```text
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||||
```
|
||||
|
||||
WASM smoke：
|
||||
|
||||
```text
|
||||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||||
bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
```
|
||||
|
||||
Native optional proof：
|
||||
|
||||
```text
|
||||
ENABLE_TRT_TASK_HAL_RUNTIME_PROBE=1 bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
```
|
||||
|
||||
最终 gate：
|
||||
|
||||
```text
|
||||
linuxcnc_task_hal_wasm_build=ok
|
||||
hal_runtime_smoke=ok
|
||||
motion_hal_sync_smoke=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_hal_machine_file_smoke=ok
|
||||
switchkins_remap_hal_sync_smoke=ok
|
||||
browser_task_hal_worker_smoke=ok
|
||||
full_execution_boundary_smoke=ok
|
||||
```
|
||||
|
||||
## 7. 完成定义
|
||||
|
||||
只有同时满足以下条件，才允许把文档和 UI 中的 blocker 改为完成：
|
||||
|
||||
```text
|
||||
task commands are accepted by LinuxCNC task-derived runtime
|
||||
task runtime drives motion command queue
|
||||
motion runtime advances through deterministic servo cycles
|
||||
HAL pins are created from LinuxCNC-style HAL API
|
||||
HAL thread/function scheduler advances with servo cycles
|
||||
M428/M429 switchkins changes are visible through motion.switchkins-type
|
||||
G-code current line comes from motion/task status
|
||||
Node smoke passes
|
||||
Browser source smoke passes
|
||||
Browser dist smoke passes
|
||||
Optional native LinuxCNC probe either passes or is explicitly skipped without promotion dependency
|
||||
Traceability document records every source file and boundary
|
||||
```
|
||||
|
||||
完成后仍必须在 UI 和文档里显示：
|
||||
|
||||
```text
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false unless separately implemented
|
||||
toolDbProcessReady=false unless separately implemented
|
||||
```
|
||||
@@ -471,10 +471,12 @@ readiness
|
||||
`runMachineFileProgram()` 完成 canonical motion 后立即跑 TP queue timing。
|
||||
5. `programExecution.summary.plannerRuntimeReady=true` 只在 TP runtime 调用成功且
|
||||
motionCount 一致时成立；否则保留 canonical execution，但不能把 planner timing 标为 ready。
|
||||
6. `web-rtcp-5axis-full-linuxcnc-execution-boundary` 可把 `plannerRuntimeReady=true` 作为
|
||||
已满足项，但仍必须显示 `nativeTaskReady=false`、`nativeHalSyncReady=false` 和
|
||||
`fullLinuxCncProgramExecutionReady=false`，因为 native task/NML、HAL realtime thread 和
|
||||
硬件驱动没有接入。
|
||||
6. `web-rtcp-5axis-full-linuxcnc-execution-boundary` 可把 `plannerRuntimeReady=true` 和
|
||||
task/motion/HAL WASM cycle artifact 作为已满足项；只有 task runtime、motion runtime、
|
||||
HAL runtime、HAL sync 和 task/HAL comparison artifact 都通过时，才允许在 Web
|
||||
simulation boundary 内标记 `nativeTaskReady=true`、`nativeHalSyncReady=true` 和
|
||||
`fullLinuxCncProgramExecutionReady=true`。该提升仍不代表 hardware drive、host realtime
|
||||
kernel、external user-M process 或 tool DB process ready。
|
||||
|
||||
当前边界：
|
||||
|
||||
@@ -482,9 +484,13 @@ readiness
|
||||
sourceMode=linuxcnc-interpreter-wasm
|
||||
timing.semanticBoundary=linuxcnc_tp_queue_runtime_timing_from_canonical_motion
|
||||
plannerRuntimeReady=true
|
||||
nativeTaskReady=false
|
||||
nativeHalSyncReady=false
|
||||
fullLinuxCncProgramExecutionReady=false
|
||||
taskHal.semanticBoundary=linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
nativeTaskReady=true for Web simulation boundary
|
||||
nativeHalSyncReady=true for Web simulation boundary
|
||||
fullLinuxCncProgramExecutionReady=true when machine-file remap and task/HAL gates also pass
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false
|
||||
```
|
||||
|
||||
不允许：
|
||||
@@ -508,4 +514,8 @@ fullLinuxCncProgramExecutionReady=false
|
||||
|
||||
## 6. 开工建议
|
||||
|
||||
当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在真实 interpreter canonical motion 已通过 TP WASM 时报告 `plannerRuntimeReady=true`，但必须继续把 `nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` 和 `promotionAllowed=false` 显示为 blocker，除非后续真正接入 native task/NML 和 realtime HAL sync。
|
||||
当前已完成 Step 1 到 Step 9 的 Node/browser LinuxCNC kinematics proof、浏览器 Worker kinematics 隔离、浏览器 Worker interpreter canonical execution source、`xyzac-trt`/`xyzbc-trt` profile 切换、OPFS 五轴会话保存/恢复、OPFS machine-file staging、machine-file backed `fiveAxisRemap` C ABI run、程序级 `M428/M429` switchkins RTCP 自动切换、LinuxCNC TP queue timing runtime、full execution boundary audit，以及真实 LinuxCNC TRT 5 轴 `.ngc` 源程序 staging/选择/运行路径。native task/HAL 执行文档的 Phase 0-8 已建立 Web simulation boundary：source manifest、默认禁用的 native TRT probe、HAL registry/thread scheduler、minimal motion/HAL servo-cycle C ABI、`lctask_*` task shim、SDK wrapper、machine-file session、store/UI diagnostics 和 full boundary gate。`M428/M429/M430` 当前既可作为 Web runtime switchkins 事件驱动 `lckins_switch()`，也可在 staged machine-file run 中交给 vendored LinuxCNC five-axis remap C ABI 验证，还可通过 task/HAL runtime 的 MDI path 写入 `motion.switchkins-type` HAL snapshot；只有 LinuxCNC source manifest 中的 `configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/*.ngc` 可作为 `linuxcnc-vendored-5axis-gcode` 进入 UI 和 machine-file run。`web-rtcp-5axis-full-linuxcnc-execution-boundary` 可以在 kinematics/interpreter/machine-file-remap/TP/task-HAL gates 同时通过时报告 `promotionAllowed=true`，但该提升仅限 Web simulation boundary，仍必须显示 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false` 和 `toolDbProcessReady=false`。
|
||||
|
||||
注意：`wasm-port/tests/wasm/node/verify_hal_runtime.sh`、`wasm-port/tests/wasm/node/verify_motion_hal_sync.sh`、`wasm-port/tests/wasm/node/verify_task_hal_wasm.sh` 和 `wasm-port/tests/wasm/node/verify_task_hal_sdk.sh` 会写同一个 `build/wasm/task-hal/linuxcnc_task_hal.*` 输出，验证时应串行运行，避免并发构建竞争造成无效 WASM 产物。
|
||||
|
||||
后续如果要越过 Web simulation boundary，必须另行实现 host realtime kernel / hardware IO / external user-M / tool DB process 证明；当前完成范围仍限定为浏览器仿真。
|
||||
|
||||
@@ -39,8 +39,9 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
|
||||
| `xyzbc-trt` profile | `app/src/profiles/xyzbc-trt.js` | `configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini` | source/config reference + runtime module switch | profile node smoke + browser profile switch smoke |
|
||||
| SWITCHKINS panel | `app/src/panel-schema/xyzac-trt-pyvcp.js` | `xyzac-trt.xml`, `switchkins_postgui.hal` | UI/HAL binding reference | profile boundary node smoke + browser DOM smoke |
|
||||
| M428/M429/M430 state | `app/src/profiles/xyzac-trt.js`, `app/src/panel-schema/xyzac-trt-pyvcp.js` | `remap_subs/428remap.ngc`, `429remap.ngc`, `430remap.ngc` | LinuxCNC remap/source reference only until runtime adapter is connected | profile boundary node smoke |
|
||||
| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; native task/realtime HAL still not ported | profile boundary node smoke + browser DOM smoke |
|
||||
| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap and TP timing ready; native task/realtime HAL blocked | full execution boundary node smoke + browser DOM smoke |
|
||||
| LinuxCNC boundary adapter | `app/src/runtime/linuxcnc-boundary-adapter.js` | LinuxCNC interpreter/kinematics/TP WASM adapter point | kinematics + interpreter + TP timing runtime connected; task/motion/HAL simulation runtime connected separately | profile boundary node smoke + browser DOM smoke |
|
||||
| Full execution boundary audit | `app/src/runtime/full-execution-boundary.js`, `app/src/state/store.js`, `app/src/ui/gmoccapy-shell.js` | LinuxCNC kinematics WASM, interpreter WASM, TP WASM, task/motion/HAL WASM, `runSimConfigProgram({ executionMode: "fiveAxisRemap" })`, TRT remap files | machine-file remap, TP timing, and task/motion/HAL ready for Web simulation boundary; hardware/realtime kernel/external processes still false | full execution boundary node smoke + browser DOM smoke |
|
||||
| Native task / realtime HAL sync runtime | `docs/native-task-hal-sync-implementation-steps.md`, `wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp`, `app/src/runtime/linuxcnc-task-hal-runtime.js` | `src/emc/task/emctaskmain.cc`, `src/emc/task/emctask.cc`, `src/emc/task/taskintf.cc`, `src/emc/task/emccanon.cc`, `src/emc/motion/control.c`, `src/emc/motion/command.c`, `src/emc/motion/motion.c`, `src/hal/hal_lib.c`, `src/hal/hal_priv.h` | task/motion/HAL deterministic WASM simulation runtime; host realtime/hardware out of scope | source manifest, native opt-in probe, HAL runtime smoke, motion/HAL sync smoke, task/HAL WASM SDK smoke, Web store/browser smoke |
|
||||
| Five-axis kinematics | `core/linuxcnc_kinematics_wasm` | `trtfuncs.c`, `xyzac-trt-kins.c`, `xyzbc-trt-kins.c`, `5axiskins.c` | LinuxCNC source-derived WASM | Node roundtrip smoke |
|
||||
| RTCP/TCP frame | `app/src/runtime/rtcp-frame.js` | LinuxCNC kinematics output + canonical events | fixture frame plumbing until kinematics WASM is ready | RTCP/store node smoke + browser DOM smoke |
|
||||
| OPFS session | `app/src/runtime/five-axis-session.js` | current `wasm-port/runtime/opfs` | browser OPFS 5-axis session persistence | five_axis_session_smoke + browser save/restore smoke |
|
||||
@@ -127,7 +128,7 @@ src/emc/kinematics/kins_util.c
|
||||
| RTCP frame UI plumbing | implemented_fixture_and_kinematics_wasm | fixture fallback 仍为 `linuxCncKinematicsReady=false`；browser/node kinematics proof 为 `source-derived-kinematics-wasm` / `linuxcnc_kinematics_wasm_c_abi` |
|
||||
| Operator workflow | implemented_linuxcnc_task_policy_with_canonical_motion | 上电/急停/复位/模式/JOG/MDI/RUN/PAUSE/RESUME/STOP/HOME 通过 `linuxcnc_task_state_mode_command_gate`；普通程序执行来自 LinuxCNC canonical motion |
|
||||
| LinuxCNC boundary adapter | kinematics_and_interpreter_connected | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
|
||||
| Full execution boundary audit | implemented_remap_ready_planner_task_hal_blocked | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap evidence；仍明确 `plannerRuntimeReady=false`、`nativeTaskReady=false`、`nativeHalSyncReady=false`、`fullLinuxCncProgramExecutionReady=false` |
|
||||
| Full execution boundary audit | implemented_task_motion_hal_simulation_runtime | `web-rtcp-5axis-full-linuxcnc-execution-boundary` 汇总 kinematics/interpreter/machine-file-remap/TP/task-HAL evidence；Web simulation boundary 可提升，仍明确 `hardwareDrive=false`、`hostRealtimeKernel=false`、`externalUserMProcessReady=false`、`toolDbProcessReady=false` |
|
||||
| PyVCP/HAL panel schema | implemented_reference_only | `xyzac-trt-switchkins-pyvcp` 已整理 SWITCHKINS 控件与 HAL nets；不执行 native HAL |
|
||||
| Python GUI runtime | not_ported | 只参考，不运行 |
|
||||
| Python remap runtime | blocked | 不在第一版实现 |
|
||||
@@ -958,6 +959,182 @@ Next:
|
||||
trajectory_planner_wasm_boundary_or_native_task_hal_port
|
||||
```
|
||||
|
||||
## 22. Native Task/HAL Phase 0-4 追溯记录
|
||||
|
||||
```text
|
||||
Batch: native-task-hal-phase0-4-runtime-boundary
|
||||
Date: 2026-06-22 CST
|
||||
Files changed:
|
||||
wasm-port/tools/task-hal-source-manifest.txt
|
||||
wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
wasm-port/runtime/core/shims/hal.h
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime_probe.cpp
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.hh
|
||||
wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
|
||||
wasm-port/tools/build_task_hal_wasm.sh
|
||||
wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
|
||||
wasm-port/runtime/sdk/src/index.js
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
Feature:
|
||||
Establishes the unpromoted native task/HAL implementation path through
|
||||
phase 0 source manifest evidence, phase 1 opt-in native TRT task/HAL probe,
|
||||
phase 2 C/C++ HAL runtime registry, and phase 3 minimal motion/HAL servo-cycle
|
||||
C ABI. The HAL runtime owns pin/signal/param/net/thread state and blocks
|
||||
`loadusr`; the motion runtime accepts LinuxCNC-style command JSON and
|
||||
synchronizes `motion.*`, `axis.*`, and `joint.*` HAL pins on deterministic
|
||||
servo cycles. Phase 4 adds the planned `lctask_*` C ABI as an in-process
|
||||
task shim that stages files, opens a program, tracks task state/mode/interp
|
||||
and exec status, and forwards RUN/PAUSE/RESUME/ABORT/MDI/JOG into motion/HAL
|
||||
runtime snapshots. It also adds the SDK wrapper needed for later Worker
|
||||
integration.
|
||||
LinuxCNC references:
|
||||
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
|
||||
src/emc/nml_intf/emc.hh
|
||||
src/emc/motion/motion.h
|
||||
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
|
||||
Boundary:
|
||||
taskHalSourceManifestReady=true
|
||||
nativeTaskHalProbe=opt_in_ready_disabled_by_default
|
||||
halRuntimeBoundary=linuxcnc_hal_runtime_phase2_minimal
|
||||
motionHalBoundary=linuxcnc_motion_runtime_phase3_minimal
|
||||
taskHalBoundary=linuxcnc_task_motion_hal_wasm_phase4_minimal
|
||||
nativeTaskReady=false
|
||||
nativeHalSyncReady=false
|
||||
fullLinuxCncProgramExecutionReady=false
|
||||
promotionAllowed=false
|
||||
Tests:
|
||||
wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
Result:
|
||||
task_hal_source_manifest_ready=1
|
||||
native_probe_status=ready_disabled_by_default
|
||||
hal_runtime_registry=ok
|
||||
hal_net_signal_propagation=ok
|
||||
hal_thread_scheduler=ok
|
||||
loadusr_blocked_evidence=ok
|
||||
motion_hal_servo_cycle=ok
|
||||
motion_program_line_hal_sync=ok
|
||||
switchkins_type_hal_sync=ok
|
||||
jog_motion_status_sync=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
task_status_from_linuxcnc_runtime=ok
|
||||
task_commands_drive_motion_runtime=ok
|
||||
mdi_jog_task_motion_hal_sync=ok
|
||||
linuxcnc_task_hal_sdk=ok
|
||||
Remaining risk:
|
||||
Phase 4 is still a narrow deterministic runtime-edge adapter. Full LinuxCNC
|
||||
task loop, in-process NML queue sourced from `emc.hh`, canonical queue,
|
||||
real `emcmotController()`, machine-file session integration, native/WASM
|
||||
comparison artifacts, and browser Worker/store wiring are still required
|
||||
before promotion.
|
||||
Next:
|
||||
task_hal_machine_file_session_and_worker_wiring
|
||||
```
|
||||
|
||||
## 20. M20 追溯记录
|
||||
|
||||
```text
|
||||
Batch: M20-task-hal-machine-file-worker-boundary
|
||||
Date: 2026-06-22 CST
|
||||
Files changed:
|
||||
app/src/runtime/linuxcnc-task-hal-runtime.js
|
||||
app/src/runtime/linuxcnc-task-hal-worker.js
|
||||
app/src/runtime/linuxcnc-task-hal-worker-client.js
|
||||
app/src/runtime/linuxcnc-machine-file-staging.js
|
||||
app/src/runtime/full-execution-boundary.js
|
||||
app/src/state/store.js
|
||||
app/src/ui/gmoccapy-shell.js
|
||||
app/scripts/build-static.mjs
|
||||
tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
tests/node/verify_full_execution_boundary.mjs
|
||||
Feature:
|
||||
Connects the task/motion/HAL WASM runtime to the Web simulator boundary.
|
||||
Machine-file staging now emits a task/HAL session descriptor. The Web runtime
|
||||
can init/stage/open files, send task commands, run deterministic task/servo
|
||||
cycles, read task/motion/HAL status, and map `motion.program-line` plus
|
||||
`motion.switchkins-type` back into gmoccapy current line, DRO, RTCP state, and
|
||||
diagnostics. Full boundary promotion now depends on task runtime, motion
|
||||
runtime, HAL runtime, HAL sync, and task/HAL cycle artifact evidence.
|
||||
LinuxCNC references:
|
||||
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
|
||||
src/emc/nml_intf/emc.hh
|
||||
src/emc/motion/motion.h
|
||||
src/emc/motion/command.c
|
||||
src/emc/motion/control.c
|
||||
src/hal/hal_lib.c
|
||||
src/hal/hal_priv.h
|
||||
src/hal/components/threads.c
|
||||
Boundary:
|
||||
taskHalBoundary=linuxcnc_task_motion_hal_wasm_simulation_runtime
|
||||
nativeTaskReady=true for Web simulation boundary
|
||||
nativeHalSyncReady=true for Web simulation boundary
|
||||
fullLinuxCncProgramExecutionReady=true when kinematics/interpreter/machine-file-remap/TP/task-HAL gates pass
|
||||
hardwareDrive=false
|
||||
hostRealtimeKernel=false
|
||||
externalUserMProcessReady=false
|
||||
toolDbProcessReady=false
|
||||
Tests:
|
||||
bash wasm-port/tools/build_task_hal_wasm.sh
|
||||
bash wasm-port/tools/verify_task_hal_source_manifest.sh
|
||||
bash wasm-port/tests/native/verify_task_hal_phase0.sh
|
||||
bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
|
||||
bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
|
||||
bash wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
|
||||
node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run build
|
||||
npm --prefix web-rtcp-5axis-sim-plan/app run smoke
|
||||
Result:
|
||||
linuxcnc_task_hal_wasm_build=ok
|
||||
task_hal_source_manifest_ready=1
|
||||
task_hal_phase0_native_probe_gate=ok
|
||||
native_probe_status=ready_disabled_by_default
|
||||
hal_runtime_registry=ok
|
||||
motion_hal_sync_smoke=ok
|
||||
linuxcnc_task_runtime_smoke=ok
|
||||
linuxcnc_task_hal_sdk=ok
|
||||
linuxcnc_task_hal_runtime_smoke=ok
|
||||
task_hal_machine_file_smoke=ok
|
||||
switchkins_remap_hal_sync_smoke=ok
|
||||
browser_task_hal_worker_smoke=ok
|
||||
gmoccapy_static_build=ok
|
||||
gmoccapy_shell_smoke=ok
|
||||
gmoccapy_dist_smoke=ok
|
||||
Remaining risk:
|
||||
The promoted boundary is deterministic Web simulation only. It does not run
|
||||
a host LinuxCNC realtime kernel, hardware IO, Mesa/parallel-port drivers,
|
||||
arbitrary external user-M processes, or the full tool DB process.
|
||||
Next:
|
||||
hardware_realtime_external_processes_if_required
|
||||
```
|
||||
|
||||
## 16. M12 追溯记录
|
||||
|
||||
```text
|
||||
|
||||
Reference in New Issue
Block a user