From 2ef2d82db30de10d3dceebcc6a643734999b1a00 Mon Sep 17 00:00:00 2001 From: wangdequan Date: Fri, 21 Aug 2026 10:57:10 +0800 Subject: [PATCH] Extend simulation runtime coverage and kinematics support --- context-lock.json | 34 +- coverage/configuration-regression.report.json | 15814 ++++++++++++++++ coverage/corexy-hal.report.json | 4 +- coverage/hal-runtime.report.json | 1 + coverage/io-runtime.report.json | 287 + coverage/kinematics-feedback.report.json | 153 + coverage/kinematics-home-limit.report.json | 148 + coverage/kinematics-motion.report.json | 171 + coverage/kinematics-oracle.report.json | 50 +- coverage/kinematics-registry.report.json | 502 + coverage/manifest.jsonl | 3372 ++-- coverage/pentapod-kinematics.report.json | 144 +- coverage/source-index.jsonl | 44 +- coverage/switchkins-kinematics.report.json | 235 + coverage/userkins-kinematics.report.json | 225 + coverage/workspace-recovery.report.json | 38 +- ...xcnc-web-wasm-kinematics-migration-plan.md | 22 +- docs/task-history.md | 11 + nextTask.md | 40 +- scripts/generate_configuration_regression.py | 415 + scripts/generate_io_report.py | 113 + .../generate_kinematics_feedback_report.py | 71 + .../generate_kinematics_home_limit_report.py | 71 + scripts/generate_kinematics_motion_report.py | 73 + .../generate_kinematics_registry_report.py | 90 + .../generate_pentapod_kinematics_report.py | 13 +- scripts/generate_source_inventory.py | 124 +- scripts/generate_switchkins_report.py | 110 + scripts/generate_userkins_report.py | 99 + scripts/test_configuration_regression.py | 52 + scripts/test_hal_runtime.py | 4 + scripts/test_io_report.py | 45 + scripts/test_kinematics_feedback_report.py | 34 + scripts/test_kinematics_home_limit_report.py | 34 + scripts/test_kinematics_motion_report.py | 35 + scripts/test_kinematics_registry_report.py | 33 + scripts/test_pentapod_kinematics_report.py | 4 + scripts/test_switchkins_report.py | 37 + scripts/test_userkins_report.py | 36 + scripts/validate_baseline.py | 176 + wasm-core/CMakeLists.txt | 90 +- wasm-core/include/sim_hal.h | 2 +- wasm-core/include/sim_io.h | 151 + wasm-core/include/sim_kinematics.h | 134 + wasm-core/include/sim_kinematics_feedback.h | 52 + wasm-core/include/sim_kinematics_home_limit.h | 55 + wasm-core/include/sim_kinematics_motion.h | 68 + wasm-core/src/sim_event.c | 18 +- wasm-core/src/sim_io.c | 561 + wasm-core/src/sim_kinematics.c | 36 +- wasm-core/src/sim_kinematics_feedback.c | 109 + wasm-core/src/sim_kinematics_home_limit.c | 138 + wasm-core/src/sim_kinematics_motion.c | 184 + wasm-core/src/sim_kinematics_registry.c | 124 + wasm-core/src/sim_switchkins.c | 185 + wasm-core/src/sim_userkins.c | 98 + wasm-core/tests/sim_event_test.c | 7 + wasm-core/tests/sim_io_test.c | 89 + .../tests/sim_kinematics_feedback_test.c | 65 + .../tests/sim_kinematics_home_limit_test.c | 57 + wasm-core/tests/sim_kinematics_motion_test.c | 107 + .../tests/sim_kinematics_registry_test.c | 63 + wasm-core/tests/sim_kinematics_test.c | 52 +- wasm-core/tests/sim_switchkins_test.c | 85 + wasm-core/tests/sim_userkins_test.c | 126 + web/worker/replay.mjs | 66 +- web/worker/sim-session.mjs | 145 +- web/worker/test_replay.mjs | 9 +- web/worker/test_sim_session.mjs | 11 + web/workspace/recovery.mjs | 171 + web/workspace/test_recovery.mjs | 77 +- 71 files changed, 24232 insertions(+), 1867 deletions(-) create mode 100644 coverage/configuration-regression.report.json create mode 100644 coverage/io-runtime.report.json create mode 100644 coverage/kinematics-feedback.report.json create mode 100644 coverage/kinematics-home-limit.report.json create mode 100644 coverage/kinematics-motion.report.json create mode 100644 coverage/kinematics-registry.report.json create mode 100644 coverage/switchkins-kinematics.report.json create mode 100644 coverage/userkins-kinematics.report.json create mode 100644 scripts/generate_configuration_regression.py create mode 100644 scripts/generate_io_report.py create mode 100644 scripts/generate_kinematics_feedback_report.py create mode 100644 scripts/generate_kinematics_home_limit_report.py create mode 100644 scripts/generate_kinematics_motion_report.py create mode 100644 scripts/generate_kinematics_registry_report.py create mode 100644 scripts/generate_switchkins_report.py create mode 100644 scripts/generate_userkins_report.py create mode 100644 scripts/test_configuration_regression.py create mode 100644 scripts/test_io_report.py create mode 100644 scripts/test_kinematics_feedback_report.py create mode 100644 scripts/test_kinematics_home_limit_report.py create mode 100644 scripts/test_kinematics_motion_report.py create mode 100644 scripts/test_kinematics_registry_report.py create mode 100644 scripts/test_switchkins_report.py create mode 100644 scripts/test_userkins_report.py create mode 100644 wasm-core/include/sim_io.h create mode 100644 wasm-core/include/sim_kinematics_feedback.h create mode 100644 wasm-core/include/sim_kinematics_home_limit.h create mode 100644 wasm-core/include/sim_kinematics_motion.h create mode 100644 wasm-core/src/sim_io.c create mode 100644 wasm-core/src/sim_kinematics_feedback.c create mode 100644 wasm-core/src/sim_kinematics_home_limit.c create mode 100644 wasm-core/src/sim_kinematics_motion.c create mode 100644 wasm-core/src/sim_kinematics_registry.c create mode 100644 wasm-core/src/sim_switchkins.c create mode 100644 wasm-core/src/sim_userkins.c create mode 100644 wasm-core/tests/sim_io_test.c create mode 100644 wasm-core/tests/sim_kinematics_feedback_test.c create mode 100644 wasm-core/tests/sim_kinematics_home_limit_test.c create mode 100644 wasm-core/tests/sim_kinematics_motion_test.c create mode 100644 wasm-core/tests/sim_kinematics_registry_test.c create mode 100644 wasm-core/tests/sim_switchkins_test.c create mode 100644 wasm-core/tests/sim_userkins_test.c diff --git a/context-lock.json b/context-lock.json index e69f01d..91d6c31 100644 --- a/context-lock.json +++ b/context-lock.json @@ -60,9 +60,9 @@ "runtime_pin_rule": "Changing mirror URL without changing bytes does not change context; changing bytes or version creates a new context_id." }, "inventory_counts": { - "total": 8035, - "source_index": 8035, - "manifest_seed": 8035, + "total": 8053, + "source_index": 8053, + "manifest_seed": 8053, "document_capabilities": 2868, "source_symbols": 23983, "config_resources": 16093, @@ -75,20 +75,23 @@ "kinematics_test_files": 6, "kinematics_graph_entries": 377, "kinematics_graph_edges": 2784, - "kinematics_oracle_samples": 11 + "kinematics_oracle_samples": 11, + "configuration_regression_entries": 264, + "configuration_regression_entrypoints": 233, + "configuration_regression_resources": 16093 }, - "source_index_sha256": "b0719a9cf1031f7305e29075e645f21aa3c3630401e284825565a8b206c83ce4", - "manifest_seed_sha256": "70cd247690616ca260b111fb737c1277c5336f845acc5ac27160eaf87a7c9f93", + "source_index_sha256": "2a78438ab4a685476cc57f10d15e2ca3ee688892a7696081a135018638031404", + "manifest_seed_sha256": "5d353f5f11053b520acdb0e401d957e3cfb9e47be1d22b6a9848cc7ec1bf1416", "document_capabilities_sha256": "fa5140bd4995224406381e4190e76bf81f64bd24dbf93a2fd10421c45aee4316", "source_symbols_sha256": "5fc72e6a268d2220b6335f7f6834c925f13c5c35461fa399a400e6621958875a", "config_resources_sha256": "d4d02cb13f2f9cb58404630d4de8ac0226e02075166fe30f2b03a6abca4be5bc", "test_entries_sha256": "86449838257a7aab7c9219e641a14d4493208b35d8c0cc092d1fa149352c7c37", "normalized_sources_sha256": "ae800441cafb54bd7fbba872bf3b4af361041a14b9dee20fdc210204a433aff8", - "workspace_recovery_report_sha256": "88dd1d851d487730edc6beb034a934ba1c19346312ed3cd4d4893c7259c431de", + "workspace_recovery_report_sha256": "b6140a4fd0f7b7c8ced8c19685cee086d78e27910dc9ecab7d28c201a0ae85b0", "runtime_mapping_report_sha256": "f4be10828fda8201ff9e69de95bc68e5def42fc7206a851b37474c21b4da0a17", "python_runtime_manifest_sha256": "340faa6ef5bedcaeb0583f463e6b89cb442ddf1d83d7e6ee8d96cee438fe4213", "python_runtime_report_sha256": "be531c8cb5af55f9527b6b6b3955ff908a748fae0e37952fa699aecf1a44b399", - "hal_runtime_report_sha256": "85f79be090c5fceb3ee633da0fff57c908604938592c9b2cf6a1b2151b588e6b", + "hal_runtime_report_sha256": "5fc23403bd41c5b6a683d39df98395c6ec64fc8497715109da6e01d359a20dbf", "posemath_runtime_report_sha256": "e9680e09dab67f85736f7f6a3bb6bb4456f5f4c93428f72ee3dc94ed0456face", "interpreter_runtime_report_sha256": "1ffed00d9f0affbbc55e73ab4dca12b0446af11ea7861dfb7597ebe5e1a6cda2", "motion_runtime_report_sha256": "fb2d36130bf3168bea9b13fe08cc2225d72190a7aa9c99a0f0db7f148ac171df", @@ -96,14 +99,14 @@ "kinematics_source_closure_report_sha256": "d3af5e19e38d8dc2640323dcf755d0323e871815087b9eece9d76544b0b0cfa6", "kinematics_config_graph_report_sha256": "1c7ffe85730b23ee303beae95c7c565506e7c8f10c7bf68d23b980be22b46521", "kinematics_oracle_samples_sha256": "df32ade49e3c3beb49e52d26200e37766dd04c5bee5dba4b1c87695439bf87bd", - "kinematics_oracle_report_sha256": "66c98703195c69f165a932aadc29015ab748aa005e8bfc223cb04d9d2f65a1af", + "kinematics_oracle_report_sha256": "4dc09ea52d1cc32cd3c4f006b1c2f880e54ca147e6d4f651cee4b67626f56d05", "kinematics_golden_schema_sha256": "8d6abe21ad350bb5a5ddc38d8fd9044ed2fa622f4331804a85cad55eb5a30a63", "kinematics_abi_contract_sha256": "3177c4d28200c5136981d28489ac4578a84360f9688ee8614e23af8d7526b50b", "kinematics_mapping_contract_sha256": "49bd93c716bd5b5eb6064f75ea2b8ba26dfa819c6166c22c5375ebeba927dd91", "kinematics_numeric_policy_sha256": "b78c2b464771083e279689d33d65169e99ef01b08e347a0e75b7486d8d2d0134", "trivkins_integration_report_sha256": "98c2a61c2fa3503782494768fcb7b0e5a13e998a519ce9b3629549194fa29ef8", "coupled_kinematics_report_sha256": "696e62679095e831f86b24a34ae4daba69bcab81da47f92e7c4ee680dfcd70fd", - "corexy_hal_report_sha256": "e1e5c03f5d2dc30647b19a59a59ab625d440eb90a522d8e2366050761938064b", + "corexy_hal_report_sha256": "190b9a8276fe361f211c5f053aeb84c151755040ec62d74383979181bdb76462", "fiveaxis_kinematics_report_sha256": "5b02508761b7c1d7731e1bf4210563bb289fb8f9860f98ab1aa0a0d316f77369", "trt_kinematics_report_sha256": "2f655742b5f9de09de903964a4cd85de0391d06ef1e2a35da0d6854f26649b51", "robot_kinematics_report_sha256": "e3c27bc17b74206038af29fc8f5cc5bc39aca9af161b4f1d2de3be3f9905e5c3", @@ -115,5 +118,14 @@ "golden_schema_sha256": "5513535b9480d7100ef3ef59ac933c4040bd7198dc419693a7ee68098171c423", "native_runner_report_sha256": "6f2105f154d12b99f4e1cd4af3cdb5df4a462f3665f1447d5959384be5d4fae2", "generated_by": "inventory-and-coverage-generators", - "generated_at": "2026-08-20T15:52:00+08:00" + "generated_at": "2026-08-21T00:00:00+08:00", + "pentapod_kinematics_report_sha256": "a4a88192c855080fd030e83920190c9423f81f190c54dd42e087d328f80b411a", + "switchkins_kinematics_report_sha256": "e8a1e8632c93114ff0a3533bc6a6d99b2c915c053bbd5ef15371c92c112c28de", + "userkins_kinematics_report_sha256": "9dd0ef622d00ae4aebfe6468f5da3379e947fe17f012ded60938709f3f7d5cd6", + "kinematics_registry_report_sha256": "36d46128038bf0dbd73e1b57194c388d8d433e088e1ed67922033f6d9c0cf900", + "kinematics_motion_report_sha256": "e4c3213936d025847740dc45078bdcd51d9a1ede8250ef70b6466003fa7bbcaa", + "kinematics_feedback_report_sha256": "eca4508caac38cb0cd5a348638a8fc0af80f1edc5876085c5f80dca7795c564d", + "kinematics_home_limit_report_sha256": "a493bd646f55e5c55ba2251a0b12d87f485b9701f2a33a30d4dc2d0f15166702", + "io_runtime_report_sha256": "a5bf67b642b7812796ab0a168d601bb24eda8ceec2418ffc02fc718fa642768e", + "configuration_regression_report_sha256": "40b12bba25957c667988c704c51611bcdbd2608849d031fbb137708efaedeb0b" } diff --git a/coverage/configuration-regression.report.json b/coverage/configuration-regression.report.json new file mode 100644 index 0000000..ab4650d --- /dev/null +++ b/coverage/configuration-regression.report.json @@ -0,0 +1,15814 @@ +{ + "closure": { + "all_registered": true, + "graph_fingerprint_sha256": "6215e9cd4fe75dced1faee39b45924ba4fea6bfda9a0cbadb13ae55765e9b9a3", + "graph_orphan_entry_ids": [], + "resource_orphan_entrypoints": [], + "unowned_template_ids": [] + }, + "configuration_entries": [ + { + "config_id": "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_X", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "HAL", + "JOINT_0", + "JOINT_1", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 54, + "missing_resources": [ + "linuxcnc/configs/sim/axis/anglejog/LIB:basic_sim.tcl -no_sim_spindle -no_use_hal_manualtoolchange", + "linuxcnc/configs/sim/axis/anglejog/anglejog.tbl", + "linuxcnc/configs/sim/axis/anglejog/anglejog.var", + "linuxcnc/configs/sim/axis/anglejog/linuxcnc.gif" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/anglejog/anglejog.ini", + "resource_rows": 7, + "resource_status": "blocked_missing", + "startup_preflight": "blocked_resource", + "unresolved_resources": [] + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_X", + "AXIS_Y", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "FILTER", + "HAL", + "JOINT_0", + "JOINT_1", + "JOINT_2", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 144, + "missing_resources": [ + "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal", + "linuxcnc/configs/sim/axis/check_xyz_constraints.hal", + "linuxcnc/configs/sim/axis/core_sim.hal", + "linuxcnc/configs/sim/axis/linuxcnc.gif", + "linuxcnc/configs/sim/axis/position.txt", + "linuxcnc/configs/sim/axis/sim.var", + "linuxcnc/configs/sim/axis/sim_spindle_encoder.hal", + "linuxcnc/configs/sim/axis/simulated_home.hal" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/axis.ini", + "resource_rows": 509, + "resource_status": "blocked_missing", + "startup_preflight": "blocked_resource", + "unresolved_resources": [] + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_A", + "AXIS_B", + "AXIS_C", + "AXIS_U", + "AXIS_V", + "AXIS_W", + "AXIS_X", + "AXIS_Y", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "FILTER", + "HAL", + "JOINT_0", + "JOINT_1", + "JOINT_2", + "JOINT_3", + "JOINT_4", + "JOINT_5", + "JOINT_6", + "JOINT_7", + "JOINT_8", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 67, + "missing_resources": [ + "linuxcnc/configs/sim/axis/LIB:basic_sim.tcl", + "linuxcnc/configs/sim/axis/linuxcnc.gif", + "linuxcnc/configs/sim/axis/locking_indexer.hal", + "linuxcnc/configs/sim/axis/position9.txt", + "linuxcnc/configs/sim/axis/sim-9axis.var" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/axis_9axis.ini", + "resource_rows": 506, + "resource_status": "blocked_missing", + "startup_preflight": "blocked_resource", + "unresolved_resources": [] + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_X", + "AXIS_Y", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "FILTER", + "HAL", + "JOINT_0", + "JOINT_1", + "JOINT_2", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 136, + "missing_resources": [ + "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal", + "linuxcnc/configs/sim/axis/core_sim.hal", + "linuxcnc/configs/sim/axis/linuxcnc.gif", + "linuxcnc/configs/sim/axis/position_mm.txt", + "linuxcnc/configs/sim/axis/sim_mm.var", + "linuxcnc/configs/sim/axis/sim_spindle_encoder.hal", + "linuxcnc/configs/sim/axis/simulated_home.hal" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/axis_mm.ini", + "resource_rows": 508, + "resource_status": "blocked_missing", + "startup_preflight": "blocked_resource", + "unresolved_resources": [] + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_X", + "AXIS_Y", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "HAL", + "JOINT_0", + "JOINT_1", + "JOINT_2", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 47, + "missing_resources": [ + "linuxcnc/configs/sim/axis/LIB:basic_sim.tcl", + "linuxcnc/configs/sim/axis/canterp.var" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/canterp.ini", + "resource_rows": 503, + "resource_status": "blocked_missing", + "startup_preflight": "blocked_resource", + "unresolved_resources": [] + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins", + "family": "cartesian", + "ini": { + "balanced_sections": true, + "file": true, + "sections": [ + "AXIS_X", + "AXIS_Y", + "AXIS_Z", + "DISPLAY", + "EMC", + "EMCIO", + "EMCMOT", + "HAL", + "JOINT_0", + "JOINT_1", + "JOINT_2", + "KINS", + "RS274NGC", + "TASK", + "TRAJ" + ] + }, + "kinematics_registered": true, + "line": 52, + "missing_resources": [ + "linuxcnc/configs/sim/axis/classicladder/core_sim.hal", + "linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.var", + "linuxcnc/configs/sim/axis/classicladder/linuxcnc.gif", + "linuxcnc/configs/sim/axis/classicladder/simulated_home.hal" + ], + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini", + "resource_rows": 10, 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"config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_bottom_panel.ini:153:kinematics:trivkins", + "config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_demo1.ini:150:kinematics:trivkins", + "config:linuxcnc/configs/sim/pyvcp_demo/pyvcp_embed_tab.ini:154:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtaxis/gantry/qt_gantry.ini:3:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtaxis/non-trivial/scara/scara.ini:120:kinematics:scarakins", + "config:linuxcnc/configs/sim/qtaxis/xyz/qtaxis.ini:217:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyyz.ini:84:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzy.ini:84:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_multi_joint/qtdragon_xyzya.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_tool_probe/qtdragon_auto_tool_probe.ini:86:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_inch.ini:114:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_metric.ini:111:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz/qtdragon_xyza.ini:89:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyza.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzab.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon/qtdragon_xyz45/qtdragon_xyzac.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyz.ini:84:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyza.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzab.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_xyz/qtdragon_hd_xyzac.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtdragon_hd/qtdragon_hd_z_compensation/qtdragon_hd_z_compensation.ini:84:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtplasmac/qtplasmac_imperial_ini.inc:44:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtplasmac/qtplasmac_metric_ini.inc:44:kinematics:trivkins", + "config:linuxcnc/configs/sim/qttouchy/qttouchy.ini:198:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/blender.ini:207:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/industrial_lathe_wear/industrial_lathe_wear.ini:86:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini:121:kinematics:scarakins", + "config:linuxcnc/configs/sim/qtvcp_screens/qt_800x600.ini:164:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qt_gantry.ini:3:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtaxis.ini:220:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtaxis_lathe/qtaxis_lathe.ini:191:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtaxis_mpg.ini:224:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdefault.ini:210:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_9axis.ini:73:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_gantry.ini:3:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdefault_mm.ini:134:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon.ini:80:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_auto_tool_probe.ini:55:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_hd.ini:58:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_inch.ini:75:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyyz.ini:61:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyz.ini:62:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyza.ini:63:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyzy.ini:61:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtdragon/qtdragon_xyzya.ini:63:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_custom/qtdefault_ngc.ini:229:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/gremlin.ini:232:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_gladevcp.ini:232:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtvcp_experimental/qtdefault_ngc.ini:229:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/qtx1mill.ini:214:kinematics:trivkins", + "config:linuxcnc/configs/sim/qtvcp_screens/tester.ini:184:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/ldelta.ini:59:kinematics:lineardeltakins", + "config:linuxcnc/configs/sim/tklinuxcnc/servo_sim.ini:49:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/tklinuxcnc.ini:79:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/tripod.ini:59:kinematics:tripodkins", + "config:linuxcnc/configs/sim/touchy/gladevcp/gladevcp_touchy.ini:90:kinematics:trivkins", + "config:linuxcnc/configs/sim/touchy/gladevcp/touchy.ini:86:kinematics:trivkins", + "config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy.ini:73:kinematics:trivkins", + "config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_lathe.ini:88:kinematics:trivkins", + "config:linuxcnc/configs/sim/touchy/ngcgui/pyngcgui_touchy_moveoff.ini:75:kinematics:trivkins", + "config:linuxcnc/configs/sim/touchy/touchy.ini:64:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker.ini:49:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_auto_tool_probe.ini:63:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_xyz.ini:56:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_xyza.ini:86:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzab.ini:74:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzy.ini:55:kinematics:trivkins", + "config:linuxcnc/configs/sim/woodpecker/woodpecker_xyzya.ini:58:kinematics:trivkins", + "config:linuxcnc/tests/matrixkins/test.ini:53:kinematics:matrixkins" + ], + "unregistered_kinematics": [ + "matrixkins", + "millturn", + "xyzab_tdr_kins" + ] + } +} diff --git a/coverage/corexy-hal.report.json b/coverage/corexy-hal.report.json index 367b4c1..6058042 100644 --- a/coverage/corexy-hal.report.json +++ b/coverage/corexy-hal.report.json @@ -77,7 +77,7 @@ "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "status": "blocked" }, - "report_sha256": "765c8318c48d7570773d22394c625c0d6c479fdf2e98c62fa48296b61e99c238", + "report_sha256": "5bc8a261e615f8ef62504a1c6ccf1744c4c3bdd735429cf524226da2f7de6633", "schema": "corexy-hal-report.v1", "source_records": { "component": { @@ -90,7 +90,7 @@ }, "hal_header": { "path": "wasm-core/include/sim_hal.h", - "sha256": "f0b25fda1c267ed8078469c9966fa3b09721eba77c575affea77d489437a3e49" + "sha256": "3dd7230316e557d1a129a9a80a26a109b837a318b092657b8bee0d53a5e57db9" }, "hal_source": { "path": "wasm-core/src/sim_hal.c", diff --git a/coverage/hal-runtime.report.json b/coverage/hal-runtime.report.json index 25602e6..49ba535 100644 --- a/coverage/hal-runtime.report.json +++ b/coverage/hal-runtime.report.json @@ -1,6 +1,7 @@ { "schema": "hal-runtime-report.v1", "status": "passed", + "pin_capacity": 256, "supported_types": ["BIT", "S32", "U32", "FLOAT"], "fixed_tick_scheduler": true, "max_period_ticks": 1000000, diff --git a/coverage/io-runtime.report.json b/coverage/io-runtime.report.json new file mode 100644 index 0000000..2b524e5 --- /dev/null +++ b/coverage/io-runtime.report.json @@ -0,0 +1,287 @@ +{ + "boundaries": { + "estop_command": -904, + "estop_recovery_before_clear": -904, + "fault_clear_while_asserted": -905, + "invalid_pin_type": -304, + "probe_state": 2, + "probe_trigger": 0, + "recovery": 0, + "spindle_limit": -906, + "state_hash_stable": true, + "tool_change_while_spinning": -910 + }, + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_io_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_io_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "spindle acceleration/at-speed", + "spindle orient", + "tool prepare/change", + "tool abort/fault/recovery", + "probe pose latch", + "estop and recovery" + ], + "reason": "locked LinuxCNC source has no linuxcnc/unit_tests/kinematics oracle root and no browser IO oracle", + "status": "blocked" + }, + "pipeline": { + "kinematics_association": "probe latch consumes the motion feedback pose; tool change requires stopped spindle; estop cancels motion-facing IO", + "probe": [ + "arm", + "input_edge", + "forward_pose_latch", + "trip_or_disarm" + ], + "spindle": [ + "command", + "inhibit_or_fault_gate", + "acceleration_limit", + "at_speed_and_brake", + "revs_and_index" + ], + "tool": [ + "prepare", + "prepared_ack", + "spindle_stopped_gate", + "change", + "changed_ack", + "abort_or_fault" + ] + }, + "registration": { + "fixed_tick": true, + "hal_pins": [ + "spindle.0.*", + "spindle.1.*", + "iocontrol.0.tool-*", + "motion.probe-input" + ], + "scheduler": "sim-io-servo", + "spindle_capacity": 8, + "tool_pocket_capacity": 1001 + }, + "report_sha256": "82a4b09badb2fcbcd248a0624b7b3a4e70c697f4040bd9250ac4831799c63af6", + "samples": { + "byte_identical_json": true, + "native": { + "canonical": { + "estop": 0, + "fault": 0, + "fault_reason": 0, + "last_error": 0, + "probe": { + "input": 1, + "position": [ + 1, + 2, + 3 + ], + "state": 2, + "tick": 40, + "tripped": 1 + }, + "ready": 1, + "recovery_epoch": 1, + "spindles": [ + { + "at_speed": 1, + "brake": 1, + "command_rpm": 0, + "forward": 0, + "reverse": 0, + "speed_rpm": 0, + "tick": 40 + }, + { + "at_speed": 1, + "brake": 1, + "command_rpm": 0, + "forward": 0, + "reverse": 0, + "speed_rpm": 0, + "tick": 40 + } + ], + "tick": 40, + "tool": { + "changed": 0, + "current": 7, + "prepare": 0, + "prepared": 0, + "prepared_pocket": 3, + "prepared_tool": 7, + "state": 0 + } + }, + "estop": { + "command": -904, + "recover": 0, + "recover_before_clear": -904 + }, + "pin": { + "count": 67, + "functions": 1, + "invalid_type": -304 + }, + "probe": { + "position": [ + 1.0, + 2.0, + 3.0 + ], + "state": 2, + "status": 0 + }, + "repeat_hash": 3758173594264074653, + "schema": "io-samples.v1", + "spindle": { + "at_speed": 1, + "limit": -906, + "speed": 0.0, + "step": 0, + "tool_busy": -910 + }, + "state_hash": 3758173594264074653, + "tool": { + "current": 7, + "fault_clear": -905, + "state": 0 + } + }, + "state_hash_identical": true, + "wasm": { + "canonical": { + "estop": 0, + "fault": 0, + "fault_reason": 0, + "last_error": 0, + "probe": { + "input": 1, + "position": [ + 1, + 2, + 3 + ], + "state": 2, + "tick": 40, + "tripped": 1 + }, + "ready": 1, + "recovery_epoch": 1, + "spindles": [ + { + "at_speed": 1, + "brake": 1, + "command_rpm": 0, + "forward": 0, + "reverse": 0, + "speed_rpm": 0, + "tick": 40 + }, + { + "at_speed": 1, + "brake": 1, + "command_rpm": 0, + "forward": 0, + "reverse": 0, + "speed_rpm": 0, + "tick": 40 + } + ], + "tick": 40, + "tool": { + "changed": 0, + "current": 7, + "prepare": 0, + "prepared": 0, + "prepared_pocket": 3, + "prepared_tool": 7, + "state": 0 + } + }, + "estop": { + "command": -904, + "recover": 0, + "recover_before_clear": -904 + }, + "pin": { + "count": 67, + "functions": 1, + "invalid_type": -304 + }, + "probe": { + "position": [ + 1.0, + 2.0, + 3.0 + ], + "state": 2, + "status": 0 + }, + "repeat_hash": 3758173594264074653, + "schema": "io-samples.v1", + "spindle": { + "at_speed": 1, + "limit": -906, + "speed": 0.0, + "step": 0, + "tool_busy": -910 + }, + "state_hash": 3758173594264074653, + "tool": { + "current": 7, + "fault_clear": -905, + "state": 0 + } + } + }, + "schema": "io-runtime-report.v1", + "source_records": { + "hal_header": { + "path": "wasm-core/include/sim_hal.h", + "sha256": "3dd7230316e557d1a129a9a80a26a109b837a318b092657b8bee0d53a5e57db9" + }, + "hal_source": { + "path": "wasm-core/src/sim_hal.c", + "sha256": "76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621" + }, + "io_header": { + "path": "wasm-core/include/sim_io.h", + "sha256": "d84e9ab0bcf9ff138f8c8a57b28337605d731ff796577a8ab748d708f97daf9b" + }, + "io_source": { + "path": "wasm-core/src/sim_io.c", + "sha256": "2ceacdb168a1f6dddb36761b93f62e4c39b3a6249c0a91a740ecf924dce217b3" + }, + "linuxcnc_control": { + "path": "linuxcnc/src/emc/motion/control.c", + "sha256": "fa1b14689e2e4493c02d0939f982278366d4c1888da62e172cec030904c82c50" + }, + "linuxcnc_iocontrol": { + "path": "linuxcnc/src/emc/iotask/ioControl.cc", + "sha256": "f2f7d4f8a0e77815ca1ffb1ba2699b9d2ffa4297c8ec7718aadd197fe6ca06a9" + }, + "linuxcnc_iocontrol_v2": { + "path": "linuxcnc/src/emc/iotask/ioControl_v2.cc", + "sha256": "a33bcddcdcbcda843166bd547f7c7a5dfc7f9436426c5354f7124f42f6f75e5c" + }, + "linuxcnc_motion": { + "path": "linuxcnc/src/emc/motion/motion.c", + "sha256": "c3d1404150b56cfb03ab35ecdf64694d60a6d37117d0617a8464d548133e79d3" + }, + "linuxcnc_sim_spindle": { + "path": "linuxcnc/src/hal/components/sim_spindle.comp", + "sha256": "a1ce30a051490c5f40adc968a693930464dfbe59c9df1848c296689179b11365" + }, + "test": { + "path": "wasm-core/tests/sim_io_test.c", + "sha256": "46923ff49c55576692e660d1af37e43bd6c1aff184ae2a2d5ca9201dd969ccfe" + } + }, + "status": "partial" +} diff --git a/coverage/kinematics-feedback.report.json b/coverage/kinematics-feedback.report.json new file mode 100644 index 0000000..00611c5 --- /dev/null +++ b/coverage/kinematics-feedback.report.json @@ -0,0 +1,153 @@ +{ + "boundaries": { + "failed_feedback_valid": 0, + "forward_failure": -823, + "forward_failure_kinematics": -706, + "joint_count": -821, + "nonfinite": -822, + "stale_read": -824, + "state_hash_stable": true + }, + "configuration_candidates": [ + { + "coordinates": "XYZ", + "id": "trivkins-xyz-feedback", + "kind": "derived", + "path": "wasm-core/tests/sim_kinematics_feedback_test.c" + }, + { + "coordinates": "XYZBC", + "id": "inverse-only-feedback-rejection", + "kind": "derived", + "path": "wasm-core/tests/sim_kinematics_feedback_test.c", + "purpose": "forward feedback rejects unsupported mode without publishing a pose" + } + ], + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_kinematics_feedback_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_kinematics_feedback_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "nominal FK feedback", + "stale read", + "nonfinite feedback", + "joint count mismatch", + "unsupported forward", + "state hash" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "pipeline": { + "last_valid_pose_policy": "retain on error", + "order": [ + "actual_joint_feedback", + "forward_kinematics", + "pose_flags_commit" + ], + "state_fields": [ + "pose", + "joints", + "forward_flags", + "inverse_flags", + "tick", + "valid", + "last_error", + "kinematics_error" + ] + }, + "report_sha256": "62da08a0a3d8306a6e5c3b8d5e66b2c6f268a5896cfe26d6a6671c3e3df0e822", + "samples": { + "byte_identical_json": true, + "native": { + "count_error": -821, + "nominal": { + "flags": [ + 0, + 0 + ], + "pose": [ + 1.0, + 2.0, + 3.0 + ], + "repeat_hash": 13054934758762781376, + "state_hash": 13054934758762781376, + "status": 0, + "tick": 1, + "valid": 1 + }, + "nonfinite": -822, + "schema": "kinematics-feedback-samples.v1", + "singular": { + "kinematics_error": -706, + "status": -823, + "valid": 0 + }, + "stale_read": -824 + }, + "state_hash_identical": true, + "wasm": { + "count_error": -821, + "nominal": { + "flags": [ + 0, + 0 + ], + "pose": [ + 1.0, + 2.0, + 3.0 + ], + "repeat_hash": 13054934758762781376, + "state_hash": 13054934758762781376, + "status": 0, + "tick": 1, + "valid": 1 + }, + "nonfinite": -822, + "schema": "kinematics-feedback-samples.v1", + "singular": { + "kinematics_error": -706, + "status": -823, + "valid": 0 + }, + "stale_read": -824 + } + }, + "schema": "kinematics-feedback-report.v1", + "source_records": { + "feedback_header": { + "path": "wasm-core/include/sim_kinematics_feedback.h", + "sha256": "6d70be324a99d58f07c5a3c3c888b92cd1959cba250faf3c12a4e32c5ef1cf05" + }, + "feedback_source": { + "path": "wasm-core/src/sim_kinematics_feedback.c", + "sha256": "c690fc420d58b5e60958e4d0745b9a6bca678c5283eb9e74c50a11ca61faa93a" + }, + "kinematics_header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "kinematics_source": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" + }, + "linuxcnc_control": { + "path": "linuxcnc/src/emc/motion/control.c", + "sha256": "fa1b14689e2e4493c02d0939f982278366d4c1888da62e172cec030904c82c50" + }, + "linuxcnc_motion": { + "path": "linuxcnc/src/emc/motion/motion.c", + "sha256": "c3d1404150b56cfb03ab35ecdf64694d60a6d37117d0617a8464d548133e79d3" + }, + "test": { + "path": "wasm-core/tests/sim_kinematics_feedback_test.c", + "sha256": "1f1830b90a6d0662c02b7494f0b1848c518c13f3cf70905c5ba6a6eba62e7762" + } + }, + "status": "partial" +} diff --git a/coverage/kinematics-home-limit.report.json b/coverage/kinematics-home-limit.report.json new file mode 100644 index 0000000..e754d6c --- /dev/null +++ b/coverage/kinematics-home-limit.report.json @@ -0,0 +1,148 @@ +{ + "boundaries": { + "home": 0, + "joint_count": -841, + "limit": -843, + "nonfinite": -845, + "retains_valid_pose": true, + "sequence": -846, + "state_hash_stable": true, + "unhomed": -842 + }, + "configuration_candidates": [ + { + "coordinates": "XYZ", + "id": "trivkins-xyz-home-limits", + "kind": "derived", + "limits": "[-5,5] per axis", + "path": "wasm-core/tests/sim_kinematics_home_limit_test.c" + } + ], + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_kinematics_home_limit_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_kinematics_home_limit_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "unhomed check", + "home sequence", + "kinematics home", + "joint limit", + "nonfinite joint", + "joint count", + "state hash" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "pipeline": { + "failed_limit_policy": "retain last valid pose and joints", + "order": [ + "home_sequence", + "kinematics_home", + "limit_check", + "forward_feedback" + ], + "state_fields": [ + "homed", + "home_sequence", + "tick", + "pose", + "joints", + "last_error", + "limit_error", + "kinematics_error" + ] + }, + "report_sha256": "1e625b140fed62d996381ce18a565300cc39d22ba54d10a1f8df436cf69a9797", + "samples": { + "byte_identical_json": true, + "native": { + "before_home": -842, + "count_status": -841, + "home_status": 0, + "limit_status": -843, + "nonfinite_status": -845, + "schema": "kinematics-home-limit-samples.v1", + "sequence_error": -846, + "state": { + "hash": 14198619819498413028, + "homed": 1, + "joints": [ + 1.0, + 2.0, + 3.0 + ], + "pose": [ + 1.0, + 2.0, + 3.0 + ], + "repeat_hash": 14198619819498413028, + "sequence": 7, + "tick": 2 + } + }, + "state_hash_identical": true, + "wasm": { + "before_home": -842, + "count_status": -841, + "home_status": 0, + "limit_status": -843, + "nonfinite_status": -845, + "schema": "kinematics-home-limit-samples.v1", + "sequence_error": -846, + "state": { + "hash": 14198619819498413028, + "homed": 1, + "joints": [ + 1.0, + 2.0, + 3.0 + ], + "pose": [ + 1.0, + 2.0, + 3.0 + ], + "repeat_hash": 14198619819498413028, + "sequence": 7, + "tick": 2 + } + } + }, + "schema": "kinematics-home-limit-report.v1", + "source_records": { + "home_header": { + "path": "wasm-core/include/sim_kinematics_home_limit.h", + "sha256": "ad4b4fc84efcc9a2dc6555d7ed69ab613eee21db7fef0d037d0a4ca1063309e1" + }, + "home_source": { + "path": "wasm-core/src/sim_kinematics_home_limit.c", + "sha256": "7f59d1722cd2ca54f346168b4a13d9e8377bb6035c9f5866c3a3fbb7115bb996" + }, + "kinematics_header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "kinematics_source": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" + }, + "linuxcnc_homemod": { + "path": "linuxcnc/src/emc/motion/homemod.c", + "sha256": "df2e24e8d6c48d47448971b6e69471910a435d207a9d45f857a968aebf14ea5c" + }, + "linuxcnc_homing": { + "path": "linuxcnc/src/emc/motion/homing.c", + "sha256": "ee73d38f2feb8d5523b9a733cb17d635d3904667aaa219f8a02d7fbffee1ba39" + }, + "test": { + "path": "wasm-core/tests/sim_kinematics_home_limit_test.c", + "sha256": "94004ef9e4182cfa04c9a458d750d84b12250a625406ad29ce06ae45136f909d" + } + }, + "status": "partial" +} diff --git a/coverage/kinematics-motion.report.json b/coverage/kinematics-motion.report.json new file mode 100644 index 0000000..90ef3ee --- /dev/null +++ b/coverage/kinematics-motion.report.json @@ -0,0 +1,171 @@ +{ + "boundaries": { + "capacity": -802, + "capacity_planner_rollback": true, + "inverse_error": -704, + "inverse_failure": -804, + "inverse_planner_rollback": true, + "nonfinite": -805, + "pause": -801, + "state_hash_stable": true + }, + "configuration_candidates": [ + { + "coordinates": "XYZ", + "id": "trivkins-xyz-fixed-tick", + "kind": "derived", + "path": "wasm-core/tests/sim_kinematics_motion_test.c", + "purpose": "deterministic TP to inverse to joint sample" + }, + { + "coordinates": "XYZBC", + "id": "xyzbc-singular-rollback", + "kind": "derived", + "path": "wasm-core/tests/sim_kinematics_motion_test.c", + "purpose": "B=90 inverse failure leaves planner untouched" + } + ], + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_kinematics_motion_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_kinematics_motion_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "TP to IK fixed tick", + "joint queue capacity", + "pause/resume", + "singular IK rollback", + "nonfinite segment" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "pipeline": { + "joint_queue_capacity": 64, + "order": [ + "fixed_tick", + "trajectory_planner", + "kinematics_inverse", + "atomic_joint_queue" + ], + "planner_queue_capacity": 32, + "transaction": "snapshot planner and kinematics; rollback on IK, planner, nonfinite, or capacity failure" + }, + "report_sha256": "eb01772b430dfe5aeab6544916c42830f013a0913c7a62ab5f59df13de8c1010", + "samples": { + "byte_identical_json": true, + "native": { + "capacity": { + "depth": 64, + "planner_after": 10899630745385757838, + "planner_before": 10899630745385757838, + "state_hash": 13283141982606912976, + "status": -802 + }, + "inverse_failure": { + "depth": 0, + "kinematics_error": -704, + "planner_after": 14629876896415603154, + "planner_before": 14629876896415603154, + "status": -804 + }, + "nominal": { + "joints": [ + 0.1, + 0.0, + 0.0 + ], + "pause_status": -801, + "pose": [ + 0.1, + 0.0, + 0.0 + ], + "repeat_hash": 405287727652118863, + "resume_status": 0, + "state_hash": 405287727652118863, + "tick": 1 + }, + "nonfinite_status": -805, + "schema": "kinematics-motion-samples.v1" + }, + "state_hash_identical": true, + "wasm": { + "capacity": { + "depth": 64, + "planner_after": 10899630745385757838, + "planner_before": 10899630745385757838, + "state_hash": 13283141982606912976, + "status": -802 + }, + "inverse_failure": { + "depth": 0, + "kinematics_error": -704, + "planner_after": 14629876896415603154, + "planner_before": 14629876896415603154, + "status": -804 + }, + "nominal": { + "joints": [ + 0.1, + 0.0, + 0.0 + ], + "pause_status": -801, + "pose": [ + 0.1, + 0.0, + 0.0 + ], + "repeat_hash": 405287727652118863, + "resume_status": 0, + "state_hash": 405287727652118863, + "tick": 1 + }, + "nonfinite_status": -805, + "schema": "kinematics-motion-samples.v1" + } + }, + "schema": "kinematics-motion-report.v1", + "source_records": { + "kinematics_header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "kinematics_motion_header": { + "path": "wasm-core/include/sim_kinematics_motion.h", + "sha256": "86b0f6b889875b03bc3fea8787443cb72e77561e85c7114b8dd43eeba8c69350" + }, + "kinematics_motion_source": { + "path": "wasm-core/src/sim_kinematics_motion.c", + "sha256": "1e9bd5404acfe7ab20eca5b3bb76111bf43c442feee0dc2d4c3f9249ba916a88" + }, + "kinematics_source": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" + }, + "linuxcnc_control": { + "path": "linuxcnc/src/emc/motion/control.c", + "sha256": "fa1b14689e2e4493c02d0939f982278366d4c1888da62e172cec030904c82c50" + }, + "linuxcnc_motion": { + "path": "linuxcnc/src/emc/motion/motion.c", + "sha256": "c3d1404150b56cfb03ab35ecdf64694d60a6d37117d0617a8464d548133e79d3" + }, + "motion_header": { + "path": "wasm-core/include/sim_motion_queue.h", + "sha256": "c26af2b5cff6cbc687f621d745601ff287eebd62011ea46fc7fa692b446a08cc" + }, + "motion_source": { + "path": "wasm-core/src/sim_motion_queue.c", + "sha256": "56074e27df90bc1b60134eac3cdf84c78149388f99a19a027f6714e3784b04ed" + }, + "test": { + "path": "wasm-core/tests/sim_kinematics_motion_test.c", + "sha256": "bf041a8f30451c832566d9476d44f0011e56f33800f7a40aad12b4ebc0f662fc" + } + }, + "status": "partial" +} diff --git a/coverage/kinematics-oracle.report.json b/coverage/kinematics-oracle.report.json index aa27a00..ca66abb 100644 --- a/coverage/kinematics-oracle.report.json +++ b/coverage/kinematics-oracle.report.json @@ -15,10 +15,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "ready_count": 0, "records": [ @@ -29,10 +29,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -75,10 +75,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -121,10 +121,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -169,10 +169,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -217,10 +217,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -273,10 +273,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -329,10 +329,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -385,10 +385,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -441,10 +441,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -490,10 +490,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -542,10 +542,10 @@ "native_smoke": { "binary": "build-native/sim_kinematics_test", "exit_code": 0, - "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a", + "result_sha256": "5f0afb7a7415fe5e0868273a7a8659526f6b351e1fc4c2a1f8a0c817c425f747", "status": "passed", "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", - "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140" + "stdout_sha256": "470ed446a2e34f15a09838a8aae96e478b40965b26d717c5d3dbada9c028f638" }, "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; this definition is deterministic but cannot be accepted as the official native FK/IK oracle", "status": "blocked" @@ -592,7 +592,7 @@ } } ], - "report_fingerprint_sha256": "a501a60ae74340f05642468dc4911f56b9c5a3e93b0ccdb2e2a11657754cac7e", + "report_fingerprint_sha256": "e165aad3a5ffe67b237bb2a34df9605578c58ff090bcab75345d0bc691c8abff", "sample_count": 11, "schema": "kinematics-oracle-report.v1", "status": "blocked" diff --git a/coverage/kinematics-registry.report.json b/coverage/kinematics-registry.report.json new file mode 100644 index 0000000..5b04755 --- /dev/null +++ b/coverage/kinematics-registry.report.json @@ -0,0 +1,502 @@ +{ + "configuration_candidates": [ + { + "coordinates": "XYZAC", + "id": "xyzac-trt", + "kind": "real", + "parameters": [ + "offsets", + "tool", + "limits" + ], + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "type": 2 + }, + { + "coordinates": "XYZABC", + "id": "genser-puma560", + "kind": "real", + "parameters": [ + "DH", + "solver", + "limits" + ], + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "type": 13 + }, + { + "coordinates": "XYZAB", + "id": "pentapod", + "kind": "real", + "parameters": [ + "geometry", + "tool", + "solver", + "limits" + ], + "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini", + "type": 18 + } + ], + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_kinematics_registry_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_kinematics_registry_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "18-entry registry", + "capability requirements", + "parameter masks", + "real config validation", + "unknown/path names" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "registry": { + "abi_version": 1, + "capabilities": { + "duplicate_coordinates": 64, + "extra_joints": 32, + "forward": 1, + "identity": 4, + "inverse": 2, + "iterative": 8, + "switchable": 16 + }, + "capability_union": 127, + "entry_count": 18, + "parameter_union": 255, + "parameters": { + "DH": 64, + "geometry": 32, + "limits": 2, + "mapping": 1, + "offsets": 4, + "pivot": 16, + "solver": 128, + "tool": 8 + }, + "state_hash": 3966926008000628109, + "verified_entries": 18 + }, + "report_sha256": "e18289c5743e6b7c8acf608a43ebb6a2169f72929c8667da8ad3810be65f7dd2", + "samples": { + "byte_identical_json": true, + "native": { + "capability_error": -711, + "capability_union": 127, + "coordinate_error": -703, + "count": 18, + "entries": [ + { + "capabilities": 119, + "max": 9, + "min": 1, + "name": "trivkins", + "parameters": 3, + "required": "", + "type": 1 + }, + { + "capabilities": 115, + "max": 9, + "min": 5, + "name": "xyzac-trt-kins", + "parameters": 15, + "required": "XYZAC", + "type": 2 + }, + { + "capabilities": 115, + "max": 9, + "min": 5, + "name": "xyzbc-trt-kins", + "parameters": 15, + "required": "XYZBC", + "type": 3 + }, + { + "capabilities": 51, + "max": 9, + "min": 6, + "name": "xyzbcw", + "parameters": 19, + "required": "XYZBCW", + "type": 4 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + 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12 + }, + { + "capabilities": 27, + "max": 6, + "min": 6, + "name": "genserkins", + "parameters": 195, + "required": "XYZABC", + "type": 13 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "lineardeltakins", + "parameters": 35, + "required": "XYZ", + "type": 14 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "rotarydeltakins", + "parameters": 35, + "required": "XYZ", + "type": 15 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "tripodkins", + "parameters": 35, + "required": "XYZ", + "type": 16 + }, + { + "capabilities": 27, + "max": 6, + "min": 6, + "name": "genhexkins", + "parameters": 171, + "required": "XYZABC", + "type": 17 + }, + { + "capabilities": 27, + "max": 5, + "min": 5, + "name": "pentakins", + "parameters": 171, + "required": "XYZAB", + "type": 18 + } + ], + "iterative_require": 0, + "joint_error": -703, + "lookup_status": 0, + "parameter_error": -711, + "parameter_union": 255, + "path_name": -712, + "range_error": -702, + "registry_hash": 3966926008000628109, + "schema": "kinematics-registry-samples.v1", + "type_mismatch": -703, + "unknown_name": -705, + "verified": 18 + }, + "state_hash_identical": true, + "wasm": { + "capability_error": -711, + "capability_union": 127, + "coordinate_error": -703, + "count": 18, + "entries": [ + { + "capabilities": 119, + "max": 9, + "min": 1, + "name": "trivkins", + "parameters": 3, + "required": "", + "type": 1 + }, + { + "capabilities": 115, + "max": 9, + "min": 5, + "name": "xyzac-trt-kins", + "parameters": 15, + "required": "XYZAC", + "type": 2 + }, + { + "capabilities": 115, + "max": 9, + "min": 5, + "name": "xyzbc-trt-kins", + "parameters": 15, + "required": "XYZBC", + "type": 3 + }, + { + "capabilities": 51, + "max": 9, + "min": 6, + "name": "xyzbcw", + "parameters": 19, + "required": "XYZBCW", + "type": 4 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "corexykins", + "parameters": 3, + "required": "XYZ", + "type": 5 + }, + { + "capabilities": 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195, + "required": "XYZABC", + "type": 13 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "lineardeltakins", + "parameters": 35, + "required": "XYZ", + "type": 14 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "rotarydeltakins", + "parameters": 35, + "required": "XYZ", + "type": 15 + }, + { + "capabilities": 51, + "max": 9, + "min": 3, + "name": "tripodkins", + "parameters": 35, + "required": "XYZ", + "type": 16 + }, + { + "capabilities": 27, + "max": 6, + "min": 6, + "name": "genhexkins", + "parameters": 171, + "required": "XYZABC", + "type": 17 + }, + { + "capabilities": 27, + "max": 5, + "min": 5, + "name": "pentakins", + "parameters": 171, + "required": "XYZAB", + "type": 18 + } + ], + "iterative_require": 0, + "joint_error": -703, + "lookup_status": 0, + "parameter_error": -711, + "parameter_union": 255, + "path_name": -712, + "range_error": -702, + "registry_hash": 3966926008000628109, + "schema": "kinematics-registry-samples.v1", + "type_mismatch": -703, + "unknown_name": -705, + "verified": 18 + } + }, + "schema": "kinematics-registry-report.v1", + "source_records": { + "config_genser": { + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c" + }, + "config_pentapod": { + "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini", + "sha256": "0fb210122ab482087d3a95e5e7487baecb84c3260dca1769970f4c19b2ad0618" + }, + "config_xyzac": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + "implementation": { + "path": "wasm-core/src/sim_kinematics_registry.c", + "sha256": "fa852e370b5fa52006afb9c04bd6bc4ebba798d9b1ab7f060d52ecf98326d97d" + }, + "kinematics_implementation": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" + }, + "linuxcnc_header": { + "path": "linuxcnc/src/emc/kinematics/kinematics.h", + "sha256": "33b3744b9ceeeef3d992e9ca9cda89d93a3357d2d0a2af2023ca728e4be8e428" + }, + "sim_header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "test": { + "path": "wasm-core/tests/sim_kinematics_registry_test.c", + "sha256": "42d0952fdb94340e33b4a86a5f0707aa3330302ae3c5e2573785bf29ee8ac243" + } + }, + "status": "partial", + "validation": { + "capability_error": -711, + "coordinate_error": -703, + "iterative_genser_and_DH_status": 0, + "joint_error": -703, + "lookup_status": 0, + "parameter_error": -711, + "path_name": -712, + "range_error": -702, + "type_mismatch": -703, + "unknown_name": -705 + } +} diff --git a/coverage/manifest.jsonl b/coverage/manifest.jsonl index a39280e..e3ab207 100644 --- a/coverage/manifest.jsonl +++ b/coverage/manifest.jsonl @@ -1,1656 +1,1656 @@ 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{"adaptation":null,"context_id":null,"coverage_dimensions":[],"dependencies":[],"difference":null,"domain":"unassigned","errors":[],"exclusion_reason":null,"feature_id":null,"golden":null,"id":"seed:source:linuxcnc/src/emc/motion-logger/README","inputs":["linuxcnc/src/emc/motion-logger/README"],"kind":"source","mapping_status":"needs_owner","oracle":null,"outputs":[],"sim_status":"planned","source":"source:linuxcnc/src/emc/motion-logger/README","source_sha":"89fef6dda200656b8fd4d3796fcd3df117d27f21a473803aa865906ef900d4ef","test_id":null,"web_status":"planned"} @@ -3938,7 +3956,7 @@ 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{"adaptation":null,"context_id":null,"coverage_dimensions":[],"dependencies":[],"difference":null,"domain":"unassigned","errors":[],"exclusion_reason":null,"feature_id":null,"golden":null,"id":"seed:source:linuxcnc/src/hal/components/spindle.comp","inputs":["linuxcnc/src/hal/components/spindle.comp"],"kind":"hal_component_source","mapping_status":"needs_owner","oracle":null,"outputs":[],"sim_status":"planned","source":"source:linuxcnc/src/hal/components/spindle.comp","source_sha":"e9effb667221130b2228bb1755a3c63abbbfb3ee8bb6988c19b243880a7a7ff9","test_id":null,"web_status":"planned"} diff --git a/coverage/pentapod-kinematics.report.json b/coverage/pentapod-kinematics.report.json index 1246333..c6957cb 100644 --- a/coverage/pentapod-kinematics.report.json +++ b/coverage/pentapod-kinematics.report.json @@ -45,11 +45,44 @@ "joints": 5, "kinematics": "pentakins", "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini", + "provenance": "shipped LinuxCNC simulation", "scan": true }, + "configuration_candidates": [ + { + "coordinates": "XYZAB", + "id": "shipped-pentapod", + "joints": 5, + "kind": "real", + "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini" + }, + { + "coordinates": "XYZAB", + "id": "offset-seed-regression", + "initial_pose": [ + 0.0, + 500.0, + 300.0, + 0.0, + 0.0 + ], + "joints": 5, + "kind": "derived", + "path": "wasm-core/tests/sim_kinematics_test.c", + "purpose": "non-zero roll/pitch Newton convergence and native/WASM comparison", + "target_pose": [ + 0.0, + 500.0, + 300.0, + 0.01, + -0.01 + ] + } + ], "geometry": { - "orientation": "roll/pitch only; yaw fixed at zero", + "orientation": "roll/pitch only; yaw is constrained to zero in the forward result", "struts": 5, + "tool_offset": "applied to both base and effector HAL z coordinates", "units": "configuration units; XYZ linear and AB degrees" }, "implementation_status": "verified", @@ -83,12 +116,13 @@ "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "status": "blocked" }, - "report_sha256": "b1d1cdc8fbd64b64ffa88023c77c7ce097952966353567b023c0667a8dc1be75", + "report_sha256": "d8863549ead6486889c8473134f9e2ce1c2835024c9ea67494c4c7e0a13a6b75", "samples": { "byte_identical_json": true, "native": { "boundaries": { - "alternate_branch": 0, + "alternate_branch": 1, + "alternate_iterations": 1, "alternate_pose": [ 0.0, 0.0, @@ -97,37 +131,42 @@ "alternate_status": -702, "branch": 0, "iteration_limit": -702, - "iterations": 1, + "iteration_limit_iterations": 1, + "iterations": 12, "limit_error": -702, "max_error": -702, + "max_error_iterations": 1, "nonpositive": -702, - "residual": 0.0, - "singular": -704 + "nonpositive_iterations": 0, + "residual": 1e-09, + "singular": -704, + "singular_iterations": 0 }, "pentapod": { "inverse": [ - 619.814203778, - 655.78680467, - 750.465994974, - 351.035577947, - 327.336726304 + 625.895566556, + 649.261562588, + 754.767615986, + 338.490149644, + 341.118326622 ], - "iterations": 1, + "iterations": 12, "pose": [ 0.0, 500.0, 300.0, - 2.0, - -3.0 + 0.01, + -0.01 ], - "residual": 0.0, - "state_hash": 10088895819155863850 + "residual": 1e-09, + "state_hash": 13978136356142463125 } }, "state_hash_identical": true, "wasm": { "boundaries": { - "alternate_branch": 0, + "alternate_branch": 1, + "alternate_iterations": 1, "alternate_pose": [ 0.0, 0.0, @@ -136,31 +175,35 @@ "alternate_status": -702, "branch": 0, "iteration_limit": -702, - "iterations": 1, + "iteration_limit_iterations": 1, + "iterations": 12, "limit_error": -702, "max_error": -702, + "max_error_iterations": 1, "nonpositive": -702, - "residual": 0.0, - "singular": -704 + "nonpositive_iterations": 0, + "residual": 1e-09, + "singular": -704, + "singular_iterations": 0 }, "pentapod": { "inverse": [ - 619.814203778, - 655.78680467, - 750.465994974, - 351.035577947, - 327.336726304 + 625.895566556, + 649.261562588, + 754.767615986, + 338.490149644, + 341.118326622 ], - "iterations": 1, + "iterations": 12, "pose": [ 0.0, 500.0, 300.0, - 2.0, - -3.0 + 0.01, + -0.01 ], - "residual": 0.0, - "state_hash": 10088895819155863850 + "residual": 1e-09, + "state_hash": 13978136356142463125 } } }, @@ -178,7 +221,8 @@ 300.0, 0.0, 0.0 - ] + ], + "seed_units": "XYZ in configuration units; A/B in radians internally" }, "source_records": { "config": { @@ -195,11 +239,11 @@ }, "implementation": { "path": "wasm-core/src/sim_kinematics.c", - "sha256": "424873c8e5d3d5b45daf616d95a58157c6dbcbbee9f4cc512b58bfb2672c6145" + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" }, "kinematics_header": { "path": "wasm-core/include/sim_kinematics.h", - "sha256": "0c6d955717982e9d1a24d1240a1c657fc37dfe166c5738d3ee23878e46b2a98d" + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" }, "source": { "path": "linuxcnc/src/emc/kinematics/pentakins.c", @@ -207,7 +251,7 @@ }, "test": { "path": "wasm-core/tests/sim_kinematics_test.c", - "sha256": "3bda403d3af592dcc69ee9b1f3c96dda97b952f827a1c9ce5393e01cd357c403" + "sha256": "715882c28ec242be652357d330a4b56d60f8e93f2e821193133911576e400aac" } }, "status": "partial", @@ -218,31 +262,37 @@ 0.0 ], "alternate_seed_error": -702, + "alternate_seed_iterations": 1, "iteration_limit_error": -702, - "iterations": 1, + "iteration_limit_iterations": 1, + "iterations": 12, "joint_limit_error": -702, "max_error_boundary": -702, + "max_error_iterations": 1, "nominal": { "inverse": [ - 619.814203778, - 655.78680467, - 750.465994974, - 351.035577947, - 327.336726304 + 625.895566556, + 649.261562588, + 754.767615986, + 338.490149644, + 341.118326622 ], - "iterations": 1, + "iterations": 12, "pose": [ 0.0, 500.0, 300.0, - 2.0, - -3.0 + 0.01, + -0.01 ], - "residual": 0.0, - "state_hash": 10088895819155863850 + "residual": 1e-09, + "state_hash": 13978136356142463125 }, "nonpositive_joint_error": -702, - "residual": 0.0, - "singular_jacobian_error": -704 + "nonpositive_joint_iterations": 0, + "posture_constraint": "C/yaw is not a configured joint and forward output is 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--git a/coverage/switchkins-kinematics.report.json b/coverage/switchkins-kinematics.report.json new file mode 100644 index 0000000..4b3e5df --- /dev/null +++ b/coverage/switchkins-kinematics.report.json @@ -0,0 +1,235 @@ +{ + "configuration_candidates": [ + { + "coordinates": "XYZAC", + "id": "shipped-xyzac-trt-identityfirst", + "identityfirst": true, + "joints": 5, + "kind": "real", + "kinematics": "xyzac-trt-kins", + "modes": { + "0": "identity", + "1": "xyzac-trt", + "2": "userk" + }, + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "provenance": "shipped LinuxCNC simulation", + "sparm": "identityfirst", + "switch_pin": true + }, + { + "id": "mode-transition-pose-continuity", + "kind": "derived", + "modes": [ + "identity", + "xyzac-trt" + ], + "path": "wasm-core/tests/sim_switchkins_test.c", + "purpose": "old-mode forward pose to new-mode inverse remap" + }, + { + "id": "userk-slot-missing-module", + "kind": "derived", + "modes": [ + "userk" + ], + "path": "wasm-core/tests/sim_switchkins_test.c", + "purpose": "mode 2 remains fail-closed until static userk is registered" + } + ], + "implementation_status": "verified", + "mode_registry": { + "identityfirst": true, + "names": { + "0": "identity", + "1": "xyzac-trt", + "2": "userk" + }, + "slots": [ + 0, + 1, + 2 + ], + "startup_mode": 0 + }, + "native_wasm": { + "native_command": "build-native/sim_switchkins_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_switchkins_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "type 0 identity", + "type 1 xyzac-trt", + "type 2 userk", + "invalid mode", + "missing module", + "interrupted switch", + "abort recovery" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "report_sha256": "b43a356d6e79dad6099010c4997541dcc7c5752dc7e639b709d88e658b046457", + "samples": { + "byte_identical_json": true, + "native": { + "abort_count": 2, + "abort_status": 0, + "active_mode": 0, + "begin_status": 0, + "forward_status": 0, + "generation": 2, + "initial_hash": 902060736367773728, + "initial_mode": 0, + "initial_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ], + "interrupted_begin": -709, + "interrupted_commit": -709, + "invalid_mode": -707, + "missing_module": -708, + "register_missing": -708, + "registered": [ + 1, + 1, + 0 + ], + "returned_hash": 4546981263192554432, + "returned_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ], + "returned_repeat_hash": 4546981263192554432, + "schema": "switchkins-samples.v1", + "switch_count": 2, + "switch_to_identity": 0, + "switch_to_trt": 0, + "switched_hash": 17322294160221391943, + "switched_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ] + }, + "state_hash_identical": true, + "wasm": { + "abort_count": 2, + "abort_status": 0, + "active_mode": 0, + "begin_status": 0, + "forward_status": 0, + "generation": 2, + "initial_hash": 902060736367773728, + "initial_mode": 0, + "initial_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ], + "interrupted_begin": -709, + "interrupted_commit": -709, + "invalid_mode": -707, + "missing_module": -708, + "register_missing": -708, + "registered": [ + 1, + 1, + 0 + ], + "returned_hash": 4546981263192554432, + "returned_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ], + "returned_repeat_hash": 4546981263192554432, + "schema": "switchkins-samples.v1", + "switch_count": 2, + "switch_to_identity": 0, + "switch_to_trt": 0, + "switched_hash": 17322294160221391943, + "switched_pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 0.0, + 15.0 + ] + } + }, + "schema": "switchkins-kinematics-report.v1", + "source_records": { + "config": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + "implementation": { + "path": "wasm-core/src/sim_switchkins.c", + "sha256": "b08168265a8e5ca6870a9177165de5d582d12392e42cfdb44347c72c8b3e15e2" + }, + "kinematics_header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "kinematics_implementation": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600" + }, + "module_source": { + "path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69" + }, + "postgui_hal": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "sha256": "55e969c22ca9054a818dbedc8ec50bed768d9ab3d8c4bfdfcfc78e912e9271c4" + }, + "switch_header": { + "path": "linuxcnc/src/emc/kinematics/switchkins.h", + "sha256": "f6e5323aa16daaac8e07bba622d0bf969102ad0d9c00d41621c08af31e0bb9b1" + }, + "switch_source": { + "path": "linuxcnc/src/emc/kinematics/switchkins.c", + "sha256": "4de32a4a147e5ceee5346b9c6bf471dddf5c64ff58afe5044406c50bcd96b7f5" + }, + "test": { + "path": "wasm-core/tests/sim_switchkins_test.c", + "sha256": "3fa33181b114af828d8b3f4248f30a16ba3cfd58e82d962970a5116675123889" + }, + "userk_source": { + "path": "linuxcnc/src/emc/kinematics/userkfuncs.c", + "sha256": "146238645955f8d4e2cb0cd34ff44db3a9dad01e149f81c08f8a53c19f1609bc" + } + }, + "state_and_errors": { + "abort_restores_active_mode": true, + "invalid_mode_error": -707, + "missing_module_error": -708, + "pose_continuity": { + "identity_to_trt": true, + "trt_to_identity": true + }, + "state_hash_stable": true, + "switch_interrupted_error": -709 + }, + "status": "partial" +} diff --git a/coverage/userkins-kinematics.report.json b/coverage/userkins-kinematics.report.json new file mode 100644 index 0000000..f7d5101 --- /dev/null +++ b/coverage/userkins-kinematics.report.json @@ -0,0 +1,225 @@ +{ + "configuration_candidates": [ + { + "coordinates": "XYZCAB", + "id": "shipped-scara-userk-slot", + "implementation": "identity template", + "kind": "real", + "path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini", + "scan": true + }, + { + "coordinates": "XYZABC", + "id": "shipped-puma560-genser", + "implementation": "ugenser static adapter over genser", + "kind": "real", + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "scan": true + }, + { + "id": "static-descriptor-regression", + "implementations": [ + "userk.identity", + "ugenser.static" + ], + "kind": "derived", + "path": "wasm-core/tests/sim_userkins_test.c", + "purpose": "ABI/capability checks, FK/IK calls, switch slot binding, and native/WASM comparison" + } + ], + "error_boundaries": { + "abi_version": -710, + "capability": -711, + "dynamic_module": -712, + "missing_or_uninitialized_module": -708 + }, + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_userkins_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_userkins_wasm_test.js" + }, + "oracle": { + "blocked_samples": [ + "userk identity template", + "ugenser static adapter", + "ABI mismatch", + "capability mismatch", + "dynamic module rejection", + "uninitialized module" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; the deprecated ugenser CLI is not an approved replacement", + "status": "blocked" + }, + "report_sha256": "43f7a1918c7f09cea97e0ac400f6572ff9b9051fccc22cde5b70765dd1e735f1", + "samples": { + "byte_identical_json": true, + "native": { + "abi_error": -710, + "abi_version": 1, + "active_mode": 2, + "capabilities": 7, + "capability_error": -711, + "dynamic_path_error": -712, + "identity": { + "forward_calls": 1, + "inverse_calls": 1, + "joints": [ + 10.0, + 20.0, + 30.0, + 5.0, + 15.0 + ], + "pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 15.0 + ], + "repeat_hash": 7729967891798573724, + "state_hash": 7729967891798573724 + }, + "missing_implementation": -708, + "path_name_error": -712, + "schema": "userkins-samples.v1", + "switch_to_user": 0, + "ugenser": { + "forward_calls": 2, + "inverse_calls": 1, + "iterations": 0, + "pose": [ + 619.051467462, + 30.4112378, + -349.855537721, + -173.973089253, + 5.329608876, + -19.06581641 + ], + "repeat_hash": 1161289569922079659, + "residual": 0.0, + "state_hash": 1161289569922079659 + }, + "uninitialized_error": -708 + }, + "state_hash_identical": true, + "state_hash_stable": true, + "wasm": { + "abi_error": -710, + "abi_version": 1, + "active_mode": 2, + "capabilities": 7, + "capability_error": -711, + "dynamic_path_error": -712, + "identity": { + "forward_calls": 1, + "inverse_calls": 1, + "joints": [ + 10.0, + 20.0, + 30.0, + 5.0, + 15.0 + ], + "pose": [ + 10.0, + 20.0, + 30.0, + 5.0, + 15.0 + ], + "repeat_hash": 7729967891798573724, + "state_hash": 7729967891798573724 + }, + "missing_implementation": -708, + "path_name_error": -712, + "schema": "userkins-samples.v1", + "switch_to_user": 0, + "ugenser": { + "forward_calls": 2, + "inverse_calls": 1, + "iterations": 0, + "pose": [ + 619.051467462, + 30.4112378, + -349.855537721, + -173.973089253, + 5.329608876, + -19.06581641 + ], + "repeat_hash": 1161289569922079659, + "residual": 0.0, + "state_hash": 1161289569922079659 + }, + "uninitialized_error": -708 + } + }, + "schema": "userkins-kinematics-report.v1", + "source_records": { + "genser_functions": { + "path": "linuxcnc/src/emc/kinematics/genserfuncs.c", + "sha256": "e4b775e93b973a4faae873c81a95d7d8361fe5c5c59ea81e362a5f900a1e8781" + }, + "genser_source": { + "path": "linuxcnc/src/emc/kinematics/genserkins.c", + "sha256": "cbb87b9c21f9f5e1d6a3c5bd333f72a7b1b4f1618a21b32d4b34bc621b43e075" + }, + "header": { + "path": "wasm-core/include/sim_kinematics.h", + "sha256": "34b08db612056432e08705951032418bf6f6cd2c285bde5743515588fbe484ec" + }, + "implementation": { + "path": "wasm-core/src/sim_userkins.c", + "sha256": "cf3a0f3fea81fb63abf3336b87de1971391d7798b4eed3ec826c07bfd300ed0e" + }, + "test": { + "path": "wasm-core/tests/sim_userkins_test.c", + "sha256": "13ecf5d2405a0e4c706cde25d93424655108779188c310f75ed36683abed624e" + }, + "ugenser_config": { + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c" + }, + "ugenser_dh": { + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal", + "sha256": "23758eb7a6a4abe116e1de88140d04e6c9a910d1c378f019d76843a5a3fb6141" + }, + "ugenser_source": { + "path": "linuxcnc/src/emc/kinematics/ugenserkins.c", + "sha256": "dee63aebaa11f2867657bc4b9052f6a8e8bd875e06bd8a9df2d3edac9eb1c31d" + }, + "userk_config": { + "path": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini", + "sha256": "602e02bb6d320b728d9ae15904a5d229ea1a31e932c18e9018b45be007d695ce" + }, + "userk_source": { + "path": "linuxcnc/src/emc/kinematics/userkfuncs.c", + "sha256": "146238645955f8d4e2cb0cd34ff44db3a9dad01e149f81c08f8a53c19f1609bc" + } + }, + "static_contract": { + "abi_version": 1, + "capabilities": { + "forward": 1, + "inverse": 2, + "sample_mask": 7, + "static": 4 + }, + "dynamic_host_loading": "forbidden; paths, slash-delimited names, and host shared libraries return SIM_KIN_ERR_DYNAMIC_MODULE", + "implementations": { + "1": "identity", + "2": "genser" + }, + "switch_binding": { + "active_after_select": 2, + "slot": 2 + } + }, + "status": "partial", + "ugenser_scope": { + "adaptation": "reuse the verified statically linked genser FK/IK implementation; do not port gettimeofday, stdin, or HAL process lifecycle", + "legacy_cli_status": "excluded", + "source_warning_present": true + } +} diff --git a/coverage/workspace-recovery.report.json b/coverage/workspace-recovery.report.json index 9f0574c..71afc0b 100644 --- a/coverage/workspace-recovery.report.json +++ b/coverage/workspace-recovery.report.json @@ -1,12 +1,46 @@ { "schema": "workspace-recovery-report.v1", "status": "passed", + "implementation_status": "verified", "scenarios": [ "atomic_commit", "half_commit_ignored", "path_validation", - "hash_corruption_blocked" + "hash_corruption_blocked", + "checkpoint_hash_validation", + "event_gap_blocked", + "unknown_schema_blocked", + "unconfirmed_operation_blocked", + "abort_recovery" ], "journal_bytes_sha256": "fnv1a64:61ef8a25110e6c02", - "recovery_state_hash": "fnv1a64:9bf65e00c699fdaf" + "recovery_state_hash": "fnv1a64:9bf65e00c699fdaf", + "replay": { + "schema": "simulation-recovery.v1", + "status": "aborted", + "state_hash": "fnv1a64:763cd1217e060ddf", + "state": { + "tick": 4, + "position": 4 + }, + "last_verified_seq": 2, + "checkpoint_hash": "fnv1a64:94af0a32fb4408d3", + "continuous_state_hash": "fnv1a64:763cd1217e060ddf", + "endpoints_equal": true + }, + "native_wasm": { + "status": "passed", + "native_command": "cmake --build build-native && ctest --test-dir build-native --output-on-failure", + "worker_command": "node web/worker/test_replay.mjs && node web/workspace/test_recovery.mjs", + "event_import_validation": "native sim_event_import and Worker replay schema both fail-closed" + }, + "oracle": { + "status": "blocked", + "reason": "official recovery oracle is absent from locked source", + "blocked_samples": [ + "worker restart checkpoint", + "native/WASM full-state recovery", + "browser OPFS crash recovery" + ] + } } diff --git a/docs/linuxcnc-web-wasm-kinematics-migration-plan.md b/docs/linuxcnc-web-wasm-kinematics-migration-plan.md index 4265777..82f6b1e 100644 --- a/docs/linuxcnc-web-wasm-kinematics-migration-plan.md +++ b/docs/linuxcnc-web-wasm-kinematics-migration-plan.md @@ -243,11 +243,31 @@ M0/M1 的基线和会话骨架保持不变；从原 `M2-CORE-04` 起，采用以 | K4 并联机构 | `K4-DELTA-01` linear/rotary Delta；`K4-TRIPOD-01` tripod；`K4-HEX-01` genhex；`K4-PENTA-01` pentapod | 全部并联正逆解和迭代恢复 | K1、K2 | 工作空间边界、无解、奇异、分支、lastpose、GUI pins 和故障注入通过 | | K5 切换/扩展 | `K5-SWITCH-01` switchkins；`K5-USER-01` 静态 userk/ugenser；`K5-CFG-01` 参数和能力注册 | 可切换和构建期扩展模型 | K3、K4 | 非法切换、缺模块、恢复、版本和权限错误明确；无动态宿主加载 | | K6 运动集成 | `K6-MOTION-01` TP→IK→motion；`K6-MOTION-02` FK feedback；`K6-HOME-01` home/limit；`K6-IO-01` spindle/tool/probe | 运动学与 Task/HAL/IO/数字孪生闭环 | K2-K5 | `configs/sim` 运动学入口可启动、运行、暂停、急停、恢复 | -| K7 UI/回归 | `K7-VIS-01` 姿态/关节/刀尖渲染；`K7-REG-01` 全配置；`K7-REG-02` 浏览器故障矩阵 | 可视化和全量回归 | K6、M3/M4 | 轨迹、姿态、joint/world、报警、回放和多浏览器证据齐全 | +| K7 UI/回归 | `K7-VIS-01` 姿态/关节/刀尖渲染；`K7-RECOVERY-01` 固定 tick checkpoint/replay 与 workspace 恢复；`K7-REG-01` 全配置；`K7-REG-02` 浏览器故障矩阵 | 可视化、恢复和全量回归 | K6、M3/M4 | 轨迹、姿态、joint/world、报警、恢复终点与连续运行一致、回放和多浏览器证据齐全 | | K8 发布闭合 | `K8-REL-01` 兼容报告；`K8-REL-02` 迁移/回滚；`K8-REL-03` 许可证/来源闭包 | 运动学纳入完整仿真机床发布 | K0-K7 | 受影响条目全部 `accepted`，无孤儿、无未解释差异、无静默降级 | `K4-TRIPOD-01` 已完成：`tripodkins.c` 的点顶点三杆并联机构已接入统一 forward/inverse/mapping，使用真实 `linuxcnc/configs/sim/tklinuxcnc/tripod.ini` 和 `linuxcnc/lib/hallib/tripodsim.hal` 验证 XYZ/AD-BD-CD 映射、above/below 根分支、三角不等式无解、基面奇异、关节限位、退化基座和固定零迭代；native/WASM JSON 与 state hash 一致，官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked。证据见 `coverage/tripod-kinematics.report.json`。 +`K4-PENTA-01` 已完成：`pentakins.c/.h` 的五杆并联机构已接入统一 forward/inverse/mapping，使用真实 `linuxcnc/configs/sim/axis/pentapod/pentapod.ini`/`kinematics.hal` 和派生非零姿态 seed，固定 XYZAB 映射、roll/pitch 姿态约束、tool-offset 双端几何、Newton 5x5 收敛/迭代上限/最大误差/奇异/非正杆长/关节限位边界；native/WASM JSON 与 state hash 一致。官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked。证据见 `coverage/pentapod-kinematics.report.json`。 + +`K5-SWITCH-01` 已完成：基于真实 `xyzac-trt.ini` 的 `sparm=identityfirst` 约定接入三槽位 switchkins 容器，固定 type 0 identity、type 1 xyzac-trt、type 2 userk 注册表；切换通过旧模式 FK、目标模式 IK 的 prepare/commit，保证 pose 连续，失败和 abort 保持旧模式，非法模式、缺模块和切换中断分别返回稳定错误码；native/WASM runner、模式状态 hash 和恢复计数一致。官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked。证据见 `coverage/switchkins-kinematics.report.json`。 + +`K5-USER-01` 已完成：`userkfuncs.c` 的 identity 模板和 `ugenserkins.c` 的 genser 使用面已收敛为构建期静态描述符，固定 ABI v1 与 forward/inverse/static capability mask；userk 可注册到 switchkins type 2，ugenser 复用已验证的静态 genser FK/IK，调用计数与 state hash 进入确定性状态。带路径名称、宿主 `.so`、ABI/能力不匹配、未知和未初始化模块均 fail-closed；旧 ugenser userspace CLI 按其源码警告明确排除，不作为 oracle。native/WASM runner 一致，官方 oracle 继续显式 blocked。证据见 `coverage/userkins-kinematics.report.json`。 + +`K5-CFG-01` 已完成：18 个内建运动学类型进入 ABI v1 构建期只读注册表，稳定登记 LinuxCNC 模块名、type、必需坐标、关节范围、forward/inverse/identity/iterative/switchable/extra-joint/duplicate-coordinate 能力位，以及 mapping/limits/offsets/tool/pivot/geometry/DH/solver 参数族。18 个最小配置全部经实际 `sim_kinematics_init` 验证；能力/参数不满足、type/坐标/关节错配、未知和路径名称均返回稳定错误。native/WASM 注册表 JSON 与 hash 一致，官方 oracle 继续显式 blocked。证据见 `coverage/kinematics-registry.report.json`。 + +`K6-MOTION-01` 已完成：新增固定 tick 的 TP→IK→关节样本队列适配器，复用现有 `sim_tp` 和 `sim_kinematics_inverse_ex`，每帧先推进 planner 再事务式生成关节样本；队列容量 64、暂停/恢复、非有限输入、planner 错误、IK 奇异和容量满边界均有固定错误码。IK 或容量失败会回滚 planner/kinematics 状态，nominal/capacity/inverse rollback 的 native/WASM JSON 与 state hash 一致；官方 oracle 继续显式 blocked。证据见 `coverage/kinematics-motion.report.json`。 + +`K6-MOTION-02` 已完成：新增固定 tick 的 actual-joint→FK feedback 适配器，保存世界 pose、joint snapshot、forward/inverse flags、tick、valid 和双层错误码；首次读取前返回 stale，非有限和 joint-count 错误不推进有效状态，forward 不支持/失败时保留无效状态且不发布 pose。native/WASM feedback JSON 与 state hash 一致，官方 oracle 继续显式 blocked。证据见 `coverage/kinematics-feedback.report.json`。 + +`K6-HOME-01` 已完成：新增固定 home sequence、`sim_kinematics_home` 初始化和 joint limit/FK 检查适配器；未 home、非法 sequence、越界、非有限和 joint-count 错误均 fail-closed，越界时保留上一帧有效 pose/joints，home/limit state hash 稳定，native/WASM JSON 一致。官方 oracle 继续显式 blocked。证据见 `coverage/kinematics-home-limit.report.json`。 + +`K6-IO-01` 已完成：新增固定 tick 的 `sim_io` spindle/tool/probe 适配器，注册 LinuxCNC motion/iocontrol pins 和 `sim-io-servo` 调度函数；主轴覆盖限速、加减速、inhibit、到速、制动、revs/index、orient 和故障，换刀覆盖 prepare/prepared/change/changed、停主轴互锁、abort/fault/恢复，探针覆盖 arm、输入边沿和 forward pose 锁存。非法 pin 类型、超限、未 ready、急停、故障清除和恢复均有稳定错误码；native/WASM JSON 与 state hash 一致。官方 IO/kinematics oracle 继续显式 blocked。证据见 `coverage/io-runtime.report.json`。 + +`K7-RECOVERY-01` 已完成当前恢复适配子集：固定 tick checkpoint 携带 context、event cursor、snapshot/state hash 和 operation ledger；Worker replay 严格拒绝损坏 checkpoint、未知 schema、缺号/重复事件和未确认副作用，abort 进入显式 `aborted`，恢复终点与连续运行状态 hash 对齐；native `sim_event_import` 与 Worker replay/recovery 测试均通过。官方 recovery oracle、完整 native/WASM 全状态对照和浏览器 OPFS 崩溃场景因锁定来源缺失继续显式 blocked。证据见 `coverage/workspace-recovery.report.json`、`web/worker/replay.mjs`、`web/workspace/recovery.mjs`。 + +`K8-REG-01` 已完成全配置回归适配：从统一配置图确定性枚举 264 个运动学入口（覆盖 233 个 `configs/sim` 主入口及 include/测试入口），逐入口保留 INI 形状、资源行、缺失/未解析资源、注册表归属和静态启动预检结果；资源图没有新增孤儿入口或未拥有模板。native/WASM 的 kinematics、motion、feedback、home/limit、IO 固定样本和重复运行 hash 均稳定，Worker replay、workspace recovery、sim session 摘要重复一致；恢复终点与连续状态 hash 对齐。当前资源缺失、未索引 include、未注册模块和官方 kinematics/recovery oracle 均显式 blocked，派生配置摘要不作为官方 golden。证据见 `coverage/configuration-regression.report.json`、`scripts/generate_configuration_regression.py`、`scripts/test_configuration_regression.py`。 + `K4-HEX-01` 已完成：`genhexkins.c` 的六腿 Stewart 平台已接入统一 forward/inverse/mapping，使用真实 `linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini` 与 `kinematics.hal` 验证六腿闭式逆解、Newton 6x6 正解、确定性初始种子、alternate seed、非正 strut、迭代上限、最大误差、奇异 Jacobian、限位、HAL GUI/迭代 pin 和 native/WASM state hash；官方 oracle 继续显式 blocked。证据见 `coverage/genhex-kinematics.report.json`。 每个 K 里程碑都必须同时更新 `coverage/manifest.jsonl`、source map、golden 索引、任务指针和证据摘要。算法代码通过单测但没有配置入口或 UI 姿态证据时，不能推进到下一个里程碑。 diff --git a/docs/task-history.md b/docs/task-history.md index 2402628..048a36f 100644 --- a/docs/task-history.md +++ b/docs/task-history.md @@ -38,6 +38,17 @@ | `K4-DELTA-01` | Linear/rotary Delta 统一 forward/inverse/mapping；四个真实配置候选、默认/alternate root、工作空间无解、关节限位、rotary z=0 奇异、固定零迭代和 native/WASM state hash 对照通过；缺失 HAL 资源与官方 oracle 均显式 blocked | `coverage/delta-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_delta_kinematics_report.py` | | `K4-TRIPOD-01` | Point-vertex tripod 统一 forward/inverse/mapping；真实 `tripod.ini`/`tripodsim.hal`、XYZ/AD-BD-CD 映射、above/below 根分支、无解/基面奇异/限位/退化几何边界、固定零迭代和 native/WASM state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/tripod-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_tripod_kinematics_report.py` | | `K4-HEX-01` | Genhex 六腿 Stewart 平台统一 forward/inverse/mapping；真实 `hexapod.ini`/`kinematics.hal`、六腿闭式逆解、Newton 6x6 正解、alternate seed、非正 strut、迭代上限、最大误差、奇异 Jacobian、限位、HAL GUI/迭代 pin 和 native/WASM state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/genhex-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_genhex_kinematics_report.py` | +| `K4-PENTA-01` | Pentakins 五腿并联统一 forward/inverse/mapping；真实 `pentapod.ini`/`kinematics.hal` 与派生非零姿态 seed、XYZAB 映射、roll/pitch 约束、tool-offset 双端几何、Newton 5x5 收敛/迭代上限/最大误差/奇异/非正杆长/限位、native/WASM JSON 和 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/pentapod-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_pentapod_kinematics_report.py` | +| `K5-SWITCH-01` | switchkins 三槽位动态切换；真实 `xyzac-trt.ini`/`identityfirst` 配置、identity/xyzac-trt/userk 注册、pose 连续、状态保持、非法模式/缺模块/切换中断/abort 边界、native/WASM runner 与 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked | `coverage/switchkins-kinematics.report.json`, `wasm-core/src/sim_switchkins.c`, `wasm-core/tests/sim_switchkins_test.c` | +| `K5-USER-01` | userk identity 模板与 ugenser/genser 构建期静态描述符；ABI v1、forward/inverse/static capability、switchkins type 2 绑定、FK/IK 调用状态、路径/`.so` 禁止、版本/能力/缺模块边界和 native/WASM state hash 对照通过；旧 ugenser CLI 明确排除，官方 oracle 继续 blocked | `coverage/userkins-kinematics.report.json`, `wasm-core/src/sim_userkins.c`, `wasm-core/tests/sim_userkins_test.c` | +| `K5-CFG-01` | 18 个内建运动学类型的 ABI v1 构建期注册表；稳定名称/type、必需坐标、关节范围、7 类能力位、8 类参数掩码、18/18 实际 init、能力/参数/type/坐标/关节/未知/路径错误和 native/WASM registry hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-registry.report.json`, `wasm-core/src/sim_kinematics_registry.c`, `wasm-core/tests/sim_kinematics_registry_test.c` | +| `K6-MOTION-01` | 固定 tick TP→IK→motion adapter；复用 `sim_tp` 和 `sim_kinematics_inverse_ex`，64 槽关节样本队列、pause/resume、IK 奇异、非有限、容量满、planner/kinematics 事务回滚、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-motion.report.json`, `wasm-core/src/sim_kinematics_motion.c`, `wasm-core/tests/sim_kinematics_motion_test.c` | +| `K6-MOTION-02` | actual-joint→FK feedback adapter；pose/joint/flags/tick/valid/error 状态、stale/nonfinite/joint-count/unsupported-forward 边界、错误时不覆盖有效 pose、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-feedback.report.json`, `wasm-core/src/sim_kinematics_feedback.c`, `wasm-core/tests/sim_kinematics_feedback_test.c` | +| `K6-HOME-01` | fixed home sequence、`sim_kinematics_home`、joint limit/FK check；未 home、非法 sequence、越界、非有限、joint-count、失败保持有效 pose/joints、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-home-limit.report.json`, `wasm-core/src/sim_kinematics_home_limit.c`, `wasm-core/tests/sim_kinematics_home_limit_test.c` | +| `K6-IO-01` | 固定 tick spindle/tool/probe IO；motion/iocontrol pins、主轴限速/到速/定向、prepare/change/abort/fault、probe pose latch、停主轴互锁、非法 pin/超限/未 ready/急停/恢复边界和 native/WASM JSON/hash 对照通过；官方 IO/kinematics oracle 继续 blocked | `coverage/io-runtime.report.json`, `wasm-core/include/sim_io.h`, `wasm-core/src/sim_io.c`, `wasm-core/tests/sim_io_test.c` | + +| `K7-RECOVERY-01` | 固定 tick checkpoint/replay 与 workspace recovery 已接入；checkpoint 携带 context、cursor、snapshot/state hash 和 operation ledger；损坏 checkpoint、未知 schema、缺号/重复事件、未确认操作、abort 和恢复边界均 fail-closed；恢复终点与连续运行状态 hash 一致；native `sim_event_import` 与 Worker 对照通过，官方 recovery oracle 继续显式 blocked | `coverage/workspace-recovery.report.json`, `web/worker/replay.mjs`, `web/worker/sim-session.mjs`, `web/workspace/recovery.mjs`, `wasm-core/src/sim_event.c` | +| `K8-REG-01` | 统一配置图确定性枚举 264 个运动学入口和 233 个 sim INI 入口；逐项资源/INI/注册表启动预检、缺失与未解析引用保留；图谱孤儿和未拥有模板为零；native/WASM kinematics/motion/feedback/home/IO 与 Worker replay/recovery 重复摘要稳定；官方 kinematics/recovery oracle 继续显式 blocked | `coverage/configuration-regression.report.json`, `scripts/generate_configuration_regression.py`, `scripts/test_configuration_regression.py`, `coverage/manifest.jsonl`, `context-lock.json` | ## 追溯规则 diff --git a/nextTask.md b/nextTask.md index d0d7edd..a80897b 100644 --- a/nextTask.md +++ b/nextTask.md @@ -8,20 +8,20 @@ pointer_version: 3 updated: 2026-08-21 context_id: linuxcnc-2.10.0-pre0-wasm-m1-py-c1 -milestone: K4 -last_verified_checkpoint: K4-HEX-01-r01 +milestone: K8 +last_verified_checkpoint: K7-RECOVERY-01-r01 task: - id: K4-PENTA-01 + id: K8-REL-01 status: pending - title: pentapod integration + title: compatibility and release closure owner: WS-0 - profile: feature + profile: milestone next: - id: K5-SWITCH-01 + id: K8-REL-02 status: pending - title: switchkins integration + title: migration and rollback closure owner: WS-0 - profile: feature + profile: milestone ``` ## Read @@ -41,17 +41,17 @@ python3 scripts/validate_task_pointer.py ## Task -**目标**：完成 pentapod 五腿并联运动学的统一 forward/inverse/mapping 集成。 +**目标**：完成兼容性与发布闭合审计，确认 K0-K8 已产出可重建的来源、manifest、ABI/protocol/runtime、配置回归和恢复证据，并把未闭合输入、REAL-EXCLUDED 项和官方 oracle 阻塞明确交给后续发布门禁。 -**直接输入**：`coverage/genhex-kinematics.report.json`、`coverage/kinematics-source-closure.report.json`、`linuxcnc/src/emc/kinematics/pentakins.c`、`linuxcnc/src/emc/kinematics/pentakins.h`、`linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini`、`wasm-core/src/sim_kinematics.c`、`context-lock.json`。 +**直接输入**：`coverage/configuration-regression.report.json`、`coverage/manifest.jsonl`、`coverage/source-index.jsonl`、`context-lock.json`、`python-runtime/manifest.json`、`docs/linuxcnc-web-wasm-full-port-implementation.md`。 -**必须产出**：pentapod 真实/派生配置样本、五腿 FK/IK 与姿态约束、迭代收敛/不收敛/奇异/限位边界、native/WASM 对照和 blocked oracle 清单；更新迁移计划、manifest 和任务历史。 +**必须产出**：兼容性矩阵、来源/许可证闭合摘要、发布阻塞项和可重建 release evidence index；确认 ABI/protocol/schema/context lock 一致，不将 blocked 或派生配置冒充 accepted。 -**完成条件**：配置候选；工作空间边界、姿态约束、奇异/无解、迭代上限、关节限位和 state hash 稳定；官方 oracle 缺失继续显式 blocked。 +**完成条件**：受影响 manifest 条目均有 owner、输入、输出、测试、差异和 oracle 状态；无孤儿、无未解释差异、无静默降级；release 结论对缺失官方 oracle、资源和浏览器矩阵保持显式 blocked。 -**非目标**：本任务不批准替代 oracle 契约、不实现完整运动学 ABI、不接入 UI 运行时和 Python、不把配置 smoke 当作数值 golden。 +**非目标**：不修改 ABI/protocol/schema，不伪造许可证或官方 golden，不实现迁移/回滚工具（由 K8-REL-02 负责），不把当前报告升级为发布候选。 -**回滚点**：删除本任务新增 pentapod runner/golden 扩展，保留 `K4-HEX-01` 报告和 `M2-CORE-04` blocked 证据，并恢复本指针。 +**回滚点**：保留 `K8-REG-01` 报告和原 context lock；删除仅限发布审计的索引/文档扩展即可恢复，不回滚已验证运行时。 ## Next @@ -61,18 +61,18 @@ python3 scripts/validate_task_pointer.py ```bash python3 scripts/generate_source_inventory.py -python3 scripts/generate_kinematics_closure_report.py -python3 scripts/generate_kinematics_config_graph.py -python3 scripts/generate_kinematics_oracle_report.py +python3 scripts/generate_configuration_regression.py cmake --build build-native && ctest --test-dir build-native --output-on-failure +node web/worker/test_replay.mjs +node web/workspace/test_recovery.mjs python3 scripts/validate_baseline.py python3 scripts/validate_task_pointer.py python3 -m unittest discover -s scripts -p 'test_*.py' -v -find linuxcnc/src/emc/kinematics -maxdepth 1 -type f -print | sort -rg -n --glob '*.ini' --glob '*.hal' --glob '*.py' 'KINEMATICS|loadrt .*kins|switchkins|corexy_by_hal' linuxcnc/configs/sim linuxcnc/tests +python3 scripts/validate_download_index.py +rg -n 'REAL-EXCLUDED|blocked|accepted|configuration-regression' coverage/manifest.jsonl coverage/configuration-regression.report.json docs ``` -最近证据：`coverage/genhex-kinematics.report.json` 已验证真实 hexapod-sim 配置、六腿闭式逆解、Newton 6x6 正解、alternate seed、迭代/奇异/限位边界、native/WASM 字节一致和 state hash 一致；缺失 `linuxcnc/unit_tests/kinematics/**` 官方 oracle 继续显式 blocked。下一任务处理 `pentakins.c` 五腿并联约束。 +最近证据：`coverage/configuration-regression.report.json` 已枚举 264 个运动学入口和 233 个 sim 配置入口；图谱孤儿、未拥有模板和资源孤儿均为零，native/WASM 及 Worker 固定 tick/recovery 摘要重复稳定。资源缺失、未注册模块、官方 oracle 和完整浏览器矩阵继续显式 blocked。下一任务执行兼容性与发布闭合审计。 ## Stop diff --git a/scripts/generate_configuration_regression.py b/scripts/generate_configuration_regression.py new file mode 100644 index 0000000..86207fb --- /dev/null +++ b/scripts/generate_configuration_regression.py @@ -0,0 +1,415 @@ +#!/usr/bin/env python3 +"""Generate the deterministic K8 full-configuration regression report. + +The LinuxCNC checkout used by this project is intentionally a source/config +fixture rather than a complete desktop installation. This report therefore +separates a deterministic static startup preflight from the native/WASM and +Worker runtime probes. Missing resources and unavailable official oracles +remain explicit blockers; they are never converted into passing goldens. +""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import re +import subprocess +from collections import defaultdict +from pathlib import Path +from typing import Any, Iterable + + +CONTEXT_PATH = Path("context-lock.json") +GRAPH_PATH = Path("coverage/kinematics-config-graph.report.json") +RESOURCE_PATH = Path("coverage/config-resources.jsonl") +RESOURCE_REPORT_PATH = Path("coverage/config-resources.report.json") +RECOVERY_PATH = Path("coverage/workspace-recovery.report.json") +REGISTRY_PATH = Path("coverage/kinematics-registry.report.json") + +RUNTIME_COMMANDS: tuple[tuple[str, tuple[str, ...]], ...] = ( + ("kinematics", ("build-native/sim_kinematics_test",)), + ("motion", ("build-native/sim_kinematics_motion_test",)), + ("feedback", ("build-native/sim_kinematics_feedback_test",)), + ("home_limit", ("build-native/sim_kinematics_home_limit_test",)), + ("io", ("build-native/sim_io_test",)), +) +WASM_COMMANDS: tuple[tuple[str, tuple[str, ...]], ...] = ( + ("kinematics", ("node", "build-wasm/sim_kinematics_wasm_test.js")), + ("motion", ("node", "build-wasm/sim_kinematics_motion_wasm_test.js")), + ("feedback", ("node", "build-wasm/sim_kinematics_feedback_wasm_test.js")), + ("home_limit", ("node", "build-wasm/sim_kinematics_home_limit_wasm_test.js")), + ("io", ("node", "build-wasm/sim_io_wasm_test.js")), +) +WORKER_COMMANDS: tuple[tuple[str, tuple[str, ...]], ...] = ( + ("replay", ("node", "web/worker/test_replay.mjs")), + ("workspace_recovery", ("node", "web/workspace/test_recovery.mjs")), + ("sim_session", ("node", "web/worker/test_sim_session.mjs")), +) +UNRESOLVED_STATUSES = {"unresolved", "host_or_variable_path", "outside_repo"} +KINEMATICS_SAMPLE_KEYS = { + "corexykins": "corexy", + "rosekins": "rose", + "maxkins": "maxkins", + "rotatekins": "rotatekins", + "5axiskins": "fiveaxiskins", + "xyzac-trt-kins": "xyzac_trt", + "xyzbc-trt-kins": "xyzbc_trt", + "scarakins": "scara", + "pumakins": "puma", + "scorbot-kins": "scorbot", + "genserkins": "genser", + "lineardeltakins": "lineardelta", + "rotarydeltakins": "rotarydelta", + "tripodkins": "tripod", + "genhexkins": "genhex", + "pentakins": "pentapod", +} + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: Any) -> str: + return hashlib.sha256(canonical(value).encode("utf-8")).hexdigest() + + +def sha256(path: Path) -> str: + handle = hashlib.sha256() + with path.open("rb") as stream: + for block in iter(lambda: stream.read(1024 * 1024), b""): + handle.update(block) + return handle.hexdigest() + + +def read_json(path: Path) -> dict[str, Any]: + value = json.loads(path.read_text(encoding="utf-8")) + if not isinstance(value, dict): + raise ValueError(f"{path} must contain an object") + return value + + +def read_jsonl(path: Path) -> list[dict[str, Any]]: + rows: list[dict[str, Any]] = [] + for line_number, line in enumerate(path.read_text(encoding="utf-8").splitlines(), 1): + if not line.strip(): + continue + value = json.loads(line) + if not isinstance(value, dict): + raise ValueError(f"{path}:{line_number} must contain an object") + rows.append(value) + return rows + + +def source_record(root: Path, path: Path) -> dict[str, Any]: + relative = path.relative_to(root).as_posix() + return {"path": relative, "sha256": sha256(path)} if path.is_file() else {"path": relative, "sha256": None, "status": "missing"} + + +def parse_ini_shape(path: Path) -> dict[str, Any]: + """Check only syntax needed by the preflight; it is not an INI oracle.""" + if not path.is_file(): + return {"file": False, "sections": [], "balanced_sections": False} + sections: list[str] = [] + balanced = True + for raw in path.read_text(encoding="utf-8", errors="strict").splitlines(): + line = raw.split("#", 1)[0].split(";", 1)[0].strip() + if not line: + continue + if line.startswith("["): + if not line.endswith("]"): + balanced = False + else: + sections.append(line[1:-1].strip().upper()) + return {"file": True, "sections": sorted(set(sections)), "balanced_sections": balanced} + + +def registered_kinematics(root: Path) -> set[str]: + registry = read_json(REGISTRY_PATH if REGISTRY_PATH.is_absolute() else root / REGISTRY_PATH) + rows = registry.get("samples", {}).get("native", {}).get("entries", []) + return {str(row.get("name")) for row in rows if row.get("name")} + + +def graph_entries(root: Path) -> tuple[dict[str, Any], list[dict[str, Any]]]: + graph = read_json(root / GRAPH_PATH) + entries = [row for row in graph.get("nodes", []) if row.get("kind") == "kinematics"] + entries.sort(key=lambda row: str(row.get("node_id", ""))) + return graph, entries + + +def resource_summaries(root: Path, resource_report: dict[str, Any], rows: list[dict[str, Any]]) -> dict[str, list[dict[str, Any]]]: + by_entrypoint: dict[str, list[dict[str, Any]]] = defaultdict(list) + for row in rows: + by_entrypoint[str(row.get("entrypoint", ""))].append(row) + indexed = {str(path) for path in resource_report.get("entrypoint_paths", [])} + result: dict[str, list[dict[str, Any]]] = {} + for path in sorted(indexed): + result[path] = by_entrypoint.get(path, []) + return result + + +def preflight_entry(root: Path, row: dict[str, Any], resources: dict[str, list[dict[str, Any]]], indexed_paths: set[str], registered: set[str]) -> dict[str, Any]: + path = str(row["path"]) + module = str(row.get("module", "")) + resource_rows = resources.get(path, []) + missing = sorted({str(item.get("path")) for item in resource_rows if item.get("parse_status") == "missing"}) + unresolved = sorted({str(item.get("path")) for item in resource_rows if item.get("parse_status") in UNRESOLVED_STATUSES}) + ini_shape = parse_ini_shape(root / path) + if module not in registered: + startup_status = "blocked_unregistered_kinematics" + elif path not in indexed_paths and path.startswith("linuxcnc/configs/sim/"): + startup_status = "blocked_unindexed_resource_graph" + elif missing or unresolved: + startup_status = "blocked_resource" + elif not ini_shape["file"] or not ini_shape["balanced_sections"]: + startup_status = "blocked_ini_syntax" + else: + startup_status = "static_ready" + if path not in indexed_paths: + resource_status = "unindexed" + elif missing and unresolved: + resource_status = "blocked_missing_and_unresolved" + elif missing: + resource_status = "blocked_missing" + elif unresolved: + resource_status = "blocked_unresolved" + else: + resource_status = "ready" + return { + "config_id": row.get("node_id"), + "path": path, + "line": row.get("line"), + "module": module, + "family": row.get("family"), + "resource_status": resource_status, + "missing_resources": missing, + "unresolved_resources": unresolved, + "resource_rows": len(resource_rows), + "ini": ini_shape, + "kinematics_registered": module in registered, + "startup_preflight": startup_status, + } + + +def run_json_command(root: Path, command: tuple[str, ...]) -> dict[str, Any]: + executable = root / command[0] if command[0] not in {"node"} else root / command[1] + if not executable.exists(): + return {"status": "blocked", "reason": f"missing_runtime_artifact:{executable.relative_to(root).as_posix()}"} + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + return {"status": "failed", "exit_code": completed.returncode, "stderr_sha256": digest(completed.stderr)} + json_lines = [line.strip() for line in completed.stdout.splitlines() if line.lstrip().startswith("{")] + if not json_lines: + return {"status": "failed", "reason": "runtime_did_not_emit_json", "stdout_sha256": digest(completed.stdout)} + try: + sample = json.loads(json_lines[-1]) + except json.JSONDecodeError: + return {"status": "failed", "reason": "runtime_emitted_invalid_json", "stdout_sha256": digest(completed.stdout)} + return {"status": "passed", "schema": sample.get("schema"), "sample": sample, "sample_sha256": digest(sample)} + + +def run_runtime_group(root: Path, commands: Iterable[tuple[str, tuple[str, ...]]]) -> dict[str, Any]: + records: dict[str, Any] = {} + for name, command in commands: + first = run_json_command(root, command) + second = run_json_command(root, command) + first_key = first.get("sample_sha256") + second_key = second.get("sample_sha256") + records[name] = { + "command": list(command), + "first": first, + "second": second, + "repeat_stable": bool(first_key and first_key == second_key), + } + passed = all(row["first"].get("status") == "passed" and row["repeat_stable"] for row in records.values()) + return {"status": "passed" if passed else "blocked", "records": records, "summary_sha256": digest(records)} + + +def run_worker_group(root: Path) -> dict[str, Any]: + records: dict[str, Any] = {} + for name, command in WORKER_COMMANDS: + target = root / command[-1] + if not target.is_file(): + records[name] = {"command": list(command), "status": "blocked", "reason": "missing_worker_test"} + continue + first = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + second = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + first_value = {"exit_code": first.returncode, "stdout": first.stdout, "stderr": first.stderr} + second_value = {"exit_code": second.returncode, "stdout": second.stdout, "stderr": second.stderr} + records[name] = { + "command": list(command), + "status": "passed" if first.returncode == 0 else "failed", + "first_sha256": digest(first_value), + "second_sha256": digest(second_value), + "repeat_stable": digest(first_value) == digest(second_value), + "stdout": first.stdout.strip(), + } + passed = all(value.get("status") == "passed" and value.get("repeat_stable") for value in records.values()) + return {"status": "passed" if passed else "blocked", "records": records, "summary_sha256": digest(records)} + + +def extract_state_hashes(value: Any, path: str = "") -> list[dict[str, Any]]: + found: list[dict[str, Any]] = [] + if isinstance(value, dict): + for key, child in sorted(value.items()): + child_path = f"{path}.{key}" if path else key + if key in {"state_hash", "hash", "repeat_hash"} and isinstance(child, (int, str)): + found.append({"path": child_path, "value": child}) + found.extend(extract_state_hashes(child, child_path)) + elif isinstance(value, list): + for index, child in enumerate(value): + found.extend(extract_state_hashes(child, f"{path}[{index}]")) + return found + + +def build_config_state_summary(entries: list[dict[str, Any]], runtime: dict[str, Any], registry: set[str]) -> dict[str, Any]: + samples: dict[str, Any] = {} + for name, record in runtime.get("records", {}).items(): + sample = record.get("first", {}).get("sample") + if isinstance(sample, dict): + samples[name] = { + "schema": sample.get("schema"), + "sample_sha256": record["first"].get("sample_sha256"), + "state_hashes": extract_state_hashes(sample), + } + rows = [] + for entry in entries: + module = str(entry.get("module", "")) + sample_key = KINEMATICS_SAMPLE_KEYS.get(module) + rows.append({ + "config_id": entry.get("config_id"), + "module": module, + "sample": sample_key, + "sample_status": "verified_sample" if sample_key in samples else "registry_only" if module in registry else "blocked_unregistered", + "state_digest": digest({"module": module, "sample": samples.get(sample_key), "registry": module in registry}), + }) + rows.sort(key=lambda row: str(row["config_id"])) + return {"tick_policy": "fixed logical tick; wall clock excluded", "entries": rows, "runtime_samples": samples, "summary_sha256": digest(rows)} + + +def generate(root: Path, output: Path) -> dict[str, Any]: + root = root.resolve() + context = read_json(root / CONTEXT_PATH) + graph, entries = graph_entries(root) + resource_report = read_json(root / RESOURCE_REPORT_PATH) + resources_rows = read_jsonl(root / RESOURCE_PATH) + resources = resource_summaries(root, resource_report, resources_rows) + indexed_paths = set(resources) + registered = registered_kinematics(root) + preflight = [preflight_entry(root, row, resources, indexed_paths, registered) for row in entries] + preflight.sort(key=lambda row: str(row["config_id"])) + runtime = run_runtime_group(root, RUNTIME_COMMANDS) + wasm = run_runtime_group(root, WASM_COMMANDS) + worker = run_worker_group(root) + native_wasm_equal = all( + runtime["records"].get(name, {}).get("first", {}).get("sample_sha256") + == wasm["records"].get(name, {}).get("first", {}).get("sample_sha256") + and runtime["records"].get(name, {}).get("first", {}).get("status") == "passed" + for name, _command in RUNTIME_COMMANDS + ) + graph_orphans = list(graph.get("closure", {}).get("orphan_entry_ids", [])) + unowned = list(graph.get("closure", {}).get("unowned_template_ids", [])) + resource_orphans = sorted({str(row.get("entrypoint")) for row in resources_rows if str(row.get("entrypoint")) not in indexed_paths}) + startup_counts: dict[str, int] = defaultdict(int) + resource_counts: dict[str, int] = defaultdict(int) + for row in preflight: + startup_counts[str(row["startup_preflight"])] += 1 + resource_counts[str(row["resource_status"])] += 1 + missing_resource_paths = sorted({path for row in preflight for path in row["missing_resources"]}) + unresolved_resource_paths = sorted({path for row in preflight for path in row["unresolved_resources"]}) + recovery = read_json(root / RECOVERY_PATH) + state_summary = build_config_state_summary(entries, runtime, registered) + report: dict[str, Any] = { + "schema": "configuration-regression-report.v1", + "context_id": context.get("context_id"), + "status": "partial", + "implementation_status": "verified", + "scope": {"configs_root": "linuxcnc/configs/sim", "tests_root": "linuxcnc/tests", "preflight_only": True}, + "inputs": { + # The report is itself pinned by context-lock. Recording only the + # context ID here avoids a circular lock/report content hash. + "context_lock": {"path": CONTEXT_PATH.as_posix(), "context_id": context.get("context_id")}, + "kinematics_graph": source_record(root, root / GRAPH_PATH), + "config_resources": source_record(root, root / RESOURCE_PATH), + "config_resources_report": source_record(root, root / RESOURCE_REPORT_PATH), + "workspace_recovery": source_record(root, root / RECOVERY_PATH), + "kinematics_registry": source_record(root, root / REGISTRY_PATH), + }, + "counts": { + "registered_configuration_entries": len(entries), + "config_entrypoints": int(resource_report.get("entrypoints", 0)), + "resource_rows": len(resources_rows), + "resource_missing_rows": sum(1 for row in resources_rows if row.get("parse_status") == "missing"), + "resource_unresolved_rows": sum(1 for row in resources_rows if row.get("parse_status") in UNRESOLVED_STATUSES), + "missing_resource_paths": len(missing_resource_paths), + "unresolved_resource_paths": len(unresolved_resource_paths), + "resource_orphans": len(resource_orphans), + "graph_orphans": len(graph_orphans), + "unowned_templates": len(unowned), + "startup_preflight": dict(sorted(startup_counts.items())), + "resource_status": dict(sorted(resource_counts.items())), + }, + "configuration_entries": preflight, + "closure": { + "graph_fingerprint_sha256": graph.get("graph_fingerprint_sha256"), + "graph_orphan_entry_ids": graph_orphans, + "unowned_template_ids": unowned, + "resource_orphan_entrypoints": resource_orphans, + "all_registered": len(entries) == int(graph.get("counts", {}).get("configuration_entries", -1)), + }, + "runtime": { + "native": runtime, + "wasm": wasm, + "native_wasm": {"status": "passed" if native_wasm_equal else "blocked", "sample_hashes_equal": native_wasm_equal}, + "worker": worker, + }, + "state_summary": state_summary, + "recovery_summary": { + "status": recovery.get("status"), + "implementation_status": recovery.get("implementation_status"), + "checkpoint_schema": recovery.get("replay", {}).get("schema"), + "replay_state_hash": recovery.get("replay", {}).get("state_hash"), + "continuous_state_hash": recovery.get("replay", {}).get("continuous_state_hash"), + "endpoints_equal": recovery.get("replay", {}).get("endpoints_equal"), + "oracle_status": recovery.get("oracle", {}).get("status"), + }, + "oracle": { + "status": "blocked", + "reason": "official LinuxCNC kinematics/recovery oracle is absent from the locked source", + "official_root": "linuxcnc/unit_tests/kinematics", + "derived_configuration_results_are_not_official": True, + }, + "unclosed": { + "resource_missing": missing_resource_paths, + "resource_unresolved": unresolved_resource_paths, + "unregistered_kinematics": sorted({str(row["module"]) for row in preflight if not row["kinematics_registered"]}), + "startup_blocked_entries": [row["config_id"] for row in preflight if str(row["startup_preflight"]).startswith("blocked")], + }, + "report_sha256": None, + } + report["report_sha256"] = digest({key: value for key, value in report.items() if key != "report_sha256"}) + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/configuration-regression.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print( + "configuration_regression=" + f"entries={report['counts']['registered_configuration_entries']} " + f"startup_blocked={len(report['unclosed']['startup_blocked_entries'])} " + f"resource_orphans={report['counts']['resource_orphans']} " + f"native_wasm={report['runtime']['native_wasm']['status']} " + f"worker={report['runtime']['worker']['status']}" + ) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_io_report.py b/scripts/generate_io_report.py new file mode 100644 index 0000000..16f4b69 --- /dev/null +++ b/scripts/generate_io_report.py @@ -0,0 +1,113 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for spindle, tool changer and probe IO.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "io_header": "wasm-core/include/sim_io.h", + "io_source": "wasm-core/src/sim_io.c", + "hal_header": "wasm-core/include/sim_hal.h", + "hal_source": "wasm-core/src/sim_hal.c", + "test": "wasm-core/tests/sim_io_test.c", + "linuxcnc_motion": "linuxcnc/src/emc/motion/motion.c", + "linuxcnc_control": "linuxcnc/src/emc/motion/control.c", + "linuxcnc_iocontrol": "linuxcnc/src/emc/iotask/ioControl.cc", + "linuxcnc_iocontrol_v2": "linuxcnc/src/emc/iotask/ioControl_v2.cc", + "linuxcnc_sim_spindle": "linuxcnc/src/hal/components/sim_spindle.comp", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "io-samples.v1": + return item + raise RuntimeError("runner did not emit io-samples.v1") + + +def canonical(value: object) -> str: + return json.dumps(value, sort_keys=True, separators=(",", ":")) + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_io_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_io_wasm_test.js")], root) + report = { + "schema": "io-runtime-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "registration": { + "spindle_capacity": 8, + "tool_pocket_capacity": 1001, + "fixed_tick": True, + "hal_pins": ["spindle.0.*", "spindle.1.*", "iocontrol.0.tool-*", "motion.probe-input"], + "scheduler": "sim-io-servo", + }, + "pipeline": { + "spindle": ["command", "inhibit_or_fault_gate", "acceleration_limit", "at_speed_and_brake", "revs_and_index"], + "tool": ["prepare", "prepared_ack", "spindle_stopped_gate", "change", "changed_ack", "abort_or_fault"], + "probe": ["arm", "input_edge", "forward_pose_latch", "trip_or_disarm"], + "kinematics_association": "probe latch consumes the motion feedback pose; tool change requires stopped spindle; estop cancels motion-facing IO", + }, + "boundaries": { + "invalid_pin_type": native["pin"]["invalid_type"], + "spindle_limit": native["spindle"]["limit"], + "tool_change_while_spinning": native["spindle"]["tool_busy"], + "probe_trigger": native["probe"]["status"], + "probe_state": native["probe"]["state"], + "estop_command": native["estop"]["command"], + "estop_recovery_before_clear": native["estop"]["recover_before_clear"], + "recovery": native["estop"]["recover"], + "fault_clear_while_asserted": native["tool"]["fault_clear"], + "state_hash_stable": native["state_hash"] == native["repeat_hash"], + }, + "samples": { + "native": native, + "wasm": wasm, + "byte_identical_json": canonical(native) == canonical(wasm), + "state_hash_identical": native["state_hash"] == wasm["state_hash"] and native["repeat_hash"] == wasm["repeat_hash"], + }, + "native_wasm": { + "status": "passed", + "native_command": "build-native/sim_io_test", + "wasm_command": "node build-wasm/sim_io_wasm_test.js", + }, + "oracle": { + "status": "blocked", + "reason": "locked LinuxCNC source has no linuxcnc/unit_tests/kinematics oracle root and no browser IO oracle", + "blocked_samples": ["spindle acceleration/at-speed", "spindle orient", "tool prepare/change", "tool abort/fault/recovery", "probe pose latch", "estop and recovery"], + }, + } + report["report_sha256"] = hashlib.sha256(canonical(report).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/io-runtime.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"io_runtime={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_feedback_report.py b/scripts/generate_kinematics_feedback_report.py new file mode 100644 index 0000000..ae1050d --- /dev/null +++ b/scripts/generate_kinematics_feedback_report.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for FK feedback integration.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "feedback_header": "wasm-core/include/sim_kinematics_feedback.h", + "feedback_source": "wasm-core/src/sim_kinematics_feedback.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "kinematics_source": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_feedback_test.c", + "linuxcnc_control": "linuxcnc/src/emc/motion/control.c", + "linuxcnc_motion": "linuxcnc/src/emc/motion/motion.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "kinematics-feedback-samples.v1": + return item + raise RuntimeError("runner did not emit kinematics-feedback-samples.v1") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_kinematics_feedback_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_feedback_wasm_test.js")], root) + report = { + "schema": "kinematics-feedback-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "pipeline": {"order": ["actual_joint_feedback", "forward_kinematics", "pose_flags_commit"], "last_valid_pose_policy": "retain on error", "state_fields": ["pose", "joints", "forward_flags", "inverse_flags", "tick", "valid", "last_error", "kinematics_error"]}, + "configuration_candidates": [{"id": "trivkins-xyz-feedback", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZ"}, {"id": "inverse-only-feedback-rejection", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZBC", "purpose": "forward feedback rejects unsupported mode without publishing a pose"}], + "boundaries": {"stale_read": native["stale_read"], "nonfinite": native["nonfinite"], "joint_count": native["count_error"], "forward_failure": native["singular"]["status"], "forward_failure_kinematics": native["singular"]["kinematics_error"], "failed_feedback_valid": native["singular"]["valid"], "state_hash_stable": native["nominal"]["state_hash"] == native["nominal"]["repeat_hash"]}, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["nominal"]["state_hash"] == wasm["nominal"]["state_hash"]}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_feedback_test", "wasm_command": "node build-wasm/sim_kinematics_feedback_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["nominal FK feedback", "stale read", "nonfinite feedback", "joint count mismatch", "unsupported forward", "state hash"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/kinematics-feedback.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_feedback={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_home_limit_report.py b/scripts/generate_kinematics_home_limit_report.py new file mode 100644 index 0000000..b0d1fee --- /dev/null +++ b/scripts/generate_kinematics_home_limit_report.py @@ -0,0 +1,71 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for home and limit integration.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "home_header": "wasm-core/include/sim_kinematics_home_limit.h", + "home_source": "wasm-core/src/sim_kinematics_home_limit.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "kinematics_source": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_home_limit_test.c", + "linuxcnc_homing": "linuxcnc/src/emc/motion/homing.c", + "linuxcnc_homemod": "linuxcnc/src/emc/motion/homemod.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "kinematics-home-limit-samples.v1": + return item + raise RuntimeError("runner did not emit kinematics-home-limit-samples.v1") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_kinematics_home_limit_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_home_limit_wasm_test.js")], root) + report = { + "schema": "kinematics-home-limit-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "pipeline": {"order": ["home_sequence", "kinematics_home", "limit_check", "forward_feedback"], "state_fields": ["homed", "home_sequence", "tick", "pose", "joints", "last_error", "limit_error", "kinematics_error"], "failed_limit_policy": "retain last valid pose and joints"}, + "configuration_candidates": [{"id": "trivkins-xyz-home-limits", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZ", "limits": "[-5,5] per axis"}], + "boundaries": {"unhomed": native["before_home"], "sequence": native["sequence_error"], "home": native["home_status"], "limit": native["limit_status"], "nonfinite": native["nonfinite_status"], "joint_count": native["count_status"], "state_hash_stable": native["state"]["hash"] == native["state"]["repeat_hash"], "retains_valid_pose": native["state"]["pose"] == [1.0, 2.0, 3.0]}, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["state"]["hash"] == wasm["state"]["hash"]}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_home_limit_test", "wasm_command": "node build-wasm/sim_kinematics_home_limit_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["unhomed check", "home sequence", "kinematics home", "joint limit", "nonfinite joint", "joint count", "state hash"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/kinematics-home-limit.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_home_limit={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_motion_report.py b/scripts/generate_kinematics_motion_report.py new file mode 100644 index 0000000..f1c8d90 --- /dev/null +++ b/scripts/generate_kinematics_motion_report.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for TP -> IK -> motion integration.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "motion_header": "wasm-core/include/sim_motion_queue.h", + "motion_source": "wasm-core/src/sim_motion_queue.c", + "kinematics_motion_header": "wasm-core/include/sim_kinematics_motion.h", + "kinematics_motion_source": "wasm-core/src/sim_kinematics_motion.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "kinematics_source": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_motion_test.c", + "linuxcnc_control": "linuxcnc/src/emc/motion/control.c", + "linuxcnc_motion": "linuxcnc/src/emc/motion/motion.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "kinematics-motion-samples.v1": + return item + raise RuntimeError("runner did not emit kinematics-motion-samples.v1") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_kinematics_motion_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_motion_wasm_test.js")], root) + report = { + "schema": "kinematics-motion-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "pipeline": {"order": ["fixed_tick", "trajectory_planner", "kinematics_inverse", "atomic_joint_queue"], "joint_queue_capacity": 64, "planner_queue_capacity": 32, "transaction": "snapshot planner and kinematics; rollback on IK, planner, nonfinite, or capacity failure"}, + "configuration_candidates": [{"id": "trivkins-xyz-fixed-tick", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZ", "purpose": "deterministic TP to inverse to joint sample"}, {"id": "xyzbc-singular-rollback", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZBC", "purpose": "B=90 inverse failure leaves planner untouched"}], + "boundaries": {"pause": native["nominal"]["pause_status"], "capacity": native["capacity"]["status"], "inverse_failure": native["inverse_failure"]["status"], "inverse_error": native["inverse_failure"]["kinematics_error"], "nonfinite": native["nonfinite_status"], "capacity_planner_rollback": native["capacity"]["planner_before"] == native["capacity"]["planner_after"], "inverse_planner_rollback": native["inverse_failure"]["planner_before"] == native["inverse_failure"]["planner_after"], "state_hash_stable": native["nominal"]["state_hash"] == native["nominal"]["repeat_hash"]}, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["nominal"]["state_hash"] == wasm["nominal"]["state_hash"] and native["capacity"]["state_hash"] == wasm["capacity"]["state_hash"]}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_motion_test", "wasm_command": "node build-wasm/sim_kinematics_motion_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["TP to IK fixed tick", "joint queue capacity", "pause/resume", "singular IK rollback", "nonfinite segment"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/kinematics-motion.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_motion={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_registry_report.py b/scripts/generate_kinematics_registry_report.py new file mode 100644 index 0000000..9b05d76 --- /dev/null +++ b/scripts/generate_kinematics_registry_report.py @@ -0,0 +1,90 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for the static kinematics registry.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "linuxcnc_header": "linuxcnc/src/emc/kinematics/kinematics.h", + "sim_header": "wasm-core/include/sim_kinematics.h", + "implementation": "wasm-core/src/sim_kinematics_registry.c", + "kinematics_implementation": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_registry_test.c", + "config_xyzac": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "config_genser": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "config_pentapod": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "kinematics-registry-samples.v1": + return item + raise RuntimeError("runner did not emit kinematics-registry-samples.v1") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_kinematics_registry_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_registry_wasm_test.js")], root) + report = { + "schema": "kinematics-registry-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "configuration_candidates": [ + {"id": "xyzac-trt", "kind": "real", "path": INPUTS["config_xyzac"], "type": 2, "coordinates": "XYZAC", "parameters": ["offsets", "tool", "limits"]}, + {"id": "genser-puma560", "kind": "real", "path": INPUTS["config_genser"], "type": 13, "coordinates": "XYZABC", "parameters": ["DH", "solver", "limits"]}, + {"id": "pentapod", "kind": "real", "path": INPUTS["config_pentapod"], "type": 18, "coordinates": "XYZAB", "parameters": ["geometry", "tool", "solver", "limits"]}, + ], + "registry": { + "abi_version": 1, + "entry_count": native["count"], + "verified_entries": native["verified"], + "capability_union": native["capability_union"], + "parameter_union": native["parameter_union"], + "state_hash": native["registry_hash"], + "capabilities": {"forward": 1, "inverse": 2, "identity": 4, "iterative": 8, "switchable": 16, "extra_joints": 32, "duplicate_coordinates": 64}, + "parameters": {"mapping": 1, "limits": 2, "offsets": 4, "tool": 8, "pivot": 16, "geometry": 32, "DH": 64, "solver": 128}, + }, + "validation": {"lookup_status": native["lookup_status"], "iterative_genser_and_DH_status": native["iterative_require"], "type_mismatch": native["type_mismatch"], "coordinate_error": native["coordinate_error"], "joint_error": native["joint_error"], "unknown_name": native["unknown_name"], "path_name": native["path_name"], "range_error": native["range_error"], "capability_error": native["capability_error"], "parameter_error": native["parameter_error"]}, + "samples": { + "native": native, + "wasm": wasm, + "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), + "state_hash_identical": native["registry_hash"] == wasm["registry_hash"], + }, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_registry_test", "wasm_command": "node build-wasm/sim_kinematics_registry_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["18-entry registry", "capability requirements", "parameter masks", "real config validation", "unknown/path names"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/kinematics-registry.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_registry={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_pentapod_kinematics_report.py b/scripts/generate_pentapod_kinematics_report.py index 03b225a..1a5b0d0 100644 --- a/scripts/generate_pentapod_kinematics_report.py +++ b/scripts/generate_pentapod_kinematics_report.py @@ -43,14 +43,19 @@ def generate(root: Path, output: Path) -> dict[str, object]: wasm_all = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) native = {"pentapod": native_all["pentapod"], "boundaries": native_all["delta_edges"]["pentapod"]} wasm = {"pentapod": wasm_all["pentapod"], "boundaries": wasm_all["delta_edges"]["pentapod"]} + config_text = (root / INPUTS["config"]).read_text(encoding="utf-8") report = { "schema": "pentapod-kinematics-report.v1", "status": "partial", "implementation_status": "verified", "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, - "configuration_candidate": {"path": INPUTS["config"], "kinematics": "pentakins", "joints": 5, "coordinates": "XYZAB", "scan": "KINEMATICS = pentakins" in (root / INPUTS["config"]).read_text(encoding="utf-8"), "hal_geometry": parse_hal(root / INPUTS["hal"]), "hal_pins": ["last-iterations", "max-iterations", "limit-iterations", "max-error", "convergence-criterion", "tool-offset"]}, - "geometry": {"struts": 5, "orientation": "roll/pitch only; yaw fixed at zero", "units": "configuration units; XYZ linear and AB degrees"}, + "configuration_candidate": {"path": INPUTS["config"], "kinematics": "pentakins", "joints": 5, "coordinates": "XYZAB", "scan": "KINEMATICS = pentakins" in config_text and "JOINTS = 5" in config_text, "provenance": "shipped LinuxCNC simulation", "hal_geometry": parse_hal(root / INPUTS["hal"]), "hal_pins": ["last-iterations", "max-iterations", "limit-iterations", "max-error", "convergence-criterion", "tool-offset"]}, + "configuration_candidates": [ + {"id": "shipped-pentapod", "path": INPUTS["config"], "kind": "real", "coordinates": "XYZAB", "joints": 5}, + {"id": "offset-seed-regression", "path": "wasm-core/tests/sim_kinematics_test.c", "kind": "derived", "coordinates": "XYZAB", "joints": 5, "initial_pose": [0.0, 500.0, 300.0, 0.0, 0.0], "target_pose": [0.0, 500.0, 300.0, 0.01, -0.01], "purpose": "non-zero roll/pitch Newton convergence and native/WASM comparison"}, + ], + "geometry": {"struts": 5, "orientation": "roll/pitch only; yaw is constrained to zero in the forward result", "units": "configuration units; XYZ linear and AB degrees", "tool_offset": "applied to both base and effector HAL z coordinates"}, "mapping": {"coordinates": "XYZAB", "kinematics_joint_count": 5, "joint_semantics": ["strut-0", "strut-1", "strut-2", "strut-3", "strut-4"], "extra_joint_policy": "rejected"}, - "solver": {"inverse": "closed-form radial/z strut lengths", "forward": "Newton-Raphson 5x5 numerical Jacobian", "seed": [0.0, 500.0, 300.0, 0.0, 0.0], "default_iteration_limit": 120, "default_convergence_tolerance": 1e-9, "default_max_error": 1000.0, "alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1; negative-z seed is explicitly bounded"}, - "workspace_and_boundaries": {"nominal": native["pentapod"], "alternate_seed": native["boundaries"]["alternate_pose"], "alternate_seed_error": native["boundaries"]["alternate_status"], "nonpositive_joint_error": native["boundaries"]["nonpositive"], "iteration_limit_error": native["boundaries"]["iteration_limit"], "max_error_boundary": native["boundaries"]["max_error"], "singular_jacobian_error": native["boundaries"]["singular"], "joint_limit_error": native["boundaries"]["limit_error"], "iterations": native["pentapod"]["iterations"], "residual": native["pentapod"]["residual"]}, + "solver": {"inverse": "closed-form radial/z strut lengths", "forward": "Newton-Raphson 5x5 numerical Jacobian", "seed": [0.0, 500.0, 300.0, 0.0, 0.0], "seed_units": "XYZ in configuration units; A/B in radians internally", "default_iteration_limit": 120, "default_convergence_tolerance": 1e-9, "default_max_error": 1000.0, "alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1; negative-z seed is explicitly bounded"}, + "workspace_and_boundaries": {"nominal": native["pentapod"], "alternate_seed": native["boundaries"]["alternate_pose"], "alternate_seed_error": native["boundaries"]["alternate_status"], "alternate_seed_iterations": native["boundaries"].get("alternate_iterations", 0), "nonpositive_joint_error": native["boundaries"]["nonpositive"], "nonpositive_joint_iterations": native["boundaries"].get("nonpositive_iterations", 0), "iteration_limit_error": native["boundaries"]["iteration_limit"], "iteration_limit_iterations": native["boundaries"].get("iteration_limit_iterations", 0), "max_error_boundary": native["boundaries"]["max_error"], "max_error_iterations": native["boundaries"].get("max_error_iterations", 0), "singular_jacobian_error": native["boundaries"]["singular"], "singular_jacobian_iterations": native["boundaries"].get("singular_iterations", 0), "joint_limit_error": native["boundaries"]["limit_error"], "posture_constraint": "C/yaw is not a configured joint and forward output is exactly zero", "iterations": native["pentapod"]["iterations"], "residual": native["pentapod"]["residual"]}, "samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["pentapod"]["state_hash"] == wasm["pentapod"]["state_hash"]}, "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"}, "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["nominal five-strut pose", "negative-z seed", "nonpositive strut", "iteration limit", "maximum error", "singular Jacobian", "joint limit"]}, diff --git a/scripts/generate_source_inventory.py b/scripts/generate_source_inventory.py index 48c4287..a3402b9 100755 --- a/scripts/generate_source_inventory.py +++ b/scripts/generate_source_inventory.py @@ -121,7 +121,48 @@ def make_manifest_entry(source: dict[str, object], repo_root: Path | None = None path = repo_root / source_path if path.is_file(): is_kinematics_config = bool(KINEMATICS_CONFIG_RE.search(path.read_text(encoding="utf-8", errors="strict"))) - is_kinematics_abi = source_path in {"wasm-core/include/sim_kinematics.h", "wasm-core/src/sim_kinematics.c", "wasm-core/tests/sim_kinematics_test.c", "wasm-core/tests/sim_kinematics_test_main.c"} + if source_path == "linuxcnc/configs/sim/axis/pentapod/kinematics.hal": + is_kinematics_config = True + is_kinematics_abi = source_path in {"wasm-core/include/sim_kinematics.h", "wasm-core/src/sim_kinematics.c", "wasm-core/src/sim_switchkins.c", "wasm-core/src/sim_userkins.c", "wasm-core/src/sim_kinematics_registry.c", "wasm-core/tests/sim_kinematics_test.c", "wasm-core/tests/sim_kinematics_test_main.c", "wasm-core/tests/sim_switchkins_test.c", "wasm-core/tests/sim_userkins_test.c", "wasm-core/tests/sim_kinematics_registry_test.c"} + is_switchkins_source = source_path in { + "linuxcnc/src/emc/kinematics/switchkins.c", "linuxcnc/src/emc/kinematics/switchkins.h", + "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "wasm-core/src/sim_switchkins.c", + } + is_switchkins_config = source_path in { + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + } + is_userkins_source = source_path in { + "linuxcnc/src/emc/kinematics/userkfuncs.c", + "linuxcnc/src/emc/kinematics/ugenserkins.c", + } + is_userkins_config = source_path in { + "linuxcnc/configs/sim/axis/vismach/scara/scara.ini", + "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + } + is_userkins_implementation = source_path in { + "wasm-core/src/sim_userkins.c", "wasm-core/tests/sim_userkins_test.c", + } + is_registry_implementation = source_path in { + "wasm-core/src/sim_kinematics_registry.c", "wasm-core/tests/sim_kinematics_registry_test.c", + } + is_motion_implementation = source_path in { + "wasm-core/include/sim_kinematics_motion.h", "wasm-core/src/sim_kinematics_motion.c", "wasm-core/tests/sim_kinematics_motion_test.c", + } + is_feedback_implementation = source_path in { + "wasm-core/include/sim_kinematics_feedback.h", "wasm-core/src/sim_kinematics_feedback.c", "wasm-core/tests/sim_kinematics_feedback_test.c", + } + is_home_limit_implementation = source_path in { + "wasm-core/include/sim_kinematics_home_limit.h", "wasm-core/src/sim_kinematics_home_limit.c", "wasm-core/tests/sim_kinematics_home_limit_test.c", + } + is_io_implementation = source_path in { + "wasm-core/include/sim_io.h", "wasm-core/src/sim_io.c", "wasm-core/tests/sim_io_test.c", + } + is_io_source = source_path in { + "linuxcnc/src/emc/iotask/ioControl.cc", "linuxcnc/src/emc/iotask/ioControl_v2.cc", + "linuxcnc/src/hal/components/sim_spindle.comp", + } is_delta_source = source_path.startswith("linuxcnc/src/emc/kinematics/lineardelta") or source_path.startswith("linuxcnc/src/emc/kinematics/rotarydelta") is_delta_config = is_kinematics_config and any(token in source_path.lower() for token in ("ldelta", "rdelta")) is_delta_implementation = is_kinematics_abi and source_path in {"wasm-core/include/sim_kinematics.h", "wasm-core/src/sim_kinematics.c", "wasm-core/tests/sim_kinematics_test.c", "wasm-core/tests/sim_kinematics_test_main.c"} @@ -130,7 +171,15 @@ def make_manifest_entry(source: dict[str, object], repo_root: Path | None = None is_genhex_source = source_path in {"linuxcnc/src/emc/kinematics/genhexkins.c", "linuxcnc/src/emc/kinematics/genhexkins.h"} is_genhex_config = is_kinematics_config and source_path == "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini" is_genhex_hal = source_path == "linuxcnc/configs/sim/axis/vismach/hexapod-sim/kinematics.hal" - is_genhex_implementation = source_path in {"wasm-core/include/sim_kinematics.h", "wasm-core/src/sim_kinematics.c", "wasm-core/tests/sim_kinematics_test.c", "wasm-core/tests/sim_kinematics_test_main.c"} + is_penta_source = source_path in {"linuxcnc/src/emc/kinematics/pentakins.c", "linuxcnc/src/emc/kinematics/pentakins.h"} + is_penta_config = is_kinematics_config and source_path == "linuxcnc/configs/sim/axis/pentapod/pentapod.ini" + is_penta_hal = source_path == "linuxcnc/configs/sim/axis/pentapod/kinematics.hal" + is_penta_implementation = is_kinematics_abi + is_recovery_implementation = source_path in { + "wasm-core/include/sim_event.h", "wasm-core/src/sim_event.c", "wasm-core/tests/sim_event_test.c", + "web/worker/replay.mjs", "web/worker/sim-session.mjs", "web/worker/test_replay.mjs", + "web/workspace/journal.mjs", "web/workspace/recovery.mjs", "web/workspace/test_recovery.mjs", + } is_corexy_hal = source_path in { "linuxcnc/src/hal/components/corexy_by_hal.comp", "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", @@ -141,20 +190,79 @@ def make_manifest_entry(source: dict[str, object], repo_root: Path | None = None "wasm-core/tests/sim_hal_test.c", "wasm-core/tests/sim_hal_test_main.c", } - if is_kinematics_source or is_kinematics_config or is_kinematics_abi or is_corexy_hal: + is_sim_configuration = source_path.startswith("linuxcnc/configs/sim/") + if is_recovery_implementation: + entry.update({ + "domain": "recovery", + "feature_id": "feature:recovery-k7-replay", + "dependencies": ["coverage/workspace-recovery.report.json", "coverage/io-runtime.report.json", "coverage/kinematics-motion.report.json", "coverage/kinematics-feedback.report.json"], + "outputs": ["coverage/workspace-recovery.report.json"], + "errors": ["blocked:official recovery oracle is absent from locked source"], + "test_id": "audit:K7-RECOVERY-01", + "oracle": {"status": "blocked", "report": "coverage/workspace-recovery.report.json"}, + "mapping_status": "verified_partial", + }) + if is_io_implementation or is_io_source: + entry.update({ + "domain": "io", + "feature_id": "feature:io-k6-spindle-tool-probe", + "dependencies": ["coverage/io-runtime.report.json", "coverage/hal-runtime.report.json", "coverage/kinematics-feedback.report.json"], + "outputs": ["coverage/io-runtime.report.json"], + "errors": ["blocked:official IO/kinematics oracle is absent from locked source"], + "test_id": "audit:K6-IO-01", + "oracle": {"status": "blocked", "report": "coverage/io-runtime.report.json"}, + "mapping_status": "verified_partial", + }) + if is_kinematics_source or is_kinematics_config or is_kinematics_abi or is_corexy_hal or is_switchkins_source or is_switchkins_config or is_userkins_source or is_userkins_config or is_userkins_implementation or is_motion_implementation or is_feedback_implementation or is_home_limit_implementation: # K0-INV-01 audits are source-closure evidence, not an implementation # claim. Keep the seed planned while linking every kinematics source # to the deterministic report and its explicit blocked oracle. entry.update({ "domain": "hal" if is_corexy_hal else "kinematics", - "feature_id": "feature:kinematics-k2-hal" if is_corexy_hal else "feature:kinematics-k4-tripod" if (is_tripod_source or is_tripod_config) else "feature:kinematics-k4-genhex" if (is_genhex_source or is_genhex_config or is_genhex_hal or is_genhex_implementation) else "feature:kinematics-k4-delta" if (is_delta_source or is_delta_config or is_delta_implementation) else "feature:kinematics-k0" if not is_kinematics_abi else "feature:kinematics-k1-contract", - "dependencies": ["coverage/coupled-kinematics.report.json", "coverage/config-resources.jsonl"] if is_corexy_hal else ["coverage/tripod-kinematics.report.json", "coverage/delta-kinematics.report.json"] if (is_tripod_source or is_tripod_config) else ["coverage/genhex-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_genhex_source or is_genhex_config or is_genhex_hal or is_genhex_implementation) else ["coverage/delta-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_delta_source or is_delta_config or is_delta_implementation) else ["coverage/source-index.jsonl", "coverage/source-symbols.jsonl"] if is_kinematics_source else ["coverage/kinematics-source-closure.report.json", "coverage/config-resources.jsonl"] if is_kinematics_config else ["wasm-core/include/sim_kinematics.h", "wasm-core/CMakeLists.txt"], - "outputs": ["coverage/corexy-hal.report.json"] if is_corexy_hal else ["coverage/tripod-kinematics.report.json"] if (is_tripod_source or is_tripod_config) else ["coverage/genhex-kinematics.report.json"] if (is_genhex_source or is_genhex_config or is_genhex_hal or is_genhex_implementation) else ["coverage/delta-kinematics.report.json"] if (is_delta_source or is_delta_config or is_delta_implementation) else ["coverage/kinematics-source-closure.report.json", "coverage/trivkins-integration.report.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"] if is_kinematics_source else ["coverage/kinematics-config-graph.report.json", "coverage/kinematics-oracle-samples.jsonl", "coverage/kinematics-oracle.report.json", "coverage/kinematics-golden-schema.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"] if is_kinematics_config else ["coverage/kinematics-abi-contract.json", "coverage/kinematics-mapping-contract.json", "coverage/kinematics-numeric-policy.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"], + "feature_id": "feature:kinematics-k6-home" if is_home_limit_implementation else "feature:kinematics-k6-feedback" if is_feedback_implementation else "feature:kinematics-k6-motion" if is_motion_implementation else "feature:kinematics-k5-cfg" if is_registry_implementation else "feature:kinematics-k5-userkins" if (is_userkins_source or is_userkins_config or is_userkins_implementation) else "feature:kinematics-k5-switchkins" if (is_switchkins_source or is_switchkins_config) else "feature:kinematics-k2-hal" if is_corexy_hal else "feature:kinematics-k4-tripod" if (is_tripod_source or is_tripod_config) else "feature:kinematics-k4-genhex" if (is_genhex_source or is_genhex_config or is_genhex_hal) else "feature:kinematics-k4-pentapod" if (is_penta_source or is_penta_config or is_penta_hal or is_penta_implementation) else "feature:kinematics-k4-delta" if (is_delta_source or is_delta_config or is_delta_implementation) else "feature:kinematics-k0" if not is_kinematics_abi else "feature:kinematics-k1-contract", + "dependencies": ["coverage/kinematics-home-limit.report.json", "coverage/kinematics-feedback.report.json", "coverage/kinematics-registry.report.json"] if is_home_limit_implementation else ["coverage/kinematics-feedback.report.json", "coverage/kinematics-motion.report.json", "coverage/kinematics-registry.report.json"] if is_feedback_implementation else ["coverage/kinematics-motion.report.json", "coverage/motion-runtime.report.json", "coverage/kinematics-registry.report.json"] if is_motion_implementation else ["coverage/kinematics-registry.report.json", "coverage/kinematics-abi-contract.json", "coverage/kinematics-numeric-policy.json"] if is_registry_implementation else ["coverage/userkins-kinematics.report.json", "coverage/genser-kinematics.report.json"] if (is_userkins_source or is_userkins_config or is_userkins_implementation) else ["coverage/switchkins-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_switchkins_source or is_switchkins_config) else ["coverage/coupled-kinematics.report.json", "coverage/config-resources.jsonl"] if is_corexy_hal else ["coverage/tripod-kinematics.report.json", "coverage/delta-kinematics.report.json"] if (is_tripod_source or is_tripod_config) else ["coverage/genhex-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_genhex_source or is_genhex_config or is_genhex_hal) else ["coverage/pentapod-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_penta_source or is_penta_config or is_penta_hal or is_penta_implementation) else ["coverage/delta-kinematics.report.json", "coverage/kinematics-source-closure.report.json"] if (is_delta_source or is_delta_config or is_delta_implementation) else ["coverage/source-index.jsonl", "coverage/source-symbols.jsonl"] if is_kinematics_source else ["coverage/kinematics-source-closure.report.json", "coverage/config-resources.jsonl"] if is_kinematics_config else ["wasm-core/include/sim_kinematics.h", "wasm-core/CMakeLists.txt"], + "outputs": ["coverage/kinematics-home-limit.report.json"] if is_home_limit_implementation else ["coverage/kinematics-feedback.report.json"] if is_feedback_implementation else ["coverage/kinematics-motion.report.json"] if is_motion_implementation else ["coverage/kinematics-registry.report.json"] if is_registry_implementation else ["coverage/userkins-kinematics.report.json"] if (is_userkins_source or is_userkins_config or is_userkins_implementation) else ["coverage/switchkins-kinematics.report.json"] if (is_switchkins_source or is_switchkins_config) else ["coverage/corexy-hal.report.json"] if is_corexy_hal else ["coverage/tripod-kinematics.report.json"] if (is_tripod_source or is_tripod_config) else ["coverage/genhex-kinematics.report.json"] if (is_genhex_source or is_genhex_config or is_genhex_hal) else ["coverage/pentapod-kinematics.report.json"] if (is_penta_source or is_penta_config or is_penta_hal) else ["coverage/kinematics-abi-contract.json", "coverage/kinematics-mapping-contract.json", "coverage/kinematics-numeric-policy.json"] if is_penta_implementation else ["coverage/delta-kinematics.report.json"] if (is_delta_source or is_delta_config or is_delta_implementation) else ["coverage/kinematics-source-closure.report.json", "coverage/trivkins-integration.report.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"] if is_kinematics_source else ["coverage/kinematics-config-graph.report.json", "coverage/kinematics-oracle-samples.jsonl", "coverage/kinematics-oracle.report.json", "coverage/kinematics-golden-schema.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"] if is_kinematics_config else ["coverage/kinematics-abi-contract.json", "coverage/kinematics-mapping-contract.json", "coverage/kinematics-numeric-policy.json", "coverage/coupled-kinematics.report.json", "coverage/fiveaxis-kinematics.report.json", "coverage/trt-kinematics.report.json", "coverage/robot-kinematics.report.json", "coverage/genser-kinematics.report.json"], "errors": ["blocked:linuxcnc/unit_tests/kinematics missing from locked source"], - "test_id": "audit:K2-HAL-01" if is_corexy_hal else "audit:K4-TRIPOD-01" if (is_tripod_source or is_tripod_config) else "audit:K4-HEX-01" if (is_genhex_source or is_genhex_config or is_genhex_hal or is_genhex_implementation) else "audit:K4-DELTA-01" if (is_delta_source or is_delta_config or is_delta_implementation) else "audit:K0-INV-01" if is_kinematics_source else "audit:K0-INV-02" if is_kinematics_config else "audit:K1-CONTRACT-01", - "oracle": {"status": "blocked", "report": "coverage/corexy-hal.report.json" if is_corexy_hal else "coverage/tripod-kinematics.report.json" if (is_tripod_source or is_tripod_config) else "coverage/genhex-kinematics.report.json" if (is_genhex_source or is_genhex_config or is_genhex_hal or is_genhex_implementation) else "coverage/delta-kinematics.report.json" if (is_delta_source or is_delta_config or is_delta_implementation) else "coverage/kinematics-source-closure.report.json"}, + "test_id": "audit:K6-HOME-01" if is_home_limit_implementation else "audit:K6-MOTION-02" if is_feedback_implementation else "audit:K6-MOTION-01" if is_motion_implementation else "audit:K5-CFG-01" if is_registry_implementation else "audit:K5-USER-01" if (is_userkins_source or is_userkins_config or is_userkins_implementation) else "audit:K5-SWITCH-01" if (is_switchkins_source or is_switchkins_config) else "audit:K2-HAL-01" if is_corexy_hal else "audit:K4-TRIPOD-01" if (is_tripod_source or is_tripod_config) else "audit:K4-HEX-01" if (is_genhex_source or is_genhex_config or is_genhex_hal) else "audit:K4-PENTA-01" if (is_penta_source or is_penta_config or is_penta_hal or is_penta_implementation) else "audit:K4-DELTA-01" if (is_delta_source or is_delta_config or is_delta_implementation) else "audit:K0-INV-01" if is_kinematics_source else "audit:K0-INV-02" if is_kinematics_config else "audit:K1-CONTRACT-01", + "oracle": {"status": "blocked", "report": "coverage/kinematics-home-limit.report.json" if is_home_limit_implementation else "coverage/kinematics-feedback.report.json" if is_feedback_implementation else "coverage/kinematics-motion.report.json" if is_motion_implementation else "coverage/kinematics-registry.report.json" if is_registry_implementation else "coverage/userkins-kinematics.report.json" if (is_userkins_source or is_userkins_config or is_userkins_implementation) else "coverage/switchkins-kinematics.report.json" if (is_switchkins_source or is_switchkins_config) else "coverage/corexy-hal.report.json" if is_corexy_hal else "coverage/tripod-kinematics.report.json" if (is_tripod_source or is_tripod_config) else "coverage/genhex-kinematics.report.json" if (is_genhex_source or is_genhex_config or is_genhex_hal) else "coverage/pentapod-kinematics.report.json" if (is_penta_source or is_penta_config or is_penta_hal or is_penta_implementation) else "coverage/delta-kinematics.report.json" if (is_delta_source or is_delta_config or is_delta_implementation) else "coverage/kinematics-source-closure.report.json"}, "mapping_status": "audited_blocked" if not is_corexy_hal else "verified_partial", }) + if is_sim_configuration: + # K8 covers every simulation resource, including configs that do not + # declare KINEMATICS. Keep the family-specific owner above, but link + # the shared preflight and its explicit blocked oracle as a second + # evidence edge. + entry["dependencies"] = list(dict.fromkeys([ + *[str(value) for value in entry.get("dependencies", [])], + "coverage/configuration-regression.report.json", + "coverage/config-resources.jsonl", + "coverage/kinematics-config-graph.report.json", + ])) + entry["outputs"] = list(dict.fromkeys([ + *[str(value) for value in entry.get("outputs", [])], + "coverage/configuration-regression.report.json", + ])) + entry["coverage_dimensions"] = list(dict.fromkeys([ + *[str(value) for value in entry.get("coverage_dimensions", [])], + "configuration_startup_preflight", + "configuration_resource_graph", + "configuration_kinematics_entry", + ])) + entry["configuration_regression"] = { + "feature_id": "feature:configuration-k8-regression", + "test_id": "audit:K8-REG-01", + "report": "coverage/configuration-regression.report.json", + "oracle": "blocked:official LinuxCNC kinematics/recovery oracle is absent from locked source", + } + if not (is_kinematics_source or is_kinematics_config or is_kinematics_abi or is_corexy_hal or is_switchkins_source or is_switchkins_config or is_userkins_source or is_userkins_config or is_userkins_implementation or is_motion_implementation or is_feedback_implementation or is_home_limit_implementation): + entry.update({ + "domain": "configuration", + "feature_id": "feature:configuration-k8-regression", + "errors": ["blocked:configuration preflight retains missing resources and official oracle gap"], + "test_id": "audit:K8-REG-01", + "oracle": {"status": "blocked", "report": "coverage/configuration-regression.report.json"}, + "mapping_status": "verified_partial", + }) return entry diff --git a/scripts/generate_switchkins_report.py b/scripts/generate_switchkins_report.py new file mode 100644 index 0000000..9aa8946 --- /dev/null +++ b/scripts/generate_switchkins_report.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for switchkins integration.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import re +import subprocess +from pathlib import Path + + +INPUTS = { + "switch_source": "linuxcnc/src/emc/kinematics/switchkins.c", + "switch_header": "linuxcnc/src/emc/kinematics/switchkins.h", + "module_source": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "userk_source": "linuxcnc/src/emc/kinematics/userkfuncs.c", + "config": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "postgui_hal": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/switchkins_postgui.hal", + "implementation": "wasm-core/src/sim_switchkins.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "kinematics_implementation": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_switchkins_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path, schema: str) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == schema: + return item + raise RuntimeError(f"runner did not emit {schema}") + + +def parse_config(path: Path) -> dict[str, object]: + text = path.read_text(encoding="utf-8") + match = re.search(r"^KINEMATICS\s*=\s*([^\s]+)(?:\s+sparm=([^\s]+))?", text, re.MULTILINE) + joints = re.search(r"^\s*JOINTS\s*=\s*(\d+)", text, re.MULTILINE) + coords = re.search(r"^\s*COORDINATES\s*=\s*([^\s]+)", text, re.MULTILINE) + return { + "path": INPUTS["config"], + "kinematics": match.group(1) if match else None, + "sparm": match.group(2) if match and match.group(2) else None, + "joints": int(joints.group(1)) if joints else None, + "coordinates": coords.group(1) if coords else None, + "identityfirst": bool(match and match.group(2) and "identityfirst" in match.group(2)), + "switch_pin": "motion.switchkins-type" in text, + "modes": {"0": "identity", "1": "xyzac-trt", "2": "userk"}, + } + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_switchkins_test")], root, "switchkins-samples.v1") + wasm = run_json(["node", str(root / "build-wasm/sim_switchkins_wasm_test.js")], root, "switchkins-samples.v1") + config = parse_config(root / INPUTS["config"]) + report = { + "schema": "switchkins-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "configuration_candidates": [ + {**config, "id": "shipped-xyzac-trt-identityfirst", "kind": "real", "provenance": "shipped LinuxCNC simulation"}, + {"id": "mode-transition-pose-continuity", "kind": "derived", "path": INPUTS["test"], "modes": ["identity", "xyzac-trt"], "purpose": "old-mode forward pose to new-mode inverse remap"}, + {"id": "userk-slot-missing-module", "kind": "derived", "path": INPUTS["test"], "modes": ["userk"], "purpose": "mode 2 remains fail-closed until static userk is registered"}, + ], + "mode_registry": {"slots": [0, 1, 2], "names": {"0": "identity", "1": "xyzac-trt", "2": "userk"}, "startup_mode": 0, "identityfirst": config["identityfirst"]}, + "state_and_errors": { + "pose_continuity": {"identity_to_trt": True, "trt_to_identity": True}, + "state_hash_stable": native["returned_hash"] == native["returned_repeat_hash"] and native["returned_hash"] != 0, + "invalid_mode_error": -707, + "missing_module_error": -708, + "switch_interrupted_error": -709, + "abort_restores_active_mode": native["active_mode"] == 0, + }, + "samples": { + "native": native, + "wasm": wasm, + "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), + "state_hash_identical": [native[key] for key in ("initial_hash", "switched_hash", "returned_hash", "returned_repeat_hash")] == [wasm[key] for key in ("initial_hash", "switched_hash", "returned_hash", "returned_repeat_hash")], + }, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_switchkins_test", "wasm_command": "node build-wasm/sim_switchkins_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["type 0 identity", "type 1 xyzac-trt", "type 2 userk", "invalid mode", "missing module", "interrupted switch", "abort recovery"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/switchkins-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"switchkins={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_userkins_report.py b/scripts/generate_userkins_report.py new file mode 100644 index 0000000..4b5d40f --- /dev/null +++ b/scripts/generate_userkins_report.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for statically linked userk and ugenser.""" +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +INPUTS = { + "userk_source": "linuxcnc/src/emc/kinematics/userkfuncs.c", + "ugenser_source": "linuxcnc/src/emc/kinematics/ugenserkins.c", + "genser_source": "linuxcnc/src/emc/kinematics/genserkins.c", + "genser_functions": "linuxcnc/src/emc/kinematics/genserfuncs.c", + "userk_config": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini", + "ugenser_config": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "ugenser_dh": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal", + "implementation": "wasm-core/src/sim_userkins.c", + "header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_userkins_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if result.returncode: + raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}") + for line in result.stdout.splitlines(): + if line.lstrip().startswith("{"): + item = json.loads(line) + if item.get("schema") == "userkins-samples.v1": + return item + raise RuntimeError("runner did not emit userkins-samples.v1") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_userkins_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_userkins_wasm_test.js")], root) + userk_config = (root / INPUTS["userk_config"]).read_text(encoding="utf-8") + ugenser_config = (root / INPUTS["ugenser_config"]).read_text(encoding="utf-8") + ugenser_source = (root / INPUTS["ugenser_source"]).read_text(encoding="utf-8") + report = { + "schema": "userkins-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}, + "configuration_candidates": [ + {"id": "shipped-scara-userk-slot", "kind": "real", "path": INPUTS["userk_config"], "scan": "kinstype==2 (userk" in userk_config, "implementation": "identity template", "coordinates": "XYZCAB"}, + {"id": "shipped-puma560-genser", "kind": "real", "path": INPUTS["ugenser_config"], "scan": "KINEMATICS= genserkins" in ugenser_config, "implementation": "ugenser static adapter over genser", "coordinates": "XYZABC"}, + {"id": "static-descriptor-regression", "kind": "derived", "path": INPUTS["test"], "implementations": ["userk.identity", "ugenser.static"], "purpose": "ABI/capability checks, FK/IK calls, switch slot binding, and native/WASM comparison"}, + ], + "static_contract": { + "abi_version": native["abi_version"], + "capabilities": {"forward": 1, "inverse": 2, "static": 4, "sample_mask": native["capabilities"]}, + "implementations": {"1": "identity", "2": "genser"}, + "switch_binding": {"slot": 2, "active_after_select": native["active_mode"]}, + "dynamic_host_loading": "forbidden; paths, slash-delimited names, and host shared libraries return SIM_KIN_ERR_DYNAMIC_MODULE", + }, + "ugenser_scope": { + "legacy_cli_status": "excluded", + "source_warning_present": "Declining usage" in ugenser_source and "functioning in its current state is doubtful" in ugenser_source, + "adaptation": "reuse the verified statically linked genser FK/IK implementation; do not port gettimeofday, stdin, or HAL process lifecycle", + }, + "error_boundaries": {"abi_version": -710, "capability": -711, "dynamic_module": -712, "missing_or_uninitialized_module": -708}, + "samples": { + "native": native, + "wasm": wasm, + "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), + "state_hash_identical": [native["identity"]["state_hash"], native["ugenser"]["state_hash"]] == [wasm["identity"]["state_hash"], wasm["ugenser"]["state_hash"]], + "state_hash_stable": native["identity"]["state_hash"] == native["identity"]["repeat_hash"] and native["ugenser"]["state_hash"] == native["ugenser"]["repeat_hash"], + }, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_userkins_test", "wasm_command": "node build-wasm/sim_userkins_wasm_test.js"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; the deprecated ugenser CLI is not an approved replacement", "blocked_samples": ["userk identity template", "ugenser static adapter", "ABI mismatch", "capability mismatch", "dynamic module rejection", "uninitialized module"]}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest() + output.parent.mkdir(parents=True, exist_ok=True) + output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]) + parser.add_argument("--output", type=Path, default=Path("coverage/userkins-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"userkins={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/test_configuration_regression.py b/scripts/test_configuration_regression.py new file mode 100644 index 0000000..3f34638 --- /dev/null +++ b/scripts/test_configuration_regression.py @@ -0,0 +1,52 @@ +import json +import sys +import unittest +from pathlib import Path +from tempfile import TemporaryDirectory + +sys.path.insert(0, str(Path(__file__).resolve().parent)) + +from generate_configuration_regression import generate + + +ROOT = Path(__file__).resolve().parents[1] +REPORT = ROOT / "coverage/configuration-regression.report.json" + + +class ConfigurationRegressionTests(unittest.TestCase): + def test_report_contract(self): + report = json.loads(REPORT.read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "configuration-regression-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["counts"]["registered_configuration_entries"], 264) + self.assertEqual(len(report["configuration_entries"]), 264) + self.assertEqual(report["closure"]["graph_orphan_entry_ids"], []) + self.assertEqual(report["closure"]["unowned_template_ids"], []) + self.assertEqual(report["closure"]["resource_orphan_entrypoints"], []) + self.assertEqual(report["runtime"]["native_wasm"]["status"], "passed") + self.assertEqual(report["runtime"]["worker"]["status"], "passed") + self.assertEqual(report["recovery_summary"]["endpoints_equal"], True) + self.assertEqual(report["oracle"]["status"], "blocked") + self.assertTrue(report["oracle"]["derived_configuration_results_are_not_official"]) + + def test_all_entry_ids_are_unique_and_repeat_stable(self): + report = json.loads(REPORT.read_text(encoding="utf-8")) + ids = [row["config_id"] for row in report["configuration_entries"]] + self.assertEqual(len(ids), len(set(ids))) + for group in (report["runtime"]["native"], report["runtime"]["wasm"]): + self.assertEqual(group["status"], "passed") + self.assertTrue(all(row["repeat_stable"] for row in group["records"].values())) + self.assertTrue(all(row["repeat_stable"] for row in report["runtime"]["worker"]["records"].values())) + + def test_generation_is_deterministic(self): + with TemporaryDirectory() as directory: + first_path = Path(directory) / "first.json" + second_path = Path(directory) / "second.json" + first = generate(ROOT, first_path) + second = generate(ROOT, second_path) + self.assertEqual(first, second) + self.assertEqual(first_path.read_bytes(), second_path.read_bytes()) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_hal_runtime.py b/scripts/test_hal_runtime.py index e09d6b6..0a33599 100644 --- a/scripts/test_hal_runtime.py +++ b/scripts/test_hal_runtime.py @@ -34,6 +34,10 @@ class HalRuntimeTests(unittest.TestCase): self.assertEqual(report["schema"], "corexy-hal-report.v1") self.assertTrue(report["native_wasm"]["byte_identical_json"]) + def test_io_pin_capacity_is_declared(self): + report = json.loads((ROOT / "coverage/hal-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["pin_capacity"], 256) + if __name__ == "__main__": unittest.main() diff --git a/scripts/test_io_report.py b/scripts/test_io_report.py new file mode 100644 index 0000000..7488fc9 --- /dev/null +++ b/scripts/test_io_report.py @@ -0,0 +1,45 @@ +import json +import unittest +from pathlib import Path + +import generate_io_report + +ROOT = Path(__file__).resolve().parents[1] + + +class IoReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/io-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "io-runtime-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["boundaries"]["invalid_pin_type"], -304) + self.assertEqual(report["boundaries"]["spindle_limit"], -906) + self.assertEqual(report["boundaries"]["tool_change_while_spinning"], -910) + self.assertEqual(report["boundaries"]["probe_trigger"], 0) + self.assertEqual(report["boundaries"]["probe_state"], 2) + self.assertEqual(report["boundaries"]["estop_command"], -904) + self.assertEqual(report["boundaries"]["estop_recovery_before_clear"], -904) + self.assertTrue(report["boundaries"]["state_hash_stable"]) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.io-one.json", ROOT / "coverage/.io-two.json" + try: + self.assertEqual(generate_io_report.generate(ROOT, first), generate_io_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + def test_wasm_exports_io_api(self): + module = ROOT / "build-wasm/linuxcnc-sim-core.js" + if not module.is_file(): + self.skipTest("WASM build has not been generated") + text = module.read_text(encoding="utf-8") + for symbol in ("sim_io_init", "sim_io_spindle_command", "sim_io_tool_change", "sim_io_probe_update", "sim_io_recover"): + self.assertIn(symbol, text) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_feedback_report.py b/scripts/test_kinematics_feedback_report.py new file mode 100644 index 0000000..f796833 --- /dev/null +++ b/scripts/test_kinematics_feedback_report.py @@ -0,0 +1,34 @@ +import json +import unittest +from pathlib import Path + +import generate_kinematics_feedback_report + +ROOT = Path(__file__).resolve().parents[1] + + +class KinematicsFeedbackReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/kinematics-feedback.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-feedback-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["boundaries"]["stale_read"], -824) + self.assertEqual(report["boundaries"]["nonfinite"], -822) + self.assertEqual(report["boundaries"]["forward_failure"], -823) + self.assertEqual(report["boundaries"]["failed_feedback_valid"], 0) + self.assertTrue(report["boundaries"]["state_hash_stable"]) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.feedback-one.json", ROOT / "coverage/.feedback-two.json" + try: + self.assertEqual(generate_kinematics_feedback_report.generate(ROOT, first), generate_kinematics_feedback_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_home_limit_report.py b/scripts/test_kinematics_home_limit_report.py new file mode 100644 index 0000000..5e61171 --- /dev/null +++ b/scripts/test_kinematics_home_limit_report.py @@ -0,0 +1,34 @@ +import json +import unittest +from pathlib import Path + +import generate_kinematics_home_limit_report + +ROOT = Path(__file__).resolve().parents[1] + + +class KinematicsHomeLimitReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/kinematics-home-limit.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-home-limit-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["boundaries"]["unhomed"], -842) + self.assertEqual(report["boundaries"]["sequence"], -846) + self.assertEqual(report["boundaries"]["limit"], -843) + self.assertTrue(report["boundaries"]["retains_valid_pose"]) + self.assertTrue(report["boundaries"]["state_hash_stable"]) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.home-one.json", ROOT / "coverage/.home-two.json" + try: + self.assertEqual(generate_kinematics_home_limit_report.generate(ROOT, first), generate_kinematics_home_limit_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_motion_report.py b/scripts/test_kinematics_motion_report.py new file mode 100644 index 0000000..bbabe63 --- /dev/null +++ b/scripts/test_kinematics_motion_report.py @@ -0,0 +1,35 @@ +import json +import unittest +from pathlib import Path + +import generate_kinematics_motion_report + +ROOT = Path(__file__).resolve().parents[1] + + +class KinematicsMotionReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/kinematics-motion.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-motion-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["pipeline"]["joint_queue_capacity"], 64) + self.assertEqual(report["boundaries"]["capacity"], -802) + self.assertEqual(report["boundaries"]["inverse_failure"], -804) + self.assertTrue(report["boundaries"]["capacity_planner_rollback"]) + self.assertTrue(report["boundaries"]["inverse_planner_rollback"]) + self.assertTrue(report["boundaries"]["state_hash_stable"]) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.motion-one.json", ROOT / "coverage/.motion-two.json" + try: + self.assertEqual(generate_kinematics_motion_report.generate(ROOT, first), generate_kinematics_motion_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_registry_report.py b/scripts/test_kinematics_registry_report.py new file mode 100644 index 0000000..156262d --- /dev/null +++ b/scripts/test_kinematics_registry_report.py @@ -0,0 +1,33 @@ +import json +import unittest +from pathlib import Path + +import generate_kinematics_registry_report + +ROOT = Path(__file__).resolve().parents[1] + + +class KinematicsRegistryReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/kinematics-registry.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-registry-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["registry"]["entry_count"], 18) + self.assertEqual(report["registry"]["verified_entries"], 18) + self.assertEqual(report["registry"]["capability_union"], 127) + self.assertEqual(report["registry"]["parameter_union"], 255) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.registry-one.json", ROOT / "coverage/.registry-two.json" + try: + self.assertEqual(generate_kinematics_registry_report.generate(ROOT, first), generate_kinematics_registry_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_pentapod_kinematics_report.py b/scripts/test_pentapod_kinematics_report.py index adbe073..bc2c05e 100644 --- a/scripts/test_pentapod_kinematics_report.py +++ b/scripts/test_pentapod_kinematics_report.py @@ -12,6 +12,10 @@ class PentapodKinematicsReportTests(unittest.TestCase): self.assertEqual(report["implementation_status"], "verified") self.assertTrue(report["configuration_candidate"]["scan"]) self.assertEqual(report["geometry"]["struts"], 5) + self.assertEqual(report["mapping"]["coordinates"], "XYZAB") + self.assertEqual(report["workspace_and_boundaries"]["singular_jacobian_error"], -704) + self.assertEqual(report["workspace_and_boundaries"]["nonpositive_joint_error"], -702) + self.assertEqual(len(report["configuration_candidates"]), 2) self.assertTrue(report["samples"]["byte_identical_json"]) self.assertTrue(report["samples"]["state_hash_identical"]) self.assertEqual(report["oracle"]["status"], "blocked") diff --git a/scripts/test_switchkins_report.py b/scripts/test_switchkins_report.py new file mode 100644 index 0000000..cec26af --- /dev/null +++ b/scripts/test_switchkins_report.py @@ -0,0 +1,37 @@ +import json +import unittest +from pathlib import Path + +import generate_switchkins_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class SwitchkinsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/switchkins-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "switchkins-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertTrue(report["mode_registry"]["identityfirst"]) + self.assertEqual(report["mode_registry"]["names"]["2"], "userk") + self.assertTrue(report["state_and_errors"]["pose_continuity"]["identity_to_trt"]) + self.assertTrue(report["state_and_errors"]["state_hash_stable"]) + self.assertEqual(report["state_and_errors"]["invalid_mode_error"], -707) + self.assertEqual(report["state_and_errors"]["missing_module_error"], -708) + self.assertEqual(report["state_and_errors"]["switch_interrupted_error"], -709) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.switch-one.json", ROOT / "coverage/.switch-two.json" + try: + self.assertEqual(generate_switchkins_report.generate(ROOT, first), generate_switchkins_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_userkins_report.py b/scripts/test_userkins_report.py new file mode 100644 index 0000000..a063d84 --- /dev/null +++ b/scripts/test_userkins_report.py @@ -0,0 +1,36 @@ +import json +import unittest +from pathlib import Path + +import generate_userkins_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class UserkinsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/userkins-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "userkins-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["static_contract"]["abi_version"], 1) + self.assertEqual(report["static_contract"]["switch_binding"]["active_after_select"], 2) + self.assertEqual(report["ugenser_scope"]["legacy_cli_status"], "excluded") + self.assertTrue(report["ugenser_scope"]["source_warning_present"]) + self.assertEqual(report["error_boundaries"]["dynamic_module"], -712) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertTrue(report["samples"]["state_hash_stable"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first, second = ROOT / "coverage/.user-one.json", ROOT / "coverage/.user-two.json" + try: + self.assertEqual(generate_userkins_report.generate(ROOT, first), generate_userkins_report.generate(ROOT, second)) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/validate_baseline.py b/scripts/validate_baseline.py index c889f8e..1526117 100755 --- a/scripts/validate_baseline.py +++ b/scripts/validate_baseline.py @@ -154,6 +154,56 @@ def validate(repo_root: Path, lock_path: Path, source_path: Path, manifest_path: errors.append("workspace recovery report is missing") elif recovery_report_hash != sha256(recovery_report_path): errors.append("workspace recovery report hash does not match context lock") + if recovery_report_path.is_file(): + try: + recovery_report = json.loads(recovery_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("workspace recovery report is not valid JSON") + else: + if recovery_report.get("status") != "passed": + errors.append("workspace recovery report is not passed") + if recovery_report.get("implementation_status") != "verified": + errors.append("workspace recovery implementation is not verified") + if recovery_report.get("oracle", {}).get("status") != "blocked": + errors.append("workspace recovery oracle status must remain explicitly blocked") + configuration_regression_path = repo_root / "coverage/configuration-regression.report.json" + configuration_regression_hash = lock.get("configuration_regression_report_sha256") + if configuration_regression_hash: + if not configuration_regression_path.is_file(): + errors.append("configuration regression report is missing") + elif configuration_regression_hash != sha256(configuration_regression_path): + errors.append("configuration regression report hash does not match context lock") + if configuration_regression_path.is_file(): + try: + configuration_regression = json.loads(configuration_regression_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("configuration regression report is not valid JSON") + else: + if configuration_regression.get("implementation_status") != "verified": + errors.append("configuration regression implementation is not verified") + if configuration_regression.get("oracle", {}).get("status") != "blocked": + errors.append("configuration regression oracle status must remain explicitly blocked") + closure = configuration_regression.get("closure", {}) + if closure.get("graph_orphan_entry_ids") != []: + errors.append("configuration regression graph contains orphan entries") + if closure.get("unowned_template_ids") != []: + errors.append("configuration regression graph contains unowned templates") + if closure.get("resource_orphan_entrypoints") != []: + errors.append("configuration regression resource graph contains orphan entrypoints") + if configuration_regression.get("runtime", {}).get("native_wasm", {}).get("status") != "passed": + errors.append("configuration regression native/WASM summary is not passed") + if configuration_regression.get("runtime", {}).get("worker", {}).get("status") != "passed": + errors.append("configuration regression Worker summary is not passed") + if isinstance(inventory_count, dict): + report_counts = configuration_regression.get("counts", {}) + for inventory_key, report_key in ( + ("configuration_regression_entries", "registered_configuration_entries"), + ("configuration_regression_entrypoints", "config_entrypoints"), + ("configuration_regression_resources", "resource_rows"), + ): + value = report_counts.get(report_key) + if value is not None and inventory_count.get(inventory_key) != value: + errors.append(f"{inventory_key} count does not match configuration regression report") runtime_report_path = repo_root / "coverage/runtime-mapping.report.json" runtime_report_hash = lock.get("runtime_mapping_report_sha256") if runtime_report_hash: @@ -203,6 +253,13 @@ def validate(repo_root: Path, lock_path: Path, source_path: Path, manifest_path: errors.append("motion runtime report is missing") elif motion_report_hash != sha256(motion_report_path): errors.append("motion runtime report hash does not match context lock") + io_report_path = repo_root / "coverage/io-runtime.report.json" + io_report_hash = lock.get("io_runtime_report_sha256") + if io_report_hash: + if not io_report_path.is_file(): + errors.append("io runtime report is missing") + elif io_report_hash != sha256(io_report_path): + errors.append("io runtime report hash does not match context lock") kinematics_runtime_report_path = repo_root / "coverage/kinematics-runtime.report.json" kinematics_runtime_report_hash = lock.get("kinematics_runtime_report_sha256") if kinematics_runtime_report_hash: @@ -484,6 +541,125 @@ def validate(repo_root: Path, lock_path: Path, source_path: Path, manifest_path: errors.append("genhex kinematics implementation is not verified") if genhex_report.get("oracle", {}).get("status") != "blocked": errors.append("genhex kinematics oracle status must remain explicitly blocked") + pentapod_report_path = repo_root / "coverage/pentapod-kinematics.report.json" + pentapod_report_hash = lock.get("pentapod_kinematics_report_sha256") + if pentapod_report_hash: + if not pentapod_report_path.is_file(): + errors.append("pentapod kinematics report is missing") + elif pentapod_report_hash != sha256(pentapod_report_path): + errors.append("pentapod kinematics report hash does not match context lock") + if pentapod_report_path.is_file(): + try: + pentapod_report = json.loads(pentapod_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("pentapod kinematics report is not valid JSON") + else: + if pentapod_report.get("implementation_status") != "verified": + errors.append("pentapod kinematics implementation is not verified") + if pentapod_report.get("oracle", {}).get("status") != "blocked": + errors.append("pentapod kinematics oracle status must remain explicitly blocked") + switchkins_report_path = repo_root / "coverage/switchkins-kinematics.report.json" + switchkins_report_hash = lock.get("switchkins_kinematics_report_sha256") + if switchkins_report_hash: + if not switchkins_report_path.is_file(): + errors.append("switchkins kinematics report is missing") + elif switchkins_report_hash != sha256(switchkins_report_path): + errors.append("switchkins kinematics report hash does not match context lock") + if switchkins_report_path.is_file(): + try: + switchkins_report = json.loads(switchkins_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("switchkins kinematics report is not valid JSON") + else: + if switchkins_report.get("implementation_status") != "verified": + errors.append("switchkins kinematics implementation is not verified") + if switchkins_report.get("oracle", {}).get("status") != "blocked": + errors.append("switchkins kinematics oracle status must remain explicitly blocked") + userkins_report_path = repo_root / "coverage/userkins-kinematics.report.json" + userkins_report_hash = lock.get("userkins_kinematics_report_sha256") + if userkins_report_hash: + if not userkins_report_path.is_file(): + errors.append("userkins kinematics report is missing") + elif userkins_report_hash != sha256(userkins_report_path): + errors.append("userkins kinematics report hash does not match context lock") + if userkins_report_path.is_file(): + try: + userkins_report = json.loads(userkins_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("userkins kinematics report is not valid JSON") + else: + if userkins_report.get("implementation_status") != "verified": + errors.append("userkins kinematics implementation is not verified") + if userkins_report.get("oracle", {}).get("status") != "blocked": + errors.append("userkins kinematics oracle status must remain explicitly blocked") + registry_report_path = repo_root / "coverage/kinematics-registry.report.json" + registry_report_hash = lock.get("kinematics_registry_report_sha256") + if registry_report_hash: + if not registry_report_path.is_file(): + errors.append("kinematics registry report is missing") + elif registry_report_hash != sha256(registry_report_path): + errors.append("kinematics registry report hash does not match context lock") + if registry_report_path.is_file(): + try: + registry_report = json.loads(registry_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics registry report is not valid JSON") + else: + if registry_report.get("implementation_status") != "verified": + errors.append("kinematics registry implementation is not verified") + if registry_report.get("oracle", {}).get("status") != "blocked": + errors.append("kinematics registry oracle status must remain explicitly blocked") + motion_report_path = repo_root / "coverage/kinematics-motion.report.json" + motion_report_hash = lock.get("kinematics_motion_report_sha256") + if motion_report_hash: + if not motion_report_path.is_file(): + errors.append("kinematics motion report is missing") + elif motion_report_hash != sha256(motion_report_path): + errors.append("kinematics motion report hash does not match context lock") + if motion_report_path.is_file(): + try: + motion_report = json.loads(motion_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics motion report is not valid JSON") + else: + if motion_report.get("implementation_status") != "verified": + errors.append("kinematics motion implementation is not verified") + if motion_report.get("oracle", {}).get("status") != "blocked": + errors.append("kinematics motion oracle status must remain explicitly blocked") + feedback_report_path = repo_root / "coverage/kinematics-feedback.report.json" + feedback_report_hash = lock.get("kinematics_feedback_report_sha256") + if feedback_report_hash: + if not feedback_report_path.is_file(): + errors.append("kinematics feedback report is missing") + elif feedback_report_hash != sha256(feedback_report_path): + errors.append("kinematics feedback report hash does not match context lock") + if feedback_report_path.is_file(): + try: + feedback_report = json.loads(feedback_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics feedback report is not valid JSON") + else: + if feedback_report.get("implementation_status") != "verified": + errors.append("kinematics feedback implementation is not verified") + if feedback_report.get("oracle", {}).get("status") != "blocked": + errors.append("kinematics feedback oracle status must remain explicitly blocked") + home_limit_report_path = repo_root / "coverage/kinematics-home-limit.report.json" + home_limit_report_hash = lock.get("kinematics_home_limit_report_sha256") + if home_limit_report_hash: + if not home_limit_report_path.is_file(): + errors.append("kinematics home limit report is missing") + elif home_limit_report_hash != sha256(home_limit_report_path): + errors.append("kinematics home limit report hash does not match context lock") + if home_limit_report_path.is_file(): + try: + home_limit_report = json.loads(home_limit_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics home limit report is not valid JSON") + else: + if home_limit_report.get("implementation_status") != "verified": + errors.append("kinematics home limit implementation is not verified") + if home_limit_report.get("oracle", {}).get("status") != "blocked": + errors.append("kinematics home limit oracle status must remain explicitly blocked") source_ids = [str(row.get("source_id", "")) for row in sources] if len(source_ids) != len(set(source_ids)): errors.append("source index contains duplicate source_id") diff --git a/wasm-core/CMakeLists.txt b/wasm-core/CMakeLists.txt index 180b956..753e126 100644 --- a/wasm-core/CMakeLists.txt +++ b/wasm-core/CMakeLists.txt @@ -6,7 +6,7 @@ set(CMAKE_C_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) -add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c) +add_library(sim_core STATIC src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) target_include_directories(sim_core PUBLIC include) target_compile_definitions(sim_core PRIVATE SIM_API_BUILD=1) @@ -70,6 +70,48 @@ if(NOT EMSCRIPTEN) target_include_directories(sim_kinematics_test PRIVATE include) target_compile_options(sim_kinematics_test PRIVATE -UNDEBUG) add_test(NAME sim_kinematics_test COMMAND sim_kinematics_test) + + add_executable(sim_switchkins_test tests/sim_switchkins_test.c) + target_link_libraries(sim_switchkins_test PRIVATE sim_core) + target_include_directories(sim_switchkins_test PRIVATE include) + target_compile_options(sim_switchkins_test PRIVATE -UNDEBUG) + add_test(NAME sim_switchkins_test COMMAND sim_switchkins_test) + + add_executable(sim_userkins_test tests/sim_userkins_test.c) + target_link_libraries(sim_userkins_test PRIVATE sim_core) + target_include_directories(sim_userkins_test PRIVATE include) + target_compile_options(sim_userkins_test PRIVATE -UNDEBUG) + add_test(NAME sim_userkins_test COMMAND sim_userkins_test) + + add_executable(sim_kinematics_registry_test tests/sim_kinematics_registry_test.c) + target_link_libraries(sim_kinematics_registry_test PRIVATE sim_core) + target_include_directories(sim_kinematics_registry_test PRIVATE include) + target_compile_options(sim_kinematics_registry_test PRIVATE -UNDEBUG) + add_test(NAME sim_kinematics_registry_test COMMAND sim_kinematics_registry_test) + + add_executable(sim_kinematics_motion_test tests/sim_kinematics_motion_test.c) + target_link_libraries(sim_kinematics_motion_test PRIVATE sim_core) + target_include_directories(sim_kinematics_motion_test PRIVATE include) + target_compile_options(sim_kinematics_motion_test PRIVATE -UNDEBUG) + add_test(NAME sim_kinematics_motion_test COMMAND sim_kinematics_motion_test) + + add_executable(sim_kinematics_feedback_test tests/sim_kinematics_feedback_test.c) + target_link_libraries(sim_kinematics_feedback_test PRIVATE sim_core) + target_include_directories(sim_kinematics_feedback_test PRIVATE include) + target_compile_options(sim_kinematics_feedback_test PRIVATE -UNDEBUG) + add_test(NAME sim_kinematics_feedback_test COMMAND sim_kinematics_feedback_test) + + add_executable(sim_kinematics_home_limit_test tests/sim_kinematics_home_limit_test.c) + target_link_libraries(sim_kinematics_home_limit_test PRIVATE sim_core) + target_include_directories(sim_kinematics_home_limit_test PRIVATE include) + target_compile_options(sim_kinematics_home_limit_test PRIVATE -UNDEBUG) + add_test(NAME sim_kinematics_home_limit_test COMMAND sim_kinematics_home_limit_test) + + add_executable(sim_io_test tests/sim_io_test.c) + target_link_libraries(sim_io_test PRIVATE sim_core) + target_include_directories(sim_io_test PRIVATE include) + target_compile_options(sim_io_test PRIVATE -UNDEBUG) + add_test(NAME sim_io_test COMMAND sim_io_test) endif() if(EMSCRIPTEN) @@ -85,7 +127,49 @@ if(EMSCRIPTEN) target_compile_options(sim_kinematics_wasm_test PRIVATE -UNDEBUG) target_link_options(sim_kinematics_wasm_test PRIVATE -sSINGLE_FILE=1) - add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c) + add_executable(sim_switchkins_wasm_test tests/sim_switchkins_test.c) + target_link_libraries(sim_switchkins_wasm_test PRIVATE sim_core) + target_include_directories(sim_switchkins_wasm_test PRIVATE include) + target_compile_options(sim_switchkins_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_switchkins_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_userkins_wasm_test tests/sim_userkins_test.c) + target_link_libraries(sim_userkins_wasm_test PRIVATE sim_core) + target_include_directories(sim_userkins_wasm_test PRIVATE include) + target_compile_options(sim_userkins_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_userkins_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_kinematics_registry_wasm_test tests/sim_kinematics_registry_test.c) + target_link_libraries(sim_kinematics_registry_wasm_test PRIVATE sim_core) + target_include_directories(sim_kinematics_registry_wasm_test PRIVATE include) + target_compile_options(sim_kinematics_registry_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_kinematics_registry_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_kinematics_motion_wasm_test tests/sim_kinematics_motion_test.c) + target_link_libraries(sim_kinematics_motion_wasm_test PRIVATE sim_core) + target_include_directories(sim_kinematics_motion_wasm_test PRIVATE include) + target_compile_options(sim_kinematics_motion_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_kinematics_motion_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_kinematics_feedback_wasm_test tests/sim_kinematics_feedback_test.c) + target_link_libraries(sim_kinematics_feedback_wasm_test PRIVATE sim_core) + target_include_directories(sim_kinematics_feedback_wasm_test PRIVATE include) + target_compile_options(sim_kinematics_feedback_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_kinematics_feedback_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_kinematics_home_limit_wasm_test tests/sim_kinematics_home_limit_test.c) + target_link_libraries(sim_kinematics_home_limit_wasm_test PRIVATE sim_core) + target_include_directories(sim_kinematics_home_limit_wasm_test PRIVATE include) + target_compile_options(sim_kinematics_home_limit_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_kinematics_home_limit_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_io_wasm_test tests/sim_io_test.c) + target_link_libraries(sim_io_wasm_test PRIVATE sim_core) + target_include_directories(sim_io_wasm_test PRIVATE include) + target_compile_options(sim_io_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_io_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_core_module src/sim_api.c src/sim_protocol.c src/sim_event.c src/sim_hal.c src/sim_posemath.c src/sim_interpreter.c src/sim_motion_queue.c src/sim_kinematics.c src/sim_switchkins.c src/sim_userkins.c src/sim_kinematics_registry.c src/sim_kinematics_motion.c src/sim_kinematics_feedback.c src/sim_kinematics_home_limit.c src/sim_io.c) target_include_directories(sim_core_module PRIVATE include ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src @@ -97,6 +181,6 @@ if(EMSCRIPTEN) set_target_properties(sim_core_module PROPERTIES OUTPUT_NAME "linuxcnc-sim-core" SUFFIX ".js" - LINK_FLAGS "-sMODULARIZE=1 -sEXPORT_ES6=1 -sENVIRONMENT=web,worker -sEXPORTED_FUNCTIONS=['_malloc','_free','_sim_create','_sim_load_workspace','_sim_command','_sim_step','_sim_read_snapshot','_sim_read_event','_sim_export_state','_sim_import_state','_sim_destroy','_sim_protocol_reset','_sim_protocol_accept','_sim_protocol_pause','_sim_protocol_resume','_sim_protocol_state_value','_sim_protocol_last_seq','_sim_protocol_tick','_sim_protocol_set_tick','_sim_event_reset','_sim_event_append','_sim_event_count','_sim_event_cursor','_sim_event_read','_sim_event_export','_sim_event_import','_sim_hal_reset','_sim_hal_register_pin','_sim_hal_set_pin','_sim_hal_get_pin','_sim_hal_connect','_sim_hal_register_thread','_sim_hal_register_function','_sim_hal_set_function_failure','_sim_hal_step','_sim_hal_tick','_sim_hal_function_calls','_sim_hal_pin_count','_sim_hal_thread_count','_sim_hal_function_count','_sim_posemath_normalize','_sim_posemath_dot','_sim_posemath_line_point','_sim_posemath_is_finite','_sim_posemath_pose_is_finite','_sim_posemath_pose_line_point','_sim_posemath_segment_validate','_sim_posemath_segment_point','_sim_posemath_hash_state','_sim_tp_init','_sim_tp_reset','_sim_tp_enqueue','_sim_tp_step','_sim_tp_read_state','_sim_tp_state_hash','_sim_interpreter_init','_sim_interpreter_reset','_sim_interpreter_execute','_sim_interpreter_read_state','_sim_interpreter_canonical','_sim_interpreter_state_hash','_sim_interpreter_block_hash','_sim_motion_init','_sim_motion_reset','_sim_motion_enqueue','_sim_motion_step','_sim_motion_read_state','_sim_motion_queue_depth','_sim_motion_state_hash','_sim_motion_canonical','_sim_kinematics_init','_sim_kinematics_forward','_sim_kinematics_forward_ex','_sim_kinematics_inverse','_sim_kinematics_inverse_ex','_sim_kinematics_home','_sim_kinematics_validate_pose','_sim_kinematics_state_hash'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']" + LINK_FLAGS "-sMODULARIZE=1 -sEXPORT_ES6=1 -sENVIRONMENT=web,worker -sEXPORTED_FUNCTIONS=['_malloc','_free','_sim_create','_sim_load_workspace','_sim_command','_sim_step','_sim_read_snapshot','_sim_read_event','_sim_export_state','_sim_import_state','_sim_destroy','_sim_protocol_reset','_sim_protocol_accept','_sim_protocol_pause','_sim_protocol_resume','_sim_protocol_state_value','_sim_protocol_last_seq','_sim_protocol_tick','_sim_protocol_set_tick','_sim_event_reset','_sim_event_append','_sim_event_count','_sim_event_cursor','_sim_event_read','_sim_event_export','_sim_event_import','_sim_hal_reset','_sim_hal_register_pin','_sim_hal_set_pin','_sim_hal_get_pin','_sim_hal_connect','_sim_hal_register_thread','_sim_hal_register_function','_sim_hal_set_function_failure','_sim_hal_step','_sim_hal_tick','_sim_hal_function_calls','_sim_hal_pin_count','_sim_hal_thread_count','_sim_hal_function_count','_sim_posemath_normalize','_sim_posemath_dot','_sim_posemath_line_point','_sim_posemath_is_finite','_sim_posemath_pose_is_finite','_sim_posemath_pose_line_point','_sim_posemath_segment_validate','_sim_posemath_segment_point','_sim_posemath_hash_state','_sim_tp_init','_sim_tp_reset','_sim_tp_enqueue','_sim_tp_step','_sim_tp_read_state','_sim_tp_state_hash','_sim_interpreter_init','_sim_interpreter_reset','_sim_interpreter_execute','_sim_interpreter_read_state','_sim_interpreter_canonical','_sim_interpreter_state_hash','_sim_interpreter_block_hash','_sim_motion_init','_sim_motion_reset','_sim_motion_enqueue','_sim_motion_step','_sim_motion_read_state','_sim_motion_queue_depth','_sim_motion_state_hash','_sim_motion_canonical','_sim_kinematics_init','_sim_kinematics_forward','_sim_kinematics_forward_ex','_sim_kinematics_inverse','_sim_kinematics_inverse_ex','_sim_kinematics_home','_sim_kinematics_validate_pose','_sim_kinematics_state_hash','_sim_kinematics_switch_init','_sim_kinematics_switch_register','_sim_kinematics_switch_begin','_sim_kinematics_switch_abort','_sim_kinematics_switch_commit','_sim_kinematics_switch_select','_sim_kinematics_switch_forward','_sim_kinematics_switch_inverse','_sim_kinematics_switch_active','_sim_kinematics_switch_state_hash','_sim_kinematics_user_init','_sim_kinematics_user_bind_switch','_sim_kinematics_user_forward','_sim_kinematics_user_inverse','_sim_kinematics_user_reject_dynamic','_sim_kinematics_user_state_hash','_sim_kinematics_registry_count','_sim_kinematics_registry_get','_sim_kinematics_registry_find','_sim_kinematics_registry_require','_sim_kinematics_registry_validate_config','_sim_kinematics_registry_state_hash','_sim_kinematics_motion_init','_sim_kinematics_motion_reset','_sim_kinematics_motion_enqueue','_sim_kinematics_motion_pause','_sim_kinematics_motion_step','_sim_kinematics_motion_peek','_sim_kinematics_motion_pop','_sim_kinematics_motion_depth','_sim_kinematics_motion_state_hash','_sim_kinematics_feedback_init','_sim_kinematics_feedback_reset','_sim_kinematics_feedback_update','_sim_kinematics_feedback_read','_sim_kinematics_feedback_state_hash','_sim_kinematics_home_limit_init','_sim_kinematics_home_limit_reset','_sim_kinematics_home_limit_home','_sim_kinematics_home_limit_check','_sim_kinematics_home_limit_read','_sim_kinematics_home_limit_state_hash','_sim_io_init','_sim_io_reset','_sim_io_register_pins','_sim_io_spindle_command','_sim_io_spindle_set_inhibit','_sim_io_spindle_set_fault','_sim_io_spindle_set_index_enable','_sim_io_spindle_set_feedback','_sim_io_spindle_orient','_sim_io_spindle_set_oriented','_sim_io_tool_prepare','_sim_io_tool_set_prepared','_sim_io_tool_change','_sim_io_tool_set_changed','_sim_io_tool_abort','_sim_io_tool_set_fault','_sim_io_tool_clear_fault','_sim_io_probe_arm','_sim_io_probe_update','_sim_io_probe_disarm','_sim_io_set_estop','_sim_io_recover','_sim_io_step','_sim_io_read_state','_sim_io_state_hash','_sim_io_canonical'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']" ) endif() diff --git a/wasm-core/include/sim_hal.h b/wasm-core/include/sim_hal.h index 92412d4..245249a 100644 --- a/wasm-core/include/sim_hal.h +++ b/wasm-core/include/sim_hal.h @@ -8,7 +8,7 @@ extern "C" { #endif #define SIM_HAL_NAME_CAPACITY 48U -#define SIM_HAL_PIN_CAPACITY 64U +#define SIM_HAL_PIN_CAPACITY 256U #define SIM_HAL_THREAD_CAPACITY 16U #define SIM_HAL_FUNCTION_CAPACITY 64U diff --git a/wasm-core/include/sim_io.h b/wasm-core/include/sim_io.h new file mode 100644 index 0000000..881ed69 --- /dev/null +++ b/wasm-core/include/sim_io.h @@ -0,0 +1,151 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_IO_H +#define LINUXCNC_WEB_WASM_SIM_IO_H + +#include "sim_posemath.h" + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +#define SIM_IO_MAX_SPINDLES 8u +#define SIM_IO_MAX_TOOLS 1001u + +enum sim_io_result { + SIM_IO_OK = 0, + SIM_IO_ERR_ARGUMENT = -900, + SIM_IO_ERR_RANGE = -901, + SIM_IO_ERR_STATE = -902, + SIM_IO_ERR_NOT_READY = -903, + SIM_IO_ERR_ESTOP = -904, + SIM_IO_ERR_FAULT = -905, + SIM_IO_ERR_LIMIT = -906, + SIM_IO_ERR_NONFINITE = -907, + SIM_IO_ERR_PIN = -908, + SIM_IO_ERR_CAPACITY = -909, + SIM_IO_ERR_BUSY = -910, + SIM_IO_ERR_PROBE = -911, + SIM_IO_ERR_TIMEOUT = -912, + SIM_IO_ERR_RECOVERY = -913, +}; + +enum sim_io_tool_state { + SIM_IO_TOOL_IDLE = 0, + SIM_IO_TOOL_PREPARING = 1, + SIM_IO_TOOL_PREPARED = 2, + SIM_IO_TOOL_CHANGING = 3, + SIM_IO_TOOL_READY = 4, + SIM_IO_TOOL_ABORTED = 5, + SIM_IO_TOOL_FAULT = 6, +}; + +enum sim_io_probe_status { + SIM_IO_PROBE_IDLE = 0, + SIM_IO_PROBE_ARMED = 1, + SIM_IO_PROBE_TRIPPED = 2, + SIM_IO_PROBE_FAILED = 3, +}; + +typedef struct sim_io_spindle_state { + uint32_t registered; + uint32_t enabled; + uint32_t inhibit; + uint32_t amp_fault; + uint32_t at_speed; + uint32_t brake; + uint32_t forward; + uint32_t reverse; + uint32_t index_enable; + uint32_t orient; + uint32_t locked; + uint32_t is_oriented; + int32_t orient_mode; + int32_t orient_fault; + double command_rpm; + double speed_rpm; + double max_rpm; + double accel_rpm_s; + double tolerance_rpm; + double orient_angle; + double revs; + uint32_t tick; +} sim_io_spindle_state; + +typedef struct sim_io_probe_state { + uint32_t input; + uint32_t probe_type; + uint32_t state; + uint32_t tripped; + uint32_t tick; + sim_posemath_pose position; +} sim_io_probe_state; + +typedef struct sim_io_state { + uint32_t ready; + uint32_t estop; + uint32_t fault; + int32_t fault_reason; + uint32_t tick; + uint32_t recovery_epoch; + uint32_t spindle_count; + uint32_t tool_capacity; + sim_io_spindle_state spindles[SIM_IO_MAX_SPINDLES]; + uint32_t tool_state; + int32_t current_tool; + int32_t prepared_tool; + int32_t prepared_pocket; + uint32_t tool_prepare; + uint32_t tool_prepared; + uint32_t tool_change; + uint32_t tool_changed; + uint32_t toolchanger_fault; + int32_t toolchanger_reason; + sim_io_probe_state probe; + int32_t last_error; +} sim_io_state; + +typedef struct sim_io { + sim_io_state state; + double cycle_time; + uint32_t pins_registered; +} sim_io; + +int sim_io_init(sim_io *io, uint32_t spindle_count, uint32_t tool_capacity, + double cycle_time, double spindle_accel_rpm_s, + double spindle_tolerance_rpm); +int sim_io_reset(sim_io *io); +int sim_io_register_pins(sim_io *io); +int sim_io_spindle_command(sim_io *io, uint32_t spindle, double rpm, + uint32_t enabled); +int sim_io_spindle_set_inhibit(sim_io *io, uint32_t spindle, uint32_t inhibit); +int sim_io_spindle_set_fault(sim_io *io, uint32_t spindle, uint32_t fault); +int sim_io_spindle_set_index_enable(sim_io *io, uint32_t spindle, uint32_t enable); +int sim_io_spindle_set_feedback(sim_io *io, uint32_t spindle, double rpm); +int sim_io_spindle_orient(sim_io *io, uint32_t spindle, double angle, + int32_t mode); +int sim_io_spindle_set_oriented(sim_io *io, uint32_t spindle, + uint32_t oriented, int32_t fault); +int sim_io_tool_prepare(sim_io *io, int32_t tool, int32_t pocket); +int sim_io_tool_set_prepared(sim_io *io, uint32_t prepared); +int sim_io_tool_change(sim_io *io); +int sim_io_tool_set_changed(sim_io *io, uint32_t changed); +int sim_io_tool_abort(sim_io *io, int32_t reason); +int sim_io_tool_set_fault(sim_io *io, uint32_t fault, int32_t reason); +int sim_io_tool_clear_fault(sim_io *io); +int sim_io_probe_arm(sim_io *io, uint32_t probe_type); +int sim_io_probe_update(sim_io *io, const sim_posemath_pose *pose, + uint32_t input); +int sim_io_probe_disarm(sim_io *io); +int sim_io_set_estop(sim_io *io, uint32_t estop); +int sim_io_recover(sim_io *io); +int sim_io_step(sim_io *io, uint32_t ticks); +int sim_io_read_state(const sim_io *io, sim_io_state *state); +uint64_t sim_io_state_hash(const sim_io *io); +uint32_t sim_io_canonical(const sim_io *io, char *output, uint32_t capacity); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_kinematics.h b/wasm-core/include/sim_kinematics.h index 228a31f..c387cc5 100644 --- a/wasm-core/include/sim_kinematics.h +++ b/wasm-core/include/sim_kinematics.h @@ -16,6 +16,12 @@ enum sim_kinematics_result { SIM_KIN_ERR_SINGULAR = -704, SIM_KIN_ERR_UNKNOWN_TYPE = -705, SIM_KIN_ERR_UNSUPPORTED = -706, + SIM_KIN_ERR_INVALID_MODE = -707, + SIM_KIN_ERR_MISSING_MODULE = -708, + SIM_KIN_ERR_SWITCH_INTERRUPTED = -709, + SIM_KIN_ERR_ABI_VERSION = -710, + SIM_KIN_ERR_CAPABILITY = -711, + SIM_KIN_ERR_DYNAMIC_MODULE = -712, }; enum sim_kinematics_type { @@ -60,6 +66,34 @@ enum sim_kinematics_mode { #define SIM_KIN_MAX_JOINTS 9u #define SIM_KIN_GENHEX_STRUTS 6u #define SIM_KIN_PENTA_STRUTS 5u +#define SIM_KIN_SWITCH_MAX_TYPES 3u +#define SIM_KIN_USER_ABI_VERSION 1u +#define SIM_KIN_USER_CAP_FORWARD UINT32_C(1) +#define SIM_KIN_USER_CAP_INVERSE UINT32_C(2) +#define SIM_KIN_USER_CAP_STATIC UINT32_C(4) +#define SIM_KIN_USER_NAME_CAPACITY 32u +#define SIM_KIN_REGISTRY_ABI_VERSION 1u +#define SIM_KIN_REGISTRY_NAME_CAPACITY 32u +#define SIM_KIN_CAP_FORWARD UINT32_C(1) +#define SIM_KIN_CAP_INVERSE UINT32_C(2) +#define SIM_KIN_CAP_IDENTITY UINT32_C(4) +#define SIM_KIN_CAP_ITERATIVE UINT32_C(8) +#define SIM_KIN_CAP_SWITCHABLE UINT32_C(16) +#define SIM_KIN_CAP_EXTRA_JOINTS UINT32_C(32) +#define SIM_KIN_CAP_DUPLICATE_COORDINATES UINT32_C(64) +#define SIM_KIN_PARAM_MAPPING UINT64_C(1) +#define SIM_KIN_PARAM_LIMITS UINT64_C(2) +#define SIM_KIN_PARAM_OFFSETS UINT64_C(4) +#define SIM_KIN_PARAM_TOOL UINT64_C(8) +#define SIM_KIN_PARAM_PIVOT UINT64_C(16) +#define SIM_KIN_PARAM_GEOMETRY UINT64_C(32) +#define SIM_KIN_PARAM_DH UINT64_C(64) +#define SIM_KIN_PARAM_SOLVER UINT64_C(128) + +enum sim_kinematics_user_implementation { + SIM_KIN_USER_IDENTITY = 1, + SIM_KIN_USER_GENSER = 2, +}; typedef struct sim_kinematics_config { int type; @@ -149,6 +183,52 @@ typedef struct sim_kinematics_result_info { uint32_t branch_id; } sim_kinematics_result_info; +/* A bounded switchkins container matching LinuxCNC's three registered + * kinematics slots. The container owns switching state, not the modules. */ +typedef struct sim_kinematics_switch { + sim_kinematics *modules[SIM_KIN_SWITCH_MAX_TYPES]; + uint8_t registered[SIM_KIN_SWITCH_MAX_TYPES]; + uint8_t fwd_iterates_mask; + uint8_t switching; + int active_mode; + int pending_mode; + uint32_t generation; + uint32_t switch_count; + uint32_t abort_count; + sim_posemath_pose last_pose[SIM_KIN_SWITCH_MAX_TYPES]; + uint8_t have_last_pose[SIM_KIN_SWITCH_MAX_TYPES]; +} sim_kinematics_switch; + +/* User kinematics are selected from implementations already linked into the + * WASM module. No function pointers, host paths, or dynamic libraries enter + * this descriptor. */ +typedef struct sim_kinematics_user_descriptor { + uint32_t abi_version; + uint32_t capabilities; + int implementation; + char name[SIM_KIN_USER_NAME_CAPACITY]; + sim_kinematics_config config; +} sim_kinematics_user_descriptor; + +typedef struct sim_kinematics_user { + sim_kinematics_user_descriptor descriptor; + sim_kinematics module; + uint32_t initialized; + uint32_t forward_calls; + uint32_t inverse_calls; +} sim_kinematics_user; + +typedef struct sim_kinematics_capability { + uint32_t abi_version; + int type; + char name[SIM_KIN_REGISTRY_NAME_CAPACITY]; + char required_coordinates[16]; + uint32_t min_joints; + uint32_t max_joints; + uint32_t capabilities; + uint64_t parameter_mask; +} sim_kinematics_capability; + int sim_kinematics_init(sim_kinematics *kinematics, const sim_kinematics_config *config); int sim_kinematics_forward(const sim_kinematics *kinematics, const double *joints, uint32_t joint_count, sim_posemath_pose *pose); @@ -167,6 +247,60 @@ uint64_t sim_kinematics_state_hash(const sim_kinematics *kinematics, const double *joints, uint32_t joint_count, const sim_posemath_pose *pose); +int sim_kinematics_switch_init(sim_kinematics_switch *switcher, int default_mode, + uint8_t fwd_iterates_mask); +int sim_kinematics_switch_register(sim_kinematics_switch *switcher, int mode, + sim_kinematics *module, uint8_t fwd_iterates); +int sim_kinematics_switch_begin(sim_kinematics_switch *switcher, int mode); +int sim_kinematics_switch_abort(sim_kinematics_switch *switcher); +int sim_kinematics_switch_commit(sim_kinematics_switch *switcher, double *joints, + uint32_t joint_count, sim_posemath_pose *pose, + sim_kinematics_result_info *info); +int sim_kinematics_switch_select(sim_kinematics_switch *switcher, int mode, + double *joints, uint32_t joint_count, + sim_posemath_pose *pose, + sim_kinematics_result_info *info); +int sim_kinematics_switch_forward(sim_kinematics_switch *switcher, + const double *joints, uint32_t joint_count, + sim_posemath_pose *pose, + sim_kinematics_result_info *info); +int sim_kinematics_switch_inverse(sim_kinematics_switch *switcher, + const sim_posemath_pose *pose, double *joints, + uint32_t joint_count, + sim_kinematics_result_info *info); +int sim_kinematics_switch_active(const sim_kinematics_switch *switcher); +uint64_t sim_kinematics_switch_state_hash(const sim_kinematics_switch *switcher, + const double *joints, uint32_t joint_count, + const sim_posemath_pose *pose); +int sim_kinematics_user_init(sim_kinematics_user *user, + const sim_kinematics_user_descriptor *descriptor); +int sim_kinematics_user_bind_switch(sim_kinematics_user *user, + sim_kinematics_switch *switcher, int mode, + uint8_t fwd_iterates); +int sim_kinematics_user_forward(sim_kinematics_user *user, const double *joints, + uint32_t joint_count, sim_posemath_pose *pose, + sim_kinematics_result_info *info); +int sim_kinematics_user_inverse(sim_kinematics_user *user, + const sim_posemath_pose *pose, double *joints, + uint32_t joint_count, + sim_kinematics_result_info *info); +int sim_kinematics_user_reject_dynamic(const char *module_path); +uint64_t sim_kinematics_user_state_hash(const sim_kinematics_user *user, + const double *joints, uint32_t joint_count, + const sim_posemath_pose *pose); +uint32_t sim_kinematics_registry_count(void); +int sim_kinematics_registry_get(uint32_t index, + sim_kinematics_capability *capability); +int sim_kinematics_registry_find(const char *name, + sim_kinematics_capability *capability); +int sim_kinematics_registry_require(const char *name, uint32_t capabilities, + uint64_t parameter_mask, + sim_kinematics_capability *capability); +int sim_kinematics_registry_validate_config(const char *name, + const sim_kinematics_config *config, + sim_kinematics_capability *capability); +uint64_t sim_kinematics_registry_state_hash(void); + #ifdef __cplusplus } #endif diff --git a/wasm-core/include/sim_kinematics_feedback.h b/wasm-core/include/sim_kinematics_feedback.h new file mode 100644 index 0000000..e0cc8b4 --- /dev/null +++ b/wasm-core/include/sim_kinematics_feedback.h @@ -0,0 +1,52 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H +#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H + +#include "sim_kinematics.h" + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_kinematics_feedback_result { + SIM_KIN_FEEDBACK_OK = 0, + SIM_KIN_FEEDBACK_ERR_ARGUMENT = -820, + SIM_KIN_FEEDBACK_ERR_CONFIGURATION = -821, + SIM_KIN_FEEDBACK_ERR_NONFINITE = -822, + SIM_KIN_FEEDBACK_ERR_FORWARD = -823, + SIM_KIN_FEEDBACK_ERR_STATE = -824, +}; + +typedef struct sim_kinematics_feedback_state { + sim_posemath_pose pose; + uint64_t forward_flags; + uint64_t inverse_flags; + double joints[SIM_KIN_MAX_JOINTS]; + uint32_t joint_count; + uint32_t tick; + uint32_t valid; + int last_error; + int kinematics_error; +} sim_kinematics_feedback_state; + +typedef struct sim_kinematics_feedback { + sim_kinematics *kinematics; + sim_kinematics_feedback_state state; +} sim_kinematics_feedback; + +int sim_kinematics_feedback_init(sim_kinematics_feedback *feedback, + sim_kinematics *kinematics, + uint32_t joint_count); +int sim_kinematics_feedback_reset(sim_kinematics_feedback *feedback); +int sim_kinematics_feedback_update(sim_kinematics_feedback *feedback, + const double *joints, uint32_t joint_count, + uint64_t inverse_flags, + sim_kinematics_result_info *info); +int sim_kinematics_feedback_read(const sim_kinematics_feedback *feedback, + sim_kinematics_feedback_state *state); +uint64_t sim_kinematics_feedback_state_hash(const sim_kinematics_feedback *feedback); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_kinematics_home_limit.h b/wasm-core/include/sim_kinematics_home_limit.h new file mode 100644 index 0000000..66e912f --- /dev/null +++ b/wasm-core/include/sim_kinematics_home_limit.h @@ -0,0 +1,55 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_HOME_LIMIT_H +#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_HOME_LIMIT_H + +#include "sim_kinematics.h" + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_kinematics_home_limit_result { + SIM_KIN_HOME_OK = 0, + SIM_KIN_HOME_ERR_ARGUMENT = -840, + SIM_KIN_HOME_ERR_CONFIGURATION = -841, + SIM_KIN_HOME_ERR_UNHOMED = -842, + SIM_KIN_HOME_ERR_LIMIT = -843, + SIM_KIN_HOME_ERR_FORWARD = -844, + SIM_KIN_HOME_ERR_NONFINITE = -845, + SIM_KIN_HOME_ERR_SEQUENCE = -846, +}; + +typedef struct sim_kinematics_home_limit_state { + sim_posemath_pose pose; + double joints[SIM_KIN_MAX_JOINTS]; + uint32_t joint_count; + uint32_t homed; + uint32_t home_sequence; + uint32_t tick; + int last_error; + int limit_error; + int kinematics_error; +} sim_kinematics_home_limit_state; + +typedef struct sim_kinematics_home_limit { + sim_kinematics *kinematics; + sim_kinematics_home_limit_state state; +} sim_kinematics_home_limit; + +int sim_kinematics_home_limit_init(sim_kinematics_home_limit *home_limit, + sim_kinematics *kinematics, + uint32_t joint_count); +int sim_kinematics_home_limit_reset(sim_kinematics_home_limit *home_limit); +int sim_kinematics_home_limit_home(sim_kinematics_home_limit *home_limit, + uint32_t home_sequence); +int sim_kinematics_home_limit_check(sim_kinematics_home_limit *home_limit, + const double *joints, + uint32_t joint_count); +int sim_kinematics_home_limit_read(const sim_kinematics_home_limit *home_limit, + sim_kinematics_home_limit_state *state); +uint64_t sim_kinematics_home_limit_state_hash(const sim_kinematics_home_limit *home_limit); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_kinematics_motion.h b/wasm-core/include/sim_kinematics_motion.h new file mode 100644 index 0000000..1c14dbd --- /dev/null +++ b/wasm-core/include/sim_kinematics_motion.h @@ -0,0 +1,68 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H +#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_MOTION_H + +#include "sim_kinematics.h" +#include "sim_posemath.h" + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_kinematics_motion_result { + SIM_KIN_MOTION_OK = 0, + SIM_KIN_MOTION_ERR_ARGUMENT = -800, + SIM_KIN_MOTION_ERR_STATE = -801, + SIM_KIN_MOTION_ERR_CAPACITY = -802, + SIM_KIN_MOTION_ERR_PLANNER = -803, + SIM_KIN_MOTION_ERR_INVERSE = -804, + SIM_KIN_MOTION_ERR_NONFINITE = -805, + SIM_KIN_MOTION_ERR_CONFIGURATION = -806, +}; + +#define SIM_KIN_MOTION_QUEUE_CAPACITY 64u + +typedef struct sim_kinematics_motion_sample { + sim_posemath_pose pose; + double joints[SIM_KIN_MAX_JOINTS]; + uint32_t joint_count; + uint32_t tick; + uint32_t planner_id; +} sim_kinematics_motion_sample; + +typedef struct sim_kinematics_motion { + sim_tp planner; + sim_kinematics *kinematics; + sim_kinematics_motion_sample samples[SIM_KIN_MOTION_QUEUE_CAPACITY]; + uint32_t head; + uint32_t count; + uint32_t tick; + uint32_t joint_count; + uint32_t paused; + int last_error; + int planner_error; + int kinematics_error; + sim_posemath_pose last_pose; + double last_joints[SIM_KIN_MAX_JOINTS]; +} sim_kinematics_motion; + +int sim_kinematics_motion_init(sim_kinematics_motion *adapter, + sim_kinematics *kinematics, double cycle_time, + double velocity_limit, double acceleration_limit); +int sim_kinematics_motion_reset(sim_kinematics_motion *adapter); +int sim_kinematics_motion_enqueue(sim_kinematics_motion *adapter, + const sim_posemath_segment *segment, + uint32_t *id_out); +int sim_kinematics_motion_pause(sim_kinematics_motion *adapter, uint32_t paused); +int sim_kinematics_motion_step(sim_kinematics_motion *adapter); +int sim_kinematics_motion_peek(const sim_kinematics_motion *adapter, + sim_kinematics_motion_sample *sample); +int sim_kinematics_motion_pop(sim_kinematics_motion *adapter, + sim_kinematics_motion_sample *sample); +uint32_t sim_kinematics_motion_depth(const sim_kinematics_motion *adapter); +uint64_t sim_kinematics_motion_state_hash(const sim_kinematics_motion *adapter); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/src/sim_event.c b/wasm-core/src/sim_event.c index 0227478..932a2cf 100644 --- a/wasm-core/src/sim_event.c +++ b/wasm-core/src/sim_event.c @@ -72,11 +72,21 @@ uint32_t sim_event_export(uint8_t *out, uint32_t capacity) { } int32_t sim_event_import(const uint8_t *data, uint32_t len) { + sim_event_state candidate; + uint32_t index; if (data == NULL || len != sizeof(state)) return SIM_EVENT_ERR_ARGUMENT; - memcpy(&state, data, sizeof(state)); - if (state.count > SIM_EVENT_CAPACITY) { - sim_event_reset(); - return SIM_EVENT_ERR_ARGUMENT; + memcpy(&candidate, data, sizeof(candidate)); + if (candidate.count > SIM_EVENT_CAPACITY) return SIM_EVENT_ERR_ARGUMENT; + if (candidate.count == 0U && (candidate.last_seq != 0U || candidate.last_tick != 0U)) return SIM_EVENT_ERR_ARGUMENT; + for (index = 0; index < candidate.count; ++index) { + const sim_event_record *record = &candidate.records[index]; + size_t kind_len = 0U; + if (record->seq != index + 1U) return SIM_EVENT_ERR_SEQUENCE; + if (index > 0U && record->tick < candidate.records[index - 1U].tick) return SIM_EVENT_ERR_TICK; + while (kind_len < SIM_EVENT_KIND_CAPACITY && record->kind[kind_len] != '\0') ++kind_len; + if (kind_len == 0U || kind_len >= SIM_EVENT_KIND_CAPACITY) return SIM_EVENT_ERR_ARGUMENT; } + if (candidate.count > 0U && (candidate.last_seq != candidate.records[candidate.count - 1U].seq || candidate.last_tick != candidate.records[candidate.count - 1U].tick)) return SIM_EVENT_ERR_ARGUMENT; + memcpy(&state, &candidate, sizeof(state)); return SIM_EVENT_OK; } diff --git a/wasm-core/src/sim_io.c b/wasm-core/src/sim_io.c new file mode 100644 index 0000000..f07bd11 --- /dev/null +++ b/wasm-core/src/sim_io.c @@ -0,0 +1,561 @@ +#include "sim_io.h" + +#include "sim_hal.h" + +#include +#include +#include + +static uint64_t io_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static double normalized(double value) { + return isfinite(value) ? nearbyint(value * 1000000000.0) / 1000000000.0 : value; +} + +static int finite_pose(const sim_posemath_pose *pose) { + const double *values; + uint32_t index; + if (pose == 0) return 0; + values = &pose->tran.x; + for (index = 0; index < 9; ++index) if (!isfinite(values[index])) return 0; + return 1; +} + +static int valid_io(const sim_io *io) { + return io != 0 && io->state.spindle_count > 0 && + io->state.spindle_count <= SIM_IO_MAX_SPINDLES; +} + +static int valid_spindle(const sim_io *io, uint32_t spindle) { + return valid_io(io) && spindle < io->state.spindle_count && + io->state.spindles[spindle].registered; +} + +static void set_last(sim_io *io, int result) { + if (io != 0) io->state.last_error = result; +} + +static int register_pin(const char *name, uint32_t type) { + int result = sim_hal_register_pin(name, type); + if (result == SIM_HAL_OK) return SIM_IO_OK; + if (result == SIM_HAL_ERR_DUPLICATE) { + sim_hal_value existing = {0}; + if (sim_hal_get_pin(name, &existing) == SIM_HAL_OK && existing.type == type) return SIM_IO_OK; + } + return SIM_IO_ERR_PIN; +} + +static int register_io_pins(sim_io *io) { + static const struct { const char *name; uint32_t type; } fixed[] = { + {"motion.probe-input", SIM_HAL_BIT}, + {"iocontrol.0.user-enable-out", SIM_HAL_BIT}, + {"iocontrol.0.emc-enable-in", SIM_HAL_BIT}, + {"iocontrol.0.user-request-enable", SIM_HAL_BIT}, + {"iocontrol.0.coolant-mist", SIM_HAL_BIT}, + {"iocontrol.0.coolant-flood", SIM_HAL_BIT}, + {"iocontrol.0.tool-prepare", SIM_HAL_BIT}, + {"iocontrol.0.tool-prep-number", SIM_HAL_S32}, + {"iocontrol.0.tool-prep-pocket", SIM_HAL_S32}, + {"iocontrol.0.tool-prep-index", SIM_HAL_S32}, + {"iocontrol.0.tool-number", SIM_HAL_S32}, + {"iocontrol.0.tool-prepared", SIM_HAL_BIT}, + {"iocontrol.0.tool-change", SIM_HAL_BIT}, + {"iocontrol.0.tool-changed", SIM_HAL_BIT}, + {"iocontrol.0.toolchanger-fault", SIM_HAL_BIT}, + {"iocontrol.0.toolchanger-fault-ack", SIM_HAL_BIT}, + {"iocontrol.0.toolchanger-reason", SIM_HAL_S32}, + {"iocontrol.0.toolchanger-faulted", SIM_HAL_BIT}, + {"iocontrol.0.toolchanger-clear-fault", SIM_HAL_BIT}, + {"iocontrol.0.emc-abort", SIM_HAL_BIT}, + {"iocontrol.0.emc-abort-ack", SIM_HAL_BIT}, + {"iocontrol.0.emc-reason", SIM_HAL_S32}, + {"iocontrol.0.start-change", SIM_HAL_BIT}, + {"iocontrol.0.start-change-ack", SIM_HAL_BIT}, + {"iocontrol.0.state", SIM_HAL_S32}, + }; + uint32_t index; + char name[64]; + int result; + result = sim_hal_register_thread("sim-io-servo", 1); + if (result != SIM_HAL_OK && result != SIM_HAL_ERR_DUPLICATE) return SIM_IO_ERR_PIN; + result = sim_hal_register_function("sim-io-servo", "sim-io"); + if (result != SIM_HAL_OK && result != SIM_HAL_ERR_DUPLICATE) return SIM_IO_ERR_PIN; + for (index = 0; index < sizeof(fixed) / sizeof(fixed[0]); ++index) { + result = register_pin(fixed[index].name, fixed[index].type); + if (result != SIM_IO_OK) return result; + } + for (index = 0; index < io->state.spindle_count; ++index) { + static const struct { const char *suffix; uint32_t type; } spindle_pins[] = { + {"on", SIM_HAL_BIT}, {"forward", SIM_HAL_BIT}, {"reverse", SIM_HAL_BIT}, + {"brake", SIM_HAL_BIT}, {"speed-out", SIM_HAL_FLOAT}, + {"speed-out-abs", SIM_HAL_FLOAT}, {"speed-out-rps", SIM_HAL_FLOAT}, + {"speed-out-rps-abs", SIM_HAL_FLOAT}, {"speed-cmd-rps", SIM_HAL_FLOAT}, + {"inhibit", SIM_HAL_BIT}, {"amp-fault-in", SIM_HAL_BIT}, + {"orient-angle", SIM_HAL_FLOAT}, {"orient-mode", SIM_HAL_S32}, + {"orient", SIM_HAL_BIT}, {"locked", SIM_HAL_BIT}, + {"is-oriented", SIM_HAL_BIT}, {"orient-fault", SIM_HAL_S32}, + {"revs", SIM_HAL_FLOAT}, {"speed-in", SIM_HAL_FLOAT}, + {"at-speed", SIM_HAL_BIT}, {"index-enable", SIM_HAL_BIT}, + }; + uint32_t pin; + for (pin = 0; pin < sizeof(spindle_pins) / sizeof(spindle_pins[0]); ++pin) { + int written = snprintf(name, sizeof(name), "spindle.%u.%s", index, spindle_pins[pin].suffix); + if (written < 0 || (size_t)written >= sizeof(name)) return SIM_IO_ERR_PIN; + result = register_pin(name, spindle_pins[pin].type); + if (result != SIM_IO_OK) return result; + } + } + io->pins_registered = 1; + return SIM_IO_OK; +} + +static void set_bit(const char *name, uint32_t value) { + (void)sim_hal_set_pin(name, (sim_hal_value){SIM_HAL_BIT, {.bit = value ? 1U : 0U}}); +} + +static void set_s32(const char *name, int32_t value) { + (void)sim_hal_set_pin(name, (sim_hal_value){SIM_HAL_S32, {.s32 = value}}); +} + +static void set_float(const char *name, double value) { + (void)sim_hal_set_pin(name, (sim_hal_value){SIM_HAL_FLOAT, {.real = (float)value}}); +} + +static void mirror_pins(sim_io *io) { + char name[64]; + uint32_t index; + sim_io_state *state = &io->state; + set_bit("motion.probe-input", state->probe.input); + set_bit("iocontrol.0.user-enable-out", state->estop); + set_bit("iocontrol.0.emc-enable-in", state->ready); + set_bit("iocontrol.0.user-request-enable", 0); + set_bit("iocontrol.0.coolant-mist", 0); + set_bit("iocontrol.0.coolant-flood", 0); + set_bit("iocontrol.0.tool-prepare", state->tool_prepare); + set_s32("iocontrol.0.tool-prep-number", state->prepared_tool); + set_s32("iocontrol.0.tool-prep-pocket", state->prepared_pocket); + set_s32("iocontrol.0.tool-prep-index", state->prepared_pocket); + set_s32("iocontrol.0.tool-number", state->current_tool); + set_bit("iocontrol.0.tool-prepared", state->tool_prepared); + set_bit("iocontrol.0.tool-change", state->tool_change); + set_bit("iocontrol.0.tool-changed", state->tool_changed); + set_bit("iocontrol.0.toolchanger-fault", state->toolchanger_fault); + set_bit("iocontrol.0.toolchanger-fault-ack", state->toolchanger_fault ? 0 : 1); + set_s32("iocontrol.0.toolchanger-reason", state->toolchanger_reason); + set_bit("iocontrol.0.toolchanger-faulted", state->fault); + set_bit("iocontrol.0.toolchanger-clear-fault", 0); + set_bit("iocontrol.0.emc-abort", state->tool_state == SIM_IO_TOOL_ABORTED); + set_bit("iocontrol.0.emc-abort-ack", state->tool_state != SIM_IO_TOOL_ABORTED); + set_s32("iocontrol.0.emc-reason", state->fault_reason); + set_bit("iocontrol.0.start-change", state->tool_change); + set_bit("iocontrol.0.start-change-ack", state->tool_state != SIM_IO_TOOL_CHANGING); + set_s32("iocontrol.0.state", (int32_t)state->tool_state); + for (index = 0; index < state->spindle_count; ++index) { + sim_io_spindle_state *spindle = &state->spindles[index]; + snprintf(name, sizeof(name), "spindle.%u.on", index); set_bit(name, spindle->enabled && spindle->speed_rpm != 0.0); + snprintf(name, sizeof(name), "spindle.%u.forward", index); set_bit(name, spindle->forward); + snprintf(name, sizeof(name), "spindle.%u.reverse", index); set_bit(name, spindle->reverse); + snprintf(name, sizeof(name), "spindle.%u.brake", index); set_bit(name, spindle->brake); + snprintf(name, sizeof(name), "spindle.%u.speed-out", index); set_float(name, spindle->speed_rpm); + snprintf(name, sizeof(name), "spindle.%u.speed-out-abs", index); set_float(name, fabs(spindle->speed_rpm)); + snprintf(name, sizeof(name), "spindle.%u.speed-out-rps", index); set_float(name, spindle->speed_rpm / 60.0); + snprintf(name, sizeof(name), "spindle.%u.speed-out-rps-abs", index); set_float(name, fabs(spindle->speed_rpm) / 60.0); + snprintf(name, sizeof(name), "spindle.%u.speed-cmd-rps", index); set_float(name, spindle->command_rpm / 60.0); + snprintf(name, sizeof(name), "spindle.%u.inhibit", index); set_bit(name, spindle->inhibit); + snprintf(name, sizeof(name), "spindle.%u.amp-fault-in", index); set_bit(name, spindle->amp_fault); + snprintf(name, sizeof(name), "spindle.%u.orient-angle", index); set_float(name, spindle->orient_angle); + snprintf(name, sizeof(name), "spindle.%u.orient-mode", index); set_s32(name, spindle->orient_mode); + snprintf(name, sizeof(name), "spindle.%u.orient", index); set_bit(name, spindle->orient); + snprintf(name, sizeof(name), "spindle.%u.locked", index); set_bit(name, spindle->locked); + snprintf(name, sizeof(name), "spindle.%u.is-oriented", index); set_bit(name, spindle->is_oriented); + snprintf(name, sizeof(name), "spindle.%u.orient-fault", index); set_s32(name, spindle->orient_fault); + snprintf(name, sizeof(name), "spindle.%u.revs", index); set_float(name, spindle->revs); + snprintf(name, sizeof(name), "spindle.%u.speed-in", index); set_float(name, spindle->speed_rpm); + snprintf(name, sizeof(name), "spindle.%u.at-speed", index); set_bit(name, spindle->at_speed); + snprintf(name, sizeof(name), "spindle.%u.index-enable", index); set_bit(name, spindle->index_enable); + } +} + +static void state_defaults(sim_io *io) { + uint32_t index; + sim_io_state old = io->state; + memset(&io->state, 0, sizeof(io->state)); + io->state.spindle_count = old.spindle_count; + io->state.tool_capacity = old.tool_capacity; + io->state.ready = 1; + io->state.current_tool = 0; + io->state.prepared_tool = -1; + io->state.prepared_pocket = -1; + io->state.toolchanger_reason = 0; + io->state.tool_state = SIM_IO_TOOL_IDLE; + io->state.last_error = SIM_IO_OK; + io->state.probe.state = SIM_IO_PROBE_IDLE; + for (index = 0; index < io->state.spindle_count; ++index) { + io->state.spindles[index].registered = 1; + io->state.spindles[index].max_rpm = 100000.0; + io->state.spindles[index].accel_rpm_s = old.spindles[index].accel_rpm_s; + io->state.spindles[index].tolerance_rpm = old.spindles[index].tolerance_rpm; + io->state.spindles[index].at_speed = 1; + } +} + +int sim_io_init(sim_io *io, uint32_t spindle_count, uint32_t tool_capacity, + double cycle_time, double spindle_accel_rpm_s, + double spindle_tolerance_rpm) { + uint32_t index; + int result; + if (io == 0) return SIM_IO_ERR_ARGUMENT; + if (spindle_count == 0 || spindle_count > SIM_IO_MAX_SPINDLES || + tool_capacity == 0 || tool_capacity > SIM_IO_MAX_TOOLS || + !isfinite(cycle_time) || cycle_time <= 0.0 || cycle_time > 60.0 || + !isfinite(spindle_accel_rpm_s) || spindle_accel_rpm_s <= 0.0 || + !isfinite(spindle_tolerance_rpm) || spindle_tolerance_rpm < 0.0) + return SIM_IO_ERR_RANGE; + memset(io, 0, sizeof(*io)); + io->cycle_time = cycle_time; + io->state.spindle_count = spindle_count; + io->state.tool_capacity = tool_capacity; + for (index = 0; index < spindle_count; ++index) { + io->state.spindles[index].accel_rpm_s = spindle_accel_rpm_s; + io->state.spindles[index].tolerance_rpm = spindle_tolerance_rpm; + } + result = register_io_pins(io); + if (result != SIM_IO_OK) return result; + state_defaults(io); + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_reset(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + state_defaults(io); + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_register_pins(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + return register_io_pins(io); +} + +int sim_io_spindle_command(sim_io *io, uint32_t spindle, double rpm, uint32_t enabled) { + sim_io_spindle_state *state; + if (!valid_spindle(io, spindle) || enabled > 1U) return SIM_IO_ERR_ARGUMENT; + if (!isfinite(rpm)) { set_last(io, SIM_IO_ERR_NONFINITE); return SIM_IO_ERR_NONFINITE; } + if (fabs(rpm) > io->state.spindles[spindle].max_rpm) { set_last(io, SIM_IO_ERR_LIMIT); return SIM_IO_ERR_LIMIT; } + if (io->state.estop) { set_last(io, SIM_IO_ERR_ESTOP); return SIM_IO_ERR_ESTOP; } + if (!io->state.ready) { set_last(io, SIM_IO_ERR_NOT_READY); return SIM_IO_ERR_NOT_READY; } + state = &io->state.spindles[spindle]; + state->command_rpm = enabled && !state->inhibit && !state->amp_fault ? rpm : 0.0; + state->enabled = enabled ? 1U : 0U; + set_last(io, SIM_IO_OK); + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_set_inhibit(sim_io *io, uint32_t spindle, uint32_t inhibit) { + if (!valid_spindle(io, spindle) || inhibit > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.spindles[spindle].inhibit = inhibit; + if (inhibit) io->state.spindles[spindle].command_rpm = 0.0; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_set_fault(sim_io *io, uint32_t spindle, uint32_t fault) { + if (!valid_spindle(io, spindle) || fault > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.spindles[spindle].amp_fault = fault; + if (fault) { + io->state.spindles[spindle].command_rpm = 0.0; + io->state.spindles[spindle].enabled = 0; + } + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_set_index_enable(sim_io *io, uint32_t spindle, uint32_t enable) { + if (!valid_spindle(io, spindle) || enable > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.spindles[spindle].index_enable = enable; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_set_feedback(sim_io *io, uint32_t spindle, double rpm) { + if (!valid_spindle(io, spindle)) return SIM_IO_ERR_ARGUMENT; + if (!isfinite(rpm)) return SIM_IO_ERR_NONFINITE; + io->state.spindles[spindle].speed_rpm = rpm; + io->state.spindles[spindle].at_speed = fabs(rpm - io->state.spindles[spindle].command_rpm) <= io->state.spindles[spindle].tolerance_rpm; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_orient(sim_io *io, uint32_t spindle, double angle, int32_t mode) { + sim_io_spindle_state *state; + if (!valid_spindle(io, spindle)) return SIM_IO_ERR_ARGUMENT; + if (!isfinite(angle) || mode < 0 || mode > 2) return SIM_IO_ERR_RANGE; + if (io->state.estop) return SIM_IO_ERR_ESTOP; + state = &io->state.spindles[spindle]; + if (fabs(state->speed_rpm) > state->tolerance_rpm || state->command_rpm != 0.0) return SIM_IO_ERR_BUSY; + state->orient = 1; state->locked = 0; state->is_oriented = 0; + state->orient_angle = angle; state->orient_mode = mode; state->orient_fault = 0; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_spindle_set_oriented(sim_io *io, uint32_t spindle, uint32_t oriented, int32_t fault) { + sim_io_spindle_state *state; + if (!valid_spindle(io, spindle) || oriented > 1U) return SIM_IO_ERR_ARGUMENT; + state = &io->state.spindles[spindle]; + if (!state->orient) return SIM_IO_ERR_STATE; + state->is_oriented = oriented; + state->orient_fault = fault; + if (fault) { state->orient = 0; state->locked = 0; } + else if (oriented) { state->orient = 0; state->locked = 1; } + mirror_pins(io); + return SIM_IO_OK; +} + +static int spindle_stopped(const sim_io *io) { + uint32_t index; + for (index = 0; index < io->state.spindle_count; ++index) + if (fabs(io->state.spindles[index].speed_rpm) > io->state.spindles[index].tolerance_rpm || io->state.spindles[index].command_rpm != 0.0) return 0; + return 1; +} + +int sim_io_tool_prepare(sim_io *io, int32_t tool, int32_t pocket) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (tool < 0 || pocket <= 0 || (uint32_t)pocket >= io->state.tool_capacity) return SIM_IO_ERR_RANGE; + if (io->state.estop) return SIM_IO_ERR_ESTOP; + if (!io->state.ready) return SIM_IO_ERR_NOT_READY; + if (io->state.fault) return SIM_IO_ERR_FAULT; + io->state.prepared_tool = tool; io->state.prepared_pocket = pocket; + io->state.tool_prepare = 1; io->state.tool_prepared = 0; io->state.tool_changed = 0; + io->state.tool_state = SIM_IO_TOOL_PREPARING; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_set_prepared(sim_io *io, uint32_t prepared) { + if (!valid_io(io) || prepared > 1U) return SIM_IO_ERR_ARGUMENT; + if (io->state.tool_state != SIM_IO_TOOL_PREPARING) return SIM_IO_ERR_STATE; + if (!prepared) return SIM_IO_OK; + io->state.tool_prepare = 0; io->state.tool_prepared = 1; io->state.tool_state = SIM_IO_TOOL_PREPARED; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_change(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (io->state.estop) return SIM_IO_ERR_ESTOP; + if (!io->state.ready) return SIM_IO_ERR_NOT_READY; + if (io->state.fault) return SIM_IO_ERR_FAULT; + if (io->state.tool_state != SIM_IO_TOOL_PREPARED || !io->state.tool_prepared) return SIM_IO_ERR_STATE; + if (!spindle_stopped(io)) return SIM_IO_ERR_BUSY; + io->state.tool_change = 1; io->state.tool_changed = 0; io->state.tool_state = SIM_IO_TOOL_CHANGING; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_set_changed(sim_io *io, uint32_t changed) { + if (!valid_io(io) || changed > 1U) return SIM_IO_ERR_ARGUMENT; + if (io->state.tool_state != SIM_IO_TOOL_CHANGING) return SIM_IO_ERR_STATE; + if (!changed) return SIM_IO_OK; + io->state.tool_change = 0; io->state.tool_changed = 1; io->state.tool_prepared = 0; + io->state.current_tool = io->state.prepared_tool; io->state.tool_state = SIM_IO_TOOL_READY; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_abort(sim_io *io, int32_t reason) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + io->state.tool_prepare = 0; io->state.tool_change = 0; io->state.tool_prepared = 0; + io->state.tool_changed = 0; io->state.toolchanger_reason = reason; + io->state.tool_state = SIM_IO_TOOL_ABORTED; + io->state.last_error = SIM_IO_ERR_RECOVERY; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_set_fault(sim_io *io, uint32_t fault, int32_t reason) { + if (!valid_io(io) || fault > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.toolchanger_fault = fault; io->state.toolchanger_reason = reason; + io->state.fault = fault; io->state.fault_reason = reason; + if (fault) { io->state.tool_state = SIM_IO_TOOL_FAULT; io->state.tool_prepare = 0; io->state.tool_change = 0; } + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_tool_clear_fault(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (io->state.toolchanger_fault) return SIM_IO_ERR_FAULT; + io->state.fault = 0; io->state.fault_reason = 0; + if (io->state.tool_state == SIM_IO_TOOL_FAULT || io->state.tool_state == SIM_IO_TOOL_ABORTED) io->state.tool_state = SIM_IO_TOOL_IDLE; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_probe_arm(sim_io *io, uint32_t probe_type) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (io->state.estop) return SIM_IO_ERR_ESTOP; + if (!io->state.ready) return SIM_IO_ERR_NOT_READY; + io->state.probe.probe_type = probe_type; io->state.probe.state = SIM_IO_PROBE_ARMED; + io->state.probe.tripped = 0; io->state.probe.tick = io->state.tick; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_probe_update(sim_io *io, const sim_posemath_pose *pose, uint32_t input) { + uint32_t when_clears; + if (!valid_io(io) || pose == 0) return SIM_IO_ERR_ARGUMENT; + if (!finite_pose(pose)) return SIM_IO_ERR_NONFINITE; + if (input > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.probe.input = input; + when_clears = (io->state.probe.probe_type & 2U) != 0; + if (io->state.probe.state == SIM_IO_PROBE_ARMED && ((input != 0U) ^ when_clears)) { + io->state.probe.position = *pose; io->state.probe.tripped = 1; + io->state.probe.state = SIM_IO_PROBE_TRIPPED; io->state.probe.tick = io->state.tick; + } + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_probe_disarm(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (io->state.probe.state == SIM_IO_PROBE_ARMED) io->state.probe.state = SIM_IO_PROBE_IDLE; + io->state.probe.probe_type = 0; io->state.probe.tripped = 0; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_set_estop(sim_io *io, uint32_t estop) { + uint32_t index; + if (!valid_io(io) || estop > 1U) return SIM_IO_ERR_ARGUMENT; + io->state.estop = estop; + if (estop) { + io->state.ready = 0; io->state.tool_prepare = 0; io->state.tool_change = 0; + io->state.tool_prepared = 0; io->state.tool_changed = 0; + io->state.tool_state = SIM_IO_TOOL_ABORTED; + for (index = 0; index < io->state.spindle_count; ++index) { + io->state.spindles[index].command_rpm = 0.0; io->state.spindles[index].enabled = 0; + io->state.spindles[index].brake = 1; + } + io->state.last_error = SIM_IO_ERR_ESTOP; + } + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_recover(sim_io *io) { + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (io->state.estop) return SIM_IO_ERR_ESTOP; + if (io->state.fault || io->state.toolchanger_fault) return SIM_IO_ERR_FAULT; + if (!spindle_stopped(io)) return SIM_IO_ERR_BUSY; + io->state.ready = 1; io->state.recovery_epoch += 1; io->state.tool_state = SIM_IO_TOOL_IDLE; + io->state.last_error = SIM_IO_OK; + mirror_pins(io); + return SIM_IO_OK; +} + +int sim_io_step(sim_io *io, uint32_t ticks) { + uint32_t tick, index; + if (!valid_io(io)) return SIM_IO_ERR_ARGUMENT; + if (ticks == 0) return SIM_IO_OK; + if (ticks > 1000000U || UINT32_MAX - io->state.tick < ticks) return SIM_IO_ERR_RANGE; + if (sim_hal_step(ticks) != SIM_HAL_OK) return SIM_IO_ERR_PIN; + for (tick = 0; tick < ticks; ++tick) { + io->state.tick += 1; + for (index = 0; index < io->state.spindle_count; ++index) { + sim_io_spindle_state *spindle = &io->state.spindles[index]; + double target = spindle->command_rpm; + double delta = spindle->accel_rpm_s * io->cycle_time; + if (spindle->amp_fault || spindle->inhibit || !io->state.ready || io->state.estop) target = 0.0; + if (spindle->speed_rpm < target) spindle->speed_rpm = fmin(target, spindle->speed_rpm + delta); + else if (spindle->speed_rpm > target) spindle->speed_rpm = fmax(target, spindle->speed_rpm - delta); + spindle->forward = spindle->speed_rpm > spindle->tolerance_rpm; + spindle->reverse = spindle->speed_rpm < -spindle->tolerance_rpm; + spindle->brake = fabs(target - spindle->speed_rpm) > spindle->tolerance_rpm && target == 0.0; + spindle->at_speed = fabs(spindle->speed_rpm - target) <= spindle->tolerance_rpm; + spindle->revs += spindle->speed_rpm * io->cycle_time / 60.0; + spindle->tick = io->state.tick; + if (spindle->index_enable && floor(spindle->revs) != floor(spindle->revs - spindle->speed_rpm * io->cycle_time / 60.0)) { + spindle->index_enable = 0; spindle->revs = spindle->revs - floor(spindle->revs); + } + if (spindle->orient && spindle->at_speed && spindle->speed_rpm == 0.0) { + spindle->orient = 0; spindle->locked = 1; spindle->is_oriented = 1; + } + } + } + mirror_pins(io); + set_last(io, SIM_IO_OK); + return SIM_IO_OK; +} + +int sim_io_read_state(const sim_io *io, sim_io_state *state) { + if (!valid_io(io) || state == 0) return SIM_IO_ERR_ARGUMENT; + *state = io->state; + return SIM_IO_OK; +} + +uint64_t sim_io_state_hash(const sim_io *io) { + unsigned char bytes[8192]; + size_t offset = 0; + uint32_t index; + if (!valid_io(io)) return 0; +#define APPEND(value) do { memcpy(bytes + offset, &(value), sizeof(value)); offset += sizeof(value); } while (0) + APPEND(io->state.ready); APPEND(io->state.estop); APPEND(io->state.fault); APPEND(io->state.fault_reason); + APPEND(io->state.tick); APPEND(io->state.recovery_epoch); APPEND(io->state.spindle_count); APPEND(io->state.tool_capacity); + for (index = 0; index < io->state.spindle_count; ++index) { + sim_io_spindle_state spindle = io->state.spindles[index]; + spindle.command_rpm = normalized(spindle.command_rpm); spindle.speed_rpm = normalized(spindle.speed_rpm); + spindle.max_rpm = normalized(spindle.max_rpm); spindle.accel_rpm_s = normalized(spindle.accel_rpm_s); + spindle.tolerance_rpm = normalized(spindle.tolerance_rpm); spindle.orient_angle = normalized(spindle.orient_angle); + spindle.revs = normalized(spindle.revs); APPEND(spindle); + } + APPEND(io->state.tool_state); APPEND(io->state.current_tool); APPEND(io->state.prepared_tool); APPEND(io->state.prepared_pocket); + APPEND(io->state.tool_prepare); APPEND(io->state.tool_prepared); APPEND(io->state.tool_change); APPEND(io->state.tool_changed); + APPEND(io->state.toolchanger_fault); APPEND(io->state.toolchanger_reason); APPEND(io->state.probe.input); + APPEND(io->state.probe.probe_type); APPEND(io->state.probe.state); APPEND(io->state.probe.tripped); APPEND(io->state.probe.tick); + { sim_posemath_pose pose = io->state.probe.position; double *values = &pose.tran.x; for (index = 0; index < 9; ++index) values[index] = normalized(values[index]); APPEND(pose); } + APPEND(io->state.last_error); +#undef APPEND + return io_fnv1a64(bytes, offset); +} + +uint32_t sim_io_canonical(const sim_io *io, char *output, uint32_t capacity) { + char discard[1]; + char *destination = output == 0 ? discard : output; + uint32_t destination_capacity = output == 0 ? 1 : capacity; + int written; + uint32_t index; + if (!valid_io(io)) return 0; + written = snprintf(destination, destination_capacity, + "{\"estop\":%u,\"fault\":%u,\"fault_reason\":%d,\"last_error\":%d,\"probe\":{\"input\":%u,\"position\":[%.9g,%.9g,%.9g],\"state\":%u,\"tick\":%u,\"tripped\":%u},\"ready\":%u,\"recovery_epoch\":%u,\"spindles\":[", + io->state.estop, io->state.fault, io->state.fault_reason, io->state.last_error, + io->state.probe.input, io->state.probe.position.tran.x, io->state.probe.position.tran.y, + io->state.probe.position.tran.z, io->state.probe.state, io->state.probe.tick, + io->state.probe.tripped, io->state.ready, io->state.recovery_epoch); + if (written < 0) return 0; + for (index = 0; index < io->state.spindle_count; ++index) { + const sim_io_spindle_state *spindle = &io->state.spindles[index]; + int part = snprintf(destination + (output && (uint32_t)written < capacity ? written : 0), + output && (uint32_t)written < capacity ? capacity - (uint32_t)written : 0, + "%s{\"at_speed\":%u,\"brake\":%u,\"command_rpm\":%.9g,\"forward\":%u,\"reverse\":%u,\"speed_rpm\":%.9g,\"tick\":%u}", + index ? "," : "", spindle->at_speed, spindle->brake, spindle->command_rpm, + spindle->forward, spindle->reverse, spindle->speed_rpm, spindle->tick); + if (part < 0) return 0; written += part; + } + { int part = snprintf(destination + (output && (uint32_t)written < capacity ? written : 0), + output && (uint32_t)written < capacity ? capacity - (uint32_t)written : 0, + "],\"tick\":%u,\"tool\":{\"changed\":%u,\"current\":%d,\"prepared\":%u,\"prepared_pocket\":%d,\"prepared_tool\":%d,\"prepare\":%u,\"state\":%u}}", + io->state.tick, io->state.tool_changed, io->state.current_tool, io->state.tool_prepared, + io->state.prepared_pocket, io->state.prepared_tool, io->state.tool_prepare, io->state.tool_state); + if (part < 0) return 0; written += part; } + return (uint32_t)written + 1; +} diff --git a/wasm-core/src/sim_kinematics.c b/wasm-core/src/sim_kinematics.c index 8a085cc..5424d93 100644 --- a/wasm-core/src/sim_kinematics.c +++ b/wasm-core/src/sim_kinematics.c @@ -19,6 +19,14 @@ static double hash_normalize(double value) { return isfinite(value) ? nearbyint(value * 1000000000.0) / 1000000000.0 : value; } +/* The five-leg Newton solve can differ by a few ulps between native and + * wasm32 math libraries. Keep the public pose/info boundary deterministic + * without changing the convergence test itself. */ +static double pentapod_canonical(double value) { + double rounded = nearbyint(value * 1000000.0) / 1000000.0; + return fabs(rounded) < 0.0000005 ? 0.0 : rounded; +} + static int finite_values(const double *values, size_t count) { size_t index; if (values == 0) return 0; @@ -168,6 +176,7 @@ static int valid_config(const sim_kinematics_config *config) { } if (config->type == SIM_KIN_PENTAPOD) { if (kinematics_count != SIM_KIN_PENTA_STRUTS || !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'B')) return SIM_KIN_ERR_CONFIGURATION; + if (!isfinite(config->penta_tool_offset)) return SIM_KIN_ERR_NONFINITE; if (config->penta_iteration_limit > 100000u || config->penta_convergence_tolerance < 0.0 || !isfinite(config->penta_convergence_tolerance) || config->penta_max_error < 0.0 || !isfinite(config->penta_max_error) || !finite_values(config->penta_initial_pose, 5)) return SIM_KIN_ERR_CONFIGURATION; for (index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) if (!finite_values(config->penta_base[index], 3) || !isfinite(config->penta_effector_radius[index]) || !isfinite(config->penta_effector_z[index]) || ((config->penta_effector_radius[index] < 0.0) || (config->penta_effector_radius[index] == 0.0 && config->penta_effector_z[index] != 0.0))) return SIM_KIN_ERR_CONFIGURATION; } @@ -269,7 +278,10 @@ int sim_kinematics_init(sim_kinematics *kinematics, const sim_kinematics_config static const double effector_z[SIM_KIN_PENTA_STRUTS] = {87.0, 114.5, 140.5, 232.5, 258.5}; int all_zero = 1; size_t index; - for (index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) if (kinematics->config.penta_base[index][0] != 0.0 || kinematics->config.penta_base[index][1] != 0.0 || kinematics->config.penta_base[index][2] != 0.0) all_zero = 0; + for (index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) { + if (kinematics->config.penta_base[index][0] != 0.0 || kinematics->config.penta_base[index][1] != 0.0 || kinematics->config.penta_base[index][2] != 0.0 || + kinematics->config.penta_effector_radius[index] != 0.0 || kinematics->config.penta_effector_z[index] != 0.0) all_zero = 0; + } if (all_zero) { memcpy(kinematics->config.penta_base, base, sizeof(base)); memcpy(kinematics->config.penta_effector_radius, radius, sizeof(radius)); memcpy(kinematics->config.penta_effector_z, effector_z, sizeof(effector_z)); } if (kinematics->config.penta_iteration_limit == 0) kinematics->config.penta_iteration_limit = 120; if (kinematics->config.penta_convergence_tolerance == 0.0) kinematics->config.penta_convergence_tolerance = 1e-9; @@ -808,7 +820,10 @@ static int pentapod_lengths(const sim_kinematics *k, const double q[5], double l PmRotationMatrix rotation, inverse; if (pmRpyMatConvert(&rpy, &rotation) != 0 || pmMatInv(&rotation, &inverse) != 0) return SIM_KIN_ERR_SINGULAR; for (size_t index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) { - PmCartesian base = {k->config.penta_base[index][0] - q[0], k->config.penta_base[index][1] - q[1], k->config.penta_base[index][2] - q[2]}; + /* pentakins_read_hal_pins applies tool-offset to both ends of each + * strut; preserve that world-frame translation before rotating into + * the effector frame. */ + PmCartesian base = {k->config.penta_base[index][0] - q[0], k->config.penta_base[index][1] - q[1], k->config.penta_base[index][2] + k->config.penta_tool_offset - q[2]}; PmCartesian local; double radial; pmMatCartMult(&inverse, &base, &local); @@ -833,6 +848,14 @@ static int pentapod_forward(const sim_kinematics *k, const double *joints, uint6 double lengths[SIM_KIN_PENTA_STRUTS]; double residual = 0.0; uint32_t iteration; + for (size_t index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) { + /* LinuxCNC's pentakins rejects non-positive strut lengths before + * entering Newton iteration. */ + if (joints[index] <= 0.0) { + if (info != 0) { info->iterations = 0; info->residual = 0.0; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return SIM_KIN_ERR_RANGE; + } + } for (size_t index = 0; index < 5; ++index) q[index] = k->config.penta_initial_pose[index]; if (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) q[2] = -q[2]; for (iteration = 1; iteration <= k->config.penta_iteration_limit; ++iteration) { @@ -853,11 +876,14 @@ static int pentapod_forward(const sim_kinematics *k, const double *joints, uint6 } } if (residual <= k->config.penta_convergence_tolerance) { - pose->tran.x = q[0]; pose->tran.y = q[1]; pose->tran.z = q[2]; pose->a = q[3] * RAD_TO_DEG; pose->b = q[4] * RAD_TO_DEG; pose->c = 0.0; pose->u = pose->v = pose->w = 0.0; - if (info != 0) { info->iterations = iteration; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + pose->tran.x = pentapod_canonical(q[0]); pose->tran.y = pentapod_canonical(q[1]); pose->tran.z = pentapod_canonical(q[2]); pose->a = pentapod_canonical(q[3] * RAD_TO_DEG); pose->b = pentapod_canonical(q[4] * RAD_TO_DEG); pose->c = 0.0; pose->u = pose->v = pose->w = 0.0; + if (info != 0) { info->iterations = iteration; info->residual = nearbyint(residual * 1000000000.0) / 1000000000.0; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } return SIM_KIN_OK; } - if (residual > k->config.penta_max_error) return SIM_KIN_ERR_RANGE; + if (residual > k->config.penta_max_error) { + if (info != 0) { info->iterations = iteration; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return SIM_KIN_ERR_RANGE; + } if (solve_linear5(jacobian, rhs, delta) != SIM_KIN_OK) return SIM_KIN_ERR_SINGULAR; for (int column = 0; column < 5; ++column) q[column] -= delta[column]; } diff --git a/wasm-core/src/sim_kinematics_feedback.c b/wasm-core/src/sim_kinematics_feedback.c new file mode 100644 index 0000000..203eb47 --- /dev/null +++ b/wasm-core/src/sim_kinematics_feedback.c @@ -0,0 +1,109 @@ +#include "sim_kinematics_feedback.h" + +#include +#include + +static uint64_t feedback_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static void state_zero(sim_kinematics_feedback_state *state) { + memset(state, 0, sizeof(*state)); + state->last_error = SIM_KIN_FEEDBACK_OK; + state->kinematics_error = SIM_KIN_OK; +} + +int sim_kinematics_feedback_init(sim_kinematics_feedback *feedback, + sim_kinematics *kinematics, + uint32_t joint_count) { + uint32_t configured_count; + if (feedback == 0 || kinematics == 0) return SIM_KIN_FEEDBACK_ERR_ARGUMENT; + if (!kinematics->configured) return SIM_KIN_FEEDBACK_ERR_CONFIGURATION; + configured_count = kinematics->config.kinematics_joint_count == 0 ? + kinematics->config.joint_count : kinematics->config.kinematics_joint_count; + if (joint_count == 0 || joint_count != configured_count || joint_count > SIM_KIN_MAX_JOINTS) + return SIM_KIN_FEEDBACK_ERR_CONFIGURATION; + memset(feedback, 0, sizeof(*feedback)); + feedback->kinematics = kinematics; + feedback->state.joint_count = joint_count; + state_zero(&feedback->state); + feedback->state.joint_count = joint_count; + return SIM_KIN_FEEDBACK_OK; +} + +int sim_kinematics_feedback_reset(sim_kinematics_feedback *feedback) { + uint32_t joint_count; + if (feedback == 0 || feedback->kinematics == 0) return SIM_KIN_FEEDBACK_ERR_ARGUMENT; + joint_count = feedback->state.joint_count; + state_zero(&feedback->state); + feedback->state.joint_count = joint_count; + return SIM_KIN_FEEDBACK_OK; +} + +int sim_kinematics_feedback_update(sim_kinematics_feedback *feedback, + const double *joints, uint32_t joint_count, + uint64_t inverse_flags, + sim_kinematics_result_info *info) { + sim_posemath_pose pose; + sim_kinematics_result_info local_info; + uint32_t index; + int result; + if (feedback == 0 || feedback->kinematics == 0 || joints == 0) + return SIM_KIN_FEEDBACK_ERR_ARGUMENT; + if (joint_count != feedback->state.joint_count) return SIM_KIN_FEEDBACK_ERR_CONFIGURATION; + for (index = 0; index < joint_count; ++index) + if (!isfinite(joints[index])) { + feedback->state.last_error = SIM_KIN_FEEDBACK_ERR_NONFINITE; + feedback->state.kinematics_error = SIM_KIN_ERR_NONFINITE; + return feedback->state.last_error; + } + memset(&pose, 0, sizeof(pose)); + result = sim_kinematics_forward_ex(feedback->kinematics, joints, joint_count, + inverse_flags, &pose, &local_info); + if (result != SIM_KIN_OK) { + feedback->state.last_error = SIM_KIN_FEEDBACK_ERR_FORWARD; + feedback->state.kinematics_error = result; + if (info != 0) *info = local_info; + return feedback->state.last_error; + } + feedback->state.pose = pose; + memcpy(feedback->state.joints, joints, sizeof(double) * joint_count); + feedback->state.forward_flags = local_info.forward_flags; + feedback->state.inverse_flags = local_info.inverse_flags; + feedback->state.tick += 1; + feedback->state.valid = 1; + feedback->state.last_error = SIM_KIN_FEEDBACK_OK; + feedback->state.kinematics_error = SIM_KIN_OK; + if (info != 0) *info = local_info; + return SIM_KIN_FEEDBACK_OK; +} + +int sim_kinematics_feedback_read(const sim_kinematics_feedback *feedback, + sim_kinematics_feedback_state *state) { + if (feedback == 0 || state == 0) return SIM_KIN_FEEDBACK_ERR_ARGUMENT; + if (!feedback->state.valid) return SIM_KIN_FEEDBACK_ERR_STATE; + *state = feedback->state; + return SIM_KIN_FEEDBACK_OK; +} + +uint64_t sim_kinematics_feedback_state_hash(const sim_kinematics_feedback *feedback) { + unsigned char bytes[sizeof(sim_kinematics_feedback_state)]; + sim_kinematics_feedback_state state; + size_t offset = 0; + uint32_t index; + if (feedback == 0) return 0; + state = feedback->state; + for (index = 0; index < 9; ++index) { + double *pose_value = &state.pose.tran.x; + pose_value[index] = isfinite(pose_value[index]) ? nearbyint(pose_value[index] * 1000000000.0) / 1000000000.0 : pose_value[index]; + if (index < state.joint_count) state.joints[index] = isfinite(state.joints[index]) ? nearbyint(state.joints[index] * 1000000000.0) / 1000000000.0 : state.joints[index]; + } + memcpy(bytes + offset, &state, sizeof(state)); offset += sizeof(state); + return feedback_fnv1a64(bytes, offset); +} diff --git a/wasm-core/src/sim_kinematics_home_limit.c b/wasm-core/src/sim_kinematics_home_limit.c new file mode 100644 index 0000000..47cf20b --- /dev/null +++ b/wasm-core/src/sim_kinematics_home_limit.c @@ -0,0 +1,138 @@ +#include "sim_kinematics_home_limit.h" + +#include +#include + +static uint64_t home_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static void state_zero(sim_kinematics_home_limit_state *state) { + memset(state, 0, sizeof(*state)); + state->last_error = SIM_KIN_HOME_OK; + state->limit_error = SIM_KIN_OK; + state->kinematics_error = SIM_KIN_OK; +} + +int sim_kinematics_home_limit_init(sim_kinematics_home_limit *home_limit, + sim_kinematics *kinematics, + uint32_t joint_count) { + uint32_t configured_count; + if (home_limit == 0 || kinematics == 0) return SIM_KIN_HOME_ERR_ARGUMENT; + if (!kinematics->configured) return SIM_KIN_HOME_ERR_CONFIGURATION; + configured_count = kinematics->config.kinematics_joint_count == 0 ? + kinematics->config.joint_count : kinematics->config.kinematics_joint_count; + if (joint_count == 0 || joint_count != configured_count || joint_count > SIM_KIN_MAX_JOINTS) + return SIM_KIN_HOME_ERR_CONFIGURATION; + memset(home_limit, 0, sizeof(*home_limit)); + home_limit->kinematics = kinematics; + home_limit->state.joint_count = joint_count; + state_zero(&home_limit->state); + home_limit->state.joint_count = joint_count; + return SIM_KIN_HOME_OK; +} + +int sim_kinematics_home_limit_reset(sim_kinematics_home_limit *home_limit) { + uint32_t joint_count; + if (home_limit == 0 || home_limit->kinematics == 0) return SIM_KIN_HOME_ERR_ARGUMENT; + joint_count = home_limit->state.joint_count; + state_zero(&home_limit->state); + home_limit->state.joint_count = joint_count; + return SIM_KIN_HOME_OK; +} + +int sim_kinematics_home_limit_home(sim_kinematics_home_limit *home_limit, + uint32_t home_sequence) { + sim_posemath_pose pose; + double joints[SIM_KIN_MAX_JOINTS] = {0}; + int result; + if (home_limit == 0 || home_limit->kinematics == 0) return SIM_KIN_HOME_ERR_ARGUMENT; + if (home_sequence > 0xffffu) return SIM_KIN_HOME_ERR_SEQUENCE; + result = sim_kinematics_home(home_limit->kinematics, joints, + home_limit->state.joint_count, &pose); + if (result != SIM_KIN_OK) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_FORWARD; + home_limit->state.kinematics_error = result; + return home_limit->state.last_error; + } + memcpy(home_limit->state.joints, joints, sizeof(double) * home_limit->state.joint_count); + home_limit->state.pose = pose; + home_limit->state.home_sequence = home_sequence; + home_limit->state.homed = 1; + home_limit->state.tick += 1; + home_limit->state.last_error = SIM_KIN_HOME_OK; + home_limit->state.limit_error = SIM_KIN_OK; + home_limit->state.kinematics_error = SIM_KIN_OK; + return SIM_KIN_HOME_OK; +} + +int sim_kinematics_home_limit_check(sim_kinematics_home_limit *home_limit, + const double *joints, + uint32_t joint_count) { + sim_posemath_pose pose; + uint32_t index; + int result; + if (home_limit == 0 || joints == 0) return SIM_KIN_HOME_ERR_ARGUMENT; + if (!home_limit->state.homed) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_UNHOMED; + return home_limit->state.last_error; + } + if (joint_count != home_limit->state.joint_count) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_CONFIGURATION; + return home_limit->state.last_error; + } + for (index = 0; index < joint_count; ++index) { + if (!isfinite(joints[index])) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_NONFINITE; + return home_limit->state.last_error; + } + if (home_limit->kinematics->config.limit_enabled[index] && + (joints[index] < home_limit->kinematics->config.joint_min[index] || + joints[index] > home_limit->kinematics->config.joint_max[index])) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_LIMIT; + home_limit->state.limit_error = SIM_KIN_ERR_RANGE; + return home_limit->state.last_error; + } + } + result = sim_kinematics_forward(home_limit->kinematics, joints, joint_count, &pose); + if (result != SIM_KIN_OK) { + home_limit->state.last_error = SIM_KIN_HOME_ERR_FORWARD; + home_limit->state.kinematics_error = result; + return home_limit->state.last_error; + } + memcpy(home_limit->state.joints, joints, sizeof(double) * joint_count); + home_limit->state.pose = pose; + home_limit->state.tick += 1; + home_limit->state.last_error = SIM_KIN_HOME_OK; + home_limit->state.limit_error = SIM_KIN_OK; + home_limit->state.kinematics_error = SIM_KIN_OK; + return SIM_KIN_HOME_OK; +} + +int sim_kinematics_home_limit_read(const sim_kinematics_home_limit *home_limit, + sim_kinematics_home_limit_state *state) { + if (home_limit == 0 || state == 0) return SIM_KIN_HOME_ERR_ARGUMENT; + *state = home_limit->state; + return SIM_KIN_HOME_OK; +} + +uint64_t sim_kinematics_home_limit_state_hash(const sim_kinematics_home_limit *home_limit) { + sim_kinematics_home_limit_state state; + unsigned char bytes[sizeof(state)]; + uint32_t index; + if (home_limit == 0) return 0; + state = home_limit->state; + for (index = 0; index < 9; ++index) { + double *pose_value = &state.pose.tran.x; + pose_value[index] = isfinite(pose_value[index]) ? nearbyint(pose_value[index] * 1000000000.0) / 1000000000.0 : pose_value[index]; + if (index < state.joint_count) state.joints[index] = isfinite(state.joints[index]) ? nearbyint(state.joints[index] * 1000000000.0) / 1000000000.0 : state.joints[index]; + } + memcpy(bytes, &state, sizeof(state)); + return home_fnv1a64(bytes, sizeof(bytes)); +} diff --git a/wasm-core/src/sim_kinematics_motion.c b/wasm-core/src/sim_kinematics_motion.c new file mode 100644 index 0000000..999ba22 --- /dev/null +++ b/wasm-core/src/sim_kinematics_motion.c @@ -0,0 +1,184 @@ +#include "sim_kinematics_motion.h" + +#include +#include + +static uint64_t motion_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static double normalized(double value) { + return isfinite(value) ? nearbyint(value * 1000000000.0) / 1000000000.0 : value; +} + +static void set_error(sim_kinematics_motion *adapter, int error, + int planner_error, int kinematics_error) { + adapter->last_error = error; + adapter->planner_error = planner_error; + adapter->kinematics_error = kinematics_error; +} + +int sim_kinematics_motion_reset(sim_kinematics_motion *adapter) { + if (adapter == 0) return SIM_KIN_MOTION_ERR_ARGUMENT; + if (adapter->kinematics == 0 || !adapter->kinematics->configured) return SIM_KIN_MOTION_ERR_CONFIGURATION; + if (sim_tp_reset(&adapter->planner) != SIM_POSEMATH_OK) return SIM_KIN_MOTION_ERR_PLANNER; + adapter->head = 0; + adapter->count = 0; + adapter->tick = 0; + adapter->paused = 0; + memset(&adapter->last_pose, 0, sizeof(adapter->last_pose)); + memset(adapter->last_joints, 0, sizeof(adapter->last_joints)); + set_error(adapter, SIM_KIN_MOTION_OK, SIM_POSEMATH_OK, SIM_KIN_OK); + return SIM_KIN_MOTION_OK; +} + +int sim_kinematics_motion_init(sim_kinematics_motion *adapter, + sim_kinematics *kinematics, double cycle_time, + double velocity_limit, double acceleration_limit) { + uint32_t joint_count; + int result; + if (adapter == 0 || kinematics == 0) return SIM_KIN_MOTION_ERR_ARGUMENT; + if (!kinematics->configured) return SIM_KIN_MOTION_ERR_CONFIGURATION; + joint_count = kinematics->config.kinematics_joint_count == 0 ? + kinematics->config.joint_count : kinematics->config.kinematics_joint_count; + if (joint_count == 0 || joint_count > SIM_KIN_MAX_JOINTS) return SIM_KIN_MOTION_ERR_CONFIGURATION; + memset(adapter, 0, sizeof(*adapter)); + result = sim_tp_init(&adapter->planner, cycle_time, velocity_limit, acceleration_limit); + if (result != SIM_POSEMATH_OK) return SIM_KIN_MOTION_ERR_CONFIGURATION; + adapter->kinematics = kinematics; + adapter->joint_count = joint_count; + return sim_kinematics_motion_reset(adapter); +} + +int sim_kinematics_motion_enqueue(sim_kinematics_motion *adapter, + const sim_posemath_segment *segment, + uint32_t *id_out) { + int result; + if (adapter == 0 || segment == 0) return SIM_KIN_MOTION_ERR_ARGUMENT; + result = sim_tp_enqueue(&adapter->planner, segment, id_out); + if (result != SIM_POSEMATH_OK) { + set_error(adapter, result == SIM_POSEMATH_ERR_NONFINITE ? SIM_KIN_MOTION_ERR_NONFINITE : SIM_KIN_MOTION_ERR_PLANNER, result, SIM_KIN_OK); + return adapter->last_error; + } + set_error(adapter, SIM_KIN_MOTION_OK, SIM_POSEMATH_OK, SIM_KIN_OK); + return SIM_KIN_MOTION_OK; +} + +int sim_kinematics_motion_pause(sim_kinematics_motion *adapter, uint32_t paused) { + if (adapter == 0 || paused > 1) return SIM_KIN_MOTION_ERR_ARGUMENT; + adapter->paused = paused; + return SIM_KIN_MOTION_OK; +} + +int sim_kinematics_motion_step(sim_kinematics_motion *adapter) { + sim_tp planner_snapshot; + sim_kinematics kinematics_snapshot; + sim_tp_state planner_state; + sim_kinematics_motion_sample sample; + sim_kinematics_result_info info; + uint32_t index; + int result; + if (adapter == 0) return SIM_KIN_MOTION_ERR_ARGUMENT; + if (adapter->kinematics == 0 || !adapter->kinematics->configured) return SIM_KIN_MOTION_ERR_CONFIGURATION; + if (adapter->paused) { + set_error(adapter, SIM_KIN_MOTION_ERR_STATE, SIM_POSEMATH_OK, SIM_KIN_OK); + return adapter->last_error; + } + if (adapter->count >= SIM_KIN_MOTION_QUEUE_CAPACITY) { + set_error(adapter, SIM_KIN_MOTION_ERR_CAPACITY, SIM_POSEMATH_OK, SIM_KIN_OK); + return adapter->last_error; + } + planner_snapshot = adapter->planner; + kinematics_snapshot = *adapter->kinematics; + result = sim_tp_step(&adapter->planner); + if (result != SIM_POSEMATH_OK) { + adapter->planner = planner_snapshot; + set_error(adapter, SIM_KIN_MOTION_ERR_PLANNER, result, SIM_KIN_OK); + return adapter->last_error; + } + if (sim_tp_read_state(&adapter->planner, &planner_state) != SIM_POSEMATH_OK) { + adapter->planner = planner_snapshot; + set_error(adapter, SIM_KIN_MOTION_ERR_PLANNER, SIM_POSEMATH_ERR_STATE, SIM_KIN_OK); + return adapter->last_error; + } + memset(&sample, 0, sizeof(sample)); + sample.pose = planner_state.position; + result = sim_kinematics_inverse_ex(adapter->kinematics, &sample.pose, + adapter->joint_count, 0, sample.joints, + &info); + if (result != SIM_KIN_OK) { + adapter->planner = planner_snapshot; + *adapter->kinematics = kinematics_snapshot; + set_error(adapter, result == SIM_KIN_ERR_NONFINITE ? SIM_KIN_MOTION_ERR_NONFINITE : SIM_KIN_MOTION_ERR_INVERSE, SIM_POSEMATH_OK, result); + return adapter->last_error; + } + sample.joint_count = adapter->joint_count; + sample.tick = planner_state.tick; + sample.planner_id = planner_state.active_id; + index = (adapter->head + adapter->count) % SIM_KIN_MOTION_QUEUE_CAPACITY; + adapter->samples[index] = sample; + adapter->count += 1; + adapter->tick = sample.tick; + adapter->last_pose = sample.pose; + memcpy(adapter->last_joints, sample.joints, sizeof(sample.joints)); + set_error(adapter, SIM_KIN_MOTION_OK, SIM_POSEMATH_OK, SIM_KIN_OK); + return SIM_KIN_MOTION_OK; +} + +int sim_kinematics_motion_peek(const sim_kinematics_motion *adapter, + sim_kinematics_motion_sample *sample) { + if (adapter == 0 || sample == 0) return SIM_KIN_MOTION_ERR_ARGUMENT; + if (adapter->count == 0) return SIM_KIN_MOTION_ERR_STATE; + *sample = adapter->samples[adapter->head]; + return SIM_KIN_MOTION_OK; +} + +int sim_kinematics_motion_pop(sim_kinematics_motion *adapter, + sim_kinematics_motion_sample *sample) { + int result = sim_kinematics_motion_peek(adapter, sample); + if (result != SIM_KIN_MOTION_OK) return result; + adapter->head = (adapter->head + 1) % SIM_KIN_MOTION_QUEUE_CAPACITY; + adapter->count -= 1; + return SIM_KIN_MOTION_OK; +} + +uint32_t sim_kinematics_motion_depth(const sim_kinematics_motion *adapter) { + return adapter == 0 ? 0 : adapter->count; +} + +uint64_t sim_kinematics_motion_state_hash(const sim_kinematics_motion *adapter) { + unsigned char bytes[16384]; + size_t offset = 0; + uint64_t planner_hash; + uint64_t kinematics_hash; + uint32_t sample_index; + if (adapter == 0 || adapter->kinematics == 0) return 0; + planner_hash = sim_tp_state_hash(&adapter->planner); + kinematics_hash = sim_kinematics_state_hash(adapter->kinematics, adapter->last_joints, + adapter->joint_count, &adapter->last_pose); +#define APPEND(value) do { memcpy(bytes + offset, &(value), sizeof(value)); offset += sizeof(value); } while (0) + APPEND(adapter->head); APPEND(adapter->count); APPEND(adapter->tick); + APPEND(adapter->joint_count); APPEND(adapter->paused); APPEND(adapter->last_error); + APPEND(adapter->planner_error); APPEND(adapter->kinematics_error); + APPEND(planner_hash); APPEND(kinematics_hash); + for (sample_index = 0; sample_index < adapter->count; ++sample_index) { + const sim_kinematics_motion_sample *sample = &adapter->samples[(adapter->head + sample_index) % SIM_KIN_MOTION_QUEUE_CAPACITY]; + sim_posemath_pose pose = sample->pose; + double joints[SIM_KIN_MAX_JOINTS] = {0}; + double *pose_values = &pose.tran.x; + uint32_t joint_index; + for (joint_index = 0; joint_index < 9; ++joint_index) pose_values[joint_index] = normalized(pose_values[joint_index]); + for (joint_index = 0; joint_index < sample->joint_count; ++joint_index) joints[joint_index] = normalized(sample->joints[joint_index]); + memcpy(bytes + offset, &pose, sizeof(pose)); offset += sizeof(pose); + memcpy(bytes + offset, joints, sizeof(joints)); offset += sizeof(joints); + APPEND(sample->joint_count); APPEND(sample->tick); APPEND(sample->planner_id); + } +#undef APPEND + return motion_fnv1a64(bytes, offset); +} diff --git a/wasm-core/src/sim_kinematics_registry.c b/wasm-core/src/sim_kinematics_registry.c new file mode 100644 index 0000000..4db08fd --- /dev/null +++ b/wasm-core/src/sim_kinematics_registry.c @@ -0,0 +1,124 @@ +#include "sim_kinematics.h" + +#include + +#define COMMON (SIM_KIN_CAP_FORWARD | SIM_KIN_CAP_INVERSE | SIM_KIN_CAP_SWITCHABLE) +#define BASE_PARAMS (SIM_KIN_PARAM_MAPPING | SIM_KIN_PARAM_LIMITS) + +static const sim_kinematics_capability registry[] = { + {1, SIM_KIN_TRIVKINS, "trivkins", "", 1, 9, COMMON | SIM_KIN_CAP_IDENTITY | SIM_KIN_CAP_EXTRA_JOINTS | SIM_KIN_CAP_DUPLICATE_COORDINATES, BASE_PARAMS}, + {1, SIM_KIN_XYZAC_TRT, "xyzac-trt-kins", "XYZAC", 5, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS | SIM_KIN_CAP_DUPLICATE_COORDINATES, BASE_PARAMS | SIM_KIN_PARAM_OFFSETS | SIM_KIN_PARAM_TOOL}, + {1, SIM_KIN_XYZBC_TRT, "xyzbc-trt-kins", "XYZBC", 5, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS | SIM_KIN_CAP_DUPLICATE_COORDINATES, BASE_PARAMS | SIM_KIN_PARAM_OFFSETS | SIM_KIN_PARAM_TOOL}, + {1, SIM_KIN_XYZBCW, "xyzbcw", "XYZBCW", 6, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS | SIM_KIN_PARAM_PIVOT}, + {1, SIM_KIN_COREXY, "corexykins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS}, + {1, SIM_KIN_ROSE, "rosekins", "XYZ", 3, 3, COMMON, BASE_PARAMS}, + {1, SIM_KIN_MAXKINS, "maxkins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS | SIM_KIN_PARAM_PIVOT}, + {1, SIM_KIN_ROTATEKINS, "rotatekins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS}, + {1, SIM_KIN_5AXISKINS, "5axiskins", "XYZBCW", 6, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS | SIM_KIN_CAP_DUPLICATE_COORDINATES, BASE_PARAMS | SIM_KIN_PARAM_PIVOT}, + {1, SIM_KIN_SCARA, "scarakins", "XYZCAB", 6, 6, COMMON, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_PUMA, "pumakins", "XYZABC", 6, 6, COMMON, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_SCORBOT, "scorbot-kins", "XYZAB", 5, 5, COMMON, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_GENSER, "genserkins", "XYZABC", 6, 6, COMMON | SIM_KIN_CAP_ITERATIVE, BASE_PARAMS | SIM_KIN_PARAM_DH | SIM_KIN_PARAM_SOLVER}, + {1, SIM_KIN_LINEAR_DELTA, "lineardeltakins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_ROTARY_DELTA, "rotarydeltakins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_TRIPOD, "tripodkins", "XYZ", 3, 9, COMMON | SIM_KIN_CAP_EXTRA_JOINTS, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY}, + {1, SIM_KIN_GENHEX, "genhexkins", "XYZABC", 6, 6, COMMON | SIM_KIN_CAP_ITERATIVE, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY | SIM_KIN_PARAM_TOOL | SIM_KIN_PARAM_SOLVER}, + {1, SIM_KIN_PENTAPOD, "pentakins", "XYZAB", 5, 5, COMMON | SIM_KIN_CAP_ITERATIVE, BASE_PARAMS | SIM_KIN_PARAM_GEOMETRY | SIM_KIN_PARAM_TOOL | SIM_KIN_PARAM_SOLVER}, +}; + +static uint64_t registry_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static int path_like(const char *name) { + size_t index; + if (name == 0 || name[0] == '\0') return 0; + for (index = 0; name[index] != '\0'; ++index) + if (name[index] == '/' || name[index] == '\\') return 1; + return 0; +} + +static int has_coordinate_casefold(const char *coordinates, char wanted) { + size_t index; + for (index = 0; coordinates[index] != '\0'; ++index) { + char value = coordinates[index]; + if (value >= 'a' && value <= 'z') value = (char)(value - 'a' + 'A'); + if (value == wanted) return 1; + } + return 0; +} + +uint32_t sim_kinematics_registry_count(void) { + return (uint32_t)(sizeof(registry) / sizeof(registry[0])); +} + +int sim_kinematics_registry_get(uint32_t index, + sim_kinematics_capability *capability) { + if (capability == 0) return SIM_KIN_ERR_ARGUMENT; + if (index >= sim_kinematics_registry_count()) return SIM_KIN_ERR_RANGE; + *capability = registry[index]; + return SIM_KIN_OK; +} + +int sim_kinematics_registry_find(const char *name, + sim_kinematics_capability *capability) { + uint32_t index; + if (name == 0 || capability == 0) return SIM_KIN_ERR_ARGUMENT; + if (path_like(name)) return SIM_KIN_ERR_DYNAMIC_MODULE; + for (index = 0; index < sim_kinematics_registry_count(); ++index) { + if (strcmp(name, registry[index].name) == 0) { + *capability = registry[index]; + return SIM_KIN_OK; + } + } + return SIM_KIN_ERR_UNKNOWN_TYPE; +} + +int sim_kinematics_registry_require(const char *name, uint32_t capabilities, + uint64_t parameter_mask, + sim_kinematics_capability *capability) { + sim_kinematics_capability found; + int result = sim_kinematics_registry_find(name, &found); + if (result != SIM_KIN_OK) return result; + if ((found.capabilities & capabilities) != capabilities || + (found.parameter_mask & parameter_mask) != parameter_mask) return SIM_KIN_ERR_CAPABILITY; + if (capability != 0) *capability = found; + return SIM_KIN_OK; +} + +int sim_kinematics_registry_validate_config(const char *name, + const sim_kinematics_config *config, + sim_kinematics_capability *capability) { + sim_kinematics_capability found; + sim_kinematics instance; + const char *coordinates; + uint32_t joint_count; + size_t index; + int result; + if (config == 0) return SIM_KIN_ERR_ARGUMENT; + result = sim_kinematics_registry_find(name, &found); + if (result != SIM_KIN_OK) return result; + if (config->type != found.type) return SIM_KIN_ERR_CONFIGURATION; + joint_count = config->kinematics_joint_count == 0 ? config->joint_count : config->kinematics_joint_count; + if (joint_count < found.min_joints || joint_count > found.max_joints) return SIM_KIN_ERR_CONFIGURATION; + coordinates = config->coordinates[0] == '\0' ? "XYZABCUVW" : config->coordinates; + for (index = 0; found.required_coordinates[index] != '\0'; ++index) + if (!has_coordinate_casefold(coordinates, found.required_coordinates[index])) return SIM_KIN_ERR_CONFIGURATION; + result = sim_kinematics_init(&instance, config); + if (result != SIM_KIN_OK) return result; + if (capability != 0) *capability = found; + return SIM_KIN_OK; +} + +uint64_t sim_kinematics_registry_state_hash(void) { + return registry_fnv1a64((const unsigned char *)registry, sizeof(registry)); +} + +#undef BASE_PARAMS +#undef COMMON diff --git a/wasm-core/src/sim_switchkins.c b/wasm-core/src/sim_switchkins.c new file mode 100644 index 0000000..01ef039 --- /dev/null +++ b/wasm-core/src/sim_switchkins.c @@ -0,0 +1,185 @@ +#include "sim_kinematics.h" + +#include +#include + +static uint64_t switch_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static int valid_mode(int mode) { + return mode >= 0 && mode < (int)SIM_KIN_SWITCH_MAX_TYPES; +} + +static void switch_info(sim_kinematics_result_info *info) { + if (info != 0) memset(info, 0, sizeof(*info)); +} + +int sim_kinematics_switch_init(sim_kinematics_switch *switcher, int default_mode, + uint8_t fwd_iterates_mask) { + if (switcher == 0) return SIM_KIN_ERR_ARGUMENT; + if (!valid_mode(default_mode)) return SIM_KIN_ERR_INVALID_MODE; + memset(switcher, 0, sizeof(*switcher)); + switcher->active_mode = default_mode; + switcher->pending_mode = default_mode; + switcher->fwd_iterates_mask = fwd_iterates_mask & 0x07u; + return SIM_KIN_OK; +} + +int sim_kinematics_switch_register(sim_kinematics_switch *switcher, int mode, + sim_kinematics *module, uint8_t fwd_iterates) { + if (switcher == 0) return SIM_KIN_ERR_ARGUMENT; + if (!valid_mode(mode)) return SIM_KIN_ERR_INVALID_MODE; + if (module == 0 || !module->configured) return SIM_KIN_ERR_MISSING_MODULE; + switcher->modules[mode] = module; + switcher->registered[mode] = 1; + if (fwd_iterates) switcher->fwd_iterates_mask |= (uint8_t)(1u << mode); + else switcher->fwd_iterates_mask &= (uint8_t)~(1u << mode); + return SIM_KIN_OK; +} + +int sim_kinematics_switch_begin(sim_kinematics_switch *switcher, int mode) { + if (switcher == 0) return SIM_KIN_ERR_ARGUMENT; + if (!valid_mode(mode)) return SIM_KIN_ERR_INVALID_MODE; + if (!switcher->registered[mode] || switcher->modules[mode] == 0) return SIM_KIN_ERR_MISSING_MODULE; + if (switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + switcher->pending_mode = mode; + switcher->switching = (uint8_t)(mode != switcher->active_mode); + return SIM_KIN_OK; +} + +int sim_kinematics_switch_abort(sim_kinematics_switch *switcher) { + if (switcher == 0) return SIM_KIN_ERR_ARGUMENT; + if (!switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + switcher->pending_mode = switcher->active_mode; + switcher->switching = 0; + switcher->abort_count += 1; + return SIM_KIN_OK; +} + +int sim_kinematics_switch_commit(sim_kinematics_switch *switcher, double *joints, + uint32_t joint_count, sim_posemath_pose *pose, + sim_kinematics_result_info *info) { + sim_kinematics *target; + double remapped[SIM_KIN_MAX_JOINTS] = {0}; + sim_kinematics_result_info local_info; + int result; + switch_info(info); + if (switcher == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (!switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + target = switcher->modules[switcher->pending_mode]; + if (target == 0 || !switcher->registered[switcher->pending_mode]) { + switcher->switching = 0; + switcher->pending_mode = switcher->active_mode; + return SIM_KIN_ERR_MISSING_MODULE; + } + if (joint_count > SIM_KIN_MAX_JOINTS) return SIM_KIN_ERR_CONFIGURATION; + result = sim_kinematics_inverse_ex(target, pose, joint_count, 0, remapped, + &local_info); + if (result != SIM_KIN_OK) { + switcher->switching = 0; + switcher->pending_mode = switcher->active_mode; + if (info != 0) *info = local_info; + return result; + } + memcpy(joints, remapped, sizeof(double) * joint_count); + switcher->active_mode = switcher->pending_mode; + switcher->pending_mode = switcher->active_mode; + switcher->switching = 0; + switcher->generation += 1; + switcher->switch_count += 1; + switcher->last_pose[switcher->active_mode] = *pose; + switcher->have_last_pose[switcher->active_mode] = 1; + if (info != 0) *info = local_info; + return SIM_KIN_OK; +} + +int sim_kinematics_switch_forward(sim_kinematics_switch *switcher, + const double *joints, uint32_t joint_count, + sim_posemath_pose *pose, + sim_kinematics_result_info *info) { + sim_kinematics *module; + int result; + switch_info(info); + if (switcher == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + if (!valid_mode(switcher->active_mode)) return SIM_KIN_ERR_INVALID_MODE; + module = switcher->modules[switcher->active_mode]; + if (module == 0 || !switcher->registered[switcher->active_mode]) return SIM_KIN_ERR_MISSING_MODULE; + result = sim_kinematics_forward_ex(module, joints, joint_count, 0, pose, info); + if (result == SIM_KIN_OK) { + switcher->last_pose[switcher->active_mode] = *pose; + switcher->have_last_pose[switcher->active_mode] = 1; + } + return result; +} + +int sim_kinematics_switch_inverse(sim_kinematics_switch *switcher, + const sim_posemath_pose *pose, double *joints, + uint32_t joint_count, + sim_kinematics_result_info *info) { + sim_kinematics *module; + int result; + switch_info(info); + if (switcher == 0 || pose == 0 || joints == 0) return SIM_KIN_ERR_ARGUMENT; + if (switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + if (!valid_mode(switcher->active_mode)) return SIM_KIN_ERR_INVALID_MODE; + module = switcher->modules[switcher->active_mode]; + if (module == 0 || !switcher->registered[switcher->active_mode]) return SIM_KIN_ERR_MISSING_MODULE; + result = sim_kinematics_inverse_ex(module, pose, joint_count, 0, joints, info); + if (result == SIM_KIN_OK) { + switcher->last_pose[switcher->active_mode] = *pose; + switcher->have_last_pose[switcher->active_mode] = 1; + } + return result; +} + +int sim_kinematics_switch_select(sim_kinematics_switch *switcher, int mode, + double *joints, uint32_t joint_count, + sim_posemath_pose *pose, + sim_kinematics_result_info *info) { + sim_posemath_pose current_pose; + int result; + switch_info(info); + if (switcher == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (!valid_mode(mode)) return SIM_KIN_ERR_INVALID_MODE; + if (switcher->switching) return SIM_KIN_ERR_SWITCH_INTERRUPTED; + if (!switcher->registered[mode] || switcher->modules[mode] == 0) return SIM_KIN_ERR_MISSING_MODULE; + if (mode == switcher->active_mode) return sim_kinematics_switch_forward(switcher, joints, joint_count, pose, info); + result = sim_kinematics_switch_forward(switcher, joints, joint_count, ¤t_pose, info); + if (result != SIM_KIN_OK) return result; + result = sim_kinematics_switch_begin(switcher, mode); + if (result != SIM_KIN_OK) return result; + result = sim_kinematics_switch_commit(switcher, joints, joint_count, ¤t_pose, info); + if (result == SIM_KIN_OK) *pose = current_pose; + return result; +} + +int sim_kinematics_switch_active(const sim_kinematics_switch *switcher) { + return switcher == 0 ? SIM_KIN_ERR_ARGUMENT : switcher->active_mode; +} + +uint64_t sim_kinematics_switch_state_hash(const sim_kinematics_switch *switcher, + const double *joints, uint32_t joint_count, + const sim_posemath_pose *pose) { + unsigned char bytes[256]; + size_t offset = 0; + uint64_t module_hash; + if (switcher == 0 || joints == 0 || pose == 0 || joint_count > SIM_KIN_MAX_JOINTS) return 0; + if (!valid_mode(switcher->active_mode) || switcher->modules[switcher->active_mode] == 0) return 0; + module_hash = sim_kinematics_state_hash(switcher->modules[switcher->active_mode], joints, joint_count, pose); + memcpy(bytes + offset, &switcher->active_mode, sizeof(switcher->active_mode)); offset += sizeof(switcher->active_mode); + memcpy(bytes + offset, &switcher->pending_mode, sizeof(switcher->pending_mode)); offset += sizeof(switcher->pending_mode); + memcpy(bytes + offset, &switcher->switching, sizeof(switcher->switching)); offset += sizeof(switcher->switching); + memcpy(bytes + offset, &switcher->generation, sizeof(switcher->generation)); offset += sizeof(switcher->generation); + memcpy(bytes + offset, &switcher->switch_count, sizeof(switcher->switch_count)); offset += sizeof(switcher->switch_count); + memcpy(bytes + offset, &switcher->abort_count, sizeof(switcher->abort_count)); offset += sizeof(switcher->abort_count); + memcpy(bytes + offset, &module_hash, sizeof(module_hash)); offset += sizeof(module_hash); + return switch_fnv1a64(bytes, offset); +} diff --git a/wasm-core/src/sim_userkins.c b/wasm-core/src/sim_userkins.c new file mode 100644 index 0000000..4a5164d --- /dev/null +++ b/wasm-core/src/sim_userkins.c @@ -0,0 +1,98 @@ +#include "sim_kinematics.h" + +#include + +static uint64_t user_fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static int valid_static_name(const char *name) { + size_t index; + if (name == 0 || name[0] == '\0') return 0; + for (index = 0; index < SIM_KIN_USER_NAME_CAPACITY && name[index] != '\0'; ++index) { + unsigned char value = (unsigned char)name[index]; + if (value < 0x21 || value > 0x7e || value == '/' || value == '\\') return 0; + } + return index < SIM_KIN_USER_NAME_CAPACITY; +} + +int sim_kinematics_user_init(sim_kinematics_user *user, + const sim_kinematics_user_descriptor *descriptor) { + sim_kinematics_config config; + uint32_t required = SIM_KIN_USER_CAP_FORWARD | SIM_KIN_USER_CAP_INVERSE | + SIM_KIN_USER_CAP_STATIC; + int result; + if (user == 0 || descriptor == 0) return SIM_KIN_ERR_ARGUMENT; + if (descriptor->abi_version != SIM_KIN_USER_ABI_VERSION) return SIM_KIN_ERR_ABI_VERSION; + if ((descriptor->capabilities & required) != required || + (descriptor->capabilities & ~required) != 0) return SIM_KIN_ERR_CAPABILITY; + if (!valid_static_name(descriptor->name)) return SIM_KIN_ERR_DYNAMIC_MODULE; + config = descriptor->config; + if (descriptor->implementation == SIM_KIN_USER_IDENTITY) config.type = SIM_KIN_TRIVKINS; + else if (descriptor->implementation == SIM_KIN_USER_GENSER) config.type = SIM_KIN_GENSER; + else return SIM_KIN_ERR_MISSING_MODULE; + result = sim_kinematics_init(&user->module, &config); + if (result != SIM_KIN_OK) return result; + user->descriptor = *descriptor; + user->descriptor.config = user->module.config; + user->forward_calls = 0; + user->inverse_calls = 0; + user->initialized = 1; + return SIM_KIN_OK; +} + +int sim_kinematics_user_bind_switch(sim_kinematics_user *user, + sim_kinematics_switch *switcher, int mode, + uint8_t fwd_iterates) { + if (user == 0 || switcher == 0) return SIM_KIN_ERR_ARGUMENT; + if (!user->initialized) return SIM_KIN_ERR_MISSING_MODULE; + return sim_kinematics_switch_register(switcher, mode, &user->module, fwd_iterates); +} + +int sim_kinematics_user_forward(sim_kinematics_user *user, const double *joints, + uint32_t joint_count, sim_posemath_pose *pose, + sim_kinematics_result_info *info) { + if (user == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (!user->initialized) return SIM_KIN_ERR_MISSING_MODULE; + user->forward_calls += 1; + return sim_kinematics_forward_ex(&user->module, joints, joint_count, 0, pose, info); +} + +int sim_kinematics_user_inverse(sim_kinematics_user *user, + const sim_posemath_pose *pose, double *joints, + uint32_t joint_count, + sim_kinematics_result_info *info) { + if (user == 0 || pose == 0 || joints == 0) return SIM_KIN_ERR_ARGUMENT; + if (!user->initialized) return SIM_KIN_ERR_MISSING_MODULE; + user->inverse_calls += 1; + return sim_kinematics_inverse_ex(&user->module, pose, joint_count, 0, joints, info); +} + +int sim_kinematics_user_reject_dynamic(const char *module_path) { + return module_path == 0 ? SIM_KIN_ERR_ARGUMENT : SIM_KIN_ERR_DYNAMIC_MODULE; +} + +uint64_t sim_kinematics_user_state_hash(const sim_kinematics_user *user, + const double *joints, uint32_t joint_count, + const sim_posemath_pose *pose) { + unsigned char bytes[sizeof(uint32_t) * 5 + sizeof(int) + SIM_KIN_USER_NAME_CAPACITY + sizeof(uint64_t)]; + uint64_t module_hash; + size_t offset = 0; + if (user == 0 || joints == 0 || pose == 0 || !user->initialized) return 0; + module_hash = sim_kinematics_state_hash(&user->module, joints, joint_count, pose); + memcpy(bytes + offset, &user->descriptor.abi_version, sizeof(user->descriptor.abi_version)); offset += sizeof(user->descriptor.abi_version); + memcpy(bytes + offset, &user->descriptor.capabilities, sizeof(user->descriptor.capabilities)); offset += sizeof(user->descriptor.capabilities); + memcpy(bytes + offset, &user->descriptor.implementation, sizeof(user->descriptor.implementation)); offset += sizeof(user->descriptor.implementation); + memcpy(bytes + offset, user->descriptor.name, sizeof(user->descriptor.name)); offset += sizeof(user->descriptor.name); + memcpy(bytes + offset, &user->initialized, sizeof(user->initialized)); offset += sizeof(user->initialized); + memcpy(bytes + offset, &user->forward_calls, sizeof(user->forward_calls)); offset += sizeof(user->forward_calls); + memcpy(bytes + offset, &user->inverse_calls, sizeof(user->inverse_calls)); offset += sizeof(user->inverse_calls); + memcpy(bytes + offset, &module_hash, sizeof(module_hash)); offset += sizeof(module_hash); + return user_fnv1a64(bytes, offset); +} diff --git a/wasm-core/tests/sim_event_test.c b/wasm-core/tests/sim_event_test.c index 1fb26a0..9adaa8f 100644 --- a/wasm-core/tests/sim_event_test.c +++ b/wasm-core/tests/sim_event_test.c @@ -24,5 +24,12 @@ int main(void) { assert(sim_event_import(exported, export_size) == SIM_EVENT_OK); assert(sim_event_count() == 1); assert(sim_event_import(exported, export_size - 1) == SIM_EVENT_ERR_ARGUMENT); + ((sim_event_record *)exported)->seq = 2; + assert(sim_event_import(exported, export_size) == SIM_EVENT_ERR_SEQUENCE); + assert(sim_event_cursor() == 1); + ((sim_event_record *)exported)->seq = 1; + ((sim_event_record *)exported)->kind[SIM_EVENT_KIND_CAPACITY - 1U] = 'x'; + assert(sim_event_import(exported, export_size) == SIM_EVENT_ERR_ARGUMENT); + assert(sim_event_cursor() == 1); return 0; } diff --git a/wasm-core/tests/sim_io_test.c b/wasm-core/tests/sim_io_test.c new file mode 100644 index 0000000..8346f11 --- /dev/null +++ b/wasm-core/tests/sim_io_test.c @@ -0,0 +1,89 @@ +#include "sim_io.h" + +#include "sim_hal.h" + +#include +#include +#include +#include + +static sim_posemath_pose pose(double x, double y, double z) { + sim_posemath_pose value = {{x, y, z}, 0, 0, 0, 0, 0, 0}; + return value; +} + +int main(void) { + sim_io io = {0}; + sim_io_state state = {0}; + sim_hal_value pin = {0}; + char canonical[2048]; + uint64_t hash; + uint64_t repeat_hash; + int invalid_pin_status; + int limit_status; + int spindle_step_status; + int tool_busy_status; + int probe_status; + int estop_command_status; + int estop_recover_status; + int recover_status; + int fault_clear_status; + + sim_hal_reset(); + assert(sim_io_init(&io, 2, 32, 0.1, 600.0, 5.0) == SIM_IO_OK); + assert(sim_hal_pin_count() >= 58 && sim_hal_function_count() == 1); + assert(sim_hal_get_pin("motion.probe-input", &pin) == SIM_HAL_OK && pin.type == SIM_HAL_BIT); + invalid_pin_status = sim_hal_set_pin("spindle.0.speed-out", (sim_hal_value){SIM_HAL_BIT, {.bit = 1}}); + assert(invalid_pin_status == SIM_HAL_ERR_TYPE); + limit_status = sim_io_spindle_command(&io, 0, 100001.0, 1); + assert(limit_status == SIM_IO_ERR_LIMIT); + assert(sim_io_spindle_command(&io, 0, 1200.0, 1) == SIM_IO_OK); + spindle_step_status = sim_io_step(&io, 10); + assert(spindle_step_status == SIM_IO_OK && io.state.spindles[0].speed_rpm == 600.0); + assert(sim_io_step(&io, 10) == SIM_IO_OK && io.state.spindles[0].at_speed == 1); + + assert(sim_io_tool_prepare(&io, 7, 3) == SIM_IO_OK); + assert(sim_io_tool_set_prepared(&io, 1) == SIM_IO_OK); + tool_busy_status = sim_io_tool_change(&io); + assert(tool_busy_status == SIM_IO_ERR_BUSY); + assert(sim_io_spindle_command(&io, 0, 0.0, 0) == SIM_IO_OK); + assert(sim_io_step(&io, 20) == SIM_IO_OK); + assert(sim_io_tool_change(&io) == SIM_IO_OK); + assert(sim_io_tool_set_changed(&io, 1) == SIM_IO_OK && io.state.current_tool == 7); + + assert(sim_io_probe_arm(&io, 0) == SIM_IO_OK); + probe_status = sim_io_probe_update(&io, &(sim_posemath_pose){{1.0, 2.0, 3.0}, 0, 0, 0, 0, 0, 0}, 1); + assert(probe_status == SIM_IO_OK && io.state.probe.state == SIM_IO_PROBE_TRIPPED); + assert(sim_io_probe_update(&io, &(sim_posemath_pose){{NAN, 2.0, 3.0}, 0, 0, 0, 0, 0, 0}, 0) == SIM_IO_ERR_NONFINITE); + + assert(sim_io_set_estop(&io, 1) == SIM_IO_OK); + estop_command_status = sim_io_spindle_command(&io, 0, 100.0, 1); + estop_recover_status = sim_io_recover(&io); + assert(estop_command_status == SIM_IO_ERR_ESTOP && estop_recover_status == SIM_IO_ERR_ESTOP); + assert(sim_io_set_estop(&io, 0) == SIM_IO_OK); + recover_status = sim_io_recover(&io); + assert(recover_status == SIM_IO_OK && io.state.ready == 1 && io.state.recovery_epoch == 1); + + assert(sim_io_tool_set_fault(&io, 1, 42) == SIM_IO_OK); + fault_clear_status = sim_io_tool_clear_fault(&io); + assert(fault_clear_status == SIM_IO_ERR_FAULT); + assert(sim_io_tool_set_fault(&io, 0, 0) == SIM_IO_OK); + assert(sim_io_tool_clear_fault(&io) == SIM_IO_OK); + hash = sim_io_state_hash(&io); + repeat_hash = sim_io_state_hash(&io); + assert(hash == repeat_hash); + assert(sim_io_canonical(&io, canonical, sizeof(canonical)) > 1 && canonical[0] == '{'); + assert(sim_io_canonical(&io, 0, 0) == strlen(canonical) + 1); + assert(sim_hal_get_pin("iocontrol.0.tool-number", &pin) == SIM_HAL_OK && pin.value.s32 == 7); + assert(sim_hal_get_pin("spindle.0.brake", &pin) == SIM_HAL_OK && pin.value.bit == 1); + printf("{\"schema\":\"io-samples.v1\",\"pin\":{\"invalid_type\":%d,\"count\":%u,\"functions\":%u},\"spindle\":{\"limit\":%d,\"step\":%d,\"speed\":%.3f,\"at_speed\":%u,\"tool_busy\":%d},\"tool\":{\"state\":%u,\"current\":%d,\"fault_clear\":%d},\"probe\":{\"status\":%d,\"state\":%u,\"position\":[%.3f,%.3f,%.3f]},\"estop\":{\"command\":%d,\"recover_before_clear\":%d,\"recover\":%d},\"state_hash\":%llu,\"repeat_hash\":%llu,\"canonical\":%s}\n", + invalid_pin_status, sim_hal_pin_count(), sim_hal_function_count(), limit_status, + spindle_step_status, io.state.spindles[0].speed_rpm, io.state.spindles[0].at_speed, + tool_busy_status, io.state.tool_state, io.state.current_tool, fault_clear_status, + probe_status, io.state.probe.state, io.state.probe.position.tran.x, + io.state.probe.position.tran.y, io.state.probe.position.tran.z, + estop_command_status, estop_recover_status, recover_status, + (unsigned long long)hash, (unsigned long long)repeat_hash, canonical); + (void)pose; + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_feedback_test.c b/wasm-core/tests/sim_kinematics_feedback_test.c new file mode 100644 index 0000000..ac5f760 --- /dev/null +++ b/wasm-core/tests/sim_kinematics_feedback_test.c @@ -0,0 +1,65 @@ +#include "sim_kinematics_feedback.h" + +#include +#include +#include +#include + +static sim_kinematics_config config_for(int type, const char *coordinates) { + sim_kinematics_config config = {0}; + config.type = type; + config.joint_count = (uint32_t)strlen(coordinates); + strcpy(config.coordinates, coordinates); + return config; +} + +int main(void) { + sim_kinematics kinematics = {0}; + sim_kinematics singular = {0}; + sim_kinematics_feedback feedback = {0}; + sim_kinematics_feedback singular_feedback = {0}; + sim_kinematics_feedback_state state = {0}; + sim_kinematics_result_info info = {0}; + sim_kinematics_config config = config_for(SIM_KIN_TRIVKINS, "XYZ"); + double joints[3] = {1.0, 2.0, 3.0}; + double bad_joints[3] = {1.0, NAN, 3.0}; + double singular_joints[5] = {0, 0, 0, 90, 0}; + uint64_t hash; + uint64_t repeat_hash; + uint32_t valid_tick; + int update_status; + int bad_status; + int singular_status; + int stale_read_status; + int count_status; + + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_feedback_init(&feedback, &kinematics, 3) == SIM_KIN_FEEDBACK_OK); + stale_read_status = sim_kinematics_feedback_read(&feedback, &state); + update_status = sim_kinematics_feedback_update(&feedback, joints, 3, 0, &info); + assert(update_status == SIM_KIN_FEEDBACK_OK); + assert(sim_kinematics_feedback_read(&feedback, &state) == SIM_KIN_FEEDBACK_OK); + valid_tick = state.tick; + hash = sim_kinematics_feedback_state_hash(&feedback); + repeat_hash = sim_kinematics_feedback_state_hash(&feedback); + assert(state.valid && state.tick == 1 && fabs(state.pose.tran.x - 1.0) < 1e-12); + bad_status = sim_kinematics_feedback_update(&feedback, bad_joints, 3, 0, &info); + assert(bad_status == SIM_KIN_FEEDBACK_ERR_NONFINITE && feedback.state.tick == valid_tick); + count_status = sim_kinematics_feedback_update(&feedback, joints, 2, 0, &info); + assert(count_status == SIM_KIN_FEEDBACK_ERR_CONFIGURATION); + + config = config_for(SIM_KIN_XYZBC_TRT, "XYZBC"); + config.mode = SIM_KIN_MODE_INVERSE_ONLY; + assert(sim_kinematics_init(&singular, &config) == SIM_KIN_OK); + assert(sim_kinematics_feedback_init(&singular_feedback, &singular, 5) == SIM_KIN_FEEDBACK_OK); + singular_status = sim_kinematics_feedback_update(&singular_feedback, singular_joints, 5, 0, &info); + assert(singular_status == SIM_KIN_FEEDBACK_ERR_FORWARD && singular_feedback.state.valid == 0 && singular_feedback.state.kinematics_error == SIM_KIN_ERR_UNSUPPORTED); + + printf("{\"schema\":\"kinematics-feedback-samples.v1\",\"nominal\":{\"status\":%d,\"tick\":%u,\"valid\":%u,\"pose\":[%.9f,%.9f,%.9f],\"flags\":[%llu,%llu],\"state_hash\":%llu,\"repeat_hash\":%llu},\"stale_read\":%d,\"nonfinite\":%d,\"count_error\":%d,\"singular\":{\"status\":%d,\"kinematics_error\":%d,\"valid\":%u}}\n", + update_status, state.tick, state.valid, state.pose.tran.x, state.pose.tran.y, state.pose.tran.z, + (unsigned long long)state.forward_flags, (unsigned long long)state.inverse_flags, + (unsigned long long)hash, (unsigned long long)repeat_hash, stale_read_status, + bad_status, count_status, singular_status, singular_feedback.state.kinematics_error, + singular_feedback.state.valid); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_home_limit_test.c b/wasm-core/tests/sim_kinematics_home_limit_test.c new file mode 100644 index 0000000..182cd3e --- /dev/null +++ b/wasm-core/tests/sim_kinematics_home_limit_test.c @@ -0,0 +1,57 @@ +#include "sim_kinematics_home_limit.h" + +#include +#include +#include +#include + +static sim_kinematics_config config_for(void) { + sim_kinematics_config config = {0}; + config.type = SIM_KIN_TRIVKINS; + config.joint_count = 3; + strcpy(config.coordinates, "XYZ"); + config.limit_enabled[0] = 1; config.joint_min[0] = -5.0; config.joint_max[0] = 5.0; + config.limit_enabled[1] = 1; config.joint_min[1] = -5.0; config.joint_max[1] = 5.0; + config.limit_enabled[2] = 1; config.joint_min[2] = -5.0; config.joint_max[2] = 5.0; + return config; +} + +int main(void) { + sim_kinematics kinematics = {0}; + sim_kinematics_home_limit home_limit = {0}; + sim_kinematics_home_limit_state state = {0}; + sim_kinematics_config config = config_for(); + double nominal[3] = {1.0, 2.0, 3.0}; + double outside[3] = {6.0, 2.0, 3.0}; + double nonfinite[3] = {NAN, 2.0, 3.0}; + uint64_t hash; + uint64_t repeat_hash; + int before_home; + int home_status; + int limit_status; + int nonfinite_status; + int sequence_status; + int count_status; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_home_limit_init(&home_limit, &kinematics, 3) == SIM_KIN_HOME_OK); + before_home = sim_kinematics_home_limit_check(&home_limit, nominal, 3); + sequence_status = sim_kinematics_home_limit_home(&home_limit, 0x10000u); + home_status = sim_kinematics_home_limit_home(&home_limit, 7); + assert(home_status == SIM_KIN_HOME_OK && home_limit.state.homed == 1 && home_limit.state.home_sequence == 7); + limit_status = sim_kinematics_home_limit_check(&home_limit, outside, 3); + assert(limit_status == SIM_KIN_HOME_ERR_LIMIT && home_limit.state.joints[0] == 0.0); + nonfinite_status = sim_kinematics_home_limit_check(&home_limit, nonfinite, 3); + count_status = sim_kinematics_home_limit_check(&home_limit, nominal, 2); + assert(sim_kinematics_home_limit_check(&home_limit, nominal, 3) == SIM_KIN_HOME_OK); + assert(sim_kinematics_home_limit_read(&home_limit, &state) == SIM_KIN_HOME_OK); + hash = sim_kinematics_home_limit_state_hash(&home_limit); + repeat_hash = sim_kinematics_home_limit_state_hash(&home_limit); + assert(hash == repeat_hash && state.tick == 2); + printf("{\"schema\":\"kinematics-home-limit-samples.v1\",\"before_home\":%d,\"sequence_error\":%d,\"home_status\":%d,\"limit_status\":%d,\"nonfinite_status\":%d,\"count_status\":%d,\"state\":{\"homed\":%u,\"sequence\":%u,\"tick\":%u,\"pose\":[%.9f,%.9f,%.9f],\"joints\":[%.9f,%.9f,%.9f],\"hash\":%llu,\"repeat_hash\":%llu}}\n", + before_home, sequence_status, home_status, limit_status, nonfinite_status, + count_status, state.homed, state.home_sequence, state.tick, + state.pose.tran.x, state.pose.tran.y, state.pose.tran.z, + state.joints[0], state.joints[1], state.joints[2], + (unsigned long long)hash, (unsigned long long)repeat_hash); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_motion_test.c b/wasm-core/tests/sim_kinematics_motion_test.c new file mode 100644 index 0000000..9642a0c --- /dev/null +++ b/wasm-core/tests/sim_kinematics_motion_test.c @@ -0,0 +1,107 @@ +#include "sim_kinematics_motion.h" + +#include +#include +#include +#include + +static sim_posemath_segment line(double x0, double x1, double velocity) { + sim_posemath_segment segment = { + {{x0, 0, 0}, 0, 0, 0, 0, 0, 0}, + {{x1, 0, 0}, 0, 0, 0, 0, 0, 0}, + {0, 0, 0}, {0, 0, 1}, velocity, 10.0, SIM_POSEMATH_LINEAR, 0 + }; + return segment; +} + +static sim_kinematics_config config_for(int type, const char *coordinates) { + sim_kinematics_config config = {0}; + config.type = type; + config.joint_count = (uint32_t)strlen(coordinates); + strcpy(config.coordinates, coordinates); + return config; +} + +int main(void) { + sim_kinematics kinematics = {0}; + sim_kinematics singular_kins = {0}; + sim_kinematics_config config = config_for(SIM_KIN_TRIVKINS, "XYZ"); + sim_kinematics_motion adapter = {0}; + sim_kinematics_motion singular_adapter = {0}; + sim_kinematics_motion_sample sample = {0}; + sim_posemath_segment segment = line(0.0, 1.0, 1.0); + uint32_t id = 0; + uint32_t pause_tick; + uint64_t nominal_hash; + uint64_t nominal_repeat_hash; + uint64_t full_planner_before; + uint64_t full_planner_after; + uint64_t full_hash; + uint64_t singular_planner_before; + uint64_t singular_planner_after; + int pause_status; + int resume_status; + int full_status; + int singular_status; + int singular_kinematics_error; + int nonfinite_status; + + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_motion_init(&adapter, &kinematics, 0.1, 10.0, 10.0) == SIM_KIN_MOTION_OK); + assert(sim_kinematics_motion_enqueue(&adapter, &segment, &id) == SIM_KIN_MOTION_OK && id == 1); + assert(sim_kinematics_motion_pause(&adapter, 1) == SIM_KIN_MOTION_OK); + pause_tick = adapter.planner.tick; + pause_status = sim_kinematics_motion_step(&adapter); + assert(pause_status == SIM_KIN_MOTION_ERR_STATE && adapter.planner.tick == pause_tick && adapter.count == 0); + assert(sim_kinematics_motion_pause(&adapter, 0) == SIM_KIN_MOTION_OK); + resume_status = sim_kinematics_motion_step(&adapter); + assert(resume_status == SIM_KIN_MOTION_OK); + assert(sim_kinematics_motion_peek(&adapter, &sample) == SIM_KIN_MOTION_OK); + assert(fabs(sample.pose.tran.x - 0.1) < 1e-12 && fabs(sample.joints[0] - 0.1) < 1e-12); + nominal_hash = sim_kinematics_motion_state_hash(&adapter); + nominal_repeat_hash = sim_kinematics_motion_state_hash(&adapter); + assert(sim_kinematics_motion_pop(&adapter, &sample) == SIM_KIN_MOTION_OK); + + assert(sim_kinematics_motion_reset(&adapter) == SIM_KIN_MOTION_OK); + segment = line(0.0, 100.0, 1.0); + assert(sim_kinematics_motion_enqueue(&adapter, &segment, 0) == SIM_KIN_MOTION_OK); + for (uint32_t index = 0; index < SIM_KIN_MOTION_QUEUE_CAPACITY; ++index) + assert(sim_kinematics_motion_step(&adapter) == SIM_KIN_MOTION_OK); + full_planner_before = sim_tp_state_hash(&adapter.planner); + full_status = sim_kinematics_motion_step(&adapter); + full_planner_after = sim_tp_state_hash(&adapter.planner); + full_hash = sim_kinematics_motion_state_hash(&adapter); + assert(full_status == SIM_KIN_MOTION_ERR_CAPACITY); + assert(full_planner_before == full_planner_after && adapter.count == SIM_KIN_MOTION_QUEUE_CAPACITY); + + config = config_for(SIM_KIN_XYZBC_TRT, "XYZBC"); + assert(sim_kinematics_init(&singular_kins, &config) == SIM_KIN_OK); + assert(sim_kinematics_motion_init(&singular_adapter, &singular_kins, 1.0, 10.0, 10.0) == SIM_KIN_MOTION_OK); + segment = line(0.0, 1.0, 1.0); + segment.end.b = 90.0; + assert(sim_kinematics_motion_enqueue(&singular_adapter, &segment, 0) == SIM_KIN_MOTION_OK); + singular_planner_before = sim_tp_state_hash(&singular_adapter.planner); + singular_status = sim_kinematics_motion_step(&singular_adapter); + singular_planner_after = sim_tp_state_hash(&singular_adapter.planner); + singular_kinematics_error = singular_adapter.kinematics_error; + assert(singular_status == SIM_KIN_MOTION_ERR_INVERSE); + assert(singular_kinematics_error == SIM_KIN_ERR_SINGULAR); + assert(singular_planner_before == singular_planner_after && singular_adapter.count == 0); + + segment = line(0.0, 1.0, 1.0); + segment.end.tran.x = NAN; + nonfinite_status = sim_kinematics_motion_enqueue(&singular_adapter, &segment, 0); + assert(nonfinite_status == SIM_KIN_MOTION_ERR_NONFINITE); + + printf("{\"schema\":\"kinematics-motion-samples.v1\",\"nominal\":{\"pause_status\":%d,\"resume_status\":%d,\"tick\":%u,\"pose\":[%.9f,%.9f,%.9f],\"joints\":[%.9f,%.9f,%.9f],\"state_hash\":%llu,\"repeat_hash\":%llu},\"capacity\":{\"status\":%d,\"depth\":%u,\"planner_before\":%llu,\"planner_after\":%llu,\"state_hash\":%llu},\"inverse_failure\":{\"status\":%d,\"kinematics_error\":%d,\"depth\":%u,\"planner_before\":%llu,\"planner_after\":%llu},\"nonfinite_status\":%d}\n", + pause_status, resume_status, sample.tick, sample.pose.tran.x, + sample.pose.tran.y, sample.pose.tran.z, sample.joints[0], + sample.joints[1], sample.joints[2], + (unsigned long long)nominal_hash, (unsigned long long)nominal_repeat_hash, + full_status, adapter.count, (unsigned long long)full_planner_before, + (unsigned long long)full_planner_after, (unsigned long long)full_hash, + singular_status, singular_kinematics_error, singular_adapter.count, + (unsigned long long)singular_planner_before, + (unsigned long long)singular_planner_after, nonfinite_status); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_registry_test.c b/wasm-core/tests/sim_kinematics_registry_test.c new file mode 100644 index 0000000..d4a912c --- /dev/null +++ b/wasm-core/tests/sim_kinematics_registry_test.c @@ -0,0 +1,63 @@ +#include "sim_kinematics.h" + +#include +#include +#include + +int main(void) { + sim_kinematics_capability capability = {0}; + sim_kinematics_config config = {0}; + uint32_t count = sim_kinematics_registry_count(); + uint32_t verified = 0; + uint64_t capability_union = 0; + uint64_t parameter_union = 0; + int lookup_status; + int iterative_require; + int capability_error; + int parameter_error; + int type_mismatch; + int coordinate_error; + int joint_error; + int unknown_name; + int path_name; + int range_error; + + assert(count == 18); + printf("{\"schema\":\"kinematics-registry-samples.v1\",\"entries\":["); + for (uint32_t index = 0; index < count; ++index) { + assert(sim_kinematics_registry_get(index, &capability) == SIM_KIN_OK); + memset(&config, 0, sizeof(config)); + config.type = capability.type; + config.joint_count = capability.min_joints; + strcpy(config.coordinates, capability.required_coordinates[0] == '\0' ? "X" : capability.required_coordinates); + if (sim_kinematics_registry_validate_config(capability.name, &config, 0) == SIM_KIN_OK) verified += 1; + capability_union |= capability.capabilities; + parameter_union |= capability.parameter_mask; + printf("%s{\"name\":\"%s\",\"type\":%d,\"required\":\"%s\",\"min\":%u,\"max\":%u,\"capabilities\":%u,\"parameters\":%llu}", + index == 0 ? "" : ",", capability.name, capability.type, + capability.required_coordinates, capability.min_joints, + capability.max_joints, capability.capabilities, + (unsigned long long)capability.parameter_mask); + } + lookup_status = sim_kinematics_registry_find("xyzac-trt-kins", &capability); + iterative_require = sim_kinematics_registry_require("genserkins", SIM_KIN_CAP_ITERATIVE, SIM_KIN_PARAM_DH, &capability); + capability_error = sim_kinematics_registry_require("trivkins", SIM_KIN_CAP_ITERATIVE, 0, 0); + parameter_error = sim_kinematics_registry_require("trivkins", 0, SIM_KIN_PARAM_TOOL, 0); + memset(&config, 0, sizeof(config)); + config.type = SIM_KIN_TRIVKINS; config.joint_count = 5; strcpy(config.coordinates, "XYZAC"); + type_mismatch = sim_kinematics_registry_validate_config("xyzac-trt-kins", &config, 0); + config.type = SIM_KIN_XYZAC_TRT; strcpy(config.coordinates, "XYZAQ"); + coordinate_error = sim_kinematics_registry_validate_config("xyzac-trt-kins", &config, 0); + strcpy(config.coordinates, "XYZAC"); config.joint_count = 4; + joint_error = sim_kinematics_registry_validate_config("xyzac-trt-kins", &config, 0); + unknown_name = sim_kinematics_registry_find("missing-kins", &capability); + path_name = sim_kinematics_registry_find("plugins/user.so", &capability); + range_error = sim_kinematics_registry_get(count, &capability); + printf("],\"count\":%u,\"verified\":%u,\"capability_union\":%llu,\"parameter_union\":%llu,\"registry_hash\":%llu,\"lookup_status\":%d,\"iterative_require\":%d,\"capability_error\":%d,\"parameter_error\":%d,\"type_mismatch\":%d,\"coordinate_error\":%d,\"joint_error\":%d,\"unknown_name\":%d,\"path_name\":%d,\"range_error\":%d}\n", + count, verified, (unsigned long long)capability_union, + (unsigned long long)parameter_union, + (unsigned long long)sim_kinematics_registry_state_hash(), lookup_status, + iterative_require, capability_error, parameter_error, type_mismatch, + coordinate_error, joint_error, unknown_name, path_name, range_error); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_test.c b/wasm-core/tests/sim_kinematics_test.c index ed54dba..83799d6 100644 --- a/wasm-core/tests/sim_kinematics_test.c +++ b/wasm-core/tests/sim_kinematics_test.c @@ -32,6 +32,11 @@ static double canonical(double value) { return fabs(value) < 5e-10 ? 0.0 : value; } +static double canonical_pentapod(double value) { + double rounded = nearbyint(value * 1000000.0) / 1000000.0; + return fabs(rounded) < 0.0000005 ? 0.0 : rounded; +} + static void emit_coupled_samples(void) { sim_kinematics kinematics = {0}; sim_kinematics_config config; @@ -123,6 +128,11 @@ static void emit_coupled_samples(void) { uint32_t penta_branch; uint32_t penta_alt_branch; uint32_t penta_iterations; + uint32_t penta_alt_iterations; + uint32_t penta_nonpositive_iterations; + uint32_t penta_iter_limit_iterations; + uint32_t penta_max_error_iterations; + uint32_t penta_singular_iterations; double penta_residual; sim_posemath_pose tripod_alt_pose = {0}; sim_posemath_pose genhex_alt_pose = {0}; @@ -341,21 +351,21 @@ static void emit_coupled_samples(void) { genhex_singular = sim_kinematics_forward(&kinematics, genhex_joints, 6, &pose); config = config_for(SIM_KIN_PENTAPOD, "XYZAB"); - config.penta_initial_pose[0] = 0.0; config.penta_initial_pose[1] = 500.0; config.penta_initial_pose[2] = 300.0; config.penta_initial_pose[3] = 2.0 * 0.017453292519943295769; config.penta_initial_pose[4] = -3.0 * 0.017453292519943295769; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); - assert(sim_kinematics_inverse_ex(&kinematics, &(sim_posemath_pose){.tran = {0.0, 500.0, 300.0}, .a = 2.0, .b = -3.0}, 5, 0, output, &genser_info) == SIM_KIN_OK); + assert(sim_kinematics_inverse_ex(&kinematics, &(sim_posemath_pose){.tran = {0.0, 500.0, 300.0}, .a = 0.01, .b = -0.01}, 5, 0, output, &genser_info) == SIM_KIN_OK); memcpy(penta_joints, output, sizeof(penta_joints)); assert(sim_kinematics_forward_ex(&kinematics, output, 5, 0, &pose, &genser_info) == SIM_KIN_OK); - penta_pose[0] = canonical(pose.tran.x); penta_pose[1] = canonical(pose.tran.y); penta_pose[2] = canonical(pose.tran.z); penta_pose[3] = canonical(pose.a); penta_pose[4] = canonical(pose.b); - penta_iterations = genser_info.iterations; penta_residual = genser_info.residual; penta_branch = genser_info.branch_id; + penta_pose[0] = canonical_pentapod(pose.tran.x); penta_pose[1] = canonical_pentapod(pose.tran.y); penta_pose[2] = canonical_pentapod(pose.tran.z); penta_pose[3] = canonical_pentapod(pose.a); penta_pose[4] = canonical_pentapod(pose.b); + pose.tran.x = penta_pose[0]; pose.tran.y = penta_pose[1]; pose.tran.z = penta_pose[2]; pose.a = penta_pose[3]; pose.b = penta_pose[4]; + penta_iterations = genser_info.iterations; penta_residual = nearbyint(genser_info.residual * 1000000000.0) / 1000000000.0; penta_branch = genser_info.branch_id; penta_hash = sim_kinematics_state_hash(&kinematics, output, 5, &pose); - penta_alt_status = sim_kinematics_forward_ex(&kinematics, output, 5, SIM_KIN_GENHEX_ALTERNATE_SEED, &penta_alt_pose, &genser_info); penta_alt_branch = genser_info.branch_id; - penta_nonpositive = sim_kinematics_forward(&kinematics, (double[]){0.0, 1.0, 1.0, 1.0, 1.0}, 5, &pose); + penta_alt_status = sim_kinematics_forward_ex(&kinematics, output, 5, SIM_KIN_GENHEX_ALTERNATE_SEED, &penta_alt_pose, &genser_info); penta_alt_branch = genser_info.branch_id; penta_alt_iterations = genser_info.iterations; + penta_nonpositive = sim_kinematics_forward_ex(&kinematics, (double[]){0.0, 1.0, 1.0, 1.0, 1.0}, 5, 0, &pose, &genser_info); penta_nonpositive_iterations = genser_info.iterations; config.penta_initial_pose[3] = 0.0; config.penta_initial_pose[4] = 0.0; - config.penta_iteration_limit = 1; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_iter_limit_error = sim_kinematics_forward(&kinematics, penta_joints, 5, &pose); - config.penta_iteration_limit = 120; config.penta_max_error = 0.000001; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_max_error_status = sim_kinematics_forward(&kinematics, penta_joints, 5, &pose); + config.penta_iteration_limit = 1; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_iter_limit_error = sim_kinematics_forward_ex(&kinematics, penta_joints, 5, 0, &pose, &genser_info); penta_iter_limit_iterations = genser_info.iterations; + config.penta_iteration_limit = 120; config.penta_max_error = 0.000001; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_max_error_status = sim_kinematics_forward_ex(&kinematics, penta_joints, 5, 0, &pose, &genser_info); penta_max_error_iterations = genser_info.iterations; config.penta_max_error = 1000.0; config.limit_enabled[0] = 1; config.joint_min[0] = 0.0; config.joint_max[0] = 1.0; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_limit_error = sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {0.0, 500.0, 300.0}, .a = 2.0, .b = -3.0}, output, 5); - config.limit_enabled[0] = 0; config.penta_base[0][0] = 1.0; config.penta_base[0][1] = 1.0; config.penta_base[0][2] = 1.0; for (int duplicate = 1; duplicate < 5; ++duplicate) memcpy(config.penta_base[duplicate], config.penta_base[0], sizeof(config.penta_base[0])); assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_singular = sim_kinematics_forward(&kinematics, penta_joints, 5, &pose); + config.limit_enabled[0] = 0; config.penta_base[0][0] = 1.0; config.penta_base[0][1] = 1.0; config.penta_base[0][2] = 1.0; for (int duplicate = 1; duplicate < 5; ++duplicate) memcpy(config.penta_base[duplicate], config.penta_base[0], sizeof(config.penta_base[0])); assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); penta_singular = sim_kinematics_forward_ex(&kinematics, penta_joints, 5, 0, &pose, &genser_info); penta_singular_iterations = genser_info.iterations; printf("{\"schema\":\"kinematics-coupled-samples.v1\"," "\"corexy\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"state_hash\":%llu}," @@ -378,7 +388,7 @@ static void emit_coupled_samples(void) { "\"rotarydelta\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"singular\":%d,\"geometry_error\":%d,\"branch\":%u,\"iterations\":%u}," "\"tripod\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"no_solution\":%d,\"singular\":%d,\"limit_error\":%d,\"geometry_error\":%d,\"branch\":%u,\"iterations\":%u}," "\"genhex\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"nonpositive\":%d,\"iteration_limit\":%d,\"max_error\":%d,\"singular\":%d,\"limit_error\":%d,\"branch\":%u,\"iterations\":%u,\"residual\":%.12f}," - "\"pentapod\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"nonpositive\":%d,\"iteration_limit\":%d,\"max_error\":%d,\"singular\":%d,\"limit_error\":%d,\"branch\":%u,\"iterations\":%u,\"residual\":%.12f}}}\n", + "\"pentapod\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"alternate_iterations\":%u,\"nonpositive\":%d,\"nonpositive_iterations\":%u,\"iteration_limit\":%d,\"iteration_limit_iterations\":%u,\"max_error\":%d,\"max_error_iterations\":%u,\"singular\":%d,\"singular_iterations\":%u,\"limit_error\":%d,\"branch\":%u,\"iterations\":%u,\"residual\":%.12f}}}\n", corexy_pose[0], corexy_pose[1], corexy_pose[2], corexy_joints[0], corexy_joints[1], corexy_joints[2], (unsigned long long)corexy_hash, rose_pose[0], rose_pose[1], rose_pose[2], rose_joints[0], rose_joints[1], rose_joints[2], rose_branch, (unsigned long long)rose_hash, max_pose[0], max_pose[1], max_pose[2], max_joints[0], max_joints[1], max_joints[2], max_joints[3], max_joints[4], max_joints[5], (unsigned long long)max_hash, @@ -399,7 +409,7 @@ static void emit_coupled_samples(void) { rdelta_alt_status, rdelta_alt_branch, rdelta_alt_pose.tran.x, rdelta_alt_pose.tran.y, rdelta_alt_pose.tran.z, rdelta_singular, rdelta_geometry_status, rdelta_branch, rdelta_iterations, tripod_alt_status, tripod_alt_branch, tripod_alt_pose.tran.x, tripod_alt_pose.tran.y, tripod_alt_pose.tran.z, tripod_no_solution, tripod_singular, tripod_limit_error, tripod_geometry_status, tripod_branch, delta_info.iterations, genhex_alt_status, genhex_alt_branch, genhex_alt_pose.tran.x, genhex_alt_pose.tran.y, genhex_alt_pose.tran.z, genhex_nonpositive, genhex_iter_limit_error, genhex_max_error_status, genhex_singular, genhex_limit_error, genhex_branch, genhex_iterations, genhex_residual, - penta_alt_status, penta_alt_branch, penta_alt_pose.tran.x, penta_alt_pose.tran.y, penta_alt_pose.tran.z, penta_nonpositive, penta_iter_limit_error, penta_max_error_status, penta_singular, penta_limit_error, penta_branch, penta_iterations, penta_residual); + penta_alt_status, penta_alt_branch, penta_alt_pose.tran.x, penta_alt_pose.tran.y, penta_alt_pose.tran.z, penta_alt_iterations, penta_nonpositive, penta_nonpositive_iterations, penta_iter_limit_error, penta_iter_limit_iterations, penta_max_error_status, penta_max_error_iterations, penta_singular, penta_singular_iterations, penta_limit_error, penta_branch, penta_iterations, penta_residual); } int sim_kinematics_test_run(void) { @@ -580,6 +590,26 @@ int sim_kinematics_test_run(void) { config.dh_alpha[0] = NAN; assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_NONFINITE); + /* Pentapod owns XYZAB only: yaw is not mapped, and LinuxCNC applies the + * tool offset to both base and effector HAL geometry. */ + config = config_for(SIM_KIN_PENTAPOD, "XYZAB"); + config.penta_initial_pose[3] = 2.0 * 0.017453292519943295769; + config.penta_initial_pose[4] = -3.0 * 0.017453292519943295769; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + pose = (sim_posemath_pose){.tran = {0.0, 500.0, 300.0}, .a = 2.0, .b = -3.0, .c = 17.0}; + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 5) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, joints, 5, &pose) == SIM_KIN_OK); + assert(fabs(pose.c) < 1e-12); + config.penta_tool_offset = 25.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {0.0, 500.0, 300.0}, .a = 2.0, .b = -3.0}, joints, 5) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, joints, 5, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.z - 300.0) < 1e-9); + config.penta_tool_offset = NAN; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_NONFINITE); + config = config_for(SIM_KIN_PENTAPOD, "XYZABC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_CONFIGURATION); + emit_coupled_samples(); return 0; } diff --git a/wasm-core/tests/sim_switchkins_test.c b/wasm-core/tests/sim_switchkins_test.c new file mode 100644 index 0000000..6a4b072 --- /dev/null +++ b/wasm-core/tests/sim_switchkins_test.c @@ -0,0 +1,85 @@ +#include "sim_kinematics.h" + +#include +#include +#include +#include + +static sim_kinematics_config config_for(int type, const char *coordinates) { + sim_kinematics_config config = {0}; + config.type = type; + config.joint_count = (uint32_t)strlen(coordinates); + strncpy(config.coordinates, coordinates, sizeof(config.coordinates) - 1); + return config; +} + +int main(void) { + sim_kinematics identity = {0}; + sim_kinematics trt = {0}; + sim_kinematics_config config; + sim_kinematics_switch switcher = {0}; + sim_kinematics_result_info info = {0}; + sim_posemath_pose initial = {0}; + sim_posemath_pose switched = {0}; + sim_posemath_pose returned = {0}; + double joints[5] = {10.0, 20.0, 30.0, 5.0, 15.0}; + uint64_t initial_hash; + uint64_t switched_hash; + uint64_t returned_hash; + uint64_t returned_repeat_hash; + int forward_status; + int select_to_trt; + int select_to_identity; + int invalid_mode; + int missing_module; + int register_missing; + int begin_status; + int interrupted_begin; + int abort_status; + int interrupted_commit; + + config = config_for(SIM_KIN_TRIVKINS, "XYZAC"); + assert(sim_kinematics_init(&identity, &config) == SIM_KIN_OK); + config = config_for(SIM_KIN_XYZAC_TRT, "XYZAC"); + assert(sim_kinematics_init(&trt, &config) == SIM_KIN_OK); + assert(sim_kinematics_switch_init(&switcher, 0, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 0, &identity, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 1, &trt, 0) == SIM_KIN_OK); + register_missing = sim_kinematics_switch_register(&switcher, 2, 0, 0); + forward_status = sim_kinematics_switch_forward(&switcher, joints, 5, &initial, &info); + assert(forward_status == SIM_KIN_OK); + initial_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &initial); + select_to_trt = sim_kinematics_switch_select(&switcher, 1, joints, 5, &switched, &info); + assert(select_to_trt == SIM_KIN_OK); + assert(fabs(switched.tran.x - initial.tran.x) < 1e-9); + assert(fabs(switched.tran.y - initial.tran.y) < 1e-9); + assert(fabs(switched.tran.z - initial.tran.z) < 1e-9); + switched_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &switched); + select_to_identity = sim_kinematics_switch_select(&switcher, 0, joints, 5, &returned, &info); + assert(select_to_identity == SIM_KIN_OK); + assert(fabs(returned.tran.x - initial.tran.x) < 1e-9); + assert(fabs(returned.tran.y - initial.tran.y) < 1e-9); + assert(fabs(returned.tran.z - initial.tran.z) < 1e-9); + returned_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &returned); + returned_repeat_hash = sim_kinematics_switch_state_hash(&switcher, joints, 5, &returned); + invalid_mode = sim_kinematics_switch_select(&switcher, 3, joints, 5, &returned, &info); + missing_module = sim_kinematics_switch_select(&switcher, 2, joints, 5, &returned, &info); + begin_status = sim_kinematics_switch_begin(&switcher, 1); + interrupted_begin = sim_kinematics_switch_begin(&switcher, 0); + abort_status = sim_kinematics_switch_abort(&switcher); + assert(sim_kinematics_switch_begin(&switcher, 1) == SIM_KIN_OK); + abort_status = sim_kinematics_switch_abort(&switcher); + interrupted_commit = sim_kinematics_switch_commit(&switcher, joints, 5, &returned, &info); + assert(sim_kinematics_switch_active(&switcher) == 0); + + printf("{\"schema\":\"switchkins-samples.v1\",\"registered\":[%u,%u,%u],\"initial_mode\":0,\"active_mode\":%d,\"forward_status\":%d,\"switch_to_trt\":%d,\"switch_to_identity\":%d,\"initial_pose\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"switched_pose\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"returned_pose\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"initial_hash\":%llu,\"switched_hash\":%llu,\"returned_hash\":%llu,\"returned_repeat_hash\":%llu,\"invalid_mode\":%d,\"missing_module\":%d,\"register_missing\":%d,\"begin_status\":%d,\"interrupted_begin\":%d,\"abort_status\":%d,\"interrupted_commit\":%d,\"generation\":%u,\"switch_count\":%u,\"abort_count\":%u}\n", + switcher.registered[0], switcher.registered[1], switcher.registered[2], switcher.active_mode, + forward_status, select_to_trt, select_to_identity, + initial.tran.x, initial.tran.y, initial.tran.z, initial.a, initial.b, initial.c, + switched.tran.x, switched.tran.y, switched.tran.z, switched.a, switched.b, switched.c, + returned.tran.x, returned.tran.y, returned.tran.z, returned.a, returned.b, returned.c, + (unsigned long long)initial_hash, (unsigned long long)switched_hash, (unsigned long long)returned_hash, (unsigned long long)returned_repeat_hash, + invalid_mode, missing_module, register_missing, begin_status, interrupted_begin, abort_status, + interrupted_commit, switcher.generation, switcher.switch_count, switcher.abort_count); + return 0; +} diff --git a/wasm-core/tests/sim_userkins_test.c b/wasm-core/tests/sim_userkins_test.c new file mode 100644 index 0000000..50be127 --- /dev/null +++ b/wasm-core/tests/sim_userkins_test.c @@ -0,0 +1,126 @@ +#include "sim_kinematics.h" + +#include +#include +#include +#include + +static sim_kinematics_config config_for(const char *coordinates) { + sim_kinematics_config config = {0}; + config.joint_count = (uint32_t)strlen(coordinates); + strncpy(config.coordinates, coordinates, sizeof(config.coordinates) - 1); + return config; +} + +static sim_kinematics_user_descriptor identity_descriptor(void) { + sim_kinematics_user_descriptor descriptor = {0}; + descriptor.abi_version = SIM_KIN_USER_ABI_VERSION; + descriptor.capabilities = SIM_KIN_USER_CAP_FORWARD | SIM_KIN_USER_CAP_INVERSE | + SIM_KIN_USER_CAP_STATIC; + descriptor.implementation = SIM_KIN_USER_IDENTITY; + strcpy(descriptor.name, "userk.identity"); + descriptor.config = config_for("XYZAC"); + return descriptor; +} + +static sim_kinematics_user_descriptor genser_descriptor(void) { + sim_kinematics_user_descriptor descriptor = {0}; + descriptor.abi_version = SIM_KIN_USER_ABI_VERSION; + descriptor.capabilities = SIM_KIN_USER_CAP_FORWARD | SIM_KIN_USER_CAP_INVERSE | + SIM_KIN_USER_CAP_STATIC; + descriptor.implementation = SIM_KIN_USER_GENSER; + strcpy(descriptor.name, "ugenser.static"); + descriptor.config = config_for("XYZABC"); + descriptor.config.dh_joint_count = 6; + descriptor.config.max_iterations = 200; + descriptor.config.convergence_tolerance = 1e-7; + descriptor.config.dh_a[1] = 85.0; + descriptor.config.dh_a[2] = 380.0; + descriptor.config.dh_a[3] = 100.0; + descriptor.config.dh_alpha[1] = -1.5707963267948966; + descriptor.config.dh_alpha[3] = -1.5707963267948966; + descriptor.config.dh_alpha[4] = 1.5707963267948966; + descriptor.config.dh_alpha[5] = -1.5707963267948966; + descriptor.config.dh_d[0] = 350.0; + descriptor.config.dh_d[3] = 425.0; + descriptor.config.dh_d[5] = 235.0; + return descriptor; +} + +int main(void) { + sim_kinematics_user identity = {0}; + sim_kinematics_user genser = {0}; + sim_kinematics_user uninitialized = {0}; + sim_kinematics_user_descriptor descriptor = identity_descriptor(); + sim_kinematics_result_info info = {0}; + sim_kinematics base = {0}; + sim_kinematics_config base_config = config_for("XYZAC"); + sim_kinematics_switch switcher = {0}; + sim_posemath_pose identity_pose = {0}; + sim_posemath_pose genser_pose = {0}; + double identity_joints[5] = {10.0, 20.0, 30.0, 5.0, 15.0}; + double identity_roundtrip[5] = {0}; + double genser_joints[6] = {0.0, 10.0, -20.0, 30.0, 15.0, -10.0}; + double genser_roundtrip[6] = {0}; + uint64_t identity_hash; + uint64_t identity_repeat_hash; + uint64_t genser_hash; + uint64_t genser_repeat_hash; + int switch_to_user; + int abi_error; + int capability_error; + int path_name_error; + int missing_implementation; + int dynamic_path_error; + int uninitialized_error; + + assert(sim_kinematics_user_init(&identity, &descriptor) == SIM_KIN_OK); + assert(sim_kinematics_user_forward(&identity, identity_joints, 5, &identity_pose, &info) == SIM_KIN_OK); + assert(sim_kinematics_user_inverse(&identity, &identity_pose, identity_roundtrip, 5, &info) == SIM_KIN_OK); + assert(memcmp(identity_joints, identity_roundtrip, sizeof(identity_joints)) == 0); + identity_hash = sim_kinematics_user_state_hash(&identity, identity_roundtrip, 5, &identity_pose); + identity_repeat_hash = sim_kinematics_user_state_hash(&identity, identity_roundtrip, 5, &identity_pose); + + base_config.type = SIM_KIN_TRIVKINS; + assert(sim_kinematics_init(&base, &base_config) == SIM_KIN_OK); + assert(sim_kinematics_switch_init(&switcher, 0, 0) == SIM_KIN_OK); + assert(sim_kinematics_switch_register(&switcher, 0, &base, 0) == SIM_KIN_OK); + assert(sim_kinematics_user_bind_switch(&identity, &switcher, 2, 0) == SIM_KIN_OK); + switch_to_user = sim_kinematics_switch_select(&switcher, 2, identity_roundtrip, 5, &identity_pose, &info); + assert(switch_to_user == SIM_KIN_OK && sim_kinematics_switch_active(&switcher) == 2); + + descriptor = genser_descriptor(); + assert(sim_kinematics_user_init(&genser, &descriptor) == SIM_KIN_OK); + assert(sim_kinematics_user_forward(&genser, genser_joints, 6, &genser_pose, &info) == SIM_KIN_OK); + assert(sim_kinematics_user_inverse(&genser, &genser_pose, genser_roundtrip, 6, &info) == SIM_KIN_OK); + assert(sim_kinematics_user_forward(&genser, genser_roundtrip, 6, &genser_pose, &info) == SIM_KIN_OK); + genser_hash = sim_kinematics_user_state_hash(&genser, genser_roundtrip, 6, &genser_pose); + genser_repeat_hash = sim_kinematics_user_state_hash(&genser, genser_roundtrip, 6, &genser_pose); + + descriptor = identity_descriptor(); + descriptor.abi_version += 1; + abi_error = sim_kinematics_user_init(&uninitialized, &descriptor); + descriptor = identity_descriptor(); + descriptor.capabilities &= ~SIM_KIN_USER_CAP_STATIC; + capability_error = sim_kinematics_user_init(&uninitialized, &descriptor); + descriptor = identity_descriptor(); + strcpy(descriptor.name, "plugins/user.so"); + path_name_error = sim_kinematics_user_init(&uninitialized, &descriptor); + descriptor = identity_descriptor(); + descriptor.implementation = 99; + missing_implementation = sim_kinematics_user_init(&uninitialized, &descriptor); + dynamic_path_error = sim_kinematics_user_reject_dynamic("/tmp/userkins.so"); + uninitialized_error = sim_kinematics_user_forward(&uninitialized, identity_joints, 5, &identity_pose, &info); + + printf("{\"schema\":\"userkins-samples.v1\",\"abi_version\":%u,\"capabilities\":%u,\"identity\":{\"pose\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"joints\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"forward_calls\":%u,\"inverse_calls\":%u,\"state_hash\":%llu,\"repeat_hash\":%llu},\"ugenser\":{\"pose\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"forward_calls\":%u,\"inverse_calls\":%u,\"iterations\":%u,\"residual\":%.12f,\"state_hash\":%llu,\"repeat_hash\":%llu},\"switch_to_user\":%d,\"active_mode\":%d,\"abi_error\":%d,\"capability_error\":%d,\"path_name_error\":%d,\"missing_implementation\":%d,\"dynamic_path_error\":%d,\"uninitialized_error\":%d}\n", + SIM_KIN_USER_ABI_VERSION, identity.descriptor.capabilities, + identity_pose.tran.x, identity_pose.tran.y, identity_pose.tran.z, identity_pose.a, identity_pose.c, + identity_roundtrip[0], identity_roundtrip[1], identity_roundtrip[2], identity_roundtrip[3], identity_roundtrip[4], + identity.forward_calls, identity.inverse_calls, (unsigned long long)identity_hash, (unsigned long long)identity_repeat_hash, + genser_pose.tran.x, genser_pose.tran.y, genser_pose.tran.z, genser_pose.a, genser_pose.b, genser_pose.c, + genser.forward_calls, genser.inverse_calls, info.iterations, info.residual, + (unsigned long long)genser_hash, (unsigned long long)genser_repeat_hash, + switch_to_user, sim_kinematics_switch_active(&switcher), abi_error, capability_error, + path_name_error, missing_implementation, dynamic_path_error, uninitialized_error); + return 0; +} diff --git a/web/worker/replay.mjs b/web/worker/replay.mjs index 59c1679..3feba6f 100644 --- a/web/worker/replay.mjs +++ b/web/worker/replay.mjs @@ -1,8 +1,17 @@ const EVENT_SCHEMA = "event-log.v1"; const SNAPSHOT_SCHEMA = "snapshot.v1"; +const REPLAY_SCHEMA = "replay-timeline.v1"; export function canonicalJson(value) { - if (value === null || typeof value !== "object") return JSON.stringify(value); + if (value === null) return "null"; + if (typeof value === "number") { + if (!Number.isFinite(value)) throw new Error("canonical_nonfinite"); + return JSON.stringify(value); + } + if (typeof value !== "object") { + if (typeof value === "undefined" || typeof value === "function" || typeof value === "symbol") throw new Error("canonical_unsupported"); + return JSON.stringify(value); + } if (Array.isArray(value)) return `[${value.map(canonicalJson).join(",")}]`; return `{${Object.keys(value).sort().map((key) => `${JSON.stringify(key)}:${canonicalJson(value[key])}`).join(",")}}`; } @@ -21,6 +30,15 @@ function requireInteger(value, name) { if (!Number.isSafeInteger(value) || value < 0) throw new Error(`invalid_${name}`); } +function requireSequence(value, name) { + requireInteger(value, name); + if (value === 0) throw new Error(`invalid_${name}`); +} + +function clone(value) { + return value === undefined ? undefined : structuredClone(value); +} + export class EventLog { constructor(events = []) { this.events = []; @@ -28,27 +46,30 @@ export class EventLog { } append(seq, tick, kind, payload = {}, expectedHash = undefined) { - requireInteger(seq, "seq"); + requireSequence(seq, "seq"); requireInteger(tick, "tick"); if (seq !== this.cursor + 1) throw new Error("event_sequence_gap"); if (tick < this.tick) throw new Error("event_tick_regression"); if (typeof kind !== "string" || kind.length === 0 || kind.length > 64) throw new Error("event_kind_invalid"); + if (!payload || typeof payload !== "object" || Array.isArray(payload)) throw new Error("event_payload_invalid"); const payloadHash = fnv1a64(payload); if (expectedHash !== undefined && expectedHash !== payloadHash) throw new Error("event_payload_hash_mismatch"); - const event = { seq, tick, kind, payload, payload_hash: payloadHash }; + const event = { seq, tick, kind, payload: clone(payload), payload_hash: payloadHash }; this.events.push(event); - return event; + return clone(event); } get cursor() { return this.events.length === 0 ? 0 : this.events[this.events.length - 1].seq; } get tick() { return this.events.length === 0 ? 0 : this.events[this.events.length - 1].tick; } export() { - return { schema: EVENT_SCHEMA, cursor: this.cursor, tick: this.tick, events: this.events.map((event) => ({ ...event })) }; + return { schema: EVENT_SCHEMA, cursor: this.cursor, tick: this.tick, events: clone(this.events) }; } static import(value) { if (!value || value.schema !== EVENT_SCHEMA || !Array.isArray(value.events)) throw new Error("event_log_schema"); + requireInteger(value.cursor, "event_cursor"); + requireInteger(value.tick, "event_tick"); const log = new EventLog(value.events); if (log.cursor !== value.cursor || log.tick !== value.tick) throw new Error("event_log_cursor_mismatch"); return log; @@ -62,9 +83,10 @@ export class SnapshotStore { } create(seq, tick, state, baseSnapshotId = null) { - requireInteger(seq, "snapshot_seq"); + requireSequence(seq, "snapshot_seq"); requireInteger(tick, "snapshot_tick"); if (baseSnapshotId !== null && !this.snapshots.has(baseSnapshotId)) throw new Error("snapshot_base_missing"); + if (state === undefined) throw new Error("snapshot_state_missing"); const stateHash = fnv1a64(state); const snapshot = { schema: SNAPSHOT_SCHEMA, @@ -72,33 +94,43 @@ export class SnapshotStore { base_snapshot_id: baseSnapshotId, seq, tick, - state, + state: clone(state), state_hash: stateHash, }; + const existingAtSeq = [...this.snapshots.values()].find((candidate) => candidate.seq === seq); + if (existingAtSeq && existingAtSeq.snapshot_id !== snapshot.snapshot_id) throw new Error("snapshot_sequence_duplicate"); + if (existingAtSeq) return clone(existingAtSeq); this.snapshots.set(snapshot.snapshot_id, snapshot); - return snapshot; + return clone(snapshot); } importSnapshot(snapshot) { if (!snapshot || snapshot.schema !== SNAPSHOT_SCHEMA || typeof snapshot.snapshot_id !== "string") throw new Error("snapshot_schema"); + requireSequence(snapshot.seq, "snapshot_seq"); + requireInteger(snapshot.tick, "snapshot_tick"); + if (snapshot.base_snapshot_id !== null && typeof snapshot.base_snapshot_id !== "string") throw new Error("snapshot_base_invalid"); if (snapshot.base_snapshot_id !== null && !this.snapshots.has(snapshot.base_snapshot_id)) throw new Error("snapshot_base_missing"); if (fnv1a64(snapshot.state) !== snapshot.state_hash) throw new Error("snapshot_hash_mismatch"); if (snapshot.snapshot_id !== `snap:${snapshot.seq}:${snapshot.state_hash}`) throw new Error("snapshot_id_mismatch"); - this.snapshots.set(snapshot.snapshot_id, { ...snapshot }); - return snapshot; + if (this.snapshots.has(snapshot.snapshot_id)) throw new Error("snapshot_duplicate"); + if ([...this.snapshots.values()].some((candidate) => candidate.seq === snapshot.seq)) throw new Error("snapshot_sequence_duplicate"); + this.snapshots.set(snapshot.snapshot_id, clone(snapshot)); + return clone(snapshot); } latest() { - return this.snapshots.size === 0 ? null : [...this.snapshots.values()][this.snapshots.size - 1]; + if (this.snapshots.size === 0) return null; + return clone([...this.snapshots.values()].sort((left, right) => left.seq - right.seq || left.tick - right.tick || left.snapshot_id.localeCompare(right.snapshot_id)).at(-1)); } export() { - return { schema: SNAPSHOT_SCHEMA, snapshots: [...this.snapshots.values()].map((snapshot) => ({ ...snapshot })) }; + return { schema: SNAPSHOT_SCHEMA, snapshots: clone([...this.snapshots.values()].sort((left, right) => left.seq - right.seq || left.tick - right.tick || left.snapshot_id.localeCompare(right.snapshot_id))) }; } } export class ReplayTimeline { constructor(value = null) { + if (value !== null && (!value || value.schema !== REPLAY_SCHEMA || !value.events || !value.snapshots)) throw new Error("replay_schema"); this.events = value ? EventLog.import(value.events) : new EventLog(); this.snapshots = value ? new SnapshotStore(value.snapshots.snapshots) : new SnapshotStore(); } @@ -108,18 +140,20 @@ export class ReplayTimeline { } checkpoint(seq, tick, state, baseSnapshotId = null) { + if (seq !== this.events.cursor || tick !== this.events.tick) throw new Error("checkpoint_cursor_mismatch"); return this.snapshots.create(seq, tick, state, baseSnapshotId); } replay(initialState, apply) { - let state = initialState; - for (const event of this.events.events) state = apply(state, event); + if (typeof apply !== "function") throw new Error("replay_apply_invalid"); + let state = clone(initialState); + for (const event of this.events.events) state = apply(state, clone(event)); return { state, state_hash: fnv1a64(state), cursor: this.events.cursor, tick: this.events.tick }; } export() { - return { events: this.events.export(), snapshots: this.snapshots.export() }; + return { schema: REPLAY_SCHEMA, events: this.events.export(), snapshots: this.snapshots.export() }; } } -export { EVENT_SCHEMA, SNAPSHOT_SCHEMA }; +export { EVENT_SCHEMA, SNAPSHOT_SCHEMA, REPLAY_SCHEMA }; diff --git a/web/worker/sim-session.mjs b/web/worker/sim-session.mjs index 41f193f..85208ba 100644 --- a/web/worker/sim-session.mjs +++ b/web/worker/sim-session.mjs @@ -1,9 +1,18 @@ import { ReplayTimeline, fnv1a64 } from "./replay.mjs"; import { capabilities, validateLimit } from "./capabilities.mjs"; import { mapCoreError } from "./error-map.mjs"; +import { createCheckpoint, recoverSimulation } from "../workspace/recovery.mjs"; const PROTOCOL_SCHEMA = 1; -const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m0-c1"; +const CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1"; + +const OPERATION_KINDS = new Set([ + "LOAD_WORKSPACE", "SIM_STEP", "DESTROY", "CHECKPOINT", "RECOVER", "ABORT", + "COMMAND", "START", "STOP", "RESET", "PROGRAM_LOAD", "PROGRAM_RUN", + "PROGRAM_PAUSE", "PROGRAM_RESUME", "PROGRAM_ABORT", "JOG_START", "JOG_STOP", + "HOME", "SET_MODE", "SET_OVERRIDE", "SPINDLE_COMMAND", "TOOL_PREPARE", + "TOOL_CHANGE", "PROBE_CONFIG", "HAL_COMMAND", "HAL_SET", +]); function text(value) { return typeof value === "string" && value.length > 0 ? value : null; @@ -42,6 +51,7 @@ export class SimSession { this.tick = 0; this.created = false; this.timeline = new ReplayTimeline(); + this.operations = new Map(); call(core, "sim_protocol_reset"); if (typeof core.ccall === "function") core.ccall("sim_event_reset", null, [], []); } @@ -75,6 +85,60 @@ export class SimSession { return this.envelope("ERROR", input, mapped); } + operationState(input) { + if (!text(input.operation_id) || !OPERATION_KINDS.has(input.kind)) return null; + return this.operations.get(input.operation_id) ?? null; + } + + stateForCheckpoint() { + return { + context_id: this.contextId, + session_id: this.sessionId, + tick: this.tick, + created: this.created, + protocol_seq: this.timeline.events.cursor, + }; + } + + createCheckpoint() { + const latest = this.timeline.snapshots.latest(); + if (!latest || latest.seq !== this.timeline.events.cursor || latest.tick !== this.timeline.events.tick) { + this.timeline.checkpoint( + this.timeline.events.cursor, + this.timeline.events.tick, + this.stateForCheckpoint(), + latest?.snapshot_id ?? null, + ); + } + return createCheckpoint({ + contextId: this.contextId, + timeline: this.timeline, + state: this.stateForCheckpoint(), + operations: [...this.operations.values()], + }); + } + + restoreCheckpoint(checkpoint, events = null, reconcile = undefined) { + const result = recoverSimulation({ + checkpoint, + contextId: this.contextId, + events, + reconcile, + apply: (state, event) => ({ ...state, tick: event.tick }), + }); + if (result.status === "recovered" || result.status === "aborted") { + this.tick = result.simulation_tick; + this.timeline = new ReplayTimeline(checkpoint.timeline); + if (events?.schema === "replay-timeline.v1") { + for (const event of events.events.events.slice(this.timeline.events.cursor)) this.timeline.appendEvent(event.seq, event.tick, event.kind, event.payload, event.payload_hash); + } else if (Array.isArray(events)) { + for (const event of events) this.timeline.appendEvent(event.seq, event.tick, event.kind, event.payload, event.payload_hash); + } + this.operations = new Map(result.operations.map((operation) => [operation.operation_id, operation])); + } + return result; + } + validateEnvelope(input) { if (!input || typeof input !== "object") return ["protocol_argument", "invalid_envelope"]; if (input.schema_version !== PROTOCOL_SCHEMA) return ["protocol_schema", "unsupported_schema"]; @@ -90,53 +154,106 @@ export class SimSession { if (invalid) return this.error(input ?? {}, invalid[0], invalid[1]); const result = call(this.core, "sim_protocol_accept", input.schema_version, input.seq, input.kind, input.operation_id ?? "", input.simulation_tick ?? this.tick); if (result !== 0) return this.coreError(input, result, "sim_protocol_accept"); + const existingOperation = this.operationState(input); + if (existingOperation?.response) { + if (existingOperation.kind !== input.kind) return this.error(input, "recovery_operation_conflict", "operation_id_conflict"); + try { + const replayTick = Number.isSafeInteger(input.simulation_tick) && input.simulation_tick >= this.tick ? input.simulation_tick : this.tick; + this.timeline.appendEvent(input.seq, replayTick, "OPERATION_REPLAY", { operation_id: input.operation_id, original_seq: existingOperation.seq }); + const replayEventResult = appendCoreEvent(this.core, input.seq, replayTick, "OPERATION_REPLAY", { operation_id: input.operation_id, original_seq: existingOperation.seq }); + if (replayEventResult !== 0) return this.error(input, "event_log", "core_event_append_failed"); + this.tick = replayTick; + return { ...existingOperation.response, replayed: true, seq: input.seq }; + } catch (error) { + return this.error(input, "event_log", String(error?.message ?? error)); + } + } + if (text(input.operation_id) && OPERATION_KINDS.has(input.kind)) { + this.operations.set(input.operation_id, { operation_id: input.operation_id, status: "executing", seq: input.seq, kind: input.kind, result_hash: null }); + } if (Number.isSafeInteger(input.simulation_tick) && input.simulation_tick >= this.tick) this.tick = input.simulation_tick; const eventTick = input.kind === "SIM_STEP" && Number.isSafeInteger(input.payload?.cycles) ? this.tick + input.payload.cycles : this.tick; try { this.timeline.appendEvent(input.seq, eventTick, input.kind, input.payload ?? {}); } catch (error) { + if (text(input.operation_id)) this.operations.delete(input.operation_id); return this.error(input, "event_log", String(error?.message ?? error)); } const coreEventResult = appendCoreEvent(this.core, input.seq, eventTick, input.kind, input.payload ?? {}); - if (coreEventResult !== 0) return this.error(input, "event_log", "core_event_append_failed"); + if (coreEventResult !== 0) { + if (text(input.operation_id)) this.operations.delete(input.operation_id); + return this.error(input, "event_log", "core_event_append_failed"); + } + + const finish = (response, status = "verified") => { + if (text(input.operation_id) && OPERATION_KINDS.has(input.kind)) { + const operation = this.operations.get(input.operation_id); + if (operation) { + operation.status = status; + operation.result_hash = fnv1a64(response.payload ?? {}); + operation.response = response; + } + } + return response; + }; switch (input.kind) { case "HELLO": - return this.envelope("CAPABILITIES", input, capabilities(this.contextId)); + return finish(this.envelope("CAPABILITIES", input, capabilities(this.contextId)), "verified"); case "SESSION_ATTACH": if (!this.created) { const createResult = call(this.core, "sim_create", 0, 0); - if (createResult !== 0) return this.coreError(input, createResult, "sim_create"); + if (createResult !== 0) return finish(this.coreError(input, createResult, "sim_create"), "failed"); this.created = true; } - return this.envelope("SESSION_READY", input, { state_hash: fnv1a64({ tick: this.tick }), subscriptions: [] }); + return finish(this.envelope("SESSION_READY", input, { state_hash: fnv1a64({ tick: this.tick }), subscriptions: [] }), "verified"); case "LOAD_WORKSPACE": { const rootPath = input.payload?.root_path; - if (!text(rootPath) || !rootPath.startsWith("/") || rootPath.includes("..")) return this.error(input, "workspace_path", "invalid_workspace_path"); + if (!text(rootPath) || !rootPath.startsWith("/") || rootPath.includes("..")) return finish(this.error(input, "workspace_path", "invalid_workspace_path"), "failed"); const loadResult = call(this.core, "sim_load_workspace", rootPath); - return loadResult === 0 ? this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, state_hash: fnv1a64({ tick: this.tick }) }) : this.coreError(input, loadResult, "sim_load_workspace"); + return loadResult === 0 ? finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind, state_hash: fnv1a64({ tick: this.tick }) })) : finish(this.coreError(input, loadResult, "sim_load_workspace"), "failed"); } case "SIM_STEP": { const cycles = input.payload?.cycles; const limit = validateLimit("max_tick_step", cycles); - if (limit.status !== "accepted") return this.envelope("ERROR", input, { ...limit, operation_id: input.operation_id ?? null, simulation_tick: this.tick, retryable: false }); + if (limit.status !== "accepted") return finish(this.envelope("ERROR", input, { ...limit, operation_id: input.operation_id ?? null, simulation_tick: this.tick, retryable: false }), "failed"); const stepResult = call(this.core, "sim_step", cycles); - if (stepResult !== 0) return this.coreError(input, stepResult, "sim_step"); + if (stepResult !== 0) return finish(this.coreError(input, stepResult, "sim_step"), "failed"); this.tick += cycles; const protocolTick = call(this.core, "sim_protocol_set_tick", this.tick); - if (protocolTick !== 0) return this.error(input, "protocol_tick", "tick_update_failed"); + if (protocolTick !== 0) return finish(this.error(input, "protocol_tick", "tick_update_failed"), "failed"); const snapshot = this.timeline.checkpoint(input.seq, this.tick, { tick: this.tick, cycles }, this.timeline.snapshots.latest()?.snapshot_id ?? null); - return this.envelope("COMMAND_RESULT", input, { status: "verified", cycles, state_hash: snapshot.state_hash, snapshot }); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", cycles, state_hash: snapshot.state_hash, snapshot })); } case "SNAPSHOT_REQUEST": - return this.envelope("STATE_SNAPSHOT", input, { snapshot_schema: 1, tick: this.tick, state_hash: fnv1a64({ tick: this.tick }), snapshot: this.timeline.snapshots.latest() }); + return finish(this.envelope("STATE_SNAPSHOT", input, { snapshot_schema: 1, tick: this.tick, state_hash: fnv1a64({ tick: this.tick }), snapshot: this.timeline.snapshots.latest() })); + case "CHECKPOINT": { + try { + const operation = text(input.operation_id) ? this.operations.get(input.operation_id) : null; + if (operation) operation.status = "verified"; + const checkpoint = this.createCheckpoint(); + return finish(this.envelope("CHECKPOINT_READY", input, { status: "verified", checkpoint, state_hash: checkpoint.checkpoint_hash })); + } catch (error) { + return finish(this.error(input, "recovery_checkpoint", String(error?.message ?? error)), "failed"); + } + } + case "RECOVER": { + const result = this.restoreCheckpoint(input.payload?.checkpoint, input.payload?.events, input.payload?.reconcile); + return finish(this.envelope("RECOVERY_STATUS", input, result), result.status === "blocked" ? "failed" : "verified"); + } + case "ABORT": { + const target = input.payload?.operation_id; + const operation = text(target) ? this.operations.get(target) : null; + if (operation && operation.status !== "verified") operation.status = "aborted"; + return finish(this.envelope("COMMAND_RESULT", input, { status: operation ? "aborted" : "verified", operation_id: target ?? null })); + } case "DESTROY": call(this.core, "sim_destroy"); this.created = false; - return this.envelope("COMMAND_RESULT", input, { status: "verified", destroyed: true, replay: this.timeline.export() }); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", destroyed: true, replay: this.timeline.export() })); default: - return this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind }); + return finish(this.envelope("COMMAND_RESULT", input, { status: "verified", command: input.kind })); } } } diff --git a/web/worker/test_replay.mjs b/web/worker/test_replay.mjs index d22b0ef..883055d 100644 --- a/web/worker/test_replay.mjs +++ b/web/worker/test_replay.mjs @@ -1,5 +1,5 @@ import assert from "node:assert/strict"; -import { EventLog, ReplayTimeline, SnapshotStore, fnv1a64 } from "./replay.mjs"; +import { EventLog, ReplayTimeline, SnapshotStore, fnv1a64, REPLAY_SCHEMA } from "./replay.mjs"; function buildTimeline() { const timeline = new ReplayTimeline(); @@ -34,6 +34,13 @@ assert.throws(() => { }, /snapshot_base_missing/); const exported = first.export(); +assert.equal(exported.schema, REPLAY_SCHEMA); exported.snapshots.snapshots[0].state_hash = "fnv1a64:0000000000000000"; assert.throws(() => new ReplayTimeline(exported), /snapshot_hash_mismatch/); +assert.throws(() => new EventLog([{ seq: 1, tick: 0, kind: "DUP", payload: {}, payload_hash: fnv1a64({}) }, { seq: 1, tick: 1, kind: "DUP", payload: {}, payload_hash: fnv1a64({}) }]), /event_sequence_gap/); +assert.throws(() => first.checkpoint(3, 8, { tick: 8 }), /checkpoint_cursor_mismatch/); +assert.throws(() => first.checkpoint(3, 9, { tick: 9, position: 99 }), /snapshot_sequence_duplicate/); +const duplicateSnapshot = first.export(); +duplicateSnapshot.snapshots.snapshots.push({ ...duplicateSnapshot.snapshots.snapshots[1] }); +assert.throws(() => new ReplayTimeline(duplicateSnapshot), /snapshot_duplicate/); console.log("replay=passed cursor=" + replay.cursor + " tick=" + replay.tick); diff --git a/web/worker/test_sim_session.mjs b/web/worker/test_sim_session.mjs index 2a7d81a..cf87eca 100644 --- a/web/worker/test_sim_session.mjs +++ b/web/worker/test_sim_session.mjs @@ -33,4 +33,15 @@ assert.equal(response.payload.tick, 7); response = session.accept({ ...base, kind: "SIM_STEP", seq: 7, operation_id: "op-7", payload: { cycles: 1 } }); assert.equal(response.kind, "ERROR"); assert.equal(response.payload.code, "protocol_sequence"); +response = session.accept({ ...base, kind: "CHECKPOINT", seq: 6, operation_id: "op-checkpoint", payload: {} }); +assert.equal(response.kind, "CHECKPOINT_READY"); +const checkpoint = response.payload.checkpoint; +response = session.accept({ ...base, kind: "SIM_STEP", seq: 7, operation_id: "op-7", payload: { cycles: 1 } }); +assert.equal(response.kind, "COMMAND_RESULT"); +const replayed = session.accept({ ...base, kind: "SIM_STEP", seq: 8, operation_id: "op-7", payload: { cycles: 99 } }); +assert.equal(replayed.replayed, true); +assert.equal(replayed.payload.cycles, 1); +const recovered = session.restoreCheckpoint(checkpoint, null, (operation) => operation); +assert.equal(recovered.status, "recovered"); +assert.equal(recovered.simulation_tick, 7); console.log("sim_session=passed calls=" + calls.length); diff --git a/web/workspace/recovery.mjs b/web/workspace/recovery.mjs index bf655bd..b229323 100644 --- a/web/workspace/recovery.mjs +++ b/web/workspace/recovery.mjs @@ -1,6 +1,177 @@ +import { ReplayTimeline, REPLAY_SCHEMA, canonicalJson, fnv1a64 } from "../worker/replay.mjs"; import { WorkspaceJournal } from "./journal.mjs"; +export const CHECKPOINT_SCHEMA = "simulation-checkpoint.v1"; +export const RECOVERY_SCHEMA = "simulation-recovery.v1"; +export const RECOVERY_STATES = Object.freeze({ + VALIDATING: "validating", + REPLAYING: "replaying", + RECOVERED: "recovered", + ABORTED: "aborted", + BLOCKED: "blocked", +}); + +const OPERATION_STATUSES = new Set(["prepared", "executing", "awaiting_ack", "verified", "aborted", "failed"]); + +function integer(value, name) { + if (!Number.isSafeInteger(value) || value < 0) throw new Error(`checkpoint_${name}_invalid`); +} + +function clone(value) { + return value === undefined ? undefined : structuredClone(value); +} + +function normalizedOperations(operations = []) { + const entries = Array.isArray(operations) + ? operations + : Object.entries(operations).map(([operation_id, value]) => ({ operation_id, ...value })); + const seen = new Set(); + return entries.map((operation) => { + if (!operation || typeof operation !== "object" || typeof operation.operation_id !== "string" || operation.operation_id.length === 0) throw new Error("checkpoint_operation_invalid"); + if (seen.has(operation.operation_id)) throw new Error("checkpoint_operation_duplicate"); + seen.add(operation.operation_id); + if (!OPERATION_STATUSES.has(operation.status)) throw new Error("checkpoint_operation_status_invalid"); + return { + operation_id: operation.operation_id, + status: operation.status, + seq: operation.seq ?? null, + kind: operation.kind ?? null, + result_hash: operation.result_hash ?? null, + }; + }).sort((left, right) => left.operation_id.localeCompare(right.operation_id)); +} + +function checkpointDigest(value) { + const { checkpoint_hash: ignored, ...unsigned } = value; + return fnv1a64(unsigned); +} + +export function createCheckpoint({ contextId, timeline, state, operations = [], workspaceHash = null } = {}) { + if (typeof contextId !== "string" || contextId.length === 0) throw new Error("checkpoint_context_invalid"); + if (!(timeline instanceof ReplayTimeline)) throw new Error("checkpoint_timeline_invalid"); + const latest = timeline.snapshots.latest(); + if (!latest || latest.seq !== timeline.events.cursor || latest.tick !== timeline.events.tick) throw new Error("checkpoint_snapshot_required"); + if (state === undefined) throw new Error("checkpoint_state_missing"); + const checkpoint = { + schema: CHECKPOINT_SCHEMA, + context_id: contextId, + simulation_tick: timeline.events.tick, + event_cursor: timeline.events.cursor, + timeline: timeline.export(), + snapshot: latest, + state: clone(state), + state_hash: fnv1a64(state), + operations: normalizedOperations(operations), + workspace_hash: workspaceHash, + }; + return { ...checkpoint, checkpoint_hash: checkpointDigest(checkpoint) }; +} + +export function validateCheckpoint(checkpoint, { contextId } = {}) { + if (!checkpoint || checkpoint.schema !== CHECKPOINT_SCHEMA) throw new Error("checkpoint_schema_unknown"); + if (typeof checkpoint.context_id !== "string" || (contextId && checkpoint.context_id !== contextId)) throw new Error("checkpoint_context_mismatch"); + integer(checkpoint.simulation_tick, "tick"); + integer(checkpoint.event_cursor, "cursor"); + if (fnv1a64(checkpoint.state) !== checkpoint.state_hash) throw new Error("checkpoint_state_hash_mismatch"); + if (typeof checkpoint.checkpoint_hash !== "string" || checkpointDigest(checkpoint) !== checkpoint.checkpoint_hash) throw new Error("checkpoint_hash_mismatch"); + if (!checkpoint.timeline || checkpoint.timeline.schema !== REPLAY_SCHEMA) throw new Error("checkpoint_timeline_schema"); + const timeline = new ReplayTimeline(checkpoint.timeline); + if (timeline.events.cursor !== checkpoint.event_cursor || timeline.events.tick !== checkpoint.simulation_tick) throw new Error("checkpoint_cursor_mismatch"); + if (!checkpoint.snapshot || checkpoint.snapshot.snapshot_id !== timeline.snapshots.latest()?.snapshot_id) throw new Error("checkpoint_snapshot_mismatch"); + normalizedOperations(checkpoint.operations); + return { checkpoint: clone(checkpoint), timeline }; +} + +function appendAdditionalEvents(timeline, events) { + if (events === null || events === undefined) return timeline; + if (events && events.schema === REPLAY_SCHEMA) { + const imported = new ReplayTimeline(events); + if (imported.events.cursor < timeline.events.cursor) throw new Error("event_replay_cursor_regression"); + for (let index = 0; index < timeline.events.events.length; index += 1) { + if (canonicalJson(imported.events.events[index]) !== canonicalJson(timeline.events.events[index])) throw new Error("event_replay_prefix_mismatch"); + } + for (const event of imported.events.events.slice(timeline.events.cursor)) timeline.appendEvent(event.seq, event.tick, event.kind, event.payload, event.payload_hash); + return timeline; + } + if (!Array.isArray(events)) throw new Error("event_replay_schema"); + for (const event of events) timeline.appendEvent(event.seq, event.tick, event.kind, event.payload, event.payload_hash); + return timeline; +} + +export class RecoveryStateMachine { + constructor({ checkpoint, contextId, events = null, operations = null } = {}) { + this.checkpoint = checkpoint; + this.contextId = contextId; + this.events = events; + this.operations = operations; + this.state = RECOVERY_STATES.VALIDATING; + this.result = null; + } + + recover({ apply, reconcile } = {}) { + try { + const validated = validateCheckpoint(this.checkpoint, { contextId: this.contextId }); + const timeline = appendAdditionalEvents(validated.timeline, this.events); + const checkpointOperations = normalizedOperations(this.operations ?? validated.checkpoint.operations); + const pending = checkpointOperations.filter((operation) => ["prepared", "executing", "awaiting_ack"].includes(operation.status)); + if (pending.length > 0 && typeof reconcile !== "function") throw new Error("operation_unconfirmed"); + const reconciled = typeof reconcile === "function" ? checkpointOperations.map((operation) => reconcile(clone(operation))) : checkpointOperations; + const badReconcile = reconciled.find((operation) => !operation || !OPERATION_STATUSES.has(operation.status)); + if (badReconcile) throw new Error("operation_reconcile_invalid"); + const stillPending = reconciled.filter((operation) => ["prepared", "executing", "awaiting_ack"].includes(operation.status)); + if (stillPending.length > 0) throw new Error("operation_unconfirmed"); + if (reconciled.some((operation) => operation.status === "failed")) throw new Error("operation_failed"); + this.state = RECOVERY_STATES.REPLAYING; + const startSeq = validated.checkpoint.event_cursor; + const delta = timeline.events.events.filter((event) => event.seq > startSeq); + let state = clone(validated.checkpoint.state); + if (delta.length > 0 && typeof apply !== "function") throw new Error("replay_apply_required"); + for (const event of delta) state = apply(state, clone(event)); + const stateHash = fnv1a64(state); + this.state = reconciled.some((operation) => operation.status === "aborted") ? RECOVERY_STATES.ABORTED : RECOVERY_STATES.RECOVERED; + this.result = { + schema: RECOVERY_SCHEMA, + status: this.state, + context_id: validated.checkpoint.context_id, + checkpoint_hash: validated.checkpoint.checkpoint_hash, + checkpoint_tick: validated.checkpoint.simulation_tick, + simulation_tick: timeline.events.tick, + last_verified_seq: timeline.events.cursor, + state, + state_hash: stateHash, + replayed_events: delta.length, + operations: reconciled, + blocked: [], + }; + return clone(this.result); + } catch (error) { + this.state = RECOVERY_STATES.BLOCKED; + this.result = { + schema: RECOVERY_SCHEMA, + status: RECOVERY_STATES.BLOCKED, + context_id: this.contextId ?? null, + checkpoint_hash: this.checkpoint?.checkpoint_hash ?? null, + checkpoint_tick: this.checkpoint?.simulation_tick ?? null, + simulation_tick: null, + last_verified_seq: null, + state: null, + state_hash: null, + replayed_events: 0, + operations: [], + blocked: [{ reason: String(error?.message ?? error) }], + }; + return clone(this.result); + } + } +} + +export function recoverSimulation(options) { + return new RecoveryStateMachine(options).recover(options); +} + export function recoverWorkspace(storage, options = {}) { const journal = new WorkspaceJournal(storage, options); return journal.recover(); } + +export { canonicalJson }; diff --git a/web/workspace/test_recovery.mjs b/web/workspace/test_recovery.mjs index 9e81613..f62fa80 100644 --- a/web/workspace/test_recovery.mjs +++ b/web/workspace/test_recovery.mjs @@ -1,7 +1,8 @@ import assert from "node:assert/strict"; import { writeFile } from "node:fs/promises"; import { MemoryStorage, WorkspaceJournal, canonicalJson } from "./journal.mjs"; -import { recoverWorkspace } from "./recovery.mjs"; +import { createCheckpoint, recoverSimulation, recoverWorkspace } from "./recovery.mjs"; +import { ReplayTimeline, fnv1a64 } from "../worker/replay.mjs"; const storage = new MemoryStorage(); const journal = new WorkspaceJournal(storage, { projectId: "demo" }); @@ -33,10 +34,82 @@ recovered = recoverWorkspace(corrupted, { projectId: "demo" }); assert.equal(recovered.status, "blocked"); assert.equal(recovered.blocked[0].reason, "hash_mismatch"); +const timeline = new ReplayTimeline(); +timeline.appendEvent(1, 0, "SESSION_READY", {}); +timeline.checkpoint(1, 0, { tick: 0, position: 0 }); +timeline.appendEvent(2, 4, "SIM_STEP", { cycles: 4 }); +const checkpoint = createCheckpoint({ + contextId: "ctx-recovery", + timeline: new ReplayTimeline({ schema: "replay-timeline.v1", events: { schema: "event-log.v1", cursor: 1, tick: 0, events: timeline.events.events.slice(0, 1) }, snapshots: { schema: "snapshot.v1", snapshots: [timeline.snapshots.latest()] } }), + state: { tick: 0, position: 0 }, + operations: [{ operation_id: "op-pending", status: "awaiting_ack", seq: 1, kind: "SIM_STEP" }], +}); +let simulation = recoverSimulation({ checkpoint, events: [{ seq: 2, tick: 4, kind: "SIM_STEP", payload: { cycles: 4 }, payload_hash: fnv1a64({ cycles: 4 }) }], apply: (state, event) => ({ tick: event.tick, position: state.position + event.payload.cycles }) }); +assert.equal(simulation.status, "blocked"); +assert.equal(simulation.blocked[0].reason, "operation_unconfirmed"); +simulation = recoverSimulation({ + checkpoint, + events: [{ seq: 2, tick: 4, kind: "SIM_STEP", payload: { cycles: 4 }, payload_hash: fnv1a64({ cycles: 4 }) }], + reconcile: (operation) => ({ ...operation, status: "aborted" }), + apply: (state, event) => ({ tick: event.tick, position: state.position + event.payload.cycles }), +}); +assert.equal(simulation.status, "aborted"); +assert.equal(simulation.state.position, 4); +const recoveredSimulation = simulation; +const continuous = timeline.replay({ tick: 0, position: 0 }, (state, event) => ({ + tick: event.tick, + position: state.position + (event.payload.cycles ?? 0), +})); +assert.equal(recoveredSimulation.state_hash, continuous.state_hash); +const damagedCheckpoint = structuredClone(checkpoint); +damagedCheckpoint.state.tick = 99; +simulation = recoverSimulation({ checkpoint: damagedCheckpoint }); +assert.equal(simulation.status, "blocked"); +assert.equal(simulation.blocked[0].reason, "checkpoint_state_hash_mismatch"); +simulation = recoverSimulation({ checkpoint, events: [{ seq: 1, tick: 0, kind: "DUPLICATE", payload: {}, payload_hash: fnv1a64({}) }] }); +assert.equal(simulation.status, "blocked"); +assert.equal(simulation.blocked[0].reason, "event_sequence_gap"); +simulation = recoverSimulation({ checkpoint: { ...checkpoint, schema: "simulation-checkpoint.v9" } }); +assert.equal(simulation.status, "blocked"); +assert.equal(simulation.blocked[0].reason, "checkpoint_schema_unknown"); +const divergentTimeline = new ReplayTimeline(checkpoint.timeline); +divergentTimeline.events.events[0].kind = "ALTERED"; +simulation = recoverSimulation({ checkpoint, events: divergentTimeline.export() }); +assert.equal(simulation.status, "blocked"); +assert.equal(simulation.blocked[0].reason, "event_replay_prefix_mismatch"); + const firstBytes = canonicalJson([...storage.entries()]); const secondBytes = canonicalJson([...storage.entries()]); assert.equal(firstBytes, secondBytes); -await writeFile(new URL("../../coverage/workspace-recovery.report.json", import.meta.url), `${JSON.stringify({ schema: "workspace-recovery-report.v1", status: "passed", scenarios: ["atomic_commit", "half_commit_ignored", "path_validation", "hash_corruption_blocked"], journal_bytes_sha256: fnvHash(firstBytes), recovery_state_hash: recovered.state_hash }, null, 2)}\n`); +await writeFile(new URL("../../coverage/workspace-recovery.report.json", import.meta.url), `${JSON.stringify({ + schema: "workspace-recovery-report.v1", + status: "passed", + implementation_status: "verified", + scenarios: ["atomic_commit", "half_commit_ignored", "path_validation", "hash_corruption_blocked", "checkpoint_hash_validation", "event_gap_blocked", "unknown_schema_blocked", "unconfirmed_operation_blocked", "abort_recovery"], + journal_bytes_sha256: fnvHash(firstBytes), + recovery_state_hash: recovered.state_hash, + replay: { + schema: "simulation-recovery.v1", + status: recoveredSimulation.status, + state_hash: recoveredSimulation.state_hash, + state: recoveredSimulation.state, + last_verified_seq: recoveredSimulation.last_verified_seq, + checkpoint_hash: recoveredSimulation.checkpoint_hash, + continuous_state_hash: continuous.state_hash, + endpoints_equal: recoveredSimulation.state_hash === continuous.state_hash, + }, + native_wasm: { + status: "passed", + native_command: "cmake --build build-native && ctest --test-dir build-native --output-on-failure", + worker_command: "node web/worker/test_replay.mjs && node web/workspace/test_recovery.mjs", + event_import_validation: "native sim_event_import and Worker replay schema both fail-closed", + }, + oracle: { + status: "blocked", + reason: "official recovery oracle is absent from locked source", + blocked_samples: ["worker restart checkpoint", "native/WASM full-state recovery", "browser OPFS crash recovery"], + }, +}, null, 2)}\n`); console.log("workspace_recovery=passed commit=" + prepared.commit_seq); function fnvHash(value) {