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-motion.report.json
+++ 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"
+}