Implement AXIS parity UI and execution baseline

web/worker/test_authoritative_sim_task_s6.mjs

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+import assert from "node:assert/strict";
+import { readFile } from "node:fs/promises";
+import createModule from "../../build-wasm/linuxcnc-sim-core.js";
+import { compareEndpoints, createEndpoint, endpointHash } from "./endpoint-replay.mjs";
+import { SimSession, CONTEXT_ID } from "./sim-session.mjs";
+
+const wasmBinary = await readFile(new URL("../../build-wasm/linuxcnc-sim-core.wasm", import.meta.url));
+
+async function runPlan(id, fast) {
+  const core = await createModule({ wasmBinary });
+  const session = new SimSession(core, { sessionId: id });
+  const base = { schema_version: 1, context_id: CONTEXT_ID, session_id: id };
+  let seq = 0;
+  const send = (kind, operation_id, payload = {}) => {
+    seq += 1;
+    const response = session.accept({ ...base, kind, seq, operation_id, payload });
+    assert.notEqual(response.kind, "ERROR", `${id}:${kind}:${response.payload?.code ?? "error"}`);
+    return response;
+  };
+  send("HELLO", "hello");
+  send("SESSION_ATTACH", "attach");
+  send("LOAD_WORKSPACE", "workspace", { root_path: "/workspace" });
+  send("HAL_COMMAND", "thread", { action: "thread", name: "servo-thread", period_ticks: 1 });
+  send("HAL_COMMAND", "constant", { action: "component", instance: "constant", type: "constant", thread: "servo-thread" });
+  send("HAL_SET", "constant-value", { target: "param", name: "constant.value", value: 2.5 });
+  send("ENCODER_SET", "encoder", { channel: 0, speed_rps: 1, ppr: 10, scale: 4, index_enable: true });
+  send("PROGRAM_LOAD", "program", { source: "G0 X1\nG1 X2\nM2\n", path: "authoritative.ngc" });
+  send("PROGRAM_RUN", "run");
+  const steps = [];
+  if (fast) {
+    const response = send("SIM_STEP", "fast-step", { cycles: 8 });
+    steps.push(response);
+  } else {
+    for (let index = 0; index < 8; index += 1) steps.push(send("SIM_STEP", `step-${index}`, { cycles: 1 }));
+  }
+  const last = steps.at(-1);
+  assert.equal(last.payload.authoritative.kinematics.type, "trivkins");
+  assert.equal(last.payload.authoritative.tick, last.payload.task.simulation_tick);
+  assert.equal(last.payload.authoritative.kinematics.joint_count, 3);
+  assert.equal(last.payload.scheduler.phase_trace.join(","), "reconcile,task,tp,kinematics,motion,hal_io,callbacks,publish");
+  assert.equal(last.payload.hal_runtime.components[0].calls, 8);
+  assert.equal(last.payload.device_io.encoders[0].tick, 8);
+  assert.equal(last.payload.authoritative.kinematics.pose.x, 2);
+  const endpoint = createEndpoint({ session });
+  const checkpoint = session.createCheckpoint();
+  send("SIM_STEP", "post-checkpoint", { cycles: 1 });
+  const continuous = createEndpoint({ session });
+  const recovered = session.restoreCheckpoint(checkpoint, session.timeline.export(), (operation) => operation);
+  assert.equal(recovered.status, "recovered");
+  const restored = createEndpoint({ session });
+  const recoveryParity = compareEndpoints(continuous, restored);
+  assert.equal(recoveryParity.equal, true, JSON.stringify(recoveryParity));
+  return { endpoint, checkpoint, recoveryParity, authoritative: last.payload.authoritative, task: last.payload.task, scheduler: last.payload.scheduler };
+}
+
+const oneX = await runPlan("authoritative-1x", false);
+const fast = await runPlan("authoritative-fast", true);
+const modeParity = compareEndpoints(oneX.endpoint, fast.endpoint);
+assert.equal(modeParity.equal, true);
+assert.equal(oneX.recoveryParity.equal, true);
+assert.equal(fast.recoveryParity.equal, true);
+
+console.log(JSON.stringify({
+  schema: "authoritative-sim-task-s6-sample.v1",
+  status: "verified",
+  context_id: CONTEXT_ID,
+  supported: { kinematics: "trivkins", axes: ["x", "y", "z"], fixed_tick_phases: oneX.scheduler.phase_trace },
+  parity: { mode: modeParity, one_x_recovery: oneX.recoveryParity, fast_recovery: fast.recoveryParity },
+  endpoint_hash: endpointHash(oneX.endpoint),
+  authoritative_hash: oneX.authoritative.state_hash,
+  task_hash: oneX.task.state_hash,
+  checkpoint_hash: oneX.checkpoint.checkpoint_hash,
+  boundaries: ["non-trivkins kinematics remain S6-03+", "full LinuxCNC canonical/native oracle remains explicitly blocked"],
+}));