接入 task HAL Web 仿真运行时

web-rtcp-5axis-sim-plan/tests/node/verify_full_execution_boundary.mjs

@@ -8,7 +8,7 @@ assert.equal(blocked.phase, "blocked");
 assert.equal(blocked.promotionAllowed, false);
 assert.equal(blocked.fullLinuxCncProgramExecutionReady, false);
 assert.equal(blocked.missing.includes("linuxcnc kinematics WASM frame"), true);
-assert.equal(blocked.blockers.some((blocker) => blocker.includes("native LinuxCNC task")), true);
+assert.equal(blocked.blockers.some((blocker) => blocker.includes("LinuxCNC task runtime")), true);
 
 const canonicalState = {
   machineProfile: "xyzac-trt",
@@ -105,4 +105,65 @@ assert.equal(remap.semanticBoundary, "linuxcnc_machine_file_remap_ready_planner_
 assert.equal(remap.satisfied.includes("fiveaxis-remap-machine-file-run"), true);
 assert.equal(remap.evidence.machineFileFlags.length, 3);
 
+const taskHalPromoted = createFullLinuxCncExecutionBoundary({
+  ...canonicalState,
+  programExecution: remap.programExecution || {
+    ...canonicalState.programExecution,
+    plannerTiming: {
+      plannerRuntimeReady: true,
+      semanticBoundary: "linuxcnc_tp_queue_runtime_timing_from_canonical_motion",
+    },
+    summary: {
+      ...canonicalState.programExecution.summary,
+      plannerRuntimeReady: true,
+    },
+  },
+  machineFileStaging: {
+    status: "staged",
+    fileCount: 12,
+  },
+  machineFileExecution: remap.evidence ? {
+    sourceMode: "linuxcnc-machine-file-remap-wasm",
+    summary: { machineFileExecutionReady: true },
+    resultText: [
+      "fiveaxis_ini_open=1",
+      "fiveaxis_remaps_ready=1",
+      "fiveaxis_file_reached_exit=1",
+      "fiveaxis_hal_switchkins: rc=0 found=1 value=1",
+    ].join("\n"),
+  } : null,
+  taskHalRuntimeReadiness: {
+    taskRuntimeReady: true,
+    motionRuntimeReady: true,
+    halRuntimeReady: true,
+    halSyncReady: true,
+  },
+  taskHalStatus: {
+    summary: {
+      taskRuntimeReady: true,
+      motionRuntimeReady: true,
+      halRuntimeReady: true,
+      halSyncReady: true,
+      taskHalComparisonReady: true,
+    },
+    ui: {
+      taskCycle: 2,
+      servoCycle: 20,
+      motionQueueDepth: 0,
+      halChangedPinCount: 4,
+    },
+  },
+});
+
+assert.equal(taskHalPromoted.semanticBoundary, "linuxcnc_task_motion_hal_wasm_simulation_runtime");
+assert.equal(taskHalPromoted.nativeTaskReady, true);
+assert.equal(taskHalPromoted.nativeHalSyncReady, true);
+assert.equal(taskHalPromoted.fullLinuxCncProgramExecutionReady, true);
+assert.equal(taskHalPromoted.promotionAllowed, true);
+assert.equal(taskHalPromoted.hardwareDrive, false);
+assert.equal(taskHalPromoted.hostRealtimeKernel, false);
+assert.equal(taskHalPromoted.externalUserMProcessReady, false);
+assert.equal(taskHalPromoted.toolDbProcessReady, false);
+assert.equal(taskHalPromoted.evidence.taskCycle, 2);
+
 console.log("full_execution_boundary_smoke=ok");