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Extend simulation runtime coverage and kinematics support

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This commit is contained in:
wangdequan
2026-08-21 10:57:10 +08:00
parent 554b72dae8
commit 2ef2d82db3
71 changed files with 24232 additions and 1867 deletions
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15814
coverage/configuration-regression.report.json Normal file
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4
coverage/corexy-hal.report.json
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@@ -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",

1
coverage/hal-runtime.report.json
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@@ -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,

287
coverage/io-runtime.report.json Normal file
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@@ -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,
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"last_error": 0,
"probe": {
"input": 1,
"position": [
1,
2,
3
],
"state": 2,
"tick": 40,
"tripped": 1
},
"ready": 1,
"recovery_epoch": 1,
"spindles": [
{
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},
{
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}
],
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}
},
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},
"pin": {
"count": 67,
"functions": 1,
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},
"probe": {
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1.0,
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3.0
],
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},
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"schema": "io-samples.v1",
"spindle": {
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},
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"tool": {
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}
},
"state_hash_identical": true,
"wasm": {
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],
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},
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},
{
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}
],
"tick": 40,
"tool": {
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"prepared_tool": 7,
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}
},
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},
"pin": {
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"functions": 1,
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},
"probe": {
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],
"state": 2,
"status": 0
},
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"schema": "io-samples.v1",
"spindle": {
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"limit": -906,
"speed": 0.0,
"step": 0,
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},
"state_hash": 3758173594264074653,
"tool": {
"current": 7,
"fault_clear": -905,
"state": 0
}
}
},
"schema": "io-runtime-report.v1",
"source_records": {
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"path": "wasm-core/include/sim_hal.h",
"sha256": "3dd7230316e557d1a129a9a80a26a109b837a318b092657b8bee0d53a5e57db9"
},
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"sha256": "76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621"
},
"io_header": {
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"sha256": "d84e9ab0bcf9ff138f8c8a57b28337605d731ff796577a8ab748d708f97daf9b"
},
"io_source": {
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"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": {
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"sha256": "46923ff49c55576692e660d1af37e43bd6c1aff184ae2a2d5ca9201dd969ccfe"
}
},
"status": "partial"
}

153
coverage/kinematics-feedback.report.json Normal file
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@@ -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": {
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"native": {
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],
"pose": [
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],
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},
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},
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},
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],
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},
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}
},
"schema": "kinematics-feedback-report.v1",
"source_records": {
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"kinematics_header": {
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"kinematics_source": {
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},
"linuxcnc_control": {
"path": "linuxcnc/src/emc/motion/control.c",
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},
"linuxcnc_motion": {
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"sha256": "c3d1404150b56cfb03ab35ecdf64694d60a6d37117d0617a8464d548133e79d3"
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"test": {
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}
},
"status": "partial"
}

148
coverage/kinematics-home-limit.report.json Normal file
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@@ -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": {
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"status": "passed",
"wasm_command": "node build-wasm/sim_kinematics_home_limit_wasm_test.js"
},
"oracle": {
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"unhomed check",
"home sequence",
"kinematics home",
"joint limit",
"nonfinite joint",
"joint count",
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],
"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
"status": "blocked"
},
"pipeline": {
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"order": [
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"limit_check",
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],
"state_fields": [
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"pose",
"joints",
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"limit_error",
"kinematics_error"
]
},
"report_sha256": "1e625b140fed62d996381ce18a565300cc39d22ba54d10a1f8df436cf69a9797",
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"state": {
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],
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],
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}
},
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}
}
},
"schema": "kinematics-home-limit-report.v1",
"source_records": {
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"home_source": {
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},
"kinematics_header": {
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},
"kinematics_source": {
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"sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600"
},
"linuxcnc_homemod": {
"path": "linuxcnc/src/emc/motion/homemod.c",
"sha256": "df2e24e8d6c48d47448971b6e69471910a435d207a9d45f857a968aebf14ea5c"
},
"linuxcnc_homing": {
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"sha256": "ee73d38f2feb8d5523b9a733cb17d635d3904667aaa219f8a02d7fbffee1ba39"
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"test": {
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"sha256": "94004ef9e4182cfa04c9a458d750d84b12250a625406ad29ce06ae45136f909d"
}
},
"status": "partial"
}

171
coverage/kinematics-motion.report.json Normal file
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@@ -0,0 +1,171 @@
{
"boundaries": {
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"pause": -801,
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},
"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"
}
],
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"native_wasm": {
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},
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"pause/resume",
"singular IK rollback",
"nonfinite segment"
],
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"status": "blocked"
},
"pipeline": {
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"order": [
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"trajectory_planner",
"kinematics_inverse",
"atomic_joint_queue"
],
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"transaction": "snapshot planner and kinematics; rollback on IK, planner, nonfinite, or capacity failure"
},
"report_sha256": "eb01772b430dfe5aeab6544916c42830f013a0913c7a62ab5f59df13de8c1010",
"samples": {
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"state_hash": 13283141982606912976,
"status": -802
},
"inverse_failure": {
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"status": -804
},
"nominal": {
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0.0
],
"pause_status": -801,
"pose": [
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],
"repeat_hash": 405287727652118863,
"resume_status": 0,
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"tick": 1
},
"nonfinite_status": -805,
"schema": "kinematics-motion-samples.v1"
},
"state_hash_identical": true,
"wasm": {
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"status": -802
},
"inverse_failure": {
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},
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],
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],
"repeat_hash": 405287727652118863,
"resume_status": 0,
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"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": {
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},
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"sha256": "316fe74604180b6e9ae7f66369f084278f1b54b7c4545ec9efa870186adc9600"
},
"linuxcnc_control": {
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"sha256": "fa1b14689e2e4493c02d0939f982278366d4c1888da62e172cec030904c82c50"
},
"linuxcnc_motion": {
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"sha256": "c3d1404150b56cfb03ab35ecdf64694d60a6d37117d0617a8464d548133e79d3"
},
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},
"test": {
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"sha256": "bf041a8f30451c832566d9476d44f0011e56f33800f7a40aad12b4ebc0f662fc"
}
},
"status": "partial"
}

50
coverage/kinematics-oracle.report.json
View File

@@ -15,10 +15,10 @@
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@@ -29,10 +29,10 @@
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@@ -75,10 +75,10 @@
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@@ -121,10 +121,10 @@
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@@ -169,10 +169,10 @@
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@@ -217,10 +217,10 @@
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@@ -273,10 +273,10 @@
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@@ -329,10 +329,10 @@
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@@ -385,10 +385,10 @@
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@@ -441,10 +441,10 @@
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@@ -490,10 +490,10 @@
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@@ -542,10 +542,10 @@
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@@ -592,7 +592,7 @@
}
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502
coverage/kinematics-registry.report.json Normal file
View File

@@ -0,0 +1,502 @@
{
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3372
coverage/manifest.jsonl
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File diff suppressed because it is too large Load Diff

144
coverage/pentapod-kinematics.report.json
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235
coverage/switchkins-kinematics.report.json Normal file
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225
coverage/userkins-kinematics.report.json Normal file
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38
coverage/workspace-recovery.report.json
View File

@@ -1,12 +1,46 @@
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"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"
]
}
}