接入 task HAL Web 仿真运行时
This commit is contained in:
@@ -39,8 +39,9 @@ CNC 语义必须来自 LinuxCNC source/WASM/source-derived boundary；
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| `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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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| 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 |
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@@ -127,7 +128,7 @@ src/emc/kinematics/kins_util.c
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| 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` |
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| 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 |
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| LinuxCNC boundary adapter | kinematics_and_interpreter_connected | `web-rtcp-5axis-linuxcnc-boundary-adapter` 可区分 kinematics-only ready 与 interpreter/remap missing |
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| 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` |
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| 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` |
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| 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 |
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| Python GUI runtime | not_ported | 只参考，不运行 |
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| Python remap runtime | blocked | 不在第一版实现 |
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@@ -958,6 +959,182 @@ Next:
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trajectory_planner_wasm_boundary_or_native_task_hal_port
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```
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## 22. Native Task/HAL Phase 0-4 追溯记录
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```text
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Batch: native-task-hal-phase0-4-runtime-boundary
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Date: 2026-06-22 CST
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Files changed:
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wasm-port/tools/task-hal-source-manifest.txt
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wasm-port/tools/verify_task_hal_source_manifest.sh
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wasm-port/tests/native/probe_trt_task_hal_runtime.sh
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wasm-port/runtime/core/shims/hal.h
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.hh
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime.cpp
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_hal_runtime_probe.cpp
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.h
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_motion_runtime.c
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.hh
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wasm-port/runtime/core/linuxcnc_wrap/linuxcnc_task_hal_wasm.cpp
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wasm-port/tools/build_task_hal_wasm.sh
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wasm-port/runtime/sdk/src/linuxcnc-task-hal.js
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wasm-port/runtime/sdk/src/index.js
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wasm-port/tests/wasm/node/verify_hal_runtime.sh
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wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
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wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
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wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
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Feature:
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Establishes the unpromoted native task/HAL implementation path through
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phase 0 source manifest evidence, phase 1 opt-in native TRT task/HAL probe,
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phase 2 C/C++ HAL runtime registry, and phase 3 minimal motion/HAL servo-cycle
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C ABI. The HAL runtime owns pin/signal/param/net/thread state and blocks
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`loadusr`; the motion runtime accepts LinuxCNC-style command JSON and
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synchronizes `motion.*`, `axis.*`, and `joint.*` HAL pins on deterministic
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servo cycles. Phase 4 adds the planned `lctask_*` C ABI as an in-process
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task shim that stages files, opens a program, tracks task state/mode/interp
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and exec status, and forwards RUN/PAUSE/RESUME/ABORT/MDI/JOG into motion/HAL
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runtime snapshots. It also adds the SDK wrapper needed for later Worker
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integration.
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LinuxCNC references:
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src/emc/task/task.hh
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src/emc/task/emctask.cc
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src/emc/task/emctaskmain.cc
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src/emc/task/taskintf.cc
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src/emc/task/emccanon.cc
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src/emc/nml_intf/emc.hh
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src/emc/motion/motion.h
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src/emc/motion/command.c
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src/emc/motion/control.c
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src/emc/motion/mot_priv.h
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src/hal/hal_lib.c
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src/hal/hal_priv.h
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src/hal/components/threads.c
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Boundary:
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taskHalSourceManifestReady=true
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nativeTaskHalProbe=opt_in_ready_disabled_by_default
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halRuntimeBoundary=linuxcnc_hal_runtime_phase2_minimal
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motionHalBoundary=linuxcnc_motion_runtime_phase3_minimal
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taskHalBoundary=linuxcnc_task_motion_hal_wasm_phase4_minimal
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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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Tests:
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wasm-port/tools/verify_task_hal_source_manifest.sh
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wasm-port/tests/native/probe_trt_task_hal_runtime.sh
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wasm-port/tests/wasm/node/verify_hal_runtime.sh
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wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
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wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
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wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
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Result:
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task_hal_source_manifest_ready=1
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native_probe_status=ready_disabled_by_default
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hal_runtime_registry=ok
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hal_net_signal_propagation=ok
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hal_thread_scheduler=ok
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loadusr_blocked_evidence=ok
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motion_hal_servo_cycle=ok
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motion_program_line_hal_sync=ok
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switchkins_type_hal_sync=ok
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jog_motion_status_sync=ok
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linuxcnc_task_runtime_smoke=ok
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task_status_from_linuxcnc_runtime=ok
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task_commands_drive_motion_runtime=ok
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mdi_jog_task_motion_hal_sync=ok
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linuxcnc_task_hal_sdk=ok
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Remaining risk:
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Phase 4 is still a narrow deterministic runtime-edge adapter. Full LinuxCNC
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task loop, in-process NML queue sourced from `emc.hh`, canonical queue,
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real `emcmotController()`, machine-file session integration, native/WASM
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comparison artifacts, and browser Worker/store wiring are still required
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before promotion.
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Next:
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task_hal_machine_file_session_and_worker_wiring
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```
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## 20. M20 追溯记录
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```text
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Batch: M20-task-hal-machine-file-worker-boundary
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Date: 2026-06-22 CST
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Files changed:
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app/src/runtime/linuxcnc-task-hal-runtime.js
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app/src/runtime/linuxcnc-task-hal-worker.js
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app/src/runtime/linuxcnc-task-hal-worker-client.js
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app/src/runtime/linuxcnc-machine-file-staging.js
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app/src/runtime/full-execution-boundary.js
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app/src/state/store.js
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app/src/ui/gmoccapy-shell.js
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app/scripts/build-static.mjs
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tests/node/verify_linuxcnc_task_hal_runtime.mjs
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tests/node/verify_full_execution_boundary.mjs
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Feature:
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Connects the task/motion/HAL WASM runtime to the Web simulator boundary.
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Machine-file staging now emits a task/HAL session descriptor. The Web runtime
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can init/stage/open files, send task commands, run deterministic task/servo
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cycles, read task/motion/HAL status, and map `motion.program-line` plus
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`motion.switchkins-type` back into gmoccapy current line, DRO, RTCP state, and
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diagnostics. Full boundary promotion now depends on task runtime, motion
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runtime, HAL runtime, HAL sync, and task/HAL cycle artifact evidence.
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LinuxCNC references:
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src/emc/task/task.hh
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src/emc/task/emctask.cc
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src/emc/task/emctaskmain.cc
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src/emc/task/taskintf.cc
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src/emc/task/emccanon.cc
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src/emc/nml_intf/emc.hh
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src/emc/motion/motion.h
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src/emc/motion/command.c
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src/emc/motion/control.c
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src/hal/hal_lib.c
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src/hal/hal_priv.h
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src/hal/components/threads.c
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Boundary:
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taskHalBoundary=linuxcnc_task_motion_hal_wasm_simulation_runtime
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nativeTaskReady=true for Web simulation boundary
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nativeHalSyncReady=true for Web simulation boundary
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fullLinuxCncProgramExecutionReady=true when kinematics/interpreter/machine-file-remap/TP/task-HAL gates pass
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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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Tests:
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bash wasm-port/tools/build_task_hal_wasm.sh
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bash wasm-port/tools/verify_task_hal_source_manifest.sh
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bash wasm-port/tests/native/verify_task_hal_phase0.sh
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bash wasm-port/tests/native/probe_trt_task_hal_runtime.sh
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bash wasm-port/tests/wasm/node/verify_hal_runtime.sh
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bash wasm-port/tests/wasm/node/verify_motion_hal_sync.sh
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bash wasm-port/tests/wasm/node/verify_task_hal_wasm.sh
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bash wasm-port/tests/wasm/node/verify_task_hal_sdk.sh
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node web-rtcp-5axis-sim-plan/tests/node/verify_linuxcnc_task_hal_runtime.mjs
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke:node
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npm --prefix web-rtcp-5axis-sim-plan/app run build
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npm --prefix web-rtcp-5axis-sim-plan/app run smoke
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Result:
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linuxcnc_task_hal_wasm_build=ok
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task_hal_source_manifest_ready=1
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task_hal_phase0_native_probe_gate=ok
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native_probe_status=ready_disabled_by_default
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hal_runtime_registry=ok
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motion_hal_sync_smoke=ok
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linuxcnc_task_runtime_smoke=ok
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linuxcnc_task_hal_sdk=ok
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linuxcnc_task_hal_runtime_smoke=ok
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task_hal_machine_file_smoke=ok
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switchkins_remap_hal_sync_smoke=ok
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browser_task_hal_worker_smoke=ok
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gmoccapy_static_build=ok
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gmoccapy_shell_smoke=ok
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gmoccapy_dist_smoke=ok
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Remaining risk:
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The promoted boundary is deterministic Web simulation only. It does not run
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a host LinuxCNC realtime kernel, hardware IO, Mesa/parallel-port drivers,
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arbitrary external user-M processes, or the full tool DB process.
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Next:
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hardware_realtime_external_processes_if_required
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```
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## 16. M12 追溯记录
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```text
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Reference in New Issue
Block a user