Extend simulation runtime coverage and kinematics support

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