Extend simulation runtime coverage and kinematics support

2026-08-21 10:57:10 +08:00
parent 554b72dae8
commit 2ef2d82db3
71 changed files with 24232 additions and 1867 deletions
--- a/coverage/kinematics-feedback.report.json
+++ 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"
+}